JP6713190B2 - Shovel operating device and shovel operating method - Google Patents

Description

The present invention relates to a shovel operating device and a shovel operating method.

Patent Document 1 below discloses a display system that provides information for assisting the operation of a shovel. In this display system, the positional relationship between the target surface to be excavated and the blade edge of the bucket is displayed on the display screen. The operator of the shovel can excavate the excavation target into a target shape by operating the shovel while looking at the displayed image.

JP, 2014-74319, A

At the time of excavation, the operator operates the two operation levers to raise and lower the boom, open and close the arm, open and close the bucket, and swing the upper swing body. The tilting direction of the operation lever and the actuator to be driven have a one-to-one correspondence. A high degree of skill is required to derive the drive amounts of the boom, the arm, and the actuator that drives the bucket from the target moving direction of the bucket, and to appropriately operate the operation lever.

An object of the present invention is to provide a shovel operating device and a shovel operating method that do not require a high degree of skill in operating a shovel.

According to one aspect of the invention,
A communication device for communicating with the shovel including a work element consisting of a boom, an arm, and an attachment;
While displaying an image, an operation screen where touch input is performed,
And a processing device,
The processing device is
Via the communication device, receives the posture information of the work element of the shovel to be operated,
The work element on which the received posture information is reflected is displayed as an elevation image on the operation screen,
Detecting a first touch operation performed on the elevation image,
When the first touch operation is an operation of instructing a point of interest to be a movement instruction target of the work element and a target point to which the point of interest is to be moved, a speed of the operation element is set as a command for driving the work element. When a target value is generated and the first touch operation is an operation for instructing a place where force is generated in the work element, the magnitude and direction of the force to be generated, as a command for driving the work element There is provided a shovel operating device that generates a target value of thrust and transmits it to the shovel via the communication device.

According to another aspect of the invention,
From a shovel to be operated including a work element including a boom, an arm, and an attachment, receives attitude information of the work element,
The work element in which the posture of the received work element is reflected is displayed as an elevation image on an operation screen where touch input is performed,
Detecting a touch operation performed on the elevation image displayed on the operation screen,
When the touch operation is an operation of instructing a point of interest to be a movement instruction target of the work element and a target point to move the point of interest, a target value of speed is set as a command for driving the work element. When the touch operation is an operation for instructing a place where a force is generated in the work element, a magnitude and a direction of the force to be generated, a target value of thrust is generated as a command for driving the work element. Then, a shovel operating method for transmitting to the shovel is provided.

The relationship between the operation of the work element on the elevation image and the change in the posture of the work element is more direct than the relationship between the operation of the operation lever and the change in the posture of the work element. Therefore, the skill level is not required for the operation of the work element with respect to the elevation image as compared with the operation of the operation lever.

FIG. 1 is a perspective view and a block diagram of a shovel operating device according to an embodiment, and a side view and a block diagram of a shovel. FIG. 2 is a functional block diagram of a processing device of the shovel operating device. FIG. 3 is a flowchart of processing executed by the processing device of the shovel operating device. FIG. 4 is a detailed flowchart of step S13 (FIG. 3). FIG. 5: is a figure which shows an example of the elevation image of the shovel displayed on the operation screen of the shovel operating device. FIG. 6 is a diagram showing another example of the elevation image of the shovel displayed on the operation screen of the shovel operating device. FIG. 7 is a flowchart of processing executed by the processing device of the shovel operating device according to another embodiment. FIG. 8 is a diagram showing an example of an elevation image of the work element displayed on the operation screen and a plane image of the lower traveling body and the upper swing body. 9A to 9H are diagrams showing a series of posture changes when the shovel performs excavation work. FIG. 10 is a block diagram of a control device, a hydraulic circuit, and an actuator. FIG. 11 is a diagram showing an elevation image displayed on the operation screen of the shovel operating device according to still another embodiment.

FIG. 1 shows a perspective view and a block diagram of a shovel operating device according to an embodiment, and a side view and a block diagram of the shovel.

When the operator of the shovel 50 operates the shovel operating device 10, the shovel operating device 10 sends a command to the shovel 50. Upon receipt of this command, the shovel 50 operates according to the command.

The shovel 50 includes a lower traveling body 51, an upper swing body 52, a boom 53, an arm 54, and a bucket 55. The upper swing body 52 is rotatably mounted on the lower traveling body 51. In the present specification, the boom 53, the arm 54, and the bucket 55 are collectively referred to as “working element”.

The boom 53 is connected to the upper swing body 52, the arm 54 is connected to the tip of the boom 53, and the bucket 55 is connected to the tip of the arm 54. The shovel 50 has a plurality of actuators such as a boom cylinder 57, an arm cylinder 58, a bucket cylinder 59, and a turning motor 56. The boom cylinder 57 drives the boom 53 up and down. The arm cylinder 58 drives the arm 54 to open and close. The bucket cylinder 59 drives the bucket 55 to open and close. The swing motor 56 generates power for swinging the upper swing body 52 with respect to the lower traveling body 51.

The shovel 50 further has two operating levers 62. The operator operates the shovel 50 by tilting the operation lever 62 back and forth and left and right.

The communication device 61 mounted on the shovel 50 communicates with the shovel operating device 10. The control device 60 controls the operation of the swing motor 56, the boom cylinder 57, the arm cylinder 58, and the bucket cylinder 59 based on an operation of the operation lever 62 or a command received from the shovel operation device 10 via the communication device 61. To do. When the control valves inserted in the hydraulic circuits of these actuators are controlled by the pilot pressure, the control device 60 generates an electric signal based on the command and changes the pilot pressure by this electric signal. Good. When the electromagnetic control valve is inserted in the hydraulic circuit of the actuator, the electromagnetic control valve may be controlled by an electric signal generated by the control device 60.

The length measurement sensors 63, 64, and 65 measure the expansion/contraction lengths of the boom cylinder 57, the arm cylinder 58, and the bucket cylinder 59, respectively. The measurement result of the expansion/contraction length is input to the control device 60. The angle sensor 66 measures the turning angle of the turning motor 56. The measurement result of the turning angle is input to the control device 60.

The postures of the work elements (the boom 53, the arm 54, and the bucket 55) with respect to the upper swing body 52 can be obtained based on the measurement results of the length measuring sensors 63, 64, and 65. Based on the measurement result of the angle sensor 66, the posture of the upper swing body 52 with respect to the lower traveling body 51 in the swing direction can be obtained. Instead of the length measuring sensors 63, 64, 65, the angle of the boom 53 with respect to the upper swing body 52, the angle of the arm 54 with respect to the boom 53, and the angle of the bucket 55 with respect to the arm 54 are measured. It is also possible to use an angle sensor.

The shovel operating device 10 includes a processing device 11, an operation screen 12, a communication device 13, and a storage device 14. The operation screen 12 serves as both a display screen for displaying an image and an input screen for performing touch input. As the shovel operating device 10, a tablet terminal including a touch panel can be used. As an example, a general-purpose smartphone in which a computer program (application program) for operating a shovel is installed can be used as the shovel operating device 10.

The communication device 13 communicates with the shovel 50 to be operated. For communication between the shovel operating device 10 and the shovel 50, a short-range wireless communication system, a wire communication system, or the like can be adopted. When the touch input is performed, the operation screen 12 detects the touch position touch-input. As a touch input operator, an operator's finger, a touch pen, or the like can be used. When touch input is performed on a plurality of locations on the operation screen 12, the operation screen 12 can detect a plurality of touch positions. The detected touch position information is input to the processing device 11.

When the touch position moves within the operation screen 12, the processing device 11 generates a command to drive the actuator of the shovel 50 based on the movement of the touch position. Further, the generated command is transmitted to the shovel 50 via the communication device 13. The storage device 14 stores a shovel operation program executed by the processing device 11 and various data used in the processing of the processing device 11.

FIG. 2 shows a functional block diagram of the processing device 11 mounted on the shovel operating device 10. The attitude information of the shovel 50 is input from the shovel 50 (FIG. 1) to the attitude calculation unit 111 via the communication device 13. The attitude information includes the extension/contraction lengths of the boom cylinder 57, the arm cylinder 58, and the bucket cylinder 59 measured by the length measurement sensors 63, 64, 65 (FIG. 1), and the turning angle measured by the angle sensor 66. Be done. The posture calculation unit 111 calculates the current posture of the shovel 50 by calculating the received posture information.

The posture display unit 112 displays the work element on the operation screen 12 as an elevation image in a form in which the received posture information is reflected.

The operation detection unit 113 detects a touch operation performed on the operation screen 12. As a result, the touch position and the locus of movement of the touch position are detected. Further, the operation detection unit 113 determines whether the input touch operation is a drag operation or a flick operation.

The command generation unit 114 generates a command for each actuator of the shovel 50 based on the touch operation detected by the operation detection unit 113. The generated command is transmitted to the shovel 50 via the communication device 13.

The surrounding environment display unit 115 displays an image representing the shape of the surrounding environment of the shovel 50, for example, the shape of the excavation target on the operation screen 12. The shape data of the surrounding environment is stored in the storage device 14 in advance. The surrounding environment calculation unit 116 obtains a change in the shape of the surrounding environment when the shovel 50 operates according to the command generated by the command generation unit 114. The surrounding environment calculation unit 116 may calculate the change in the shape of the surrounding environment based on the time change of the posture of the shovel 50 calculated by the posture calculation unit 111. The shape of the surrounding environment after the shape change is displayed on the operation screen 12 by the surrounding environment display unit 115.

FIG. 3 shows a flowchart of processing executed by the processing device 11 (FIG. 1) mounted on the shovel operating device 10. In step S10, the shovel operating device 10 receives the posture information of the work element from the shovel 50 to be operated.

In step S11, the processing device 11 calculates the posture of the work element based on the posture information, and displays the elevation image of the work element having the calculated posture on the operation screen 12. The images of the lower traveling body 51 and the upper revolving body 52 may be displayed together with the work elements. The operator of the shovel 50 performs a touch operation on the elevation image displayed on the operation screen 12. A specific touch operation method will be described later in detail with reference to FIGS. 5 and 6.

In step S12, the processing device 11 detects a touch operation performed on the elevation image. In step S13, the processing device 11 generates a command to drive the work element of the shovel 50 (FIG. 1) based on the touch operation performed on the elevation image.

In step S<b>14, the elevation screen image showing the posture change of the work element when the shovel 50 operates based on the generated instruction is displayed on the operation screen 12. For example, the elevation images of the work elements before the posture change, in the middle of the posture change, and after the posture change are displayed in an overlapping manner.

In step S15, the operator determines whether the change in the posture of the work element shown on the operation screen 12 is as desired. If the change in the posture of the work element is as desired, the operator taps the send button displayed on the operation screen 12. When the send button is tapped, the generated command is sent to the shovel 50 in step S16. Based on this command, the work element of the shovel 50 is actually driven.

When the worker determines in step S15 that the change in the posture of the work element shown on the operation screen 12 is not as desired, the operator taps the return button displayed on the operation screen 12. As a result, the elevation image of the work element before the posture change is displayed on the operation screen 12. The operator performs the touch operation again on the re-displayed elevation image. The processing device 11 (FIG. 1) detects a newly performed touch operation in step S12.

After transmitting the instruction to the shovel in step S16, in step S17, the processing device 11 determines whether or not the operation has ended. If the operation has not been completed, the process returns to step S10, and the posture information after the work element is driven is received from the shovel 50. The processing from step S11 is executed based on the new posture information.

When performing a particularly fine operation, it is effective to confirm that the change in the posture of the work element is a desired change as in step S15. However, the operator's judgment is required before the command corresponding to the operation is transmitted to the shovel 50 (FIG. 1), which may reduce the work efficiency. In order to prevent a reduction in work efficiency, step S15 may be omitted and a procedure may be adopted in which the command generated in step S13 is immediately transmitted to the shovel 50. In this case, the posture of the shovel 50 changes following the touch operation.

FIG. 4 shows a detailed flowchart of step S13 (FIG. 3). In step S131, it is determined whether the touch operation detected in step S12 is a drag operation. If the touch operation detected in step S12 is not a drag operation, it is determined in step S132 whether the touch operation is a flick operation. If the detected touch operation is neither a drag operation nor a flick operation, the process returns to step S12 (FIG. 3) to detect a newly performed touch operation.

If the detected operation is a drag operation, a speed command (speed target value) for the actuator is generated in step S133. As a result, each actuator expands and contracts at the commanded speed. A drag operation is performed when it is desired to move a location (for example, the tip of a bucket) of a work element to a target position.

If the detected operation is a flick operation, a thrust command (target value of thrust) for the actuator is generated in step S134. This causes each actuator to generate a commanded thrust force. The flick operation is used for a work in which a portion of a work element (for example, the tip of a bucket) is pressed against an object to apply a force to the object. A method of controlling the actuator when a speed command or a thrust command is given to the actuator will be described later with reference to FIG.

Next, the drag operation will be described with reference to FIG.
FIG. 5 shows an example of an elevation image of the shovel 50 displayed on the operation screen 12 of the shovel operating device 10. In the elevation image, the boom 53 and the arm 54 are simplified and displayed as straight lines. A send button and a return button are further displayed on the operation screen 12. The send button and the return button are operated by the operator after the determination in step S15 (FIG. 3).

The operator first touches a portion (focused portion) P0 that is a movement instruction target among the work elements. In FIG. 5, the tip of the bucket 55 is selected as the point of interest P0. A drag operation is performed to the target point P1 to which the point of interest P0 should be moved. The locus TR of the touch position from the point of interest P0 to the target point P1 is shown by a curved line with an arrow. The work elements when the point of interest P0 moves to the target point P1 are indicated by broken lines.

The command generation unit 114 (FIG. 2) of the processing device 11 (FIG. 2) generates a command to drive the actuator so that the tip of the bucket 55 moves along the trajectory TR (step S13). The work element including the boom 53, the arm 54, and the bucket 55 can be defined as a three-link manipulator. Therefore, by applying the inverse kinematics, it is possible to determine how to change the respective postures of the boom 53, the arm 54, and the bucket 55 from the trajectory of the movement of the target point P0 of the work element. it can.

Only by defining the trajectory TR of the tip of the bucket 55, changes in the attitudes of the boom 53, the arm 54, and the bucket 55 cannot be uniquely obtained. Under the condition that one of the three actuators that drive the boom 53, the arm 54, and the bucket 55 is not operated (fixed), the boom 53, the arm 54, and the bucket 55 are considered as a two-link manipulator. You can In this case, by defining the trajectory TR of the tip of the bucket 55, the changes in the attitudes of the boom 53, the arm 54, and the bucket 55 can be uniquely calculated. By sequentially calculating changes in the postures of the boom 53, the arm 54, and the bucket 55, which are necessary to move the point of interest P0 to the next target point, using a plurality of points on the trajectory TR as target points of the movement destination. It is possible to generate a command for moving the point of interest P0 along the locus TR.

When the changes in the postures of the boom 53, the arm 54, and the bucket 55 are obtained, the expansion/contraction amount of the actuator for changing the postures is obtained. The command generation unit 114 generates a speed command for driving the actuator according to the expansion/contraction amount. The speed command includes a speed target value and an operation time. The speed command is preferably generated so as to move the point of interest P0 to the target point as fast as possible.

Next, the flick operation will be described with reference to FIG. Similar to FIG. 5, an elevation image of the shovel 50 is displayed on the operation screen 12 of the shovel operating device 10.

The operator first touches a portion (focused portion) P0 of the work element where a force is generated. In FIG. 6, the tip of the bucket 55 is selected as the point of interest P0. A flick operation is performed in the direction of the force generated at the point of interest P0. The direction FD of the flick operation is indicated by a white arrow. The magnitude of the force to be generated can be specified by, for example, the length or speed of the flick operation.

The command generation unit 114 (FIG. 2) of the processing device 11 (FIG. 2) generates a command to drive the actuator so that the tip of the bucket 55 generates a force in the direction of the flick operation. The magnitude of the thrust to be generated by each actuator can be calculated using the Jacobian matrix. When the thrusts to be generated by the three actuators cannot be uniquely determined, the thrusts of the remaining two actuators can be calculated under the condition that any one actuator is fixed.

Next, an excellent effect of operating the shovel 50 using the shovel operating device 10 according to the above-described embodiment will be described.

In the above embodiment, if the locus TR to move the point of interest P0 (FIG. 5) is specified, the processing device 11 (FIG. 1) generates a command to the actuator so that the point of interest P0 follows the locus TR. Further, if the direction and magnitude of the force to be generated at the point of interest P0 (FIG. 6) are designated by the touch operation, the processing device 11 (FIG. 1) generates a command for the actuator. Therefore, the operator can intuitively perform the operation as compared with the case where the actuators of the boom 53, the arm 54, and the bucket 55 are operated.

By using the shovel operating device 10 according to the embodiment, an operator having a low degree of skill can easily operate the shovel 50.

Further, in the above embodiment, the thrust command can be given to the actuator in addition to the speed command. Therefore, when performing work by applying force to the object, for example, when performing work such as excavation of the ground, the work element can be operated so that the bucket 55 gives a desired force to the object. it can.

Further, in the above-described embodiment, the image of the surrounding environment displayed by the surrounding environment display unit 115 changes according to the work as the work progresses. Therefore, it is possible to remotely operate the shovel 50 while looking at the operation screen 12 from a place away from the actual work site.

Next, another embodiment will be described with reference to FIGS. 7 and 8. Hereinafter, differences from the embodiment shown in FIGS. 1 to 6 will be described, and description of common configurations will be omitted.

FIG. 7 shows a flowchart of processing executed by the processing device 11 of the shovel operating device 10 according to this embodiment.

Step S10 is the same as the process of step S10 shown in FIG. In step S11a, in addition to the elevation image of the work element of the shovel 50, the planar images of the lower traveling body 51 and the upper revolving body 52 (FIG. 1) in which the received posture information is reflected are displayed.

FIG. 8 shows an example of an elevation image of the work element displayed on the operation screen 12 and a plane image of the lower traveling body 51 and the upper swing body 52. An elevation image is displayed on the left half of the operation screen 12, and a plane image is displayed on the right half.

In step S12a (FIG. 7), the touch operation performed on the elevation image or the plane image is detected. The process when the touch operation is performed on the elevation image is the same as the process shown in FIG. The touch operation on the plane image corresponds to the operation of turning the upper swing body 52 with respect to the lower traveling body 51. Hereinafter, a case where a touch operation is performed on a plane image will be described.

In step S13a, a command to drive the swing motor 56, which is one of the actuators, is generated. When the touch operation is a drag operation, a speed command (target value of speed and operation time) for the turning motor 56 is generated. The turning direction and the turning angle are designated by the drag operation. When the touch operation is a flick operation, a torque command (target value of torque and operation time) for the turning motor 56 is generated. The flick operation indicates the direction and magnitude of the torque to be generated.

In step S14a, a plane image representing the posture change of the upper swing body 52 when the upper swing body 52 turns based on the generated command is displayed on the operation screen 12. For example, the planar images of the upper swing body 52 before the posture change, in the middle of the posture change, and after the posture change are overlapped and displayed.

If it is determined in step S15a that the posture change of the upper swing body 52 is as desired, a command is transmitted to the shovel 50 in step S16a. If it is determined that the posture change of the upper swing body 52 is not as desired, a new touch operation is detected in step S12a.

Similarly to the case of adopting the procedure of omitting the process of step S15 in the flowchart of the embodiment shown in FIG. 3, step S15a may be omitted in the flowchart of the embodiment shown in FIG. In this case, the posture of the shovel 50 changes following the touch operation.

Next, a series of operations when performing excavation work will be described with reference to FIGS. 9A to 9H. 9A to 9H, the trajectory TR of the drag operation is represented by a solid line with an arrow, and the direction FD of the flick operation is represented by a white arrow.

As shown in FIG. 9A, a drag operation is performed on the elevation image (FIG. 8) of the work element so that the tip of the bucket 55 contacts the excavation target 70. By this operation, as shown in FIG. 9B, the tip of the bucket 55 comes into contact with the surface of the object 70 to be excavated.

A flick operation is performed on the elevation image in the state shown in FIG. 9B so that the tip of the bucket 55 generates a force toward the excavation target 70. By this flick operation, excavation is performed as shown in FIG. 9C.

A flick operation is further performed on the elevation image in the state shown in FIG. 9C. By this flick operation, excavation proceeds as shown in FIG. 9D.

A flick operation is further performed on the elevation image in the state shown in FIG. 9D. By this operation, the excavated earth and sand is lifted by the bucket 55, as shown in FIG. 9E.

By performing a drag operation on the elevation image in the state shown in FIG. 9E, the bucket 55 is raised to a height at which it can turn. At this time, the connection point between the arm 54 and the bucket 55 may be selected as the point of interest P0 (FIG. 5). By this drag operation, as shown in FIG. 9F, the bucket 55 rises to a height at which it can turn.

A drag operation for instructing turning is performed on the planar image in the state shown in FIG. 9F. By this drag operation, as shown in FIG. 9G, the bucket 55 moves from the excavation point to the earth and sand accumulation point.

By performing a drag operation on the elevation image in the state shown in FIG. 9G, the earth and sand held in the bucket 55 is discharged. By this operation, as shown in FIG. 9H, the arm 54 and the bucket 55 are opened, and the earth and sand are discharged.

By performing a drag operation on the planar image in the state shown in FIG. 9H, the upper swing body 52 is swung, and the bucket 55 is moved to the excavation point. By this drag operation, the shovel 50 returns to the posture shown in FIG. 9A.

As shown in FIGS. 9A to 9H, a series of operations in excavation work can be performed by performing a touch operation on the elevation image and the plane image displayed on the operation screen 12 (FIG. 8 ).

Next, speed control and thrust control for the actuator will be described with reference to FIG.
FIG. 10 shows a block diagram of the control device 60, the hydraulic circuit 80, and the actuator. In FIG. 10, a boom cylinder 57 is shown as an actuator. The hydraulic circuit 80 includes a hydraulic pump, a control valve, and the like. The hydraulic circuit 80 is connected to the bottom chamber of the boom cylinder 57 and to the rod chamber via a hydraulic line.

The pressure sensors 81 and 82 measure the pressures of the hydraulic oil flowing in the hydraulic line connected to the bottom chamber and the hydraulic line connected to the rod chamber, respectively. The thrust force generated by the boom cylinder 57 can be calculated from the difference between the pressure measurement value of one pressure sensor 81 and the pressure measurement value of the other pressure sensor 82. The flow rate sensor 83 measures the flow rate of the hydraulic oil flowing through the hydraulic line connected to the bottom chamber. From the flow rate measured by the flow rate sensor 83, the expansion/contraction speed of the boom cylinder 57 can be calculated.

The control device 60 includes a command receiving unit 601, a speed control unit 602, and a thrust control unit 603. The values measured by the pressure sensors 81 and 82 are fed back to the thrust control unit 603. The value measured by the flow rate sensor 83 is fed back to the speed controller 602.

The command CMD received from the shovel operating device 10 (FIG. 1) is input to the command receiving unit 601. When the received command is the speed command, the command includes the target speed value TS. When the received command is a thrust command, the command includes the thrust target value TT.

If the received command is a speed command, the command receiving unit 601 gives the speed target value TS to the speed control unit 602. When the received command is a thrust command, the thrust control unit 603 is provided with a target value TT of thrust.

The speed control unit 602 controls the hydraulic circuit 80 so that the difference approaches 0 based on the difference between the target value TS of the speed and the speed calculated from the measured value of the flow rate sensor 83. The thrust control unit 603 controls the hydraulic circuit 80 so that the difference approaches 0 based on the difference between the thrust target value TT and the thrust calculated from the measured values of the pressure sensors 81 and 82. PI control is used for these controls, for example.

By performing the control described above, the boom cylinder 57 operates at a speed commanded by the shovel operating device 10 (FIG. 1) or generates thrust. The arm cylinder 58 and the bucket cylinder 59 are similarly controlled. When a hydraulic motor is used as the swing motor 56, the hydraulic circuit is controlled similarly to the boom cylinder 57. When an electric motor is used as the swing motor 56, the control device 60 controls the inverter that supplies a current to the swing motor 56.

Next, still another embodiment will be described with reference to FIG. Hereinafter, differences from the embodiment shown in FIGS. 1 to 6 will be described, and description of common configurations will be omitted.

FIG. 11 shows an elevation image displayed on the operation screen 12 of the shovel operating device 10. In the embodiment shown in FIGS. 1 to 6, the touch operation is performed on one point of interest P0 (FIG. 5) on the work element. In the embodiment shown in FIG. 11, a touch operation is performed on two focus points P0a and P0b on the work element. In the example shown in FIG. 11, the tip of the bucket 55 is selected as the one point of interest P0a, and the connecting point between the arm 54 and the bucket 55 is selected as the other point of interest P0b.

By the touch operation, the points of interest P0a and P0b are dragged to the target points P1a and P1b, respectively. When the loci of the two points of interest P0a and P0b are designated, the changes in the postures of the boom 53, the arm 54, and the bucket 55 are uniquely determined.

In the embodiment shown in FIG. 11, the three actuators that drive the boom 53, the arm 54, and the bucket 55 can be operated simultaneously.

In the above embodiment, the shovel 50 in which the bucket 55 is connected to the tip of the arm 54 has been described. Instead of the bucket 55, other attachments may be connected. The shovel operating device 10 according to the above-described embodiment can perform the work of pulling out the piles buried in the soil and the work of lifting the water pipes, gas pipes, etc. buried in the ground by using the attachment capable of grasping. it can.

Although the present invention has been described with reference to the embodiments, the present invention is not limited to these. For example, it will be apparent to those skilled in the art that various modifications, improvements, combinations, and the like can be made.

10 Shovel Operating Device 11 Processing Device 12 Operation Screen 13 Communication Device 14 Storage Device 50 Shovel 51 Lower Traveling Body 52 Upper Revolving Body 53 Boom 54 Arm 55 Bucket 56 Slewing Motor 57 Boom Cylinder 58 Arm Cylinder 59 Bucket Cylinder 60 Control Device 61 Communication Device 61 62 operation levers 63, 64, 65 length measurement sensor 66 angle sensor 70 excavation target object 80 hydraulic circuit 81, 82 pressure sensor 83 flow rate sensor 111 attitude calculation unit 112 attitude display unit 113 operation detection unit 114 command generation unit 115 peripheral environment display unit 116 Surrounding environment calculation unit 601 Command receiving unit 602 Speed control unit 603 Thrust control unit CMD Command FD Flick operation direction P0, P0a, P0b Target point P1, P1a, P1b Target point TR Locus TS Target value TT Target value of thrust

Claims (8)

A communication device for communicating with the shovel including a work element consisting of a boom, an arm, and an attachment;
While displaying an image, an operation screen where touch input is performed,
And a processing device,
The processing device is
Via the communication device, receives the posture information of the work element of the shovel to be operated,
The work element on which the received posture information is reflected is displayed as an elevation image on the operation screen,
Detecting a first touch operation performed on the elevation image,
When the first touch operation is an operation of instructing a point of interest to be a movement instruction target of the work element and a target point to which the point of interest should be moved, a speed is used as a command for driving the work element. Drive the work element when the first touch operation is an operation of instructing a position of the work element that generates a force and the magnitude and direction of the force that should be generated. A shovel operating device that generates a target value of thrust as a command to transmit the command to the shovel through the communication device. A communication device for communicating with the shovel including a work element consisting of a boom, an arm, and an attachment;
While displaying an image, an operation screen where touch input is performed,
And a processing device,
The processing device is
Via the communication device, receives the posture information of the work element of the shovel to be operated,
The work element on which the received posture information is reflected is displayed as an elevation image on the operation screen,
Detecting a first touch operation performed on the elevation image,
A command for driving the work element is generated based on the first touch operation, and the command is transmitted to the excavator via the communication device,
The processing device further comprises
When the first touch operation is performed on the elevation image, it is determined whether the first touch operation is a drag operation or a flick operation,
When it is determined that the first touch operation is a drag operation, a target value of the speed of an actuator that drives the work element is generated as a command that drives the work element,
A shovel operating device that, when it is determined that the first touch operation is a flick operation, generates a target value of thrust of an actuator that drives the work element, as a command to drive the work element. In the processing for generating the target value of the speed of the actuator that drives the work element, the processing device may be configured such that the point of interest of the work element designated by the first touch operation follows the trajectory of the touch position. The shovel operating device according to claim 2, which generates a command for driving the work element. In the processing for generating the target value of the thrust force of the actuator that drives the work element, the processing device determines that the focus point of the work element designated by the first touch operation is the direction designated by the first touch operation. The shovel operating device according to claim 2 or 3, which generates a command to drive the work element so as to generate a force having a magnitude specified by the first touch operation. The processing device further comprises
Receives the attitude information of the upper swing body with respect to the lower traveling body of the excavator,
The lower traveling body and the upper revolving superstructure in which the received attitude information is reflected are displayed as a plane image on the operation screen,
Detecting a second touch operation performed on the planar image,
The shovel operating device according to claim 1, wherein a command for driving the upper swing body is generated based on the second touch operation, and the command is transmitted to the shovel through the communication device. .. A communication device for communicating with the shovel including a work element consisting of a boom, an arm, and an attachment;
While displaying an image, an operation screen where touch input is performed,
And a processing device,
The processing device is
Via the communication device, receives the posture information of the work element of the shovel to be operated,
The work element on which the received posture information is reflected is displayed as an elevation image on the operation screen,
Detecting a first touch operation performed on the elevation image,
A command for driving the work element is generated based on the first touch operation, and the command is transmitted to the excavator via the communication device,
The processing device further comprises
Receives the attitude information of the upper swing body with respect to the lower traveling body of the excavator,
The lower traveling body and the upper revolving superstructure in which the received attitude information is reflected are displayed as a plane image on the operation screen,
Detecting a second touch operation performed on the planar image,
A command for driving the upper swing body is generated based on the second touch operation, and the command is transmitted to the excavator via the communication device,
The processing device further comprises
When the second touch operation is performed on the planar image, it is determined whether the second touch operation is a drag operation or a flick operation,
When it is determined that the second touch operation is a drag operation, a target value of the speed of an actuator that drives the upper swing body is generated as a command to drive the upper swing body,
A shovel operating device that, when it is determined that the second touch operation is a flick operation, generates a target value of a torque of an actuator that drives the upper swing body as a command to drive the upper swing body. The shovel with which the communication device communicates further includes a lower traveling body and an upper revolving body,
The processing device is
Via the communication device, receives the attitude information of the upper swing body with respect to the lower traveling body,
The work element on which the received posture information is reflected is displayed as an elevation image on the operation screen, and the lower traveling body and the upper revolving structure are displayed as a plane image on another area of the operation screen,
The made to the elevational image first touch operation, and detecting a second touch operation to the planar image,
A command for driving the work element is generated based on the first touch operation, a command for driving the upper swing body is generated based on the second touch operation, and the command is generated via the communication device. The shovel operating device according to claim 1, which transmits to the shovel. From a shovel to be operated including a work element including a boom, an arm, and an attachment, receives attitude information of the work element,
The work element in which the posture of the received work element is reflected is displayed as an elevation image on an operation screen where touch input is performed,
Detecting a touch operation performed on the elevation image displayed on the operation screen,
When the touch operation is an operation of instructing a point of interest to be a movement instruction target of the work element and a target point to move the point of interest, a target value of speed is set as a command for driving the work element. When the touch operation is an operation for instructing a place where a force is generated in the work element, a magnitude and a direction of the force to be generated, a target value of thrust is generated as a command for driving the work element. Then, the excavator operating method for transmitting to the excavator.

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