US20200354921A1 - Shovel and shovel management system - Google Patents

Shovel and shovel management system Download PDF

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Publication number
US20200354921A1
US20200354921A1 US16/941,924 US202016941924A US2020354921A1 US 20200354921 A1 US20200354921 A1 US 20200354921A1 US 202016941924 A US202016941924 A US 202016941924A US 2020354921 A1 US2020354921 A1 US 2020354921A1
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United States
Prior art keywords
shovel
control
automatic control
bucket
boom
Prior art date
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Pending
Application number
US16/941,924
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English (en)
Inventor
Takashi Nishi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo SHI Construction Machinery Co Ltd
Original Assignee
Sumitomo SHI Construction Machinery Co Ltd
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Assigned to SUMITOMO CONSTRUCTION MACHINERY CO., LTD. reassignment SUMITOMO CONSTRUCTION MACHINERY CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NISHI, TAKASHI
Publication of US20200354921A1 publication Critical patent/US20200354921A1/en
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles
    • E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions

Definitions

  • the present disclosure relates to shovels and shovel management systems.
  • An excavator that enables selective use of a manual control mode and an automatic control mode has been known, where the manual control mode causes only an arm to operate in response to the operation of an aim operating lever and the automatic control mode causes not only the arm but also a boom and a bucket to operate in response to the operation of the arm operating lever.
  • This excavator can automatically move the attachment such that the bucket moves along an inclined surface having a preset inclination angle in the automatic control mode. Specifically, this excavator can move the leading edge of the bucket in a straight line by automatically operating the boom and the bucket in response to the operation of the arm operating lever.
  • a shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an attachment attached to the upper turning body, and a hardware processor on the upper turning body and configured to execute automatic control.
  • the hardware processor is configured to stop the automatic control when information on the movement of the shovel or information on the state of a nearby machine shows an unusual tendency.
  • FIG. 1 is a side view of a shovel according to an embodiment of the present invention
  • FIG. 2 is a diagram illustrating an example configuration of the basic system of the shovel of FIG. 1 ;
  • FIG. 3 is a diagram illustrating an example configuration of a hydraulic system installed in the shovel of FIG. 1 ;
  • FIG. 4 is a block diagram illustrating an example of the relationship between functional elements associated with the execution of automatic control in a controller
  • FIG. 5 is a block diagram illustrating an example configuration of the functional element that calculates various command values
  • FIG. 6 is a diagram illustrating the state of the hydraulic system when an arm opening operation has been performed during automatic excavation control in the shovel where an emergency stop function is disabled;
  • FIG. 7 is a diagram illustrating the movement of an excavation attachment when an arm opening operation has been performed during the automatic excavation control in the shovel where the emergency stop function is disabled;
  • FIG. 8 is a diagram illustrating the state of the hydraulic system when an aim opening operation has been performed during the automatic excavation control in the shovel where the emergency stop function is enabled;
  • FIG. 9 is a diagram illustrating the movement of the excavation attachment when an aim opening operation has been performed during the automatic excavation control in the shovel where the emergency stop function is enabled;
  • FIG. 10 is a diagram illustrating the state of the hydraulic system when a bool lowering operation has been performed during the automatic excavation control in the shovel where the emergency stop function is enabled;
  • FIG. 11 is a diagram illustrating the movement of the excavation attachment when a boom lowering operation has been performed during the automatic excavation control in the shovel where the emergency stop function is enabled;
  • FIG. 12 is a block diagram illustrating another example of the relationship between the functional elements associated with the execution of automatic control in the controller
  • FIG. 13 is a block diagram illustrating another example configuration of the functional element that calculates various command values
  • FIG. 14 is a plan view of a work site, illustrating the movement of the excavation attachment when a turning operation is performed during automatic complex turning control;
  • FIG. 15 is a diagram illustrating the movement of the excavation attachment when a counterclockwise turning operation is performed during the clockwise turning of an upper turning body in the shovel where the emergency stop function is enabled;
  • FIG. 16 is a diagram illustrating an example configuration of an electric operation system.
  • FIG. 17 is a schematic diagram illustrating an example configuration of a shovel management system.
  • the excavator is used in various operating environments. Therefore, the operating environment around the excavator may change to an operating environment different from the expected operating environment even when the automatic control mode is in operation. In this case, the above-described excavator continues operation in the automatic control mode even when the operating environment changes. For example, when the operator operates the arm operating lever with the intention to open the arm to press the bucket against an upward inclined surface in an emergency during the automatic control mode, the excavator may automatically raise the boom in accordance with the opening of the arm to move the bucket along the upward inclined surface. In this case, the operator may be unable to press the bucket against the upward inclined surface as intended.
  • a shovel it is possible to cause a shovel to perform operation different from the operation of automatic control when the operating environment of the shovel changes to an operating environment different from the expected operating environment even during the automatic control.
  • FIG. 1 is a side view of a shovel 100 serving as an excavator according to an embodiment of the present invention.
  • An upper turning body 3 is turnably mounted on a lower traveling body 1 of the shovel 100 via a turning mechanism 2 .
  • a boom 4 is attached to the upper turning body 3 .
  • An arm 5 is attached to the distal end of the boom 4 , and a bucket 6 serving as an end attachment is attached to the distal end of the arm 5 .
  • the boom 4 , the arm 5 , and the bucket 6 form an excavation attachment that is an example of an attachment.
  • the boom 4 is driven by a boom cylinder 7
  • the arm 5 is driven by an arm cylinder 8
  • the bucket 6 is driven by a bucket cylinder 9 .
  • the boom cylinder 7 is driven in response to tilting of a boom operating lever
  • the arm cylinder 8 is driven in response to tilting of an arm operating lever
  • the bucket cylinder 9 is driven in response to tilting of a bucket operating lever.
  • a right side traveling hydraulic motor 1 R (see FIG. 2 ) is driven in response to tilting of a right side travel lever
  • a left side traveling hydraulic motor 1 L (see FIG. 2 ) is driven in response to tilting of a left travel lever
  • a turning hydraulic motor 2 A is driven in response to tilting of a turning operating lever.
  • a corresponding actuator is driven in response to the operation of each lever, so that control of the shovel 100 through an operator's manual operation (hereinafter “manual control”) is performed.
  • a boom angle sensor S 1 is attached to the boom 4
  • an arm angle sensor S 2 is attached to the arm 5
  • a bucket angle sensor S 3 is attached to the bucket 6 .
  • the boom angle sensor S 1 is configured to detect the rotation angle of the boom 4 .
  • the boom angle sensor S 1 is an acceleration sensor and can detect the rotation angle of the boom 4 relative to the upper turning body 3 (hereinafter, “boom angle”). For example, the boom angle is smallest when the boom 4 is lowest and increases as the boom 4 is raised.
  • the arm angle sensor S 2 is configured to detect the rotation angle of the arm 5 .
  • the arm angle sensor S 2 is an acceleration sensor and can detect the rotation angle of the arm 5 relative to the boom 4 (hereinafter, “arm angle”).
  • arm angle is smallest when the arm 5 is most closed and increases as the arm 5 is opened.
  • the bucket angle sensor S 3 is configured to detect the rotation angle of the bucket 6 .
  • the bucket angle sensor S 3 is an acceleration sensor and can detect the rotation angle of the bucket 6 relative to the arm 5 (hereinafter, “bucket angle”). For example, the bucket angle is smallest when the bucket 6 is most closed and increases as the bucket 6 is opened.
  • Each of the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 may alternatively be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of a corresponding hydraulic cylinder, a rotary encoder that detects a rotation angle about a link pin, an inertial measurement unit, a gyroscope, a combination of an acceleration sensor and a gyroscope, or the like.
  • a cabin 10 that is a cab is provided and a power source such as an engine 11 is mounted on the upper turning body 3 .
  • a controller 30 , a display device 40 , an input device 42 , an audio output device 43 , a storage device 47 , an emergency stop switch 48 , a body tilt sensor S 4 , a turning angular velocity sensor S 5 , an image capturing device S 6 , a communications device T 1 , and a positioning device P 1 are attached to the upper turning body 3 .
  • the controller 30 is configured to operate as a control device to control the driving of the shovel 100 .
  • the controller 30 is constituted of a computer including a CPU, a RAM, a ROM, etc.
  • Various functions provided by the controller 30 are implemented by the CPU executing programs stored in the ROM, for example.
  • the various functions include, for example, a machine guidance function to guide (give directions to) an operator in manually operating the shovel 100 and a machine control function to automatically assist the operator in manually operating the shovel 100 .
  • a machine guidance device 50 included in the controller 30 is configured to be able to execute the machine guidance function and the machine control function.
  • the display device 40 is configured to display various kinds of information.
  • the display device 40 may be connected to the controller 30 via a communications network such as a CAN or may be connected to the controller 30 via a dedicated line.
  • the input device 42 is so configured as to enable the operator to input various kinds of information to the controller 30 .
  • the input device 42 includes, for example, at least one of a touchscreen, a knob switch, a membrane switch, etc., provided in the cabin 10 .
  • the audio output device 43 is configured to output audio information.
  • the audio output device 43 may be, for example, an in-vehicle loudspeaker connected to the controller 30 or an alarm such as a buzzer. According to this embodiment, the audio output device 43 outputs various kinds of audio information in response to a command from the controller 30 .
  • the storage device 47 is configured to store various kinds of information. Examples of the storage device 47 include a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store the output information of various devices while the shovel 100 is in operation and may store information obtained through various devices before the shovel 100 starts to operate. The storage device 47 may store, for example, data on an intended work surface obtained through the communications device T 1 , etc. The intended work surface may be set by the operator of the shovel 100 or may be set by a work manager or the like.
  • the emergency stop switch 48 is configured to operate as a switch for stopping the movement of the shovel 100 .
  • the emergency stop switch 48 is, for example, a switch installed at such a position as to be operable by the operator seated in an operator seat in the cabin 10 .
  • the emergency stop switch 48 is a foot switch installed at the operator's feet in the cabin 10 . When operated by the operator, the emergency stop switch 48 outputs a command to an engine control unit to stop the engine 11 .
  • the emergency stop switch 48 may also be a hand switch installed around the operator seat.
  • the body tilt sensor S 4 is configured to detect the inclination of the upper turning body 3 .
  • the body tilt sensor S 4 is an acceleration sensor that detects the inclination of the upper turning body 3 relative to a virtual horizontal plane.
  • the body tilt sensor S 4 may be a combination of an acceleration sensor and a gyroscope or may be an inertial measurement unit or the like.
  • the body tilt sensor S 4 detects, for example, the upper turning body 3 's tilt angle about its longitudinal axis (roll angle) and tilt angle about its lateral axis (pitch angle).
  • the longitudinal axis and the lateral axis of the upper turning body 3 cross each other at right angles at the shovel center point that is a point on the turning axis of the shovel 100 .
  • the image capturing device S 6 is configured to capture an image of an area surrounding the shovel 100 .
  • the image capturing device S 6 includes a front camera S 6 F that captures an image of a space in front of the shovel 100 , a left camera S 6 L that captures an image of a space to the left of the shovel 100 , a right camera S 6 R that captures an image of a space to the right of the shovel 100 , and a back camera S 6 B that captures an image of a space behind the shovel 100 .
  • the image capturing device S 6 is, for example, a monocular camera including an imaging device such as a CCD or a CMOS, and outputs captured images to the display device 40 .
  • the image capturing device S 6 may also be configured to operate as a space recognition device S 7 .
  • the space recognition device S 7 is configured to be able to detect an object present in a three-dimensional space around the shovel 100 .
  • the object is, for example, at least one of a person, an animal, a shovel, a machine, a building, etc.
  • the space recognition device S 7 may also be configured to be able to calculate the distance between the space recognition device S 7 or the shovel 100 and an object detected by the space recognition device S 7 .
  • the space recognition device S 7 may be an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, an infrared sensor, or the like.
  • the front camera S 6 F is attached to, for example, the ceiling of the cabin 10 , namely, the inside of the cabin 10 .
  • the front camera S 6 F may alternatively be attached to the roof of the cabin 10 , namely, the outside of the cabin 10 .
  • the left camera S 6 L is attached to the left end of the upper surface of the upper turning body 3 .
  • the right camera S 6 R is attached to the right end of the upper surface of the upper turning body 3 .
  • the back camera S 6 B is attached to the back end of the upper surface of the upper turning body 3 .
  • the communications device T 1 is configured to control communications with external apparatuses outside the shovel 100 . According to this embodiment, the communications device T 1 controls communications with external apparatuses via at least one of a satellite communications network, a cellular phone network, a short-range radio communications network, the Internet, etc.
  • the positioning device P 1 is configured to be able to measure the position of the upper turning body 3 .
  • the positioning device P 1 may also be configured to measure the orientation of the upper turning body 3 .
  • the positioning device P 1 is, for example, a GNSS compass, and detects the position and orientation of the upper turning body 3 to output detection values to the controller 30 . Therefore, the positioning device P 1 can also operate as an orientation detector to detect the orientation of the upper turning body 3 .
  • the orientation detector may be an azimuth sensor attached to the upper turning body 3 .
  • the position and orientation of the upper turning body 3 may be measured with the turning angular velocity sensor S 5 .
  • the turning angular velocity sensor S 5 is configured to detect the turning angular velocity of the upper turning body 3 .
  • the turning angular velocity sensor S 5 may also be configured to be able to detect or calculate the turning angle of the upper turning body 3 .
  • the turning angular velocity sensor S 5 is a gyroscope.
  • the turning angular velocity sensor S 5 may also be a resolver, a rotary encoder, an inertial measurement unit, or the like.
  • FIG. 2 is a block diagram illustrating an example configuration of the basic system of the shovel 100 , in which a mechanical power transmission line, a hydraulic oil line, a pilot line, and an electric control line are indicated by a double line, a solid line, a dashed line, and a dotted line, respectively.
  • the basic system of the shovel 100 mainly includes the engine 11 , a regulator 13 , a main pump 14 , a pilot pump 15 , a control valve 17 , an operating apparatus 26 , a discharge pressure sensor 28 , an operating pressure sensor 29 , the controller 30 , a proportional valve 31 , and a shuttle valve 32 .
  • the engine 11 is a drive source of the shovel 100 .
  • the engine 11 is a diesel engine that so operates as to maintain a predetermined rotational speed.
  • the output shaft of the engine 11 is coupled 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 via a hydraulic oil line.
  • the main pump 14 is a swash plate variable displacement hydraulic pump.
  • the regulator 13 is configured to control the discharge quantity of the main pump 14 .
  • the regulator 13 controls the discharge quantity of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a command from the controller 30 .
  • the controller 30 receives the outputs of the discharge pressure sensor 28 , the operating pressure sensor 29 , etc., and outputs a command to the regulator 13 to vary the discharge quantity of the main pump 14 on an as-needed basis.
  • the pilot pump 15 is configured to supply hydraulic oil to various hydraulic control apparatuses including the operating apparatus 26 and the proportional valve 31 via a pilot line.
  • the pilot pump 15 is a fixed displacement hydraulic pump.
  • the pilot pump 15 may be omitted.
  • the function carried by the pilot pump 15 may be implemented by the main pump 14 . That is, the main pump 14 may have the function of supplying hydraulic oil to the operating apparatus 26 , the proportional valve 31 , etc., after reducing the pressure of the hydraulic oil with a throttle or the like, apart from the function of supplying hydraulic oil to the control valve 17 .
  • the control valve 17 is a hydraulic control device that controls a hydraulic system in the shovel 100 .
  • the control valve 17 includes control valves 171 through 176 .
  • the control valve 17 can selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 through 176 .
  • the control valves 171 through 176 control the flow rate of hydraulic oil flowing from the main pump 14 to hydraulic actuators and the flow rate of hydraulic oil flowing from hydraulic actuators to a hydraulic oil tank.
  • the hydraulic actuators include the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 , the left side traveling hydraulic motor 1 L, the right side traveling hydraulic motor 1 R, and the turning hydraulic motor 2 A.
  • the turning hydraulic motor 2 A may alternatively be a turning electric motor serving as an electric actuator.
  • the operating apparatus 26 is an apparatus that the operator uses to operate actuators.
  • the actuators include at least one of a hydraulic actuator and an electric actuator.
  • the operating apparatus 26 supplies hydraulic oil discharged by the pilot pump 15 to a pilot port of a corresponding control valve in the control valve 17 via a pilot line.
  • the pressure of hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure commensurate with the direction of operation and the amount of operation of the operating apparatus 26 for a corresponding hydraulic actuator.
  • At least one of the operating apparatus 26 is configured to be able to supply hydraulic oil discharged by the pilot pump 15 to a pilot port of a corresponding control valve in the control valve 17 via a pilot line and the shuttle valve 32 .
  • the discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14 . According to 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 details of the operator's operation using the operating apparatus 26 . According to this embodiment, the operating pressure sensor 29 detects the direction of operation and the amount of operation of the operating apparatus 26 corresponding to each actuator in the form of pressure and outputs the detected value to the controller 30 as operational data. The operation details of the operating apparatus 26 may be detected using a sensor other than an operating pressure sensor.
  • the proportional valve 31 is placed in a conduit connecting the pilot pump 15 and the shuttle valve 32 , and is configured to be able to change the flow area of the conduit.
  • the proportional valve 31 is a solenoid valve that operates in response to a control command output by the controller 30 .
  • the proportional valve 31 operates as a control valve for machine control. Therefore, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to a pilot port of a corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32 , independent of the operator's operation of the operating apparatus 26 .
  • the shuttle valve 32 includes two inlet ports and one outlet port. Of the two inlet ports, one is connected to the operating apparatus 26 and the other is connected to the proportional valve 31 .
  • the outlet port is connected to a pilot port of a corresponding control valve in the control valve 17 . Therefore, the shuttle valve 32 can cause the higher one of a pilot pressure generated by the operating apparatus 26 and a pilot pressure generated by the proportional valve 31 to act on a pilot port of a corresponding control valve.
  • the controller 30 can operate a hydraulic actuator corresponding to a specific operating apparatus 26 even when no operation is performed on the specific operating apparatus 26 .
  • the machine guidance device 50 is configured to execute the machine guidance function, for example.
  • the machine guidance device 50 for example, notifies the operator of work information such as the distance between the intended work surface and the working part of the attachment.
  • Data on the intended work surface are prestored in, for example, the storage device 47 .
  • the data on the intended work surface are expressed in, for example, a reference coordinate system.
  • the reference coordinate system is, for example, the world geodetic system.
  • the operator may set any point at a construction site as a reference point and set the intended work surface based on the relative positional relationship between each point of the intended work surface and the reference point.
  • the working part of the attachment is, for example, the teeth tips of the bucket 6 , the back surface of the bucket 6 , or the like.
  • the machine guidance device 50 provides guidance on operating the shovel 100 by notifying the operator of the work information via at least one of the display device 40 , the audio output device 43 , etc.
  • the machine guidance device 50 may execute the machine control function to automatically assist the operator in manually operating the shovel 100 .
  • the machine guidance device 50 may automatically operate at least one of the boom 4 , the arm 5 , and the bucket 6 such that the distance between the intended work surface and the position of the leading edge of the bucket 6 is maintained at a predetermined value.
  • the machine guidance device 50 which is incorporated into the controller 30 according to this embodiment, may be a control device provided separately from the controller 30 .
  • the machine guidance device 50 is constituted of a computer including a CPU, a RAM, a ROM, etc.
  • the CPU executes programs stored in the ROM or the like to implement various functions provided by the machine guidance device 50 .
  • the machine guidance device 50 and the controller 30 are connected by a communications network such as a CAN to be able to communicate with each other.
  • the machine guidance device 50 obtains information from at least one of the boom angle sensor S 1 , the arm angle sensor S 2 , the bucket angle sensor S 3 , the body tilt sensor S 4 , the turning angular velocity sensor S 5 , the image capturing device S 6 , the positioning device P 1 , the communications device T 1 , the input device 42 , etc. Then, the machine guidance device 50 , for example, calculates the distance between the bucket 6 and the intended work surface based on the obtained information, and notifies the operator of the shovel 100 of the size of the distance between the bucket 6 and the intended work surface through at least one of audio and light (image display).
  • the machine guidance device 50 includes a position calculating part 51 , a distance calculating part 52 , an information communicating part 53 , and an automatic control part 54 .
  • the position calculating part 51 is configured to calculate the position of a target. According to this embodiment, the position calculating part 51 calculates the coordinate point of the working part of the attachment in the reference coordinate system. Specifically, the position calculating part 51 calculates the coordinate point of the teeth tips of the bucket 6 from the respective rotation angles of the boom 4 , the arm 5 , and the bucket 6 . The position calculating part 51 may calculate not only the coordinate point of the center of the teeth tips of the bucket 6 but also the coordinate point of the left end of the teeth tips of the bucket 6 and the coordinate point of the right end of the teeth tips of the bucket 6 . In this case, the output of the body tilt sensor S 4 may be used.
  • the distance calculating part 52 is configured to calculate the distance between two targets. According to this embodiment, the distance calculating part 52 calculates the vertical distance between the teeth tips of the bucket 6 and the intended work surface. The distance calculating part 52 may calculate the distance (for example, the vertical distance) between the intended work surface and the coordinate point of each of the left end and the right end of the teeth tips of the bucket 6 so that the machine guidance device 50 can determine whether the shovel 100 is facing straight to the intended work surface.
  • the information communicating part 53 is configured to communicate various kinds of information to the operator of the shovel 100 . According to this embodiment, the information communicating part 53 notifies the operator of the shovel 100 of the size of each of the various distances calculated by the distance calculating part 52 . Specifically, the information communicating part 53 notifies the operator of the shovel 100 of the size of the vertical distance between the teeth tips of the bucket 6 and the intended work surface, using visual information and aural information.
  • the information communicating part 53 may notify the operator of the size of the vertical distance between the teeth tips of the bucket 6 and the intended work surface, using intermittent sounds through the audio output device 43 .
  • the information communicating part 53 may reduce the interval between intermittent sounds as the vertical distance decreases.
  • the information communicating part 53 may use a continuous sound and may represent variations in the size of the vertical distance by changing the pitch, loudness, or the like of the sound.
  • the information communicating part 53 may issue an alarm.
  • the alarm is, for example, a continuous sound significantly louder than the intermittent sounds.
  • the information communicating part 53 may display the size of the vertical distance between the teeth tips of the bucket 6 and the intended work surface on the display device 40 as work information.
  • the display device 40 displays the work information received from the information communicating part 53 on a screen, together with image data received from the image capturing device S 6 .
  • the information communicating part 53 may notify the operator of the size of the vertical distance, using, for example, an image of an analog meter, an image of a bar graph indicator, or the like.
  • the automatic control part 54 is configured to assist the operator in manually operating the shovel 100 by automatically moving actuators.
  • the automatic control part 54 may automatically extend or retract at least one of the boom cylinder 7 , the arm cylinder 8 , and the bucket cylinder 9 such that the distance between the intended work surface and the teeth tips of the bucket 6 is maintained at a predetermined value, while the operator is manually performing an arm closing operation.
  • This automatic control may be executed in response to the depression of a predetermined switch that is included in the input device 42 .
  • the automatic control part 54 may switch the operating mode of the shovel 100 from a manual control mode to an automatic control mode in response to the pressing of a predetermined switch.
  • the manual control mode means an operating mode in which manual control is performed.
  • the automatic control mode means an operating mode in which automatic control is performed.
  • the predetermined switch is, for example, a machine control switch (hereinafter, “MC switch 42 A”), and may be placed at the handle of an operating lever.
  • the operator may switch the operating mode of the shovel 100 from the automatic control mode to the manual control mode by re-pressing the MC switch 42 A or may switch the operating mode of the shovel 100 from the automatic control mode to the manual control mode by pressing a machine control stop switch (hereinafter, “MC stop switch 42 B”) that is a switch different from the MC switch 42 A.
  • the MC stop switch 42 B may be placed next to the MC switch 42 A or may be placed at the handle of another operating lever. Alternatively, the MC stop switch 42 B may be omitted.
  • Such automatic control may be performed while the MC switch 42 A is being pressed.
  • the operator can close the arm 5 while maintaining the distance between the intended work surface and the teeth tips of the bucket 6 by only operating the arm operating lever in the arm closing direction while pressing the MC switch 42 A at the handle of the arm operating lever, for example.
  • the boom cylinder 7 and the bucket cylinder 9 automatically follow and move in response to the aim closing operation caused by the arm cylinder 8 .
  • the operator can stop the automatic control by only moving a finger out of contact with the MC switch 42 A.
  • automated excavation control that is one of automatic control processes (machine control functions).
  • the automatic control part 54 may automatically rotate the turning hydraulic motor 2 A to cause the upper turning body 3 to face straight to the intended work surface when a predetermined switch such as the MC switch 42 A is pressed.
  • a predetermined switch such as the MC switch 42 A
  • the operator can cause the upper turning body 3 to face straight to the intended work surface by only pressing the predetermined switch or by only operating the turning operating lever while pressing the predetermined switch.
  • the operator can cause the upper turning body 3 to face straight to the intended work surface and start the machine control function, namely, get the shovel 100 ready to perform automatic control.
  • automated straight facing control that is one of automatic control processes (machine control functions).
  • the machine guidance device 50 determines that the shovel 100 is facing straight to the intended work surface, for example, when the left end vertical distance between the coordinate point of the left end of the teeth tips of the bucket 6 and the intended work surface is equal to the right end vertical distance between the coordinate point of the right end of the teeth tips of the bucket 6 and the intended work surface.
  • the machine guidance device 50 may also determine that the shovel 100 is facing straight to the intended work surface when the difference between the left end vertical distance and the right end vertical distance is less than or equal to a predetermined value instead of when the left end vertical distance and the right end vertical distance are not equal, namely, instead of when the difference is zero.
  • the automatic control part 54 may also be configured to automatically perform boom raising and turning or boom lowering and turning in response to the pressing of a predetermined switch such as the MC switch 42 A. In this case, by only pressing the predetermined switch or by only operating the turning operating lever while pressing the predetermined switch, the operator can start boom raising and turning or boom lowering and turning.
  • a predetermined switch such as the MC switch 42 A.
  • control to automatically start boom raising and turning or boom lowering and turning is referred to as “automatic complex turning control” that is one of automatic control processes (machine control functions).
  • the automatic control part 54 can individually and automatically operate actuators by individually and automatically controlling pilot pressures acting on control valves corresponding to the actuators.
  • the automatic control part 54 may operate the turning hydraulic motor 2 A based on the difference between the left end vertical distance and the right end vertical distance.
  • the automatic control part 54 determines whether the turning operating lever is operated in a direction to cause the upper turning body 3 to face straight to the intended work surface. For example, when the turning operating lever is so operated as to turn the upper turning body 3 in a direction to increase the vertical distance between the teeth tips of the bucket 6 and the intended work surface (upward slope), the automatic control part 54 does not perform the automatic straight facing control.
  • the automatic control part 54 When the turning operating lever is so operated as to turn the upper turning body 3 in a direction to decrease the vertical distance between the teeth tips of the bucket 6 and the intended work surface (upward slope), the automatic control part 54 performs the automatic straight facing control. As a result, it is possible to operate the turning hydraulic motor 2 A such that the difference between the left end vertical distance and the right end vertical distance is reduced. Thereafter, when the difference becomes less than or equal to a predetermined value or zero, the automatic control part 54 stops the turning hydraulic motor 2 A.
  • the automatic control part 54 may also set a turning angle that causes the difference to be less than or equal to a predetermined value or zero as a target angle and perform turning angle control such that the angular difference between the target angle and a current turning angle (detected value) is zero.
  • the turning angle is, for example, the angle of the longitudinal axis of the upper turning body 3 to a predetermined reference direction.
  • the automatic control part 54 may also be configured to stop automatic control when a predetermined condition is satisfied. “When a predetermined condition is satisfied” may include “when information on the movement of the shovel 100 shows an unusual tendency.” Hereinafter, a function to stop automatic control when a predetermined condition is satisfied is referred to as “emergency stop function.”
  • the “information on the movement of the shovel 100 ” is, for example, “information on operation on the operating apparatus 26 .”
  • the automatic control part 54 may be configured to determine that the “information on the movement of the shovel 100 shows an unusual tendency” when the operating apparatus 26 is rapidly operated.
  • the “information on the movement of the shovel 100 ” may also be “information on operation on the turning operating lever mounted on the upper turning body 3 ”.
  • the automatic control part 54 may be configured to determine that the “information on the movement of the shovel 100 shows an unusual tendency,” for example, when an operation to turn the upper turning body 3 in a direction opposite to that of turning performed by the automatic straight facing control or the automatic complex turning control as automatic control.
  • the automatic control part 54 may also be configured to stop automatic control in response to determining that the “information on the movement of the shovel 100 shows an unusual tendency.”
  • “When a predetermined condition is satisfied” may also include “when the shovel 100 is more unstable” such as “when the tilt of the upper turning body 3 is in a predetermined state.” “When the tilt of the upper turning body 3 is in a predetermined state” includes, for example, “when the pitch angle of the upper turning body 3 is a predetermined angle,” “when the absolute value of the changing speed (change rate) of the pitch angle is more than or equal to a predetermined value,” and “when the amount of change of the pitch angle is more than or equal to a predetermined value.” The same is true for the roll angle.
  • the automatic control part 54 may also be configured to stop automatic control based on the output of the body tilt sensor S 4 .
  • the automatic control part 54 may stop automatic control and switch the operating mode of the shovel 100 from the automatic control mode to the manual control mode.
  • “when a predetermined condition is satisfied” may also include “when the emergency stop switch 48 , which is a foot switch installed at the operator's feet, is stepped on.”
  • FIG. 3 illustrates an example configuration of the hydraulic system installed in the shovel 100 of FIG. 1 .
  • a mechanical power transmission line, a hydraulic oil line, a pilot line, and an electric control line are indicated by a double line, a solid line, a dashed line, and a dotted line, respectively, the same as in FIG. 2 .
  • the hydraulic system circulates hydraulic oil from a left main pump 14 L driven by the engine 11 to the hydraulic oil tank via a left center bypass conduit 40 L or a left parallel conduit 42 L, and circulates hydraulic oil from a right main pump 14 R driven by the engine 11 to the hydraulic oil tank via a right center bypass conduit 40 R or a right parallel conduit 42 R.
  • the left main pump 14 L and the right main pump 14 R correspond to the main pump 14 of FIG. 2 .
  • the left center bypass conduit 40 L is a hydraulic oil line that passes through the control valves 171 and 173 and control valves 175 L and 176 L placed in the control valve 17 .
  • the right center bypass conduit 40 R is a hydraulic oil line that passes through the control valves 172 and 174 and control valves 175 R and 176 R placed in the control valve 17 .
  • the control valves 175 L and 175 R correspond to the control valve 175 of FIG. 2 .
  • the control valves 176 L and 176 R correspond to the control valve 176 of FIG. 2 .
  • the control valve 171 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the left main pump 14 L to the left side traveling hydraulic motor 1 L and to discharge hydraulic oil discharged by the left side traveling hydraulic motor 1 L to the hydraulic oil tank.
  • the control valve 172 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the right main pump 14 R to the right side traveling hydraulic motor 1 R and to discharge hydraulic oil discharged by the right side traveling hydraulic motor 1 R to the hydraulic oil tank.
  • the control valve 173 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the left main pump 14 L to the turning hydraulic motor 2 A and to discharge hydraulic oil discharged by the turning hydraulic motor 2 A to the hydraulic oil tank.
  • the control valve 174 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the right main pump 14 R to the bucket cylinder 9 and to discharge hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.
  • the control valve 175 L is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the left main pump 14 L to the boom cylinder 7 .
  • the control valve 175 R is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the right main pump 14 R to the boom cylinder 7 and to discharge hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.
  • the control valve 176 L is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the left main pump 14 L to the arm cylinder 8 and to discharge hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.
  • the control valve 176 R is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged by the right main pump 14 R to the arm cylinder 8 and to discharge hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.
  • the left parallel conduit 42 L is a hydraulic oil line parallel to the left center bypass conduit 40 L.
  • the right parallel conduit 42 R is a hydraulic oil line parallel to the right center bypass conduit 40 R.
  • the right parallel conduit 42 R can supply hydraulic oil to a control valve further downstream.
  • a left regulator 13 L is configured to be able to control the discharge quantity of the left main pump 14 L.
  • the left regulator 13 L controls the discharge quantity of the left main pump 14 L, for example, by adjusting the swash plate tilt angle of the left main pump 14 L in accordance with the discharge pressure of the left main pump 14 L.
  • a right regulator 13 R is configured to be able to control the discharge quantity of the right main pump 14 R.
  • the right regulator 13 R controls the discharge quantity of the right main pump 14 R, for example, by adjusting the swash plate tilt angle of the right main pump 14 R in accordance with the discharge pressure of the right main pump 14 R.
  • the left regulator 13 L and the right regulator 13 R correspond to the regulator 13 of FIG. 2 .
  • the left regulator 13 L for example, reduces the discharge quantity of the left main pump 14 L by adjusting its swash plate tilt angle, according as the discharge pressure of the left main pump 14 L increases. The same is the case with the right regulator 13 R. This is for preventing the absorbed power of the main pump 14 expressed by the product of the discharge pressure and the discharge quantity from exceeding the output power of the engine 11 .
  • a discharge pressure sensor 28 L which is an example of the discharge pressure sensor 28 , detects the discharge pressure of the left main pump 14 L, and outputs the detected value to the controller 30 .
  • the same is the case with a discharge pressure sensor 28 R.
  • a left throttle 18 L is placed between the most downstream control valve 176 L and the hydraulic oil tank in the left center bypass conduit 40 L.
  • the flow of hydraulic oil discharged by the left main pump 14 L is restricted by the left throttle 18 L.
  • the left throttle 18 L generates a control pressure for controlling the left regulator 13 L.
  • a left control pressure sensor 19 L is a sensor for detecting the control pressure, and outputs the detected value to the controller 30 .
  • a right throttle 18 R is placed between the most downstream control valve 176 R and the hydraulic oil tank in the right center bypass conduit 40 R.
  • the flow of hydraulic oil discharged by the right main pump 14 R is restricted by the right throttle 18 R.
  • the right throttle 18 R generates a control pressure for controlling the right regulator 13 R.
  • a right control pressure sensor 19 R is a sensor for detecting the control pressure, and outputs the detected value to the controller 30 .
  • the controller 30 controls the discharge quantity of the left main pump 14 L by adjusting the swash plate tilt angle of the left main pump 14 L in accordance with the control pressure.
  • the controller 30 decreases the discharge quantity of the left main pump 14 L as the control pressure increases, and increases the discharge quantity of the left main pump 14 L as the control pressure decreases.
  • the discharge quantity of the right main pump 14 R is controlled in the same manner.
  • hydraulic oil discharged by the left main pump 14 L arrives at the left throttle 18 L through the left center bypass conduit 40 L.
  • the flow of hydraulic oil discharged by the left main pump 14 L increases the control pressure generated upstream of the left throttle 18 L.
  • the controller 30 decreases the discharge quantity of the left main pump 14 L to a minimum allowable discharge quantity to reduce pressure loss (pumping loss) during the passage of the discharged hydraulic oil through the left center bypass conduit 40 L.
  • hydraulic oil discharged by the left main pump 14 L flows into the operated hydraulic actuator via a control valve corresponding to the operated hydraulic actuator.
  • the flow of hydraulic oil discharged by the left main pump 14 L that arrives at the left throttle 18 L is reduced in amount or lost, so that the control pressure generated upstream of the left throttle 18 L is reduced.
  • the controller 30 increases the discharge quantity of the left main pump 14 L to circulate sufficient hydraulic oil to the operated hydraulic actuator to ensure driving of the operated hydraulic actuator.
  • hydraulic oil discharged by the right main pump 14 R is reduced.
  • the hydraulic system of FIG. 3 can reduce unnecessary energy consumption in each of the left main pump 14 L and the right main pump 14 R in the standby state.
  • the unnecessary energy consumption includes pumping loss that hydraulic oil discharged by the left main pump 14 L causes in the left center bypass conduit 40 L and pumping loss that hydraulic oil discharged by the right main pump 14 R causes in the right center bypass conduit 40 R.
  • the hydraulic system of FIG. 3 can supply necessary and sufficient hydraulic oil from each of the left main pump 14 L and the right main pump 14 R to hydraulic actuators to be actuated.
  • a boom operating lever 26 A is an example of the operating apparatus 26 and is used to operate the boom 4 .
  • the boom operating lever 26 A uses hydraulic oil discharged by the pilot pump 15 to cause a pilot pressure commensurate with the details of an operation to act on pilot ports of the control valves 175 L and 175 R.
  • the boom operating lever 26 A when operated in a boom raising direction, the boom operating lever 26 A causes a pilot pressure commensurate with the amount of operation to act on the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R.
  • the boom operating lever 26 A When operated in a boom lowering direction, the boom operating lever 26 A causes a pilot pressure commensurate with the amount of operation to act on the right pilot port of the control valve 175 R.
  • An operating pressure sensor 29 A which is an example of the operating pressure sensor 29 , detects the details of the operator's operation of the boom operating lever 26 A in the form of pressure, and outputs the detected value to the controller 30 .
  • Examples of the operation details include the direction of operation and the amount of operation (the angle of operation).
  • Proportional valves 31 AL and 31 AR constitute a boom proportional valve 31 A, which is an example of the proportional valve 31 .
  • Shuttle valves 32 AL and 32 AR constitute a boom shuttle valve 32 A, which is an example of the shuttle valve 32 .
  • the proportional valve 31 AL operates in response to a current command controlled by the controller 30 .
  • the controller 30 controls a pilot pressure generated by hydraulic oil introduced to the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R from the pilot pump 15 via the proportional valve 31 AL and the shuttle valve 32 AL.
  • the proportional valve 31 AR operates in response to a current command controlled by the controller 30 .
  • the controller 30 controls a pilot pressure generated by hydraulic oil introduced to the right pilot port of the control valve 175 R from the pilot pump 15 via the proportional valve 31 AR and the shuttle valve 32 AR.
  • the proportional valves 31 AL and 31 AR can control the pilot pressures such that the control valves 175 L and 175 R can stop at a desired valve position.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R through the proportional valve 31 AL and the shuttle valve 32 AL, independent of the operator's boom raising operation. That is, the controller 30 can automatically raise the boom 4 . Furthermore, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175 R through the proportional valve 31 AR and the shuttle valve 32 AR, independent of the operator's boom lowering operation. That is, the controller 30 can automatically lower the boom 4 .
  • An arm operating lever 26 B is an example of the operating apparatus 26 and is used to operate the aim 5 .
  • the arm operating lever 26 B uses hydraulic oil discharged by the pilot pump 15 to cause a pilot pressure commensurate with the details of an operation to act on pilot ports of the control valves 176 L and 176 R.
  • the arm operating lever 26 B when operated in an arm opening direction, causes a pilot pressure commensurate with the amount of operation to act on the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R.
  • the arm operating lever 26 B When operated in an aim closing direction, the arm operating lever 26 B causes a pilot pressure commensurate with the amount of operation to act on the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R.
  • An operating pressure sensor 29 B which is an example of the operating pressure sensor 29 , detects the details of the operator's operation of the aim operating lever 26 B in the form of pressure, and outputs the detected value to the controller 30 .
  • Proportional valves 31 BL and 31 BR constitute an arm proportional valve 31 B, which is an example of the proportional valve 31 .
  • Shuttle valves 32 BL and 32 BR constitute an arm shuttle valve 32 B, which is an example of the shuttle valve 32 .
  • the proportional valve 31 BL operates in response to a current command controlled by the controller 30 .
  • the controller 30 controls a pilot pressure generated by hydraulic oil introduced to the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R from the pilot pump 15 via the proportional valve 31 BL and the shuttle valve 32 BL.
  • the proportional valve 31 BR operates in response to a current command controlled by the controller 30 .
  • the controller 30 controls a pilot pressure generated by hydraulic oil introduced to the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R from the pilot pump 15 via the proportional valve 31 BR and the shuttle valve 32 BR.
  • the proportional valves 31 BL and 31 BR can control the pilot pressures such that the control valves 176 L and 176 R can stop at a desired valve position.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R through the proportional valve 31 BL and the shuttle valve 32 BL, independent of the operator's arm closing operation. That is, the controller 30 can automatically close the arm 5 . Furthermore, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R through the proportional valve 31 BR and the shuttle valve 32 BR, independent of the operator's arm opening operation. That is, the controller 30 can automatically open the arm 5 .
  • the arm cylinder 8 and the boom cylinder 7 automatically operate in accordance with the amount of operation of the am operating lever 26 B, so that the speed or position of the working part is controlled.
  • the shovel 100 may also be configured to automatically turn the upper turning body 3 clockwise and counterclockwise, be configured to automatically open and close the bucket 6 , and be configured to automatically move the lower traveling body 1 forward and backward.
  • part of the hydraulic system related to the turning hydraulic motor 2 A, part of the hydraulic system related to the operation of the bucket cylinder 9 , part of the hydraulic system related to the operation of the left side traveling hydraulic motor 1 L, and part of the hydraulic system related to the operation of the right side traveling hydraulic motor 1 R may be configured the same as part of the hydraulic system related to the operation of the boom cylinder 7 , etc.
  • FIG. 4 is a block diagram illustrating an example of the relationship between functional elements F 1 through F 6 associated with the execution of automatic control in the controller 30 .
  • the controller 30 includes the functional elements F 1 through F 6 associated with the execution of automatic control.
  • the functional elements may be constituted of software, hardware, or a combination of software and hardware.
  • the functional element F 1 is configured to analyze an operation tendency that is the tendency of the operator's manual operation. According to this embodiment, the functional element F 1 analyzes the operation tendency based on operational data output by the operating pressure sensor 29 , and outputs the analysis result together with the operational data. Examples of operation tendencies includes an operation tendency to rectilinearly move the teeth tips of the bucket 6 toward the body, an operation tendency to rectilinearly move the teeth tips of the bucket 6 away from the body, an operation tendency to rectilinearly raise the teeth tips of the bucket 6 , and an operation tendency to rectilinearly lower the teeth tips of the bucket 6 . The functional element F 1 outputs whether a current operation tendency matches any of the operation tendencies as the analysis result.
  • the functional element F 2 is configured to generate an intended trajectory. According to this embodiment, the functional element F 2 refers to design data stored in the storage device 47 and generates a trajectory to be followed by the teeth tips of the bucket 6 during slope finishing work.
  • the functional element F 3 is configured to be able to switch the operating mode of the shovel 100 . According to this embodiment, the functional element F 3 switches the operating mode of the shovel 100 from the manual control mode to the automatic control mode in response to receiving an ON command from the MC switch 42 A, and switches the operating mode of the shovel 100 from the automatic control mode to the manual control mode in response to receiving an OFF command from the MC stop switch 42 B.
  • the functional element F 3 may switch the operating mode of the shovel 100 from the automatic control mode to the manual control mode based on the analysis result of the operation tendency that is the output of the functional element F 1 .
  • the functional element F 3 may switch the operating mode of the shovel 100 from the automatic control mode to the manual control mode in response to determining that the “information on the movement of the shovel 100 shows an unusual tendency” as described above based on the analysis result of the operation tendency that is the output of the functional element F 1 .
  • the operational data and the analysis result of the operation tendency that are the outputs of the functional element F 1 are supplied to the functional element F 5 .
  • the operational data among the outputs of the functional element F 1 are supplied to the functional element F 6 .
  • the functional element F 4 is configured to calculate a current teeth tips position. According to this embodiment, the functional element F 4 calculates the coordinate point of the teeth tips of the bucket 6 as a current teeth tips position, based on a boom angle ⁇ detected by the boom angle sensor S 1 , an arm angle ⁇ detected by the arm angle sensor S 2 , and a bucket angle ⁇ detected by the bucket angle sensor S 3 . The functional element F 4 may use the output of the body tilt sensor S 4 in calculating the current teeth tips position.
  • the functional element F 5 is configured to calculate the next teeth tips position when the automatic control mode is selected. According to this embodiment, when the automatic control mode is selected, the functional element F 5 calculates a teeth tips position after a predetermined time as an intended teeth tips position, based on the operational data and the analysis result of the operation tendency output by the functional element F 1 , the intended trajectory generated by the functional element F 2 , and the current teeth tips position calculated by the functional element F 4 .
  • the functional element F 6 is configured to calculate a command value for operating an actuator.
  • the functional element F 6 calculates at least one of a boom command value ⁇ *, an arm command value ⁇ *, and a bucket command value ⁇ * based on the intended teeth tips position calculated by the functional element F 5 , in order to move the current teeth tips position to the intended teeth tips position.
  • the functional element F 6 calculates at least one of the boom command value ⁇ *, the aim command value ⁇ *, and the bucket command value ⁇ * based on the operational data in order to achieve the movement of the actuator corresponding to the operational data.
  • the functional element F 6 calculates the boom command value ⁇ * on an as-needed basis even when the boom operating lever 26 A is not operated, in order to automatically operate the boom 4 .
  • the aim 5 and the bucket 6 are the same.
  • the functional element F 6 does not calculate the boom command value ⁇ * when the boom operating lever 26 A is not operated. This is because according to the manual control mode, the boom 4 is not operated unless the boom operating lever 26 A is operated. The same is true for the aim 5 and the bucket 6 .
  • FIG. 5 is a block diagram illustrating an example configuration of the functional element F 6 that calculates various command values.
  • the controller 30 further includes functional elements F 11 through F 13 , F 21 through F 23 , and F 31 through F 33 associated with generation of command values.
  • the functional elements may be constituted of software, hardware, or a combination of software and hardware.
  • the functional elements F 11 through F 13 are functional elements associated with the boom command value ⁇ *.
  • the functional elements F 21 through F 23 are functional elements associated with the arm command value ⁇ *.
  • the functional elements F 31 through F 33 are functional elements associated with the bucket command value ⁇ *.
  • the functional elements F 11 , F 21 , and F 31 are configured to generate a current command output to the proportional valve 31 .
  • the functional element F 11 outputs a boom current command to the boom proportional valve 31 A (see FIG. 3 )
  • the functional element F 21 outputs an arm current command to the arm proportional valve 31 B (see FIG. 3 )
  • the functional element F 31 outputs a bucket current command to a bucket proportional valve 31 C.
  • the functional elements F 12 , F 22 , and F 32 are configured to calculate the amount of displacement of a spool that is a constituent of a spool valve.
  • the functional element F 12 calculates the amount of displacement of a boom spool that is a constituent of the control valve 175 pertaining to the boom cylinder 7 based on the output of a boom spool displacement sensor S 11 .
  • the functional element F 22 calculates the amount of displacement of an arm spool that is a constituent of the control valve 176 pertaining to the arm cylinder 8 based on the output of an arm spool displacement sensor S 12 .
  • the functional element F 13 calculates the amount of displacement of a bucket spool that is a constituent of the control valve 174 pertaining to the bucket cylinder 9 based on the output of a bucket spool displacement sensor S 13 .
  • the functional elements F 13 through F 23 are configured to calculate the rotation angle of a working body. According to this embodiment, the functional element F 13 calculates the boom angle ⁇ based on the output of the boom angle sensor S 1 . The functional element F 23 calculates the arm angle ⁇ based on the arm angle sensor S 2 . The functional element F 33 calculates the bucket angle ⁇ based on the output of the bucket angle sensor S 3 .
  • the functional element F 11 basically so generates the boom current command to the boom proportional valve 31 A as to eliminate the difference between the boom command value ⁇ * generated by the functional element F 6 and the boom angle ⁇ calculated by the functional element F 13 . At this point, the functional element F 11 so adjusts the boom current command as to eliminate the difference between an intended boom spool displacement amount derived from the boom current command and the boom spool displacement amount calculated by the functional element F 12 . The functional element F 11 outputs the adjusted boom current command to the boom proportional valve 31 A.
  • the boom proportional valve 31 A changes the opening area in accordance with the boom current command to cause a pilot pressure commensurate with the size of the boom current command to act on a pilot port of the control valve 175 .
  • the control valve 175 moves the boom spool in accordance with the pilot pressure to cause hydraulic oil to flow into the boom cylinder 7 .
  • the boom spool displacement sensor S 11 detects the displacement of the boom spool and feeds the detection result back to the functional element F 12 of the controller 30 .
  • the boom cylinder 7 extends or retracts according as hydraulic oil flows in to move up or down the boom 4 .
  • the boom angle sensor S 1 detects the rotation angle of the vertically moving boom 4 and feeds the detection result back to the functional element F 13 of the controller 30 .
  • the functional element F 13 feeds the calculated boom angle ⁇ back to the functional element F 4 .
  • the functional element F 21 basically so generates the arm current command to the arm proportional valve 31 B as to eliminate the difference between the arm command value ⁇ * generated by the functional element F 6 and the arm angle ⁇ calculated by the functional element F 23 . At this point, the functional element F 21 so adjusts the arm current command as to eliminate the difference between an intended arm spool displacement amount derived from the arm current command and the arm spool displacement amount calculated by the functional element F 22 . The functional element F 21 outputs the adjusted arm current command to the arm proportional valve 31 B.
  • the arm proportional valve 31 B changes the opening area in accordance with the arm current command to cause a pilot pressure commensurate with the size of the arm current command to act on a pilot port of the control valve 176 .
  • the control valve 176 moves the arm spool in accordance with the pilot pressure to cause hydraulic oil to flow into the arm cylinder 8 .
  • the arm spool displacement sensor S 12 detects the displacement of the arm spool and feeds the detection result back to the functional element F 22 of the controller 30 .
  • the arm cylinder 8 extends or retracts according as hydraulic oil flows in to open or close the arm 5 .
  • the arm angle sensor S 2 detects the rotation angle of the opening or closing arm 5 and feeds the detection result back to the functional element F 23 of the controller 30 .
  • the functional element F 23 feeds the calculated arm angle ⁇ back to the functional element F 4 .
  • the functional element F 31 basically so generates the bucket current command to the bucket proportional valve 31 C as to eliminate the difference between the bucket command value ⁇ * generated by the functional element F 6 and the bucket angle ⁇ calculated by the functional element F 33 .
  • the functional element F 31 so adjusts the bucket current command as to eliminate the difference between an intended bucket spool displacement amount derived from the bucket current command and the bucket spool displacement amount calculated by the functional element F 32 .
  • the functional element F 31 outputs the adjusted bucket current command to the bucket proportional valve 31 C.
  • the bucket proportional valve 31 C changes the opening area in accordance with the bucket current command to cause a pilot pressure commensurate with the size of the bucket current command to act on a pilot port of the control valve 174 .
  • the control valve 174 moves the bucket spool in accordance with the pilot pressure to cause hydraulic oil to flow into the bucket cylinder 9 .
  • the bucket spool displacement sensor S 13 detects the displacement of the bucket spool and feeds the detection result back to the functional element F 32 of the controller 30 .
  • the bucket cylinder 9 extends or retracts according as hydraulic oil flows in to open or close the bucket 6 .
  • the bucket angle sensor S 3 detects the rotation angle of the opening or closing bucket 6 and feeds the detection result back to the functional element F 33 of the controller 30 .
  • the functional element F 33 feeds the calculated bucket angle ⁇ back to the functional element F 4 .
  • the controller 30 forms a three-stage feedback loop for each working body. That is, the controller 30 forms a feedback loop associated with the amount of spool displacement, a feedback loop associated with the rotation angle of a working body, and a feedback loop associated with the teeth tips position. Therefore, the controller 30 can control the movement of the teeth tips of the bucket 6 with high accuracy during automatic control.
  • FIGS. 6 through 9 relate to the movement of the shovel 100 when part LP (see FIG. 7 ) of the ground supporting the shovel 100 collapses during slope finishing work. Specifically, FIGS. 6 through 9 relate to the movement of the shovel 100 when the operator performs an arm opening operation out of reflex to prevent the tipping of the shovel 100 in response to the forward tilting of the shovel 100 due to the collapse of the part LP of the ground under the front end of the lower traveling body 1 . The operator intends to stop the forward tilting of the shovel 100 by causing the bucket 6 to contact the slope by opening the arm 5 .
  • FIG. 6 is a diagram illustrating the state of the hydraulic system when an arm opening operation has been performed during the automatic excavation control in the shovel 100 where the emergency stop function is disabled, and corresponds to FIG. 3 .
  • FIG. 7 is a diagram illustrating the movement of the excavation attachment when an aim opening operation has been performed during the automatic excavation control in the shovel 100 where the emergency stop function is disabled, and corresponds to FIG. 1 .
  • the hydraulic system increases a pilot pressure that acts on each of the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R in order to retract the arm cylinder 8 to open the arm 5 . Therefore, the arm 5 opens as intended by the operator as indicated by arrow AR 1 of FIG. 7 .
  • the controller 30 detects the operation of the aim operating lever 26 B in the arm opening direction based on the output of the operating pressure sensor 29 B.
  • the controller 30 performs a boom raising operation to prevent the teeth tips of the bucket 6 from moving down below the intended work surface.
  • the controller 30 outputs a control command to the proportional valve 31 AL to cause a predetermined pilot pressure to act on each of the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R, in order to extend the boom cylinder 7 to raise the boom 4 according as the arm 5 opens. Therefore, contrary to the operator's intention, the boom 4 rises as indicated by arrow AR 2 of FIG.
  • FIG. 8 is a diagram illustrating the state of the hydraulic system when an arm opening operation has been performed during the automatic excavation control in the shovel 100 where the emergency stop function is enabled, and corresponds to FIG.
  • FIG. 9 is a diagram illustrating the movement of the excavation attachment when an arm opening operation has been performed during the automatic excavation control in the shovel 100 where the emergency stop function is enabled, and corresponds to FIG. 1 .
  • the hydraulic system increases a pilot pressure that acts on each of the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R in order to retract the arm cylinder 8 to open the arm 5 , the same as in the case where the emergency stop function is disabled. Therefore, the arm 5 opens as intended by the operator as indicated by arrow AR 4 of FIG. 9 .
  • the controller 30 detects the operation of the arm operating lever 26 B in the arm opening direction based on the output of the operating pressure sensor 29 B. Then, the controller 30 determines whether a predetermined condition for stopping automatic control is satisfied. For example, the controller 30 determines that the predetermined condition is satisfied when the operation speed of the arm operating lever 26 B in the arm opening direction exceeds a predetermined speed. In response to determining that the predetermined condition is satisfied, the controller 30 stops automatic control. Thus, even during automatic control, the controller 30 can switch the operating mode of the shovel 100 from the automatic control mode to the manual control mode.
  • the controller 30 When automatic control is stopped, unlike in the case where the emergency stop function is disabled, the controller 30 does not output a control command to the proportional valve 31 AL. Therefore, the controller 30 does not cause a predetermined pilot pressure to act on each of the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R. That is, the controller 30 does not extend the boom cylinder 7 and does not raise the boom 4 according as the arm 5 opens. That is, as illustrated in FIG. 9 , the boom 4 does not rise contrary to the operator's intention. As a result, the vertical distance between the teeth tips of the bucket 6 and the intended work surface TS is reduced as the arm 5 opens as intended by the operator, and becomes zero when the arm angle reaches a certain angle. That is, the operator can prevent the shovel 100 from further tilting forward by causing the teeth tips of the bucket 6 to contact the slope as illustrated in FIG. 9 .
  • FIGS. 10 and 11 relate to the movement of the shovel 100 when the part LP of the ground supporting the shovel 100 collapses during slope finishing work with an arm closing operation. Specifically, FIGS. 10 and 11 relate to the movement of the shovel 100 when the operator performs a boom lowering operation out of reflex to prevent the tipping of the shovel 100 in response to the forward tilting of the shovel 100 due to the collapse of the part LP of the ground under the front end of the lower traveling body 1 . The operator intends to stop the forward tilting of the shovel 100 by causing the bucket 6 to contact the slope by lowering the boom 4 .
  • the controller 30 can prevent the excavation attachment from automatically moving against the operator's intention when the operator has performed a boom lowering operation out of reflex, the same as in the case where the operator has performed an arm opening operation out of reflex.
  • FIG. 10 illustrates the state of the hydraulic system when a boom lowering operation has been performed during the automatic excavation control in the shovel 100 where the emergency stop function is enabled.
  • FIG. 11 illustrates the movement of the excavation attachment when a boom lowering operation has been performed during the automatic excavation control in the shovel 100 where the emergency stop function is enabled.
  • the controller 30 determines whether a predetermined condition for stopping automatic control is satisfied. For example, the controller 30 determines that the predetermined condition is satisfied when the operation speed of the boom operating lever 26 A in the boom lowering direction exceeds a predetermined speed. In response to determining that the predetermined condition is satisfied, the controller 30 stops automatic control.
  • the hydraulic system increases a pilot pressure that acts on the right pilot port of the control valve 175 R in order to retract the boom cylinder 7 to lower the boom 4 , in response to the operation of the boom operating lever 26 A in the boom lowering direction as illustrated in FIG. 10 . Therefore, the boom 4 lowers as intended by the operator as indicated by arrow AR 5 of FIG. 11 . The arm 5 does not automatically move as the boom 4 lowers.
  • the distance between the teeth tips of the bucket 6 and the intended work surface TS is reduced as the boom 4 lowers as intended by the operator, and becomes zero when the arm angle reaches a certain angle. That is, the operator can prevent the shovel 100 from further tilting forward by causing the teeth tips of the bucket 6 to contact the slope as illustrated in FIG. 11 .
  • the controller 30 stops automatic control when the boom operating lever 26 A or the arm operating lever 26 B is rapidly operated.
  • the controller 30 may stop automatic control in response to detecting that the pitch angle of the upper turning body 3 is more than or equal to a predetermined angle based on the output of the body tilt sensor S 4 .
  • the controller 30 may also stop automatic control when the emergency stop switch 48 , which is a foot switch installed at the operator's feet in the cabin 10 , is stepped on.
  • the controller 30 may also stop automatic control when the MC stop switch 42 B is pressed. In these cases as well, the operator can stop the forward tilting of the shovel 100 by causing the bucket 6 to contact the slope by opening the aim 5 or by lowering the boom 4 , for example.
  • the shovel 100 includes the lower traveling body 1 , the upper turning body 3 turnably mounted on the lower traveling body 1 , the excavation attachment serving as an attachment attached to the upper turning body 3 , and the controller 30 mounted on the upper turning body 3 to serve as a control device that can perform automatic control.
  • the controller 30 is configured to stop automatic control when information on the movement of the shovel 100 or information on the state of a nearby machine shows an unusual tendency.
  • the automatic control may be, for example, the automatic excavation control.
  • the automatic control may also be, for example, control to move the working part along an intended trajectory. This configuration enables the shovel 100 to move as intended by the operator even during automatic control.
  • the “information on the movement of the shovel 100 ” may be, for example, information on the operation of the operating apparatus 26 mounted on the upper turning body 3 .
  • the controller 30 may be configured to determine that the “information on the movement of the shovel 100 shows an unusual tendency” when the operating apparatus 26 is rapidly operated, for example. “When the operating apparatus 26 is rapidly operated” includes, for example, when the amount of operation per unit time of the arm operating lever serving as the operating apparatus 26 exceeds a predetermined value.
  • the amount of operation per unit time of the arm operating lever may be, for example, the inclination angle per unit time of the arm operating lever.
  • the automatic control may be, for example, either the automatic straight facing control or the automatic complex turning control.
  • the “information on the movement of the shovel 100 ” may be information on the operation of the turning operating lever mounted on the upper turning body 3 .
  • the controller 30 may be configured to determine that the “information on the movement of the shovel 100 shows an unusual tendency” when an operation to turn the upper turning body 3 in a direction opposite to that of turning performed by automatic control is performed.
  • FIGS. 12 and 13 are block diagram illustrating another example of the relationship between the functional elements F 1 through F 6 associated with the execution of automatic control in the controller 30 , and corresponds to FIG. 4 .
  • FIG. 13 is a block diagram illustrating another example configuration of the functional element F 6 that calculates various command values.
  • the configuration of FIG. 12 is different in that the functional element F 2 generates the intended trajectory based on the output of the space recognition device S 7 , that the functional element F 4 obtains a turning angle ⁇ , and that the functional element F 6 calculates a turning command value ⁇ * from, but otherwise equal to, the configuration of FIG. 4 .
  • the configuration of FIG. 13 is different in including a functional element associated with automatic control of the turning hydraulic motor 2 A from, but otherwise equal to, the configuration of FIG. 5 . Therefore, the description of a common portion is omitted, and differences are described in detail.
  • the functional element F 2 generates a trajectory to be followed by the teeth tips of the bucket 6 as an intended trajectory, based on object data detected by the space recognition device S 7 .
  • the object data are, for example, information on an object present in an area surrounding the shovel 100 , such as the position, shape, etc., of a dump truck.
  • the functional element F 4 calculates the coordinate point of the bucket 6 as a current teeth tips position, based on the boom angle ⁇ , the arm angle ⁇ , the bucket angle ⁇ , and the turning angle ⁇ calculated from the output of the turning angular velocity sensor S 5 .
  • the functional element F 4 may use the output of the body tilt sensor S 4 in calculating the current teeth tips position.
  • the functional element F 6 calculates at least one of the boom command value ⁇ *, the arm command value ⁇ *, the bucket command value ⁇ *, and the turning command value ⁇ * based on the intended teeth tips position calculated by the functional element F 5 , in order to move the current teeth tips position to the intended teeth tips position.
  • Functional elements F 41 through F 43 are functional elements associated with the turning command value ⁇ *. Specifically, the functional element F 41 outputs a turning current command to a turning proportional valve 31 D. The functional element F 42 calculates the amount of displacement of a turning spool that is a constituent of the control valve 173 pertaining to the turning hydraulic motor 2 A based on the output of a turning spool displacement sensor S 14 . The functional element F 43 calculates the turning angle ⁇ based on the output of the turning angular velocity sensor S 5 .
  • the functional element F 41 basically so generates the turning current command to the turning proportional valve 31 D as to eliminate the difference between the turning command value ⁇ * generated by the functional element F 6 and the turning angle ⁇ calculated by the functional element F 43 . At this point, the functional element F 41 so adjusts the turning current command as to eliminate the difference between an intended turning spool displacement amount derived from the turning current command and the turning spool displacement amount calculated by the functional element F 42 . The functional element F 41 outputs the adjusted turning current command to the turning proportional valve 31 D.
  • the turning proportional valve 31 D changes the opening area in accordance with the turning current command to cause a pilot pressure commensurate with the size of the turning current command to act on a pilot port of the control valve 173 .
  • the control valve 173 moves the turning spool in accordance with the pilot pressure to cause hydraulic oil to flow into the turning hydraulic motor 2 A.
  • the turning spool displacement sensor S 14 detects the displacement of the turning spool and feeds the detection result back to the functional element F 42 of the controller 30 .
  • the turning hydraulic motor 2 A rotates according as hydraulic oil flows in to turn the upper turning body 3 .
  • the turning angular velocity sensor S 5 detects the rotation angle of the turning upper turning body 3 and feeds the detection. result back to the functional element F 43 of the controller 30 .
  • the functional element F 43 feeds the calculated turning angle ⁇ back to the functional element F 4 .
  • the controller 30 forms a three-stage feedback loop with respect to not only the boom angle ⁇ , the aim angle ⁇ , and the bucket angle ⁇ , but also the turning angle ⁇ . That is, the controller 30 forms a feedback loop associated with the turning spool displacement amount, a feedback loop associated with the rotation angle of the upper turning body 3 , and a feedback loop associated with the teeth tips position. Therefore, the controller 30 can control the movement of the teeth tips of the bucket 6 with high accuracy during automatic control.
  • FIGS. 14 and 15 illustrate the movement of the excavation attachment during the work of loading the bed of a dump truck DT with soil.
  • FIG. 14 is a plan view of a work site.
  • FIG. 15 is a side view of the work site as seen from the +Y side.
  • FIG. 15 omits graphical representation of the shovel 100 (except for the bucket 6 ).
  • the excavation attachment indicated by a solid line shows the state of the excavation attachment at the completion of an excavating operation
  • the excavation attachment indicated by a dotted line shows the state of the excavation attachment during a turning operation
  • the excavation attachment indicated by a one-dot chain line shows the state of the excavation attachment immediately before performance of a soil dumping operation.
  • Point P 11 indicates the central point of the back surface of the bucket 6 at the completion of an excavating operation.
  • Point P 12 indicates the central point of the back surface of the bucket 6 during a turning operation.
  • Point P 13 indicates the central point of the back surface of the bucket 6 immediately before performance of a soil dumping operation.
  • the thick dashed line connecting Point P 11 , Point P 12 , and Point P 13 indicates a trajectory followed by the central point of the back surface of the bucket 6 .
  • the soil dumping operation is an operation to dump soil in the bucket 6 onto the bed of the dump truck DT.
  • the automatic control part 54 automatically extends or retracts at least one of the boom cylinder 7 , the arm cylinder 8 , and the bucket cylinder 9 such that the central point of the back surface of the bucket 6 moves along a predetermined trajectory, while the operator is manually performing a turning operation.
  • the predetermined trajectory is, for example, an intended trajectory calculated based on information on the dump truck DT including the position, shape, etc., of the dump truck DT.
  • the information on the dump truck DT as a nearby machine is obtained based on, for example, the output of at least one of the space recognition device S 7 , the communications device T 1 , etc.
  • the operator can move the central point of the back surface of the bucket 6 along the predetermined trajectory. That is, by only operating the turning operating lever, the operator can move the bucket 6 near the ground to a position over the bed of the dump truck DT at a height Hd while preventing contact between the excavation attachment and the dump truck DT. By operating the turning operating lever, the operator can move the bucket 6 over the bed of the dump truck DT at the height Hd to a position near the ground while preventing contact between the excavation attachment and the dump truck DT.
  • a trajectory used during clockwise turning may be either equal to or different from a trajectory used during counterclockwise turning (during boom lowering and turning).
  • This emergency stop function is executed, for example, in response to the shovel 100 operator's reflexive counterclockwise turning operation when the dump truck DT starts to move while the operator is performing a clockwise turning operation to load the bed of the dump truck DT with soil.
  • this emergency stop function is executed, for example, in response to the operator's reflexive counterclockwise turning operation to prevent contact between the shovel 100 and the dump truck DT when the dump truck DT that has been stopped suddenly starts to move backward.
  • the operator intends to move the bucket 6 away from the dump truck DT while maintaining the height of the bucket 6 by turning the upper turning body 3 turning clockwise in the opposite counterclockwise direction.
  • the automatic control part 54 determines that the “information on the movement of the shovel 100 shows an unusual tendency” and stops the automatic complex turning control.
  • FIG. 15 indicates the position of the bucket 6 whose height is reduced. That is, FIG. 15 illustrates that the bucket 6 at the height of a figure indicated by a dotted line lowers to the height of the figure indicated by crosshatching.
  • the automatic control part 54 can cause the central point of the back surface of the bucket 6 to deviate from the predetermined trajectory to move the bucket 6 in response to the leftward rapid operation of the turning operating lever. Therefore, the automatic control part 54 can move the bucket 6 leftward while maintaining the height of the bucket 6 as intended by the operator instead of lowering the bucket 6 against the operator's intention.
  • the figure indicated by oblique line hatching in FIG. 15 indicates the position of the bucket 6 that has been moved leftward while keeping the height. That is, FIG. 15 illustrates that the bucket 6 at the height of a figure indicated by a dotted line moves to the position of the figure indicated by oblique line hatching while remaining at the same height.
  • the controller 30 can prevent the excavation attachment from automatically moving against the operator's operation.
  • the controller 30 may be configured to detect the start of the movement (for example, the start of the backward travel) of the dump truck DT based on the output of the space recognition device S 7 . In this case, after identifying what work a currently performed work is based on the outputs of various sensors, the controller 30 obtains information on the normal state of a nearby machine associated with the work, recorded in advance work by work. For example, in the case of having successfully identified that the currently performed work is loading work that loads the bed of the dump truck DT with soil, the controller 30 obtains information that the normal state of the dump truck DT that is a nearby machine associated with the loading work is a stopped state. When the dump truck DT starts to move during the loading work, the controller 30 can determine that the dump truck DT is in a state different from the normal state. Based on this determination result, the controller 30 can stop automatic control.
  • the controller 30 can stop automatic control.
  • the operating mode of the shovel 100 may include a stop mode, apart from the manual control mode and the automatic control mode.
  • the controller 30 may stop automatic control and thereafter switch the operating mode of the shovel 100 from the automatic control mode to the stop mode, in response to detecting the start of the movement of the dump. truck DT.
  • the controller 30 may stop the movement of the working part in a space between Point P 11 , indicating the central point of the back surface of the bucket 6 at the completion of an excavating operation, and the dump truck DT, irrespective of whether the operating apparatus 26 is operated. This is for preventing contact between the working part and the dump truck DT by keeping the working part on standby until the dump truck DT stops, namely, by forcibly arresting the movement of the working part until the dump truck DT stops.
  • the controller 30 may switch the operating mode of the shovel 100 from the automatic control mode to the stop mode.
  • the operating mode of the shovel 100 may include an avoidance mode, apart from the manual control mode and the automatic control mode.
  • the controller 30 may switch the operating mode of the shovel 100 from the automatic control mode to the avoidance mode, for example, when detecting the start of the movement of the dump truck DT during the loading work and the teeth tips of the bucket 6 as the working part are within a region above the bed of the dump truck DT.
  • the controller 30 may move the teeth tips of the bucket 6 aside to a space between Point P 11 , indicating the central point of the back surface of the bucket 6 at the completion of an excavating operation, and the dump truck DT, by automatically moving various hydraulic actuators, irrespective of whether the operating apparatus 26 is operated. This is for preventing contact between the working part and the dump truck DT by forcing the working part to move from inside and stay outside a region above the bed of the dump truck DT until the dump truck DT stops.
  • the controller 30 may switch the operating mode of the shovel 100 from the automatic control mode to the avoidance mode.
  • the shovel 100 may include a switch related to automatic control, such as the MC switch 42 A.
  • the controller 30 may be configured to execute automatic control when the switch is operated.
  • FIG. 3 discloses a hydraulic operation system including a hydraulic pilot circuit.
  • a hydraulic pilot circuit associated with the boom operating lever 26 A hydraulic oil supplied from the pilot pump 15 to a remote control valve 27 A is supplied to a pilot port of the control valve 175 at a flow rate commensurate with the opening degree of the remote control valve 27 A opened by the tilt of the boom operating lever 26 A.
  • a hydraulic pilot circuit associated with the arm operating lever 26 B hydraulic oil supplied from the pilot pump 15 to a remote control valve 27 B is supplied to a pilot port of the control valve 176 at a flow rate commensurate with the opening degree of the remote control valve 27 B opened by the tilt of the aim operating lever 26 B.
  • an electric operation system including an electric operating lever may be adopted instead of a hydraulic operation system including such a hydraulic pilot circuit.
  • the amount of lever operation of the electric operating lever is input to the controller 30 as an electrical signal.
  • a solenoid valve is placed between the pilot pump 15 and a pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30 .
  • the controller 30 can move each control valve by increasing or decreasing a pilot pressure by controlling the solenoid valve with an electrical signal commensurate with the amount of lever operation.
  • the controller 30 can easily switch the manual control mode and the automatic control mode.
  • control valves may be independently controlled in response to an electrical signal commensurate with the amount of lever operation of a single electric operating lever.
  • FIG. 16 illustrates an example configuration of an electric operation system.
  • the electric operation system of FIG. 16 is an example of a boom operation system, and mainly includes the pilot pressure-operated control valve 17 , the boom operating lever 26 A serving as an electric operating lever, the controller 30 , a solenoid valve for boom raising operation, and a solenoid valve for boom lowering operation.
  • the electric operation system of FIG. 16 may also be likewise applied to an arm operation system, a bucket operation system, etc.
  • the pilot pressure-operated control valve 17 includes the control valve 175 (see FIG. 2 ) pertaining to the boom cylinder 7 , the control valve 176 (see FIG. 2 ) pertaining to the arm cylinder 8 , the control valve 174 (see FIG. 2 ) pertaining to the bucket cylinder 9 , etc.
  • a solenoid valve 60 is configured to be able to adjust the flow area of a conduit connecting the pilot pump 15 and the raising-side pilot port of the control valve 175 .
  • a solenoid valve 62 is configured to be able to adjust the flow area of a conduit connecting the pilot pump 15 and the lowering-side pilot port of the control valve 175 .
  • the controller 30 When a manual operation is performed, the controller 30 generates a boom raising operation signal (an electrical signal) or a boom lowering operation signal (an electrical signal) in accordance with an operation signal (electrical signal) output by an operation signal generating part 26 Aa of the boom operating lever 26 A.
  • the operation signal output by the operation signal generating part 26 Aa of the boom operating lever 26 A is an electrical signal that changes in accordance with the amount of operation and the direction of operation of the boom operating lever 26 A.
  • the controller 30 when the boom operating lever 26 A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (an electrical signal) commensurate with the amount of lever operation to the solenoid valve 60 .
  • the solenoid valve 60 adjusts the flow area in accordance with the boom raising operation signal (electrical signal) to control a pilot pressure that acts on the raising-side pilot port of the control valve 175 .
  • the controller 30 outputs a boom lowering operation signal (an electrical signal) commensurate with the amount of lever operation to the solenoid valve 62 .
  • the solenoid valve 62 adjusts the flow area in accordance with the boom lowering operation signal (electrical signal) to control a pilot pressure that acts on the lowering-side pilot port of the control valve 175 .
  • the controller 30 In the case of executing automatic control, for example, the controller 30 generates a boom raising operation signal (an electrical signal) or a boom lowering operation signal (an electrical signal) in accordance with a correcting operation signal (an electrical signal) instead of the operation signal output by the operation signal generating part 26 Aa of the boom operating lever 26 A.
  • the correcting operation signal may be either an electrical signal generated by the controller 30 or an electrical signal generated by an external control device different than the controller 30 .
  • FIG. 17 is a schematic diagram illustrating an example configuration of the shovel management system SYS.
  • the management system SYS is a system that manages the shovel 100 .
  • the management system SYS is constituted mainly of the shovel 100 , an assist device 200 , and a management apparatus 300 .
  • Each of the shovel 100 , the assist device 200 , and the management apparatus 300 constituting the management system SYS may be one or more in number.
  • the management system SYS includes the single shovel 100 , the single assist device 200 , and the single management apparatus 300 .
  • the assist device 200 is typically a portable terminal device, and is, for example, a computer including a processor, such as a notebook PC, a tablet PC, or a smartphone carried by a worker or the like at a construction site.
  • the assist device 200 may also be a computer carried by the operator of the shovel 100 .
  • the assist device 200 may also be a stationary terminal device.
  • the management apparatus 300 is typically a stationary terminal device, and is, for example, a server computer including a processor and installed in a management center or the like outside a construction site.
  • the management apparatus 300 may also be a portable computer including a processor (for example, a portable terminal device such as a notebook PC, a tablet PC, or a smartphone).
  • At least one of the assist device 200 and the management apparatus 300 may include a monitor and an operating apparatus for remote control.
  • the operator operates the shovel 100 using the operating apparatus for remote control.
  • the operating apparatus for remote control is connected to the controller 30 through, for example, a communications network such as a radio communications network.
  • the controller 30 of the shovel 100 may transmit information on at least one of the time, location, etc., of the stoppage of automatic control to the assist device 200 , etc.
  • the controller 30 may transmit a peripheral image that is an image captured by the image capturing device S 6 to the assist device 200 , etc.
  • the peripheral image may be multiple peripheral images captured within a predetermined period including the time of the stoppage of automatic control.
  • the controller 30 may transmit data on the work details of the shovel 100 , data on the attitude of the shovel 100 , data on the posture of the excavation attachment, etc., within a predetermined period including the time of the stoppage of automatic control to the assist device 200 , etc.
  • the management system SYS of the shovel 100 includes the shovel 100 that stores at least one of the time, location, attitude, and peripheral image of the stoppage of automatic control executed by the shovel 100 in the storage device 47 and transmits the stored at least one of the time, location, attitude, and peripheral image to the outside with desired timing, and the management apparatus 300 that receives the at least one of the time, location, attitude, and peripheral image transmitted by the shovel 100 and outputs at least one of the received attitude and peripheral image.
  • the attitude is, for example, at least one of the attitude of the shovel 100 when automatic control is stopped and the posture of the excavation attachment when automatic control is stopped.
  • the management apparatus 300 enables the manager to recognize the attitude of the shovel 100 by, for example, displaying an illustration image on the monitor.
  • the management apparatus 300 may also enable the manager to recognize the attitude of the shovel 100 by, for example, outputting audio information.
  • the controller 30 causes the upper turning body 3 to face straight to the intended work surface by automatically operating the turning hydraulic motor 2 A.
  • the controller 30 may also cause the upper turning body 3 to face straight to the intended work surface by automatically operating a turning motor generator.
  • the operational data which are generated in accordance with the operating apparatus or the operating apparatus for remote control, may also be automatically generated by a predetermined operation program.
  • controller 30 may also cause the upper turning body 3 to face straight to the intended work surface by operating other actuators.
  • the controller 30 may cause the upper turning body 3 to face straight to the intended work surface by automatically operating the left side traveling hydraulic motor 1 L and the right side traveling hydraulic motor 1 R.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
US16/941,924 2018-01-30 2020-07-29 Shovel and shovel management system Pending US20200354921A1 (en)

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JP2018-013970 2018-01-30
PCT/JP2019/003201 WO2019151335A1 (ja) 2018-01-30 2019-01-30 ショベル及びショベルの管理システム

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EP (1) EP3748089B1 (ko)
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US20210246631A1 (en) * 2018-10-31 2021-08-12 Sumitomo Construction Machinery Co., Ltd. Shovel and shovel assist system

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EP4033034A4 (en) * 2019-09-18 2022-11-23 Sumitomo Heavy Industries, LTD. EXCAVATOR
JP7355624B2 (ja) * 2019-12-02 2023-10-03 株式会社小松製作所 作業機械および作業機械の制御方法
JP7313633B2 (ja) * 2020-01-31 2023-07-25 国立大学法人広島大学 位置制御装置及び位置制御方法
JP2022041683A (ja) * 2020-09-01 2022-03-11 コベルコ建機株式会社 アタッチメントの目標軌跡変更システム
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EP3748089B1 (en) 2023-03-15
CN111670286A (zh) 2020-09-15
EP3748089A1 (en) 2020-12-09
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CN118007731A (zh) 2024-05-10
KR20200111193A (ko) 2020-09-28

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