US20260043215A1 - Excavator, remote operation system, and control method - Google Patents

Excavator, remote operation system, and control method

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Publication number
US20260043215A1
US20260043215A1 US19/359,099 US202519359099A US2026043215A1 US 20260043215 A1 US20260043215 A1 US 20260043215A1 US 202519359099 A US202519359099 A US 202519359099A US 2026043215 A1 US2026043215 A1 US 2026043215A1
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US
United States
Prior art keywords
excavator
boom
arm
bucket
construction surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US19/359,099
Other languages
English (en)
Inventor
Keiji Honda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Ltd
Original Assignee
Sumitomo Heavy Industries Ltd
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Filing date
Publication date
Application filed by Sumitomo Heavy Industries Ltd filed Critical Sumitomo Heavy Industries Ltd
Publication of US20260043215A1 publication Critical patent/US20260043215A1/en
Pending legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—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
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • 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
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • 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
    • E02F9/26—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)

Definitions

  • the present invention relates to an excavator, a remote operation system, and a control method.
  • DESCRIPTION OF THE RELATED ART A technique has been proposed for shaping a slope having earth, sand, gravel, and the like heaped thereon by using an end attachment provided at the distal end of an attachment of an excavator. The slope is shaped by moving the end attachment along the slope from the top of the slope to the toe of the slope.
  • a technique is generally employed in which a controller of the excavator decelerates the swinging of the excavator as the end attachment approaches the slope, and stops the swinging before the end attachment contacts the slope.
  • a controller of the excavator decelerates the swinging of the excavator as the end attachment approaches the slope, and stops the swinging before the end attachment contacts the slope.
  • An excavator includes an undercarriage, an upper structure swingably mounted on the undercarriage, a boom attached to the upper structure, an arm attached to the boom, an end attachment attached to the arm, and a control device that controls at least one of the boom, the arm, or the end attachment when a swing operation of the upper structure is performed in accordance with an operation by an operator, so that a working portion of the end attachment follows a construction surface after the working portion contacts the construction surface, the construction surface being a construction target of the end attachment.
  • FIG. 1 is a side view of an excavator according to an embodiment
  • FIG. 2 is a schematic diagram illustrating a configuration example of the excavator according to the embodiment
  • FIG. 3 is a schematic view illustrating a configuration example of a hydraulic system of the excavator according to the embodiment
  • FIG. 4 is a partial hydraulic circuit diagram of the hydraulic system relating to operation of a hydraulic swing motor according to the embodiment
  • FIG. 5 A is an explanatory view illustrating slope shaping work based on a swing operation by the excavator according to the embodiment
  • FIG. 5 B is an explanatory view illustrating the slope shaping work based on the swing operation by the excavator according to the embodiment
  • FIG. 5 C is an explanatory view illustrating the slope shaping work based on the swing operation by the excavator according to the embodiment
  • FIG. 6 is a view illustrating, as an example, slope shaping with a working portion of a bucket according to the embodiment
  • FIG. 7 is a flowchart showing a processing procedure of the slope shaping work by a machine guidance unit according to the embodiment when a swing operation of an upper structure is performed;
  • FIG. 8 is an explanatory view of operation control of an automatic control unit according to another modification.
  • FIG. 9 is a schematic view illustrating an example of a remote operation system according to another embodiment.
  • An embodiment of the present invention provides a technique for improving work efficiency, in which work according to an operator's request is enabled by moving the end attachment by swinging the excavator while the end attachment is in contact with a slope.
  • an excavator is used as an example of a work machine.
  • the present invention is not limited to the excavator.
  • the present invention may also be applied to construction machines, standard machines, application machines, forestry machines, and transport machines based on hydraulic excavators.
  • FIG. 1 to is a side view of the excavator 100 serving as a work machine according to the present embodiment.
  • the excavator 100 includes an undercarriage 1 , an upper structure 3 , a boom 4 , an arm 5 , a bucket 6 , and a cab 10 .
  • the upper structure 3 is swingably mounted on the undercarriage 1 via a swing mechanism 2 .
  • the boom 4 , the arm 5 , and the bucket 6 form an attachment (work implement).
  • the undercarriage 1 causes the excavator 100 to travel by hydraulically driving a pair of left and right crawlers with respective hydraulic travel motors 1 L and 1 R (see FIG. 2 described later). That is, the pair of hydraulic travel motors 1 L and 1 R (an example of travel motors) drives the undercarriage 1 (crawler) serving as a driven unit.
  • the upper structure 3 swings relative to the undercarriage 1 by being driven with a hydraulic swing motor 2 A (see FIG. 2 described later). That is, the hydraulic swing motor 2 A is a swing drive unit that drives the upper structure 3 serving as a driven unit, and can change an orientation of the upper structure 3 .
  • the upper structure 3 may be driven electrically by an electric motor (hereinafter, referred to as an “electric swing motor”) instead of the hydraulic swing motor 2 A. That is, similar to the hydraulic swing motor 2 A, the electric swing motor is a swing drive unit that drives the upper structure 3 serving as a driven unit, and can change the orientation of the upper structure 3 .
  • an electric motor hereinafter, referred to as an “electric swing motor”
  • the boom 4 is pivotably mounted at a front center portion of the upper structure 3 so as to be pivotable in elevation.
  • the arm 5 is pivotably mounted at a distal end of the boom 4 so as to be vertically movable.
  • the bucket 6 serving as an end attachment is pivotably mounted at a distal end of the arm 5 so as to be vertically movable.
  • the boom 4 , the arm 5 , and the bucket 6 are respectively hydraulically driven by a boom cylinder 7 , an arm cylinder 8 , and a bucket cylinder 9 , each serving as a hydraulic actuator.
  • the bucket 6 is an example of the end attachment (work tool), and a different end attachment capable of slope shaping, such as a slope bucket, may be attached to the distal end of the arm 5 in place of the bucket 6 depending on work details or the like.
  • the cab 10 which serves as an operator’s compartment, is mounted on a front left side of the upper structure 3 .
  • FIG. 2 is a schematic diagram illustrating a configuration example of the excavator 100 according to the present embodiment.
  • a mechanical power system, a hydraulic line, a pilot line, and an electric control system are indicated by double lines, solid lines, broken lines, and dotted lines, respectively.
  • a drive system of the excavator 100 according to the present embodiment includes an engine 11 , a regulator 13 , a main pump 14 , and a control valve 17 .
  • the hydraulic drive system of the excavator 100 according to the present embodiment includes hydraulic actuators such as the hydraulic travel motors 1 L and 1 R, the hydraulic swing motor 2 A, the boom cylinder 7 , the arm cylinder 8 , and the bucket cylinder 9 , which hydraulically drive the undercarriage 1 , the upper structure 3 , the boom 4 , the arm 5 , and the bucket 6 , respectively.
  • the engine 11 is a main power source of the hydraulic drive system and is mounted, for example, at the rear of the upper structure 3 . Specifically, the engine 11 rotates at a preset target rotational speed under direct or indirect control of a controller 30 described later, and drives the main pump 14 and a pilot pump 15 .
  • the engine 11 is, for example, a diesel engine that uses light oil as fuel.
  • the regulator 13 controls displacement of the main pump 14 .
  • the regulator 13 adjusts an angle (tilt angle) of a swash plate of the main pump 14 in accordance with a control command from the controller 30 .
  • the regulator 13 includes, for example, regulators 13 L and 13 R as described later.
  • the main pump 14 is mounted, for example, at the rear of the upper structure 3 , and supplies hydraulic fluid to the control valve 17 through a high-pressure hydraulic line.
  • the main pump 14 is driven by the engine 11 as described above.
  • the main pump 14 is, for example, a variable displacement pump, and as described above, the regulator 13 adjusts the tilt angle of the swash plate under the control of the controller 30 , thereby adjusting a stroke length of the pistons and controlling a discharge flow rate (discharge pressure).
  • the main pump 14 includes, for example, main pumps 14 L and 14 R as described later.
  • the control valve 17 is a hydraulic control device that controls a hydraulic system in the excavator 100 .
  • the control valve 17 includes individual 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 17 selectively supplies hydraulic fluid discharged from the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176 .
  • the control valves 171 to 17 6 control, for example, the flow rates of hydraulic fluid flowing from the main pump 14 to the respective hydraulic actuators and the flow rate of hydraulic fluid flowing from the hydraulic actuators to a hydraulic reservoir.
  • the hydraulic actuators include the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 , the hydraulic travel motors 1 L and 1 R, and the hydraulic swing motor 2 A. More specifically, the control valve 171 is for the left hydraulic travel motor 1 L, the control valve 172 is for the right hydraulic travel motor 1 R, and the control valve 173 is for the hydraulic swing motor 2 A.
  • the control valve 174 is for the bucket cylinder 9
  • the control valve 175 is for the boom cylinder 7
  • the control valve 176 is for the arm cylinder 8 .
  • the control valve 175 includes, for example, the control valves 175 L and 175 R as described later.
  • the control valve 176 includes, for example, the control valves 176 L and 176 R as described later. Details of the control valves 171 to 176 will be described later.
  • the pilot pump 15 is an example of a pilot-pressure generating device and supplies hydraulic fluid to hydraulic control devices via the pilot line.
  • the pilot pump 15 is a fixed displacement pump.
  • the pilot-pressure generating device may be realized by the main pump 14 . That is, the main pump 14 may have a function of supplying hydraulic fluid to various hydraulic control devices via the pilot line in addition to a function of supplying hydraulic fluid to the control valve 17 via the hydraulic line. In this case, the pilot pump 15 may be omitted.
  • An operating device 26 is a device used by an operator to operate an actuator.
  • the actuator includes at least one of a hydraulic actuator or an electric actuator.
  • a discharge pressure sensor 28 detects a discharge pressure of the main pump 14 .
  • the discharge pressure sensor 28 outputs the detected value to the controller 30 .
  • the discharge pressure sensor 28 includes, for example, discharge pressure sensors 28 L and 28 R as described later.
  • An operation sensor 29 detects an operation detail by an operator using the operating device 26 .
  • the operation sensor 29 detects an operation direction and an operation amount of the operating device 26 associated with each actuator, and outputs the detected values to the controller 30 .
  • the controller 30 controls an opening area of a proportional valve 31 in accordance with the output of the operation sensor 29 . Then, the controller 30 supplies hydraulic fluid discharged from the pilot pump 15 to a pilot port of a corresponding control valve included in the control valve 17 .
  • the pressure (pilot pressure) of the hydraulic fluid supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and the operation amount of the operating device 26 associated with each hydraulic actuator.
  • the operating device 26 supplies the hydraulic fluid discharged from the pilot pump 15 to a pilot port of a corresponding control valve included in the control valve 17 .
  • the proportional valve 31 which serves as a control valve for machine control, is disposed in a conduit connecting the pilot pump 15 and a pilot port of the control valve included in the control valve 17 , and changes a flow passage area of the conduit.
  • the proportional valve 31 operates in accordance with a control command output from the controller 30 . Therefore, the controller 30 can supply hydraulic fluid discharged from the pilot pump 15 to a pilot port of a control valve included in the control valve 17 via the proportional valve 31 independently of the operation of the operating device 26 performed by the operator.
  • the proportional valve 31 includes, for example, proportional valves 31 AL, 31 AR, 31 BL, 31 BR, 31 CL, and 31 CR as described later.
  • the controller 30 can operate a hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated.
  • a control system of the excavator 100 includes the controller 30 , a display device 40 , an input device 42 , an audio output device 43 , a storage device 47 , a boom angle sensor S 1 , an arm angle sensor S 2 , a bucket angle sensor S 3 , a machine body tilt sensor (an example of an attitude detection unit) S 4, a swing state sensor S 5 , an imaging device S 6, a positioning device PS, and a communication device T 1 .
  • the controller 30 (an example of the control device) is provided, for example, in the cab 10 and performs drive control of the excavator 100 .
  • the functions of the controller 30 may be implemented by hardware, software, or a combination thereof.
  • the controller 30 is mainly formed of a microcomputer including a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a nonvolatile auxiliary storage device, various input/output interfaces, and the like.
  • the controller 30 implements various functions, for example, by executing, on the CPU, various programs stored in the ROM or the nonvolatile auxiliary storage device.
  • the controller 30 sets a target rotational speed based on an operation or the like performed by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.
  • the controller 30 outputs a control command to the regulator 13 as necessary to change displacement of the main pump 14 .
  • the controller 30 controls a machine guidance function of guiding the manual operation of the excavator 100 by an operator through the operating device 26 .
  • the controller 30 controls a machine control function of automatically assisting manual operation of the excavator 100 performed by an operator through the operating device 26 .
  • the controller 30 includes a machine guidance unit 50 as a functional unit for the machine guidance function and the machine control function.
  • controller 30 may be implemented by a different controller (control device). That is, the functions of the controller 30 may be implemented in a distributed manner by a plurality of controllers.
  • the machine guidance function and the machine control function may be implemented by a dedicated controller (control device).
  • the display device 40 is provided in the cab 10 at a position easily visible from a seated operator, and displays various information images under the control of the controller 30 .
  • the display device 40 may be connected to the controller 30 via an in-vehicle communication network such as a controller area network (CAN), or may be connected to the controller 30 via a dedicated point-to-point line.
  • CAN controller area network
  • the input device 42 is provided within reach of the seated operator in the cab 10 , receives various operation inputs from the operator, and outputs signals corresponding to the operation inputs to the controller 30 .
  • the input device 42 includes: a touch panel mounted on a display of the display device for displaying various information images; knob switches provided at distal ends of levers of lever devices 26 A to 26 C; button switches provided around the display device 40 ; levers; toggles; rotary dials; and the like.
  • a signal corresponding to an operation detail to the input device 42 is input to the controller 30 .
  • the audio output device 43 is provided, for example in the cab 10 , is connected to the controller 30 , and outputs audio under control of the controller 30 .
  • the audio output device 43 is, for example, a speaker, a buzzer, or the like.
  • the audio output device 43 outputs various information in audio in accordance with an audio output command from the controller 30 .
  • the storage device 47 is provided, for example, in the cab 10 and stores various information under the control of the controller 30 .
  • the storage device 47 is, for example, a nonvolatile storage medium such as a semiconductor memory.
  • the storage device 47 may store information output from various devices during the operation of the excavator 100 , or may store information acquired via various devices before the operation of the excavator 100 is started.
  • the storage device 47 may store, for example, data on a target construction surface, which is acquired via the communication device T 1 or the like or set through the input device 42 or the like.
  • the target construction surface may be set (saved) by the operator of the excavator 100 or may be set by a construction manager or the like.
  • the boom angle sensor S 1 is attached to the boom 4 and detects an elevation angle (hereinafter, referred to as a "boom angle") of the boom 4 relative to the upper structure 3 , which is, for example, an angle, in side view, between a swing plane of the upper structure 3 and a straight line connecting both pivot points at opposite ends of the boom 4 .
  • the boom angle sensor S 1 may include, for example, a rotary encoder, an acceleration sensor, a 6-axis sensor, an inertial measurement unit (IMU) or the like.
  • the boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder stroke sensor for detecting a stroke amount of a hydraulic cylinder (boom cylinder 7 ) corresponding to the boom angle, or the like. This similarly applies to the arm angle sensor S 2 and the bucket angle sensor S 3 .
  • a detection signal corresponding to the boom angle from the boom angle sensor S 1 is input to the controller 30 .
  • the arm angle sensor S 2 is attached to the arm 5 and detects a rotation angle of the arm 5 relative to the boom 4 (hereinafter, referred to as an “arm angle”), which is, for example, an angle, in side view, between a straight line connecting both pivot points at opposite ends of the boom 4 and a straight line connecting both pivot points at opposite ends of the arm 5 .
  • a detection signal corresponding to the arm angle from the arm angle sensor S 2 is input to the controller 30 .
  • the bucket angle sensor S 3 is attached to the bucket 6 and detects a rotation angle of the arm 5 relative to the bucket 6 (hereinafter, referred to as a “bucket angle”), which is, for example, an angle, in side view between a straight line connecting both pivot points at opposite ends of the arm 5 and a straight line connecting a pivot point and a distal end (tooth tip) of the bucket 6 .
  • a detection signal corresponding to the bucket angle from the bucket angle sensor S3 is input to the controller 30 .
  • the machine body tilt sensor (an example of an attitude detection unit) S 4 detects a tilt state of a machine body (the upper structure 3 or the undercarriage 1 ) relative to a horizontal plane.
  • the machine body tilt sensor S 4 is attached to the upper structure 3 and detects tilt angles of the excavator 100 (i.e., the upper structure 3 ) about two axes, a longitudinal axis and a lateral axis.
  • the tilt angles are hereinafter referred to as a longitudinal tilt angle and a lateral tilt angle.
  • the machine body tilt sensor S 4 may include, for example, a rotary encoder, an acceleration sensor, a 6 -axis sensor, an IMU, or the like. Detection signals corresponding to the tilt angles from the machine body tilt sensor S 4 are input to the controller 30 .
  • the swing state sensor S 5 outputs detection information on a swing state of the upper structure 3 .
  • the swing state sensor S 5 detects, for example, a swing angular velocity and a swing angle of the upper structure 3 .
  • the swing state sensor S 5 may include, for example, a gyroscope sensor, a resolver, a rotary encoder, or the like. Detection signals corresponding to the swing angle and the swing angular velocity of the upper structure 3 from the swing state sensor S5 are input to the controller 30 .
  • the imaging device S 6 which serves as a spatial recognition device, images the surroundings of the excavator 100 .
  • the imaging device S6 includes a camera S 6 F for imaging forward of the excavator 100 , a camera S6L for imaging leftward of the excavator 100 , a camera S 6 R for imaging rightward of the excavator 100 , and a camera S 6 B for imaging rearward of the excavator 100 .
  • the camera S 6 F is attached, for example, to the ceiling of the cab 10 , that is, inside the cab 10 . Moreover, the camera S6F may be attached outside the cab 10 , such as on the roof of the cab 10 or on the side surface of the boom 4 .
  • the camera S6L is attached on the left end of the upper surface of the upper structure 3 .
  • the camera S 6 R is attached on the right end of the upper surface of the upper structure 3 .
  • the camera S 6 B is attached on the rear end of the upper surface of the upper structure 3 .
  • the imaging device S 6 (cameras S 6 F, S 6 B, S 6 L and S 6 R) is, for example, a monocular wide-angle camera having a very wide angle of view.
  • the imaging device S 6 may be a stereo camera, a range image camera, or the like.
  • An image captured by the imaging device S 6 is input to the controller 30 via the display device 40 .
  • the imaging device S 6 which serves as a spatial recognition device, may function as an object detection device.
  • the imaging device S 6 may detect an object present around the excavator 100 .
  • the object to be detected may include, for example, a person, an animal, a vehicle, a construction machine, a building, a hole, and the like. Further, the imaging device S 6 may compute a distance from the imaging device S6 or the excavator 100 to the recognized object.
  • the imaging device S 6 which serves as an object detection device, may include, for example, a stereo camera, a range image sensor, and the like.
  • the spatial recognition device may be, for example, a monocular camera having an imaging element such as a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS), and output a captured image to the display device 40 .
  • the spatial recognition device may compute a distance from the spatial recognition device or the excavator 100 to the recognized object.
  • an additional object detection device such as, for example, an ultrasonic sensor, a millimeter-wave radar, a LIDAR, or an infrared sensor may be provided as the spatial recognition device.
  • a millimeter-wave radar, an ultrasonic sensor, a laser radar, or the like is used as the spatial recognition device, a large number of signals (such as laser beams) may be transmitted to the object, and the reflected signals thereof may be received, thereby detecting the distance and the direction of the object from the reflected signals.
  • the imaging device S 6 may be directly connected to the controller 30 in a communicable manner.
  • a boom rod pressure sensor S 7 R and a boom bottom pressure sensor S 7 B are attached to the boom cylinder 7 .
  • An arm rod pressure sensor S 8 R and an arm bottom pressure sensor S 8 B are attached to the arm cylinder 8 .
  • a bucket rod pressure sensor S 9 R and a bucket bottom pressure sensor S 9 B are attached to the bucket cylinder 9 .
  • the boom rod pressure sensor S 7 R, the boom bottom pressure sensor S 7 B, the arm rod pressure sensor S 8 R, the arm bottom pressure sensor S 8 B, the bucket rod pressure sensor S 9 R, and the bucket bottom pressure sensor S9B are collectively referred to as a “cylinder pressure sensor.”
  • the boom rod pressure sensor S 7 R detects a pressure in a rod-side fluid chamber of the boom cylinder 7 (hereinafter, referred to as a “boom rod pressure”), and the boom bottom pressure sensor S 7 B detects a pressure in a bottom-side fluid chamber of the boom cylinder 7 (hereinafter, referred to as a “boom bottom pressure”).
  • the arm rod pressure sensor S 8 R detects a pressure in a rod-side fluid chamber of the arm cylinder 8 (hereinafter, referred to as an “arm rod pressure”), and the arm bottom pressure sensor S 8 B detects a pressure in a bottom-side fluid chamber of the arm cylinder 8 (hereinafter, referred to as an “arm bottom pressure”).
  • the bucket rod pressure sensor S 9 R detects a pressure in a rod-side fluid chamber of the bucket cylinder 9 (hereinafter, referred to as a “bucket rod pressure”), and the bucket bottom pressure sensor S 9 B detects a pressure in a bottom-side fluid chamber of the bucket cylinder 9 (hereinafter, referred to as a “bucket bottom pressure”).
  • the positioning device PS measures a position and an orientation of the upper structure 3 .
  • the positioning device PS is, for example, a global navigation satellite system (GNSS) compass and detects a position and an orientation of the upper structure 3 , and the detection signals corresponding to the position and the orientation of the upper structure 3 are input to the controller 30 .
  • GNSS global navigation satellite system
  • the function of detecting the orientation of the upper structure 3 of the positioning device PS may be replaced by an orientation sensor attached to the upper structure 3 .
  • the communication device T1 communicates with an external device through a predetermined network including a mobile communication network having a base station as a terminal, a satellite communication network, an Internet network, and the like.
  • the communication device T 1 may be, for example, a mobile communication module compatible with mobile communication standards such as long term evolution (LTE), 4 th generation ( 4 G), and 5 th generation ( 5 G), or a satellite communication module for connecting to a satellite communication network, or the like.
  • LTE long term evolution
  • 4 G 4 th generation
  • 5 G 5 th generation
  • FIG. 3 is a schematic diagram illustrating a configuration example of the hydraulic system of the excavator 100 according to the present embodiment.
  • the mechanical power system, the hydraulic line, the pilot line, and the electric control system in FIG. 3 are indicated by double lines, solid lines, broken lines, and dotted lines, respectively.
  • a hydraulic system implemented by the hydraulic circuit circulates hydraulic fluid from the respective main pumps 14 L and 14 R driven by the engine 11 , through center bypass fluid passages C1L and C1R and parallel fluid passages C2L and C2R, to the hydraulic reservoir.
  • the center bypass fluid passage C 1 L originates from the main pump 14 L, sequentially passes through control valves 171 , 173 , 175 L, and 176 L disposed in the control valve 17 , and reaches the hydraulic reservoir.
  • the center bypass fluid passage C1R originates from the main pump 14 R, sequentially passes through control valves 172 , 174 , 175 R, and 176 R disposed in the control valve 17 , and reaches the hydraulic reservoir.
  • the control valve 171 is a spool valve for supplying the hydraulic fluid discharged from the main pump 14 L to the hydraulic travel motor 1 L and returning the hydraulic fluid discharged from the hydraulic travel motor 1 L to the hydraulic reservoir.
  • the control valve 172 is a spool valve for supplying the hydraulic fluid discharged from the main pump 14 R to the hydraulic travel motor 1 R and returning the hydraulic fluid discharged from the hydraulic travel motor 1 R to the hydraulic reservoir.
  • the control valve 173 is a spool valve for supplying the hydraulic fluid discharged from the main pump 14 L to the hydraulic swing motor 2 A and returning the hydraulic fluid discharged from the hydraulic swing motor 2 A to the hydraulic reservoir.
  • the control valve 174 is a spool valve for supplying the hydraulic fluid discharged from the main pump 14 R to the bucket cylinder 9 and returning the hydraulic fluid in the bucket cylinder 9 to the hydraulic reservoir.
  • the control valves 175 L and 175 R are spool valves for supplying the hydraulic fluid discharged from the main pumps 14 L and 14 R to the boom cylinder 7 and returning the hydraulic fluid in the boom cylinder 7 to the hydraulic reservoir.
  • the control valves 176 L and 176 R are spool valves for supplying the hydraulic fluid discharged from the main pumps 14 L and 14 R to the arm cylinder 8 and returning the hydraulic fluid in the arm cylinder 8 to the hydraulic reservoir.
  • Each of the control valves 171 , 172 , 173 , 174 , 175 L, 175 R, 176 L and 176 R adjusts the flow rate of the hydraulic oil supplied to and discharged from the corresponding hydraulic actuator and switches the flow direction in accordance with the pilot pressure applied to the pilot port.
  • the parallel fluid passage C 2 L supplies the hydraulic fluid of the main pump 14 L to the control valves 171 , 173 , 175 L, and 176 L in parallel with the center bypass fluid passage C 1 L.
  • the parallel fluid passage C 2 L branches from the center bypass fluid passage C 1 L upstream of the control valve 171 and supplies the hydraulic fluid of the main pump 14 L in parallel to each of the control valves 171 , 173 , 175 L, and 176 L.
  • the parallel fluid passage C 2 L can supply the hydraulic fluid to a control valve located further downstream.
  • the parallel fluid passage C 2 R supplies the hydraulic fluid of the main pump 14 R to the control valves 172 , 174 , 175 R, and 176 R in parallel with the center bypass fluid passage C1R.
  • the parallel fluid passage C 2 R branches from the center bypass fluid passage C 1 R upstream of the control valve 172 and supplies the hydraulic fluid of the main pump 14 R in parallel to each of the control valves 172 , 174 , 175 R, and 176 R.
  • the parallel fluid passage C2R can supply the hydraulic fluid to a control valve located further downstream.
  • the regulators 13 L and 13 R adjust the tilt angles of the swash plates of the main pumps 14 L and 14 R, respectively, under the control of the controller 30 , thereby adjusting displacements of the main pumps 14 L and 14 R.
  • the discharge pressure sensor 28 L detects a discharge pressure of the main pump 14 L, and a detection signal corresponding to the detected discharge pressure is input to the controller 30 . This similarly applies to the discharge pressure sensor 28 R. Accordingly, the controller 30 can control the regulators 13 L and 13 R based on discharge pressures of the main pumps 14 L and 14 R.
  • the center bypass fluid passages C 1 L and C 1 R are provided with negative control orifices 18 L and 18 R, respectively, between the respective lowermost downstream control valves 176 L and 176 R and the hydraulic reservoir. Accordingly, the flows of the hydraulic fluid discharged by the main pumps 14 L and 14 R are restricted by the negative control orifices 18 L and 18 R, respectively. Then, the negative control orifices 18 L and 18 R generate control pressures (hereinafter, referred to as "negative control pressures") for controlling the regulators 13 L and 13 R, respectively.
  • negative control pressures control pressures
  • Negative control pressure sensors 19 L and 19 R detect the negative control pressures, and detection signals corresponding to the detected negative control pressures are input to the controller 30 .
  • the controller 30 may adjust displacements of the main pumps 14 L and 14 R by controlling the regulators 13 L and 13 R based on discharge pressures of the main pumps 14 L and 14 R detected by the discharge pressure sensors 28 L and 28 R, respectively. For example, when a discharge pressure of the main pump 14 L increases, the controller 30 may reduce a displacement of the main pump 14 L by controlling the regulator 13 L to adjust a tilt angle of the swash plate of the main pump 14 L. This similarly applies to the regulator 13 R. Accordingly, the controller 30 can perform total horsepower control of the main pumps 14 L and 14 R so that absorbed horsepower of the main pumps 14 L and 14 R, represented as a product of discharge pressure and discharge flow rate, does not exceed output horsepower of the engine 11 .
  • the controller 30 may adjust displacements of the main pumps 14 L and 14 R by controlling the regulators 13 L and 13 R based on negative control pressures detected by the negative control pressure sensors 19 L and 19 R, respectively. For example, the controller 30 reduces displacements of the main pumps 14 L and 14 R as the negative control pressures increase, and increases displacements of the main pumps 14 L and 14 R as the negative control pressures decrease.
  • the hydraulic fluid discharged from the main pumps 14 L and 14 R passes through the center bypass fluid passages C 1 L and C 1 R and reaches the negative control orifices 18 L and 18 R.
  • the flows of the hydraulic fluid discharged from the main pumps 14 L and 14 R increase negative control pressures generated upstream of the negative control orifices 18 L and 18 R.
  • the controller 30 reduces discharge flow rates of the main pumps 14 L and 14 R to allowable minimum discharge flow rates, thereby minimizing pressure losses (pumping losses) occurring when the discharged hydraulic fluid passes through the center bypass fluid passages C 1 L and C 1 R.
  • the hydraulic fluid discharged from the main pumps 14 L and 14 R flows into a target hydraulic actuator through a control valve corresponding to the target hydraulic actuator. Then, the flow of the hydraulic fluid discharged from the main pumps 14 L and 14 R is reduced or eliminated before reaching the negative control orifices 18 L and 18 R, thereby lowering negative control pressures generated upstream of the negative control orifices 18 L and 18 R.
  • the controller 30 can increase discharge flow rates of the main pumps 14 L and 14 R, circulate sufficient hydraulic fluid to the target hydraulic actuator, and reliably drive the target hydraulic actuator.
  • the left control lever 26 L is used for a swing operation and an operation of the arm 5 .
  • hydraulic fluid discharged from the pilot pump 15 is utilized to introduce a control pressure corresponding to a lever stroke amount into a pilot port of the control valve 176 .
  • hydraulic fluid discharged from the pilot pump 15 is utilized to introduce a control pressure corresponding to a lever stroke amount into a pilot port of the control valve 173 .
  • hydraulic fluid is introduced into a left pilot port of the control valve 175 R.
  • hydraulic fluid is introduced into a right pilot port of the control valve 175 L and into a left pilot port of the control valve 175 R.
  • hydraulic fluid is introduced into a right pilot port of the control valve 174 .
  • hydraulic fluid is introduced into a left pilot port of the control valve 174 .
  • the left control lever 26 L operated in the leftward or rightward direction may be referred to as a “swing control lever,” and the left control lever 26 L operated in the forward or reverse direction may be referred to as an “arm control lever.”
  • the right control lever 26 R operated in the leftward or rightward direction may be referred to as a “bucket control lever,” and the right control lever 26 R operated in the forward or reverse direction may be referred to as a “boom control lever.”
  • the left travel lever 26 DL is used for an operation of a left crawler 1 CL and may be interlocked with a left travel pedal.
  • hydraulic fluid discharged from the pilot pump 15 is utilized to introduce a control pressure corresponding to a lever stroke amount into a pilot port of the control valve 171 .
  • the right travel lever 26 DR is used for an operation of a right crawler 1 CR and may be interlocked with a right travel pedal.
  • hydraulic fluid discharged from the pilot pump 15 is utilized to a control pressure corresponding to a lever stroke amount into a pilot port of the control valve 172 .
  • the operation sensor 29 detects a detail of the operation of the operating device 26 by the operator.
  • the operation sensor 29 detects an operation direction and an operation amount of the operating device 26 associated with each actuator, and outputs the detected values to the controller 30 .
  • the operation sensor 29 includes operation sensors 29 LA, 29 LB, 29 RA, 29 RB, 29 DL, and 29 DR.
  • the operation sensor 29 LA detects a detail of the operation of the left control lever 26 L in the forward or reverse direction by the operator, and outputs the detected value to the controller 30 .
  • the detail of the operation is, for example, a lever stroke direction, a lever stroke amount (lever stroke angle), or the like.
  • the operation sensor 29 LB similarly detects a detail of the operation of the left control lever 26 L in the leftward or rightward direction by the operator, and outputs the detected value to the controller 30 .
  • the operation sensor 29 RA detects a detail of the operation of the right control lever 26 R in the forward or reverse direction by the operator, and outputs the detected value to the controller 30 .
  • the operation sensor 29 RB detects a detail of the operation of the right control lever 26 R in the leftward or rightward direction by the operator, and outputs the detected value to the controller 30 .
  • the operation sensor 29 DL detects a detail of the operation of the left travel lever 26 DL in the forward or reverse direction by the operator, and outputs the detected value to the controller 30 .
  • the operation sensor 29 DR detects a detail of the operation of the right travel lever 26 DR in the forward or reverse direction by the operator, and outputs the detected value to the controller 30 .
  • the controller 30 receives the output of the operation sensor 29 , outputs a control command to the regulator 13 as necessary, and changes the displacement of the main pump 14 .
  • the controller 30 also receives the output of the control pressure sensor 19 provided upstream of the orifice 18 , outputs a control command to the regulator 13 as necessary, and changes the displacement of the main pump 14 .
  • the orifice 18 includes a left orifice 18 L and a right orifice 18 R, and the control pressure sensor 19 includes negative control pressure sensors 19 L and 19 R.
  • FIG. 4 is a partial hydraulic circuit diagram of the hydraulic system relating to operation of the hydraulic swing motor 2 A according to the present embodiment.
  • the hydraulic system includes the proportional valve 31 .
  • the proportional valve 31 includes individual proportional valves 31 DL and 31 DR.
  • the proportional valve 31 functions as a control valve for machine control.
  • the proportional valve 31 is disposed in a conduit connecting the pilot pump 15 and a pilot port of a corresponding control valve included in the control valve 17 , and changes a flow passage area of the conduit.
  • the proportional valve 31 operates in accordance with a control command output from the controller 30 .
  • the controller 30 can supply hydraulic fluid discharged from the pilot pump 15 to a pilot port of a corresponding control valve included in the control valve 17 via the proportional valve 31 independently of the operation of the operating device 26 performed by the operator. Then, the controller 30 can apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.
  • the controller 30 can operate a hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated. Moreover, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is operated.
  • the left control lever 26 L is also used to operate the swing mechanism 2 .
  • the left control lever 26 L utilizes pilot hydraulic fluid discharged from the pilot pump 15 to apply pilot pressure corresponding to the operation in the leftward or rightward direction to the pilot port of the control valve 173 . More specifically, when the left control lever 26 L is operated in the left swing direction (leftward direction), the pilot pressure corresponding to the stroke amount is applied to the left pilot port of the control valve 173 . When the left control lever 26 L is operated in the right swing direction (rightward direction), the pilot pressure corresponding to the stroke amount is applied to the right pilot port of the control valve 173 .
  • the operation sensor 29 LB detects the detail of the operation of the left control lever 26 L in the leftward or rightward direction by the operator, and outputs the detected value to the controller 30 .
  • the proportional valve 31 DL operates in accordance with a control command (current command) output from the controller 30 . Then, pilot pressure caused by pilot 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.
  • the proportional valve 31 DR operates in accordance with a control command (current command) output from the controller 30 . Then, pilot pressure caused by pilot 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 pilot pressure such that the control valve 173 can be stopped at a desired valve position.
  • the proportional valve 31 DR can similarly adjust pilot pressure such that the control valve 173 can be stopped at a desired valve position.
  • the controller 30 can supply pilot hydraulic fluid discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31 DL in accordance with a left-swing operation performed by the operator.
  • the controller 30 can also supply pilot hydraulic fluid discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31 DL independently of a left-swing operation performed by the operator. That is, the controller 30 can swing the swing mechanism 2 leftward in accordance with the left-swing operation performed by the operator or independently of the left-swing operation performed by the operator.
  • the proportional valve 31 DL functions as a “swing solenoid valve ” or a “left-swing solenoid valve.”
  • the controller 30 can supply pilot 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 accordance with a right-swing operation performed by the operator.
  • the controller 30 can also supply pilot hydraulic fluid discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31 DR independently of a right-swing operation performed by the operator. That is, the controller 30 can swing the swing mechanism 2 rightward in accordance with the right-swing operation performed by the operator or independently of the right-swing operation performed by the operator.
  • the proportional valve 31 DR functions as a “swing solenoid valve” or a “right-swing solenoid valve.”
  • the operating device 26 is provided with a switch SW.
  • the switch SW includes a switch SW 1 and a switch SW 2 .
  • the switch SW 1 is a push button switch provided at the distal end of the left control lever 26 L. The operator can operate the left control lever 26 L while pressing the switch SW 1 .
  • the switch SW 1 may be provided on the right control lever 26 R or may be provided at a different position in the cab 10 .
  • the switch SW 2 is a push button switch provided at the distal end of the left travel lever 26 DL. The operator can operate the left travel lever 26 DL while pressing the switch SW 2 .
  • the switch SW 2 may be provided on the right travel lever 26 DR or may be provided at a different position in the cab 10 .
  • the excavator 100 may cause a bucket tilt mechanism to automatically operate.
  • a part of the hydraulic system related to the bucket tilt cylinder forming the bucket tilt mechanism may be configured in substantially the same manner as a part of the hydraulic system related to the operation of the boom cylinder 7 .
  • a hydraulic control lever may be employed instead of the electric control lever.
  • a lever stroke amount of the hydraulic control 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 operating device 26 serving as the hydraulic control lever and the pilot port of each control valve. The solenoid valve operates in accordance with an electric signal from the controller 30 .
  • the operating device 26 can move each control valve by increasing or decreasing the pilot pressure in accordance with the lever stroke amount.
  • Each control valve may be formed by an electromagnetic solenoid spool valve. In this case, the electromagnetic solenoid spool valve operates in accordance with an electric signal from the controller 30 corresponding to the lever stroke amount of the electric control lever.
  • the excavator 100 When a swing operation is received from an operator, the excavator 100 according to the present embodiment performs slope shaping work with the working portion of the bucket 6 .
  • slope shaping is often performed generally from the top of the slope to the toe of the slope by a boom down operation of the excavator.
  • it is desirable to shape a slope by swinging the bucket for example, when a side edge in a traveling direction at a back surface of the bucket is longer than a side edge in a width direction so that a swing operation can improve work efficiency, or when a distance from the top of the slope to the toe of the slope is short so that the slope is desired to be shaped by swinging.
  • the machine guidance unit 50 controls so that a slope can be shaped with the working portion of the bucket 6 when a swing operation is performed by an operator.
  • the end attachment used for shaping the slope is not limited to the tooth tip or the back surface of the bucket 6 .
  • a plate stuck to the bucket 6 a special end attachment having a shaped surface for performing slope shaping in a swing direction, or the like may be used.
  • the present embodiment does not limit the type of the bucket 6 for performing slope shaping, and, for example, a slope bucket or the like may be used.
  • Target construction surface information 47 A indicating data on a target construction surface is stored in advance in, for example, the storage device 47 .
  • the target construction surface indicated by the target construction surface information 47 A is expressed, for example, in a reference coordinate system.
  • the reference coordinate system is, for example, a world geodetic system.
  • the world geodetic system is a three-dimensional orthogonal XYZ coordinate system in which an origin is set at the center of the earth, an X-axis is directed to an intersection of the Greenwich meridian and the equator, a Y-axis is directed to a direction of east longitude 90 degrees, and a Z-axis is directed to the north pole.
  • An operator may define a point at a construction site as a reference point, and may set a target construction surface based on a relative positional relationship with the reference point through the input device 42 .
  • the target construction surface information 47 A may include a (flattened) slope after being shaped.
  • the machine guidance unit 50 acquires information from the boom angle sensor S 1 , the arm angle sensor S 2 , the bucket angle sensor S 3 , the machine body tilt sensor S 4 , the swing state sensor S 5 , the imaging device S 6 , the boom rod pressure sensor S7R, the boom bottom pressure sensor S 7 B, the arm rod pressure sensor S 8 R, the arm bottom pressure sensor S 8 B, the bucket rod pressure sensor S 9 R, the bucket bottom pressure sensor S 9 B, the positioning device PS, the operation sensor 29 , the communication device T 1 , the input device 42 , and the like. Then, the machine guidance unit 50 computes, for example, a distance between the bucket 6 and the target construction surface based on the acquired information, and automatically controls the operation of the attachment so that the working portion of the bucket 6 , or the like can move along the target construction surface.
  • the machine guidance unit 50 includes, as the machine guidance function and the machine control function, an acquisition unit 51 , a position computing unit 52 , a distance computing unit 53 , a determination unit 54 , and an automatic control unit 55 as detailed functional configurations for performing compaction work.
  • the acquisition unit 51 acquires detection information indicating detection results by various sensors in the excavator 100 .
  • the acquisition unit 51 acquires detection information from the boom angle sensor S 1 , the arm angle sensor S 2 , the bucket angle sensor S 3 , the machine body tilt sensor S 4 , the swing state sensor S 5 , the imaging device S 6 , the boom rod pressure sensor S 7 R, the boom bottom pressure sensor S 7 B, the arm rod pressure sensor S 8 R, the arm bottom pressure sensor S 8 B, the bucket rod pressure sensor S 9 R, the bucket bottom pressure sensor S 9 B, and the positioning device PS.
  • the acquisition unit 51 acquires operation information indicating a detail of the operation of the operating device 26 from the operation sensor 29 , and acquires a signal corresponding to the operation input from the input device 42 . Furthermore, the acquisition unit 51 acquires information received from an external device via the communication device T 1 . For example, when the excavator 100 is operated remotely, the acquisition unit 51 may acquire an operation signal received from an external device via the communication device T 1 .
  • the position computing unit 52 computes a position of a predetermined positioning target. For example, the position computing unit 52 computes the coordinate points of the distal end of the attachment, specifically, the working portion such as the tooth tip or the back surface of the bucket 6 in the reference coordinate system. Specifically, the position computing unit 52 computes the coordinate points of the working portion of the bucket 6 from the respective elevation angles (the boom angle, the arm angle, and the bucket angle) of the boom 4 , the arm 5 , and the bucket 6 .
  • the distance computing unit 53 computes a distance between two positioning objects. For example, the distance computing unit 53 computes a distance between the distal end of the attachment, specifically, the working portion such as the tooth tip or the back surface of the bucket 6 , and the target construction surface.
  • the distance between the target construction surface, which is expressed in the reference coordinate system indicated by the target construction surface information 47 A, and the working portion of the bucket 6 , which is expressed in the reference coordinate system, is computed.
  • the distance computing unit 53 may compute an angle (relative angle) between the target construction surface and the back surface serving as the working portion of the bucket 6 . Based on the angle, the distance computing unit 53 may identify an end edge of the back surface of the bucket 6 closest to the target construction surface and compute a distance between the specified end edge and the target construction surface.
  • the determination unit 54 determines whether or not the working portion of the bucket 6 is in contact with the target construction surface when a swing operation of the upper structure 3 is performed in accordance with an operation from an operator via the operating device 26 . In the present embodiment, it is determined whether or not the working portion of the bucket 6 is in contact with the target construction surface based on whether or not the distance between the target construction surface and the working portion of the bucket 6 computed by the distance computing unit 53 is “0.” Note that the present embodiment illustrates an example of a method of determining whether or not the working portion of the bucket 6 is in contact with the target construction surface, and is not limited to the determination method using the target construction surface information 47 A, and other methods may be used.
  • the working portion of the bucket 6 in contact with the target construction surface is a lateral end edge of the back surface of the bucket 6 or the tooth tip of the bucket 6 .
  • the present embodiment illustrates an example of the working portion of the bucket 6 for slope shaping, and slope shaping may be performed with a different working portion.
  • the automatic control unit 55 automatically assists, by automatically operating the actuators, the manual operation of the excavator 100 performed by the operator through the operating device 26 . Specifically, as described later, the automatic control unit 55 can individually and automatically adjust pilot pressures applied to control valves (i.e., the control valve 173 , the control valves 175 L and 175 R, and the control valve 174 ) corresponding to a plurality of hydraulic actuators (i.e., the hydraulic swing motor 2 A, the boom cylinder 7 , and the bucket cylinder 9 ). Accordingly, the automatic control unit 55 can automatically operate each of the hydraulic actuators.
  • the control of the machine control function performed by the automatic control unit 55 may be executed, for example, when a predetermined switch included in the input device 42 is pressed.
  • the predetermined switch is, for example, a machine control switch (hereinafter, referred to as a MC switch), and may be disposed as a knob switch at the distal end of a grip portion held by an operator of the operating device 26 (e.g., a lever device corresponding to the operation of the arm 5 ).
  • a MC switch machine control switch
  • the operating device 26 e.g., a lever device corresponding to the operation of the arm 5 .
  • the automatic control unit 55 controls any one or more of the boom 4 , the arm 5 , or the bucket 6 so that the working portion follows the target construction surface after the determination unit 54 has determined that the working portion of the bucket 6 is in contact with the target construction surface.
  • FIGS. 5 A to 5 C are explanatory views illustrating the slope shaping work based on the swing operation by the excavator 100 according to the present embodiment.
  • the slope shaping work can also be performed when the excavator 100 performs a right swing.
  • FIG. 5 A illustrates a state before the excavator 100 starts swinging.
  • the excavator 100 is grounded on a ground surface GS.
  • the excavator 100 performs slope shaping work on a slope BS present leftward of the excavator 100 .
  • slope shaping is performed between a toe of slope FS and a top of slope TS.
  • the present embodiment illustrates an example in which the ground surface GS substantially coincides with a horizontal plane.
  • the operator tilts the left control lever 26 L in the left-swing direction (leftward direction) while the MC switch or the like is pressed. This starts a left swing of the upper structure 3 of the excavator 100 .
  • FIG. 5 B illustrates a state in which the determination unit 54 has determined that the working portion of the bucket 6 of the excavator 100 is in contact with the target construction surface.
  • the automatic control unit 55 starts control of the boom 4 , the arm 5 , and the bucket 6 so that the working portion follows the target construction surface.
  • FIG. 5 B illustrates a region CS and a region NS.
  • the region CS is where the bucket 6 is in contact with the slope BS and slope shaping work is performed, and the region NS is where slope shaping work is not performed.
  • FIG. 5 C is a view illustrating a state in which the automatic control unit 55 controls the boom 4 , the arm 5 , and the bucket 6 so that the working portion follows the target construction surface.
  • the region CS where slope shaping work is performed is illustrated. That is, in the present embodiment, as illustrated in the region CS, slope shaping work is performed in a horizontal region of the slope BS.
  • the automatic control unit 55 performs a close operation of the arm 5 .
  • the automatic control unit 55 controls the close operation of the arm 5 as well as an up operation of the boom 4 . This control maintains the height of the bucket 6 from the ground surface GS.
  • the automatic control unit 55 controls the attachment so as to maintain the bucket 6 in contact with the target construction surface. Specifically, the automatic control unit 55 controls the open operation of the arm 5 as well as a down operation of the boom 4 . This control maintains the height of the bucket 6 from the ground surface GS.
  • the automatic control unit 55 controls the boom 4 and the arm 5 so that the bucket 6 is maintained at substantially the same height from the ground surface GS where the excavator is grounded. Therefore, the machine guidance unit 50 can perform the slope shaping work by the swing operation while the bucket 6 is maintained at substantially the same height. That is, in the present embodiment, slope shaping work can be performed in a region in the horizontal direction (substantially the same height) relative to the slope BS. In the slope shaping work, after the completion of the slope shaping in the horizontal direction, the operator controls the bucket 6 to come to a height at which the next shaping work is performed, and then performs a swing operation so that the slope shaping work can be performed in the horizontal direction in the region at the height.
  • the operator can perform the slope shaping work in all regions of the slope BS by repeating the swing operation and the height adjustment of the bucket 6 .
  • the bucket 6 is maintained at substantially the same height so that the operator can intuitively grasp the region where the slope shaping work is performed. Therefore, the work efficiency can be improved.
  • the slope shaping is performed by the working portion of the bucket 6 on a surface-by-surface basis in the present embodiment.
  • control for performing the slope shaping on a surface-by-surface basis will be described.
  • FIG. 6 is a view illustrating, as an example, slope shaping with the working portion of the bucket 6 according to the present embodiment.
  • the slope shaping is performed in the region CS having a length corresponding to the left end edge 6 L.
  • a region NS is a region where the slope shaping is not performed.
  • the automatic control unit 55 controls the bucket angle so that the left end edge 6 L of the back surface of the bucket 6 contacts the target construction surface in a substantially parallel state.
  • an inclination angle of the target construction surface is included in the target construction surface information 47 A. Therefore, the automatic control unit 55 controls the bucket angle so that an angle of the left end edge 6 L of the back surface of the bucket 6 corresponding to a horizontal plane becomes the inclination angle of the target construction surface.
  • the present embodiment is not limited to the method of controlling the bucket angle based on the inclination angle of the target construction surface included in the target construction surface information 47 A.
  • the automatic control unit 55 may control the bucket angle so that the bucket angle becomes the inclination of the slope BS imaged by the imaging device S6.
  • the present embodiment illustrates an example of the control of the end attachment, and any control of the end attachment may be employed as long as a lateral end edge of the back surface of the bucket 6 contacts the target construction surface in a substantially parallel state.
  • the automatic control unit 55 adjusts the bucket angle so that the left end edge 6 L of the back surface of the bucket 6 contacts the slope BS, the slope shaping can be performed on a surface-by-surface basis, in which a surface has a side corresponding to a lateral end edge (e.g., the left end edge 6 L) of the back surface of the bucket 6 .
  • a surface has a side corresponding to a lateral end edge (e.g., the left end edge 6 L) of the back surface of the bucket 6 .
  • the present embodiment is not limited to the method of performing the slope shaping with a lateral end edge of the back surface of the bucket 6 , and the slope shaping may be performed with the tooth tip of the bucket 6 .
  • the slope shaping may be performed with the tooth tip of the bucket 6 .
  • the machine guidance unit 50 switches the method of the slope shaping in accordance with an operation performed by the operator.
  • FIG. 7 is a flowchart showing a processing procedure of the slope shaping work by the machine guidance unit 50 according to the present embodiment when a swing operation is performed with the upper structure 3 .
  • the machine guidance unit 50 starts a swing operation of the upper structure 3 in accordance with a swing operation from the operating device 26 (S 1701 ).
  • the position computing unit 52 computes current coordinate points of the working portion of the bucket 6 , such as the tooth tip or the back surface, in the reference coordinate system (S 1702 ).
  • the distance computing unit 53 computes a distance between the current coordinate points of the working portion of the bucket 6 , such as the tooth tip or the back surface, which has been computed in S1 702 , and the target construction surface indicated by the target construction surface information 47 A (S 1703 ).
  • the determination unit 54 determines whether or not the working portion is in contact with the target construction surface (S 1704 ). When the determination unit 54 determines that the working portion is not in contact with the target construction surface (S 1704: NO), the process of S 1708 is performed.
  • the determination unit 54 determines whether or not the angle between the end edge of the back surface of the bucket 6 and the target construction surface (
  • the threshold serving as a reference for determining whether or not to control the bucket angle for performing the slope shaping with the back surface may be set to an appropriate angle depending on embodiments, and may be set to, for example, 10 degrees, or the like.
  • the automatic control unit 55 controls the boom angle, the arm angle, and the bucket angle so that the end edge of the back surface of the bucket 6 and the target construction surface are in contact with each other in a substantially parallel state and the bucket 6 is maintained at substantially the same height from the ground surface GS (S 1706 ).
  • the automatic control unit 55 reduces the control of the bucket angle that causes the end edge of the back surface of the bucket 6 and the target construction surface to be in contact with each other in a substantially parallel state, and controls the boom angle and the arm angle so that the tooth tip of the bucket 6 is maintained to be in contact with the target construction surface and the bucket 6 is maintained at substantially the same height from the ground surface GS (S 1707 ).
  • the machine guidance unit 50 determines whether or not a swing operation of the upper structure 3 has been ended in accordance with the swing operation from the operating device 26 (S 1708 ). When it is determined that the swing operation of the upper structure 3 has not been ended (S 1708 : NO), the process starts again from S 1702 .
  • the automatic control unit 55 controls the bucket angle so that the end edge of the back surface of the bucket 6 and the target construction surface are in contact with each other in a substantially parallel state during swinging.
  • the automatic control is performed so that the end edge of the back surface of the bucket 6 is in contact with the target construction surface in a substantially parallel state, thereby improving operability.
  • slope shaping can be performed with the tooth tip of the bucket 6 as necessary.
  • the construction mode can be switched depending on the state of the slope BS.
  • slope shaping can be appropriately performed with the tooth tip of the bucket 6 .
  • the automatic control unit 55 can control the boom 4 and the arm 5 so that the working portion of the bucket 6 is maintained at substantially the same height from the ground surface GS of the excavator 100 .
  • the ground surface on which the excavator 100 is grounded is inclined from a horizontal plane will be described.
  • the automatic control unit 55 controls the operation of the arm 5 and the boom 4 in consideration of the inclination of the excavator 100 .
  • the automatic control unit 55 controls the operation of the arm 5 and the boom 4 so as to draw a trajectory inclined by the inclination angle detected from the horizontal plane during the operation of swinging the upper structure 3 .
  • the automatic control unit 55 controls at least one of the boom 4 , the arm 5 , or the bucket 6 so that the working portion of the bucket 6 moves along a trajectory obtained by the intersection between the target construction surface and a plane including the position of the working portion of the bucket 6 and inclined by the inclination angle from the horizontal plane (i.e., a plane including the position of the working portion of the bucket 6 and substantially parallel to a ground-contact surface of the excavator 100 ).
  • slope shaping is performed in a direction of inclination by the inclination angle detected with respect to the slope BS.
  • slope shaping can be easily performed through control of at least one of the boom 4 , the arm 5 , and the bucket 6 by the automatic control unit 55 .
  • FIG. 8 is an explanatory view of operation control of the automatic control unit 55 according to the present modification.
  • An arrow 1801 illustrated in FIG. 8 indicates a case where the operation of the arm 5 and the boom 4 is controlled together with the swing operation of the upper structure 3 in the above-described embodiment so that the bucket 6 is controlled to maintain substantially the same height.
  • the automatic control unit 55 controls a close operation of the arm 5 together with a swing operation of the upper structure 3 .
  • the bucket 6 is lowered in accordance with the close operation of the arm 5 .
  • slope shaping can be performed without controlling the boom 4 .
  • the control load can be reduced.
  • the above embodiment the case where slope shaping work is performed with the excavator 100 in which the operator is present has been described.
  • the above embodiment is not limited to the method of performing the slope shaping work when the operator is present in the excavator 100 .
  • the excavator 100 performs the slope shaping work in accordance with remote control, substantially the same processing as in the above embodiment may be performed. Therefore, in a second embodiment, a case where the remote control of the excavator 100 is performed will be described.
  • FIG. 9 is a schematic view illustrating an example of the remote operation system SYS according to the second embodiment.
  • the remote operation system SYS includes an excavator 100 and a remote operation room RC.
  • the excavator 100 and the remote operation room RC are connected through a communication line NT so that data can be transmitted and received.
  • the excavator 100 enables radio communication by using a communication device T1.
  • the excavator 100 can transmit and receive data to and from equipment (e.g., the remote control room RC) connected to the communication line NT.
  • equipment e.g., the remote control room RC
  • the excavator 100 can transmit information on a work site to the remote operation room RC. Accordingly, the remote operation room RC can confirm the work site with the information from the excavator 100 .
  • a device for measuring the work site is not limited to the excavator 100 , but may be a different device such as a drone flying over the work site, a fixed-point camera, or a personally owned imaging device.
  • the excavator 100 is provided with an imaging device S6.
  • the excavator 100 transmits, to the remote operation room RC, a captured image indicating the result of imaging the work site by the imaging device S 6 .
  • the remote operation system SYS may include one or more excavators 100 .
  • the remote operation system SYS can provide information on the work site to the remote operation room RC through the excavators 100 .
  • the remote operation room RC includes a communication device T 2 , a remote controller R 30 , an operating device R 26 , an operation sensor R 29, and a display device D 1 .
  • the remote operation room RC is also provided with an operation seat DS for an operator OP who remotely operates the excavator 100 to sit.
  • the communication device T 2 controls communication with the communication device T 1 attached to the excavator 100 .
  • the remote controller R 30 is a computing device that executes various calculations.
  • the remote controller R 30 is formed by a microcomputer including a central processing unit (CPU) and a memory.
  • CPU central processing unit
  • Various functions of the remote controller R 30 are implemented by the CPU executing a program stored in the memory.
  • the display device D 1 displays a screen based on the information transmitted from the excavator 100 so that the operator OP in the remote operation room RC can visually confirm the surroundings of the excavator 100 .
  • the operator OP can confirm a state of the work site including the surroundings of the excavator 100 even though the operator OP is in the remote operation room RC.
  • the operating device R 26 is provided with the operation sensor R 29 for detecting an operation detail of the operating device R 26 .
  • the operation sensor R 29 is, for example, a tilt sensor for detecting a tilt angle of the control lever, an angle sensor for detecting an oscillation angle of the control lever about an oscillation axis, or the like.
  • the operation sensor R 29 may be formed of a different sensor such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor.
  • the operation sensor R 29 outputs the detected information on the operation detail of the operating device R 26 to the remote controller R 30 .
  • the remote controller R 30 generates an operation signal based on the received information and transmits the generated operation signal to the excavator 100 .
  • the operation sensor R 29 may generate an operation signal. In this case, the operation sensor R 29 may output the operation signal to the communication device T 2 without passing through the remote controller R 30 . Accordingly, the remote operation of the excavator 100 can be realized from the remote operation room RC.
  • the communication device T 1 of the excavator 100 receives the operation signal from the communication device T 2 of the remote controller R 30 .
  • a machine guidance unit 50 in a controller 30 of the excavator 100 performs substantially the same control as in the above-described embodiment or modifications based on a received control signal.
  • the machine guidance unit 50 controls a swing operation of an upper structure 3 when further receiving an operation signal indicating a swing of the upper structure 3 .
  • a determination unit 54 of the machine guidance unit 50 determines whether or not a working portion of a bucket 6 is in contact with a target construction surface.
  • an automatic control unit 55 controls at least one of the boom 4 , the arm 5 , or the bucket 6 so that the working portion follows the target construction surface.
  • a control method is substantially the same as that described in the above-described embodiment and modifications, and description thereof is omitted.
  • slope shaping can be performed by the machine guidance unit 50 controlling at least one of the boom 4 , the arm 5 , or the bucket 6 in substantially the same manner as in the above-described embodiment. Therefore, the operation load can be reduced.
  • slope shaping work can be performed by a swing operation.
  • the work can be performed in accordance with the operation performed by the operator, thereby improving the work efficiency.
  • slope shaping work is performed with the end edge of the back surface of the bucket 6 together with the swing operation. Since the back surface of the bucket 6 is often longer in the traveling direction (e.g., the left end edge or the right end edge) than in the width direction, the region in which the work can be performed is larger than that in the related art, thereby improving the work speed.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
US19/359,099 2023-04-28 2025-10-15 Excavator, remote operation system, and control method Pending US20260043215A1 (en)

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JP2023074653 2023-04-28
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JP2015226094A (ja) * 2014-05-26 2015-12-14 住友建機株式会社 作業機械用遠隔操作システム
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