JP2024031019A - Display device of shovel - Google Patents

Abstract

To grasp accuracy of control.SOLUTION: A display device of a shovel has: a control part for calculating an index value indicating accuracy of control of a shovel, on the basis of information on a target construction surface of the shovel and posture information of the shovel, which are acquired from the shovel; and a display control part for displaying information indicating the index value indicating the accuracy of the control of the shovel on a display device.SELECTED DRAWING: Figure 1

Description

The present invention relates to a display device for an excavator.

BACKGROUND ART Conventionally, excavators are known in which a predetermined portion of the attachment can accurately follow a preset trajectory when the attachment is operated autonomously.

Japanese Patent Application Publication No. 2019-183382

In the conventional technology described above, the accuracy of control changes depending on conditions such as the design and the attitude of the shovel.

Therefore, in view of the above problems, the present invention aims to grasp the accuracy of control.

In order to achieve the above object, an excavator display device according to an embodiment of the present disclosure controls the excavator based on information regarding the target construction surface of the excavator and posture information of the excavator, which is acquired from the excavator. A display device for an excavator, comprising: a control section that calculates an index value indicating accuracy of control of the shovel; and a display control section that causes the display device to display information indicating the index value indicating accuracy of control of the shovel.

The accuracy of control can be grasped.

It is a side view of an excavator. FIG. 3 is a top view of the excavator. It is a diagram showing an example of the configuration of a basic system installed in an excavator. It is a diagram showing an example of the configuration of a hydraulic system mounted on an excavator. FIG. 3 is an extracted diagram of a hydraulic system part related to operation of an arm cylinder. FIG. 3 is an extracted diagram of a hydraulic system part related to operation of a boom cylinder. FIG. 3 is an extracted diagram of a hydraulic system portion related to the operation of the bucket cylinder. FIG. 3 is an extracted diagram of a hydraulic system portion related to the operation of a swing hydraulic motor. FIG. 3 is a functional block diagram of a controller. It is a figure explaining the index value of control accuracy. It is a flowchart explaining the processing of a controller. FIG. 3 is a first diagram showing a display example. FIG. 7 is a second diagram showing a display example. It is a third diagram showing a display example. FIG. 7 is a fourth diagram showing a display example.

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

In this embodiment, the lower traveling body 1 of the excavator 100 includes a crawler 1C as a driven body. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1. However, the traveling hydraulic motor 2M may be a traveling motor generator serving as an electric actuator. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left travel hydraulic motor 2ML, and the right crawler 1CR is driven by a right travel hydraulic motor 2MR. Since the lower traveling body 1 is driven by the crawler 1C, it functions as a driven body.

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

A boom 4 as a driven body is attached to the upper revolving body 3. An arm 5 as a driven body is attached to the tip of the boom 4, and a bucket 6 as a driven body and an end attachment is attached to the tip of the arm 5. The boom 4, arm 5, and bucket 6 constitute a digging attachment, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

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

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

Arm angle sensor S2 detects the rotation angle of arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4. For example, the arm angle becomes the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.

Bucket angle sensor S3 detects the rotation angle of bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. For example, the bucket angle becomes the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.

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

The upper revolving body 3 is provided with a cabin 10 as a driver's cabin, and is equipped with a power source such as an engine 11. Further, the upper revolving body 3 is attached with a controller 30, an object detection device 70, an imaging device 80, a direction detection device 85, a body tilt sensor S4, a turning angular velocity sensor S5, and the like. Inside the cabin 10, an operating device 26 and the like are provided. In this document, for convenience, the side of the upper revolving structure 3 to which the boom 4 is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

Controller 30 is a control device for controlling shovel 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, NVRAM, ROM, and the like. Then, the controller 30 reads a program corresponding to each functional element from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding process.

The object detection device 70 is configured to detect objects existing around the shovel 100. Further, the object detection device 70 may be configured to calculate the distance from the object detection device 70 or the shovel 100 to the recognized object. Objects include, for example, people, animals, vehicles, construction machines, buildings, holes, and the like. The object detection device 70 includes, for example, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a LIDAR, a distance image sensor, an infrared sensor, and the like. In this embodiment, the object detection device 70 includes a front sensor 70F attached to the front end of the upper surface of the cabin 10, a rear sensor 70B attached to the rear end of the upper surface of the upper revolving structure 3, and a rear sensor 70B attached to the upper left end of the upper revolving structure 3. It includes a left sensor 70L and a right sensor 70R attached to the right end of the upper surface of the upper revolving body 3.

The object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the shovel 100. For example, it may be configured to be able to distinguish between humans and objects other than humans.

The imaging device 80 is configured to image the surroundings of the excavator 100. In the present embodiment, the imaging device 80 includes a rear camera 80B attached to the rear end of the upper surface of the upper rotating structure 3, a left camera 80L attached to the left end of the upper surface of the upper rotating structure 3, and a left camera 80L attached to the upper surface of the upper rotating structure 3. It includes a right camera 80R attached to the right end. It may also include a front camera.

The rear camera 80B is placed adjacent to the rear sensor 70B, the left camera 80L is placed adjacent to the left sensor 70L, and the right camera 80R is placed adjacent to the right sensor 70R. The front camera may be placed adjacent to the front sensor 70F.

The image captured by the imaging device 80 is displayed on a display device DS installed in the cabin 10. The imaging device 80 may be configured to be able to display a viewpoint-converted image such as an overhead image on the display device DS. The bird's-eye view image is generated, for example, by combining images output by the rear camera 80B, the left camera 80L, and the right camera 80R.

The imaging device 80 may function as an object detection device. In this case, the object detection device 70 may be omitted.

With this configuration, the excavator 100 can display an image of the object detected by the object detection device 70 on the display device DS. Therefore, when the operation of the driven object is restricted or prohibited, the operator of the excavator 100 can immediately check the object that caused the restriction or prohibition by viewing the image displayed on the display device DS. .

The orientation detection device 85 is configured to detect information regarding the relative relationship between the orientation of the upper rotating structure 3 and the orientation of the lower traveling structure 1 (hereinafter referred to as "information regarding orientation"). For example, the direction detection device 85 may be configured by a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3. Alternatively, the direction detection device 85 may be configured by a combination of a GNSS receiver attached to the undercarriage body 1 and a GNSS receiver attached to the upper revolving body 3. In a configuration in which the upper rotating body 3 is driven to swing by a swinging motor/generator, the orientation detection device 85 may be configured with a resolver. The direction detection device 85 may be arranged, for example, at a center joint provided in association with the turning mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper rotating body 3.

Body tilt sensor S4 detects the tilt of excavator 100 with respect to a predetermined plane. In this embodiment, the body inclination sensor S4 is an acceleration sensor that detects the inclination angle of the longitudinal axis and the inclination angle of the left-right axis of the upper rotating structure 3 with respect to the horizontal plane. It may be configured by a combination of an acceleration sensor and a gyro sensor. For example, the longitudinal axis and the lateral axis of the upper revolving body 3 are orthogonal to each other and pass through the center point of the shovel, which is a point on the pivot axis of the shovel 100.

The turning angular velocity sensor S5 detects the turning angular velocity of the upper rotating structure 3. In this embodiment, it is a gyro sensor. It may also be a resolver, rotary encoder, etc. The turning angular velocity sensor S5 may detect turning speed. The turning speed may be calculated from the turning angular velocity.

In the following, any combination of boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4 and turning angular velocity sensor S5 will also be collectively referred to as attitude sensor.

Next, with reference to FIG. 3, the basic system mounted on the excavator 100 will be described. FIG. 3 is a diagram showing an example of the configuration of a basic system mounted on an excavator. In FIG. 3, the mechanical power transmission line is shown as a double line, the hydraulic oil line is shown as a thick solid line, the pilot line is shown as a broken line, the power line is shown as a thin solid line, and the electrical control line is shown as a dashed line.

The basic system mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, an operating pressure sensor 29, a controller 30, an alarm device 49, a control valve 60, an object detection device 70, and an engine control unit. (ECU 74), an engine speed adjustment dial 79, an imaging device 80, and the like.

The engine 11 is a diesel engine that employs isochronous control that maintains the engine speed constant regardless of changes in load. The fuel injection amount, fuel injection timing, boost pressure, etc. in the engine 11 are controlled by the ECU 74. The engine 11 is connected to a main pump 14 and a pilot pump 15, each serving as a hydraulic pump. The main pump 14 is connected to a control valve 17 via a hydraulic oil line.

The control valve 17 is a hydraulic control device that controls the hydraulic system of the excavator 100. The control valve 17 is connected to hydraulic actuators such as a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, and a swing hydraulic motor 2A. Specifically, control valve 17 includes a plurality of spool valves corresponding to each hydraulic actuator. Each spool valve is configured to be displaceable according to pilot pressure so that the opening area of the PC port and the opening area of the CT port can be increased or decreased. The PC port is a port that communicates the main pump 14 and the hydraulic actuator. The CT port is a port that communicates between the hydraulic actuator and the hydraulic oil tank.

The operating device 26 is a device used by an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 is a hydraulic operating device, and supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding spool valve in the control valve 17 via a pilot line. The pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is a pressure that corresponds to the operating direction and operating amount of the operating device 26 corresponding to each of the hydraulic actuators. The operating device 26 includes, for example, a left operating lever, a right operating lever, and a traveling operating device. The travel operation device includes, for example, a travel lever and a travel pedal. The operating device 26 may be an electrical operating device.

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

The operating pressure sensor 29 detects the content of the operation of the operating device 26 by the operator. In this embodiment, the operating pressure sensor 29 detects the operating direction and operating amount of the operating device 26 corresponding to each of the actuators in the form of pressure (operating pressure), and outputs the detected value to the controller 30. The operation content of the operating device 26 may be detected using a sensor other than the operating pressure sensor.

The alarm device 49 is configured to call the attention of those who work on the shovel 100. The alarm device 49 may be configured by a combination of an indoor alarm device and an outdoor alarm device, for example. The indoor alarm device is configured to alert the operator of the excavator 100 inside the cabin 10. The room alarm device includes, for example, at least one of an audio output device, a vibration generator, and a light emitting device provided in the cabin 10. The indoor alarm device may be a display device DS. The outdoor alarm device is configured to alert workers working around the shovel 100. The outdoor alarm device includes, for example, at least one of an audio output device and a light emitting device provided outside the cabin 10. The audio output device as an outdoor alarm device may be, for example, a traveling alarm device attached to the bottom surface of the revolving upper structure 3. The outdoor alarm device may be a light emitting device provided on the upper revolving body 3. However, the outdoor alarm device may be omitted. For example, when the object detection device 70 detects an object, the alarm device 49 may notify a person working on the shovel 100 to that effect.

The control valve 60 is configured so that the operating device 26 can be switched between a valid state and a disabled state. The valid state of the operating device 26 is a state in which the operator can use the operating device 26 to operate the hydraulic actuator. The disabled state of the operating device 26 is a state in which the operator cannot operate the hydraulic actuator using the operating device 26. In this embodiment, the control valve 60 is a gate lock valve configured to operate in response to a command from the controller 30. Specifically, the control valve 60 is arranged on a pilot line that connects the pilot pump 15 and the operating device 26, and is configured to be able to switch between shutoff and communication of the pilot line in response to a command from the controller 30. For example, the operating device 26 becomes effective when a gate lock lever (not shown) is pulled up to open the gate lock valve, and becomes disabled when the gate lock lever is pushed down and the gate lock valve is closed. .

The ECU 74 outputs data regarding the state of the engine 11, such as cooling water temperature, to the controller 30. The regulator 13 of the main pump 14 outputs data regarding the swash plate tilt angle to the controller 30. The discharge pressure sensor 28 outputs data regarding the discharge pressure of the main pump 14 to the controller 30. An oil temperature sensor 14c provided in a conduit between the hydraulic oil tank and the main pump 14 outputs data regarding the temperature of the hydraulic oil flowing through the conduit to the controller 30. The operating pressure sensor 29 outputs data regarding pilot pressure generated when the operating device 26 is operated to the controller 30. The controller 30 can store these data in a temporary storage section (memory) and output them to the display device DS when necessary.

The engine rotation speed adjustment dial 79 is a dial for adjusting the rotation speed of the engine 11. The engine speed adjustment dial 79 outputs data regarding the setting state of the engine speed to the controller 30. The engine speed adjustment dial 79 is configured to switch the engine speed in four stages: SP mode, H mode, A mode, and idling mode. The SP mode is a rotation speed mode selected when it is desired to give priority to the amount of work, and utilizes the highest engine rotation speed. The H mode is a rotational speed mode selected when it is desired to balance work volume and fuel efficiency, and utilizes the second highest engine rotational speed. The A mode is a rotation speed mode selected when it is desired to operate the excavator 100 with low noise while giving priority to fuel efficiency, and uses the third highest engine rotation speed. The idling mode is a rotation speed mode selected when it is desired to put the engine 11 in an idling state, and uses the lowest engine rotation speed. The engine 11 is controlled to be constant at the engine speed corresponding to the speed mode set by the engine speed adjustment dial 79.

The display device DS includes a control section DSa, an image display section DS1, and a switch panel DS2 as an input section. The control unit DSa is configured to be able to control the image displayed on the image display unit DS1. In this embodiment, the control unit DSa is composed of a computer including a CPU, RAM, NVRAM, ROM, and the like. In this case, the control unit DSa reads a program corresponding to each functional element from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding process. However, each functional element may be configured by hardware or a combination of software and hardware. Further, the image displayed on the image display section DS1 may be controlled by the controller 30 or the imaging device 80.

The switch panel DS2 is a panel including hardware switches. The switch panel DS2 may be a touch panel. The display device DS operates by receiving power from the storage battery BT. The storage battery BT is charged with electricity generated by the alternator 11a, for example. The power of the storage battery BT may be supplied to the controller 30 and the like. The starter 11b of the engine 11 is driven by, for example, electric power from the storage battery BT, and starts the engine 11.

The lever button LB is a button provided on the operating device 26. In this embodiment, the lever button LB is a button provided at the tip of an operating lever serving as the operating device 26. The operator of excavator 100 can operate lever button LB while operating the operating lever. For example, the operator can press the lever button LB with his thumb while holding the operating lever in his hand.

Next, with reference to FIG. 4, a configuration example of a hydraulic system mounted on the excavator 100 will be described. FIG. 4 is a diagram showing a configuration example of a hydraulic system mounted on an excavator. FIG. 4 shows the mechanical power transmission system, hydraulic oil line, pilot line, and electrical control system with double lines, solid lines, dashed lines, and dotted lines, respectively.

The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a control valve 60, etc. include.

In FIG. 4, the hydraulic system circulates hydraulic oil from a main pump 14 driven by an engine 11 to a hydraulic oil tank via a center bypass line 40 or a parallel line 42.

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

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

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

Pilot pump 15 supplies hydraulic oil to hydraulic control equipment including operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump.

The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve 17 includes control valves 171-176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 1756. The control valve 17 can selectively supply the hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a swing hydraulic motor 2A.

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

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

The control valve 171 supplies the hydraulic oil discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and discharges the hydraulic oil discharged by the left travel hydraulic motor 2ML to the hydraulic oil tank. It is a spool valve that switches the flow.

The control valve 172 supplies the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR, and discharges the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank. It is a spool valve that switches the flow.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The operating pressure sensor 29 includes operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operating pressure sensor 29LA detects the content of the operator's operation of the left operating lever 26L in the front-back direction in the form of pressure, and outputs the detected value to the controller 30. The operation details include, for example, the direction of lever operation, the amount of lever operation (lever operation angle), and the like.

Similarly, the operating pressure sensor 29LB detects the details of the operator's left/right operation on the left operating lever 26L in the form of pressure, and outputs the detected value to the controller 30. The operating pressure sensor 29RA detects the content of the operator's operation of the right operating lever 26R in the front-back direction in the form of pressure, and outputs the detected value to the controller 30. The operating pressure sensor 29RB detects in the form of pressure the content of the left/right operation of the right operating lever 26R by the operator, and outputs the detected value to the controller 30. The operation pressure sensor 29DL detects the content of the operator's operation of the left travel lever 26DL in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29DR detects the contents of the operation of the right traveling lever 26DR by the operator in the front and back direction in the form of pressure, and outputs the detected value to the controller 30.

The controller 30 receives the output of the operating pressure sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14.

Here, negative control control using the aperture 18 and the control pressure sensor 19 will be explained. The aperture 18 includes a left aperture 18L and a right aperture 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

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

Specifically, as shown in FIG. 4, when the excavator 100 is in a standby state in which none of the hydraulic actuators are operated, the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipe 40L and flows to the left side. The aperture reaches 18L. The flow of hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, and suppresses pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of hydraulic oil discharged by the left main pump 14L reduces or disappears in the amount reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic fluid to the hydraulic actuator to be operated, and ensures the drive of the hydraulic actuator to be operated. Note that the controller 30 similarly controls the discharge amount of the right main pump 14R.

With the above configuration, the hydraulic system shown in FIG. 4 can suppress wasteful energy consumption in the main pump 14 in the standby state. The wasteful energy consumption includes pumping loss caused by the hydraulic fluid discharged by the main pump 14 in the center bypass line 40. Furthermore, in the case of operating the hydraulic actuator, the hydraulic system shown in FIG. 4 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

The control valve 60 is configured to switch the operating device 26 between a valid state and a disabled state. In this embodiment, the control valve 60 is a spool type electromagnetic valve, and is configured to operate according to a current command from the controller 30. The valid state of the operating device 26 is a state in which the operator can move the related driven body by operating the operating device 26, and the disabled state of the operating device 26 is a state in which the operator can move the related driven body even if the operator operates the operating device 26. The related driven body cannot be moved.

In this embodiment, the control valve 60 is an electromagnetic valve that can switch between a communication state and a cutoff state of the pilot line CD1 that connects the pilot pump 15 and the operating device 26. Specifically, the control valve 60 is configured to switch the pilot line CD1 between a communication state and a cutoff state in response to a command from the controller 30. More specifically, when the control valve 60 is in the first valve position, the pilot line CD1 is placed in a communication state, and when it is in the second valve position, the pilot line CD1 is placed in a disconnected state. FIG. 4 shows that the control valve 60 is in the first valve position and that the pilot line CD1 is in communication.

The control valve 60 may be configured to operate in conjunction with a gate lock lever (not shown). Specifically, the pilot line CD1 may be configured to be in a cutoff state when the gate lock lever is pushed down, and to be in a communication state when the gate lock lever is pulled up. Further, the control valve 60 may be configured to be able to separately switch between the valid state and the invalid state of each of the plurality of operating devices 26.

Using the above-described hydraulic system, the controller 30 may be configured to automatically brake the drive unit of the shovel 100 as necessary. Automatically braking a drive unit includes, for example, forcibly slowing down or stopping the movement of the drive unit even if the operating device 26 related to the drive unit is operated. It's okay to stay.

For example, the controller 30 may be configured to automatically brake the drive unit when the object detection device 70 detects an object. In this case, the drive unit may include, for example, at least one of the swing hydraulic motor 2A and the traveling hydraulic motor 2M. Braking of the drive unit is achieved, for example, by switching the pilot line CD1 from a communication state to a cutoff state using the control valve 60 while the operating device 26 is being operated. This is because the control valve corresponding to the operating device 26 that is being operated returns to the neutral valve position. Note that braking the drive unit may include at least one of reducing the operating speed of the drive unit and stopping the movement of the drive unit.

The controller 30 may be configured to be able to release the braking of the drive unit when a predetermined condition is met while the drive unit is being braked.

"When braking the drive section" means, for example, when the operating speed of the drive section is reduced, when the movement of the drive section is stopped, and when the drive section is maintained stopped. May contain. Specifically, "when braking the drive unit is being performed" means that the control valve 60 is located between the first valve position and the second valve position, and the control valve 60 is located between the first valve position and the second valve position. It may also include the case where it is located at a certain position. However, this may be excluded when the operating speed of the drive unit is reduced, that is, when the control valve 60 is located between the first valve position and the second valve position.

"When a predetermined condition is met" may be, for example, when it is determined that the operator has an intention to continue the operation. For example, in a case where the travel hydraulic motor 2M is braked while the travel lever 26D is operated in the reverse direction, the controller 30 controls whether the operator wants to continue operating the travel lever 26D when the travel lever 26D is operated in the reverse direction again. It may be determined that the person has an intention. In this case, "re-operating" may mean operating the travel lever 26D in the reverse direction again after returning it to the neutral position, or operating the travel lever 26D in the forward direction again after exceeding the neutral position. The operation may be performed in the reverse direction, or the travel lever 26D may be operated in the direction of the neutral position and then operated in the reverse direction again.

In this case, the controller 30 may determine whether the operating device 26 has been operated again based on the output of the operating pressure sensor 29. Alternatively, the controller 30 may determine whether or not the operating device 26 has been operated again based on the output of a device other than the operating pressure sensor 29, such as an indoor imaging device that images the operator inside the cabin 10. good.

Alternatively, the controller 30 may determine that the operator intends to continue the operation when the operating device 26 related to the drive unit to be braked is operated in a predetermined operating method. For example, in a case where the turning hydraulic motor 2A is braked when the left operating lever 26L is operated in the right turning direction, the controller 30 controls the operator when the left operating lever 26L is operated back and forth twice to the left and right. It may be determined that the user intends to continue the operation. Specifically, when the left operating lever 26L is operated in the order of left turning direction, right turning direction, left turning direction, and right turning direction, it is assumed that the left operating lever 26L is operated in a predetermined operation method. , it may be determined that the operator has an intention to continue the operation.

Alternatively, the controller 30 determines whether the operator intends to continue the operation when the lever button LB provided on the operating device 26 related to the drive unit that is the target of braking is pressed and the operating device 26 is operated again. It may be determined that the For example, in a case where the boom cylinder 7 is braked while the right operating lever 26R is being operated in the boom lowering direction, the controller 30 may cause the right operating lever to be operated while the lever button LB provided on the right operating lever 26R is pressed. When the lever 26R is operated again in the boom lowering direction, it may be determined that the operator intends to continue the operation.

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

As shown in FIGS. 5A-5D, the hydraulic system includes a proportional valve 31. As shown in FIGS. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR. Further, FIGS. 5A to 5D show the case where the operating device 26 is an electric type.

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

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

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

The operating device 26 is provided with a switch SW. In this embodiment, the switch SW includes a switch SW1 and a switch SW2.

The switch SW1 is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch SW1. The switch SW1 may be provided on the right operating lever 26R, or may be provided at another position within the cabin 10.

The switch SW2 is a push button switch provided at the tip of the left travel lever 26DL. The operator can operate the left traveling lever 26DL while pressing the switch SW2. The switch SW2 may be provided on the right travel lever 26DR, or may be provided at another position within the cabin 10.

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

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

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

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

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

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

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

Further, although a description with reference to FIGS. 5B to 5D below will be omitted, when the operation of the boom 4 is forcibly stopped when the operator is performing a boom raising operation or a boom lowering operation, the operator Forcibly stopping the operation of the bucket 6 when a bucket closing operation or bucket opening operation is being performed, and forcibly stopping the rotating operation of the upper revolving structure 3 when a rotating operation is being performed by the operator. The same applies to the case of stopping. The same applies to the case where the traveling operation of the lower traveling body 1 is forcibly stopped when the operator is performing a traveling operation.

Further, as shown in FIG. 5B, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 175 in accordance with the operation in the front-rear direction. More specifically, when the right operating lever 26R is operated in the boom raising direction (rearward direction), the right operating lever 26R applies pilot pressure according to the operating amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Let it work. Further, when the right operation lever 26R is operated in the boom lowering direction (forward direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175R.

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

The proportional valve 31BL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates according to a control command (current command) output by the controller 30.

Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. The pilot pressure of the proportional valve 31BL can be adjusted so that the control valve 175L and the control valve 175R can be stopped at any valve position. Further, the proportional valve 31BR can adjust the pilot pressure so that the control valve 175R can be stopped at an arbitrary valve position.

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

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

Further, as shown in FIG. 5C, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 174 according to the operation in the left and right direction.

More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 174 in accordance with the amount of operation. Further, when the right operating lever 26R is operated in the bucket opening direction (rightward), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 174.

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

The proportional valve 31CL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates according to a control command (current command) output by the controller 30.

Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The pilot pressure of the proportional valve 31CL can be adjusted so that the control valve 174 can be stopped at an arbitrary valve position. Similarly, the pilot pressure of the proportional valve 31CR can be adjusted so that the control valve 174 can be stopped at an arbitrary valve position.

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

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

Further, as shown in FIG. 5D, the left operating lever 26L is also used to operate the turning mechanism 2. Specifically, the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 in accordance with the operation in the left and right direction.

More specifically, when the left operating lever 26L is operated in the left turning direction (leftward direction), the left operating lever 26L applies pilot pressure to the left pilot port of the control valve 173 in accordance with the operating amount. Further, when the left operating lever 26L is operated in the right turning direction (rightward direction), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 173.

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

The proportional valve 31DL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates according to a control command (current command) output by the controller 30.

Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The pilot pressure of the proportional valve 31DL can be adjusted so that the control valve 173 can be stopped at an arbitrary valve position. Similarly, the pilot pressure of the proportional valve 31DR can be adjusted so that the control valve 173 can be stopped at an arbitrary valve position.

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

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

Next, the functions of the controller 30 will be explained with reference to FIG. FIG. 6 is a functional block diagram of the controller.

In the example of FIG. 6, the controller 30 receives signals output from at least one of the attitude detection device, the operating device 26, the object detection device 70, the imaging device 80, the switch NS, etc., executes various calculations, and controls the proportional valve 31. , the display device DS, the audio output device D2, and the like, the control command can be outputted to at least one of the display device DS, the audio output device D2, and the like. The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a turning angular velocity sensor S5.

The controller 30 has a position calculation section 30A, a trajectory acquisition section 30B, an autonomous control section 30C, a calibration section 30D, a control accuracy calculation section 30E, and a display control section 30F as functional elements. Each functional element may be configured with hardware or software.

The position calculation unit 30A is configured to calculate the position of the positioning target. In this embodiment, the position calculation unit 30A calculates the coordinate point of a predetermined portion of the attachment in the reference coordinate system. The predetermined portion is, for example, the toe of the bucket 6. The origin of the reference coordinate system is, for example, the intersection of the rotation axis and the ground contact surface of the shovel 100.

The position calculation unit 30A calculates, for example, the coordinate point of the toe of the bucket 6 from the rotation angles of the boom 4, the arm 5, and the bucket 6. The position calculation unit 30A may calculate not only the coordinate point at the center of the toe of the bucket 6, but also the coordinate point at the left end of the toe of the bucket 6, and the coordinate point at the right end of the toe of the bucket 6. In this case, the position calculation unit 30A may utilize the output of the body tilt sensor S4.

The trajectory acquisition unit 30B acquires a target trajectory that is a trajectory followed by a predetermined portion of the attachment when the excavator 100 is operated autonomously. In this embodiment, the trajectory acquisition unit 30B acquires a target trajectory that the autonomous control unit 30C uses when operating the excavator 100 autonomously.

The trajectory acquisition unit 30B may derive the target trajectory based on the current position of the predetermined portion of the attachment and information regarding the target construction surface. It is preferable that the target trajectory used in the calibration mode, which will be described later, be formed in a straight line in order to make it easier to evaluate the suitability of the settings of the shovel 100.

The autonomous control unit 30C causes the excavator 100 to operate autonomously. In this embodiment, when a predetermined starting condition is met, a predetermined portion of the attachment is moved along the target trajectory acquired by the trajectory acquisition unit 30B. Specifically, when the operating device 26 is operated while the switch NS is pressed, the excavator 100 is operated autonomously so that a predetermined portion moves along the target trajectory.

In this embodiment, the autonomous control unit 30C supports the manual operation of the shovel by the operator by autonomously operating the actuator. For example, when the operator manually closes the arm while pressing the switch NS, the autonomous control unit 30C controls the boom cylinder 7, the arm cylinder 8, and the At least one of the bucket cylinders 9 may be expanded and contracted autonomously.

In this case, the operator can close the arm 5 while aligning the toe of the bucket 6 with the target trajectory, for example, simply by operating the left operating lever 26L in the arm closing direction. In this example, the arm cylinder 8 that is the main operation target is called a "main actuator." Furthermore, the boom cylinder 7 and the bucket cylinder 9, which are subordinate operation targets that move in accordance with the movement of the main actuator, are referred to as "subordinate actuators."

In this embodiment, the autonomous control unit 30C can autonomously operate each actuator by giving a current command to the proportional valve 31 and individually adjusting the pilot pressure acting on the control valve corresponding to each actuator. . For example, at least one of the boom cylinder 7 and the bucket cylinder 9 can be operated regardless of whether the right operation lever 26R is tilted.

The calibration unit 30D supports calibration of components related to execution of autonomous control. In this embodiment, the calibration unit 30D is configured to display on the display device DS the transition of the position of the predetermined part of the attachment when the autonomous control unit 30C moves the predetermined part of the attachment along the target trajectory. This is to enable the operator who performs the calibration (hereinafter referred to as the "calibrator") to recognize the magnitude of the deviation between the actual movement trajectory of the predetermined part and the target trajectory.

For example, the calibrator can cause the calibration section 30D to start calibration by pressing a calibration start button provided on the switch panel DS2. The proofreader is, for example, an operator who operates the shovel 100. When the calibration start button is pressed, the calibration unit 30D causes the display device DS to display a calibration screen including information regarding the target trajectory acquired by the trajectory acquisition unit 30B.

The calibration unit 30D may allow the calibrator to select one target trajectory from a plurality of target trajectories. In this case, the target trajectory includes, for example, at least one of a calibration target trajectory for leveling work, a calibration target trajectory for slope work, a calibration target trajectory for deep digging work, and the like. The calibration unit 30D may display a screen for selecting a target trajectory on the display device DS. The calibrator can select a desired target trajectory, for example, by selecting one of the icons corresponding to each of the plurality of target trajectories displayed on the display device DS.

For example, with the calibration screen displayed, the calibrator operates the operating device 26 while pressing the switch NS to execute autonomous control. For example, when a target trajectory for calibration related to leveling work is selected, the calibrator moves the toe of the bucket 6 along the target trajectory by pressing the switch NS and operating the left operating lever 26L in the arm closing direction. It can be moved by Calibration for leveling operations is typically performed by operating the drilling attachment in air. However, this may be carried out with the toe of the bucket 6 actually in contact with the material to be excavated, such as earth and sand.

The position calculation unit 30A repeatedly calculates the coordinate point of the toe of the bucket 6 at a predetermined control cycle. The calibration unit 30D displays the transition of the coordinate point of the toe of the bucket 6 as a movement trajectory together with the target trajectory on the calibration screen.

The control accuracy calculation unit 30E acquires posture information indicating the posture of the excavator 100 with respect to the target construction surface based on position information indicating the current position of a predetermined portion of the attachment and information regarding the target construction surface.

Specifically, the control accuracy calculation unit 30E identifies the position of the shovel 100 on the target construction surface and the posture of the shovel 100 based on position information indicating the current position of a predetermined part of the attachment and the output of the posture sensor. do.

Then, the control accuracy calculation unit 30E calculates an index value related to the accuracy of control of the shovel 100 from the posture information of the shovel 100 and the information regarding the target construction surface. In the following description, an index value related to control accuracy may be expressed as a control accuracy index value. Details of the control accuracy index value of this embodiment will be described later.

Furthermore, the control accuracy calculation unit 30E of the present embodiment identifies an area on the target construction surface that requires careful operation, according to the calculated control accuracy index value. Specifically, the control accuracy calculation unit 30E may specify, for example, an area where the control accuracy index value is lower than a predetermined value as an area where careful operation is required. In the following description, an area that requires careful operation may be expressed as a caution area.

The display control unit 30F causes the display device DS to display information indicating the caution area specified by the control accuracy calculation unit 30E and the control accuracy index value associated with the area on the target construction surface. Note that the display control unit 30F may display this information on a display device other than the display device DS included in the excavator 100.

Specifically, the display control unit 30F displays information indicating caution areas, control accuracy index values associated with areas on the target construction surface, etc., on a display device of a management device that manages the excavator 100, or on a display device of a management device that manages the excavator 100. It may be displayed on a display device of a support device that supports the operation of 100.

Next, with reference to FIG. 7, the control accuracy index value of this embodiment will be explained. FIG. 7 is a diagram illustrating index values of control accuracy.

In this embodiment, the velocity ratio or angular velocity ratio of a plurality of attachments is used as an index value of control accuracy. The speed ratio of the plurality of attachments is, for example, the operating speed of the boom 4 or the operating speed of the bucket 6 required to follow the target construction surface with respect to the operating speed of the arm 5, and the operating speed of the boom cylinder 7. The value may be the speed of the arm cylinder 8/the speed of the arm cylinder 8, the speed of the bucket cylinder 9/the speed of the arm cylinder 8, or the like.

Further, the angular velocity ratio of the plurality of attachments is similar to the speed ratio, and may be a value such as angular velocity of boom cylinder 7/angular velocity of arm cylinder 8, angular velocity of bucket cylinder 9/angular velocity of arm cylinder 8, etc.

In this embodiment, the larger the index value of control accuracy is, the lower the accuracy of control is, and the smaller the index value of control accuracy is, the more accurate control is.

In FIG. 7, the angular velocity of the boom cylinder 7/the angular velocity of the arm cylinder 8 is used as the control accuracy index value, the target construction surface is the horizontal plane, and the attitude of the control accuracy index value is associated with the control accuracy index value. It shows.

A schematic diagram 71 shown in FIG. 7 schematically shows changes in the attitude of the excavator 100, where the vertical axis shows the distance (height) in the Z-axis direction shown in FIG. 1, and the horizontal axis shows the distance (height) in the Z-axis direction shown in FIG. Indicates distance in direction. In a graph 72 shown in FIG. 7, the vertical axis shows the angular velocity of the boom cylinder 7/angular velocity of the arm cylinder 8, and the horizontal axis shows the distance in the X-axis direction shown in FIG.

In the schematic diagram 71, a point 73 indicates the position of the boom foot pin of the excavator 100, a point 74 indicates the position of the boom top of the excavator 100, a point 75 indicates the position of the arm top pin, and a point 76 indicates the position of the boom foot pin of the excavator 100. indicates the position of the tip of the toe. Moreover, in the schematic diagram 71, a straight line 77 indicates the target construction surface.

A graph 72 in FIG. 7 shows a change in the angular velocity of the boom cylinder 7/angular velocity of the arm cylinder 8 when the attitude of the excavator 100 changes as shown in the schematic diagram 71.

In the graph 72, in a posture where the distance from the boom foot pin to the tip of the toe of the bucket 6 is X1 [m], the control accuracy index value becomes zero, and the control accuracy becomes the highest.

In addition, in graph 72, the farther the distance from the boom foot pin to the tip of the toe of bucket 6 is than X1, or the closer the distance is than X1, the larger the control accuracy index value becomes, and the control accuracy decreases. do.

In this embodiment, in this way, information that associates the attitude of the shovel 100 with the index value of the control accuracy of the shovel 100 is prepared in advance. In this embodiment, an index value of control accuracy by operation is calculated according to the attitude of the excavator 100, and the operator is made to understand the control accuracy. Note that the controller 30 of this embodiment may previously hold a table or the like that associates the control accuracy index value with attitude information indicating the attitude of the shovel 100.

Furthermore, in the present embodiment, a caution area on the target construction surface is identified and notified to the operator based on an index value of control accuracy according to the attitude of the excavator 100.

In the example of FIG. 7, the control accuracy decreases as the distance from the boom foot pin to the tip of the toe of the bucket 6 becomes longer than X1 or as the distance becomes shorter than X1.

Therefore, in this embodiment, for example, the area 77a on the straight line (target construction surface) 77 may be specified as a caution area where careful operation is required.

In addition, in the example mentioned above, although the speed ratio or angular velocity ratio of several attachments was used as the index value of control accuracy, it is not limited to this.

In this embodiment, the control accuracy index value may be a value based on the natural frequency of each cylinder. The natural frequencies of the boom cylinder 7, arm cylinder 8, and bucket cylinder 9 vary depending on the attitude of the attachment, the volume inside the hydraulic cylinder, and the like.

In this embodiment, focusing on this point, for example, the index value of control accuracy may be determined such that the control accuracy becomes higher when the natural frequency is high.

In addition, in the control system of the excavator 100, if the control accuracy decreases at a certain frequency, the degree of control decreases as the natural frequency approaches a certain frequency. An index value may be determined.

Next, with reference to FIG. 8, the processing of the controller 30 of the excavator 100 of this embodiment will be described. FIG. 8 is a flowchart illustrating the processing of the controller.

The controller 30 of this embodiment acquires information regarding the target construction surface using the control accuracy calculation unit 30E (step S801). Subsequently, the controller 30 acquires position information indicating the current position of the excavator 100 using the control accuracy calculation unit 30E (step S802).

Subsequently, the control accuracy calculation unit 30E uses the information regarding the target construction surface and the position information to calculate posture information indicating the posture of the excavator 100 with respect to the target construction surface (step S803).

Next, the control accuracy calculation unit 30E calculates an index value of control accuracy for the target construction surface based on the attitude information of the excavator 100 and information that associates the attitude of the excavator 100 with the index value of control accuracy ( Step S804).

Next, the control accuracy calculation unit 30E identifies a caution area on the target construction surface based on the calculated control accuracy index value, and causes the display control unit 30F to display information indicating the caution area on the display device DS ( Step S805).

Specifically, the control accuracy calculation unit 30E may specify, as a caution area, an area in which the calculated control accuracy index value is equal to or greater than a predetermined threshold value on the target construction surface.

A display example of this embodiment will be described below with reference to FIG. 9. FIG. 9 is a first diagram showing a display example.

FIG. 9 shows an example of an output image displayed in the guidance mode. The guidance mode is an operating mode selected when performing a machine guidance function or a machine control function. In this embodiment, the process starts when a guidance mode button (not shown) is pressed. The guidance mode is selected, for example, when performing slope shaping with the excavator 100. In the example of FIG. 9, the target construction surface has already been set.

As shown in FIG. 9, the output image Gx displayed on the image display section DS1 of the display device DS includes a time display section 411, a rotation speed mode display section 412, a running mode display section 413, an engine control state display section 415, It has a urea water remaining amount display section 416, a fuel remaining amount display section 417, a cooling water temperature display section 418, an engine operating time display section 419, a camera image display section 420, and a work guidance display section 430. The rotation speed mode display section 412, the driving mode display section 413, and the engine control state display section 415 are display sections that display information regarding the setting state of the excavator 100.

The urea water remaining amount display section 416, the fuel remaining amount display section 417, the cooling water temperature display section 418, and the engine operating time display section 419 are display sections that display information regarding the operating state of the excavator 100. The images displayed on each part are generated by the control unit DSa of the display device DS using various data transmitted from the controller 30 or the machine guidance device and camera images transmitted from the imaging device 80.

Time display section 411 displays the current time. In the example of FIG. 9, a digital display is used, and the current time (10:05) is shown.

The rotation speed mode display section 412 displays an image of the rotation speed mode set by the engine rotation speed adjustment dial 79 as operation information of the excavator 100. The rotation speed modes include, for example, the above-mentioned SP mode, H mode, A mode, and idling mode. In the example of FIG. 9, a symbol "SP" representing SP mode is displayed.

The running mode display section 413 displays the running mode as operating information of the excavator 100. The travel mode represents a setting state of a travel hydraulic motor using a variable displacement motor. For example, the driving mode has a low speed mode and a high speed mode, and in the low speed mode, a mark shaped like a "turtle" is displayed, and in the high speed mode, a mark shaped like a "rabbit" is displayed. In the example of FIG. 4, a mark shaped like a "turtle" is displayed, and the operator can recognize that the low speed mode is set.

Engine control state display section 415 displays the control state of engine 11 as operating information of excavator 100. In the example of FIG. 9, "automatic deceleration/automatic stop mode" is selected as the control state of the engine 11. "Automatic deceleration/automatic stop mode" means a control state in which the engine speed is automatically reduced and further the engine 11 is automatically stopped depending on the duration of the non-operating state. Other control states of the engine 11 include "automatic deceleration mode," "automatic stop mode," "manual deceleration mode," and the like.

The urea water remaining amount display section 416 displays an image of the remaining amount of urea water stored in the urea water tank as operation information of the shovel 100. In the example of FIG. 9, a bar gauge indicating the current remaining amount of urea water is displayed. The remaining amount of urea water is displayed based on data output from a urea water remaining amount sensor provided in the urea water tank.

The remaining fuel amount display section 417 displays the remaining amount of fuel stored in the fuel tank as operation information. In the example of FIG. 9, a bar gauge indicating the current remaining amount of fuel is displayed. The remaining amount of fuel is displayed based on data output from a remaining fuel amount sensor provided in the fuel tank.

The cooling water temperature display section 418 displays the temperature state of the engine cooling water as operating information of the excavator 100. In the example of FIG. 9, a bar gauge indicating the temperature state of the engine coolant is displayed. The temperature of the engine coolant is displayed based on data output from a water temperature sensor 11c provided in the engine 11.

The engine operating time display section 419 displays the cumulative operating time of the engine 11 as operating information of the shovel 100. In the example of FIG. 9, the cumulative operating time since the count was restarted by the driver is displayed together with the unit "hr (hour)". The engine operating time display section 419 displays the lifetime operating time for the entire period after the shovel was manufactured or the section operating time after the count is restarted by the operator.

Camera image display section 420 displays images captured by imaging device 80. In the example of FIG. 9, an image taken by a rear camera 80B attached to the rear end of the upper surface of the upper revolving body 3 is displayed on the camera image display section 420. The camera image display section 420 may display a camera image captured by the left camera 80L attached to the left end of the upper surface of the upper revolving body 3 or the right camera 80R attached to the right end of the upper surface. Further, the camera image display section 420 may display images taken by a plurality of cameras among the left camera 80L, right camera 80R, and rear camera 80B so as to be lined up. Further, the camera image display section 420 may display a composite image of a plurality of camera images captured by at least two of the left camera 80L, right camera 80R, and rear camera 80B. The composite image may be, for example, an overhead image.

Each camera is installed so that a part of the upper rotating body 3 is included in the camera image. By including a part of the upper revolving body 3 in the displayed image, the operator can easily grasp the sense of distance between the shovel 100 and the object displayed on the camera image display section 420.

The camera image display section 420 displays a camera icon 421 representing the orientation of the imaging device 80 that captured the camera image being displayed. The camera icon 421 is composed of a shovel icon 421a representing the shape of the shovel 100, and a band-shaped direction display icon 421b representing the direction of the imaging device 80 that captured the camera image being displayed. The camera icon 421 is a display section that displays information regarding the setting state of the excavator 100.

In the example of FIG. 9, a direction display icon 421b is displayed below the shovel icon 421a (on the opposite side of the attachment). This indicates that the image of the rear of the shovel 100 taken by the rear camera 80B is displayed on the camera image display section 420. For example, when an image taken by the right camera 80R is displayed on the camera image display section 420, a direction display icon 421b is displayed on the right side of the shovel icon 421a. Further, for example, when an image taken by the left camera 80L is displayed on the camera image display section 420, a direction display icon 421b is displayed to the left of the shovel icon 421a.

For example, the operator can switch the image displayed on the camera image display section 420 to an image captured by another camera by pressing an image changeover switch provided in the cabin 10.

If the excavator 100 is not provided with the imaging device 80, different information may be displayed instead of the camera image display section 420.

Work guidance display section 430 displays guidance information for various tasks. FIG. 10A is a second diagram showing a display example, FIG. 10B is a third diagram showing a display example, and FIG. 10C is a fourth diagram showing a display example.

In the example of FIG. 10A, the work guidance display unit 430 includes a position display image 431, a first target construction surface display image 432, and a second target construction surface display image 433, which display toe guidance information that is an example of work part guidance information. , a bucket left end information image 434, a bucket right end information image 435, a side view numerical information image 436, a front view numerical information image 437, an attachment image 438, a distance format image 439, and a target setting image 440.

The position display image 431 shows a change in the relative distance from the working part (tip) of the bucket 6 to the target construction surface due to a change in the display position of the working part (tip) of the bucket 6 with respect to the display position of the target construction surface. , is an example of the first image expressed by changing the display location. In the example of FIG. 10A, the position display image 431 is a bar gauge in which a plurality of figures (segments) are arranged vertically. The position display image 431 includes a target segment G1 and a plurality of segments G2.

The target segment G1 is a figure representing the position of the target construction surface. In this embodiment, it is a figure (straight line) indicating that the relative distance from the work site (tip) of the bucket 6 to the target construction surface is within a predetermined range.

The predetermined range is a range preset as an appropriate relative distance range. The fact that the relative distance is within the predetermined range means that the working part of the bucket 6 is in an appropriate position. The target segment G1 is placed at the same height as the second image. The second image represents a change in the distance between the work area of the attachment and the target construction surface by changing the display format at the same location. The display format at the same location includes, for example, an icon, a background color, and a numerical value.

The change in the display format of the second image is a change in at least one of the icon shape, color, and numerical value. In this embodiment, the second image is a combination of the bucket left end information image 434 and the bucket right end information image 435. The target segment G1 is arranged at the same height as each of the bucket left end information image 434 and the bucket right end information image 435. For example, the target segment G1, the bucket left end information image 434, and the bucket right end information image 435 are arranged so that their center heights in the vertical direction match.

The segments G2 are figures each corresponding to a predetermined relative distance. The segment G2 with a smaller corresponding relative distance is placed closer to the target segment G1, and the segment G2 with a larger corresponding relative distance is placed farther from the target segment G1. Each segment G2 indicates the direction of movement of the bucket 6, as well as the relative distance. The moving direction of the bucket 6 is a direction that brings the work area of the bucket 6 closer to the target construction surface. In this embodiment, the segment G2D represents that moving the bucket 6 downward will bring it closer to the target construction surface, and the segment G2U represents that moving the bucket 6 upwards will bring it closer to the target construction surface.

The position display image 431 displays a segment G2 corresponding to the actual relative distance from the work site (tip) of the bucket 6 to the target construction surface in a predetermined color different from the other segments G2. A segment G2 displayed in a different color from other segments G2 is referred to as a segment G2A. The position display image 431 indicates the relative distance and movement direction by displaying the segment G2A in a predetermined color.

The greater the relative distance from the work site (tip) of the bucket 6 to the target construction surface, the farther the segment G2 from the target segment G1 is displayed as the segment G2A in a predetermined color. Furthermore, the smaller the relative distance from the work site (tip) of the bucket 6 to the target construction surface, the closer the segment G2 to the target segment G1 is displayed in a predetermined color as the segment G2A. In this way, the segment G2A is displayed so that its position changes in the vertical direction according to changes in relative distance.

Segment G2A is displayed in the first color if the relative distance is greater than the maximum value of the predetermined range. The first color is, for example, an inconspicuous color such as white or yellow. This is because if the relative distance is greater than the maximum value of the predetermined range, there is little need to alert the operator. Furthermore, the segment G2A is displayed in the second color when the relative distance is within a predetermined range. The second color is a conspicuous color such as green.

This is to clearly inform the operator that the bucket 6 is in an appropriate position. Further, the segment G2A is displayed in the third color when the relative distance is smaller than the minimum value of the predetermined range. The third color is a conspicuous color such as red. This is to alert the operator to the possibility that the target construction surface may be further scraped by the work area of the bucket 6.

Further, the position display image 431 displays the target segment G1 in a predetermined color different from other segments when the actual relative distance of the bucket 6 is within a predetermined range. That is, the position display image 431 indicates that the relative distance is within a predetermined range by displaying the target segment G1 in a predetermined color. Preferably, the target segment G1 is displayed in the second color mentioned above. This is to clearly inform the operator that the bucket 6 is in an appropriate position.

Note that while segment G2A and target segment G1 are displayed in a predetermined color, other segments G2 may be displayed in an inconspicuous color (such as a color that is the same as or similar to the background color) or may not be displayed at all. You don't have to.

The first target construction surface display image 432 schematically displays the relationship between the bucket 6 and the target construction surface. In the first target construction surface display image 432, the bucket 6 and the target construction surface when viewed from the side are schematically displayed using a bucket icon G3 as a first figure and a target construction surface image G4. The bucket icon G3 is a figure representing the left side of the bucket 6. However, the bucket icon G3 may be a figure representing the right side of the bucket 6, or may be represented in the shape of the bucket 6 viewed from the side.

The target construction surface image G4 is a figure representing the ground as the target construction surface, and is expressed in a shape when the ground as the target construction surface is viewed from the side. The target construction surface image G4 is an angle (target slope angle θ, hereinafter referred to as "vertical slope angle") formed between a line segment representing the target construction surface on a vertical plane that traverses the bucket 6 and a horizontal line. ) may also be displayed.

The vertical distance between the bucket icon G3 and the target construction surface image G4 is displayed to change according to the change in the distance between the actual tip of the bucket 6 and the target construction surface. Similarly, the relative inclination angle between the bucket icon G3 and the target construction surface image G4 is displayed to change according to the change in the relative inclination angle between the actual bucket 6 and the target construction surface.

In this embodiment, the display height and display angle of the target construction surface image G4 change while the bucket icon G3 is fixed. However, the display height and display angle of the bucket icon G3 may be configured to change while the target construction surface image G4 is fixed, and the respective display heights of the bucket icon G3 and the target construction surface image G4 may be changed. Also, the display angle may be changed.

The first target construction surface display image 432 schematically displays the actual movement of the bucket 6. In the first target construction surface display image 432, the back and forth movement of the bucket 6 when viewed from the side is schematically displayed in the relative position of the bucket icon G3 and the animation icon G21 as the second figure. Ru. The animation icon G21 is set at a predetermined position with respect to the target construction surface image G4. The position of the animation icon G21 is configured to change according to the actual movement of the bucket 6 in the front-back direction (eg, moving distance, moving speed).

In the example of FIG. 10A, the animation icon G21 is displayed below the target construction surface image G4, and is a figure represented by two dots (points) of the same size. In this embodiment, when the bucket 6 moves in a direction approaching the operator (backward direction), the animation icon G21 moves in the forward direction, which is the opposite direction to the moving direction of the bucket 6, for example, along the target construction surface image G4. It is configured to move to the lower left. As a result, the relative position of the bucket icon G3 with respect to the animation icon G21 moves backward.

Therefore, the operator can easily recognize that the bucket 6 is moving toward the operator (backwards). Furthermore, when the bucket 6 moves in a direction away from the operator (forward direction), the animation icon G21 moves backward, which is the opposite direction to the moving direction of the bucket 6, for example, toward the upper right along the target construction surface image G4. Moving.

As a result, the relative position of the bucket icon G3 with respect to the animation icon G21 moves forward. Therefore, the operator can easily recognize that the bucket 6 is moving away from the operator (forward).

Furthermore, since the animation icon G21 is set at a predetermined position with respect to the target construction surface image G4, the relative relationship between the bucket icon G3 and the animation icon G21 is determined by the arbitrary position between the bucket 6 and the actual ground. The relationship is equal to the relative relationship with the point. Therefore, when the bucket 6 moves quickly, the animation icon G21 on the screen also moves quickly. In addition, as the bucket 6 moves, the animation icon G21 moves to the edge of the screen (for example, the left edge) and when it disappears from the screen, the next animation icon G21 appears at the opposite edge of the screen (for example, the right edge). appear. However, the next animation icon G21 may appear at any timing, for example, before the animation icon G21 disappears from the screen.

Furthermore, in this embodiment, a caution area image 450 indicating a caution area specified based on the attitude of the excavator 100 and the control accuracy index value is displayed on the first target construction surface display image 432. In the example of FIG. 10A, by displaying the caution area image 450 in association with the target construction surface image G4, it is possible to make the operator understand that the accuracy of control decreases as the bucket 6 moves away from the operator. . Therefore, the caution area image 450 of this embodiment can be said to be information indicating an index value of control accuracy of the excavator 100.

FIG. 10B is a diagram showing another example of the work guidance display section 430. The work guidance display section 430 shown in FIG. 10B has display areas 451 and 452.

In the display area 451, a bucket icon G3, a target construction surface image G4, and a caution area image 450a are displayed.

The display area 452 displays a graph showing changes in the control accuracy index value depending on the attitude of the excavator 100, which is obtained from a table or the like that associates the control accuracy index value with attitude information indicating the attitude of the excavator 100. Ru. Further, the display area 452 may display a graph showing changes in the control accuracy index value according to the attitude of the shovel 100 for each speed of the arm 5 of the shovel 100.

In FIG. 10B, the horizontal axis indicates the distance from the boom foot pin of the excavator 100 to the tip of the toe of the bucket 6, and the vertical axis indicates the index value of control accuracy. Further, in FIG. 10B, the speed of the arm 5 is set to three speeds, and changes in the control accuracy index value are shown for each speed. In the following description, the three speeds of the arm 5 will be expressed as high speed, medium speed, and low speed.

Further, a graph 454 shown in FIG. 10B shows a change in the control accuracy index value when the speed of the arm 5 is set to a low speed, and a graph 455 shows a change in the control accuracy index value when the speed of the arm 5 is set to a medium speed. A graph 456 shows a change in the control accuracy index value when the speed of the arm 5 is increased.

In the examples of FIGS. 10B and 10C, the control accuracy index value is set to a value such that the larger the value, the higher the control accuracy. In other words, in the examples of FIGS. 10B and 10C, the larger the control accuracy index value, the higher the control accuracy.

From the graphs 454, 455, and 456 in the display area 452, it can be seen that when the speed of arm 5 is low, the overall control accuracy index value is larger, and when the speed of arm 5 is high, the overall control accuracy index value is larger. The control accuracy index value becomes smaller.

Therefore, the operator can understand that the control accuracy is higher when the speed of the arm 5 is low, and the control accuracy is lower when the speed of the arm 5 is high.

Furthermore, in the example of FIG. 10B, it is assumed that an allowable error range α1 between the target construction surface and the position of the tip of the toe of the bucket 6 has been set in the controller 30.

In this case, the control accuracy calculation unit 30E may set a target value of the index value of control accuracy necessary to make the error range α1.

In the example of FIG. 10B, a target value 453 of the control accuracy index value is set. In this case, the controller 30 specifies an area where the control accuracy index value may be less than the target value 453 as a caution area.

In the example of FIG. 10B, a caution area image 450a is displayed that indicates a caution area where the control accuracy index value may be less than the target value 453 on the target construction surface.

In the example of FIG. 10B, only the graph 456 is less than the target value 453 in the caution area indicated by the caution area image 450a. Therefore, in the caution area shown by the caution area image 450a, the control accuracy index value can be maintained at the target value 453 or higher by operating the arm 5 at a medium or low speed.

The controller 30 of this embodiment may cause the display control unit 30F to display a message indicating this on the display device DS. Specifically, the display control unit 30F may display a message such as "Please set the speed of the arm to medium speed or low speed only in the caution area".

In the example of FIG. 10C, it is assumed that an allowable error range α2 between the target construction surface and the position of the tip of the toe of the bucket 6 is set in the controller 30. Further, it is assumed that the error range α2 is narrower than the error range α1.

In this case, the control accuracy calculation unit 30E may set the target value 453a of the index value of control accuracy necessary to make the error range α2.

In this case, a target value 453 of the control accuracy index value is set. The area where the control accuracy index value may be less than the target value 453a is the area indicated by the caution area images 450a and 450b.

Furthermore, in the example of FIG. 10C, a message is displayed on the display device DS indicating that it is always recommended to keep the speed of the arm 5 low even in areas other than the areas indicated by the caution area images 450a and 450b. It's okay.

Note that in this embodiment, the information indicating the recommended operation in the caution area may be displayed on the display device DS, or may be output as audio data, and the information indicating the recommended operation in the caution area may be notified to the operator. I wish I could.

Moreover, the shovel 100 of this embodiment may be configured to be remotely controlled by an operator of an external device (for example, a support device, a management device, a remote control room). In this case, the display form of the embodiment described above is displayed on a display device provided in an external device for remotely controlling the shovel 100.

In this case, the excavator 100 transmits, for example, image information (captured image) output by the imaging device 80 as a space recognition device to the external device. Further, various information images (for example, various setting screens, etc.) displayed on the display device DS of the excavator 100 may be similarly displayed on a display device provided in an external device.

Thereby, the operator can remotely operate the excavator 100 while checking the content displayed on a display device provided in an external device, for example. Then, the excavator 100 operates the actuator in response to a remote control signal representing the content of the remote control received from an external device, and operates the lower traveling structure 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6. etc. may be driven.

When the excavator 100 is remotely controlled, the interior of the cabin 10 may be unmanned.

In this embodiment, the caution area on the target construction surface can be displayed on the display device provided in the external device for remotely controlling the excavator 100, so that the operator performing remote control, the support device, The user of the management device can be made aware of the accuracy of control of the excavator 100.

Although the embodiments for carrying out the present invention have been described above, the above content does not limit the content of the invention, and various modifications and improvements can be made within the scope of the present invention.

1 Lower traveling body 2 Swivel mechanism 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 26 Operating device 30 Controller 30A Position calculation unit 30B Trajectory acquisition unit 30C Autonomous control unit 30D Calibration unit 30E Control accuracy calculation Section 30F Display control section 100 Excavator

Claims (6)

a control unit that calculates an index value indicating accuracy of control of the shovel based on information regarding a target construction surface of the shovel and posture information of the shovel acquired from the shovel;
A display device for an excavator, comprising: a display control unit that causes the display device to display information indicating an index value indicating accuracy of control of the excavator. The shovel is
an undercarriage body, an upper revolving body rotatably mounted on the undercarriage body, and a plurality of attachments including a boom, an arm, and a bucket attached to the upper revolving body;
The index value indicating the accuracy of control of the excavator is:
The display device for an excavator according to claim 1, wherein the value is a value using a speed ratio or an angular velocity ratio of the plurality of attachments. The shovel is
an undercarriage body, an upper revolving body rotatably mounted on the undercarriage body, a plurality of attachments including a boom, an arm, and a bucket attached to the upper revolving body; and the plurality of attachments. It has multiple actuators to drive,
The index value indicating the accuracy of control of the excavator is:
The display device for an excavator according to claim 1, wherein the value is a value using natural frequencies of the plurality of actuators. The display control section includes:
The display device for an excavator according to any one of claims 1 to 3, wherein an index value indicating accuracy of the control is displayed on the display device in association with the target construction surface. The control unit includes:
identifying a caution area that requires careful operation on the target construction surface based on the target construction surface and an index value indicating accuracy of the control;
The display control section includes:
5. The excavator display device according to claim 4, wherein the display device displays information associating the target construction surface with the caution area. The control unit includes:
The display device for an excavator according to claim 5, which outputs information regarding recommended operations in the caution area.

Images