JP7412918B2 - excavator - Google Patents

Description

The present disclosure relates to a shovel as an excavator.

BACKGROUND ART Conventionally, excavators have been known that automatically raise a boom during excavation by closing the bucket so that the peak value of excavation reaction force does not exceed a predetermined value (see Patent Document 1).

International Publication No. 2015/194601

However, the excavators described above do not automatically control the attitude of the bucket when it approaches the ground.

When an excavator operator brings the bucket closer to a slope for slope finishing work, he or she may adjust the attitude of the bucket by operating the bucket so that the back of the bucket is parallel to the target construction surface. It is not easy to accurately adjust the attitude of the bucket while viewing it from inside the cabin. Furthermore, the above-mentioned excavator does not control the attitude of the bucket when the bucket approaches the ground, and therefore cannot support the operator in adjusting the attitude of the bucket.

Therefore, it is desirable to provide an excavator that can automatically adjust the posture of working parts such as the back of the bucket.

An excavator according to an embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body, and a control mounted on the upper rotating body. The control device stores an angle range for determining that the angle of the working part of the attachment with respect to the target surface is close to the target angle, and when the working part approaches the target surface. , before the work site and the target surface come into contact and when the angle is within the angle range, automatic adjustment is performed so that the angle becomes the target angle.

The above-mentioned excavator can automatically adjust the posture of the working part.

FIG. 1 is a side view of an excavator according to an embodiment of the present invention. FIG. 1 is a top view of an excavator according to an embodiment of the present invention. It is a diagram showing an example of the configuration of a basic system installed in an excavator. It is a diagram showing an example of the configuration of a hydraulic system mounted on an excavator. FIG. 3 is a diagram of a portion of the hydraulic system related to the operation of the arm cylinder. 1 is a diagram of a portion of a hydraulic system for operation of a boom cylinder; FIG. 1 is a diagram of a portion of a hydraulic system related to bucket cylinder operation; FIG. FIG. 2 is a diagram of a portion of a hydraulic system related to operation of a swing hydraulic motor. FIG. 3 is a functional block diagram of a controller. It is a figure showing the back of a bucket. FIG. 1 is a diagram showing an example of the configuration of an electrical operation system. It is a right side view of the excavation attachment when slope finishing work is being performed. It is a left side view of the excavation attachment when leveling work is being performed. FIG. 3 is a right side view of the dump truck during leveling work.

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

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

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

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

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

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

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

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

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

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

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

The object detection device 70 is configured to detect objects existing around the shovel 100. Further, the object detection device 70 may be configured to calculate the distance from the object detection device 70 or the shovel 100 to the recognized object. The object is, for example, a person, an animal, a vehicle, a construction machine, a building, or a hole. The object detection device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a LIDAR, a distance image sensor, an infrared sensor, or the like. In this embodiment, the object detection device 70 includes a front sensor 70F that is a LIDAR attached to the front end of the upper surface of the cabin 10, a rear sensor 70B that is a LIDAR attached to the rear end of the upper surface of the upper revolving structure 3, and a rear sensor 70B that is a LIDAR attached to the rear end of the upper surface of the upper revolving structure 3. It includes a left sensor 70L, which is a LIDAR, attached to the left end of the upper surface, and a right sensor 70R, which is a LIDAR, which is attached to the right end of the upper surface of the revolving upper structure 3.

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

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

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

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

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

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

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

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

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

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

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

The basic system mainly includes the engine 11, main pump 14, pilot pump 15, control valve unit 17, operating device 26, operating pressure sensor 29, controller 30, alarm device 49, control valve 60, object detection device 70, engine control It includes a unit (ECU 74), an engine speed adjustment dial 75, an imaging device 80, and the like.

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

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

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

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

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

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

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

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

The engine rotation speed adjustment dial 75 is a dial for adjusting the rotation speed of the engine 11. The engine speed adjustment dial 75 outputs data regarding the setting state of the engine speed to the controller 30. The engine speed adjustment dial 75 is configured to switch the engine speed in four stages: SP mode, H mode, A mode, and idling mode. The SP mode is a rotation speed mode selected when it is desired to give priority to the amount of work, and utilizes the highest engine rotation speed. The H mode is a rotational speed mode selected when it is desired to balance work volume and fuel efficiency, and utilizes the second highest engine rotational speed. The A mode is a rotation speed mode selected when it is desired to operate the excavator 100 with low noise while giving priority to fuel efficiency, and uses the third highest engine rotation speed. The idling mode is a rotation speed mode selected when it is desired to put the engine 11 in an idling state, and uses the lowest engine rotation speed. The engine 11 is controlled to maintain a constant engine rotation speed corresponding to the rotation speed mode set by the engine rotation speed adjustment dial 75.

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

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

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

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

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

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

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

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

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

The pilot pump 15 is configured to supply hydraulic oil to hydraulic control equipment including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the functions performed by the pilot pump 15 may be realized by the main pump 14. That is, in addition to the function of supplying hydraulic oil to the control valve unit 17, the main pump 14 has a function of supplying hydraulic oil to the operating device 26 and the like after reducing the pressure of the hydraulic oil through a throttle or the like. Good too.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

As shown in FIGS. 5A-5D, the hydraulic system includes a proportional valve 31, a shuttle valve 32, and a proportional valve 33. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR, the shuttle valve 32 includes shuttle valves 32AL to 32DL and 32AR to 32DR, and the proportional valve 33 includes proportional valves 33AL to 33DL and 33AR to 33DR. .

The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is arranged in a conduit connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change the flow area of the conduit. In this embodiment, the proportional valve 31 operates according to a control command output by the controller 30. Therefore, the controller 30 directs the hydraulic fluid discharged by the pilot pump 15 to the corresponding control valve in the control valve unit 17 via the proportional valve 31 and the shuttle valve 32, regardless of the operation of the operating device 26 by the operator. Can be supplied to the pilot port.

Shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26 and the other to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the control valve unit 17. Therefore, the shuttle valve 32 can cause the higher of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

Similar to the proportional valve 31, the proportional valve 33 functions as a control valve for machine control. The proportional valve 33 is arranged in a conduit connecting the operating device 26 and the shuttle valve 32, and is configured to be able to change the flow area of the conduit. In this embodiment, the proportional valve 33 operates according to a control command output by the controller 30. Therefore, regardless of the operation of the operating device 26 by the operator, the controller 30 reduces the pressure of the hydraulic fluid discharged by the operating device 26 and then controls the corresponding control valve in the control valve unit 17 via the shuttle valve 32. Can be supplied to the pilot port of the valve.

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

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

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

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

The proportional valve 31AL operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL. The proportional valve 31AR operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR. The pilot pressures of the proportional valves 31AL and 31AR can be adjusted so that the control valves 176L and 176R can be stopped at arbitrary valve positions.

With this configuration, the controller 30 transfers the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the control valve 176R through the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm closing operation by the operator. Can be supplied to the left pilot port of the That is, arm 5 can be closed. The controller 30 also directs the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right side of the control valve 176R through the proportional valve 31AR and the shuttle valve 32AR, regardless of the arm opening operation by the operator. Can be supplied to the pilot port. That is, the arm 5 can be opened.

The proportional valve 33AL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the left operating lever 26L, the proportional valve 33AL, and the shuttle valve 32AL is reduced. The proportional valve 33AR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the left operating lever 26L, the proportional valve 33AR, and the shuttle valve 32AR is reduced. The pilot pressures of the proportional valves 33AL and 33AR can be adjusted so that the control valves 176L and 176R can be stopped at arbitrary valve positions.

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

Alternatively, the controller 30 controls the proportional valve 31AR as necessary even when the operator performs an arm closing operation, and controls the proportional valve 31AR on the opposite side of the closing side pilot port of the control valve 176. By increasing the pilot pressure acting on the open side pilot ports of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) and forcibly returning the control valve 176 to the neutral valve position, The closing operation of the arm 5 may be forcibly stopped. In this case, the proportional valve 33AL may be omitted. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.

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

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

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

The proportional valve 31BL operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL and the shuttle valve 32BL. The proportional valve 31BR operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31BR and the shuttle valve 32BR. The pilot pressures of the proportional valves 31BL and 31BR can be adjusted so that the control valves 175L and 175R can be stopped at arbitrary valve positions.

With this configuration, the controller 30 transfers the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the control valve 175R through the proportional valve 31BL and the shuttle valve 32BL, regardless of the boom raising operation by the operator. Can be supplied to the left pilot port of the That is, the boom 4 can be raised. Moreover, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR and the shuttle valve 32BR, regardless of the boom lowering operation by the operator. That is, the boom 4 can be lowered.

Further, as shown in FIG. 5C, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 174 according to the operation in the left and right direction. More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), it applies pilot pressure to the left pilot port of the control valve 174 in accordance with the amount of operation. Further, when the right operating lever 26R is operated in the bucket opening direction (rightward), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 174.

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

The proportional valve 31CL operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 into the left pilot port of the control valve 174 via the proportional valve 31CL and the shuttle valve 32CL. The proportional valve 31CR operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 into the right pilot port of the control valve 174 via the proportional valve 31CR and the shuttle valve 32CR. The pilot pressure of the proportional valves 31CL and 31CR can be adjusted so that the control valve 174 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL and the shuttle valve 32CL, regardless of the bucket closing operation by the operator. That is, the bucket 6 can be closed. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR and the shuttle valve 32CR, regardless of the operator's bucket opening operation. That is, the bucket 6 can be opened.

Further, as shown in FIG. 5D, the left operating lever 26L is also used to operate the turning mechanism 2. Specifically, the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 in accordance with the operation in the left and right direction. More specifically, when the left operating lever 26L is operated in the left turning direction (leftward direction), the left operating lever 26L applies pilot pressure to the left pilot port of the control valve 173 in accordance with the operating amount. Further, when the left operating lever 26L is operated in the right turning direction (rightward direction), a pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 173.

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

The proportional valve 31DL operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL. The proportional valve 31DR operates according to a current command output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR. The pilot pressure of the proportional valves 31DL and 31DR can be adjusted so that the control valve 173 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL, regardless of the left turning operation by the operator. That is, the turning mechanism 2 can be turned to the left. Moreover, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR, regardless of the right-hand rotation operation by the operator. That is, the turning mechanism 2 can be turned to the right.

The excavator 100 may be configured to automatically move the lower traveling body 1 forward and backward. In this case, the hydraulic system part related to the operation of the left travel hydraulic motor 2ML and the hydraulic system part related to the right travel hydraulic motor 2MR may be configured in the same manner as the hydraulic system part related to the operation of the boom cylinder 7, etc. good.

Next, the functions of the controller 30 will be explained with reference to FIG. FIG. 6 is a functional block diagram of the controller 30. In the example of FIG. 6, the controller 30 receives signals output from at least one of the attitude detection device, the operating device 26, the object detection device 70, the orientation detection device 85, the information input device 72, the positioning device 73, the switch NS, etc. , is configured to be able to execute various calculations and output a control command to at least one of the proportional valve 31, the display device DS, the sound output device AD, and the like. The attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a turning angular velocity sensor S5. The controller 30 has a position calculation section 30A, a trajectory acquisition section 30B, an autonomous control section 30C, a control mode switching section 30D, and an adjustment section 30E as functional elements. Each functional element may be configured with hardware or software.

The information input device 72 is configured to allow an operator of the excavator to input information to the controller 30. In this embodiment, the information input device 72 is a switch panel DS2 installed close to the image display section DS1 of the display device DS. However, the information input device 72 may be a sound input device such as a microphone placed inside the cabin 10.

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

The position calculation unit 30A is configured to calculate the position of the positioning target. In this embodiment, the position calculation unit 30A calculates the coordinate point of the work part in the reference coordinate system. The work site is, for example, the bucket 6, the toe 6T of the bucket 6 (see FIG. 7), or the back surface 6S of the bucket 6 (see FIG. 7). FIG. 7 is a diagram showing the back surface 6S of the bucket 6 viewed from the direction indicated by the arrow AR1 in FIG. FIG. 7 shows the back surface 6S of the bucket 6 with a fine dot pattern. The origin of the reference coordinate system is, for example, the intersection of the rotation axis and the ground contact surface of the shovel 100. The position calculation unit 30A calculates the coordinate point of the toe 6T of the bucket 6 from the rotation angles of the boom 4, the arm 5, and the bucket 6, for example. As shown in FIG. 7, the position calculation unit 30A calculates not only the coordinate point of the center 6TC of the toe 6T of the bucket 6, but also the coordinate point of the left end 6TL of the toe 6T of the bucket 6, and the right end 6TR of the toe 6T of the bucket 6. You may also calculate the coordinate points of . In this case, the position calculation unit 30A may utilize the output of the body tilt sensor S4. Further, the position calculation unit 30A may calculate the coordinate point of the center 6SC of the back surface 6S of the bucket 6, the coordinate point of the rear end 6SE of the back surface 6S of the bucket 6, etc. based on the information regarding the shape of the bucket 6. . Information regarding the shape of the bucket 6 may be registered in advance in a nonvolatile storage device or the like in the controller 30 so as to correspond to the type of the bucket 6.

The trajectory acquisition unit 30B is configured to acquire a target trajectory, which is a trajectory followed by the work area when the excavator 100 is operated autonomously. In this embodiment, the trajectory acquisition unit 30B acquires a target trajectory that the autonomous control unit 30C uses when operating the excavator 100 autonomously. Specifically, the trajectory acquisition unit 30B derives the target trajectory based on data related to the target surface stored in the nonvolatile storage device. The target surface refers to the surface of the workpiece formed by the shovel 100. The object to be worked on is earth and sand loaded on the bed of a dump truck, flat ground, sloped ground, or the like. The target surface is typically a target construction surface. The target construction surface is, for example, the slope surface formed by slope finishing work at the time of work completion (hereinafter referred to as the "target slope"), or the flat surface formed by leveling work at the time of work completion ( (hereinafter referred to as the "target flat surface"). Information regarding the target construction surface is typically stored in advance in a nonvolatile storage device.

The trajectory acquisition unit 30B may derive the target trajectory based on information regarding the topography around the excavator 100 recognized by the object detection device 70. Alternatively, the trajectory acquisition unit 30B may derive information regarding the past trajectory of the toe 6T of the bucket 6 from the past output of the attitude detection device stored in the volatile storage device, and derive the target trajectory based on the information. good. Alternatively, the trajectory acquisition unit 30B may derive the target trajectory based on the current position of the work site and data regarding the target surface.

The autonomous control unit 30C is configured to operate the shovel 100 autonomously. In this embodiment, the autonomous control unit 30C is configured to move the work site along the target trajectory acquired by the trajectory acquisition unit 30B when a predetermined starting condition is met. Specifically, the autonomous control unit 30C autonomously operates the excavator 100 so that the work part moves along the target trajectory when the operating device 26 is operated while the switch NS is pressed. let

In this embodiment, the autonomous control unit 30C is configured to support manual operation of the shovel by the operator by autonomously operating the actuator. For example, when the operator manually closes the arm while pressing the switch NS, the autonomous control unit 30C controls the boom cylinder 7 and the arm cylinder so that the target trajectory matches the position of the toe 6T of the bucket 6. 8 and at least one of the bucket cylinder 9 may be expanded and contracted autonomously. In this case, the operator can close the arm 5 while aligning the toe 6T of the bucket 6 with the target trajectory, for example, simply by operating the left operating lever 26L in the arm closing direction. In this example, the arm cylinder 8 that is the main operation target is called a "main actuator." Furthermore, the boom cylinder 7 and the bucket cylinder 9, which are subordinate operation targets that move in accordance with the movement of the main actuator, are referred to as "subordinate actuators."

In this embodiment, the autonomous control unit 30C can autonomously operate each actuator by giving a current command to the proportional valve 31 and individually adjusting the pilot pressure acting on the control valve corresponding to each actuator. . For example, at least one of the boom cylinder 7 and the bucket cylinder 9 can be operated regardless of whether or not the right operation lever 26R is operated.

The control mode switching section 30D is configured to be able to switch control modes. The control mode is an actuator control method that can be used by the controller 30 when the autonomous control unit 30C autonomously operates the excavator 100, and includes, for example, a normal control mode and a low-speed control mode. The normal control mode is, for example, a control mode set such that the moving speed of the work area relative to the amount of operation of the operating device 26 is set to be relatively high, and the low-speed control mode is, for example, a control mode set such that the moving speed of the work area relative to the amount of operation of the operating device 26 is set to be relatively high. This is a control mode set so that the moving speed of the vehicle is relatively low. Control modes may include arm priority mode and boom priority mode.

All control modes are used when the operating device 26 is operated while the switch NS is pressed. For example, the arm priority mode is a control mode in which arm cylinder 8 is selected as the main actuator, and boom cylinder 7 and bucket cylinder 9 are selected as subordinate actuators. In the arm priority mode, for example, when the left operating lever 26L is operated in the arm closing direction, the controller 30 actively extends the arm cylinder 8 at a speed corresponding to the operating amount of the left operating lever 26L. Then, the controller 30 passively expands and contracts at least one of the boom cylinder 7 and the bucket cylinder 9 so that the toe 6T of the bucket 6 moves along the target trajectory. The boom priority mode is a control mode in which the boom cylinder 7 is selected as the main actuator, and the arm cylinder 8 and bucket cylinder 9 are selected as the subordinate actuators. In the boom priority mode, for example, when the left operating lever 26L is operated in the arm closing direction, the controller 30 actively expands and contracts the boom cylinder 7 at a speed according to the amount of operation of the left operating lever 26L. Then, the controller 30 passively extends the arm cylinder 8 and passively extends and contracts the bucket cylinder 9 as necessary so that the toe 6T of the bucket 6 moves along the target trajectory. Note that the control mode may include a bucket priority mode. The bucket priority mode is a control mode in which the bucket cylinder 9 is selected as the main actuator, and the boom cylinder 7 and arm cylinder 8 are selected as the subordinate actuators. In the bucket priority mode, for example, when the left operating lever 26L is operated in the arm closing direction, the controller 30 actively expands and contracts the bucket cylinder 9 at a speed according to the amount of operation of the left operating lever 26L. Then, the controller 30 passively extends the arm cylinder 8 and passively extends and contracts the boom cylinder 7 as necessary so that the toe 6T of the bucket 6 moves along the target trajectory.

The control mode switching unit 30D may be configured to automatically switch the control mode when a predetermined condition is satisfied. The predetermined conditions may be set based on, for example, the shape of the target trajectory, the presence or absence of buried objects, the presence or absence of objects around the shovel 100, and the like.

For example, when autonomous control is started, the controller 30 first employs the first control mode. The first control mode is, for example, a normal control mode. If it is determined that the predetermined condition is satisfied during the execution of autonomous control using the first control mode, the control mode switching unit 30D switches the control mode from the first control mode to the second control mode. The second control mode is, for example, a low speed control mode. In this case, the controller 30 ends the autonomous control using the first control mode and starts the autonomous control using the second control mode. In this example, the controller 30 selects one of two control modes to perform autonomous control; however, the controller 30 selects one of three or more control modes to perform autonomous control. It's okay.

The adjustment unit 30E is configured to perform an adjustment process to automatically adjust the rotation angle of the bucket 6 when a predetermined condition is satisfied. The predetermined conditions include, for example, a case where the operating device 26 is operated while the switch NS is pressed, the excavation attachment moves, and the distance between the bucket 6 and the target surface becomes less than or equal to the predetermined distance DT. Note that the switch NS does not need to be pressed. Hereinafter, this predetermined condition will also be referred to as "adjustment start condition." When the adjustment unit 30E determines that the adjustment start condition is satisfied, the angle θ between the virtual plane including the back surface 6S of the bucket 6 (hereinafter referred to as the "bucket back surface") and the reference plane becomes the target angle θm. Determine whether it is close or not. That is, the adjustment unit 30E determines whether the operator of the shovel 100 is trying to adjust the angle θ to the target angle θm. The reference plane is, for example, a virtual horizontal plane. The target angle θm is, for example, an angle that is stored in advance in a nonvolatile storage device or the like. However, the target angle θm may be dynamically set. For example, the controller 30 can calculate the target angle θm with respect to the target surface so as to correspond to the outer shape of the bucket 6 at the coordinate point set as the work site. Then, the controller 30 controls the bucket angle so that the angle determined by the outer shape of the bucket 6 (for example, the angle between a line or plane forming the outer shape and the target surface) becomes the target angle θm. The external shape of the bucket 6 may be registered in advance in the controller 30 in correspondence with the type of the bucket 6. For example, the controller 30 determines the current shape of the bucket 6 attached to the tip of the arm 5 based on information regarding the external shape of the bucket 6 that is stored in advance in a nonvolatile storage device or the like in association with the type of the bucket 6. A target angle θm corresponding to is calculated, and the bucket angle is controlled so that the above angle becomes the target angle θm. Even if the standard type bucket 6 is replaced with another type of bucket 6, the bucket angle is controlled so that the above angle matches the target angle θm corresponding to the replaced bucket 6. In this way, even if the external shape of the bucket 6 is changed due to a change in the type of bucket 6 (replacement of the bucket 6), the controller 30 can set the target angle corresponding to the current external shape of the bucket 6 after the replacement. The bucket angle can be controlled so that the above angle matches θm. Therefore, even if the current bucket 6 is of a special type, the controller 30 allows the above-mentioned angle of the work area of the special type of bucket 6 with respect to the target surface to correspond to the external shape of the special type of bucket 6. The bucket angle can be automatically adjusted to the target angle.

For example, when the difference Δθ between the angle θ and the target angle θm is less than or equal to the predetermined angle θt, the adjustment unit 30E determines that the angle θ is close to the target angle θm.

Then, when the adjustment unit 30E determines that the difference Δθ between the angle θ and the target angle θm is less than or equal to the predetermined angle θt, that is, when it determines that the angle θ is within the predetermined angle range, the adjustment unit 30E adjusts the It is determined that the operator is trying to adjust the angle θ to the target angle θm. In this case, the predetermined angle range is target angle θm±predetermined angle θt. When the adjustment unit 30E determines that the operator of the excavator 100 is trying to adjust the angle θ to the target angle θm, the adjustment unit 30E automatically adjusts the bucket 6 so that the difference Δθ between the angle θ and the target angle θm becomes zero. to open and close. At this time, the adjustment unit 30E is configured to disable the manual operation when the right operation lever 26R is manually operated by the operator to open and close the bucket 6. However, when the lever operation amount of the right operation lever 26R is equal to or greater than a predetermined value, the adjustment section 30E may disable the automatic adjustment of the bucket 6. That is, the bucket 6 may be opened or closed according to manual operation. This is to give priority to the operator's intention.

In this embodiment, the adjustment unit 30E automatically adjusts the rotation angle of the bucket 6, for example, during slope finishing work. In this case, the target angle θm is a slope angle. Specifically, the adjustment unit 30E determines that the difference Δθ is zero when determining that the adjustment start condition is satisfied and when determining that the difference Δθ between the angle θ and the slope angle is less than or equal to the predetermined angle θt. The bucket 6 is automatically opened and closed so that If the adjustment unit 30E determines that the adjustment start condition is satisfied, it may determine whether the angle θs between the bucket back surface and the target slope is equal to or less than a predetermined angle θst. When the adjustment unit 30E determines that the angle θs is less than or equal to the predetermined angle θst, the adjustment unit 30E may automatically open and close the bucket 6 so that the angle θs becomes zero.

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

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

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

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

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

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

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

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

Note that in the embodiments described above, a hydraulic operation system including a hydraulic pilot circuit is disclosed. For example, in a hydraulic pilot circuit related to the left operating lever 26L, the hydraulic oil supplied from the pilot pump 15 to the left operating lever 26L changes to the opening degree of a remote control valve that is opened and closed by operating the left operating lever 26L in the arm opening direction. A corresponding flow rate is transmitted to the pilot port of control valve 176. Alternatively, in the hydraulic pilot circuit related to the right operating lever 26R, the hydraulic oil supplied from the pilot pump 15 to the right operating lever 26R changes to the opening degree of the remote control valve that is opened and closed by operating the right operating lever 26R in the boom raising direction. It is transmitted to the pilot port of control valve 175 at a corresponding flow rate.

However, instead of the hydraulic operation system having such a hydraulic pilot circuit, an electric operation system having an electric pilot circuit may be employed. In this case, the lever operation amount of the electric operation lever in the electric operation system is inputted to the controller 30 as an electric signal, for example. Further, a solenoid valve is arranged between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation using the electric operation lever is performed, the controller 30 controls the solenoid valves using an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure to move each control valve. be able to. Incidentally, each control valve may be constituted by an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electric signal from the controller 30 corresponding to the amount of lever operation of the electric operation lever.

FIG. 8 shows an example of the configuration of an electrical operation system. Specifically, the electric operation system in FIG. 8 is an example of a boom operation system, and mainly includes a pilot pressure actuated control valve unit 17, a boom operation lever 26B as an electric operation lever, and a controller 30. , a solenoid valve 61 for boom raising operation, and a solenoid valve 62 for boom lowering operation. The electric operation system of FIG. 8 can be similarly applied to an arm operation system, a bucket operation system, a travel operation system, a swing operation system, etc.

As shown in FIG. 4, the pilot pressure-operated control valve unit 17 includes a control valve 171 for the left travel hydraulic motor 2ML, a control valve 172 for the right travel hydraulic motor 2MR, and a control valve for the swing hydraulic motor 2A. 173, a control valve 174 for the bucket cylinder 9, a control valve 175 for the boom cylinder 7, a control valve 176 for the arm cylinder 8, and the like. The electromagnetic valve 61 is configured to be able to adjust the flow area of the conduit connecting the pilot pump 15 and the upward pilot port of the control valve 175. The electromagnetic valve 62 is configured to be able to adjust the flow area of the conduit connecting the pilot pump 15 and the lower pilot port of the control valve 175.

When manual operation is performed, the controller 30 generates a boom raising operation signal (electrical signal) or a boom lowering operation signal (electrical signal) in accordance with the operation signal (electrical signal) output by the operation signal generation section of the boom operation lever 26B. generate. The operation signal output by the operation signal generation section of the boom operation lever 26B is an electric signal that changes depending on the amount and direction of operation of the boom operation lever 26B.

Specifically, when the boom operation lever 26B is operated in the boom-up direction, the controller 30 outputs a boom-up operation signal (electrical signal) to the electromagnetic valve 61 according to the lever operation amount. The solenoid valve 61 adjusts the flow path area according to the boom raising operation signal (electrical signal) and controls the pilot pressure acting on the raising side pilot port of the control valve 175. Similarly, when the boom operation lever 26B is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) to the solenoid valve 62 according to the lever operation amount. The solenoid valve 62 adjusts the flow path area according to the boom lowering operation signal (electrical signal) and controls the pilot pressure acting on the lowering side pilot port of the control valve 175.

When performing autonomous control, the controller 30, for example, generates a boom raising operation signal (electrical signal) or Generates a boom lowering operation signal (electrical signal). The correction operation signal may be an electric signal generated by the controller 30, or may be an electric signal generated by an external control device other than the controller 30.

Next, with reference to FIG. 9, an example of adjustment processing by the adjustment section 30E will be described. FIG. 9 is a right side view of the excavation attachment during slope finishing work. FIG. 9(A) is a right side view of the excavation attachment when the distance between the bucket 6 and the target slope TS reaches the predetermined distance DT, and shows the state immediately before the adjustment process is performed by the adjustment section 30E. show. FIG. 9(B) is a right side view of the excavation attachment just before bringing the back surface 6S of the bucket 6 into contact with the slope that is the work target, and shows the state when the bucket 6 is automatically closed by the adjustment part 30E. show. FIG. 9(C) is a right side view of the excavation attachment just before the back surface 6S of the bucket 6 comes into contact with the slope that is the work target, and shows the state when the bucket 6 is automatically opened by the adjustment part 30E. show. The excavation attachment represented by the dotted line in FIGS. 9(B) and 9(C) shows the state of the excavation attachment when the distance between the bucket 6 and the target slope TS reaches a predetermined distance DT. .

In the present embodiment, as shown in FIG. 9(A), the adjustment unit 30E controls the adjustment unit 30E when the distance between the bucket 6 (the toe 6T of the bucket 6 in this example) and the target slope TS becomes equal to or less than the predetermined distance DT. If it is determined, it is determined whether the angle θs1 between the bucket back surface BS and the target slope TS when the arm continues to be closed is equal to or less than a predetermined angle θst. The bucket 6 represented by the dotted line in FIG. 9(B) can be moved from the state of the bucket 6 represented by the dotted line to the direction indicated by the arrow AR2 in FIG. 9(B) without opening or closing the bucket 6. It shows a virtual state of the bucket 6 when it is closed and the toe 6T of the bucket 6 is positioned on the target slope TS. In other words, FIG. 9(B) shows that if the arm continues to close as it is, the toe 6T of the bucket 6 will reach the target slope TS first, and the distance between the back surface BS of the bucket and the target slope TS at that time will be This shows that the angle becomes the angle θs1. The adjustment unit 30E calculates the angle θs1 in this virtual state based on various information. If the adjustment unit 30E determines that the angle θs1 is less than or equal to the predetermined angle θst, the operator of the excavator 100 is trying to align the bucket back surface BS with the target slope TS, or the operator is performing slope finishing work. It is determined that an attempt is made to do so.

When the adjustment unit 30E determines that the operator of the excavator 100 is trying to align the bucket back surface BS with the target slope surface TS, the adjustment unit 30E automatically adjusts the bucket 6 before the bucket 6 comes into contact with the slope surface that is the work target. Close. Specifically, the adjustment unit 30E outputs a current command to the proportional valve 31CL (see FIG. 5C) to extend the bucket cylinder 9, so that the angle θs1 becomes zero, as shown by arrow AR3 in FIG. 9(B). Close bucket 6 so that The excavation attachment shown by the solid line in FIG. 9(B) automatically closes the bucket 6 from the state shown by the dotted line, and the excavation attachment is manually operated by the operator as shown by the arrow AR2 in FIG. 9(B). The state of the excavation attachment is shown when the arm 5 is closed in accordance with the figure. That is, the excavation attachment represented by the solid line in FIG. 9(B) represents that the bucket back surface BS and the target slope surface TS become almost parallel just before the bucket 6 contacts the slope.

As a result, the operator of the excavator 100 can align the back surface 6S of the bucket 6 with the target slope TS by simply performing an arm closing operation without making any slight adjustments to the bucket 6, and then simply performing an arm closing operation. Then, the back surface 6S of the bucket 6 can be moved along the target slope TS.

Alternatively, the adjustment unit 30E determines that the distance between the bucket 6 (the toe 6T of the bucket 6 in this example) and the target slope TS has become equal to or less than the predetermined distance DT, as shown in FIG. 9(A). , it is determined whether the angle θs2 between the bucket back surface BS and the target slope TS when the arm continues to be closed is less than or equal to a predetermined angle θst. The bucket 6 represented by the dashed line in FIG. 9(C) is moved from the state of the bucket 6 represented by the dotted line to the arm 5 as shown by the arrow AR4 in FIG. 9(C) without opening or closing the bucket 6. It shows a virtual state of the bucket 6 when it is closed and the rear end 6SE of the back surface 6S of the bucket 6 is positioned on the target slope TS. In other words, FIG. 9(C) shows that if the arm continues to close as it is, the rear end 6SE of the back surface 6S will reach the target slope TS first, and the relationship between the bucket back surface BS and the target slope TS at that time will change. This shows that the angle between them is the angle θs2. The adjustment unit 30E calculates the angle θs2 in this virtual state based on various information. If the adjustment unit 30E determines that the angle θs2 is less than or equal to the predetermined angle θst, the operator of the excavator 100 is trying to align the bucket back surface BS with the target slope TS, or the operator is performing slope finishing work. It is determined that an attempt is made to do so.

When the adjustment unit 30E determines that the operator of the excavator 100 is trying to align the bucket back surface BS with the target slope surface TS, the adjustment unit 30E automatically adjusts the bucket 6 before the bucket 6 comes into contact with the slope surface that is the work target. open to the target. Specifically, the adjustment unit 30E outputs a current command to the proportional valve 31CR (see FIG. 5C) to contract the bucket cylinder 9, so that the angle θs2 becomes zero, as shown by arrow AR5 in FIG. 9(C). Open bucket 6 so that The excavation attachment represented by the solid line in FIG. 9(C) automatically opens the bucket 6 from the state represented by the dotted line, and is manually operated by the operator as shown by arrow AR4 in FIG. 9(C). The state of the excavation attachment is shown when the arm 5 is closed in accordance with the figure. That is, the excavation attachment represented by the solid line in FIG. 9(C) represents that the bucket back surface BS and the target slope surface TS become almost parallel just before the bucket 6 contacts the slope.

As a result, the operator of the excavator 100 can align the back surface 6S of the bucket 6 with the target slope TS by simply performing an arm closing operation without making any slight adjustments to the bucket 6, and then simply performing an arm closing operation. Then, the back surface 6S of the bucket 6 can be moved along the target slope TS.

The adjustment unit 30E is configured to cancel autonomous control when the operator performs a bucket closing operation while moving the back surface 6S of the bucket 6 along the target slope TS. Good too. This is to ensure that the operation for scooping up dirt and the like is performed according to the operator's intention.

On the other hand, when the operator performs a bucket opening operation while moving the back surface 6S of the bucket 6 along the target slope TS, the adjustment unit 30E does not release the autonomous control, The bucket opening operation by the operator is disabled. For example, the adjustment unit 30E outputs a current command to the proportional valve 31CR and the proportional valve 33CR to return the control valve 174 to the neutral valve position, thereby invalidating the bucket opening operation by the operator. This is because it can be assumed that the bucket opening operation at this time was an erroneous operation.

With this configuration, the adjustment unit 30E can automatically adjust the attitude of the bucket 6 to an attitude suitable for slope finishing work. Therefore, the operator of the excavator 100 can adjust the slope of the back surface 6S of the bucket 6 to the slope of the target slope TS simply by bringing the bucket 6 closer to the slope that is the surface to be worked on. That is, the operator does not need to slightly operate the right operating lever 26R in the bucket opening/closing direction in order to match the slope of the back surface 6S of the bucket 6 with the slope of the target slope TS. At least in this respect, the adjustment section 30E can improve the operability of the shovel 100.

Next, with reference to FIG. 10, another example of the adjustment process by the adjustment unit 30E will be described. FIG. 10 is a left side view of the excavation attachment when leveling work is performed. FIG. 10(A) is a left side view of the excavation attachment when the distance between the bucket 6 and the target flat surface TSa reaches the predetermined distance DT, and shows the state immediately before adjustment processing by the adjustment section 30E is performed. show. FIG. 10(B) is a left side view of the excavation attachment when the toe 6T of the bucket 6 is in contact with the ground, which is the work target, and the state after the bucket 6 is automatically closed by the adjustment unit 30E. shows. FIG. 10(C) is a left side view of the excavating attachment when the arm closing operation is continued so that the toe 6T of the bucket 6 approaches the cabin 10 along the target flat surface TSa, and the boom is controlled by the autonomous control unit 30C. 4 indicates the state when it is raised the most. FIG. 10(D) is a left side view of the excavating attachment when the arm closing operation is further continued so that the toe 6T of the bucket 6 approaches the cabin 10 along the target flat surface TSa, and is The state when the boom 4 is lowered is shown. The bucket 6 represented by the dotted line in FIG. 10(A) shows the state of the bucket 6 after being automatically closed by the adjustment unit 30E. The excavation attachment represented by a dotted line in FIG. 10(C) shows the state of the excavation attachment shown in FIG. 10(B). The excavation attachment represented by the dotted line in FIG. 10(D) shows the state of the excavation attachment shown in FIG. 10(C).

In the state shown in FIG. 10(A), the operator tilts the left operating lever 26L in the arm closing direction, and also tilts the right operating lever 26R in the bucket closing direction or bucket opening direction. Therefore, arm 5 is closed as shown by arrow AR11.

As shown in FIG. 10(A), when the adjustment unit 30E determines that the distance between the bucket 6 (the toe 6T of the bucket 6 in this example) and the target slope TS has become equal to or less than the predetermined distance DT, the adjustment unit 30E adjusts the angle. It is determined whether the difference Δθ between θ and the target angle θm is less than or equal to a predetermined angle θt. This is to determine whether the operator of the excavator 100 is trying to adjust the angle θ to the target angle θm.

The angle θ is the angle between the bucket back surface BS and the reference surface. In the example of FIG. 10, the reference plane is a virtual horizontal plane. The target angle θm is the angle between the bucket back surface BS and the reference surface when moving the toe 6T of the bucket 6 along the target flat surface TSa, and is stored in advance in a nonvolatile storage device or the like. In the example of FIG. 10, the target flat surface TSa is a virtual horizontal surface. The predetermined angle θt is a threshold value used to determine whether the operator intends to perform the leveling work, and is stored in advance in a nonvolatile storage device or the like. In the example of FIG. 10, the operator uses the information input device 72 to previously set the target angle θm and the predetermined angle θt before performing the leveling work.

Note that the target angle θm may be an angle between the bucket back surface BS and the reference plane when starting the autonomous control. That is, the angle between the bucket back surface BS and the reference surface does not need to match the target angle θm when moving the toe 6T of the bucket 6 along the target flat surface TSa.

When the adjustment unit 30E determines that the operator of the excavator 100 is trying to adjust the angle θ to the target angle θm, the adjustment unit 30E automatically opens and closes the bucket 6 so that the difference Δθ between the angle θ and the target angle θm becomes zero. let In the example of FIG. 10(A), the adjustment unit 30E disables the operator's manual operation of the right operation lever 26R, and then automatically extends the bucket cylinder 9 and automatically closes the bucket 6.

The bucket 6 represented by the dotted line in FIG. 10(A) shows the state of the bucket 6 after the bucket 6 is automatically closed by the adjustment unit 30E as shown by the arrow AR12.

As a result, the adjustment unit 30E can bring the bucket 6 into contact with the ground and align the toe 6T with the target flat surface TSa with the angle θ matching the target angle θm, as shown in FIG. 10(B). can.

Thereafter, the operator simply tilts the left operating lever 26L in the arm closing direction while pressing the switch NS, and with the angle θ matching the target angle θm, the toe 6T of the bucket 6 is moved along the target flat surface TSa. It can be moved. Specifically, the autonomous control unit 30C automatically opens the bucket 6 as shown by arrow AR14 when arm 5 is closed as shown by arrow AR13 in FIG. By automatically raising the boom 4 as shown, the toe 6T of the bucket 6 can be moved along the target flat surface TSa with the angle θ matching the target angle θm. Further, when the arm 5 is further closed as shown by the arrow AR16 in FIG. 10(D), the autonomous control unit 30C automatically opens the bucket 6 as shown by the arrow AR17, and also opens the bucket 6 as shown by the arrow AR18 By automatically lowering the boom 4 in this manner, the toe 6T of the bucket 6 can be further moved along the target flat surface TSa while the angle θ is made to match the target angle θm.

With this configuration, the adjustment unit 30E can automatically adjust the attitude of the bucket 6 to an attitude suitable for leveling work. Therefore, the operator of the excavator 100 can adjust the angle θ to the target angle θm simply by bringing the bucket 6 closer to the ground. That is, the operator does not need to slightly operate the right operating lever 26R in the bucket opening/closing direction in order to adjust the angle θ to the target angle θm. At least in this respect, the adjustment section 30E can improve the operability of the shovel 100.

The autonomous control unit 30C is configured to call the operator's attention when the boom 4 is switched from ascending to descending under autonomous control, or when the boom 4 is switching from descending to ascending under autonomous control. It may be configured as follows. The alert is realized by at least one of, for example, displaying image information on the display device DS, outputting sound information on the sound output device AD, and vibrating a seat vibrator (not shown). be done. For example, the autonomous control unit 30C may output a control command to the display device DS, and cause the display device DS to display image information informing that the boom 4 is switched between raising and lowering. In the example shown in FIG. 10, the autonomous control unit 30C outputs a control command to the sound output device AD immediately before the boom 4 is switched from raising to lowering under autonomous control during leveling work, and The operator is informed that the movement of the boom 4 is switched from ascending to descending. With this configuration, the operator can recognize in advance that the movement of the boom 4 under autonomous control will switch from rising to falling, so that the operator does not panic when unexpected movement of the boom 4 occurs. Therefore, this configuration can improve the safety of the operator and the workability (ease of use) of the shovel 100.

The autonomous control unit 30C may be configured to notify the operator when autonomous control is being executed. For example, when the operator tilts the left operating lever 26L in the arm closing direction while pressing the switch NS, the autonomous control unit 30C outputs a control command to the sound output device AD to indicate that autonomous control is in progress. The sound information shown may be output from the sound output device AD.

Next, with reference to FIG. 11, still another example of the adjustment process by the adjustment section 30E will be described. FIG. 11 is a right side view of the dump truck TR when leveling work is being performed to smooth out the unevenness of earth and sand as an object to be excavated loaded onto the bed of the dump truck TR. FIG. 11(A) is a right side view of the dump truck TR when the arm opening operation is performed so that the toe 6T of the bucket 6 approaches the target trajectory TP. FIG. 11(A) shows a state immediately before adjustment processing by the adjustment unit 30E is performed. FIG. 11(B) is a right side view of the dump truck TR when the arm opening operation is continued so that the toe 6T of the bucket 6 moves away from the cabin 10 along the target trajectory TP. FIG. 11(B) shows that the boom 4 and the bucket 6 are autonomously controlled by the autonomous control unit 30C, and the toe 6T of the bucket 6 moves along the target trajectory TP with the angle θ and the target angle θm matching. It shows.

The bucket 6 represented by the dashed line in FIG. 11(A) shows the state of the bucket 6 before it reaches the sky above the loading platform of the dump truck TR. The bucket 6 represented by the dotted line in FIG. 11(A) shows the state of the bucket 6 after being automatically opened by the adjustment unit 30E. Two buckets 6 represented by dotted lines in FIG. 11(B) indicate the past state of one bucket 6 represented by a solid line.

In the example shown in FIG. 11, the trajectory acquisition unit 30B recognizes the unevenness of the earth and sand loaded on the bed of the dump truck TR based on the output of LIDAR as the front sensor 70F. Then, the trajectory acquisition unit 30B derives an appropriate target trajectory TP in order to smooth out the unevenness. The dashed line in FIG. 11 represents the target trajectory TP derived by the trajectory acquisition unit 30B.

In the state shown in FIG. 11(A), the operator tilts the left operating lever 26L in the arm opening direction or the right operating lever 26R in the boom lowering direction. Therefore, the bucket 6 is brought closer to the loading platform of the dump truck TR, as shown by arrow AR21. The operator also tilts the right operating lever 26R in the bucket closing direction or bucket opening direction. This is to match the angle θ to the target angle θm.

As shown in FIG. 11(A), when the adjustment unit 30E determines that the distance between the bucket 6 (the toe 6T of the bucket 6 in this example) and the target trajectory TP has become equal to or less than the predetermined distance DT, the adjustment unit 30E adjusts the angle θ. It is determined whether the difference Δθ between the target angle θm and the target angle θm is less than or equal to a predetermined angle θt. This is to determine whether the operator of the excavator 100 is trying to adjust the angle θ to the target angle θm.

The angle θ is the angle between the bucket back surface BS and the reference surface. In the example of FIG. 11, the reference plane is a virtual plane that includes the target trajectory TP. The target angle θm is, for example, the angle between the bucket back surface BS and the reference surface when moving the toe 6T of the bucket 6 along the target trajectory TP, and is stored in advance in a nonvolatile storage device or the like. The predetermined angle θt is a threshold value used to determine whether the operator intends to perform the leveling work, and is stored in advance in a nonvolatile storage device or the like. In the example of FIG. 11, the operator uses the information input device 72 to previously set the target angle θm and the predetermined angle θt before performing the leveling work.

Note that the target angle θm may be an angle between the bucket back surface BS and the reference plane when starting the autonomous control. That is, the angle between the bucket back surface BS and the reference plane does not need to match the target angle θm when moving the toe 6T of the bucket 6 along the target trajectory TP.

When the adjustment unit 30E determines that the operator of the excavator 100 is trying to adjust the angle θ to the target angle θm, the adjustment unit 30E automatically opens and closes the bucket 6 so that the difference Δθ between the angle θ and the target angle θm becomes zero. let In the example of FIG. 11A, the adjustment unit 30E disables the manual operation of the bucket 6 by the operator, and then automatically deflates the bucket cylinder 9 to automatically open the bucket 6.

The bucket 6 represented by the dotted line in FIG. 11(A) shows the state of the bucket 6 after the bucket 6 is automatically opened by the adjustment unit 30E as shown by the arrow AR22.

As a result, the adjustment unit 30E adjusts the bucket 6 with the angle θ matching the target angle θm, like the left bucket 6 of the two buckets 6 represented by the dotted line in FIG. 11(B). It is possible to align the toe 6T with the target trajectory TP by bringing it into contact with earth and sand. Note that the automatic adjustment by the adjustment unit 30E may be performed when the autonomous control by the autonomous control unit 30C is being performed, that is, when the arm opening operation is being performed while pressing the switch NS.

After that, the operator can move the toe 6T of the bucket 6 along the target trajectory TP by autonomous control by simply tilting the left operating lever 26L in the arm opening direction while pressing the switch NS. Specifically, when the arm 5 is opened, the autonomous control unit 30C automatically closes the bucket 6 and automatically lowers the boom 4 to make the angle θ match the target angle θm. In this state, the bucket 6 can be moved to the driver's cab side of the dump truck TR as shown by arrow AR23. That is, the autonomous control unit 30C can move the toe 6T of the bucket 6 along the target trajectory TP.

With this configuration, the adjustment unit 30E can automatically adjust the attitude of the bucket 6 to an attitude suitable for leveling work. Therefore, the operator of the excavator 100 can adjust the angle θ to the target angle θm simply by bringing the bucket 6 close to the earth and sand loaded on the bed of the dump truck TR. That is, the operator does not need to slightly operate the right operating lever 26R in the bucket opening/closing direction in order to adjust the angle θ to the target angle θm. At least in this respect, the adjustment section 30E can improve the operability of the shovel 100.

As described above, the excavator 100 according to the embodiment of the present invention includes the lower traveling body 1, the upper rotating body 3 rotatably mounted on the lower traveling body 1, the attachment attached to the upper rotating body 3, and the upper rotating body 1. A controller 30 as a control device mounted on the revolving body 3 is provided. The controller 30 is configured to automatically adjust the angle of the back surface 6S of the bucket 6 with respect to the target surface to the target angle when the bucket 6 as the work part of the attachment approaches the target surface. There is.

With this configuration, the excavator 100 can automatically adjust the posture of the working part (for example, the bucket 6) to a posture suitable for the desired work.

For example, as shown in FIG. 9B, the controller 30 controls the bucket 6 so that the angle θs1 of the back surface 6S of the bucket 6 with respect to the target slope TS becomes zero when the bucket 6 approaches the target slope TS. may be configured to close automatically.

Alternatively, as shown in FIG. 9C, the controller 30 adjusts the bucket 6 so that the angle θs2 of the back surface 6S of the bucket 6 with respect to the target slope TS becomes zero when the bucket 6 approaches the target slope TS. may be configured to open automatically.

Alternatively, the controller 30 adjusts the angle θ of the back surface 6S of the bucket 6 with respect to the target flat surface TSa to the target angle θm when the bucket 6 approaches the target flat surface TSa, as shown in FIG. 10(A). The bucket 6 may be configured to close automatically.

Alternatively, as shown in FIG. 11A, the controller 30 determines that when the bucket 6 approaches the target trajectory TP, the angle θ of the back surface 6S of the bucket 6 with respect to the virtual plane including the target trajectory TP becomes the target angle θm. The bucket 6 may be configured to open automatically as shown in FIG.

The controller 30 may be configured to perform automatic adjustment when the angle θ is within a predetermined angle range. That is, the controller 30 may be configured not to perform automatic adjustment when the angle θ is outside a predetermined angle range. The predetermined angle range is, for example, target angle θm±predetermined angle θt. With this configuration, the excavator 100 can automatically open and close the bucket 6 after confirming that the operator is trying to adjust the angle θ to the target angle θm. That is, when the excavator 100 confirms that the operator is not trying to adjust the angle θ to the target angle θm, it is possible to prevent the bucket 6 from automatically opening and closing. Therefore, the excavator 100 can prevent automatic adjustment from being performed against the operator's will.

Controller 30 may be configured to discontinue autonomous control when the work site is operated. For example, when the operator performs a bucket closing operation during slope finishing work as shown in FIG. 9, the controller 30 stops the autonomous control by the autonomous control unit 30C. In this case, the shovel 100 operates to close the bucket 6 in response to the bucket closing operation by the operator. This is to ensure that the bucket 6 is closed according to the operator's intention. Further, this is because it is presumed that the operation of closing the bucket 6 to scoop up earth and sand during the slope finishing work as shown in FIG. 9 is not an erroneous operation.

However, when the operator performs a bucket opening operation during slope finishing work as shown in FIG. The bucket opening operation may be configured to be disabled. This is because if the bucket 6 is opened during the slope finishing work as shown in FIG. 9, the bucket 6 will exceed the target slope TS and penetrate into the soil. That is, this is because it is estimated that the bucket opening operation by the operator is an erroneous operation.

The target surface may be automatically generated based on the shape of the surface of the workpiece. The shape of the surface of the work target is, for example, the shape of the surface of earth and sand loaded on the bed of the dump truck TR. For example, as shown in FIG. 11, when leveling work is performed on soil loaded on the bed of a dump truck TR, the controller 30 generates the target trajectory TP based on the output of the front sensor 70F as LIDAR. good. With this configuration, the controller 30 can automatically adjust the work area not only for a preset target plane but also for a dynamically set target plane.

The controller 30 may be configured to issue a warning depending on the state of the boom under autonomous control. For example, the controller 30 switches when the movement of the boom 4 that is automatically moved during autonomous control by the autonomous control unit 30C switches from ascending to descending, or when switching from descending to ascending. It may also be configured to notify the operator of this. For example, as shown in FIGS. 10(C) and 10(D), immediately before the movement of the boom 4, which is automatically moved by autonomous control during leveling work, switches from ascending to descending, the controller 30 Sound information indicating this may be outputted from the sound output device AD. With this configuration, the controller 30 can make the operator recognize in advance that the movement of the boom 4 under autonomous control will switch from ascending to descending. You can prevent this from happening.

The preferred embodiments of the present invention have been described above in detail. However, the invention is not limited to the embodiments described above. Various modifications or substitutions may be made to the embodiments described above without departing from the scope of the present invention. Further, features described separately can be combined as long as no technical contradiction occurs.

For example, in the example shown in FIG. 9, when the bucket 6 is brought close to the slope as a work object for finishing work on a downhill slope, the controller 30 causes the bucket back surface BS and the target slope TS to be aligned. The bucket 6 is automatically opened and closed so that the buckets are parallel to each other. However, when the bucket 6 is brought close to the slope as a work object for finishing work on an uphill slope, the controller 30 also makes sure that the back surface BS of the bucket and the target slope TS are parallel to each other. Alternatively, the bucket 6 may be opened and closed automatically.

In the example shown in FIG. 9, the controller 30 automatically opens and closes the bucket 6 so that the back surface BS of the bucket and the target slope TS are parallel to each other before starting the slope finishing work by closing the arm. I'm letting you do it. However, before starting the slope finishing work by opening the arm, the controller 30 may automatically open and close the bucket 6 so that the bucket back surface BS and the target slope surface TS are parallel to each other.

In the example shown in FIG. 10, the controller 30 automatically opens and closes the bucket 6 so that the angle θ becomes the target angle θm before starting the leveling work by closing the arm. However, the controller 30 may automatically open and close the bucket 6 so that the angle θ becomes the target angle θm before starting the leveling work by opening the arm.

Similarly, in the example shown in FIG. 11, the controller 30 sets the angle θ to the target angle θm before starting the leveling work for the earth and sand loaded on the bed of the dump truck TR by the arm opening operation. The bucket 6 is automatically opened and closed. However, the controller 30 automatically opens and closes the bucket 6 so that the angle θ becomes the target angle θm before starting leveling work on the earth and sand loaded on the bed of the dump truck TR by the arm closing operation. It's okay.

1... Lower traveling body 1C... Crawler 1CL... Left crawler 1CR... Right crawler 2... Turning mechanism 2A... Hydraulic motor for turning 2M... Hydraulic motor for traveling 2ML... Hydraulic motor for left travel 2MR...Hydraulic motor for right travel 3...Upper rotating body 4...Boom 5...Arm 6...Bucket 7...Boom cylinder 8...Arm cylinder 9. ... Bucket cylinder 10 ... Cabin 11 ... Engine 11a ... Alternator 11b ... Starter 13 ... Regulator 14 ... Main pump 14c ... Oil temperature sensor 15 ... Pilot pump 17. ...Control valve unit 18...Aperture 19...Control pressure sensor 26...Operation device 26B...Boom operation lever 26D...Travel lever 26DL...Left travel lever 26DR...Right travel lever 26L...Left operation lever 26R...Right operation lever 28...Discharge pressure sensor 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB...Operating pressure sensor 30...Controller 30A...Position Calculation unit 30B... Trajectory acquisition unit 30C... Autonomous control unit 30D... Control mode switching unit 30E... Adjustment unit 31, 31AL to 31DL, 31AR to 31DR... Proportional valve 32, 32AL to 32DL, 32AR~32DR...Shuttle valve 33, 33AL~33DL, 33AR~33DR...Proportional valve 40...Center bypass line 42...Parallel line 49...Alarm device 60...Control valve 61 , 62...Solenoid valve 70...Object detection device 70F...Front sensor 70B...Back sensor 70L...Left sensor 70R...Right sensor 74...ECU 75...Engine Rotation speed adjustment dial 80...Imaging device 80B...Rear camera 80L...Left camera 80R...Right camera 85...Direction detection device 100...Shovel 171-176...Control valve AD...Sound output device CD1...Pilot line BT...Storage battery DS...Display device DSa...Control section DS1...Image display section DS2...Switch panel LB...Lever button NS ... Switch S1 ... Boom angle sensor S2 ... Arm angle sensor S3 ... Bucket angle sensor S4 ... Aircraft tilt sensor S5 ... Turning angular velocity sensor

Claims (5)

a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
an attachment attached to the upper revolving body;
A control device mounted on the upper revolving body,
The control device stores an angular range for determining that the angle of the work part of the attachment with respect to the target surface is close to the target angle, and when the work part approaches the target surface, the control device automatic adjustment is performed so that the angle becomes the target angle when the angle is within the angle range before contact with the target surface;
shovel. The angle range is an angle range from an angle obtained by subtracting a predetermined angle from the target angle to an angle obtained by adding the predetermined angle to the target angle,
The control device determines that the angle is close to the target angle when the difference between the angle and the target angle is equal to or less than the predetermined angle,
The control device does not perform the automatic adjustment after the work site and the target surface come into contact with each other.
The excavator according to claim 1. When the control device determines that the angle is within the angle range, the control device determines that the operator of the excavator is trying to adjust the angle to the target angle,
The control device cancels the autonomous control when the work part is operated while executing the autonomous control to move the work part along a predetermined trajectory.
The excavator according to claim 1 or 2. The work site is a bucket, a toe of the bucket, or a back surface of the bucket,
The target surface is a target slope surface in slope finishing work or a target flat surface in leveling work, and is automatically generated based on the output of an object detection device that detects the shape of the surface of the work object.
A shovel according to any one of claims 1 to 3. The control device issues a warning when the movement of the boom that is automatically moved during the autonomous control switches from ascending to descending, or when switching from descending to ascending.
The excavator according to claim 3.

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