JP2024094059A - Excavator - Google Patents

Abstract

To provide a technology capable of improving the work efficiency of a shovel.
[Solution] A shovel 100 according to one embodiment of the present disclosure comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be freely rotatable, an attachment AT attached to the upper rotating body 3, and an attachment AT attached to the upper rotating body 3, and the lower running body 1 and the attachment AT are linked by operating the attachment AT in accordance with the operation of the lower running body 1, or by operating the lower running body 1 in accordance with the operation of the attachment AT.
[Selected figure] Figure 5

Description

This disclosure relates to a shovel.

For example, a shovel is known that performs work by operating an attachment (see Patent Document 1).

International Publication No. 2020/101005

However, for example, if the lower running body is operated by mistake while working with the attachment, the attachment may not be able to operate properly on the ground surface being worked on. Also, for example, when working with only the attachment, if the working area is large, after completing work in one area, it will be necessary to move to other incomplete areas and repeat the act of working there. Therefore, there is room for improvement in terms of work efficiency.

Therefore, in consideration of the above problems, the objective is to provide technology that can improve the work efficiency of excavators.

In order to achieve the above object, in one embodiment of the present disclosure,
A lower running body;
An upper rotating body rotatably mounted on the lower traveling body;
An attachment attached to the upper rotating body,
The lower traveling body and the attachment are interlocked.
Shovel provided.

According to the above-mentioned embodiment, the work efficiency of the shovel can be improved.

FIG. 2 is a side view showing an example of a shovel. FIG. 2 is a top view showing an example of a shovel. FIG. 2 is a diagram illustrating an example of a configuration for remote control of a shovel. FIG. 2 is a diagram illustrating an example of a hardware configuration of a shovel. FIG. 2 is a diagram illustrating a first example of a functional configuration related to driving a driven element of a shovel. FIG. 13 is a diagram showing a second example of a functional configuration related to driving a driven element of a shovel. FIG. 13 is a diagram showing a third example of a functional configuration related to driving a driven element of a shovel. FIG. 1 is a diagram illustrating a first example of the operation of a shovel. FIG. 1 is a diagram illustrating a first example of the operation of a shovel. FIG. 11 is a diagram illustrating a second example of the operation of the shovel. FIG. 11 is a diagram illustrating a second example of the operation of the shovel. FIG. 11 is a diagram illustrating a third example of the operation of the shovel. FIG. 11 is a diagram illustrating a third example of the operation of the shovel.

The following describes the embodiment with reference to the drawings.

[Outline of the excavator]
An overview of a shovel 100 according to this embodiment will be described with reference to FIGS. 1 to 3.

Figure 1 is a side view showing an example of a shovel 100. Figure 2 is a top view showing an example of a shovel 100. Figure 3 is a diagram showing an example of a configuration related to remote operation of the shovel 100. Hereinafter, the direction in which the attachment AT extends when viewed from above the shovel 100 (the upward direction in Figure 2) will be defined as "front," and directions on the shovel 100 or directions seen from the shovel 100 may be described.

As shown in Figures 1 and 2, the excavator 100 includes a lower traveling body 1, an upper rotating body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10.

The lower traveling body 1 uses crawlers 1C to travel the excavator 100. The crawlers 1C include a left crawler 1CL and a right crawler 1CR. The crawler 1CL is hydraulically driven by a traveling hydraulic motor 1ML. Similarly, the crawler 1CL is hydraulically driven by a traveling hydraulic motor 1MR. This allows the lower traveling body 1 to travel on its own.

The upper rotating body 3 is mounted on the lower traveling body 1 so as to be rotatable (freely rotatable) via the rotating mechanism 2. For example, the upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is hydraulically driven by a rotating hydraulic motor 2M.

The boom 4 is attached to the front center of the upper rotating body 3 so that it can be raised and lowered around a rotation axis that runs along the left-right direction. The arm 5 is attached to the tip of the boom 4 so that it can rotate around a rotation axis that runs along the left-right direction. The bucket 6 is attached to the tip of the arm 5 so that it can rotate around a rotation axis that runs along the left-right direction.

The bucket 6 is an example of an end attachment and is used, for example, for excavation work, slope work, and ground leveling work.

The bucket 6 is attached to the tip of the arm 5 in a manner that allows it to be appropriately replaced depending on the work content of the excavator 100. In other words, instead of the bucket 6, a bucket of a different type from the bucket 6, such as a relatively large bucket, a bucket for slopes, or a dredging bucket, may be attached to the tip of the arm 5. In addition, an end attachment of a type other than a bucket, such as an agitator, breaker, or crusher, may be attached to the tip of the arm 5. In addition, a spare attachment such as a quick coupling or tilt rotator may be provided between the arm 5 and the end attachment.

The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively.

The cabin 10 is a control room where an operator sits and operates the excavator 100. The cabin 10 is mounted, for example, on the front left side of the upper rotating body 3.

For example, the excavator 100 operates driven elements such as the lower traveling body 1 (i.e., a pair of left and right crawlers 1CL, 1CR), upper rotating body 3, boom 4, arm 5, and bucket 6 in response to the operation of an operator in the cabin 10.

In addition, instead of or in addition to being configured to be operable by an operator inside the cabin 10, the shovel 100 may be configured to be remotely operable from outside the shovel 100. When the shovel 100 is remotely operated, the interior of the cabin 10 may be unmanned. When the shovel 100 is dedicated to remote operation, the cabin 10 may be omitted. In the following description, it is assumed that the operation of the operator includes at least one of the operation of the operating device 26 by the operator inside the cabin 10 and the remote operation by an operator outside the shovel 100.

For example, as shown in FIG. 3, remote operation includes a mode in which the shovel 100 is operated by operation input related to the actuator of the shovel 100 performed by a remote operation support device 300 that can communicate with the shovel 100 through a communication line NW. In this case, the shovel 100 is equipped with a communication device 60, and can communicate with the remote operation support device 300 through a specified communication line NW.

The communication line NW may include, for example, a local network (LAN: Local Area Network) at a work site. The communication line NW may also include a wide area network (WAN: Wide Area Network). Wide area networks include, for example, mobile communication networks ending in base stations, satellite communication networks using communication satellites, and the Internet network. The communication line NW may also include, for example, short-distance communication lines based on wireless communication standards such as WiFi and Bluetooth (registered trademark).

The remote operation support device 300 is provided, for example, in a management center that manages the work of the shovel 100 from the outside. The remote operation support device 300 may also be a portable operation terminal, in which case the operator can remotely operate the shovel 100 while directly checking the work status of the shovel 100 from the vicinity of the shovel 100.

The shovel 100 may transmit, for example, an image (hereinafter, "peripheral image") representing the surroundings including the front of the shovel 100 based on the captured image output by the imaging device 40 mounted on the shovel 100 to the remote operation support device 300 through the communication device 60 mounted on the shovel 100. The shovel 100 may also transmit the captured image output by the imaging device 40 to the remote operation support device 300 through the communication device 60, and the remote operation support device 300 may process the captured image received from the shovel 100 to generate a peripheral image. The remote operation support device 300 may then display the peripheral image representing the surroundings including the front of the shovel 100 on its own display device. Various information images (information screens) displayed on the output device 50 (display device) inside the cabin 10 of the shovel 100 may also be displayed on the remote operation support device 300 (display unit) in the same manner. This allows an operator using the remote operation support device 300 to remotely operate the shovel 100 while checking the display contents of, for example, images and information screens showing the state of the area around the shovel 100. The shovel 100 may operate actuators and drive driven elements such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6 in response to a remote operation signal that indicates the content of the remote operation and is received from the remote operation support device 300 by the communication device 60.

Remote operation may also include a mode in which the shovel 100 is operated by external voice input or gesture input to the shovel 100 by people (e.g., workers) around the shovel 100. Specifically, the shovel 100 recognizes voices uttered by surrounding workers and gestures made by workers through a voice input device (e.g., a microphone) or a gesture input device (e.g., an imaging device) mounted on the shovel 100. The shovel 100 may then operate actuators according to the contents of the recognized voices and gestures to drive driven elements such as the lower traveling body 1 (left and right crawlers 1C), upper rotating body 3, boom 4, arm 5, and bucket 6.

The excavator 100 may also automatically operate the actuators regardless of the content of the operator's operation. This allows the excavator 100 to realize a function for automatically operating at least some of the driven elements such as the lower traveling body 1, the upper rotating body 3, and the attachment AT, i.e., a so-called "automatic driving function." The automatic driving function is also called the "machine control (MC) function."

The automatic driving function includes, for example, a semi-automatic driving function. The semi-automatic driving function is also called an operation-assisted MC function. The semi-automatic driving function is a function that automatically operates other driven elements (actuators) in conjunction with the driven element (actuator) to be operated in response to the operation of the operator. The automatic driving function may also include a fully automatic driving function. The fully automatic driving function is also called a fully automatic MC function. The fully automatic driving function is a function that automatically operates at least a part of a plurality of driven elements (hydraulic actuators) on the premise that there is no operation by the operator. In the shovel 100, when the fully automatic driving function is enabled, the inside of the cabin 10 may be unmanned. In addition, when the shovel 100 operates exclusively by the fully automatic driving function, the cabin 10 may be omitted. In addition, the semi-automatic driving function and the fully automatic driving function include, for example, a rule-based automatic driving function. The rule-based automatic driving function is an automatic driving function in which the operation content of the driven element (actuator) to be the target of automatic driving is automatically determined according to a rule that is specified in advance. Furthermore, the semi-automatic operation function, the fully automatic operation function, and the like may include an autonomous operation function. The autonomous operation function is an automatic operation function in which the excavator 100 autonomously makes various decisions and determines the operation content of the driven element (hydraulic actuator) that is the target of the automatic operation based on the decision results.

The work of the shovel 100 may also be remotely monitored. In this case, for example, a remote monitoring support device having the same functions as the remote operation support device 300 is provided. A monitor, who is a user of the remote monitoring support device, can monitor the status of the work of the shovel 100 while checking the surrounding images displayed on the remote monitoring support device (display unit). Also, for example, if the monitor determines it is necessary from the viewpoint of safety, the monitor can use the remote monitoring support device (input unit) to perform a specified input, thereby intervening in the operation by the operator of the shovel 100 or automatic operation and bringing the shovel 100 to an emergency stop.

[Excavator hardware configuration]
Next, the hardware configuration of the shovel 100 will be described with reference to FIG. 4 in addition to FIGS. 1 to 3.

Figure 4 is a block diagram showing an example of the hardware configuration of the excavator 100.

In Figure 4, the paths through which mechanical power is transmitted are indicated by double lines, the paths through which high-pressure hydraulic oil that drives the hydraulic actuator flows are indicated by solid lines, the paths through which pilot pressure is transmitted are indicated by dashed lines, and the paths through which electrical signals are transmitted are indicated by dotted lines.

The excavator 100 includes various components, such as a hydraulic drive system for hydraulically driving the driven elements, an operation system for operating the driven elements, a user interface system for exchanging information with the user, a communication system for communicating with the outside world, and a control system for various controls.

<Hydraulic drive system>
4 , the hydraulic drive system of the excavator 100 includes hydraulic actuators HA that hydraulically drive each of the driven elements, such as the lower traveling structure 1 (left and right crawlers 1C), upper rotating structure 3, boom 4, arm 5, and bucket 6, as described above. The hydraulic drive system of the excavator 100 according to this embodiment also includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

The hydraulic actuator HA includes travel hydraulic motors 1ML, 1MR, swing hydraulic motor 2M, boom cylinder 7, arm cylinder 8, and bucket cylinder 9.

In addition, in the shovel 100, some or all of the hydraulic actuators HA may be replaced with electric actuators. In other words, the shovel 100 may be a hybrid shovel or an electric shovel.

The engine 11 is the prime mover of the excavator 100 and the main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 is mounted, for example, at the rear of the upper rotating body 3. The engine 11 rotates at a constant speed at a preset target speed under direct or indirect control by the controller 30 (described later), for example, and drives the main pump 14 and the pilot pump 15.

In addition, other prime movers (e.g., electric motors) may be installed in the excavator 100 instead of or in addition to the engine 11.

The regulator 13 controls (adjusts) the discharge volume of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter, the "tilt angle") in response to a control command from the controller 30.

The main pump 14 supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper rotating body 3, similar to the engine 11. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13 to adjust the stroke length of the piston, thereby controlling the discharge flow rate and discharge pressure.

The control valve 17 drives the hydraulic actuators HA in response to the operator's operation of the operating device 26, the contents of remote operation, or operation commands corresponding to the automatic operation function. The control valve 17 is mounted, for example, in the center of the upper rotating body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to each hydraulic actuator in response to the operator's operation or operation commands corresponding to the automatic operation function. The control valve 17 includes directional control valves 17A to 17F that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each hydraulic actuator HA.

The directional control valve 17A controls the flow rate and flow direction of the hydraulic oil supplied to the boom cylinder 7. This allows the directional control valve 17A to extend and retract the boom cylinder 7 at variable speeds. The directional control valve 17A is, for example, a spool valve.

The directional control valve 17B controls the flow rate and direction of the hydraulic oil supplied to the arm cylinder 8. This allows the directional control valve 17B to extend and retract the arm cylinder 8 at variable speed. The directional control valve 17B is, for example, a spool valve.

The directional control valve 17C controls the flow rate and flow direction of the hydraulic oil supplied to the bucket cylinder 9. This allows the directional control valve 17C to extend and retract the bucket cylinder 9 at a variable speed. The directional control valve 17C is, for example, a spool valve.

The directional control valve 17D controls the flow rate and direction of hydraulic oil supplied to the traveling hydraulic motor 1ML. This allows the directional control valve 17D to rotate the traveling hydraulic motor 1ML in both directions at variable speeds. The directional control valve 17D is, for example, a spool valve.

The directional control valve 17E controls the flow rate and direction of hydraulic oil supplied to the traveling hydraulic motor 1MR. This allows the directional control valve 17E to rotate the traveling hydraulic motor 1MR in both directions at variable speeds. The directional control valve 17E is, for example, a spool valve.

The directional control valve 17F controls the flow rate and direction of the hydraulic oil supplied to the swing hydraulic motor 2M. This allows the directional control valve 17F to rotate the swing hydraulic motor 2M in both directions at variable speeds. The directional control valve 17F is, for example, a spool valve.

<Operation system>
As shown in FIG. 4 , the operating system of the excavator 100 includes a pilot pump 15 , an operating device 26 , and a hydraulic control valve 31 .

The pilot pump 15 supplies pilot pressure to various hydraulic equipment via a pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper rotating body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

The pilot pump 15 may be omitted. In this case, the relatively high pressure hydraulic oil discharged from the main pump 14 is reduced in pressure by a specified pressure reducing valve, and the relatively low pressure hydraulic oil is supplied to various hydraulic equipment as pilot pressure.

The operating device 26 is provided near the cockpit of the cabin 10, and is used by the operator to operate the various driven elements. Specifically, the operating device 26 is used by the operator to operate the hydraulic actuators HA that drive the respective driven elements, and as a result, the operator can operate the driven elements that are the targets of the drive of the hydraulic actuators HA. The operating device 26 includes pedal devices and lever devices (e.g., lever devices 26A to 26C described below) for operating the respective driven elements (hydraulic actuators HA).

For example, as shown in FIG. 4, the operating device 26 is electric. Specifically, the operating device 26 outputs an electric signal (hereinafter, "operation signal") according to the operation content, and the operation signal is input to the controller 30. The controller 30 then outputs an operation command according to the content of the operation signal, that is, an operation command (control signal) according to the operation content for the operating device 26, to the hydraulic control valve 31. As a result, a pilot pressure according to the operation content of the operating device 26 is input from the hydraulic control valve 31 to the control valve 17, and the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operating device 26.

The directional control valves 17A to 17F that are built into the control valve 17 and drive the hydraulic actuators HA may be of the electromagnetic solenoid type. In this case, the operation signal output from the operating device 26 may be input directly to the control valve 17 (i.e., to the electromagnetic solenoid type directional control valve).

The operating device 26 may be of a hydraulic pilot type. Specifically, the operating device 26 uses hydraulic oil supplied from the pilot pump 15 through a pilot line to output a pilot pressure corresponding to the operation content to the secondary pilot line. The secondary pilot line is then connected to the control valve 17. As a result, pilot pressure corresponding to the operation content related to various driven elements (hydraulic actuators HA) in the operating device 26 can be input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator HA according to the operation content of the operating device 26 by an operator or the like. In this case, an operation state sensor capable of acquiring information regarding the operation state of the operating device 26 is provided, and the output of the operation state sensor is taken in by the controller 30. As a result, the controller 30 can grasp the operation state of the operating device 26. The operation state sensor is, for example, a pressure sensor that acquires information regarding the pilot pressure (operation pressure) of the secondary pilot line of the operating device 26.

As described above, part or all of the hydraulic actuator HA may be replaced with an electric actuator. In this case, for example, the controller 30 may output an operation command corresponding to the operation content of the operation device 26 or the remote operation content specified by the remote operation signal to the electric actuator or a driver that drives the electric actuator. Also, the electric actuator may be configured to be operable by the operation device 26 by inputting an operation signal from the operation device 26 to the electric actuator or a driver.

In addition, if the excavator 100 is exclusively remotely operated or exclusively operates using a fully automatic driving function, the operating device 26 may be omitted.

The hydraulic control valve 31 is provided for each driven element (hydraulic actuator HA) to be operated by the operating device 26 and for each operating direction of the driven element (hydraulic actuator HA) (for example, the raising direction and lowering direction of the boom 4). For example, two hydraulic control valves 31 are provided for each double-acting hydraulic actuator HA for driving the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc. The hydraulic control valve 31 may be provided, for example, in the pilot line between the pilot pump 15 and the control valve 17, and may be configured to change its flow area (i.e., the cross-sectional area through which the hydraulic oil can flow). As a result, the hydraulic control valve 31 can output a predetermined pilot pressure to the secondary pilot line by using the hydraulic oil of the pilot pump 15 supplied through the primary pilot line. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 according to the operation command from the controller 30. Therefore, for example, the controller 30 can directly supply pilot pressure from the hydraulic control valve 31 to the control valve 17 according to the operation content (operation signal) of the operating device 26, thereby realizing the operation of the excavator 100 based on the operation of the operator.

The controller 30 may also control the hydraulic control valve 31 to realize an automatic driving function of the excavator 100. Specifically, the controller 30 outputs an operation command corresponding to the automatic driving function from the hydraulic control valve 31 to the hydraulic control valve 31. This allows the controller 30 to realize the operation of the excavator 100 using the automatic driving function.

The controller 30 may also control the hydraulic control valve 31 to realize remote operation of the excavator 100. Specifically, the controller 30 outputs, via the communication device 60, to the hydraulic control valve 31 an operation command corresponding to the content of the remote operation specified by the remote operation signal received from the remote operation support device 300. As a result, the controller 30 can supply pilot pressure corresponding to the content of the remote operation from the hydraulic control valve 31 to the control valve 17, thereby realizing the operation of the excavator 100 based on the remote operation of the operator.

In addition, when the operating device 26 is a hydraulic pilot type, a shuttle valve may be provided in the pilot line between the operating device 26 and the hydraulic control valve 31 and the control valve 17. The shuttle valve has two inlet ports and one outlet port, and outputs hydraulic oil having the higher pilot pressure of the two pilot pressures input to the inlet ports to the outlet port. Like the hydraulic control valve 31, a shuttle valve is provided for each driven element (hydraulic actuator HA) to be operated by the operating device 26 and for each operating direction of the driven element (hydraulic actuator HA). For example, two shuttle valves are provided for each double-acting hydraulic actuator HA for driving the lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc. One of the two inlet ports of the shuttle valve is connected to the secondary pilot line of the operating device 26 (specifically, the above-mentioned lever device and pedal device included in the operating device 26), and the other is connected to the secondary pilot line of the hydraulic control valve 31. The outlet port of the shuttle valve is connected to the pilot port of the corresponding directional control valve of the control valve 17 through a pilot line. The corresponding directional control valve is a directional control valve that drives the hydraulic actuator HA that is the object of operation of the lever device or pedal device connected to one inlet port of the shuttle valve. Therefore, each of these shuttle valves can apply the higher of the pilot pressure of the pilot line on the secondary side of the operating device 26 and the pilot pressure of the pilot line on the secondary side of the hydraulic control valve 31 to the pilot port of the corresponding directional control valve. In other words, the controller 30 can control the corresponding directional control valve regardless of the operator's operation of the operating device 26 by outputting a pilot pressure higher than the pilot pressure on the secondary side of the operating device 26 from the hydraulic control valve 31. Therefore, the controller 30 can control the operation of the driven elements (lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6) regardless of the operating state of the operating device 26 by the operator, thereby realizing an automatic driving function or a remote operation function.

In addition, when the operating device 26 is a hydraulic pilot type, in addition to the shuttle valve, a pressure reducing valve may be provided in the pilot line between the operating device 26 and the shuttle valve. The pressure reducing valve is configured to operate in response to a control signal input from the controller 30, for example, and to change its flow path area. As a result, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by the operator. Therefore, even when the operating device 26 is being operated, the controller 30 can forcibly suppress or stop the operation of the hydraulic actuator HA corresponding to the operation of the operating device 26. In addition, the controller 30 can reduce the pilot pressure output from the operating device 26 with the pressure reducing valve, for example, even when the operating device 26 is being operated, to make it lower than the pilot pressure output from the hydraulic control valve 31. Therefore, the controller 30 can reliably apply the desired pilot pressure to the pilot port of the directional control valve in the control valve 17, for example, regardless of the operation content of the operating device 26, by controlling the hydraulic control valve 31 and the pressure reducing valve. Therefore, the controller 30 can more appropriately realize the automatic operation function and remote control function of the excavator 100 by controlling, for example, the pressure reducing valve in addition to the hydraulic control valve 31.

<User interface>
As shown in FIG. 4 , the user interface system of the shovel 100 includes the operation device 26 , an output device 50 , and an input device 52 .

The output device 50 outputs various information to a user of the excavator 100 (e.g., an operator of the cabin 10 or an external remote control operator) and people in the vicinity of the excavator 100 (e.g., a worker or a driver of a work vehicle).

For example, the output device 50 includes lighting equipment and a display device 50A that output various information in a visual manner. The lighting equipment is, for example, a warning light (indicator lamp), etc. The display device 50A is, for example, a liquid crystal display or an organic EL (Electroluminescence) display, etc. For example, as shown in FIG. 2, the lighting equipment and the display device 50A may be provided inside the cabin 10 and output various information in a visual manner to an operator, etc. inside the cabin 10. The lighting equipment and the display device 50A may also be provided on the side of the upper rotating body 3, etc. and output various information in a visual manner to workers, etc. around the excavator 100.

The output device 50 may also include a sound output device 50B that outputs various information in an auditory manner. The sound output device 50B includes, for example, a buzzer or a speaker. The sound output device 50B is provided, for example, at least one of the inside and outside of the cabin 10, and outputs various information in an auditory manner to an operator inside the cabin 10 and people (workers, etc.) around the excavator 100.

The output device 50 may also include a device that outputs various information in a tactile manner, such as by vibration of the cockpit.

The input device 52 accepts various inputs from the user of the excavator 100, and signals corresponding to the accepted inputs are taken into the controller 30. For example, as shown in FIG. 2, the input device 52 is provided inside the cabin 10 and accepts inputs from an operator or the like inside the cabin 10. The input device 52 may also be provided, for example, on the side of the upper rotating body 3 and accept inputs from workers or the like in the vicinity of the excavator 100.

For example, the input device 52 includes an operation input device that accepts input from a user through mechanical operation. The operation input device may include a touch panel mounted on the display device, a touch pad installed around the display device, a button switch, a lever, a toggle, a knob switch provided on the operation device 26 (lever device), etc.

The input device 52 may also include an audio input device that accepts audio input from the user. The audio input device may include, for example, a microphone.

The input device 52 may also include a gesture input device that accepts gesture input from the user. The gesture input device includes, for example, an imaging device that captures an image of a gesture made by the user.

The input device 52 may also include a biometric input device that accepts biometric input from the user. The biometric input includes, for example, input of biometric information such as the user's fingerprint or iris.

<Communications>
As shown in FIG. 4 , the communication system of the shovel 100 according to this embodiment includes a communication device 60 .

The communication device 60 connects to an external communication line NW and communicates with a device provided separately from the shovel 100. The device provided separately from the shovel 100 may include a device outside the shovel 100, as well as a portable terminal device (mobile terminal) brought into the cabin 10 by the user of the shovel 100. The communication device 60 may include, for example, a mobile communication module conforming to standards such as 4G ( ^4th Generation) and 5G ( ^5th Generation). The communication device 60 may also include, for example, a satellite communication module. The communication device 60 may also include, for example, a WiFi communication module or a Bluetooth (registered trademark) communication module. When there are multiple connectable communication lines NW, the communication device 60 may include multiple communication devices 60 according to the types of the communication lines NW.

For example, the communication device 60 communicates with an external device such as the remote operation support device 300 in the work site through a local communication line established at the work site. The local communication line is, for example, a local 5G (so-called local 5G) mobile communication line established at the work site or a local network using Wi-Fi 6.

The communication device 60 may also communicate with an external device, such as a remote operation support device 300, located outside the work site through a wide area communication line that includes the work site, i.e., a wide area network.

In addition, if remote operation or remote monitoring of the excavator 100 is not performed, the communication device 60 may be omitted.

<Control system>
4, the control system of the shovel 100 includes a controller 30. The control system of the shovel 100 according to this embodiment also includes an imaging device 40 and sensors S1 to S6.

The controller 30 performs various controls related to the excavator 100.

The functions of the controller 30 may be realized by any hardware or any combination of hardware and software. For example, as shown in FIG. 4, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a CPU (Central Processing Unit) 30C, and an interface device 30D, which are connected by a bus B1.

The auxiliary storage device 30A is a non-volatile storage means that stores the programs to be installed as well as necessary files and data. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory.

For example, when an instruction to start a program is received, the memory device 30B loads the program from the auxiliary storage device 30A so that the program can be read by the CPU 30C. The memory device 30B is, for example, a static random access memory (SRAM).

The CPU 30C executes, for example, a program loaded into the memory device 30B and performs various functions of the controller 30 according to the program's instructions.

The interface device 30D functions, for example, as a communication interface for connecting to a communication line inside the excavator 100. The interface device 30D may include multiple different types of communication interfaces according to the type of communication line to be connected.

The interface device 30D also functions as an external interface for reading data from a recording medium and writing data to the recording medium. The recording medium is, for example, a dedicated tool connected to a connector installed inside the cabin 10 via a detachable cable. The recording medium may also be a general-purpose recording medium such as an SD memory card or a USB (Universal Serial Bus) memory. As a result, a program that realizes various functions of the controller 30 can be provided, for example, by a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. The program may also be downloaded from another computer external to the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

Note that some of the functions of the controller 30 may be realized by other controllers (control devices). In other words, the functions of the controller 30 may be distributed and realized by multiple controllers mounted on the excavator 100.

The imaging device 40 acquires an image showing the state of the periphery of the shovel 100. The imaging device 40 may also acquire (generate) three-dimensional data (hereinafter simply referred to as "three-dimensional data of objects") that represents the position and outer shape of objects around the shovel 100 within the imaging range (angle of view) based on the acquired image and data related to distance, which will be described later. The three-dimensional data of objects around the shovel 100 is, for example, coordinate information data of a point cloud that represents the surface of the object, distance image data, etc.

1 and 2, the imaging device 40 includes a front camera 40F that images the front of the upper rotating body 3. The imaging device 40 may also include a rear camera 40B that images the rear of the upper rotating body 3, a left camera 40L that images the left side of the upper rotating body 3, a right camera 40R that images the right side of the upper rotating body 3, etc. As a result, the imaging device 40 can image the entire circumference, that is, the range over an angular direction of 360 degrees, centered on the shovel 100 when viewed from above the shovel 100. In addition, the operator can visually recognize peripheral images based on images captured by the left camera 40L, right camera 40R, and rear camera 40B through the display unit of the output device 50 and the remote operation support device 300, and check the left, right, and rear of the upper rotating body 3. In addition, the operator can remotely operate the excavator 100 by visually checking the surrounding image based on the front camera 40F through the display unit of the remote operation support device 300 while checking the operation of the attachment AT including the bucket 6.

The imaging device 40 is, for example, a monocular camera. The imaging device 40 may also be capable of acquiring data regarding distance (depth) in addition to two-dimensional images, such as a stereo camera or a TOF (Time Of Flight) camera (hereinafter collectively referred to as a "3D camera").

The output data of the imaging device 40 (e.g., image data and three-dimensional data of objects around the shovel 100, etc.) is input to the controller 30 via a one-to-one communication line or an in-vehicle network. This allows the controller 30 to monitor objects around the shovel 100 based on the output data of the imaging device 40, for example. Also, for example, the controller 30 can determine the surrounding environment of the shovel 100 based on the output data of the imaging device 40. Also, for example, the controller 30 can determine the attitude state of the attachment AT shown in the captured image based on the output data of the imaging device 40 (front camera). Also, for example, the controller 30 can determine the attitude state of the body (upper rotating body 3) of the shovel 100 based on the objects around the shovel 100 based on the output data of the imaging device 40.

Also, instead of or in addition to the imaging device 40, a distance sensor may be provided on the upper rotating body 3. The distance sensor is attached, for example, to the upper part of the upper rotating body 3, and acquires data regarding the distance and direction of surrounding objects relative to the shovel 100. The distance sensor may also acquire (generate) three-dimensional data (for example, point cloud coordinate information data) of objects around the shovel 100 within the sensing range based on the acquired data. The distance sensor is, for example, a LIDAR (Light Detection and Ranging). Also, for example, the distance sensor may be, for example, a millimeter wave radar, an ultrasonic sensor, an infrared sensor, etc.

Depending on the application of the imaging device 40, some of the front camera 40F, rear camera 40B, left camera 40L, and right camera 40R may be omitted. Also, if remote operation of the shovel 100 or monitoring of objects around the shovel 100 is not performed, the imaging device 40 may be omitted.

The sensor S1 is attached to the boom 4 and measures the attitude of the boom 4. The sensor S1 outputs measurement data representing the attitude of the boom 4. The attitude of the boom 4 is, for example, the attitude angle around the rotation axis of the base end corresponding to the connection part of the boom 4 with the upper rotating body 3 (hereinafter, "boom angle"). The sensor S1 includes, for example, a rotary potentiometer, a rotary encoder, an acceleration sensor, an angular acceleration sensor, a 6-axis sensor, an IMU (Inertial Measurement Unit), etc. The same may be true for the sensors S2 to S4 below. The sensor S1 may also include a cylinder sensor that detects the extension/retraction position of the boom cylinder 7. The same may be true for the sensors S2 and S3 below. The output of the sensor S1 (measurement data representing the attitude of the boom 4) is taken into the controller 30. This allows the controller 30 to grasp the attitude of the boom 4.

Sensor S2 is attached to arm 5 and measures the posture of arm 5. Sensor S2 outputs measurement data representing the posture of arm 5. The posture of arm 5 is, for example, the posture angle around the rotation axis of the base end corresponding to the connection part of arm 5 with boom 4 (hereinafter referred to as "arm angle"). The output of sensor S2 (measurement data representing the posture of arm 5) is input to controller 30. This allows controller 30 to grasp the posture of arm 5.

Sensor S3 is attached to bucket 6 and measures the attitude of bucket 6. Sensor S3 outputs measurement data that indicates the attitude of bucket 6. The attitude of bucket 6 is, for example, the attitude angle around the rotation axis of the base end that corresponds to the connection part of bucket 6 with arm 5 (hereinafter, "bucket angle"). The output of sensor S3 (measurement data that indicates the attitude of bucket 6) is input to controller 30. This allows controller 30 to grasp the attitude of bucket 6.

The sensor S4 measures the attitude of the shovel 100's body (e.g., the upper rotating body 3). The sensor S4 outputs measurement data representing the attitude of the shovel 100's body. The attitude of the shovel 100's body is, for example, the inclination of the body relative to a predetermined reference plane (e.g., a horizontal plane). For example, the sensor S4 is attached to the upper rotating body 3 and measures the inclination angles of the shovel 100 around two axes in the front-rear and left-right directions (hereinafter, "front-rear inclination angle" and "left-right inclination angle"). The output of the sensor S4 (measurement data representing the attitude of the shovel 100's body) is input to the controller 30. This allows the controller 30 to grasp the attitude (inclination) of the body (upper rotating body 3).

The sensor S5 is attached to the upper rotating body 3 and measures the rotation state of the upper rotating body 3. The sensor S5 outputs measurement data representing the rotation state of the upper rotating body 3. The sensor S5 measures, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc. The output of the sensor S5 (measurement data representing the rotation state of the upper rotating body 3) is input to the controller 30. This allows the controller 30 to grasp the rotation state of the upper rotating body 3, such as the rotation angle.

For example, the controller 30 can grasp (estimate) the position of the tip of the attachment AT (bucket 6) based on the outputs of the sensors S1 to S5. Therefore, the controller 30 can control the operation of the automatic driving function of the excavator 100 while grasping the position of the tip of the attachment AT.

If sensor S4 includes a gyro sensor, a six-axis sensor, an IMU, or the like capable of detecting angular velocity around three axes, the rotation state (e.g., rotation angular velocity) of the upper rotating body 3 may be detected based on the detection signal of sensor S4. In this case, sensor S5 may be omitted.

The sensor S6 measures the position of the shovel 100. The sensor S6 may measure the position in world (global) coordinates, or may measure the position in local coordinates at the work site. In the former case, the sensor S6 is, for example, a GNSS (Global Navigation Satellite System) sensor. In the latter case, the sensor S6 is a transceiver that communicates with a device that serves as a reference for the position at the work site and can output a signal corresponding to the position relative to the reference. The output of the sensor S6 is taken into the controller 30.

If the excavator 100 is not equipped with an automatic operation function, sensors S1 to S6 may be omitted.

[Configuration of functions related to driving the driven elements of the shovel]
Next, the configuration of functions relating to driving the driven elements of the shovel 100 will be described with reference to FIGS. 5 to 7 in addition to FIGS. 1 to 4.

<First Example>
FIG. 5 is a diagram showing a first example of a functional configuration related to driving of a driven element of a shovel.

In this example, the excavator 100 has an attachment AT that operates using a semi-automatic operation function. Specifically, the attachment AT performs a predetermined operation in response to the operator's operation of one of the boom 4, arm 5, and end attachment (bucket 6) (in this example, the arm 5) and the lower traveling body 1, so that two operations of the operation targets are linked to the other two operations. The predetermined operations are, for example, an excavation operation, a horizontal pulling operation, a rolling operation, etc.

As shown in FIG. 5, the controller 30 includes an attitude detection unit 301, a running position/attitude/speed detection unit 302, a target trajectory generation unit 303, a running movement prediction unit 304, an arm operation prediction unit 305, a control reference position/speed detection unit 306, an operation command generation unit 307, and an operation command generation unit 308.

The attitude detection unit 301 detects (calculates) the attitude of the attachment AT based on the outputs of the sensors S1 to S3. The attitude detection unit 301 includes a boom attitude detection unit 301A, an arm attitude detection unit 301B, and a bucket attitude detection unit 301C.

The boom attitude detection unit 301A detects (calculates) the attitude angle (boom angle) of the boom 4 based on the output of the sensor S1. The boom attitude detection unit 301A may also detect the speed of change in the attitude angle of the boom 4 (the angular velocity of the boom 4 relative to the upper rotating body 3).

The arm posture detection unit 301B detects (calculates) the posture angle (arm angle) of the arm 5 based on the output of the sensor S2. The arm posture detection unit 301B may also detect the speed of change in the posture angle of the arm 5 (the angular velocity of the arm 5 relative to the boom 4).

The bucket attitude detection unit 301C detects (calculates) the attitude angle (bucket angle) of the bucket 6 based on the output of the sensor S3. The bucket attitude detection unit 301C may also detect the speed of change in the attitude angle of the bucket 6 (the angular velocity of the bucket 6 relative to the arm 5).

The traveling position/attitude/speed detection unit 302 detects the traveling position, attitude, and moving speed of the machine body including the lower traveling body 1 and upper rotating body 3 of the excavator 100 based on the output of the sensors S4 to S6. The traveling position and speed of the machine body are, for example, the position and speed of the reference point of the machine body defined by the lower traveling body 1 and the upper rotating body 3. The attitude of the machine body is, for example, the inclination angle of the upper rotating body 3 and the rotation angle relative to the lower traveling body 1.

The target trajectory generating unit 303 generates a target trajectory for the working part (bucket 6) of the attachment AT in a specified operation of the shovel 100. Specifically, the target trajectory generating unit 303 generates a target trajectory for a control target point of the bucket 6. For example, when the shovel 100 performs an excavation operation or a horizontal pulling operation, the control target point is a point at the tip of the claw (cutting edge) of the bucket 6. The point at the tip of the claw of the bucket 6 may be a point at the tip of the claw in the center of the width direction (left-right direction) of the bucket 6, or may be a point at the tip of the claw at either the left or right end. Also, for example, when the shovel 100 performs a rolling operation, the control target point is a specified point on the back surface of the bucket 6.

For example, the target trajectory generating unit 303 generates a target trajectory of the control target point of the bucket 6 based on information on the target construction surface and the output of the imaging device 40. Information on the target construction surface is input by the operator through, for example, the input device 52. Information on the target construction surface may also be input (received) from outside the shovel 100 through the communication device 60. Specifically, the target trajectory generating unit 303 may recognize the shape of the ground surface of the current work target based on the output of the imaging device 40. Then, the target trajectory generating unit 303 may generate a target trajectory of the control target point of the bucket 6 based on the difference between the target construction surface and the shape of the ground surface of the current work target. More specifically, if the shortest distance between the target construction surface and the shape of the ground surface of the current work target exceeds a predetermined standard, the target trajectory generating unit 303 may generate a target trajectory of the control target point (toe point) of the bucket 6 for rough excavating the soil above the target construction surface. On the other hand, if the shortest distance between the target construction surface and the ground surface of the current work target is equal to or less than a predetermined standard, the target trajectory generating unit 303 may generate a target trajectory for the control target point of the bucket 6 so that the control target point of the bucket 6 passes over the target construction surface.

The travel movement prediction unit 304 predicts the future travel movement of the undercarriage 1 of the excavator 100 based on the operation contents of the crawlers 1CL, 1CR (travel hydraulic motors 1ML, 1MR) and the current travel position, attitude, and travel speed of the machine. The operation contents of the undercarriage 1 are obtained, for example, from the output (operation signal) of the pedal device 26D, 26E used to operate the crawler 1CL (travel hydraulic motor 1ML) and the crawler 1CR (travel hydraulic motor 1MR). In addition, when the excavator 100 is remotely operated, the operation contents of the undercarriage 1 may be obtained from the remote operation signal received by the communication device 60. For example, the travel movement prediction unit 304 predicts the movement state such as the position, attitude, and travel speed of the machine for each control cycle from the next (one control cycle later) to the Nth control cycle later (N: an integer of 2 or more). The control cycle corresponds to the cycle in which the controller 30 outputs an operation command to the hydraulic control valve 31. The prediction period of the travel movement prediction unit 304 is, for example, longer than the control period for driving the driven element by the controller 30, and corresponds to M control periods (M=N+1). This makes it possible to reduce the processing load on the controller 30 caused by the processing of the travel movement prediction unit 304.

The arm operation prediction unit 305 predicts the future operation of the arm 5 based on the operation content related to the arm 5 (arm cylinder 8) and the current arm angle and the rate of change of the arm angle. The operation content related to the arm 5 (arm cylinder 8) is obtained, for example, from the output (operation signal) of the lever device 26B. In addition, when the shovel 100 is remotely operated, the operation content related to the arm 5 (arm cylinder 8) may be obtained from a remote operation signal received by the communication device 60. For example, the arm operation prediction unit 305 predicts the operation state such as the posture angle of the arm 5 and the rate of change of the posture angle for each control cycle from the next (first control cycle) to the Nth control cycle. The prediction cycle of the arm operation prediction unit 305 is, for example, longer than the control cycle for driving the driven element by the controller 30, and corresponds to M control cycles. This makes it possible to reduce the processing load of the controller 30 due to the processing of the arm operation prediction unit 305.

The control reference position/speed detection unit 306 detects the current position and moving speed of the control target point of the bucket 6 based on the outputs of the boom attitude detection unit 301A, the arm attitude detection unit 301B, the bucket attitude detection unit 301C, and the traveling position/attitude/speed detection unit 302.

The motion command generating unit 307 generates a command (hereinafter, "motion command") representing the motion of the attachment AT based on the target trajectory of the control target point of the bucket 6, the prediction results of the travel movement predicting unit 304 and the arm motion predicting unit 305, and the current position and speed of the control target point of the bucket 6. Specifically, the motion command generating unit 307 generates a motion command for the boom 4 and bucket 6, other than the arm 5 that is the target of operation by the operator, among the boom 4, arm 5, and bucket 6 included in the attachment AT.

For example, when the lower traveling body 1 is not traveling, the motion command generating unit 307 generates motion commands for the boom 4 and the bucket 6 so that the control target point of the bucket 6 moves along the target trajectory in accordance with the motion of the arm 5 corresponding to the prediction result of the arm motion predicting unit 305. On the other hand, when the lower traveling body 1 is traveling, the motion command generating unit 307 generates motion commands for the boom 4 and the bucket 6 so that the bucket 6 does not exceed the target trajectory (target construction surface). As a result, for example, the controller 30 can prevent the bucket 6 from exceeding the target construction surface even if the operator erroneously operates the lower traveling body 1, assuming a semi-automatic driving function based on the operation of the arm 5 by the operator. Therefore, for example, it is possible to prevent a decrease in work efficiency due to rework caused by the bucket 6 performing an excavation operation beyond the target construction surface.

The operation command generating unit 307 may generate operation commands for the boom 4 and the bucket 6 so that the control target point of the bucket 6 moves along the target trajectory in accordance with the movement of the shovel 100 and the movement of the arm 5, which correspond to the prediction results of the traveling movement predicting unit 304 and the arm movement predicting unit 305. This allows the controller 30 to move the control target point of the bucket 6 along the target trajectory by operating the attachment AT while traveling the shovel 100. Therefore, the controller 30 can expand the working range when the shovel 100 performs one predetermined operation, and as a result, the working efficiency of the shovel 100 can be improved.

For example, the motion command generating unit 307 generates motion commands for the boom 4 and the bucket 6 for each control cycle from the current control cycle to the Nth control cycle later. The generation cycle of the motion command generating unit 307 corresponds to M control cycles, for example, similar to the prediction cycles of the travel movement predicting unit 304 and the arm motion predicting unit 305. This makes it possible to reduce the processing load on the controller 30 due to the processing of the motion command generating unit 307. The motion commands for the boom 4 and the bucket 6 are, for example, command values for the attitude angles and the speed of change of the respective attitude angles of the boom 4 and the bucket 6.

The operation command generating unit 308 generates an operation command for the hydraulic control valve 31 corresponding to the hydraulic actuator HA that drives the driven element. For example, the operation command generating unit 308 generates an operation command for the hydraulic control valves 31A to 31E.

The hydraulic control valve 31A supplies pilot pressure to the pilot port of the directional control valve 17A. Specifically, as described above, two hydraulic control valves 31A are provided, one for each of the extension and retraction directions of the boom cylinder 7.

The hydraulic control valve 31B outputs pilot pressure to the pilot port of the directional control valve 17B. Specifically, as described above, two hydraulic control valves 31B are provided, one for each of the extension direction and the retraction direction of the arm cylinder 8.

The hydraulic control valve 31C outputs pilot pressure to the pilot port of the directional control valve 17C. Specifically, as described above, two hydraulic control valves 31C are provided, one for each of the extension direction and the contraction direction of the bucket cylinder 9.

The hydraulic control valve 31D outputs pilot pressure to the pilot port of the directional control valve 17D. Specifically, as described above, two hydraulic control valves 31D are provided, one for each of the rotation directions (two directions) of the traveling hydraulic motor 1ML.

The hydraulic control valve 31E outputs pilot pressure to the pilot port of the directional control valve 17E. Specifically, as described above, two hydraulic control valves 31E are provided, one for each of the rotation directions (two directions) of the traveling hydraulic motor 1MR.

The operation command generation unit 308 includes operation command generation units 308A to 308C.

The operation command generation unit 308A generates an operation command for the hydraulic control valve 31B based on the operation of the arm 5 by the operator.

For example, the operation command generation unit 308A generates an operation command for the hydraulic control valve 31B based on the operation signal of the lever device 26B.

The operation command generating unit 308A may also generate an operation command for the hydraulic control valve 31B in response to the content of the operation related to the arm 5 (arm cylinder 8) specified in the remote operation signal received by the communication device 60.

The operation command generation unit 308B generates operation commands for the hydraulic control valves 31D, 31E based on the operation of each of the crawlers 1CL, 1CR (travel hydraulic motors 1ML, 1MR) by the operator.

For example, the operation command generating unit 308B generates an operation command for the hydraulic control valve 31D based on the operation signal of the pedal device 26D. Similarly, the operation command generating unit 308B generates an operation command for the hydraulic control valve 31E based on the operation signal of the pedal device 26E.

The operation command generating unit 308B may generate an operation command for the hydraulic control valve 31D in response to the content of the operation related to the crawler 1CL specified by the remote operation signal received by the communication device 60. Similarly, the operation command generating unit 308B may generate an operation command for the hydraulic control valve 31E in response to the content of the operation related to the crawler 1CL specified by the remote operation signal received by the communication device 60.

The operation command generating unit 308C generates an operation command for the hydraulic control valve 31 corresponding to the boom 4 and bucket 6, which are linked to the undercarriage 1 and arm 5 that are the objects of operation by the operator. Specifically, the operation command generating unit 308C generates an operation command for the hydraulic control valve 31A corresponding to the boom cylinder 7, based on the operation command for the boom 4 generated by the operation command generating unit 307. Similarly, the operation command generating unit 308C generates an operation command for the hydraulic control valve 31C corresponding to the bucket cylinder 9, based on the operation command for the bucket 6 generated by the operation command generating unit 307.

In this way, in this example, the controller 30 can operate the boom 4 and bucket 6 in accordance with the operation of the lower traveling body 1 and the arm 5 in response to the operation of the lower traveling body 1 and the arm 5 by the operator. This allows the shovel 100 to link the lower traveling body 1 and the attachment AT to perform a predetermined operation using the attachment AT. This can improve the work efficiency of the shovel 100.

<Second Example>
FIG. 6 is a diagram showing a second example of a functional configuration related to driving the driven elements of the shovel 100.

In the following, components that are the same as or correspond to those in the first example described above will be given the same reference numerals, and the explanation will focus on the parts that are different from the first example described above, and the explanation of the parts that are the same as or correspond to those in the first example described above may be simplified or omitted.

In this example, the shovel 100 operates with a semi-automatic operation function, as in the first example described above. Specifically, the shovel 100 performs a predetermined operation in response to the operator's operation of one of the boom 4, arm 5, and end attachment (bucket 6) (arm 5 in this example) so that the operation of one of the objects to be operated is linked to the operation of the other two and the operation of the lower traveling body 1.

As shown in FIG. 6, the controller 30 includes an attitude detection unit 301, a running position/attitude/speed detection unit 302, a target trajectory generation unit 303, an arm movement prediction unit 305, a control reference position/speed detection unit 306, a movement command generation unit 307, and an operation command generation unit 308.

The motion command generating unit 307 generates commands (motion commands) representing the motion of the attachment AT and the lower traveling body 1 based on the target trajectory of the control target point of the bucket 6, the prediction result of the arm motion predicting unit 305, and the current position and speed of the control target point of the bucket 6. Specifically, the motion command generating unit 307 generates motion commands for the boom 4 and bucket 6 other than the arm 5 that is the target of operation by the operator among the boom 4, arm 5, and bucket 6 included in the attachment AT, and for the crawlers 1CL and 1CR.

For example, the motion command generating unit 307 generates motion commands for the boom 4 and bucket 6, and the crawlers 1CL, 1CR, so that the control target point of the bucket 6 moves along the target trajectory in accordance with the motion of the arm 5 corresponding to the prediction result of the arm motion predicting unit 305. This allows the controller 30 to move the control target point of the bucket 6 along the target trajectory by operating the attachment AT while traveling the shovel 100 in accordance with the motion of the arm 5. Therefore, the controller 30 can expand the working range when the shovel 100 performs one specified motion, and as a result, the working efficiency of the shovel 100 can be improved.

The operation command generation unit 308 generates an operation command for the hydraulic control valve 31 corresponding to the hydraulic actuator HA that drives the driven element, as in the first example described above.

The operation command generation unit 308 includes operation command generation units 308A and 308D.

The operation command generation unit 308A generates an operation command for the hydraulic control valve 31B based on the operation of the arm 5 by the operator, as in the first example described above.

The operation command generating unit 308D generates an operation command for the hydraulic control valve 31 corresponding to the other driven element that is linked to the arm 5 that is the object of operation by the operator. Specifically, the operation command generating unit 308D generates an operation command for the hydraulic control valve 31A based on the operation command for the boom 4 generated by the operation command generating unit 307. Similarly, the operation command generating unit 308D generates an operation command for the hydraulic control valve 31C based on the operation command for the bucket 6 generated by the operation command generating unit 307. Similarly, the operation command generating unit 308D generates an operation command for the hydraulic control valve 31D based on the operation command for the crawler 1CL generated by the operation command generating unit 307. Similarly, the operation command generating unit 308D generates an operation command for the hydraulic control valve 31E based on the operation command for the crawler 1CR generated by the operation command generating unit 307.

In this way, in this example, the controller 30 can operate the boom 4, bucket 6, and lower traveling structure 1 in accordance with the movement of the arm 5 in response to the operation of the arm 5 by the operator. As a result, similar to the first example described above, the shovel 100 can link the lower traveling structure 1 and the attachment AT to perform a predetermined operation using the attachment AT. This can improve the work efficiency of the shovel 100.

In addition, in this example, the controller 30 can link the operation of the attachment AT and the lower traveling structure 1 in response to only the operation of the arm 5 by the operator. This can improve the convenience for the operator and further improve the work efficiency of the excavator 100.

<Third Example>
FIG. 7 is a diagram showing a second example of a functional configuration related to driving of a driven element of a shovel.

In the following, components that are the same as or correspond to those in the first and second examples described above will be given the same reference numerals, and the explanation will focus on the parts that are different from the first and second examples described above, and the explanation of the parts that are the same as or correspond to those in the first and second examples described above may be simplified or omitted.

In this example, the shovel 100 operates using a semi-automatic operation function, as in the first example described above. Specifically, the shovel 100 performs a predetermined operation in response to the operator's operation of the lower traveling body 1 so that the operation of the lower traveling body 1 to be operated and the operation of the attachment AT (i.e., the boom 4, the arm 5, and the bucket 6) are linked.

As shown in FIG. 7, the controller 30 includes an attitude detection unit 301, a running position/attitude/speed detection unit 302, a target trajectory generation unit 303, a running movement prediction unit 304, a control reference position/speed detection unit 306, an operation command generation unit 307, and an operation command generation unit 308.

The motion command generating unit 307 generates a command (motion command) representing the motion of the attachment AT based on the target trajectory of the control target point of the bucket 6, the prediction result of the travel movement predicting unit 304, and the current position and speed of the control target point of the bucket 6. Specifically, the motion command generating unit 307 generates motion commands for each of the boom 4, arm 5, and bucket 6 included in the attachment AT.

For example, the operation command generating unit 307 generates operation commands for the boom 4, arm 5, and bucket 6 so that the control target point of the bucket 6 moves along the target trajectory in accordance with the movement of the shovel 100 (lower traveling body 1) corresponding to the prediction result of the traveling movement predicting unit 304. As a result, the controller 30 can move the control target point of the bucket 6 along the target trajectory by operating the attachment AT while traveling the shovel 100 in accordance with the movement of the lower traveling body 1. Therefore, the controller 30 can expand the working range when the shovel 100 performs one specified operation, and as a result, the working efficiency of the shovel 100 can be improved.

The operation command generating unit 308 generates an operation command for the hydraulic control valve 31 corresponding to the hydraulic actuator HA that drives the driven element, as in the first and second examples described above.

The operation command generation unit 308 includes operation command generation units 308B and 308E.

As in the first example described above, the operation command generation unit 308B generates operation commands for the hydraulic control valves 31D, 31E based on the operation of each of the crawlers 1CL, 1CR (travel hydraulic motors 1ML, 1MR) by the operator.

The operation command generating unit 308E generates an operation command for the hydraulic control valve 31 corresponding to the attachment AT (i.e., the boom 4, the arm 5, and the bucket 6) that is linked to the undercarriage 1 that is the object of operation by the operator. Specifically, the operation command generating unit 308E generates an operation command for the hydraulic control valve 31A corresponding to the boom cylinder 7 based on the operation command for the boom 4 generated by the operation command generating unit 307. Similarly, the operation command generating unit 308E generates an operation command for the hydraulic control valve 31B corresponding to the arm cylinder 8 based on the operation command for the arm 5 generated by the operation command generating unit 307. Similarly, the operation command generating unit 308E generates an operation command for the hydraulic control valve 31C corresponding to the bucket cylinder 9 based on the operation command for the bucket 6 generated by the operation command generating unit 307.

In this way, in this example, the controller 30 can operate the boom 4, arm 5, and bucket 6 in accordance with the operation of the lower traveling body 1 in response to the operation of the lower traveling body 1 by the operator. As a result, similar to the first example described above, the shovel 100 can link the lower traveling body 1 and the attachment AT to perform a predetermined operation using the attachment AT. This can improve the work efficiency of the shovel 100.

In addition, in this example, the controller 30 can link the operation of the lower traveling body 1 and the attachment AT in response to only the operation of the lower traveling body by the operator. This can improve the convenience for the operator and further improve the work efficiency of the excavator 100.

<Other examples>
When performing work using the attachment AT using the fully automatic driving function, the controller 30 may link the attachment AT and the lower traveling body 1 in the same manner as in the case of the semi-automatic driving function described above.

In this case, the controller 30 has functions similar to those of the above-mentioned posture detection unit 301, running position/posture/speed detection unit 302, target trajectory generation unit 303, control reference position/speed detection unit 306, operation command generation unit 307, and operation command generation unit 308.

For example, the controller 30 uses a fully automatic driving function to link the lower traveling body 1 and the attachment AT so that the control reference point of the bucket 6 moves along the target trajectory, without relying on the operator's operation of the lower traveling body 1 and the attachment AT. As a result, similar to the first to third examples described above, the shovel 100 can link the lower traveling body 1 and the attachment AT to perform a specified operation using the attachment AT. This can improve the work efficiency of the shovel 100.

[Example of shovel operation]
Next, a specific example of the operation of the shovel 100 according to this embodiment will be described with reference to FIGS.

<First Example>
8 and 9 are diagrams illustrating a first example of the operation of the shovel 100.

In this example, the shovel 100 operates based on the first example of the functional configuration for driving the driven element described above (Figure 5).

As shown in FIG. 8, the excavator 100 operates the attachment AT using a semi-automatic operation function to perform construction work on the slope BS from the foot side (the slope toe FS side) of the slope BS. Specifically, the excavator 100 performs finishing work on the slope BS by operating the attachment AT in response to the operator's operation of the arm 5 so that the bucket 6 moves from the slope toe TS side to the slope toe FS side along the target construction surface TP (see the black arrow in the figure).

In this example, the operator can operate the attachment AT by performing operations related to the arm 5 so that the control point of the bucket 6 moves along the target construction surface TP. Therefore, if the attachment AT cannot be linked to the movement of the lower traveling body 1, and the operator mistakenly performs operations related to the lower traveling body 1 (crawlers 1CL, 1CR), the relative relationship between the bucket 6 and the target construction surface TP will change. In particular, if an operation is performed to move the lower traveling body 1 forward, the bucket 6 will move in a direction approaching the slope BS, which may result in the bucket 6 going beyond the target construction surface TP (see the white arrow in the figure).

In contrast, in this example, the shovel 100 links the operation of the attachment AT with the operation of the lower traveling body 1. As a result, as shown in FIG. 9, the shovel 100 can operate the attachment AT in accordance with the operation of the lower traveling body 1 so that the bucket 6 does not exceed the target construction surface TP. In this example, under the control of the controller 30, the shovel 100 moves the boom 4 relatively large in the lifting direction in accordance with the movement of the lower traveling body 1 approaching the slope BS, thereby moving the attachment AT in a direction in which the bucket 6 moves away from the target construction surface. Therefore, even if the operator mistakenly operates the lower traveling body 1, the shovel 100 can prevent the bucket 6 from exceeding the target construction surface, and can prevent a decrease in the work efficiency of the shovel 100 due to touch-ups in the finishing work, etc.

<Second Example>
10 and 11 are diagrams illustrating a second example of the operation of the shovel 100.

In this example, the shovel 100 operates based on the second example of the functional configuration for driving the driven element described above (Figure 6).

As shown in Figures 10 and 11, the excavator 100 operates the attachment AT using a semi-automatic operation function to perform construction work on the slope BS from the foot side (the slope toe FS side) of the slope BS. Specifically, the excavator 100 performs finishing work on the slope BS by operating the attachment AT in response to the operator's operation of the arm 5 so that the bucket 6 moves along the target construction surface TP from the slope shoulder TS to the slope toe FS (see the black arrow in the figure).

In this example, the operator can operate the attachment AT and the lower running structure 1 by performing operations related to the arm 5 so that the control point of the bucket 6 moves along the target construction surface TP. As a result, as shown in Figures 10 and 11, the excavator 100 can move the bucket 6 along the target construction surface TP from the shoulder TS of the slope BS to the toe FS of the slope BS while traveling in a direction away from the slope BS.

As shown in FIG. 10, in this example, in order to align the bucket 6 with the shoulder TS of the slope BS, it is necessary to raise the boom 4 widely and open the arm 5 widely while the machine body is somewhat close to the toe FS of the slope BS. Therefore, if the attachment AT is operated while the machine body position is fixed, the bucket 6 cannot be moved along the target construction surface TP to the toe FS of the slope BS due to the constraints of the relative attitude angles of the boom 4, arm 5, and bucket 6. As a result, it may be necessary to divide the section from the shoulder TS of the slope BS to the toe FS into multiple sections, move the position of the excavator 100 away from the slope BS at each section change, and repeat the process of working on the next section. This may result in a decrease in the work efficiency of the excavator 100.

In contrast, in this example, the shovel 100 can move the bucket 6 along the target construction surface TP by operating the attachment AT while moving the lower traveling body 1 in a direction away from the slope BS. Therefore, the shovel 100 can continuously change the positional relationship between the shovel 100 and the slope BS while moving the control point of the bucket 6 along the target construction surface TP from the slope shoulder TS side to the slope toe FS side. As a result, as shown in Figures 10 and 11, the shovel 100 can finish the entire section from the slope shoulder TS to the slope toe FS along the target construction surface TP with the bucket 6 in a single operation. This can improve the work efficiency of the shovel 100.

The operation of the shovel 100 similar to that of this example can also be achieved when the first example (Figure 5) or the third example (Figure 7) of the functional configuration related to driving the driven element described above is assumed.

<Third Example>
12 and 13 are diagrams illustrating a third example of the operation of the shovel 100.

In this example, the shovel 100 operates based on the third example of the functional configuration for driving the driven element described above (Figure 7).

As shown in FIG. 12, in this example, the excavator 100 performs finishing work on the slope BS by operating the attachment AT to move the bucket 6 along the target construction surface from the slope shoulder TS to the slope toe FS. The slope BS has an area CS where finishing work has been completed and an area NS where finishing work has not been completed.

As shown in FIG. 12, soil and sand SL scraped off by the bucket 6 as the bucket 6 moves along the target construction surface accumulates at the toe FS of the slope in the area NS. Therefore, in this example, in the finishing work of the slope BS, it is necessary to perform work to form the toe FS of the slope, which corresponds to the corner between the slope BS and the ground surface GS on which the shovel 100 is located.

13, in this example, the shovel 100 is positioned so that the crawler 1C is nearly parallel to the target line FSE corresponding to the slope end FS, and the left end LE of the tip of the bucket 6 is on the target line FSE corresponding to the slope end FS. The shovel 100 then links the lower traveling body 1 and the attachment AT in response to the operator's operation of the lower traveling body 1 so that the left end LE of the tip of the bucket 6, which corresponds to the control target point, moves along the target line FSE. Specifically, while traveling to the left in the figure (see the white arrow in the figure), the shovel 100 operates the attachment AT so that the left end LE of the tip of the bucket 6 moves along the target line FSE in accordance with the traveling of the lower traveling body 1. If the target line FSE and the traveling direction of the crawler 1C are completely parallel, there is no need to operate the attachment AT, but it is practically impossible to align the target line FSE and the traveling direction of the crawler 1C in a completely parallel state. Furthermore, even if the crawler 1C of the shovel 100 can be aligned parallel to the target line FSE, the ground surface GS may be uneven or inclined, and the target line FSE and the traveling direction of the crawler 1C may no longer be parallel while the shovel 100 is traveling. Therefore, the shovel 100 can move the left end LE of the tip of the bucket 6 along the target line FSE by operating the attachment AT in accordance with the traveling of the lower traveling body 1. As a result, the shovel 100 can form the toe FS and complete the finishing work of the area CS.

[Action]
Next, the operation of the shovel according to this embodiment will be described.

In this embodiment, the shovel includes a lower traveling body, an upper rotating body, and an attachment. The shovel is, for example, the shovel 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper rotating body is, for example, the upper rotating body 3 described above. The attachment is, for example, the attachment AT described above. Specifically, the upper rotating body is mounted on the lower traveling body so as to be freely rotatable. Furthermore, the attachment is attached to the upper rotating body. The shovel then links the lower traveling body and the attachment.

This allows the shovel to perform work while linking the lower traveling body and the attachment. Therefore, for example, the position of the working part of the attachment moves as the lower traveling body travels, and as a result, the shovel can expand the range of work that can be done in one operation by a specified operation. Also, for example, the shovel can operate the attachment while taking into consideration the movement of the position of the working part of the attachment caused by an erroneous operation of the lower traveling body. As a result, the shovel can suppress a decrease in work quality and the need to redo work that are caused by inappropriate operation of the attachment due to an erroneous operation of the lower traveling body. Therefore, the shovel can improve work efficiency.

In addition, in this embodiment, the shovel may operate the attachment in accordance with the movement of the lower traveling body caused by the operator's operation.

This allows the excavator to link the undercarriage and the attachment by moving the attachment in accordance with the movement of the undercarriage caused by the operator's operation.

In this embodiment, the attachment may include a boom attached to the upper rotating body, an arm attached to the tip of the boom, and an end attachment attached to the tip of the arm. The boom is, for example, the boom 4 described above. The arm is, for example, the arm 5 described above. The end attachment is, for example, the bucket 6 described above. The excavator may operate the boom and end attachment in accordance with the movement of the arm and lower traveling body associated with the operation of the operator.

This allows the excavator to link the undercarriage and attachment by moving the boom and end attachment in accordance with the movement of the arm and undercarriage caused by the operator's operation.

In addition, in this embodiment, the shovel may automatically operate the attachment in accordance with the movement of the lower traveling body caused by the operator's operation.

This allows the excavator to automatically link the undercarriage and attachment in response to the operator's operation of the undercarriage.

In this embodiment, the excavator may operate the attachment (i.e., the boom and end attachment that are linked to the movement of the arm) in accordance with the movement of the lower traveling body in response to the operation of the operator so that the working part of the attachment does not exceed the target construction surface. The working part is, for example, the bucket 6. The target construction surface is, for example, the target construction surface TP described above.

As a result, even if the working part of the attachment moves closer to the target construction surface due to an operator's erroneous operation of the lower traveling body, the shovel can operate the attachment so that the working part does not go beyond the target construction surface. This prevents a decrease in work quality and the need to redo work that would otherwise occur if the working part went beyond the target construction surface, and improves the work efficiency of the shovel.

In addition, in this embodiment, the shovel may automatically operate the attachment so that the end of the working part of the attachment moves along a target line in accordance with the movement of the lower traveling body caused by the operator's operation. The target line is, for example, the slope toe FS or the slope shoulder TS.

This allows the excavator to link the undercarriage and the attachment in response to the operator's operation of the undercarriage, allowing the end of the working part of the attachment to move along the target line.

In addition, in this embodiment, the shovel may operate the attachment so that the working part of the attachment moves along the target construction surface in accordance with the movement of the lower traveling body caused by the operator's operation.

This allows the excavator to move the working part of the attachment along the target construction surface by linking the undercarriage and the attachment in response to the operator's operation of the undercarriage.

In this embodiment, the shovel may also include a control device. The control device is, for example, the controller 30 described above. Specifically, the control device may predict the movement state of the attachment accompanying the operation of the lower running body based on the operating state of the lower running body, and operate the attachment based on the prediction result.

This allows the excavator to operate the attachment in tandem with the movement of the undercarriage.

In addition, in this embodiment, the shovel may operate the lower traveling structure in accordance with the movement of the attachment caused by the operator's operation.

This allows the excavator to link the undercarriage and the attachment by moving the undercarriage in accordance with the movement of the attachment caused by the operator's operation.

In this embodiment, the attachment may include a boom attached to the upper rotating body, an arm attached to the tip of the boom, and an end attachment attached to the tip of the arm. The excavator may automatically operate the boom and end attachment, as well as the lower traveling body, in accordance with the movement of the arm caused by the operator's operation.

This allows the excavator to link the undercarriage and attachments by moving the boom, end attachment, and undercarriage in accordance with the movement of the arm caused by the operator's operation.

In addition, in this embodiment, the shovel may automatically operate the boom, end attachment, and lower running structure so that the working portion of the end attachment moves along the target construction surface.

This allows the excavator to move the working part of the end attachment along the target construction surface by operating the boom, end attachment, and lower running structure in response to the operator's operation of the arm.

Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the invention as described in the claims.

1 Lower traveling body 1C Crawler 1CL, 1CR Crawler 1ML, 1MR Travel hydraulic motor 2M Swing hydraulic motor 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 17 Control valve 17A Directional switching valve 17B Directional switching valve 17C Directional switching valve 17D Directional switching valve 17E Directional switching valve 17F Directional switching valve 26 Operation device 26A to 26C Lever device 26D, 26E Pedal device 30 Controller 31 Hydraulic control valve 31A to 31E Hydraulic control valve 40 Imaging device 40B Rear camera 40F Front camera 40L Left camera 40R Right camera 60 Communication device 100 Shovel 301 Attitude detection unit 301A Boom attitude detection unit 301B Arm attitude detection unit 301C Bucket attitude detection unit 302 Traveling position/posture/speed detection unit 303 Target trajectory generation unit 304 Travel movement prediction unit 305 Arm operation prediction unit 306 Control reference position/speed detection unit 307 Operation command generation unit 308 Operation command generation units 308A to 308E Operation command generation unit BS Slope FS Slope toe FSE Target line HA Hydraulic actuator NW Communication lines S1 to S6 Sensor TS Slope shoulder

Claims (11)

A lower running body;
An upper rotating body rotatably mounted on the lower traveling body;
An attachment attached to the upper rotating body,
The lower traveling body and the attachment are interlocked.
Shovel. The attachment is operated in accordance with the movement of the lower traveling body caused by the operation of the operator.
The shovel according to claim 1. The attachment includes a boom attached to the upper rotating body, an arm attached to a tip of the boom, and an end attachment attached to a tip of the arm,
The boom and the end attachment are operated in accordance with the movement of the arm and the lower traveling body caused by an operation of an operator.
The shovel according to claim 2. The attachment is automatically operated in accordance with the movement of the lower traveling body caused by the operation of an operator.
The shovel according to claim 2. The boom and the end attachment are operated in accordance with the movement of the lower traveling body caused by the operation of the operator so that the working portion of the attachment does not exceed a target construction surface.
The shovel according to claim 3. automatically operating the attachment so that an end of a working portion of the attachment moves along a target line in accordance with a movement of the lower traveling body caused by an operator's operation;
The shovel according to claim 4. The attachment is operated so that a working portion of the attachment moves along a target construction surface in accordance with a movement of the lower traveling body caused by an operation of an operator.
A shovel according to any one of claims 2 to 4. A control device is provided that predicts a movement state of the attachment accompanying the movement of the lower traveling body based on a movement state of the lower traveling body, and operates the attachment based on the prediction result.
A shovel according to any one of claims 2 to 6. The lower traveling body is operated in accordance with the movement of the attachment caused by the operation of the operator.
The shovel according to claim 1. The attachment includes a boom attached to the upper rotating body, an arm attached to a tip of the boom, and an end attachment attached to a tip of the arm,
The boom, the end attachment, and the lower traveling body are automatically operated in accordance with the movement of the arm caused by the operation of the operator.
The shovel according to claim 9. The boom, the end attachment, and the lower traveling body are automatically operated so that the working portion of the end attachment moves along a target construction surface.
The shovel according to claim 10.

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