US20230417024A1 - Shovel - Google Patents

Shovel Download PDF

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Publication number
US20230417024A1
US20230417024A1 US18/466,256 US202318466256A US2023417024A1 US 20230417024 A1 US20230417024 A1 US 20230417024A1 US 202318466256 A US202318466256 A US 202318466256A US 2023417024 A1 US2023417024 A1 US 2023417024A1
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United States
Prior art keywords
sediment
hole
backfilling
bucket
controller
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Pending
Application number
US18/466,256
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English (en)
Inventor
Chunnan Wu
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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Assigned to SUMITOMO HEAVY INDUSTRIES, LTD. reassignment SUMITOMO HEAVY INDUSTRIES, LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: WU, CHUNNAN
Publication of US20230417024A1 publication Critical patent/US20230417024A1/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • E02F9/261—Surveying the work-site to be treated
    • 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
    • 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
    • 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
    • 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
    • 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
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • 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
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E02F9/2282—Systems using center bypass type changeover valves
    • 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
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • 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
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • the present disclosure relates to a shovel.
  • Hydraulic excavators known in the related art are typically equipped with a semi-autonomous excavation control system.
  • the excavation control system is configured to perform an autonomous boom-raising turning operation when a predetermined condition is met.
  • a shovel includes a lower traveling body; an upper turning body turnably mounted on the lower traveling body; and a control device disposed in the upper turning body, wherein the control device includes a processor, and a memory storing a computer-readable program, which when executed, causes the processor to execute a process including recognizing a position subject to a backfilling operation, and generating a target position relating to the backfilling operation.
  • FIG. 1 A is a side view illustrating a shovel according to an embodiment of the present disclosure.
  • FIG. 1 B is a top view illustrating the shovel according to the embodiment of the present disclosure.
  • FIG. 2 is a diagram illustrating an example of a configuration of a hydraulic system mounted on a shovel.
  • FIG. 3 A is a diagram illustrating a part of the hydraulic system relating to an operation of an arm cylinder.
  • FIG. 3 B is a diagram illustrating a part of the hydraulic system relating to an operation of a turning hydraulic motor.
  • FIG. 3 C is a diagram illustrating a part of the hydraulic system relating to an operation of a boom cylinder.
  • FIG. 3 D is a diagram illustrating a part of the hydraulic system relating to an operation of a bucket cylinder.
  • FIG. 4 is a functional block diagram illustrating a controller.
  • FIG. 5 is a block diagram illustrating an autonomous control function.
  • FIG. 6 is a block diagram illustrating an autonomous control function.
  • FIG. 7 A is a top view illustrating the shovel performing a backfilling operation.
  • FIG. 7 B is a top view illustrating the shovel performing a backfilling operation.
  • FIG. 7 C is a top view illustrating the shovel performing a backfilling operation.
  • FIG. 8 A is a cross-sectional view illustrating a hole subjected to a backfilling operation.
  • FIG. 8 B is a cross-sectional view illustrating the hole subjected to a backfilling operation.
  • FIG. 8 C is a cross-sectional view illustrating the hole subjected to a backfilling operation.
  • FIG. 9 A is a cross-sectional view illustrating the backfilled hole.
  • FIG. 9 B is a cross-sectional view illustrating the backfilled hole.
  • FIG. 10 A is a top view illustrating the shovel performing another backfilling operation.
  • FIG. 10 B is a cross-sectional view illustrating a hole subject to another backfilling operation.
  • FIG. 11 is a top view illustrating the shovel performing still another backfilling operation.
  • FIG. 12 A is a cross-sectional view of a hole subjected to yet another backfilling operation.
  • FIG. 12 B is a cross-sectional view illustrating the hole subject to yet another backfilling operation.
  • FIG. 12 C is a cross-sectional view illustrating the hole subject to yet another backfilling operation.
  • a technique capable of enhancing the efficiency of the backfilling operation can be provided.
  • FIG. 1 A is a side view illustrating the shovel 100
  • FIG. 1 B is a top view illustrating the shovel 100 .
  • a lower traveling body 1 of the shovel 100 includes a crawler 1 C.
  • the crawler 1 C is driven by a traveling hydraulic motor 2 M mounted on the lower traveling body 1 .
  • the crawler 1 C includes a left crawler 1 CL and a right crawler 1 CR.
  • the left crawler 1 CL is driven by a left traveling hydraulic motor 2 ML
  • the right crawler 1 CR is driven by a right traveling hydraulic motor 2 MR.
  • An upper turning body 3 is mounted on the lower traveling body 1 so as to be able to turn through a turning mechanism 2 .
  • the turning mechanism 2 is driven by a turning hydraulic motor 2 A mounted on the upper turning body 3 .
  • the turning hydraulic motor 2 A may be a turning electric generator as an electric actuator.
  • a boom 4 is attached to the upper turning body 3 .
  • An arm 5 is attached to the tip of the boom 4 , and a bucket 6 as an end attachment is attached to the tip of the arm 5 .
  • the boom 4 , the arm 5 , and the bucket 6 constitute an excavation attachment AT which is an example of an attachment.
  • the boom 4 is driven by a boom cylinder 7
  • the arm 5 is driven by an arm cylinder 8
  • the bucket 6 is driven by a bucket cylinder 9 .
  • the boom 4 is supported in a vertically rotatable manner with respect to the upper turning body 3 .
  • a boom angle sensor S 1 is attached to the boom 4 .
  • the boom angle sensor S 1 can detect a boom angle ⁇ 1 which is a rotation angle of the boom 4 .
  • the boom angle ⁇ 1 is, for example, a rising angle from a state in which the boom 4 is lowered most. Therefore, the boom angle ⁇ 1 is maximum when the boom 4 is raised most.
  • the arm 5 is rotatably supported with respect to the boom 4 .
  • An arm angle sensor S 2 is attached to the arm 5 .
  • the arm angle sensor S 2 can detect an arm angle ⁇ 2 which is a rotation angle of the arm 5 .
  • the arm angle ⁇ 2 is, for example, an opening angle from the state where the arm 5 is most closed. Therefore, the arm angle ⁇ 2 is maximum when the arm 5 is most opened.
  • the bucket 6 is rotatably supported with respect to the arm 5 .
  • a bucket angle sensor S 3 is attached to the bucket 6 .
  • the bucket angle sensor S 3 can detect a bucket angle ⁇ 3 which is a rotation angle of the bucket 6 .
  • the bucket angle ⁇ 3 is an opening angle from the state where the bucket 6 is closed most. Therefore, the bucket angle ⁇ 3 is maximum when the bucket 6 is opened most.
  • the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 each include a combination of an acceleration sensor and a gyro sensor.
  • the boom angle sensor S 1 , the arm angle sensor S 2 , and the bucket angle sensor S 3 may each be configured to include an acceleration sensor alone.
  • the boom angle sensor S 1 may be a stroke sensor attached to the boom cylinder 7 , or may be a rotary encoder, a potentiometer, or an inertial measurement device. The same applies to the arm angle sensor S 2 and the bucket angle sensor S 3 .
  • the upper turning body 3 is provided with a cabin as a driver's compartment, and one or a plurality of power sources are mounted on the upper turning body 3 .
  • the upper turning body 3 is mounted with an engine 11 as a power source.
  • the upper turning body 3 is mounted with an object detection device 70 , an imaging device a body inclination sensor S 4 , a turning angular velocity sensor S 5 , and the like.
  • An operation device 26 , a controller a display device D 1 , and a sound output device D 2 are provided inside the cabin 10 .
  • the side to which the excavation attachment AT is attached is designated as a front side
  • the side to which a counterweight is attached is designated as a back side.
  • the object detection device 70 is configured to detect an object existing around the shovel 100 .
  • the object may be, for example, a person, an animal, a vehicle, a construction machine, a structure, a wall, a fence, or a hole.
  • the object detection device 70 may be, for example, an ultrasonic sensor, a millimeter-wave radar, a stereo camera, a LIDAR, a range image sensor, or an infrared sensor.
  • the object detection device 70 includes a front sensor 70 F attached to a front end of an upper surface of the cabin 10 , a rear sensor 70 B attached to a rear end of an upper surface of the upper turning body 3 , a left sensor attached to a left end of the upper surface of the upper turning body 3 , and a right sensor 70 R attached to a right end of the upper surface of the upper turning body 3 .
  • Each sensor includes a LIDAR.
  • the object detection device 70 may be independent of the shovel 100 .
  • the controller 30 may acquire an image of a work site around the shovel output by the object detection device 70 through a communication device.
  • the object detection device 70 may be attached to a multicopter for aerial photography, or may be attached to a steel tower, an electric pole, or the like installed at the work site. Then, the controller 30 may acquire information on the work site based on the captured image viewed from above.
  • the object detection device 70 may be configured to detect a predetermined object within a predetermined area set around the shovel 100 . That is, the object detection device 70 may be configured to identify the type of object. For example, the object detection device 70 may be configured to distinguish between a person and an object other than the person (dump trucks, utility poles, fences, holes, or landforms such as sediment piles, etc.). The object detection device 70 may be configured to calculate a distance from the object detection device 70 or the shovel 100 to a recognized object. Thus, when the object to be recognized is a landform, the object detection device 70 can recognize a distance from the object detection device 70 or the shovel 100 to each measuring position of the landform to be measured, and can also recognize an uneven shape of the landform to be measured. When a hole exists in the landform to be measured, the object detection device 70 can also recognize a shape (area, depth, etc.) and a position of the hole.
  • a shape area, depth, etc.
  • the imaging device 80 is configured to image an area around the shovel 100 .
  • the imaging device 80 includes a rear camera 80 B attached to the upper rear end of the upper turning body 3 , a front camera 80 F attached to the upper front end of the cabin 10 , a left camera 80 L attached to the upper left end of the upper turning body 3 , and a right camera 80 R attached to the upper right end of the upper turning body 3 .
  • the rear camera 80 B is disposed adjacent to the rear sensor 70 B
  • the front camera 80 F is disposed adjacent to the front sensor 70 F
  • the left camera 80 L is disposed adjacent to the left sensor 70 L
  • the right camera 80 R is disposed adjacent to the right sensor 70 R.
  • the image captured by the imaging device 80 is displayed on the display device D 1 .
  • the imaging device 80 may be configured to display a viewpoint conversion image such as an overhead view image on the display device D 1 .
  • the overhead view image is generated by combining images output by the rear camera 80 B, the left camera 80 L, and the right camera 80 R, for example.
  • the imaging device 80 may be used as the object detection device 70 .
  • the object detection device 70 may be omitted.
  • the body inclination sensor S 4 is configured to detect an inclination of the upper turning body 3 with respect to a predetermined plane.
  • the body inclination sensor S 4 is an acceleration sensor configured to detect an inclination angle of the upper turning body 3 around the longitudinal axis and an inclination angle around the lateral axis, with respect to a virtual horizontal plane.
  • the longitudinal (front-back) axis and the lateral (left-right) axis of the upper turning body 3 are, for example, orthogonal to each other, and pass through the center point of the shovel, which is one point on the turning axis of the shovel 100 .
  • 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 is a gyro sensor.
  • the turning angular velocity sensor S 5 may be a resolver or a rotary encoder.
  • the turning angular velocity sensor S 5 may detect rotational velocity. The rotational velocity may be calculated from the turning angular velocity.
  • the boom angle sensor S 1 , the arm angle sensor S 2 , the bucket angle sensor S 3 , the body inclination sensor S 4 , and the turning angular velocity sensor S 5 are each also referred to as an attitude detection device.
  • the display device D 1 is a device for displaying information.
  • the sound output device D 2 is a device for outputting sound.
  • the operation device 26 is a device used by an operator for operating an actuator.
  • the controller 30 is a control device configured to control the shovel 100 .
  • the controller 30 includes a computer having a CPU, a volatile storage device, a nonvolatile storage device, and the like.
  • the controller 30 reads a program corresponding to each function from the nonvolatile storage device, loads the program into the volatile storage device, and causes the CPU to execute a corresponding process.
  • Each function includes, for example, a machine guidance function that guides a manual operation of the shovel 100 by the operator, and a machine control function that automatically supports the manual operation of the shovel 100 by the operator.
  • FIG. 2 is a diagram illustrating the example of the configuration of a hydraulic system mounted on the shovel 100 .
  • FIG. 2 illustrates a mechanical power transmission line, a hydraulic fluid line, a pilot line, and an electrical control line by double, solid, dashed, and dotted lines, respectively.
  • the hydraulic system of the shovel 100 mainly includes an engine 11 , a regulator 13 , a main pump 14 , a pilot pump 15 , a control valve unit 17 , an operation device 26 , a discharge pressure sensor 28 , an operation pressure sensor 29 , a controller 30 , and the like.
  • the hydraulic system circulates hydraulic fluid from the main pump 14 driven by the engine 11 through a center bypass conduit line 40 or a parallel conduit line 42 to a hydraulic fluid tank.
  • the engine 11 is a driving source for the shovel 100 .
  • the engine 11 is, for example, a diesel engine that operates to maintain a predetermined speed.
  • An output shaft of the engine 11 is coupled to respective input shafts of the main pump 14 and the pilot pump 15 .
  • the main pump 14 is configured to supply hydraulic fluid to the control valve unit 17 via the hydraulic fluid line.
  • the main pump 14 is a swashplate type variable displacement hydraulic pump.
  • the regulator 13 is configured to control a discharge amount (push-off volume volume) of the main pump 14 .
  • the regulator 13 controls the discharge amount (push-off volume volume) of the main pump 14 by adjusting a swash plate tilt angle of the main pump 14 in response to a control instruction from the controller 30 .
  • the pilot pump 15 is configured to supply hydraulic fluid to hydraulic control device including the operation device 26 via a pilot line.
  • the pilot pump 15 is a fixed displacement hydraulic pump.
  • the pilot pump 15 may be omitted.
  • the function of the pilot pump 15 may be implemented by the main pump 14 . That is, the main pump 14 may have, apart from a function of supplying hydraulic fluid to the control valve unit 17 , a function of supplying hydraulic fluid to the operation device 26 or the like after lowering the pressure of the hydraulic fluid by a restrictor, or the like.
  • the control valve unit 17 is configured to control a flow of hydraulic fluid in the hydraulic system.
  • the control valve unit 17 includes control valves 171 to 176 .
  • the control valve 175 includes a control valve 175 L and a control valve 175 R
  • the control valve 176 includes a control valve 176 L and a control valve 176 R.
  • the control valve unit 17 can selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176 .
  • the control valves 171 to 176 control flow rates of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators and flow rates of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank.
  • the hydraulic actuators include a boom cylinder 7 , an arm cylinder 8 , a bucket cylinder 9 , a left traveling hydraulic motor 2 ML, a right traveling hydraulic motor 2 MR, and a turning hydraulic motor 2 A.
  • the operation device 26 is a device used by an operator for operating an actuator.
  • the actuator includes at least one of a hydraulic actuator and an electric actuator.
  • the operation device 26 supplies hydraulic fluid delivered by the pilot pump 15 to a pilot port of the corresponding control valve in the control valve unit 17 via the pilot line.
  • the pressure of the hydraulic fluid supplied to each of the pilot ports is a pressure corresponding to an operating direction and an operating amount of a lever or a pedal (not illustrated) of the operation device 26 with respect to a corresponding one of the hydraulic actuators; however, the operation device 26 may be an electric operation device rather than the hydraulic operation device as described above.
  • the control valve in the control valve unit 17 may be an electromagnetic spool valve.
  • the discharge pressure sensor 28 is configured to detect a discharge pressure of the main pump 14 .
  • the discharge pressure sensor 28 outputs a detected value to the controller 30 .
  • the operation pressure sensor 29 is configured to detect an operation of the operation device 26 performed by the operator.
  • the operation pressure sensor 29 detects the operation direction and the operation amount of the operation device 26 corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller 30 as operation data.
  • the operation content of the operation device 26 may be detected using other sensors other than the operation pressure sensor.
  • the main pump 14 includes a left main pump 14 L and a right main pump 14 R.
  • the left main pump 14 L is configured to circulate hydraulic fluid to the hydraulic fluid tank via a left center bypass conduit line 40 L or a left parallel conduit line 42 L.
  • the right main pump 14 R is configured to circulate hydraulic fluid to the hydraulic fluid tank via a right center bypass conduit line 40 R or a right parallel conduit line 42 R.
  • the left center bypass conduit line 40 L is a hydraulic fluid line passing through the control valves 171 , 173 , 175 L, and 176 L located within the control valve unit 17 .
  • the right center bypass conduit line 40 R is a hydraulic fluid line passing through the control valves 172 , 174 , 175 R, and 176 R located within the control valve unit 17 .
  • the control valve 171 is a spool valve that supplies hydraulic fluid discharged by the left main pump 14 L to the left traveling hydraulic motor 2 ML, and switches a flow of hydraulic fluid to discharge the hydraulic fluid discharged by the left traveling hydraulic motor 2 ML to the hydraulic fluid tank.
  • the control valve 172 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14 R to the right traveling hydraulic motor 2 MR, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right traveling hydraulic motor 2 MR to the hydraulic fluid tank.
  • the control valve 173 is a spool valve that supplies the hydraulic fluid discharged by the left main pump 14 L to the turning hydraulic motor 2 A, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the turning hydraulic motor 2 A to the hydraulic fluid tank.
  • the control valve 174 is a spool valve that supplies the hydraulic fluid discharged by the right main pump 14 R to the bucket cylinder 9 , and switches the flow of hydraulic fluid to discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.
  • the control valve 175 L is a spool valve that switches the flow of the hydraulic fluid to supply the hydraulic fluid discharged from 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 the hydraulic fluid to supply the hydraulic fluid discharged from the right main pump 14 R to the boom cylinder 7 , and discharges the hydraulic fluid in the boom cylinder 7 to the hydraulic fluid tank.
  • the control valve 176 L is a spool valve that switches the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the left main pump 14 L to the arm cylinder 8 , and discharges the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.
  • the control valve 176 R is a spool valve that switches the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the right main pump 14 R to the arm cylinder 8 , and discharges the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.
  • the left parallel conduit line 42 L is a hydraulic fluid line parallel to the left center bypass conduit line 40 L.
  • the left parallel conduit line 42 L may supply hydraulic fluid to a further downstream control valve when hydraulic fluid flowing through the left center bypass conduit line is restricted or blocked by either the control valves 171 , 173 , or 175 L.
  • the right parallel conduit line 42 R is a hydraulic fluid line parallel to the right center bypass conduit line 40 R.
  • the right parallel conduit line 42 R may supply hydraulic fluid to a further downstream control valve when hydraulic fluid flowing through the right center bypass conduit line 40 R is restricted or blocked by either the control valves 172 , 174 , or 175 R.
  • the regulator 13 includes a left regulator 13 L and a right regulator 13 R.
  • the left regulator 13 L controls the discharge amount of the left main pump 14 L by adjusting a swash plate inclination angle of the left main pump 14 L according to the discharge pressure of the left main pump 14 L.
  • the left regulator 13 L reduces the discharge amount by adjusting the swash plate inclination angle of the left main pump 14 L according to an increase in the discharge pressure of the left main pump 14 L, for example.
  • the operation device 26 includes a left operation lever 26 L, a right operation lever 26 R, and a traveling lever 26 D.
  • the traveling lever 26 D includes a left traveling lever 26 DL and a right traveling lever 26 DR.
  • the left operation lever 26 L is one of the operation levers, and is used for turning operation and operation of the arm 5 .
  • the hydraulic fluid discharged from the pilot pump 15 is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve 176 .
  • the hydraulic fluid discharged from the pilot pump is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve 173 .
  • the hydraulic fluid is introduced into the right pilot port of the control valve 176 L, and the hydraulic fluid is introduced into the left pilot port of the control valve 176 R.
  • the hydraulic fluid is introduced into the left pilot port of the control valve 176 L, and the hydraulic fluid is introduced into the right pilot port of the control valve 176 R.
  • the hydraulic fluid is introduced into the left pilot port of the control valve 173
  • the hydraulic fluid is introduced into the right pilot port of the control valve 173 .
  • the right operation lever 26 R is one of the operation levers, and is used for operation of the boom 4 and operation of the bucket 6 .
  • the hydraulic fluid discharged from the pilot pump 15 is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve 175 .
  • the hydraulic fluid discharged from the pilot pump is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve 174 .
  • the hydraulic fluid is introduced into the right pilot port of the control valve 175 R.
  • the hydraulic fluid is introduced into the right pilot port of the control valve 175 L, and the hydraulic fluid is introduced into the left pilot port of the control valve 175 R.
  • the hydraulic fluid is introduced into the left pilot port of the control valve 174 , and when the right operation lever 26 R is operated in the bucket opening direction, the hydraulic fluid is introduced into the right pilot port of the control valve 174 .
  • the traveling lever 26 D is used to operate the crawler 1 C.
  • the left traveling lever 26 DL is used to operate the left crawler 1 CL.
  • the left traveling lever 26 DL may be configured to be interlocked with the left traveling pedal.
  • the hydraulic fluid discharged from the pilot pump 15 is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve 171 .
  • the right traveling lever 26 DR is used to operate the right crawler 1 CR.
  • the right traveling lever 26 DR may be configured to be interlocked with the right traveling pedal. When operated in the front-back direction, the right traveling lever 26 DR utilizes hydraulic fluid discharged from the pilot pump 15 to exert a control pressure corresponding to the lever operation amount on the pilot port of the control valve 172 .
  • the discharge pressure sensor 28 includes a discharge pressure sensor 28 L and a discharge pressure sensor 28 R.
  • the discharge pressure sensor 28 L detects the discharge pressure of the left main pump 14 L and outputs the detected value to the controller 30 . The same applies to the discharge pressure sensor 28 R.
  • the operation pressure sensor 29 includes operation pressure sensors 29 LA, 29 LB, 29 RA, 29 RB, 29 DL, and 29 DR.
  • the operation pressure sensor 29 LA detects the contents of the operator's operation of the left operation lever 26 L in the front-back direction in the form of pressure, and outputs the detected value to the controller 30 .
  • the contents of the operation are, for example, the lever operation direction and the lever operation amount (lever operation angle).
  • the operation pressure sensor 29 LB detects the contents of the operator's operation in the left-right direction with respect to the left operation lever 26 L in the form of pressure, and outputs the detected value to the controller 30 .
  • the operation pressure sensor 29 RA detects the contents of the operator's operation in the front-back direction with respect to the right operation lever 26 R in the form of pressure, and outputs the detected value to the controller 30 .
  • the operation pressure sensor 29 RB detects the contents of the operator's operation in the left-right direction with respect to the right operation lever 26 R in the form of pressure, and outputs the detected value to the controller 30 .
  • the operation pressure sensor 29 DL detects the contents of the operator's operation in the front-back direction with respect to the left traveling lever 26 DL in the form of pressure, and outputs the detected value to the controller 30 .
  • the operation pressure sensor 29 DR detects the contents of the operator's operation in the front-back direction with respect to the right traveling lever 26 DR in the form of pressure, and outputs the detected value to the controller 30 .
  • the controller 30 receives the output of the operation pressure sensor 29 and, if necessary, outputs a control instruction to the regulator 13 to change the discharge amount of the main pump 14 .
  • the controller 30 receives the output of the control pressure sensor 19 provided upstream of the restrictor 18 and, if necessary, outputs a control instruction to the regulator 13 to change the discharge amount of the main pump 14 .
  • the restrictor 18 includes a left restrictor 18 L and a right restrictor 18 R
  • the control pressure sensor 19 includes a left control pressure sensor 19 L and a right control pressure sensor 19 R.
  • a left restrictor 18 L is disposed between the control valve 176 L located at the most downstream and the hydraulic fluid tank.
  • the left restrictor 18 L generates a control pressure for controlling the left regulator 13 L.
  • the left control pressure sensor 19 L is a sensor configured to detect the control pressure and output the detected value to the controller 30 .
  • the controller 30 controls the discharge amount of the left main pump 14 L by adjusting the swash plate inclination angle of the left main pump 14 L according to the control pressure.
  • the controller 30 decreases the discharge amount of the left main pump 14 L as the control pressure is larger, and increases the discharge amount of the left main pump 14 L as the control pressure is smaller.
  • the discharge amount of the right main pump 14 R is similarly controlled.
  • the hydraulic fluid discharged from the left main pump 14 L passes through the left center bypass conduit line 40 L to the left restrictor 18 L.
  • the flow of hydraulic fluid discharged from the left main pump 14 L increases the control pressure generated upstream of the left restrictor 18 L.
  • the controller 30 reduces the discharge amount of the left main pump 14 L to the minimum allowable discharge amount, and prevents the pressure loss (pumping loss) when the hydraulic fluid discharged from the left main pump 14 L passes through the left center bypass conduit line 40 L.
  • the hydraulic fluid discharged from the left main pump 14 L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated.
  • the amount reaching the left restrictor 18 L of the flow of the hydraulic fluid discharged from the left main pump 14 L is reduced or eliminated, which reduces the control pressure generated upstream of the left restrictor 18 L.
  • the controller 30 increases the discharge amount of the left main pump 14 L, allows sufficient hydraulic fluid to flow into the hydraulic actuator to be operated, and ensures the operation of the hydraulic actuator to be operated.
  • the controller 30 also controls the discharge amount of the right main pump 14 R in the same manner.
  • the hydraulic system of FIG. 2 can prevent wasteful energy consumption with respect to the main pump 14 in the standby state.
  • the wasteful energy consumption includes pumping losses caused by hydraulic fluid discharged by the main pump 14 in the center bypass conduit line 40 .
  • the hydraulic system of FIG. 2 can reliably supply necessary and sufficient hydraulic fluid from the main pump 14 to the hydraulic actuator to be operated when the hydraulic actuator is operated.
  • FIGS. 3 A to 3 D are views in which a part of the hydraulic system is extracted.
  • FIG. 3 A is a view in which a part of the hydraulic system relating to the operation of the arm cylinder 8 is extracted
  • FIG. 3 B is a view in which a part of the hydraulic system relating to the operation of the boom cylinder 7 is extracted
  • FIG. 3 C is a view in which a part of the hydraulic system relating to the operation of the bucket cylinder 9 is extracted
  • FIG. 3 D is a view in which a part of the hydraulic system relating to the operation of the turning hydraulic motor 2 A is extracted.
  • the hydraulic system includes a proportional valve 31 .
  • the proportional valve 31 includes proportional valves 31 AL to 31 DL, and proportional valves 31 AR to 31 DR.
  • the proportional valve 31 functions as a control valve for machine control.
  • the proportional valve 31 is disposed in a conduit line connecting the pilot pump 15 and a pilot port of a corresponding control valve in the control valve unit 17 , and is configured to change the flow path area of that conduit line.
  • the proportional valve 31 operates in response to a control instruction output by the controller 30 . Therefore, the controller 30 can supply hydraulic fluid delivered by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31 , independent of the operator's operation of the operation device 26 . The controller 30 can then apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.
  • the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26 even when no operation is performed on the specific operation device 26 .
  • the controller 30 can forcibly stop operation of hydraulic actuators corresponding to the specific operation device 26 even when an operation is performed on the specific operation device 26 .
  • the left operation lever 26 L is used to operate the arm 5 .
  • the left operation lever 26 L uses hydraulic fluid discharged from the pilot pump 15 to act on the pilot port of the control valve 176 with pilot pressure corresponding to the operation in the front-back direction.
  • the left operation lever 26 L acts on the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R with pilot pressures corresponding to the operation amounts when operated in the arm closing direction (backward direction).
  • the left operation lever 26 L acts on the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R with pilot pressures corresponding to the operation amounts when operated in the arm opening direction (forward direction).
  • the left operation lever 26 L is provided with a switch NS.
  • the switch NS is a push button switch provided at the tip of the left operation lever 26 L. The operator can operate the left operation lever 26 L while pressing the switch NS.
  • the switch NS may be disposed on the right operation lever 26 R or at another position in the cabin 10 .
  • the operation pressure sensor 29 LA detects the contents of the operation in the front-back direction with respect to the left operation lever 26 L by the operator, and outputs the detected value to the controller 30 .
  • a proportional valve 31 AL operates in response to a control instruction (current instruction) output by the controller 30 .
  • the pilot pressure of the hydraulic fluid introduced from 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 is adjusted via the proportional valve 31 AL.
  • a proportional valve 31 AR operates in response to a control instruction (current instruction) output by the controller 30 .
  • the pilot pressure of the hydraulic fluid introduced into the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R is adjusted from the pilot pump 15 via the proportional valve 31 AR.
  • the proportional valve 31 AL can adjust the pilot pressure so that the control valve 176 L and the control valve 176 R can be stopped at any valve position.
  • the proportional valve 31 AR can adjust the pilot pressure so that the control valve 176 L and the control valve 176 R can be stopped at any valve position.
  • the controller 30 can supply the hydraulic fluid discharged from 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 via the proportional valve 31 AL in response to the operator's arm closing operation.
  • the controller 30 can also supply the hydraulic fluid discharged from 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 via the proportional valve 31 AL, independently of the operator's arm closing operation. That is, the controller 30 can close the arm 5 in response to the operator's arm closing operation or independently of the operator's arm closing operation.
  • the controller 30 can supply the hydraulic fluid discharged from 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 via the proportional valve 31 AR. Regardless of the operator's arm opening operation, the controller 30 can supply the hydraulic fluid discharged from 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 via the proportional valve 31 AR. That is, the controller 30 can open the arm 5 in response to the operator's arm opening operation or independently of the operator's arm opening operation.
  • the controller 30 can reduce the pilot pressure acting on the closed pilot port of the control valve 176 (the left pilot port of the control valve 176 L and the right pilot port of the control valve 176 R), and forcibly stop the closing operation of the arm 5 , if necessary, even when the operator is performing the arm closing operation.
  • the controller 30 may, if necessary, control the proportional valve 31 AR, increase the pilot pressure acting on the open pilot port of the control valve 176 (the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R) opposite the closed pilot port of the control valve 176 , and forcibly return the control valve 176 to the neutral position to forcibly stop the closing operation of the arm 5 , even when an operator is performing an arm closing operation.
  • the controller 30 may, if necessary, control the proportional valve 31 AR, increase the pilot pressure acting on the open pilot port of the control valve 176 (the right pilot port of the control valve 176 L and the left pilot port of the control valve 176 R) opposite the closed pilot port of the control valve 176 , and forcibly return the control valve 176 to the neutral position to forcibly stop the closing operation of the arm 5 , even when an operator is performing an arm closing operation.
  • the right operation lever 26 R is used to operate the boom 4 .
  • the right operation lever 26 R utilizes the hydraulic fluid discharged from the pilot pump 15 , and causes the pilot pressure corresponding to the operation in the front-back direction to act on the pilot port of the control valve 175 .
  • the right operation lever 26 R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R when operated in the boom raising direction (backward direction).
  • the pilot pressure corresponding to the operation amount acts on the right pilot port of the control valve 175 R.
  • the operation pressure sensor 29 RA detects the contents of the operation in the front-back direction of the right operation lever 26 R by the operator, and outputs the detected value to the controller 30 .
  • a proportional valve 31 BL operates in response to a control instruction (current instruction) output by the controller 30 . Then, the pilot pressure by the hydraulic fluid introduced into the right pilot port of the control valve 175 L and the left pilot port of the control valve 175 R is adjusted from the pilot pump 15 via the proportional valve 31 BL.
  • a proportional valve 31 BR operates in response to a control instruction (current instruction) output by the controller 30 . Then, the pilot pressure due to hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 175 R via the proportional valve 31 BR is adjusted.
  • the proportional valve 31 BL can adjust the pilot pressure so that the control valve 175 L and the control valve 175 R can be stopped at any valve position.
  • the proportional valve 31 BR can adjust the pilot pressure so that the control valve 175 R can be stopped at any valve position.
  • the controller 30 can supply the hydraulic fluid discharged from 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 via the proportional valve 31 BL in response to the boom raising operation by the operator.
  • the controller 30 can also supply the hydraulic fluid discharged from 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 via the proportional valve 31 BL independently of the boom raising operation by the operator. That is, the controller 30 can raise the boom 4 in response to the boom raising operation by the operator or independently of the boom raising operation by the operator.
  • the controller 30 can supply the hydraulic fluid discharged from the pilot pump 15 to the right pilot port of the control valve 175 R via the proportional valve 31 BR in response to the operator's boom lowering operation.
  • the controller 30 can supply the hydraulic fluid discharged from the pilot pump 15 to the right pilot port of the control valve 175 R via the proportional valve 31 BR independently of the operator's boom lowering operation. That is, the controller 30 can lower the boom 4 in response to the operator's boom lowering operation or independently of the operator's boom lowering operation.
  • the right operation lever 26 R is also used to operate the bucket 6 .
  • the right operation lever 26 R utilizes the hydraulic fluid discharged from the pilot pump 15 to cause the pilot pressure corresponding to the operation in the left-right direction to act on the pilot port of the control valve 174 .
  • the right operation lever 26 R when operated in the bucket closing direction (left direction), causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 174 .
  • the right operation lever 26 R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 174 .
  • the operation pressure sensor 29 RB detects the contents of the operation by the operator in the right-left direction with respect to the right operation lever 26 R, and outputs the detected value to the controller 30 .
  • a proportional valve 31 CL operates in response to a control instruction (current instruction) output by the controller 30 . Then, the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31 CL is adjusted.
  • a proportional valve 31 CR operates in response to a control instruction (current instruction) output by the controller 30 . The pilot pressure due to hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31 CR is adjusted.
  • the proportional valve 31 CL can adjust the pilot pressure to stop the control valve 174 at any valve position.
  • the proportional valve 31 CR can adjust the pilot pressure to stop the control valve 174 at any valve position.
  • the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31 CL in response to the operator's bucket closing operation.
  • the controller 30 can also supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31 CL independently of the operator's bucket closing operation. That is, the controller 30 can close the bucket 6 in response to the operator's bucket closing operation or independently of the operator's bucket closing operation.
  • the controller 30 can also supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31 CR in response to the operator's bucket opening operation.
  • the controller 30 can also supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31 CR independently of the operator's bucket opening operation. That is, the controller 30 can open the bucket 6 in response to the operator's bucket opening operation or independently of the operator's bucket opening operation.
  • the left operation lever 26 L is also used to operate the turning mechanism 2 .
  • the left operation lever 26 L uses hydraulic fluid discharged from the pilot pump 15 to act on the pilot port of the control valve 173 with pilot pressure corresponding to operation in the left-right direction. More specifically, when operated in the left turning direction (left direction), the left operation lever 26 L acts on the left pilot port of the control valve 173 with pilot pressure corresponding to the operation amount. When operated in the right turning direction (right direction), the left operation lever 26 L acts on the right pilot port of the control valve 173 with pilot pressure corresponding to the operation amount.
  • the operation pressure sensor 29 LB detects the contents of the operation in the left-right direction with respect to the left operation lever 26 L by the operator, and outputs the detected value to the controller 30 .
  • a proportional valve 31 DL operates in response to a control instruction (current instruction) output by the controller 30 . Then, the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31 DL is adjusted.
  • a proportional valve 31 DR operates in response to a control instruction (current instruction) output by the controller 30 . The pilot pressure due to hydraulic fluid introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31 DR is adjusted.
  • the proportional valve 31 DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.
  • the proportional valve 31 DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.
  • the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31 DL in response to the operator's left turning operation.
  • the controller 30 can also supply the hydraulic fluid discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31 DL independently of the operator's left turning operation. That is, the controller 30 can make the turning mechanism 2 turn left in response to the operator's left turning operation or independently of the operator's left turning operation.
  • the controller 30 can supply the hydraulic fluid discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31 DR in response to the operator's right turning operation. Also, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31 DR independently of the operator's right turning operation. That is, the controller 30 can make the turning mechanism 2 turn right in response to the operator's right turning operation or independently of the operator's right turning operation.
  • the shovel 100 may be configured to automatically move the lower traveling body 1 forward and backward.
  • the hydraulic system portion relating to the operation of the left traveling hydraulic motor 2 ML and the hydraulic system portion relating to the operation of the right traveling hydraulic motor 2 MR may be configured in the same manner as the hydraulic system portion relating to the operation of the boom cylinder 7 .
  • the lever operation amount of the hydraulic operation lever may be detected in the form of pressure by a pressure sensor and input to the controller 30 .
  • a solenoid valve may be disposed between the operation device 26 as the hydraulic operation lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30 . With this configuration, when a manual operation using the operation device 26 as a hydraulic operation lever is performed, the operation device 26 can move each control valve by increasing or decreasing the pilot pressure according to the lever operation amount. Further, each control valve may be composed of a solenoid spool valve.
  • FIG. 4 is a functional block diagram of the controller 30 .
  • the controller 30 is configured to receive signals output from an attitude detection device, the operation device 26 , the object detection device 70 , the imaging device 80 , the switch NS, etc., perform various operations, and output control instructions to the proportional valve 31 , the display device D 1 , the sound output device D 2 , etc.
  • the attitude detection device includes, for example, a boom angle sensor S 1 , an arm angle sensor S 2 , a bucket angle sensor S 3 , a body inclination sensor S 4 , and a turning angular velocity sensor S 5 .
  • the controller 30 has a trajectory generation part and an autonomous control part 30 B as functional blocks. Each functional block may be composed of hardware or software.
  • the trajectory generation part 30 A is configured to generate a target trajectory which is a trajectory plotted by a predetermined part of the shovel 100 when the shovel 100 is operated autonomously.
  • the predetermined part is, for example, a claw end of the bucket 6 or a predetermined point on the back surface of the bucket 6 .
  • the trajectory generation part 30 A generates a target trajectory that the autonomous control part 30 B uses to autonomously operate the shovel 100 .
  • the trajectory generation part 30 A generates a target trajectory based on an output of at least one of the object detection device 70 and the imaging device 80 .
  • the autonomous control part 30 B is configured to operate the shovel 100 autonomously.
  • the autonomous control part 30 B is configured to move a predetermined part of the shovel 100 along a target trajectory generated by the trajectory generation part 30 A when a predetermined start condition is satisfied.
  • the autonomous control part 30 B autonomously operates the shovel 100 so that the predetermined part of the shovel 100 moves along the target trajectory when the operation device 26 is operated while the switch NS is pressed.
  • the autonomous control part 30 B autonomously operates the excavation attachment AT so that the claw end of the bucket 6 moves along the target trajectory when the left operation lever 26 L is operated in the arm opening direction while the switch NS is pressed.
  • the autonomous control part 30 B may operate the shovel 100 autonomously so that the predetermined part of the shovel 100 moves along the target trajectory when the switch NS is pressed, regardless of whether the operation device 26 is operated.
  • FIGS. 5 and 6 are block diagrams illustrating the autonomous control function.
  • the controller 30 determines the target movement speed and the target movement direction based on the operation inclination.
  • the operation inclination is determined based on, for example, the lever operation amount.
  • a target moving velocity is a target value of the moving velocity of a control reference point
  • a target moving direction is a target value of a moving direction of the control reference point.
  • the control reference point is, for example, a claw end of the bucket 6 or a predetermined point on the back surface of the bucket 6 .
  • the control reference point is calculated based on, for example, the boom angle ⁇ 1 , the arm angle the bucket angle ⁇ 3 , and the turning angle ⁇ 1 .
  • the controller 30 calculates three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after the unit time has elapsed, based on the target moving velocity, the target moving direction, and three-dimensional coordinates (Xe, Ye, Ze) of the control reference point.
  • the three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after the unit time has elapsed are, for example, coordinates on the target trajectory.
  • the unit time is, for example, the time equivalent to an integer multiple of the control period.
  • the target trajectory may be, for example, target trajectory relating to a backfilling operation performed for a backfilling work, which is a work for backfilling a hole.
  • the backfilling operation includes an operation of releasing a sediment as an example of a mass of earth and sand put in the bucket 6 into the hole, and an operation of pushing a sediment placed around the hole with the bucket 6 into the hole.
  • the backfilling operation is a combined operation including the bucket opening operation and the arm opening operation.
  • the target trajectory may be calculated based on at least one of, for example, the shape of the hole opening, the depth of the hole, the volume of the sediment already released into the hole, and the volume of the sediment put into the bucket 6 .
  • the shape of the hole, the depth of the hole, the volume of sediment already released into the hole, and the volume of the sediment put into the bucket 6 may be derived based on, for example, an output of at least one of the object detection device 70 and the imaging device 80 .
  • the target trajectory may be set so that the variation in depth of each part of the hole is not significantly large. That is, the target trajectory may be set so that only a part of the hole is not intensively backfilled. Conversely, the target trajectory may be set so that only a part of the hole is intensively backfilled.
  • the target trajectory is typically calculated before the backfilling operation starts, and is not changed until the backfilling operation ends.
  • the target trajectory may be changed during the execution of the backfilling operation. That is, a content of the backfilling operation may be changed.
  • the controller 30 generates instruction values ⁇ 1r , ⁇ 2r , and ⁇ 3r relating to the rotations of the boom 4 , the arm 5 , and the bucket 6 , and an instruction value air relating to the turning of the upper turning body 3 , based on the calculated three-dimensional coordinates (Xer, Yer, Zer).
  • the instruction value ⁇ 1r represents, for example, the boom angle ⁇ 1 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer).
  • the instruction value ⁇ 2r represents an arm angle ⁇ 2 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer)
  • the instruction value ⁇ 3r represents a bucket angle ⁇ 3 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer)
  • the instruction value air represents a turning angle ⁇ 1 when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer).
  • the instruction value ⁇ 3r for the rotation of the bucket 6 may be changed during the execution of the backfilling operation.
  • the instruction value ⁇ 3r may be adjusted smaller when the depth of the hole in the backfilled portion becomes shallower than the desired depth. That is, the instruction value ⁇ 3r is typically controlled by open-loop control, but may be feedback controlled according to the depth of the hole in the backfilled portion. Thereafter, as illustrated in FIG.
  • the controller 30 operates the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 , and the turning hydraulic motor 2 A so that the boom angle ⁇ 1 , the arm angle ⁇ 2 , the bucket angle ⁇ 3 , and the turning angle ⁇ 1 have the generated instruction values ⁇ 1r , ⁇ 2r , ⁇ 3r , and ⁇ 1r , respectively.
  • the turning angle ⁇ 1 is calculated based on an output of the turning angular velocity sensor S 5 , for example.
  • the controller 30 generates a boom cylinder pilot pressure instruction corresponding to the difference ⁇ 1 between a current value and the instruction value ⁇ 1r of the boom angle ⁇ 1 .
  • a control current corresponding to the boom cylinder pilot pressure instruction is output to a boom control mechanism 31 B.
  • the boom control mechanism 31 B is configured so that a pilot pressure in response to a control current corresponding to the boom cylinder pilot pressure instruction can be applied to the control valve 175 as a boom control valve.
  • the boom control mechanism 31 B may be, for example, the proportional valve 31 BL and the proportional valve 31 BR in FIG. 3 B .
  • control valve 175 that has received the pilot pressure generated by the boom control mechanism 31 B causes the hydraulic fluid discharged from the main pump 14 to flow into the boom cylinder 7 in the flow direction and flow rate corresponding to the pilot pressure.
  • the controller 30 may generate a boom spool control instruction based on a displacement amount of the spool of the control valve 175 detected by the boom spool displacement sensor S 7 .
  • the boom spool displacement sensor S 7 is a sensor configured to detect the displacement amount of a spool constituting the control valve 175 .
  • the controller 30 may output a control current corresponding to the boom spool control instruction to the boom control mechanism 31 B.
  • the boom control mechanism 31 B applies a pilot pressure in response to the control current corresponding to the boom spool control instruction to the control valve 175 .
  • the boom cylinder 7 extends and retracts by hydraulic fluid supplied via the control valve 175 .
  • the boom angle sensor S 1 detects the boom angle ⁇ 1 of the boom 4 moved by extending and retracting the boom cylinder 7 .
  • the controller 30 feeds back the boom angle ⁇ 1 detected by the boom angle sensor S 1 as a current value of the boom angle ⁇ 1 used in generating the boom cylinder pilot pressure instruction.
  • An arm control mechanism 31 A is configured so that a pilot pressure in response to a control current corresponding to an arm cylinder pilot pressure instruction can be applied to the control valve 176 as an arm control valve.
  • the arm control mechanism 31 A may be, for example, the proportional valve 31 AL and the proportional valve 31 AR in FIG. 3 A .
  • a bucket control mechanism 31 C is configured so that a pilot pressure in response to a control current corresponding to a bucket cylinder pilot pressure instruction can be applied to the control valve 174 as a bucket control valve.
  • the bucket control mechanism 31 C may be, for example, the proportional valve 31 CL and the proportional valve 31 CR in FIG. 3 C .
  • a turning control mechanism 31 D is configured so that a pilot pressure in response to a control current corresponding to a turning hydraulic motor pilot pressure instruction can be applied to the control valve 173 as a turning control valve.
  • the turning control mechanism 31 D may be, for example, the proportional valve 31 DL and the proportional valve 31 DR in FIG. 3 D .
  • An arm spool displacement sensor S 8 is a sensor configured to detect the displacement amount of a spool constituting the control valve 176
  • a bucket spool displacement sensor S 9 is a sensor configured to detect a displacement amount of a spool constituting the control valve 174
  • a turning spool displacement sensor S 6 is a sensor configured to detect a displacement amount of a spool constituting the control valve 173 .
  • the controller 30 may derive pump discharge amounts from the instruction values ⁇ 1r , ⁇ 2r , ⁇ 3r , and air using the pump discharge amount deriving parts CP 1 , CP 2 , CP 3 , and CP 4 .
  • the pump discharge amount deriving parts CP 1 , CP 2 , CP 3 , and CP 4 derive the pump discharge amounts from the instruction values ⁇ 1r , ⁇ 2r , ⁇ 3r , and air using a pre-registered reference table or the like.
  • the pump discharge amounts derived by the pump discharge amount deriving parts CP 1 , CP 2 , CP 3 , and CP 4 are summed and input to a pump flow calculation part as a total pump discharge amount.
  • the pump flow calculation part controls the discharge amount of the main pump 14 based on the input total pump discharge amount.
  • the pump flow calculation part controls the discharge amount of the main pump 14 by changing a swash plate inclination angle of the main pump 14 according to the total pump discharge amount.
  • the controller 30 can perform control of respective openings of the control valve 175 as the boom control valve, the control valve 176 as the arm control valve, the control valve 174 as the bucket control valve, and the control valve 173 as the turning control valve, simultaneously with performing control of the discharge amount of the main pump 14 . Therefore, the controller 30 can supply an appropriate amount of hydraulic fluid to each of the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 , and the turning hydraulic motor 2 A.
  • the controller 30 calculates three-dimensional coordinates (Xer, Yer, Zer), generates instruction values ⁇ 1r , ⁇ 2r , ⁇ 3r , and ⁇ 1r , and determines a discharge amount of the main pump 14 as one control cycle, and repeats this control cycle to execute autonomous control.
  • the controller can improve the accuracy of autonomous control by feedback controlling the control reference point based on the respective outputs of the boom angle sensor S 1 , the arm angle sensor S 2 , the bucket angle sensor S 3 , and the turning angular velocity sensor S 5 .
  • the controller 30 can improve the accuracy of autonomous control by feedback controlling the flow rates of hydraulic fluid flowing into the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 , and the turning hydraulic motor 2 A.
  • the controller 30 may be configured to monitor the distance between the bucket 6 and the surrounding obstacles so that the bucket 6 does not come into contact with the surrounding obstacles when performing autonomous control for the backfilling operation. For example, the controller 30 may stop the movement of the excavation attachment AT when determining that the distance between one or each of a plurality of predetermined points in the bucket 6 and the surrounding obstacles falls below a predetermined value based on the outputs of the attitude detection device and the object detection device 70 .
  • FIGS. 7 A to 7 C are top views illustrating the shovel 100 performing the backfilling operation and a hole HL subject to the backfilling operation.
  • FIGS. 8 A to 8 C are cross-sectional views illustrating the hole HL.
  • the controller 30 recognizes a position of the hole HL as an object subject to the backfilling operation (the position to be backfilled) and generates a target trajectory from the sediment pile (an excavation completion position) to the hole HL.
  • the excavation completion position may be set to the position of the bucket 6 when the sediment is put into the bucket 6 .
  • the excavation completion position may be set to the position of the bucket 6 when the bucket 6 is lifted by a predetermined height from the position of the bucket 6 when the sediment is put into the bucket 6 .
  • the controller 30 may recognize the shape (opening area, depth, etc.) of the hole HL or a position of the hole HL based on the output of the object detection device 70 , and set a target position relating to the backfilling operation.
  • the controller 30 may recognize the uneven shape of a landform based on the output of the object detection device 70 , and display the recognized uneven shape on the display device D 1 .
  • the controller 30 may display a frame or marker or the like on the image of the hole HL or the uneven shape or the like (hereinafter referred to as “hole HL or the like”) displayed on the display device D 1 so that the operator of the shovel 100 can recognize the hole HL or the like.
  • the image of the hole HL or the like is included in the captured image output from the imaging device (object detection device 70 ). Then, the controller 30 can set a target position for the hole HL or the like by setting input (selection) of the hole HL or the like to be recognized by the operator. The operator may select an image of the hole HL or the like to be backfilled from the captured image displayed on the display device D 1 , and set the selected image as a target position. In this case, the actual position in a landform region displayed on the display device D 1 is associated with the position of the image in a display region of the display device D 1 . Therefore, by the operator selecting a predetermined position in the display region of the display device D 1 , the controller 30 can recognize the actual position of the hole HL relative to the shovel 100 and set the target position for backfilling.
  • the controller 30 generates a trajectory up to the set target position as the target trajectory.
  • the target position is set above the bottom of the hole HL.
  • the target position is also typically set inside the contour of the hole HL.
  • FIGS. 7 A and 8 A illustrate a state when a first backfilling operation by autonomous control is completed.
  • a shovel figure represented by the broken line in FIG. 7 A illustrates a state of the shovel 100 after the first excavation operation by manual operation is completed and before the first backfilling operation is started.
  • a sediment R 1 represents a sediment released into the hole HL by the first backfilling operation. The sediment R 1 is released into a portion of the hole HL farthest from the shovel 100 , for example.
  • the controller 30 generates a target trajectory between the positions of the sediment pile and the farthest portion of the hole HL.
  • the controller 30 may change the target position at each backfilling operation. As a result, the target position and the target trajectory at the second or third backfilling operation are changed.
  • the target position and the timing for the change of the target trajectory may be changed according to the shape (size or depth, etc.) of the hole HL.
  • FIGS. 7 B and 8 B illustrate a state when a second backfilling operation by autonomous control is completed.
  • the shovel figure represented by the broken line in FIG. 7 B represents a state of the shovel 100 after the second excavation operation by manual operation is completed and before the second backfilling operation is started.
  • a sediment R 2 represents a sediment released into the hole HL by the second backfilling operation. The sediment R 2 is released into a portion of the hole HL closer to the shovel 100 than the sediment R 1 , for example, so as to be adjacent to the sediment R 1 .
  • the controller 30 updates the target trajectory generated in the state illustrated in FIGS. 7 A and 8 A .
  • FIGS. 7 C and 8 C illustrate the state when a third backfilling operation by autonomous control is completed.
  • the shovel figure represented by the broken line in FIG. 7 C represents a state of the shovel 100 after a third excavation operation by manual operation is completed and before the third backfilling operation is started.
  • a sediment R 3 represents a sediment released into the hole HL by the third backfilling operation.
  • the sediment R 3 is, for example, released to a portion of the hole HL closer to the shovel 100 than the sediment R 2 so as to be adjacent to the sediment R 2 .
  • the controller 30 updates the target trajectory that has been updated in the state illustrated in FIGS. 7 B and 8 B .
  • the controller 30 may recognize the shape of the sediment dropped into the hole HL based on the output from the imaging device 80 (object detection device 70 ). For example, the controller 30 may estimate the shape of the sediment dropped into the hole HL based on the shape of the hole HL, the sediment characteristics, the dropped position, and the like. Thus, the controller 30 can change the target position in the next backfilling operation by identifying the shape of the sediment dropped into the hole HL.
  • the operator of the shovel 100 executes the first backfilling operation by autonomous control by pressing the switch NS at the time before starting the first backfilling operation, i.e., when the state of the shovel 100 is set to the state indicated by the broken line in FIG. 7 A .
  • the shovel 100 is configured to execute the backfilling operation when the switch NS is pressed, but the shovel 100 may be configured to execute the backfilling operation when the left operation lever 26 L is operated in the right turning direction while the switch NS is pressed.
  • the target trajectory for the first backfilling operation is generated based on a current claw end position AP 1 of the bucket 6 and a claw end position BP 1 of the bucket 6 when the first backfilling operation is completed.
  • the position BP 1 is set such that, for example, the claw end of the bucket 6 is positioned directly above the center point of the sediment R 1 .
  • the sediment R 1 is a sediment to be put into the hole HL by the first backfilling operation.
  • the controller 30 executes the first backfilling operation by autonomous control using the calculated target trajectory. Specifically, the controller automatically turns the upper turning body 3 to the right to automatically expand and contract the excavation attachment AT so that the trajectory plotted by the claw end of the bucket 6 follows the target trajectory.
  • the operator of the shovel 100 performs an intermediate operation including a manually operated left-turning operation to bring the bucket 6 closer to a sediment pile F 1 illustrated in FIG. 7 A .
  • This intermediate operation for moving the claw end of the bucket 6 from the position when the backfilling operation is completed to the position when the next excavation operation is started may be performed autonomously without the operator's manual operation and may be performed semi-autonomously to assist the operator's manual operation.
  • a target trajectory for this intermediate operation is generated based on a current claw end position BP 1 of the bucket 6 and a claw end position DP 1 of the bucket 6 at the start of the second excavation operation.
  • the position DP 1 is set to be located directly above the center point of the sediment pile F 1 .
  • the semi-autonomous operation differs from the autonomous operation in that the semi-autonomous operation is executed in response to the manual operation of the operation lever by the operator, but the semi-autonomous operation is common to the autonomous operation in that the claw end of the bucket 6 is moved along the target trajectory.
  • the operator puts the sediment constituting the sediment pile F 1 into the bucket 6 by a manually operated excavation operation. Thereafter, the operator executes the second backfilling operation by autonomous control by pressing the switch NS at a time after the excavation operation is finished, that is, when the state of the shovel 100 is set to the state indicated by the broken line in FIG. 7 B .
  • the target trajectory for the second backfilling operation is generated based on a current claw end position AP 2 of the bucket 6 and a claw end position BP 2 of the bucket 6 when the second backfilling operation is completed.
  • the position BP 2 is set such that, for example, the claw end of the bucket 6 is positioned directly above the center point of the sediment R 2 .
  • the sediment R 2 is a sediment to be put into the hole HL by the second backfilling operation.
  • the controller 30 executes the second backfilling operation by autonomous control using the calculated target trajectory. Specifically, the controller automatically right-turns the upper turning body 3 and automatically extends and retracts the excavation attachment AT so that the trajectory plotted by the claw end of the bucket 6 follows the target trajectory.
  • the operator of the shovel 100 performs an intermediate operation including a manually operated left-turning operation to bring the bucket 6 closer to a sediment pile F 2 illustrated in FIG. 7 B .
  • This intermediate operation may be performed autonomously without the operator's manual operation and may be performed semi-autonomously to assist the operator's manual operation.
  • a target trajectory for this intermediate operation is generated based on a current claw end position BP 2 of the bucket 6 and a claw end position DP 2 of the bucket 6 at the start of the third excavation operation.
  • the position DP 2 is set to be located directly above the center point of the sediment pile F 2 , for example.
  • the operator puts a sediment constituting the sediment pile F 2 into the bucket 6 by manually operated excavation operation. Then, the operator executes the third backfilling operation by autonomous control by pressing the switch NS at a time after the excavation operation is finished, that is, when the state of the shovel 100 is set to the state indicated by the broken line in FIG. 7 C .
  • the controller 30 can reduce the operator's burden on the manual backfilling operation by executing the backfilling operation autonomously.
  • the intermediate operation and the excavation operation are executed in response to the operator's manual operation; however, at least one of the intermediate operation and the excavation operation may be executed autonomously or semi-autonomously by the controller in the same manner as the backfilling operation.
  • FIGS. 9 A and 9 B are cross-sectional views illustrating the backfilled hole HL, which correspond to FIGS. 8 A to 8 C .
  • FIGS. 9 A and 9 B illustrate a state of the sediment backfilled into the hole HL by a plurality of backfilling operations. More specifically, FIG. 9 A illustrates a state of the sediment in the hole HL before the leveling operation is performed, and FIG. 9 B illustrates a state of the sediment in the hole HL after the leveling operation is performed.
  • the ground around the hole HL is marked with a shaded pattern
  • the sediment backfilled in the hole HL is marked with a dot pattern.
  • the controller 30 is configured to set the height of a target surface TS before the backfilling operation is performed.
  • the target surface TS is a virtual surface corresponding to the ground formed when a hole HL to be backfilled is backfilled with a sediment, and is typically a virtual horizontal plane.
  • the controller detects, for example, the hole HL and a surrounding surface CS, which is the ground around the hole HL, based on the output of the object detection device 70 .
  • the controller sets a height of the target surface TS based on a height of the detected surrounding surface CS.
  • the height of the target surface TS is typically set to be the same as the height of the surrounding surface CS.
  • Respective dashed one-dotted lines illustrated in FIGS. 9 A and 9 B represent the target surface TS.
  • the controller 30 determines, for example, whether the hole HL has been backfilled with the sediment based on the output of the object detection device 70 . In the example illustrated in FIGS. 9 A and 9 B , the controller determines that the hole HL has been backfilled with the sediment when the entire target surface TS has been backfilled with the sediment. The controller 30 then executes an autonomous leveling operation when determining that the hole HL has been backfilled with the sediment. The backfilling operation executed prior to the leveling operation is executed so that the height of the sediment backfilled in the hole HL is slightly higher than the height of the target surface TS.
  • the controller 30 When determining that the hole HL has been backfilled with the sediment, the controller 30 generates a target trajectory along the target surface TS, and performs a leveling operation by automatically moving the claw end of the bucket 6 in a direction away from the shovel 100 along the target trajectory.
  • the leveling operation is a combined operation including an arm opening operation.
  • FIG. 9 A illustrates a position of the bucket 6 when the leveling operation is started
  • FIG. 9 B illustrates a position of the bucket 6 when the leveling operation is completed.
  • the controller 30 may set the target surface TS based on the height of the landform adjacent to the hole HL.
  • the controller 30 may set the target surface TS based on the height of the sediment backfilled in the hole HL or the sediment shape.
  • the controller may set the target surface TS based on the construction plan (design data).
  • This configuration enables the controller 30 to level a surface of the sediment backfilled in the hole HL so that the surface of the sediment backfilled in the hole HL has no irregularities. Also, this configuration enables the controller 30 to make the height of the surface of the sediment backfilled in the hole HL and the height of the surrounding surface CS substantially the same.
  • FIG. 10 A is a top view illustrating the shovel 100 when the backfilling operation is performed and the hole HL subject to the backfilling operation, which corresponds to FIGS. 7 A to 7 C .
  • FIG. 10 B is a cross-sectional view illustrating the hole HL, which corresponds to FIGS. 8 A to 8 C .
  • the controller 30 is configured to push a sediment into the hole HL by pushing it off with the bucket 6 without lifting the sediment with the bucket 6 when the sediment to be backfilled into the hole HL is within a predetermined distance range from the hole HL.
  • the controller 30 uses a back face BF of the bucket 6 to autonomously perform a push-off operation to push off a sediment constituting a sediment pile F 10 within the predetermined distance range from the hole HL into the hole HL.
  • the predetermined distance range is a range Z 1 surrounded by a broken line.
  • the controller 30 autonomously operates the excavation attachment AT so as to push the sediment constituting the sediment pile F 10 into the hole HL by two backfilling operations (push-off operations).
  • the controller 30 recognizes a position and a shape of the sediment pile F 10 based on the output of the object detection device 70 . Based on the recognized position and shape of the sediment pile F 10 , the controller 30 generates a target trajectory TL for pushing the sediment constituting the sediment pile F 10 into the hole HL. At this time, the controller 30 may calculate the volume or weight of the sediment constituting the sediment pile F 10 . There is a limit on the volume or weight of the sediment that can be pushed off by a single push-off operation, so that the target trajectory can be generated so as not to exceed this limit.
  • FIG. 10 B illustrates a target trajectory TL 1 , which is a part of the target trajectory TL for the first push-off operation, as a dashed one-dotted line, and a target trajectory TL 2 , which is a part of the target trajectory TL for the second push-off operation, as a dashed-two dotted line.
  • FIGS. 10 A and 10 B illustrate a state of the bucket 6 when the first push-off operation is completed as a solid line, and a state of the bucket 6 when the first push-off operation is started as a bucket FIG. 6 A plotted with a broken line. Further, FIG.
  • FIG. 10 B illustrates a sediment F 10 T pushed into the hole HL by the first push-off operation out of the sediment pile F 10 as a solid line, and a portion F 10 T 1 corresponding to the sediment F 10 T of the sediment pile F 10 before the first push-off operation is started as a broken line.
  • a sediment F 10 B which remains even after the first push-off operation among the sediments constituting the sediment pile F 10 , is pushed into the hole HL by the second push-off operation, that is, by moving the claw end of the bucket 6 from the side close to the shovel 100 to the far side along the target trajectory TL 2 .
  • the controller 30 can push the sediment relatively close to the hole HL into the hole HL.
  • the controller 30 is configured to execute the push-off operation for dropping a sediment into the hole HL using the back face BF of the bucket 6 , but may be configured to execute a push-off operation for dropping a sediment into the hole HL using a front face or a side face of the bucket 6 .
  • the controller 30 may be configured to execute the push-off operation for dropping a sediment into the hole HL using the front face of the bucket 6 when dropping the sediment constituting a sediment pile F 11 on the +X side (side far from the shovel 100 ) of the hole HL in the range Z 1 .
  • the controller 30 may also be configured to release a sediment, which has been put into the bucket 6 and lifted by the excavation operation, into the hole HL as described with reference to FIGS. 7 A to 7 C and FIGS. 8 A to 8 C when the sediment to be backfilled into the hole HL is outside the predetermined distance range from the hole HL.
  • the controller 30 may be configured to release a sediment constituting the sediment pile F 12 , which has been put into the bucket 6 and lifted by the excavation operation, into the hole HL by an autonomous backfilling operation.
  • the controller 30 may be configured to perform the push-off operation when the switch NS is pressed, but may be configured to perform the push-off operation when the left operation lever 26 L is operated in the arm opening direction while the switch NS is pressed.
  • FIG. 11 is a top view illustrating the shovel 100 when the backfilling operation (push-off operation) is performed and the hole HL subject to the backfilling operation (push-off operation), which corresponds to FIG.
  • the controller 30 is configured to push the sediment into the hole HL by pushing off the sediment with the bucket 6 , without lifting the sediment with the bucket 6 , when the sediment to be backfilled in the hole HL is within a predetermined distance range from the hole HL, as in the example illustrated in FIGS. 10 A and 10 B .
  • the controller 30 is configured to put the sediment into the bucket 6 and lift the sediment in the bucket 6 by the excavation operation, and then release the sediment put in the bucket 6 into the hole HL, as described with reference to FIGS. 7 A to 7 C and FIGS. 8 A to 8 C .
  • the controller 30 uses a side face SF (left-side face LSF) of the bucket 6 to autonomously execute a push-off operation to push a sediment constituting a sediment pile F 13 within a predetermined distance range from the hole HL into the hole HL.
  • the predetermined distance range is a range Z 1 surrounded by a broken line.
  • the controller 30 is configured to autonomously turn the upper turning body 3 to the left so as to push the sediment constituting the sediment pile F 13 into the hole HL by two backfilling operations (push-off operations).
  • the controller 30 recognizes a position and a shape of the sediment pile F 13 based on the output of the object detection device 70 . Then, the controller 30 generates a target trajectory TL for pushing the sediment constituting the sediment pile F 13 into the hole HL based on the recognized position and shape of the sediment pile F 13 . At this time, the controller 30 may calculate the volume or weight of the sediment constituting the sediment pile F 13 . There is a limit on the volume or weight of the sediment that can be pushed off by a single push-off operation, so that the target trajectory TL can be generated so as not to exceed this limit.
  • FIG. 11 illustrates a target trajectory TL 3 , which is a part of the target trajectory TL for the first push-off operation, as a dashed one-dotted line.
  • FIG. 11 illustrates a state of the bucket 6 when the first push-off operation is completed as a solid line, and the position of the bucket 6 when the first push-off operation is started as a bucket FIG. 6 B plotted as a broken line.
  • FIG. 11 illustrates a sediment F 13 T which has been pushed into the hole HL by the first push-off operation among the sediment constituting the sediment pile F 13 , and a sediment F 13 B which remains after the first push-off operation among the sediment constituting the sediment pile F 10 with solid lines.
  • the sediment F 13 T is pushed into the hole HL by the first push-off operation, that is, by moving the claw end of the bucket 6 from right to left along the target trajectory TL 3 .
  • the sediment F 13 B is pushed into the hole HL by the second push-off operation, that is, by moving the claw end of the bucket 6 from right to left along a target trajectory (not illustrated) for the second push-off operation.
  • the controller 30 can push the sediment relatively close to the hole HL into the hole HL.
  • the controller 30 is configured to perform the push-off operation for dropping the sediment into the hole HL using the left-side face LSF of the bucket 6 , but the controller 30 may be configured to perform the push-off operation for dropping the sediment into the hole HL using a right-side face of the bucket 6 .
  • the controller 30 may be configured to perform the push-off operation for dropping the sediment into the hole HL using the right-side face of the bucket 6 when the sediment constituting the sediment pile on the +Y side of the hole HL in the range Z 1 is dropped into the hole HL.
  • FIGS. 12 A to 12 C are cross-sectional views illustrating the hole HL, which correspond to FIGS. 9 A and 9 B .
  • FIGS. 12 A to 12 C illustrate states of a sediment GR backfilled in the hole HL by a plurality of backfilling operations. More specifically, FIG. 12 A illustrates a state of the sediment GR in the hole HL before a second-to-last backfilling operation (push-off operation) is performed, FIG. 12 B illustrates a state of the sediment in the hole HL after the second-to-last backfilling operation (push-off operation) is performed, and FIG. 12 C illustrates a state of the sediment in the hole HL after the last backfilling operation (push-off operation) is performed.
  • the controller 30 is configured to set the height of the target surface TS before the backfilling operation is performed.
  • the target surface TS is a virtual surface, typically a virtual horizontal plane, which corresponds to the ground formed when the hole HL to be backfilled is backfilled with sediment.
  • the controller 30 detects, for example, the hole HL and the surrounding surface CS, which is the ground around the hole HL, based on the output of the object detection device 70 .
  • the controller 30 sets the height of the target surface TS based on the height of the detected surrounding surface CS.
  • the height of the target surface TS is typically set to be the same as the height of the surrounding surface CS.
  • the lower dashed one-dotted line illustrated in FIG. 12 A represents the target surface TS.
  • the controller 30 determines, for example, based on the output of the object detection device 70 , whether or not a sediment pile exists within a predetermined distance range from the hole HL. When the sediment pile exists within the predetermined distance range from the hole HL, the controller 30 calculates a volume of a sediment constituting the sediment pile, for example, based on the output of the object detection device 70 .
  • the sediment pile that exists within the predetermined distance range from the hole HL is a pile of sediment to be pushed into the hole HL by a push-off operation, and is hereinafter referred to as an “adjacent sediment pile”. In the example illustrated in FIGS.
  • the controller 30 recognizes that a sediment pile F 14 exists as an adjacent sediment pile on the ⁇ X side of the hole HL (the side close to the shovel 100 ). Therefore, the controller 30 calculates the volume of the sediment constituting the sediment pile F 14 .
  • the controller 30 calculates a volume (required volume) of the sediment required to completely backfill the hole HL based on the output of the object detection device 70 .
  • the required volume corresponds to a volume (excluding the volume of the part already backfilled with the sediment) of the space located below the target surface TS in the hole HL.
  • the controller 30 determines whether the volume of the sediment constituting the adjacent sediment pile (sediment pile F 14 ) is equal to or greater than the required volume. It should be noted that the controller 30 is typically configured to adjust the volume of the sediment to be backfilled into the hole HL by the preceding backfilling operation so that the required volume is approximately equal to the volume of the adjacent sediment pile.
  • the controller 30 executes an autonomous push-off operation as an autonomous backfilling operation.
  • the controller 30 generates a target trajectory TL for pushing the sediment constituting the sediment pile F 14 into the hole HL based on the position and shape of the sediment pile F 14 .
  • the controller may set a target position with respect to the hole HL, and generate a target trajectory TL.
  • FIGS. 12 A and 12 B illustrate a target trajectory TL 4 , which is a part of the target trajectory TL for a second-to-final push-off operation, as a dashed one-dotted line.
  • FIGS. 12 B and 12 C illustrate a target trajectory TL 5 , which is a part of the target trajectory TL for a final push-off operation, as a dashed two-dotted line.
  • FIG. 12 A illustrates a state of the bucket 6 as a solid line when the second-to-final push-off operation is started.
  • FIG. 12 B illustrates a state of the bucket 6 as a solid line when the final push-off operation is started, and illustrates the sediment F 14 T pushed into the hole HL by the second-to-final push-off operation from among the sediments constituting the sediment pile F 14 as a coarse dot pattern.
  • FIG. 12 C illustrates a state of the bucket 6 as a solid line when the final push-off operation is completed.
  • a fine dot pattern is attached to the sediment GR and the sediment pile F 14 (excluding sediment F 14 T), and a shaded pattern is attached to the ground around the hole HL.
  • a sediment F 14 B which has remained after the second-to-final push-off operation of the sediment pile F 14 , is pushed into the hole HL by the final push-off operation, that is, by moving the claw end of the bucket 6 along the target trajectory TL 5 from the side close to the shovel 100 to the side away from the shovel, as illustrated in FIG. 12 C .
  • the controller 30 By executing the push-off operation as described above, the controller 30 is able to push the sediment relatively close to the hole HL into the hole HL at the same time as leveling the surface of the sediment backfilled into the hole HL, so that the surface of the sediment backfilled into the hole HL has no irregularities.
  • the controller 30 can make the height of the surface of the sediment backfilled into the hole HL and the height of the surrounding surface CS substantially the same. Note that, in the example illustrated in FIGS.
  • the controller is configured to perform the push-off operation for dropping the sediment into the hole HL and the leveling operation simultaneously by using the back face BF of the bucket 6 , but may be configured to perform the push-off operation for dropping the sediment into the hole HL and the leveling operation simultaneously by using the front face or the side face of the bucket 6 .
  • the controller 30 autonomously and simultaneously performs the backfilling operation and the leveling operation, thereby reducing the operator's burden on the backfilling operation and the leveling operation by manual operation.
  • the controller 30 can enhance the efficiency of the backfilling operation compared with the case where the backfilling operation and the leveling operation are performed separately.
  • the shovel 100 includes a lower traveling body 1 , an upper turning body 3 turnably mounted on the lower traveling body 1 , and the controller 30 as a control device disposed in the upper turning body 3 .
  • the controller 30 is configured to start an autonomous backfilling operation by the shovel 100 when a predetermined condition is met.
  • the predetermined condition is, for example, a condition in which a predetermined switch has been operated, or a condition in which the operation lever has been operated in a predetermined direction in a predetermined operation mode.
  • the predetermined switch is, for example, a switch NS disposed on the operation lever.
  • the predetermined operation mode is, for example, a backfilling mode.
  • the operator of the shovel 100 can switch an operation mode of the shovel 100 between a normal mode and the backfilling mode by, for example, operating the switch NS.
  • the operation mode of the shovel 100 is the backfilling mode
  • the operator can perform an autonomous backfilling operation as illustrated in FIGS. 7 A to 7 C by, for example, operating the left operation lever 26 L in the left turning direction, or can perform an autonomous backfilling operation (push-off operation) as illustrated in FIGS. 10 A and 10 B by operating the left operation lever 26 L in the arm opening direction.
  • This configuration can enhance the efficiency of the backfilling operation compared with the backfilling operation performed in response to the manual operation of the operation lever. In addition, this configuration can reduce the burden on the operator of the shovel 100 for the backfilling operation.
  • the backfilling operation may include at least one of an operation of the excavation attachment AT attached to the upper turning body 3 and a turning operation of the upper turning body 3 .
  • the backfilling operation may include at least one of the boom raising operation, the boom lowering operation, the arm opening operation, the arm closing operation, the bucket opening operation, the bucket closing operation, the left turning operation, and the right turning operation, as illustrated in FIGS. 7 A to 7 C .
  • the backfilling operation may not include the turning operation, as illustrated in FIGS. 10 A and 10 B .
  • the backfilling operation may not include the operation of the excavation attachment AT.
  • the backfilling operation may include at least one of an operation of pushing a sediment with the front face of the bucket 6 , an operation of pushing a sediment with the side face SF of the bucket 6 , and an operation of pushing a sediment with the back face BF of the bucket 6 .
  • This configuration can further enhance the efficiency of the backfilling operation, for example, by enabling the autonomous execution of an appropriate backfilling operation according to a positional relationship between a hole subject to a backfilling work and a sediment pile subject to the backfilling work.
  • the controller 30 may be configured to specify a position of a landscape feature subject to backfilling based on an output of the object detection device 70 .
  • the landscape feature subject to backfilling may be, for example, a hole subject to backfilling and a sediment pile subject to backfilling.
  • the controller 30 may be configured to specify a position of a landscape feature subject to backfilling based on an image captured by the imaging device 80 .
  • the controller 30 may be configured to specify a position of a landscape feature subject to backfilling based on distance information measured by LIDAR.
  • the controller 30 may be configured to recognize at least one of a shape, a depth, and a volume of the hole subject to backfilling; a shape, a height, and a volume of the sediment pile subject to backfilling; and a progress of the backfilling work based on an output of the object detection device 70 .
  • the controller 30 is configured to perform the backfilling operation or the like autonomously or semi-autonomously, thereby reducing the burden on the operator sitting on a driver's seat inside the cabin 10 .
  • the autonomous or semi-autonomous operation by the controller 30 may be applied to a remotely operated shovel.
  • the controller 30 can perform the backfilling operation or the like autonomously or semi-autonomously, thereby reducing the burden on a remote operator sitting on a driver's seat inside a remotely controlled room connected to the shovel 100 via wireless communication.
  • the controller 30 may also be configured to recognize a positional relationship between the shovel 100 and the hole HL based on the output of the object detection device 70 .
  • the controller 30 may specify the position of the hole HL based on the output of a positioning device (such as GNSS) mounted on the shovel 100 .
  • the controller 30 may be configured to recognize the positional relationship between the shovel 100 and a sediment pile based on the output of the object detection device 70 .
  • the controller 30 may specify the position of the sediment pile based on the output of the positioning device mounted on the shovel 100 .
  • the controller 30 may be configured to recognize the position of the hole HL based on the construction plan inputted by communication, etc., when the position or shape of the hole subject to the backfilling operation is set in advance in the construction plan (design data).
  • the controller 30 may be configured to recognize the position of the sediment pile based on the construction plan inputted by communication, etc., when the position or the like of the sediment pile subject to the backfilling operation is set in advance in the construction plan (design data).
  • the controller 30 can control the position of the bucket 6 by comparing the control reference point calculated based on the output of the positioning device (GNSS, etc.) or the attitude sensor, etc. mounted on the shovel 100 with the position (target position) of the sediment pile, the hole HL, or the like on the construction plan.

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US18/466,256 2021-03-17 2023-09-13 Shovel Pending US20230417024A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-044182 2021-03-17
JP2021044182 2021-03-17
PCT/JP2022/012421 WO2022196776A1 (ja) 2021-03-17 2022-03-17 ショベル

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