KR102659076B1 - shovel - Google Patents

Abstract

The shovel 100 according to the embodiment of the present invention includes a lower traveling body (1), an upper rotating body (3) rotatably mounted on the lower traveling body (1), and a lower traveling body (1) that drives the lower traveling body (1). Information about the relative relationship between the traveling hydraulic motor (2M) as a traveling actuator, the space recognition device 70 provided on the upper rotating body (3), and the direction of the upper rotating body (3) and the direction of the lower traveling body (1) It has a direction detection device 71 that detects and a controller 30 as a control device provided in the upper swing body 3. The controller 30 operates the traveling hydraulic motor 2M based on the output of the space recognition device 70 and the output of the direction detection device 71.

Description

shovel

This disclosure relates to a shovel.

Conventionally, a shovel is known that automatically expands and contracts the boom cylinder, arm cylinder, and bucket cylinder so that the attitude of the attachment becomes an attitude suitable for parking in response to the operator's button operation (see Patent Document 1).

Patent Document 1: Japanese Patent Publication No. 8-136737

However, the above-described shovel only automatically changes the posture of the attachment and cannot automatically move the shovel to the parking position.

Therefore, it is desirable to provide a shovel that can support movement to the parking position.

A shovel according to an embodiment of the present invention includes a lower traveling body, an upper swing body rotatably mounted on the lower traveling body, a traveling actuator for driving the lower traveling body, and a space recognition device provided on the upper swing body. and a direction detection device that detects information about the relative relationship between the direction of the upper rotating body and the direction of the lower traveling body, and a control device provided in the upper rotating body, wherein the control device includes the space recognition device. The travel actuator is operated based on the output and the output of the direction detection device.

By the means described above, a shovel capable of assisting movement to the parking position is provided.

1 is a side view of a shovel according to an embodiment of the present invention.
Figure 2 is a top view of the shovel of Figure 1.
Figure 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel of Figure 1.
Figure 4a is a diagram of a portion of the hydraulic system related to the operation of the arm cylinder.
Figure 4b is a diagram of a part of the hydraulic system related to the operation of the hydraulic motor for turning.
Figure 4c is a diagram of a portion of the hydraulic system related to the operation of the boom cylinder.
4D is a diagram of a portion of the hydraulic system related to operation of the bucket cylinder.
Figure 5A is a diagram of a portion of the hydraulic system related to operation of the left-hand drive hydraulic motor.
Figure 5b is a diagram of a part of the hydraulic system related to the operation of the spaceborne hydraulic motor.
Figure 6 is a functional block diagram showing a configuration example of a controller.
Figure 7 is a flow chart of an example of parking processing.
Figure 8 is a diagram showing an example of a parking space selection screen.
Figure 9 is a top view of an example of an actual parking lot.
Figure 10 is a diagram showing another example of a parking space selection screen.
Figure 11 is a top view of another example of an actual parking lot.
Figure 12 is a diagram showing another example of the parking space selection screen.
Figure 13 is a diagram showing another example of the parking space selection screen.
Figure 14 is a functional block diagram showing another configuration example of the controller.
Figure 15 is a diagram showing a configuration example of an electric operation system.
Figure 16 is a schematic diagram showing a configuration example of a shovel management system.

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. Figure 1 is a side view of the shovel 100, and Figure 2 is a top view of the shovel 100.

In this embodiment, the lower traveling body 1 of the shovel 100 includes a crawler 1C. The crawler 1C is driven by a traveling hydraulic motor 2M as a traveling actuator mounted on the lower traveling body 1. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler (1CL) is driven by the left traveling hydraulic motor (2ML), and the right crawler (1CR) is driven by the space traveling hydraulic motor (2MR).

The upper swing body (3) is rotatably mounted on the lower traveling body (1) via a swing mechanism (2). The swing mechanism 2 is driven by a swing hydraulic motor 2A as a swing actuator mounted on the upper swing body 3. However, the turning actuator may be a turning electric generator as an electric actuator.

A boom (4) is mounted on the upper swing body (3). An arm 5 is mounted on the tip of the boom 4, and a bucket 6 as an end attachment is mounted on the tip of the arm 5. The boom 4, arm 5, and bucket 6 constitute an excavation attachment (AT), which is an example of an attachment. The boom (4) is driven by the boom cylinder (7), the arm (5) is driven by the arm cylinder (8), and the bucket (6) is driven by the bucket cylinder (9). The boom cylinder (7), arm cylinder (8), and bucket cylinder (9) constitute an attachment actuator.

The boom 4 is supported so as to be able to rotate up and down with respect to the upper swing body 3. And, a boom angle sensor (S1) is mounted on the boom (4). The boom angle sensor S1 can detect the boom angle θ1, which is the rotation angle of the boom 4. The boom angle θ1 is, for example, an elevation angle from the state in which the boom 4 is lowered to the maximum. Therefore, the boom angle θ1 becomes the maximum when the boom 4 is raised to its maximum.

The arm 5 is rotatably supported with respect to the boom 4. And, the arm 5 is equipped with an arm angle sensor (S2). The arm angle sensor S2 can detect the arm angle θ2, which is the rotation angle of the arm 5. The arm angle θ2 is, for example, an unfolding angle from the state in which the arm 5 is maximally folded. Therefore, the arm angle θ2 becomes maximum when the arm 5 is fully expanded.

The bucket 6 is rotatably supported with respect to the arm 5 . And, the bucket 6 is equipped with a bucket angle sensor (S3). The bucket angle sensor S3 can detect the bucket angle θ3, which is the rotation angle of the bucket 6. The bucket angle θ3 is the unfolding angle of the bucket 6 from the fully folded state. Therefore, the bucket angle θ3 becomes maximum when the bucket 6 is fully opened.

In the embodiment of FIG. 1, each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 is comprised of a combination of an acceleration sensor and a gyro sensor. However, at least one of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be composed of only an acceleration sensor. Additionally, the boom angle sensor S1 may be a stroke sensor mounted on the boom cylinder 7, or may be a rotary encoder, potentiometer, or inertial measurement device. The same applies to the arm angle sensor (S2) and bucket angle sensor (S3).

The upper swing body 3 is provided with a cabin 10 serving as a driver's compartment, and a power source such as an engine 11 is also mounted. Additionally, the upper swing body 3 is equipped with a space recognition device 70, a direction detection device 71, a positioning device 73, an aircraft inclination sensor S4, and a turning angular speed sensor S5. Inside the cabin 10, an operation device 26, a controller 30, an information input device 72, a display device D1, and a sound output device D2 are provided. However, in this book, for convenience, the side of the upper swing body 3 on which the excavation attachment (AT) is mounted is assumed to be the front, and the side on which the counterweight is mounted is assumed to be the rear.

The spatial recognition device 70 is configured to recognize objects existing in a three-dimensional space around the shovel 100. In addition, the spatial recognition device 70 is configured to calculate the distance from the spatial recognition device 70 or the shovel 100 to the recognized object. The spatial recognition device 70 is, for example, an ultrasonic sensor, millimeter-wave radar, monocular camera, stereo camera, LIDAR, distance image sensor, or infrared sensor. In this embodiment, the space recognition device 70 includes a front sensor 70F mounted on the front top of the cabin 10 and a rear sensor mounted on the rear top of the upper swing body 3. (70B), a left sensor (70L) mounted on the upper left end of the upper rotating body (3), and a right sensor (70R) mounted on the upper right end of the upper rotating body (3). An upward sensor that recognizes objects existing in the space above the upper swing body 3 may be mounted on the shovel 100.

The spatial recognition device 70 may be configured to detect objects existing around the shovel 100. Objects include, for example, people, animals, vehicles (dump trucks, etc.), work equipment, construction machinery, buildings, wires, fences, or holes. When configured to detect a person as an object, the spatial recognition device 70 is configured to distinguish between a person and an object other than a person. Additionally, the spatial recognition device 70 may be configured to identify the type of object.

The space recognition device 70 may be configured to recognize the condition of the road surface. Specifically, the spatial recognition device 70 may be configured to specify, for example, the type of object existing on the road surface. Types of objects present on the road surface include, for example, cigarettes, cans, plastic bottles, or stones.

The direction detection device 71 is configured to detect information regarding the relative relationship between the direction of the upper rotating body 3 and the direction of the lower traveling body 1. The direction detection device 71 may be comprised, for example, of a combination of a geomagnetic sensor mounted on the lower traveling body 1 and a geomagnetic sensor mounted on the upper rotating body 3. Alternatively, the direction detection device 71 may be comprised of a combination of a GNSS receiver mounted on the lower traveling body 1 and a GNSS receiver mounted on the upper rotating body 3. The direction detection device 71 may be a rotary encoder or a rotary position sensor. In a configuration in which the upper swing body 3 is swing driven by a swing motor generator, the direction detection device 71 may be configured as a resolver. The direction detection device 71 may be mounted, for example, on a center joint provided in relation to the swing mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper swing body 3.

The direction detection device 71 may be comprised of a camera mounted on the upper rotating body 3. In this case, the direction detection device 71 performs known image processing on the image captured by the camera mounted on the upper swing body 3 (input image) to determine the image of the lower traveling body 1 included in the input image. Detect an image. Then, the direction detection device 71 specifies the longitudinal direction of the undercarriage 1 by detecting an image of the undercarriage 1 using a known image recognition technology. Then, the direction detection device 71 derives the angle formed between the direction of the front-to-back axis of the upper swing body 3 and the longitudinal direction of the lower traveling body 1. The direction of the front-to-back axis of the upper pivot body 3 is derived from the mounting position of the camera. Since the crawler 1C protrudes from the upper swing body 3, the direction detection device 71 can specify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C. In this case, the direction detection device 71 may be integrated into the controller 30.

The information input device 72 is configured to allow the operator of the shovel to input information to the controller 30. In this embodiment, the information input device 72 is a switch panel installed adjacent to the display portion of the display device D1. However, the information input device 72 may be a touch panel disposed on the display portion of the display device D1, or may be a sound input device such as a microphone disposed within the cabin 10.

The positioning device 73 is configured to measure the position of the upper rotating body 3. In this embodiment, the positioning device 73 is a GNSS receiver, detects the position of the upper rotating body 3, and outputs the 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 direction of the upper rotating body 3.

The aircraft inclination sensor S4 is configured to detect the inclination of the upper swing body 3 with respect to a predetermined plane. In this embodiment, the aircraft inclination sensor S4 is an acceleration sensor that detects the inclination angle (roll angle) around the front and rear axes and the inclination angle (pitch angle) around the left and right axes of the upper swing body 3 with respect to the horizontal plane. The front and rear axes and the left and right axes of the upper swing body 3, for example, are orthogonal to each other and pass through the shovel center point, which is a point on the pivot axis of the shovel 100. The aircraft inclination sensor S4 may be a combination of an acceleration sensor and a gyro sensor.

The turning angular speed sensor S5 detects the turning angular speed of the upper turning body 3. In this embodiment, the turning angular velocity sensor S5 is a gyro sensor. The turning angular velocity sensor S5 may be a resolver or a rotary encoder. The turning angular speed sensor S5 may detect turning speed. The turning speed may be calculated from the turning angular speed.

Hereinafter, at least one of the boom angle sensor (S1), arm angle sensor (S2), bucket angle sensor (S3), aircraft tilt sensor (S4), and turning angular speed sensor (S5) is also referred to as an attitude detection device. The attitude of the excavation attachment (AT) is detected based on the respective outputs of, for example, the boom angle sensor (S1), the arm angle sensor (S2), and the bucket angle sensor (S3).

The display device D1 is configured to display various information. In this embodiment, the display device D1 is a liquid crystal display installed in the cabin 10. However, the display device D1 may be a display of a portable terminal such as a smartphone.

The sound output device D2 is configured to output sound. The sound output device D2 includes at least one of a device that outputs sound toward the operator inside the cabin 10 and a device that outputs sound toward the operator outside the cabin 10. The sound output device D2 may be a speaker of a portable terminal.

The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

The controller 30 is a control device for controlling the shovel 100. In this embodiment, the controller 30 is comprised of a computer equipped with a CPU, RAM, NVRAM, and ROM. Then, the controller 30 reads the program corresponding to each function from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding processing. Each function is, for example, a machine guidance function that guides the manual operation of the shovel 100 by the operator, supports manual operation of the shovel 100 by the operator, or operates the shovel 100 automatically or autonomously. It includes machine control functions that operate or operate.

Next, with reference to FIG. 3, a configuration example of a hydraulic system mounted on the shovel 100 will be described. FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100. Figure 3 shows the mechanical power transmission system, hydraulic oil line, pilot line, and electrical control system with double lines, solid lines, broken lines, and dotted lines, respectively.

The hydraulic system of the shovel (100) mainly consists of the engine (11), regulator (13), main pump (14), pilot pump (15), control valve (17), operating device (26), and discharge pressure sensor (28). ), operating pressure sensor 29, and controller 30.

In Figure 3, the hydraulic system is configured to circulate hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank through the center bypass pipe 40 or the parallel pipe 42. there is.

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

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

The regulator 13 is configured to control the discharge amount (displacement volume) of the main pump 14. In this embodiment, the regulator 13 adjusts the swash plate inclination angle of the main pump 14 in accordance with the control command from the controller 30, thereby increasing the discharge amount (displacement volume) of the main pump 14. control.

The pilot pump 15 is configured to supply hydraulic oil to a hydraulic control device including the operating device 26 through 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 function performed by the pilot pump 15 may be realized by the main pump 14. That is, even if the main pump 14 has a function of supplying hydraulic oil to the operating device 26, etc., after lowering the pressure of the hydraulic oil by a throttle or the like, separate from the function of supplying hydraulic oil to the control valve 17. do.

The control valve 17 is a hydraulic control device that controls the hydraulic system in the shovel 100. In this embodiment, the control valve 17 includes control valves 171 to 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 176R. The control valve 17 is configured to selectively supply the hydraulic oil 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, for example, 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 traveling hydraulic motor (2ML), a space traveling hydraulic motor (2MR), and a turning hydraulic motor (2A).

The operating device 26 is configured to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 through a pilot line. The pressure (pilot pressure) of the hydraulic oil supplied to each of the pilot ports is a pressure depending on the operating direction and operating amount of the operating device 26 corresponding to each hydraulic actuator. However, the operating device 26 may be an electrically controlled type rather than a pilot pressure type as described above. In this case, the control valve in the control valve 17 may be an electronic solenoid type spool valve.

The discharge pressure sensor 28 is configured to detect 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 is configured to detect the contents 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 actuator in the form of pressure (operating pressure), and sends the detected value to the controller 30. Print out. The contents of the operation of the operating device 26 may be detected using a sensor other than the operating pressure sensor.

The main pump 14 includes a left main pump 14L and a right main pump 14R. And, the left main pump (14L) circulates hydraulic oil to the hydraulic oil tank via the left center bypass pipe (40L) or the left parallel pipe (42L). The right main pump (14R) circulates hydraulic oil to the hydraulic oil tank via the right center bypass pipe (40R) or right parallel pipe (42R).

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

The control valve 171 supplies the hydraulic oil discharged by the left main pump (14L) to the left driving hydraulic motor (2ML), and also discharges the hydraulic oil discharged by the left driving hydraulic motor (2ML) into the hydraulic oil tank. It is a spool valve that changes the flow.

The control valve 172 supplies the hydraulic oil discharged by the right main pump (14R) to the spaceborne hydraulic motor (2MR), and also supplies the hydraulic oil discharged by the spaceborne hydraulic motor (2MR) to the hydraulic oil tank. It is a spool valve that changes the flow.

The control valve 173 supplies the hydraulic oil discharged by the left main pump (14L) to the swing hydraulic motor (2A), and also controls the flow of hydraulic oil to discharge the hydraulic oil discharged by the swing hydraulic motor (2A) into 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 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. am.

The control valve 175L is a spool valve that switches the flow of hydraulic oil discharged by the left main pump 14L to supply it to the boom cylinder 7. The control valve 175R is a spool valve that switches the flow of hydraulic oil 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. am.

The control valve (176L) 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 arm cylinder (8) and to discharge the hydraulic oil in the arm cylinder (8) to the hydraulic oil tank. am.

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

The left parallel pipe (42L) is a hydraulic oil line that runs in parallel with the left center bypass pipe (40L). The left parallel pipe (42L) is a downstream control valve when the flow of hydraulic oil passing through the left center bypass pipe (40L) is restricted or blocked by any one of the control valves (171, 173, and 175L). Hydraulic oil can be supplied to. The right parallel pipe line (42R) is a hydraulic oil line that runs parallel to the right center bypass pipe (40R). The right parallel pipe (42R) is a downstream control valve when the flow of hydraulic oil passing through the right center bypass pipe (40R) is restricted or blocked by any one of the control valves (172, 174, and 175R). Hydraulic oil can be supplied to.

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 inclination angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the swash plate inclination angle of the left main pump 14L according to an increase in the discharge pressure of the left main pump 14L, for example, to reduce the discharge amount. The same goes for the right regulator (13R). This is to ensure that the absorption power (e.g. absorption horsepower) of the main pump 14, expressed as the product of discharge pressure and discharge volume, does not exceed the output power (e.g. 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 space travel lever 26DR.

The left operating lever 26L is used for turning and operating the arm 5. When the left operating lever 26L is operated in the forward and backward direction, control pressure according to the amount of lever operation is introduced into the pilot port of the control valve 176 using the hydraulic oil discharged by the pilot pump 15. Additionally, when the left operating lever 26L is operated in the left or right direction, control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 173 using the hydraulic oil discharged by the pilot pump 15.

Specifically, when the left operation lever 26L is operated in the arm folding 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. I order it. In addition, when the left operation lever 26L is operated in the arm expansion 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. In addition, the left operation lever 26L, when operated in the left rotation direction, introduces hydraulic oil into the left pilot port of the control valve 173, and when operated in the right rotation direction, the left operation lever 26L introduces hydraulic oil into the left pilot port of the control valve 173. Introduce hydraulic oil into the pilot port.

The right operation lever 26R is used to operate the boom 4 and the bucket 6. When the right operation lever 26R is operated in the forward and backward directions, control pressure according to the lever operation amount is introduced into the pilot port of the control valve 175 using the hydraulic oil discharged by the pilot pump 15. Additionally, when the right operation lever 26R is operated in the left or right direction, control pressure according to the lever operation amount is introduced into the pilot port of the control valve 174 using the hydraulic oil discharged by the pilot pump 15.

Specifically, when the right operation lever 26R is operated in the boom lowering direction, hydraulic oil is introduced into the right pilot port of the control valve 175R. Additionally, when the right operation lever 26R is operated in the boom upward 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. In addition, the right operation lever 26R, when operated in the bucket-folding direction, introduces hydraulic oil into the left pilot port of the control valve 174, and when operated in the bucket-opening direction, the right operation lever 26R introduces hydraulic oil into the left pilot port of the control valve 174. Introduce hydraulic oil into the pilot port.

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. The left driving lever 26DL may be configured to be linked with the left driving pedal. When the left travel lever 26DL is operated in the forward and backward direction, control pressure according to the amount of lever operation is introduced into the pilot port of the control valve 171 using the hydraulic oil discharged by the pilot pump 15. The space travel lever (26DR) is used to operate the right crawler (1CR). The space travel lever 26DR may be configured to interlock with the space travel pedal. When the space travel lever 26DR is operated in the forward and backward directions, control pressure according to the lever operation amount is introduced into the pilot port of the control valve 172 using the hydraulic oil discharged by the pilot pump 15.

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

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

Similarly, the operating pressure sensor 29LB detects the contents of the operator's left-right operation of the left operating lever 26L in the form of pressure, and outputs the detected value to the controller 30. The operating pressure sensor 29RA detects the contents of the operator's operation of the right operating lever 26R in the forward and backward directions in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29RB detects the contents of the operator's left-right operation of the right operation lever 26R in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29DL detects the contents of the operator's operation of the left travel lever 26DL in the forward and backward directions in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29DR detects the contents of the operator's operation of the space travel lever 26DR in the forward and backward directions 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 and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14. In addition, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, and outputs a control command to the regulator 13 as necessary to increase the discharge amount of the main pump 14. changes. The throttle 18 includes a left throttle 18L and a right throttle 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 disposed between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of hydraulic oil discharged by the left main pump 14L is limited by the left throttle 18L. And the left throttle 18L generates control pressure to control 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 inclination angle of the left main pump 14L according to this control pressure. For example, the controller 30 decreases the discharge amount of the left main pump 14L as this control pressure increases, and increases the discharge amount of the left main pump 14L as this control pressure decreases. The discharge amount of the right main pump (14R) is also controlled in the same way.

Specifically, as shown in FIG. 3, in the standby state in which all hydraulic actuators in the shovel 100 are not operated, the hydraulic oil discharged by the left main pump 14L is discharged through the left center bypass pipe 40L. It passes through and reaches the left throttle (18L). And, 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 allowable minimum discharge amount, suppressing the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. do. On the other hand, when one of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated through the control valve corresponding to the hydraulic actuator to be operated. And, the flow of hydraulic oil discharged by the left main pump 14L reduces or disappears 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, allows sufficient hydraulic oil to flow into the hydraulic actuator to be operated, and ensures the operation of the hydraulic actuator to be operated. However, the controller 30 also controls the discharge amount of the right main pump 14R in the same manner.

With the above-described configuration, the hydraulic system in FIG. 3 can suppress unnecessary energy consumption in the main pump 14 in the standby state. Unnecessary energy consumption includes pumping loss generated by the hydraulic oil discharged by the main pump (14) in the center bypass pipe (40). In addition, the hydraulic system in FIG. 3 can reliably supply sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated when operating the hydraulic actuator.

Next, with reference to FIGS. 4A to 4D, 5A, and 5B, the configuration of the controller 30 to operate the actuator using the machine control function will be described. 4A to 4D are diagrams of a portion of the hydraulic system. Specifically, FIG. 4A is a diagram of a part of the hydraulic system related to the operation of the arm cylinder 8, and FIG. 4B is a diagram of a part of the hydraulic system related to the operation of the swing hydraulic motor 2A. Moreover, FIG. 4C is a diagram of a part of the hydraulic system related to the operation of the boom cylinder 7, and FIG. 4D is a diagram of a part of the hydraulic system related to the operation of the bucket cylinder 9. Likewise, Figures 5A and 5B are diagrams of a portion of the hydraulic system. Specifically, FIG. 5A is a diagram of a part of the hydraulic system related to the operation of the left travel hydraulic motor 2ML, and FIG. 5B is a diagram of a part of the hydraulic system related to the operation of the space travel hydraulic motor 2MR.

As shown in FIGS. 4A to 4D, 5A, and 5B, the hydraulic system includes a proportional valve 31 and a shuttle valve 32. The proportional valve 31 includes proportional valves 31AL to 31FL and 31AR to 31FR, and the shuttle valve 32 includes shuttle valves 32AL to 32FL and 32AR to 32FR.

The proportional valve 31 is configured to function as a control valve for machine control. The proportional valve 31 is disposed in the pipe connecting the pilot pump 15 and the shuttle valve 32, and is configured to change the flow path area of the pipe. In this embodiment, the proportional valve 31 operates in accordance with the control command output by the controller 30. Therefore, the controller 30 controls the hydraulic oil discharged by the pilot pump 15 through the proportional valve 31 and the shuttle valve 32, regardless of the operation of the operating device 26 by the operator. It can be supplied to the pilot port of the corresponding control valve in the valve 17.

The 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 is connected to the proportional valve (31). The outlet port is connected to the pilot port of the corresponding control valve in the control valve 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.

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.

For example, as shown in FIG. 4A, the left operation lever 26L is used to operate the arm 5. Specifically, the left operation lever 26L uses the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to the operation in the forward and backward directions to the pilot port of the control valve 176. More specifically, when the left operation lever 26L is operated in the arm folding direction (rearward direction), the pilot pressure according to the operation amount is applied to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Act on the port. In addition, when the left operation lever 26L is operated in the arm expansion direction (forward direction), it applies pilot pressure according to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. I order it.

A switch (NS) is provided on the left control lever (26L). In this embodiment, the switch NS is a push button switch. The operator can operate the left operation lever 26L by hand while pressing the switch NS with his or her finger. The switch NS may be provided on the right operation lever 26R or may be provided at another position within the cabin 10.

The operating pressure sensor 29LA detects the contents of the operator's operation of the left operating lever 26L in the forward and backward directions in the form of pressure, and outputs the detected value to the controller 30.

The proportional valve 31AL operates according to the current command output by the controller 30. And, the proportional valve 31AL is 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 through the proportional valve 31AL and the shuttle valve 32AL. Adjust the pilot pressure by hydraulic oil. The proportional valve 31AR operates according to the current command output by the controller 30. And, the proportional valve 31AR is 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 through the proportional valve 31AR and the shuttle valve 32AR. Adjust the pilot pressure by hydraulic oil. Each of the proportional valves 31AL and 31AR is capable of adjusting the pilot pressure so that the control valve 176 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 controls the hydraulic oil discharged by the pilot pump 15 through the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm folding operation by the operator, to the control valve ( It can be supplied to the right pilot port of (176L) and the left pilot port of the control valve (176R). That is, the controller 30 can fold the arm 5 regardless of the arm folding operation performed by the operator. In addition, the controller 30, regardless of the arm expansion operation by the operator, directs the hydraulic oil discharged by the pilot pump 15 to the control valve 176L through the proportional valve 31AR and the shuttle valve 32AR. It can be supplied to the left pilot port and the right pilot port of the control valve (176R). That is, the controller 30 can unfold the arm 5 regardless of the arm expansion operation by the operator.

Additionally, as shown in FIG. 4B, the left operating lever 26L is also used to operate the swing mechanism 2. Specifically, the left operation lever 26L uses the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to operation in the left and right directions to the pilot port of the control valve 173. More specifically, when the left operation lever 26L is operated in the left turning direction (left direction), a pilot pressure according to the operation amount is applied to the left pilot port of the control valve 173. Additionally, when the left operation lever 26L is operated in the right-turn direction (right direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 173.

The operating pressure sensor 29LB detects the contents of the left and 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 proportional valve 31BL operates according to the current command output by the controller 30. And the proportional valve 31BL adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 through the proportional valve 31BL and the shuttle valve 32BL. The proportional valve 31BR operates according to the current command output by the controller 30. And the proportional valve 31BR adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 through the proportional valve 31BR and the shuttle valve 32BR. Each of the proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valve 173 can be stopped at an arbitrary valve position.

With this configuration, the controller 30, regardless of the left turn operation by the operator, controls the hydraulic oil discharged by the pilot pump 15 through the proportional valve 31BL and the shuttle valve 32BL to the control valve ( 173) can be supplied to the left pilot port. That is, the controller 30 can cause the turning mechanism 2 to turn left, regardless of the left turning operation by the operator. In addition, the controller 30 directs the hydraulic oil discharged by the pilot pump 15 to the control valve 173 through the proportional valve 31BR and the shuttle valve 32BR, regardless of the priority operation by the operator. It can be supplied to the right pilot port. That is, the controller 30 can cause the turning mechanism 2 to make a priority turn regardless of the priority turn operation by the operator.

Additionally, as shown in Fig. 4C, the right operating lever 26R is used to operate the boom 4. Specifically, the right operation lever 26R applies pilot pressure corresponding to the operation in the forward and backward directions to the pilot port of the control valve 175, using the hydraulic oil discharged by the pilot pump 15. More specifically, when the right operation lever 26R is operated in the boom upward direction (rearward direction), the pilot pressure according to the operation amount is connected to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Act on the port. Additionally, 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 operating pressure sensor 29RA detects the contents of the operator's operation of the right operating lever 26R in the forward and backward directions in the form of pressure, and outputs the detected value to the controller 30.

The proportional valve 31CL operates according to the current command output by the controller 30. And, the proportional valve 31CL is 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 through the proportional valve 31CL and the shuttle valve 32CL. Adjust the pilot pressure by hydraulic oil. The proportional valve 31CR operates according to the current command output by the controller 30. And, the proportional valve 31CR is 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 through the proportional valve 31CR and the shuttle valve 32CR. Adjust the pilot pressure by hydraulic oil. Each of the proportional valves 31CL and 31CR can adjust the pilot pressure so that the control valve 175 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 controls the hydraulic oil discharged by the pilot pump 15 through the proportional valve 31CL and the shuttle valve 32CL, regardless of the boom raising operation by the operator, to the control valve ( It can be supplied to the right pilot port of (175L) and the left pilot port of the control valve (175R). That is, the controller 30 can raise the boom 4 regardless of the boom raising operation by the operator. In addition, the controller 30, regardless of the boom lowering operation by the operator, directs the hydraulic oil discharged by the pilot pump 15 to the control valve 175R through the proportional valve 31CR and the shuttle valve 32CR. It can be supplied to the right pilot port. That is, the controller 30 can lower the boom 4 regardless of the boom lowering operation by the operator.

Additionally, as shown in FIG. 4D, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R applies pilot pressure corresponding to operation in the left and right directions to the pilot port of the control valve 174 using the hydraulic oil discharged by the pilot pump 15. More specifically, when the right operation lever 26R is operated in the bucket folding direction (left direction), it applies pilot pressure according to the operation amount to the left pilot port of the control valve 174. Additionally, when the right operation lever 26R is operated in the bucket expansion direction (right direction), a pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 174.

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

The proportional valve 31DL operates according to the current command output by the controller 30. And the proportional valve 31DL adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 through the proportional valve 31DL and the shuttle valve 32DL. The proportional valve 31DR operates according to the current command output by the controller 30. And the proportional valve 31DR adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 through the proportional valve 31DR and the shuttle valve 32DR. Each of the proportional valves 31DL and 31DR is capable of adjusting the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 controls the hydraulic oil discharged by the pilot pump 15 through the proportional valve 31DL and the shuttle valve 32DL, regardless of the bucket folding operation by the operator. 174) can be supplied to the left pilot port. That is, the controller 30 can fold the bucket 6 regardless of the bucket folding operation by the operator. In addition, the controller 30, regardless of the bucket expansion operation by the operator, directs the hydraulic oil discharged by the pilot pump 15 to the control valve 174 through the proportional valve 31DR and the shuttle valve 32DR. It can be supplied to the right pilot port. That is, the controller 30 can unfold the bucket 6 regardless of the bucket expansion operation by the operator.

Additionally, as shown in Fig. 5A, the left travel lever 26DL is used to operate the left crawler 1CL. Specifically, the left travel lever 26DL uses the hydraulic oil discharged by the pilot pump 15 and applies pilot pressure according to operation in the forward and backward directions to the pilot port of the control valve 171. More specifically, when the left travel lever 26DL is operated in the forward direction (forward direction), a pilot pressure according to the amount of operation is applied to the left pilot port of the control valve 171. Additionally, when the left travel lever 26DL is operated in the reverse direction (rearward direction), a pilot pressure according to the amount of operation is applied to the right pilot port of the control valve 171.

The operation pressure sensor 29DL detects the contents of the operator's operation of the left travel lever 26DL in the forward and backward directions in the form of pressure, and outputs the detected value to the controller 30.

The proportional valve 31EL operates according to the current command output by the controller 30. And the proportional valve 31EL adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 171 through the proportional valve 31EL and the shuttle valve 32EL. The proportional valve 31ER operates according to the current command output by the controller 30. And the proportional valve 31ER adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 171 through the proportional valve 31ER and the shuttle valve 32ER. Each of the proportional valves 31EL and 31ER can adjust the pilot pressure so that the control valve 171 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 controls the hydraulic oil discharged by the pilot pump 15 through the proportional valve 31EL and the shuttle valve 32EL, regardless of the left forward operation by the operator. 171) can be supplied to the left pilot port. That is, the controller 30 can move the left crawler 1CL forward regardless of the left forward operation by the operator. In addition, the controller 30 controls the hydraulic oil discharged by the pilot pump 15 to the control valve 171 through the proportional valve 31ER and the shuttle valve 32ER, regardless of the left reverse operation by the operator. It can be supplied to the right pilot port. That is, the controller 30 can move the left crawler 1CL backwards regardless of the left backward operation by the operator.

Additionally, as shown in FIG. 5B, the space travel lever 26DR is used to operate the right crawler 1CR. Specifically, the space travel lever 26DR uses the hydraulic oil discharged by the pilot pump 15 and applies pilot pressure according to operation in the forward and backward directions to the pilot port of the control valve 172. More specifically, when the space travel lever 26DR is operated in the forward direction (forward direction), a pilot pressure according to the amount of operation is applied to the right pilot port of the control valve 172. Additionally, when the space travel lever 26DR is operated in the backward direction (rearward direction), a pilot pressure according to the amount of operation is applied to the left pilot port of the control valve 172.

The operation pressure sensor 29DR detects the contents of the operator's operation of the space travel lever 26DR in the forward and backward directions in the form of pressure, and outputs the detected value to the controller 30.

The proportional valve 31FL operates according to the current command output by the controller 30. And the proportional valve 31FL adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 172 through the proportional valve 31FL and the shuttle valve 32FL. The proportional valve 31FR operates according to the current command output by the controller 30. And the proportional valve 31FR adjusts the pilot pressure caused by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 172 through the proportional valve 31FR and the shuttle valve 32FR. Each of the proportional valves 31FL and 31FR can adjust the pilot pressure so that the control valve 172 can be stopped at an arbitrary valve position.

With this configuration, the controller 30, regardless of the operator's rightward forward operation, directs the hydraulic oil discharged by the pilot pump 15 through the proportional valve 31FL and the shuttle valve 32FL to the control valve ( 172) can be supplied to the right pilot port. That is, the controller 30 can move the right crawler 1CR forward regardless of the operator's right forward operation. In addition, the controller 30, regardless of the right reverse operation by the operator, directs the hydraulic oil discharged by the pilot pump 15 to the control valve 172 through the proportional valve 31FR and the shuttle valve 32FR. It can be supplied to the left pilot port. That is, the controller 30 can move the right crawler 1CR backwards regardless of the operator's right reverse operation.

However, in the above-described embodiment, a hydraulic operation lever provided with a hydraulic pilot circuit is adopted, but an electric operation lever provided with an electric pilot circuit may be adopted instead of such a hydraulic operation lever provided with a hydraulic pilot circuit. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. Additionally, a solenoid valve is disposed between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in accordance with an electrical signal from the controller 30. With this configuration, when manual operation using an electric operation lever is performed, the controller 30 can move each control valve by controlling the solenoid valves using an electric signal corresponding to the lever operation amount and increasing or decreasing the pilot pressure. However, each control valve may be composed of an electronic spool valve. In this case, the electronic spool valve operates in accordance with an electrical signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

Next, with reference to FIG. 6, the function of the controller 30 will be described. FIG. 6 is a functional block diagram showing a configuration example of the controller 30. In the example of FIG. 6, the controller 30 includes a posture detection device, an operation device 26, a spatial recognition device 70, a direction detection device 71, an information input device 72, a positioning device 73, and Receives a signal output from at least one of the switches (NS), performs various operations, and outputs a control command to at least one of the proportional valve 31, the display device (D1), and the sound output device (D2). It is structured so that The attitude detection device includes a boom angle sensor (S1), an arm angle sensor (S2), a bucket angle sensor (S3), an aircraft tilt sensor (S4), and a turning angle sensor (S5). The controller 30 has an attitude detection unit 30A, a determination unit 30B, and an autonomous control unit 30C as functional elements responsible for various functions. Each functional element may be comprised of hardware or may be comprised of software.

The posture detection unit 30A is configured to detect information about the posture of the shovel 100. In this embodiment, the posture detection unit 30A detects information about the posture of the shovel 100 based on the output of the posture detection device. The posture detection unit 30A may detect the posture of the excavation attachment AT as the posture of the shovel 100, based on the output of the posture detection device. In addition, the attitude detection unit 30A determines the attitude of the upper swing body 3 (in the direction of the lower traveling body 1) as the attitude of the shovel 100, based on the output of at least one of the attitude detection device and the direction detection device. The direction of the upper swing body 3 relative to the sensor may be detected.

The determination unit 30B is configured to determine whether a desired space exists. In this embodiment, the determination unit 30B can determine whether a parking space exists, which is a space where the shovel 100 can be parked, and whether a passing space exists, which is a space where the shovel 100 can pass. It is structured so that In other words, the determination unit 30B determines whether a space larger than the body of the shovel 100 exists in the designated space designated as the parking space, or determines whether a space larger than the body of the shovel 100 exists, or determines whether a space larger than the body of the shovel 100 exists from the current position to the designated space designated as the parking space. It is configured to determine whether a space larger than the gas body of the shovel 100 (a space through which the gas can pass) continuously exists on the path. Specifically, the determination unit 30B determines whether a parking space exists based on the output of the space recognition device 70. In addition, when the determination unit 30B determines that a parking space exists, the determination unit 30B determines a passage space for moving the shovel 100 from the current position to the parking space without bringing the shovel 100 into contact with an external object. Determine existence. Then, when it is determined that a passing space exists, the determination unit 30B determines that the shovel 100 can be moved and parked in the parking space.

The autonomous control unit 30C is configured to operate the shovel 100 autonomously. In this embodiment, the autonomous control unit 30C is configured to calculate a target trajectory from the current position of the shovel 100 to the parking space and move the shovel 100 along the target trajectory. The target trajectory is a trajectory drawn by a predetermined portion of the shovel 100 when the shovel 100 moves autonomously. The target trajectory includes, for example, a target trajectory regarding the crawler 1C. In this case, the predetermined portion is, for example, the front end or rear end of the crawler 1C. The target trajectory may include, for example, a target trajectory related to an excavation attachment (AT). In this case, the predetermined portion is, for example, the tip of the boom 4. The target orbit may be an orbit drawn by the center point of the shovel 100 as a predetermined portion. The center point of the shovel 100 is typically a point on the pivot axis. Alternatively, the target trajectory may be a trajectory with a width drawn by the outline of the shovel 100 moving from the current position to the parking space.

The target trajectory is calculated, for example, to move the shovel 100 to a specific parking space and park it. In this case, the target trajectory is calculated taking into account the movement that the shovel 100 can realize. Then, the autonomous control unit 30C determines the actuator driving method based on the calculated target trajectory. For example, when reversing the shovel 100, the autonomous control unit 30C selects an appropriate movement method from spin turn, pivot turn, slow turn, or straight forward to drive the traveling hydraulic motor 2M. Decide how. At that time, the autonomous control unit 30C may not only determine whether operation of the traveling drive unit, such as the traveling hydraulic motor 2M, is necessary, but may also determine whether operation of the swing mechanism 2 is necessary. Additionally, the autonomous control unit 30C may determine whether there is a risk of the attachment coming into contact with nearby equipment or other construction machinery and determine whether operation of the attachment is necessary.

Next, with reference to FIG. 7, a process in which the controller 30 moves the shovel 100 to park (hereinafter referred to as “parking process”) will be described. Figure 7 is a flowchart of an example of parking processing.

First, the controller 30 determines whether the parking mode button has been pressed (step ST1). In this embodiment, the controller 30 repeatedly executes this determination at each predetermined control cycle. The parking mode button is, for example, a switch NS provided at the tip of the left operation lever 26L. The parking mode button may be a software button displayed on the display device D1 equipped with a touch panel. The controller 30 repeats this determination until it determines that the parking mode button has been pressed (NO in step ST1).

When it is determined that the parking mode button has been pressed (YES in step ST1), the controller 30 displays a setting screen (step ST2). In this embodiment, the controller 30 causes the display device D1 to display a parking space selection screen as a settings screen.

Figure 8 shows a configuration example of a parking space selection screen. The parking space selection screen GA includes a shovel shape (G1) and a parking space shape (G2). The parking space selection screen GA shown in FIG. 8 may be displayed on a display device mounted on a support device including a portable terminal such as a smartphone owned by the operator. In this case, the support device functions as a communication device and communicates with the shovel through a short-range wireless communication network such as Wi-Fi (registered trademark), Bluetooth (registered trademark), or wireless LAN, a mobile phone communication network, or a satellite communication network. You can control .

The shovel diagram G1 and the parking space diagram G2 represent the positional relationship between the upper swing body 3 and the parking space. In this embodiment, the shovel diagram G1 represents the shape of the upper swing body 3 when the upper swing body 3 is viewed from directly above. The parking space diagram G2 shows the approximate position of a space that can be set as a parking space with respect to the upper swing body 3. Specifically, the parking space figure (G2) is a space vehicle space figure (G2R) representing the space on the right side of the upper swing body 3, and the entire parking space figure representing the space in front of the upper swing body 3. (G2F), a left parking space figure (G2L) representing the space on the left side of the upper swing body (3), and a rear parking space figure (G2B) representing the space on the rear of the upper swing body (3). . However, the parking space shape (G2) includes five or more parking space shapes, including at least one of a right-slope pre-parking space shape, a left-slope pre-parking space shape, a right-slope post-parking space shape, and a left-slope post-parking space shape. You can do it. Additionally, the parking space diagram G2 may represent a more precise position with respect to the upper swing body 3 of a space that can be set as a parking space. Alternatively, the parking space figure G2 may correspond only to the parking space recognized by the space recognition device 70. In this case, for example, when the controller 30 determines that no parking space exists on the left side of the upper swing body 3, it may not display the left parking space diagram G2L.

The parking space figure G2 may be displayed superimposed on the camera image. The camera image is, for example, a bird's eye view image as a viewpoint change image generated based on images acquired by a plurality of cameras mounted on the upper rotating body 3. In this case, the bird's eye view image is displayed around the shovel figure G1.

In addition, the parking space selection screen GA may be a screen related to the view when looking backward from the shovel 100, rather than a screen about the view when looking at the shovel 100 from directly above as described above, and the shovel ( 100) may be a screen about the scene when viewed from the side.

The operator of the shovel 100 selects the parking space figure G2 containing the space in which the shovel 100 is to be parked while viewing the parking space selection screen GA.

Afterwards, the controller 30 determines whether the target parking space has been set (step ST3). The operator of the shovel 100 presses the parking mode button within the cabin 10 of the shovel 100 at a position as shown in FIG. 9, for example. Figure 9 is a top view of an actual parking lot at a construction site or garage (main parking lot). When the parking mode button is pressed, the controller 30 displays the parking space selection screen GA. At this time, the operator can set the space SP in the actual parking lot as the target parking space by selecting the space vehicle space geometry G2R.

In the example of FIG. 9, when the left parking space shape (G2L) is selected, the determination unit 30B of the controller 30 can park the shovel 100 based on the output of the space recognition device 70. It is determined whether space exists on the left side of the upper swing body (3). In the example of FIG. 9, there is a wall W on the left side of the upper swing body 3, and there is no space where the shovel 100 can be parked. In this case, the determination unit 30B determines that there is no space on the left side of the upper swing body 3 where the shovel 100 can be parked, and sends a text message indicating that effect to the parking space selection screen GA. You may display it in .

Likewise, when the space vehicle space geometry (G2R) is selected, the determination unit 30B determines that the space where the shovel 100 can be parked is the upper swing body 3, based on the output of the space recognition device 70. Determine whether it exists on the right side of .

In the example of FIG. 9, the space SP designated as the parking space is a space larger than the body of the shovel 100. That is, there is a space (SP) on the right side of the upper swing body (3) where the shovel (100) can be parked. The controller 30 recognizes the designated space SP as the end point of the target trajectory. Therefore, the controller 30 can stop the shovel 100 from running in the designated space SP even if another space exists further than the designated space SP.

In this case, the determination unit 30B determines that there is a space SP where the shovel 100 can be parked on the right side of the upper swing body 3. When it is determined that the space SP exists, the determination unit 30B determines whether a passing space exists for moving the shovel 100 from the current position to the space SP. In other words, the determination unit 30B determines whether a space larger than the body of the shovel 100 (a space through which the body can pass) continuously exists along the path from the current position to the space SP designated as the parking space. Determine whether or not

If it is determined that the passing space cannot be secured due to reasons such as the presence of an obstacle between the current position and the space SP, the determination unit 30B may move the shovel 100 to the space SP. It may be determined that there is no parking space, and a text message indicating that effect may be displayed on the parking space selection screen (GA). When it is determined that the passing space can be secured, the determination unit 30B sets the space SP as the target parking space.

When it is determined that the target parking space has not been set (NO in step ST3), the controller 30 repeats the determination in step ST3 until the target parking space is set.

When it is determined that the target parking space has been set (YES in step ST3), the controller 30 adjusts the attitude of the attachment (step ST4). In this embodiment, the autonomous control unit 30C of the controller 30 changes the posture of the excavation attachment (AT) to an posture suitable for driving (hereinafter referred to as “driving posture”). The driving posture is a pre-registered posture, for example, an posture that maximizes the boom angle θ1 and minimizes the arm angle θ2 and bucket angle θ3. Specifically, when the autonomous control unit 30C determines that the posture of the excavating attachment (AT) detected by the attitude detection unit 30A is not the driving posture, it changes the posture of the excavating attachment (AT) to the driving posture.

In this embodiment, the controller 30 is basically configured on the premise that the operator of the shovel 100 does not operate the operating device 26 while the processing after step ST4 is being performed. Therefore, the shovel 100 may be configured so that operations on the operating device 26 by the operator are invalid, except for operations for forcibly ending parking processing. An operation for forcibly ending the parking process is, for example, reoperation of the parking mode button. Additionally, the operator of the shovel 100 may perform operations related to the processing up to step ST3 outside the cabin 10. In this case, while the processing after step ST4 is being executed, the operator of the shovel 100 can monitor the movement of the shovel 100 from outside the cabin 10 and perform operations from a mobile terminal or the like as necessary. Accordingly, parking processing may be forcibly terminated.

After that, the autonomous control unit 30C determines the target orbit (step ST5). In the example of Fig. 9, the autonomous control unit 30C determines the trajectory drawn by the rear end of the crawler 1C when the shovel 100 moves from the current position to the space SP. Additionally, the autonomous control unit 30C determines the space SP as the end point of the target trajectory. At this time, the order of operation of the crawler 1C is also determined based on whether a turn is necessary or not. The operation sequence of the crawler 1C may include, for example, the operation sequence of the left traveling hydraulic motor 2ML and the space traveling hydraulic motor 2MR.

After that, the autonomous control unit 30C moves the shovel 100 along the determined target trajectory (step ST6). In the example of FIG. 9, based on the determined driving method of the crawler 1C, the autonomous control unit 30C first executes a spin turn of about 45 degrees counterclockwise to move the rear end of the crawler 1C into the space SP. ). Specifically, the autonomous control unit 30C rotates the space travel hydraulic motor 2MR in the forward direction and also rotates the left travel hydraulic motor 2ML in the reverse direction to perform a counterclockwise spin turn. After that, the autonomous control unit 30C executes a slow turn, retracts the shovel 100 along a target trajectory that is gently curved counterclockwise, and changes the direction of the undercarriage 1 to the direction of the undercarriage 1 parked around. Do it in the same direction as the other shovel. Specifically, the autonomous control unit 30C reversely rotates the left travel hydraulic motor 2ML at a rotation speed faster than the reverse rotation of the space travel hydraulic motor 2MR to execute a counterclockwise full rotation. After that, the autonomous control unit 30C executes straight forward and backward movement and causes the entire shovel 100 to enter the space SP. Specifically, the autonomous control unit 30C reversely rotates the space travel hydraulic motor 2MR and the left travel hydraulic motor 2ML at the same rotation speed to retract the shovel 100 in a straight line.

When moving the crawler 1C, the autonomous control unit 30C may change the posture of the excavation attachment AT as needed. For example, if it is determined that retracting the shovel 100 may cause the excavation attachment (AT) to come into contact with an electric wire hanging at a position higher than the cabin 10, the boom 4 may be lowered. In this case, the autonomous control unit 30C may recognize the presence of obstacles such as electric wires, for example, based on the output of the space recognition device 70. In addition, the autonomous control unit 30C may raise the boom 4 after the electric wire passes downward to return the posture of the excavation attachment AT to the traveling posture.

Additionally, the autonomous control unit 30C may rotate the upper swing body 3 as necessary when moving the crawler 1C. For example, in the example of FIG. 9, when the autonomous control unit 30C performs a counterclockwise spin turn of 45 degrees or more without rotating the upper swing body 3, the excavation attachment AT contacts the wall W. There is a risk that it will be ruined. In this case, the autonomous control unit 30C may prevent the excavation attachment AT from contacting the wall W by rotating the upper swing body 3 clockwise before or during execution of the spin turn. However, the autonomous control unit 30C may recognize the presence of an obstacle such as a wall W, for example, based on the output of the space recognition device 70.

After that, the autonomous control unit 30C grounds the attachment in the target parking space (step ST7). In the example of FIG. 9, the autonomous control unit 30C stops the movement of the crawler 1C after the entire shovel 100 enters the space SP, and sets the excavation attachment AT to an attitude suitable for parking. (hereinafter referred to as “parking posture”). The parking posture is a pre-registered posture, for example, the posture in which the bucket 6 is in contact with the ground. However, the parking posture may be the same as the driving posture, or may be a different posture in which the excavation attachment (AT) does not contact the ground. Additionally, the parking posture may be configured so that it can be selected from a plurality of postures. The same applies to driving posture.

Afterwards, the autonomous control unit 30C notifies parking completion (step ST8). In this embodiment, the autonomous control unit 30C displays information indicating that parking has been completed on the display device D1 at the point when the posture of the excavation attachment AT is changed to the parking posture, and also displays information indicating that parking has been completed. Information indicating this is output from the sound output device D2.

Next, with reference to FIG. 10, another example of the parking space selection screen will be described. Figure 10 shows another example of the configuration of the parking space selection screen. The parking space selection screen GB includes a map diagram containing information about the arrangement of other construction equipment, warehouses, offices, etc. in the parking lot, and a parking space diagram GS. The warehouse is, for example, a place for loading the shovel 100 onto a transport vehicle such as a trailer or unloading the shovel 100 from the transport vehicle.

The parking space diagram GS indicates the location of a parking space that can be selected as a parking space for parking the shovel 100. In the example of FIG. 10, the parking space figure GS includes 27 parking space figures GS1 to GS27. Specifically, the parking space diagram GS shown in FIG. 10 corresponds to the parking lot shown in FIG. 11. Figure 11 is a top view of an actual parking lot. The parking lot in FIG. 11 is, for example, owned by a construction equipment rental company, and includes three rows of parking spaces where nine shovels can be parked in a row. In the parking lot of Figure 11, at present, 18 shovels are parked in addition to the shovel 100 that has just been unloaded from the trailer. In the example of Fig. 11, positional information regarding each parking space is registered in advance. The location information regarding each parking space includes, for example, the latitude, longitude, and altitude of the center point of each parking space.

As shown in FIG. 10, the controller 30 selects a parking space diagram (GS) related to a parking space where other construction machines such as shovels, bulldozers, wheel loaders, cranes, or road rollers are already parked, among the parking space diagrams GS. GS) and a parking space diagram (GS) relating to a parking space where no other construction equipment is parked may be displayed so that the operator can distinguish them. In the example of FIG. 10, dot hatching is included in the parking space diagram GS relating to a parking space where other construction machinery is already parked. Meanwhile, the parking space diagram (GS) for a parking space where no other construction machinery is parked does not include dot hatching.

In this case, each construction machine, such as a shovel or wheel loader, is equipped with a device that can specify location information, such as a GNSS receiver. Then, the location information of each construction machine is transmitted from each construction machine to a management device placed in an office, etc., through a communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network. As a result, the management device can determine the current location information of each construction machine and determine the arrangement information in the parking lot. Additionally, the management device can transmit placement information to the shovel 100 that is scheduled to be parked from now on. Accordingly, the operator of the shovel 100 can check the parking space selection screen GB shown in FIG. 10 using the display device D1 provided inside the cabin 10. Additionally, the parking space selection screen GB shown in FIG. 10 may be displayed on the display device D1 of the management device. Additionally, the parking space selection screen GB shown in FIG. 10 may be displayed on the display device D1 of a support device including a mobile terminal such as a smartphone owned by the operator.

In this situation, the operator of the shovel 100 selects the parking space in which the shovel 100 is to be parked while viewing the parking space selection screen GB from the inside of the cabin 10 or the outside of the cabin 10. The parking space shape (GS) corresponding to is selected by touch operation, etc. As shown in Fig. 10, the controller 30 may display a parking space selection screen GB so that the operator can distinguish between the parking space shape GS selected by the operator and other parking space shapes GS. . In the example of Fig. 10, the parking space figure GS26 selected by the operator has hatching.

In this way, the operator of the shovel 100 can set the space SP in the actual parking lot as shown in Fig. 11 as the target parking space by selecting the parking space geometry GS26.

When it is determined that the target parking space has been set, the autonomous control unit 30C of the controller 30 creates a trajectory from the current position to the designated space based on the arrangement information, and uses the left travel hydraulic motor 2ML and space travel. Operate at least one of the hydraulic motors (2MR). And, while comparing the output of the positioning device 73 and the created trajectory, the autonomous control unit 30C operates at least one of the left travel hydraulic motor 2ML and the space travel hydraulic motor 2MR to target the shovel 100. Move it to the vicinity of the parking space. In the example of FIG. 11, the shovel 100 is moved along the movement path TR indicated by a broken line. The creation of the trajectory from the current position to the designated space based on the arrangement information may be performed by a management device. When moving the shovel 100, the autonomous control unit 30C may change the posture of the excavation attachment (AT) as necessary to prevent the shovel 100 from contacting other objects, as described above, and the upper swing body ( 3) may be rotated.

Next, with reference to FIG. 12, another example of the parking space selection screen will be described. Figure 12 shows a parking space selection screen (GC), which is another example of the configuration of the parking space selection screen. The parking space selection screen GC shown in FIG. 12 includes figures G10 to G15. Figure G10 represents the shovel 100 that the operator intends to park. The figure G11 represents a shovel already parked in a parking lot. In the example shown in Fig. 12, the display device D1 displays 18 figures G11 representing each of the 18 shovels that are already parked. In Figure 12, one of the 18 figures (G11) is specified using a leader line.

Figure G12 represents a parking space where the shovel 100 can be parked. In the example shown in Fig. 12, the display device D1 displays a figure G12 (figures G12A to G12D) representing each of four selectable parking spaces. In addition, the display device D1 allows the operator to distinguish between a selected parking space and an unselected parking space among selectable parking spaces by changing at least one of the color and shape of the figure G12. there is. Specifically, the display device D1 indicates that the parking space indicated by the figure G12D has been selected by the operator. The operator can select a desired parking space by touching a portion corresponding to the desired parking space on the touch panel attached to the display device D1.

Figure G13 shows the flow of processing until autonomous driving of the shovel 100 is started. In the example shown in Fig. 12, the display device D1 displays three text labels “parking space selection,” “route selection,” and “travel start,” after selection of the parking space and selection of the route have been made. It indicates that autonomous driving of the shovel 100 is started. Additionally, the display device D1 makes the color of the text label "parking space selection" different from the other two text labels to indicate that processing related to the selection of a parking space is currently being performed.

Figure G14 represents the current date. In the example shown in FIG. 12, figure G14 indicates that the current date is July 22, 2016.

The figure G15 represents information about the parking lot. In the example shown in FIG. 12, figure G15 shows that the name of the parking lot is "***" and the location of the parking lot is "east longitude * north latitude *".

Figure 13 shows a parking space selection screen (GC) displayed after one of the selectable parking spaces is selected. The parking space selection screen GC shown in FIG. 13 is different in that the figure G16 is displayed and the color of the text label "route selection" in the figure G13 is different from the other two text labels. It is different from the parking space selection screen (GC) shown in Figure 12.

Figure G16 represents a route that can be taken when moving the shovel 100 from the current position to the selected parking space. In the example shown in FIG. 13, the display device D1 displays figures G16A and G16B representing two selectable routes. In addition, the display device D1 changes at least one of the color and line type of the figure G16 so that the operator can distinguish between the selected route and the unselected route among the selectable routes. I'm doing it. Specifically, the display device D1 indicates that the route indicated by the figure G16A (solid line) has been selected by the operator. The operator can select a desired route by touching a portion corresponding to the desired route on the touch panel attached to the display device D1.

Additionally, in the example shown in FIG. 13, the display device D1 makes the color of the text label “Route Selection” different from the other two text labels to indicate that processing related to route selection is currently being performed. there is.

After one of the plurality of selectable routes is selected, the controller 30 starts autonomous driving of the shovel 100. During autonomous driving of the shovel 100, the display device D1 may display a screen showing the figure G10 representing the shovel 100 moving along the figure G16A representing the selected route. At this time, the display device D1 may indicate to the operator that autonomous driving of the shovel 100 is currently being performed by making the color of the text label “start driving” different from the other two text labels.

Next, with reference to FIG. 14, another configuration example of the controller 30 will be described. FIG. 14 is a functional block diagram showing another configuration example of the controller 30. In the example of FIG. 14, the controller 30 outputs information from at least one of the posture detection device, the space recognition device 70, the information input device 72, the positioning device 73, and the abnormality detection sensor 74. It is configured to receive signals, perform various calculations, and output control commands to the proportional valve 31, etc. The attitude detection device includes a boom angle sensor (S1), an arm angle sensor (S2), a bucket angle sensor (S3), an aircraft tilt sensor (S4), and a turning angle sensor (S5).

The controller 30 shown in FIG. 14 is mainly connected to the abnormality detection sensor 74, and includes a target setting unit (F1), an abnormality monitoring unit (F2), a stop determination unit (F3), and an intermediate target setting unit. (F4), a position calculation unit (F5), an object detection unit (F6), a speed command generating unit (F7), a speed calculating unit (F8), a speed limiting unit (F9), and a flow command generating unit (F10). is different from the controller 30 shown in FIG. 6 . Therefore, in the following, description of common parts is omitted and different parts are explained in detail.

The posture detection unit 30A is configured to detect information about the posture of the shovel 100, similarly to the posture detection section 30A shown in FIG. 6. In the example of FIG. 14, the posture detection unit 30A determines whether the posture of the shovel 100 is in the driving posture. And, the posture detection unit 30A is configured to permit execution of autonomous driving of the shovel 100 when it is determined that the posture of the shovel 100 is in the driving posture.

The goal setting unit F1 is configured to set a goal for the autonomous driving of the shovel 100. In the example of FIG. 14, the goal setting unit F1 sets the parking space where the shovel 100 is parked and the route leading to the parking space as the goal, based on the output of the information input device 72. Specifically, the target setting unit F1 sets the parking space (see figure G12D in FIG. 13) selected by the operator of the shovel 100 using the touch panel as the target parking space (target point), and The operator of the shovel 100 sets the selected route (see figure G16A in FIG. 13) as the target route using the touch panel.

The abnormality monitoring unit F2 is configured to monitor abnormalities in the shovel 100. In the example of FIG. 14, the abnormality monitoring unit F2 determines the degree of abnormality of the shovel 100 based on the output of the abnormality detection sensor 74. The abnormality detection sensor 74 is, for example, at least one of a sensor that detects an abnormality in the engine 11 and a sensor that detects an abnormality in the temperature of the hydraulic oil.

The stop determination unit F3 is configured to determine whether it is necessary to stop the shovel 100 based on various information. In the example of FIG. 14, the stop determination unit F3 determines whether it is necessary to stop the shovel 100 during autonomous driving based on the output of the abnormality monitoring unit F2. Specifically, the stop determination unit F3 may stop the shovel 100 during autonomous driving when, for example, the abnormality level of the shovel 100 determined by the abnormality monitoring unit F2 exceeds a predetermined level. Decide that it is necessary. On the other hand, the stop determination unit F3 does not need to stop the shovel 100 during autonomous driving when, for example, the abnormality level of the shovel 100 determined by the abnormality monitoring unit F2 is below a predetermined level, that is, It is determined that autonomous driving of the shovel 100 can be continued.

The intermediate goal setting unit F4 is configured to set intermediate goals regarding the autonomous driving of the shovel 100. In the example of FIG. 14, the intermediate target setting unit F4 determines that the posture of the shovel 100 is in the driving posture by the attitude detection unit 30A, and the stop determination unit F3 determines that the shovel 100 is in the running posture. When it is determined that there is no need to stop, the target route set by the target setting unit F1 is divided into a plurality of sections, and the end point of each section is set as an intermediate target point.

The position calculation unit F5 is configured to calculate the current position of the shovel 100. In the example of FIG. 14, the position calculation unit F5 calculates the current position of the shovel 100 based on the output of the positioning device 73.

The calculation unit C1 is configured to calculate the difference between the position of the intermediate target point set by the intermediate target setting unit F4 and the current position of the shovel 100 calculated by the position calculation unit F5.

The object detection unit F6 is configured to detect objects existing around the shovel 100. In the example of FIG. 14 , the object detection unit F6 detects objects existing around the shovel 100 based on the output of the space recognition device 70. And, when the object detection unit F6 detects an object (for example, a person) existing in the direction of travel of the shovel 100 during autonomous driving, it generates a stop command to stop the autonomous driving of the shovel 100. .

The speed command generating unit F7 is configured to generate a command related to traveling speed. In the example of Fig. 14, the speed command generating unit F7 generates a speed command based on the difference calculated by the calculating unit C1. Basically, the speed command generating unit F7 is configured to generate a larger speed command as the difference increases. Additionally, the speed command generating unit F7 is configured to generate a speed command that brings the difference calculated by the calculating unit C1 close to zero.

The speed calculation unit F8 is configured to calculate the current running speed of the shovel 100. In the example of FIG. 14, the speed calculation unit F8 calculates the current running speed of the shovel 100 based on the change in the current position of the shovel 100 calculated by the position calculation unit F5.

The calculation unit C2 is configured to calculate the speed difference between the driving speed corresponding to the speed command generated by the speed command generation unit F7 and the current driving speed of the shovel 100 calculated by the speed calculation unit F8. It is done.

The speed limiter F9 is configured to limit the traveling speed of the shovel 100. In the example of FIG. 14, when the speed difference calculated by the calculation unit C2 exceeds the limit value, the speed limit unit F9 outputs a limit value in place of the speed difference, and the speed difference calculated by the calculation unit C2 is the limit value. In the following cases, it is configured to output the speed difference as is. The limit value may be a pre-registered value or an automatically calculated value.

The flow command generating unit F10 is configured to generate a command regarding the flow rate of hydraulic oil supplied from the main pump 14 to the traveling hydraulic motor 2M. In the example of FIG. 14, the flow command generating unit F10 generates a flow command based on the speed difference output by the speed limiting unit F9. Basically, the flow rate command generating unit F10 is configured to generate a larger flow rate command as the speed difference increases. Additionally, the flow command generating unit F10 is configured to generate a flow command that brings the speed difference calculated by the calculating unit C2 close to zero.

The flow command generated by the flow command generator F10 is a current command for each of the proportional valves 31EL, 31ER, 31FL, and 31FR (see FIGS. 5A and 5B). The proportional valve 31EL operates in accordance with the current command and changes the pilot pressure acting on the left pilot port of the control valve 171. Therefore, the flow rate of the hydraulic oil flowing into the left travel hydraulic motor 2ML is adjusted to be a flow rate corresponding to the flow rate command generated by the flow rate command generating unit F10. The proportional valve (31ER) also operates in this way. Additionally, the proportional valve 31FR operates in accordance with the current command and changes the pilot pressure acting on the right pilot port of the control valve 172. Therefore, the flow rate of the hydraulic oil flowing into the spaceborne hydraulic motor 2MR is adjusted to be a flow rate corresponding to the flow rate command generated by the flow rate command generating unit F10. The proportional valve (31FL) also operates in the same way. As a result, the traveling speed of the shovel 100 is adjusted to become a traveling speed corresponding to the speed command generated by the speed command generating unit F7. However, the traveling speed of the shovel 100 is a concept that includes the traveling direction. This is because the traveling direction of the shovel 100 is determined based on the rotational speed and rotational direction of the left traveling hydraulic motor (2ML) and the rotational speed and rotational direction of the space traveling hydraulic motor (2MR).

With this configuration, the controller 30 can realize autonomous driving of the shovel 100 from the current location to the target parking space.

In this way, the shovel 100 according to the embodiment of the present invention includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and a lower traveling body 1. The relative relationship between the traveling hydraulic motor (2M) as a traveling actuator that drives the space recognition device 70 provided on the upper rotating body (3), the direction of the upper rotating body (3), and the direction of the lower traveling body (1) It has a direction detection device 71 that detects information about and a controller 30 as a control device provided in the upper swing body 3. And, the controller 30 operates the traveling hydraulic motor 2M based on the output of the space recognition device 70 and the output of the direction detection device 71 to enter the parking space recognized by the space recognition device 70. It is configured to move the shovel. With this configuration, the shovel 100 can support the movement of the shovel 100 to the parking position. As a result, parking of the shovel 100 in the desired parking space can be performed efficiently. Additionally, the shovel 100 can prevent contact between the shovel 100 and other objects due to erroneous operation during parking, etc.

The shovel 100 has, for example, an attachment actuator that drives the digging attachment (AT) as an attachment mounted on the upper swing body 3, and an attitude detection device that detects the attitude of the digging attachment (AT). The attachment actuator includes, for example, a boom cylinder (7), an arm cylinder (8), and a bucket cylinder (9). The attitude detection device includes, for example, a boom angle sensor (S1), an arm angle sensor (S2), and a bucket angle sensor (S3). And, the controller 30 operates the attachment actuator based on the output of the posture detection device and the output of the spatial recognition device 70 to prevent the excavation attachment (AT) from contacting the object recognized by the spatial recognition device 70. It may be configured to change the posture of the excavation attachment (AT). With this configuration, the controller 30 can prevent the excavation attachment AT from coming into contact with another object when moving the shovel 100 by operating the travel hydraulic motor 2M. Other objects may be power lines, other shovels, or vehicles.

The shovel 100 has, for example, a swing hydraulic motor 2A as a swing actuator that rotates the upper swing body 3. And, the controller 30 operates the swing hydraulic motor 2A based on the output of the space recognition device 70 and the output of the direction detection device 71, and uses a shovel to hit the object recognized by the space recognition device 70. It may be configured to rotate the upper swing body (3) so as not to contact (100). With this configuration, the controller 30 can prevent the counterweight, etc. from coming into contact with other objects when moving the shovel 100 by operating the travel hydraulic motor 2M.

The shovel 100 has an information input device 72, for example. The information input device 72 may be configured so that the operator can input the direction of the parking space as seen from the upper swing body 3, for example. Specifically, as shown in FIG. 8, the information input device 72 may be configured so that the operator can select the direction of the parking space as seen from the shovel 100 from four directions: forward, backward, left, and right. In this case, the space recognition device 70 may be configured to recognize the parking space in the direction selected through the information input device 72. In other words, the controller 30 may omit recognition by the space recognition device 70 of the parking space in the direction that is not selected. With this configuration, the controller 30 can quickly and reliably determine the presence or absence of a parking space in the selected direction. Additionally, since the controller 30 can omit the determination of whether a parking space exists in a direction that is not selected, the computational load can be reduced.

The information input device 72 may be configured so that the operator can input the position of the parking space, for example. Specifically, as shown in FIG. 10, the information input device 72 may be configured so that the operator can select a desired parking space from 27 parking spaces whose latitude, longitude, and altitude are registered in advance. In this case, the space recognition device 70 may be configured to recognize the parking space at the selected location using the information input device 72. With this configuration, the controller 30 can move the shovel 100 from the current position to a parking space that is relatively far away, and then park the shovel 100 in that parking space.

Above, preferred embodiments of the present invention have been described in detail. However, the present invention is not limited to the above-described embodiments. Various modifications or substitutions may be made to the above-described embodiments without departing from the scope of the present invention. Additionally, features described separately can be combined as long as technical contradictions do not occur.

For example, in the above-described embodiment, a hydraulic operating lever provided with a hydraulic pilot circuit is disclosed. Specifically, in the hydraulic pilot circuit for the left operating lever 26L as an arm operating lever, the hydraulic oil supplied from the pilot pump 15 to the remote control valve of the left operating lever 26L is determined by the hardness of the left operating lever 26L. It is a flow rate according to the opening degree of the remote control valve that is opened and closed by (傾倒), and is transmitted to the pilot port of the control valve (176).

However, instead of the hydraulic operation lever having such a hydraulic pilot circuit, an electric operation lever having an electric pilot circuit may be employed. In this case, the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal. Additionally, a solenoid valve is disposed between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in accordance with an electrical signal from the controller 30. According to 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, thereby connecting each control valve to the control valve 17. It can be moved within. However, each control valve may be composed of an electronic spool valve. In this case, the electronic spool valve operates in accordance with an electrical signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

When an electric operation system with an electric operation lever is adopted, the controller 30 can easily perform the autonomous control function compared to the case where a hydraulic operation system with a hydraulic operation lever is adopted. Figure 15 shows a configuration example of an electric operation system. Specifically, the electric operation system in FIG. 15 is an example of a boom operation system for raising and lowering the boom 4, and mainly includes a pilot pressure-operated control valve 17 and a boom operation lever 26A as an electric operation lever. ), a controller 30, an electromagnetic valve 60 for boom-up operation, and an electromagnetic valve 62 for boom-down operation. The electric operation system in Figure 15 includes a travel operation system for moving the lower traveling body 1 forward and backward, a swing operation system for turning the upper swing body 3, an arm operation system for opening and closing the arm 5, and a bucket operating system for opening and closing the bucket 6.

The pilot pressure-operated control valve 17 is a control valve 171 for the left traveling hydraulic motor 2ML (see Fig. 3) and a control valve 172 for the space traveling hydraulic motor 2MR (see Fig. 3). ), control valve 173 for the swing hydraulic motor 2A (see Fig. 3), control valve 175 for the boom cylinder 7 (see Fig. 3), control valve 176 for the arm cylinder 8 ) (see FIG. 3), and a control valve 174 related to the bucket cylinder 9 (see FIG. 3). The solenoid valve 60 is configured to adjust the pressure of the hydraulic oil in the pipe connecting the pilot pump 15 and the rising side pilot port of the control valve 175. The solenoid valve 62 is configured to adjust the pressure of the hydraulic oil in the pipe connecting the pilot pump 15 and the lowering side 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) according to the operation signal (electrical signal) output by the operation signal generator of the boom operation lever 26A. ) is created. The operation signal output by the operation signal generator of the boom operation lever 26A is an electric signal that changes depending on the operation amount and direction of operation of the boom operation lever 26A.

Specifically, when the boom operation lever 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electrical signal) according to the lever operation amount to the solenoid valve 60. The solenoid valve 60 operates in accordance with the boom raising operation signal (electrical signal) and controls the pilot pressure as the boom raising operation signal (pressure signal) that acts on the raising side pilot port of the control valve 175. Likewise, when the boom operation lever 26A is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electrical signal) according to the lever operation amount to the solenoid valve 62. The solenoid valve 62 operates in accordance with the boom lowering operation signal (electrical signal) and controls the pilot pressure as the boom lowering operation signal (pressure signal) that acts on the lowering side pilot port of the control valve 175.

When executing autonomous control, the controller 30, for example, operates the boom according to a correction operation signal (electrical signal) instead of following the operation signal (electrical signal) output by the operation signal generator of the boom operation lever 26A. Generates an upward operation signal (electrical signal) or a boom lowering operation signal (electrical signal). The correction operation signal may be an electrical signal generated by the controller 30, or may be an electrical signal generated by a control device other than the controller 30.

The information acquired by the shovel 100 may be shared with managers and other shovel operators through the shovel management system (SYS) as shown in FIG. 16. Fig. 16 is a schematic diagram showing a configuration example of a shovel management system (SYS). The management system (SYS) is a system that manages one or multiple shovels (100). In this embodiment, the management system (SYS) is mainly composed of a shovel 100, a support device 200, and a management device 300. Each of the shovel 100, support device 200, and management device 300 that constitute the management system (SYS) may be rented one or multiple times. In the example of FIG. 16, the management system SYS includes one shovel 100, one support device 200, and one management device 300.

The support device 200 is typically a portable terminal device, such as a note PC, tablet PC, or smartphone carried by workers at a construction site. The support device 200 may be a portable terminal device carried by the operator of the shovel 100. The support device 200 may be a fixed terminal device.

The management device 300 is typically a fixed terminal device, for example, a server computer installed in a management center other than a construction site. The management device 300 may be a portable computer (for example, a notebook PC, tablet PC, or portable terminal device such as a smartphone).

At least one of the support device 200 and the management device 300 may be equipped with a monitor and a control device for remote operation. In this case, the operator may operate the shovel 100 while using an operating device for remote operation. The operating device for remote operation is connected to the controller 30 mounted on the shovel 100, for example, through a wireless communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network.

In addition, the parking space selection screens GA to GC shown in FIGS. 8, 10, 12, and 13 are typically displayed on the display device D1 installed in the cabin 10, but the support device 200 ) and may be displayed by a display device connected to at least one of the management device 300. This is to enable a worker using the support device 200 or a manager using the management device 300 to set a target parking space or set a target route.

In the management system (SYS) of the shovel 100 as described above, the controller 30 of the shovel 100 controls the time and place when the parking mode button is pressed and when autonomously moving the shovel 100 (autonomous Information on at least one of the target trajectory used (during driving) and the trajectory actually followed by a predetermined part during autonomous driving may be transmitted to at least one of the support device 200 and the management device 300. At that time, the controller 30 may transmit at least one of the output of the spatial recognition device 70 and an image captured by the monocular camera to at least one of the support device 200 and the management device 300. The images may be multiple images captured during autonomous driving. In addition, the controller 30 provides information on at least one of data on the operation contents of the shovel 100 during autonomous driving, data on the posture of the shovel 100, and data on the posture of the excavating attachment. It may be transmitted to at least one of the support device 200 and the management device 300. This is to enable workers using the support device 200 or managers using the management device 300 to obtain information about the shovel 100 during autonomous driving.

In this way, the management system (SYS) of the shovel 100 according to the embodiment of the present invention allows information about the shovel 100 acquired during autonomous driving to be shared with the manager and other shovel operators.

In addition, the controller 30 is configured to park the shovel 100 in the target parking space, but may be configured to move the shovel 100 from the parking space to a desired position.

This application claims priority based on Japanese Patent Application No. 2018-057172 filed on March 23, 2018, and the entire contents of this Japanese Patent Application are hereby incorporated by reference.

One… lower body
1C… crawler
1CL… Left crawler
1CR… Ucrawler
2… turning mechanism
2A… Swivel hydraulic motor
2M… Driving hydraulic motor
2ML… Left driving hydraulic motor
2MR… space hydraulic motor
3… upper swivel body
4… boom
5… cancer
6… bucket
7… boom cylinder
8… Arm cylinder
9… bucket cylinder
10… cabin
11… engine
13… regulator
14… main pump
15… Pilot pump
17… control valve
18… throttle
19… Control pressure sensor
26… operating device
26A… Boom operation lever
26D… driving lever
26DL… Left driving lever
26DR… Space Lever
26L… Left control lever
26R… Right operation lever
28… Discharge pressure sensor
29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB… Operating pressure sensor
30… controller
30A… Posture detection unit
30B… Jury
30C… Autonomous control unit
31, 31AL~31DL, 31AR~31DR... proportional valve
32, 32AL~32DL, 32AR~32DR... shuttle valve
40… Center bypass pipe
42… Parallel pipe
60, 62… solenoid valve
70… spatial recognition device
70F… front sensor
70B… rear sensor
70L… Left sensor
70R… Right sensor
100… shovel
71… Direction detection device
72… information input device
73… positioning device
74… Abnormality detection sensor
171~176… control valve
200… Support device
300… Management device
AT… Excavating attachment
C1, C2… arithmetic unit
D1… display device
D2… sound output device
F1… Goal setting department
F2… Abnormality monitoring department
F3… stop decision
F4… Intermediate goal setting department
F5… Location calculation unit
F6… Object detection unit
F7… Speed command generator
F8… Speed calculation unit
F9… speed limiter
F10… Flow command generation unit
NS… switch
S1… Boom angle sensor
S2… Arm angle sensor
S3… Bucket angle sensor
S4… Aircraft inclination sensor
S5… Turning angular speed sensor

Claims (15)

lower running body,
An upper swing body rotatably mounted on the lower traveling body,
A traveling actuator that drives the lower traveling body,
A space recognition device provided on the upper rotating body,
a direction detection device that detects information regarding the relative relationship between the direction of the upper rotating body and the direction of the lower traveling body;
A control device provided on the upper swing body,
An attachment actuator that drives an attachment mounted on the upper swing body,
It has a posture detection device that detects the posture of the attachment,
The control device is configured to calculate a target trajectory to the input designated space and drive the shovel along the target trajectory, and when driving to the designated space, applies the shovel to the object recognized by the space recognition device. Operating the travel actuator based on the output of the space recognition device and the output of the direction detection device to prevent contact,
The control device changes the posture of the attachment to a driving posture in which the attachment is not in contact with the ground and then starts traveling of the shovel, based on the output of the posture detection device and the output of the space recognition device. A shovel that operates the attachment actuator. According to paragraph 1,
The control device is configured to start autonomous driving of the shovel by operating the travel actuator. According to paragraph 1,
The control device is configured to change the posture of the attachment to a posture different from the driving posture so that the attachment does not come into contact with an object recognized by the space recognition device during movement to the designated space by the traveling actuator. It is a shovel. According to paragraph 1,
It has a swing actuator that rotates the upper swing body,
The control device operates the swing actuator based on the output of the space recognition device and the output of the direction detection device to move to the designated space by the travel actuator, to the object recognized by the space recognition device. A shovel configured to pivot the upper swing body so as not to contact the shovel. According to paragraph 1,
Having an information input device,
The information input device is configured to input the direction seen from the upper swing body,
The space recognition device is configured to recognize a space larger than the shovel's body,
The control device is configured to set the space as the designated space when it is determined that the space recognized by the space recognition device exists in the direction input through the information input device. According to paragraph 1,
Having an information input device,
The information input device is configured to input a spatial location,
The space recognition device is configured to recognize a space larger than the shovel's body,
The control device is configured to set the space as the designated space when it is determined that the space recognized by the space recognition device exists at a location input through the information input device. According to paragraph 1,
The control device is configured to move the shovel based on arrangement information of objects in a parking lot acquired through wireless communication. According to paragraph 1,
The control device determines whether there is a space through which the gas of the shovel can pass, based on the output of the space recognition device. According to paragraph 1,
The control device determines a driving method of the travel actuator based on the target trajectory. According to clause 9,
The control device is a shovel that controls the travel actuator and an attachment actuator that drives the attachment, based on positional information about the target trajectory. According to clause 9,
The control device is a shovel that changes the direction of the crawler by spin-turning based on the target trajectory. According to clause 11,
The control device is a shovel that simultaneously performs the spin turn and the turning operation. According to paragraph 1,
The control device is a shovel that sets a parking space as a target. According to clause 13,
The control device is a shovel that sets the target trajectory based on the parking space. According to paragraph 1,
The control device is a shovel that stops the traveling actuator of the shovel entering the parking space and then brings the bucket into contact with the ground.