WO2019151335A1 - Pelle et système de gestion de pelle - Google Patents

Pelle et système de gestion de pelle Download PDF

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Publication number
WO2019151335A1
WO2019151335A1 PCT/JP2019/003201 JP2019003201W WO2019151335A1 WO 2019151335 A1 WO2019151335 A1 WO 2019151335A1 JP 2019003201 W JP2019003201 W JP 2019003201W WO 2019151335 A1 WO2019151335 A1 WO 2019151335A1
Authority
WO
WIPO (PCT)
Prior art keywords
excavator
control
bucket
boom
automatic control
Prior art date
Application number
PCT/JP2019/003201
Other languages
English (en)
Japanese (ja)
Inventor
貴志 西
Original Assignee
住友建機株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 住友建機株式会社 filed Critical 住友建機株式会社
Priority to KR1020207022365A priority Critical patent/KR20200111193A/ko
Priority to CN201980010909.6A priority patent/CN111670286A/zh
Priority to CN202410298931.8A priority patent/CN118007731A/zh
Priority to JP2019569184A priority patent/JPWO2019151335A1/ja
Priority to EP19747825.8A priority patent/EP3748089B1/fr
Publication of WO2019151335A1 publication Critical patent/WO2019151335A1/fr
Priority to US16/941,924 priority patent/US20200354921A1/en

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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
    • 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
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/267—Diagnosing or detecting failure of vehicles
    • E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions

Definitions

  • This disclosure relates to excavators and excavator management systems.
  • excavators are usually used in various operating environments. Therefore, even in the automatic control mode, the operating environment surrounding the excavator may change to an operating environment different from the operating environment assumed in advance. In this case, the excavator described above continues to operate in the automatic control mode even if the operating environment changes. For example, if the operator operates the arm control lever with the intention of opening the arm to press the bucket against the uphill slope in an automatic control mode, the excavator will open the arm so that the bucket moves along the uphill slope. Accordingly, there is a risk that the boom is automatically raised. In this case, the operator may not be able to press the bucket against the ascending slope as intended.
  • An excavator according to an embodiment of the present invention is mounted on a lower traveling body, an upper revolving body that is turnably mounted on the lower traveling body, an attachment that is attached to the upper revolving body, and the upper revolving body.
  • FIG. 10 is a top view of the work site showing the movement of the excavation attachment when the turning operation is performed during the automatic combined turning control. It is a figure which shows a movement of the excavation attachment when the left turn operation is performed during the right turn of the upper swing body 3 in the excavator set to operate the emergency stop function. It is a figure which shows the structural example of an electric operation system. It is the schematic which shows the structural example of the management system of an shovel.
  • FIG. 1 is a side view of an excavator 100 as an excavator according to an embodiment of the present invention.
  • An upper swing body 3 is mounted on the lower traveling body 1 of the excavator 100 via a swing mechanism 2 so as to be capable of swinging.
  • a boom 4 is attached to the upper swing 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 as an example of the attachment.
  • the boom 4 is driven by the boom cylinder 7, the arm 5 is driven by the arm cylinder 8, and the bucket 6 is driven by the bucket cylinder 9.
  • the boom cylinder 7 is driven according to the tilt of the boom operation lever
  • the arm cylinder 8 is driven according to the tilt of the arm operation lever
  • the bucket cylinder 9 is driven according to the tilt of the bucket operation lever.
  • the right traveling hydraulic motor 1R is driven according to the tilt of the right traveling lever
  • the left traveling hydraulic motor 1L is driven according to the tilt of the left traveling lever.
  • the turning hydraulic motor 2A is driven according to the tilt of the turning operation lever.
  • the corresponding actuator is driven in accordance with the operation of each lever, whereby the control of the excavator 100 (hereinafter referred to as “manual control”) by the manual operation of the operator is executed.
  • a boom angle sensor S1 is attached to the boom 4
  • an arm angle sensor S2 is attached to the arm 5
  • a bucket angle sensor S3 is attached to the bucket 6.
  • the boom angle sensor S1 is configured to detect the rotation angle of the boom 4.
  • the boom angle sensor S1 is an acceleration sensor, and can detect the rotation angle of the boom 4 with respect to the upper swing body 3 (hereinafter referred to as “boom angle”).
  • the boom angle is, for example, the minimum angle when the boom 4 is lowered to the minimum, and increases as the boom 4 is raised.
  • the arm angle sensor S2 is configured to detect the rotation angle of the arm 5.
  • the arm angle sensor S2 is an acceleration sensor, and can detect the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as “arm angle”).
  • the arm angle is, for example, the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.
  • the bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6.
  • the bucket angle sensor S3 is an acceleration sensor, and can detect the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as “bucket angle”).
  • the bucket angle is, for example, the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.
  • the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer that uses a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotary encoder that detects the rotation angle around the connecting pin.
  • An inertial measurement unit a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like.
  • the upper swing body 3 is provided with a cabin 10 as a cab and a power source such as an engine 11 is mounted.
  • the upper swing body 3 includes a controller 30, a display device 40, an input device 42, a sound output device 43, a storage device 47, an emergency stop switch 48, a body tilt sensor S4, a swing angular velocity sensor S5, an imaging device S6, a communication device T1, and A positioning device P1 is attached.
  • the controller 30 is configured to function as a control device that performs drive control of the excavator 100.
  • the controller 30 is configured by a computer including a CPU, a RAM, a ROM, and the like.
  • Each function provided by the controller 30 is realized by the CPU executing a program stored in the ROM, for example.
  • Each function includes, for example, a machine guidance function that guides (guides) manual operation of the shovel 100 by the operator, and a machine control function that automatically supports manual operation of the shovel 100 by the operator.
  • the machine guidance device 50 included in the controller 30 is configured to execute a machine guidance function and a machine control function.
  • the display device 40 is configured to display various information.
  • the display device 40 may be connected to the controller 30 via a communication network such as CAN, or may be connected to the controller 30 via a dedicated line.
  • the input device 42 is configured so that the operator can input various information to the controller 30.
  • the input device 42 includes at least one of a touch panel, a knob switch, a membrane switch, and the like installed in the cabin 10.
  • the sound output device 43 is configured to output sound information.
  • the sound output device 43 may be an in-vehicle speaker connected to the controller 30 or an alarm device such as a buzzer.
  • the sound output device 43 outputs various sound information according to instructions from the controller 30.
  • the storage device 47 is configured to store various information.
  • the storage device 47 is a non-volatile storage medium such as a semiconductor memory, for example.
  • the storage device 47 may store information output by various devices during the operation of the excavator 100, or may store information acquired through various devices before the operation of the excavator 100 is started. Good.
  • the storage device 47 may store data related to the target construction surface acquired via the communication device T1 or the like, for example.
  • the target construction surface may be set by an operator of the excavator 100, or may be set by a construction manager or the like.
  • the emergency stop switch 48 is configured to function as a switch for stopping the movement of the excavator 100.
  • the emergency stop switch 48 is, for example, a switch installed at a position where an operator sitting in the driver's seat can operate the cabin 10.
  • the emergency stop switch 48 is a foot switch installed in the cabin 10 below the operator's feet.
  • the emergency stop switch 48 When the emergency stop switch 48 is operated by the operator, the emergency stop switch 48 outputs a command to the engine control unit to stop the engine 11.
  • the emergency stop switch 48 may be a hand switch installed around the driver's seat.
  • the machine body tilt sensor S4 is configured to detect the tilt of the upper swing body 3.
  • the body tilt sensor S4 is an acceleration sensor that detects the tilt of the upper swing body 3 with respect to the virtual horizontal plane.
  • Airframe tilt sensor S4 may be a combination of an acceleration sensor and a gyro sensor, or may be an inertial measurement unit or the like.
  • the machine body inclination sensor S4 detects, for example, an inclination angle (roll angle) around the front-rear axis of the upper swing body 3 and an inclination angle (pitch angle) around the left-right axis.
  • the front and rear axes and the left and right axes of the upper swing body 3 are orthogonal to each other at a shovel center point that is one point on the swing axis of the shovel 100.
  • the imaging device S6 is configured to acquire an image around the excavator 100.
  • the imaging device S6 includes a front camera S6F that images the space in front of the excavator 100, a left camera S6L that images the left space of the excavator 100, and a right camera S6R that images the right space of the excavator 100. And a rear camera S6B that images the space behind the excavator 100.
  • the imaging device S6 is a monocular camera having, for example, an image sensor such as a CCD or a CMOS, and outputs a captured image to the display device 40.
  • the imaging device S6 may be configured to function as the space recognition device S7.
  • the space recognition device S7 is configured to detect an object existing in the three-dimensional space around the excavator 100.
  • the object is, for example, at least one of a person, an animal, an excavator, a machine, a building, and the like.
  • the space recognition device S7 may be configured to calculate the distance between the space recognition device S7 or the excavator 100 and the object detected by the space recognition device S7.
  • the space recognition device S7 may be an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, an infrared sensor, or the like.
  • the front camera S6F is attached to the ceiling of the cabin 10, that is, the interior of the cabin 10, for example. However, the front camera S6F may be attached to the roof of the cabin 10, that is, outside the cabin 10.
  • the left camera S6L is attached to the upper left end of the upper swing body 3
  • the right camera S6R is attached to the upper right end of the upper swing body 3
  • the rear camera S6B is attached to the upper rear end of the upper swing body 3. .
  • the communication device T1 is configured to control communication with an external device outside the excavator 100.
  • the communication device T1 controls communication with an external device via at least one of a satellite communication network, a mobile phone communication network, a short-range wireless communication network, an Internet network, and the like.
  • the positioning device P1 is configured to measure the position of the upper swing body 3.
  • the positioning device P1 may be configured to measure the orientation of the upper swing body 3.
  • the positioning device P1 is, for example, a GNSS compass, detects the position and orientation of the upper swing body 3, and outputs the detected value to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device that detects the orientation of the upper swing body 3.
  • the direction detection device may be an orientation sensor attached to the upper swing body 3. Further, the position and orientation of the upper swing body 3 may be configured to be measured by the swing angular velocity sensor S5.
  • the turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper turning body 3.
  • the turning angular velocity sensor S5 may be configured so that the turning angle of the upper turning body 3 can be detected or calculated.
  • the turning angular velocity sensor S5 is a gyro sensor.
  • the turning angular velocity sensor S5 may be a resolver, a rotary encoder, an inertial measurement unit, or the like.
  • FIG. 2 is a block diagram illustrating a configuration example of a basic system of the excavator 100, and shows a mechanical power transmission line, a hydraulic oil line, a pilot line, and an electric control line by a double line, a solid line, a broken line, and a dotted line, respectively. .
  • the basic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, a proportional valve 31, and a shuttle. Including a valve 32 and the like.
  • the engine 11 is a drive source of the excavator 100.
  • the engine 11 is a diesel engine that operates so as to maintain a predetermined rotational speed.
  • the output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.
  • the main pump 14 is configured to supply hydraulic oil to the control valve 17 via the hydraulic oil line.
  • the main pump 14 is a swash plate type variable displacement hydraulic pump.
  • the regulator 13 is configured to control the discharge amount of the main pump 14.
  • the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in accordance with a command from the controller 30.
  • the controller 30 receives outputs from the discharge pressure sensor 28, the operation pressure sensor 29, and the like, and outputs a command to the regulator 13 as necessary to change the discharge amount of the main pump 14.
  • the pilot pump 15 is configured to supply hydraulic oil to a hydraulic control device including the operation device 26 and the proportional valve 31 via a pilot line.
  • the pilot pump 15 is a fixed displacement hydraulic pump.
  • the pilot pump 15 may be omitted.
  • the function of the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 has a function of supplying hydraulic oil to the operating device 26 and the proportional valve 31 after reducing the pressure of the hydraulic oil by a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve 17. You may have.
  • the control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100.
  • the control valve 17 includes control valves 171 to 176.
  • the control valve 17 can selectively supply hydraulic oil discharged from the main pump 14 to one or a plurality of hydraulic actuators through the control valves 171 to 176.
  • the control valves 171 to 176 control the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank.
  • the hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 1L, a right traveling hydraulic motor 1R, and a turning hydraulic motor 2A.
  • the turning hydraulic motor 2A may be a turning motor generator as an electric actuator.
  • the operating device 26 is a device used by an operator for operating the actuator.
  • the actuator includes at least one of a hydraulic actuator and an electric actuator.
  • the operating device 26 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line.
  • the pressure of the hydraulic oil (pilot pressure) supplied to each pilot port is, in principle, a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each of the hydraulic actuators.
  • At least one of the operation devices 26 is configured to be able to supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line and the shuttle valve 32. ing.
  • the discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.
  • the operation pressure sensor 29 is configured to detect the operation content of the operator using the operation device 26.
  • 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, and outputs the detected value to the controller 30 as operation data.
  • the operation content of the operation device 26 may be detected using a sensor other than the operation pressure sensor.
  • the proportional valve 31 is arranged in a pipe line connecting the pilot pump 15 and the shuttle valve 32, and is configured so that the flow area of the pipe line can be changed.
  • the proportional valve 31 is an electromagnetic valve that operates according to a command output from the controller 30.
  • the proportional valve 31 functions as a machine control valve. Therefore, the controller 30 controls the pilot oil of the corresponding control valve in the control valve 17 through the proportional valve 31 and the shuttle valve 32 via the proportional valve 31 and the shuttle valve 32, regardless of the operation of the operating device 26 by the operator. Can be supplied to the port.
  • the shuttle valve 32 is configured to have two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the control valve 17. Therefore, the shuttle valve 32 can cause the higher one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.
  • the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26 even when the operation to the specific operation device 26 is not performed.
  • the machine guidance device 50 is configured to execute a machine guidance function, for example.
  • the machine guidance device 50 notifies the operator of work information such as the distance between the target construction surface and the work site of the attachment.
  • Data relating to the target construction surface is stored in advance in the storage device 47, for example.
  • the data regarding a target construction surface are expressed by the standard coordinate system, for example.
  • the reference coordinate system is, for example, a world geodetic system. The operator may set an arbitrary point on the construction site as a reference point and set the target construction surface based on the relative positional relationship between each point on the target construction surface and the reference point.
  • the work site of the attachment is, for example, the toe of the bucket 6 or the back surface of the bucket 6.
  • the machine guidance device 50 guides the operation of the excavator 100 by transmitting work information to the operator via at least one of the display device 40 and the sound output device 43.
  • the machine guidance device 50 may execute a machine control function that automatically supports manual operation of the excavator 100 by the operator.
  • the machine guidance device 50 has the boom 4 and the arm 5 so that the distance between the target construction surface and the tip position of the bucket 6 is maintained at a predetermined value when the operator manually performs the excavation operation. And at least one of the buckets 6 may be automatically operated.
  • the machine guidance device 50 is incorporated in the controller 30, but may be a control device provided separately from the controller 30.
  • the machine guidance device 50 is configured by a computer including a CPU, a RAM, a ROM, and the like, for example, like the controller 30.
  • Each function provided by the machine guidance device 50 is realized by the CPU executing a program stored in the ROM or the like.
  • the machine guidance device 50 and the controller 30 are communicably connected to each other through a communication network such as CAN.
  • the machine guidance device 50 includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a turning angular velocity sensor S5, an imaging device S6, a positioning device P1, a communication device T1, and an input device.
  • Information is acquired from at least one of 42 and the like.
  • the machine guidance apparatus 50 calculates the distance between the bucket 6 and a target construction surface based on the acquired information, for example, and the bucket 6 and the target construction surface are obtained by at least one of sound and light (image display). The distance between the two is communicated to the operator of the excavator 100.
  • the machine guidance device 50 includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, and an automatic control unit 54 in order to be able to execute a machine control function that automatically supports manual operation.
  • the position calculation unit 51 is configured to calculate a target position.
  • the position calculation unit 51 calculates the coordinate point in the reference coordinate system of the work part of the attachment. Specifically, the position calculation unit 51 calculates the coordinate point of the toe of the bucket 6 from the rotation angles of the boom 4, the arm 5, and the bucket 6.
  • the position calculation unit 51 may calculate not only the center coordinate point of the toe of the bucket 6 but also the left end coordinate point of the bucket 6 and the right end coordinate point of the bucket 6. In this case, the output of the body tilt sensor S4 may be used.
  • the distance calculation unit 52 is configured to calculate the distance between two objects. In the present embodiment, the distance calculation unit 52 calculates the vertical distance between the tip of the bucket 6 and the target construction surface. The distance calculation unit 52 determines whether or not the excavator 100 is directly facing the target construction surface, so that the machine guidance device 50 can determine between the coordinate points at the left end and the right end of the toe of the bucket 6 and the target construction surface. A distance (for example, a vertical distance) may be calculated.
  • the information transmission unit 53 is configured to transmit various information to the operator of the excavator 100.
  • the information transmission unit 53 transmits the magnitude of the distance calculated by the distance calculation unit 52 to the operator of the excavator 100.
  • the information transmission unit 53 transmits the magnitude of the vertical distance between the tip of the bucket 6 and the target construction surface to the operator of the excavator 100 using visual information and auditory information.
  • the information transmission part 53 may transmit the magnitude
  • the information transmission part 53 may shorten the interval of an intermittent sound, so that vertical distance becomes small.
  • the information transmission unit 53 may use a continuous sound, or may represent the difference in the vertical distance by changing the pitch or strength of the sound.
  • the information transmission unit 53 may issue an alarm when the tip of the bucket 6 is at a position lower than the target construction surface.
  • the alarm is, for example, a continuous sound that is significantly larger than the intermittent sound.
  • the information transmission unit 53 may display the magnitude of the vertical distance between the tip of the bucket 6 and the target construction surface on the display device 40 as work information.
  • the display device 40 displays the work information received from the information transmission unit 53 together with the image data received from the imaging device S6 on the screen.
  • the information transmission part 53 may transmit the magnitude
  • the automatic control unit 54 is configured to automatically support the manual operation of the excavator 100 by the operator by automatically operating the actuator. For example, when the operator manually performs an arm closing operation, the automatic control unit 54 controls the boom cylinder 7 and the arm so that the distance between the target construction surface and the toe of the bucket 6 is maintained at a predetermined value. At least one of the cylinder 8 and the bucket cylinder 9 may be automatically expanded and contracted. In this case, for example, the operator can close the arm 5 while maintaining the distance between the target construction surface and the tip of the bucket 6 only by operating the arm operation lever in the closing direction.
  • Such automatic control may be configured to be executed when a predetermined switch that is one of the input devices 42 is pressed.
  • the automatic control unit 54 may switch the operation mode of the excavator 100 from the manual control mode to the automatic control mode when a predetermined switch is pressed.
  • the manual control mode means an operation mode in which manual control is executed
  • the automatic control mode means an operation mode in which automatic control is executed.
  • the predetermined switch is, for example, a machine control switch (hereinafter, referred to as “MC switch 42A”), and may be disposed as a push button switch in the grip portion of the operation lever.
  • MC switch 42A machine control switch
  • the operator may switch the operation mode of the excavator 100 from the automatic control mode to the manual control mode by pressing the MC switch 42A once more, and a machine control stop switch (a switch different from the MC switch 42A).
  • the operation mode of the excavator 100 may be switched from the automatic control mode to the manual control mode by pressing the “MC stop switch 42B”.
  • the MC stop switch 42B may be disposed adjacent to the MC switch 42A, or may be disposed on a grip portion of another operation lever. Alternatively, the MC stop switch 42B may be omitted.
  • such automatic control may be configured to be executed when the MC switch 42A is pressed.
  • the operator simply operates the arm operation lever in the arm closing direction while pressing the MC switch 42A in the grip portion of the arm operation lever, and sets the distance between the target construction surface and the toe of the bucket 6.
  • the arm 5 can be closed while maintaining. This is because the boom cylinder 7 and the bucket cylinder 9 automatically follow and move in response to the arm closing operation by the arm cylinder 8. Further, the operator can stop the automatic control only by releasing the finger from the MC switch 42A.
  • automated excavation control which is one of the automatic controls (machine control function).
  • the automatic control unit 54 may automatically rotate the turning hydraulic motor 2A so that the upper turning body 3 faces the target construction surface when a predetermined switch such as the MC switch 42A is pressed.
  • a predetermined switch such as the MC switch 42A
  • the operator can make the upper swing body 3 directly face the target construction surface simply by pressing a predetermined switch or simply operating the swing operation lever while pressing the predetermined switch.
  • the operator can automatically control the state of the excavator 100 by simply pressing a predetermined switch so that the upper swing body 3 faces the target construction surface and the machine control function is started. It can be in a state.
  • automated control which is one of automatic controls (machine control function).
  • the machine guidance device 50 for example, the left end vertical distance between the coordinate point of the left end of the toe of the bucket 6 and the target construction surface, the coordinate point of the right end of the toe of the bucket 6 and the target construction surface, It is determined that the excavator 100 is directly facing the target construction surface when the vertical distance between the right ends becomes equal.
  • the machine guidance device 50 is not the case where the left end vertical distance and the right end vertical distance are equal, that is, the case where the difference between the left end vertical distance and the right end vertical distance is zero, and the difference is equal to or less than a predetermined value. When it becomes, you may determine with the shovel 100 facing the target construction surface.
  • the automatic control unit 54 may be configured to automatically perform boom-up turning or boom-down turning when a predetermined switch such as the MC switch 42A is pressed.
  • a predetermined switch such as the MC switch 42A
  • the operator can start boom-up turning or boom-down turning only by pressing a predetermined switch, or by operating the turning operation lever while pressing the predetermined switch.
  • automated combined turning control which is one of automatic controls (machine control function).
  • the automatic control unit 54 can individually and automatically operate each actuator by individually and automatically adjusting the pilot pressure acting on the control valve corresponding to each actuator.
  • the automatic control unit 54 may operate the turning hydraulic motor 2A based on the difference between the left end vertical distance and the right end vertical distance. Specifically, when the turning operation lever is operated in a state where a predetermined switch is pressed, the automatic control unit 54 has operated the turning operation lever in a direction in which the upper turning body 3 faces the target construction surface. Determine whether or not. For example, when the turning operation lever is operated so as to turn the upper turning body 3 in the direction in which the vertical distance between the toe of the bucket 6 and the target construction surface (uphill slope) increases, the automatic control unit 54 Does not execute automatic facing control.
  • the automatic control unit 54 executes automatic facing control.
  • the turning hydraulic motor 2A can be operated so that the difference between the left end vertical distance and the right end vertical distance becomes small.
  • the automatic control unit 54 stops the turning hydraulic motor 2A.
  • the automatic control unit 54 sets a turning angle at which the difference is equal to or less than a predetermined value or zero as a target angle, and turns so that the angle difference between the target angle and the current turning angle (detected value) becomes zero.
  • Angle control may be performed.
  • the turning angle is, for example, the angle of the longitudinal axis of the upper turning body 3 with respect to a predetermined reference direction.
  • the automatic control unit 54 may be configured to stop automatic control when a predetermined condition is satisfied. “When the predetermined condition is satisfied” may include, for example, “when information regarding the movement of the excavator 100 shows a tendency different from normal”. Hereinafter, the function of stopping automatic control when a predetermined condition is satisfied is referred to as an “emergency stop function”.
  • “Information relating to the movement of the excavator 100” is, for example, “information relating to operation on the operation device 26”.
  • the automatic control unit 54 may be configured to determine that “the information regarding the movement of the excavator 100 shows a tendency different from normal” when the operation device 26 is suddenly operated.
  • the “information related to the movement of the excavator 100” may be “information related to the operation on the turning operation lever mounted on the upper turning body 3”. In this case, the automatic control unit 54, for example, when the operation of turning the upper swing body 3 in the direction opposite to the turning executed by the automatic facing control or automatic combined turning control as automatic control is performed.
  • You may be comprised so that it may determine with "the information regarding the motion of the shovel 100 shows the tendency different from usual.” And when it determines with "the information regarding the motion of the shovel 100 shows the tendency different from usual", the automatic control part 54 may be comprised so that automatic control may be stopped.
  • “When the predetermined condition is satisfied” may include, for example, “when the instability of the excavator 100 is increased” such as “when the inclination of the upper swing body 3 is in a predetermined state”. “When the inclination of the upper swing body 3 is in a predetermined state”, for example, “when the pitch angle of the upper swing body 3 is a predetermined angle”, “absolute value of the change rate (change rate) of the pitch angle” And “when the amount of change in pitch angle is equal to or greater than a predetermined value”. The same applies to the roll angle.
  • the automatic control unit 54 may be configured to stop the automatic control based on the output of the body tilt sensor S4.
  • the automatic control unit 54 stops the automatic control and detects the operation of the excavator 100 when it detects that the pitch angle of the upper-part turning body 3 has reached a predetermined angle based on the output of the body tilt sensor S4.
  • the mode may be switched from the automatic control mode to the manual control mode.
  • “when the predetermined condition is satisfied” may include, for example, “when the emergency stop switch 48 that is a foot switch installed under the operator's foot is depressed”.
  • FIG. 3 shows a configuration example of a hydraulic system mounted on the excavator 100 of FIG.
  • FIG. 3 shows the mechanical power transmission line, the hydraulic oil line, the pilot line, and the electric control line by double lines, solid lines, broken lines, and dotted lines, respectively, as in FIG.
  • the hydraulic system circulates hydraulic oil from the left main pump 14L driven by the engine 11 to the hydraulic oil tank via the left center bypass conduit 40L or the left parallel conduit 42L, and the right main driven by the engine 11
  • the working oil is circulated from the pump 14R to the working oil tank through the right center bypass pipe 40R or the right parallel pipe 42R.
  • the left main pump 14L and the right main pump 14R correspond to the main pump 14 in FIG.
  • the left center bypass conduit 40L is a hydraulic oil line that passes through the control valves 171, 173, 175L, and 176L disposed in the control valve 17.
  • the right center bypass conduit 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R disposed in the control valve 17.
  • the control valves 175L and 175R correspond to the control valve 175 in FIG.
  • Control valves 176L and 176R correspond to control valve 176 in FIG.
  • the control valve 171 supplies hydraulic oil discharged from the left main pump 14L to the left traveling hydraulic motor 1L, and discharges the hydraulic oil discharged from the left traveling hydraulic motor 1L to the hydraulic oil tank. It is a spool valve that switches the flow.
  • the control valve 172 supplies the hydraulic oil discharged from the right main pump 14R to the right traveling hydraulic motor 1R, and discharges the hydraulic oil discharged from the right traveling hydraulic motor 1R to the hydraulic oil tank. It is a spool valve that switches the flow.
  • the control valve 173 supplies the hydraulic oil discharged from the left main pump 14L to the turning hydraulic motor 2A, and flows the hydraulic oil to discharge the hydraulic oil discharged from the turning hydraulic motor 2A to the hydraulic oil tank.
  • This is a spool valve for switching.
  • the control valve 174 is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic oil in order to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank. .
  • the control valve 175L is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the left main pump 14L to the boom cylinder 7.
  • the control valve 175R is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and switches the flow of the hydraulic oil in order to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank. .
  • the control valve 176L is a spool valve that supplies the hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and switches the flow of the hydraulic oil in order to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. .
  • the control valve 176R is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and switches the flow of the hydraulic oil in order to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. .
  • the left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L.
  • the left parallel pipe line 42L can supply hydraulic oil to the control valve further downstream when the flow of the hydraulic oil passing through the left center bypass pipe line 40L is restricted or blocked by any of the control valves 171, 173, 175L.
  • the right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R.
  • the right parallel pipe line 42R can supply hydraulic oil to the control valve downstream when the flow of the hydraulic oil passing through the right center bypass pipe line 40R is restricted or cut off by any of the control valves 172, 174, 175R. .
  • the left regulator 13L is configured to control the discharge amount of the left main pump 14L.
  • the left regulator 13L controls the discharge amount of the left main pump 14L, for example, by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L.
  • the right regulator 13R is configured to control the discharge amount of the right main pump 14R.
  • the right regulator 13R controls the discharge amount of the right main pump 14R, for example, by adjusting the swash plate tilt angle of the right main pump 14R according to the discharge pressure of the right main pump 14R.
  • the left regulator 13L and the right regulator 13R correspond to the regulator 13 in FIG.
  • the left regulator 13L for example, adjusts the swash plate tilt angle of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L and decreases the discharge amount.
  • the left discharge pressure sensor 28L is an example of the discharge pressure sensor 28, detects the discharge pressure of the left main pump 14L, and outputs the detected value to the controller 30. The same applies to the right discharge pressure sensor 28R.
  • a left throttle 18L is disposed between the control valve 176L located at the most downstream side and the hydraulic oil tank.
  • the flow of hydraulic oil discharged from the left main pump 14L is limited by the left throttle 18L.
  • the left diaphragm 18L generates a control pressure for controlling the left regulator 13L.
  • the left control pressure sensor 19L is a sensor for detecting the control pressure, and outputs the detected value to the controller 30.
  • a right restrictor 18R is disposed between the control valve 176R located on the most downstream side and the hydraulic oil tank. The flow of hydraulic oil discharged from the right main pump 14R is restricted by the right throttle 18R.
  • the right diaphragm 18R generates a control pressure for controlling the right regulator 13R.
  • the right control pressure sensor 19R is a sensor for detecting the control pressure, and outputs the detected value to the controller 30.
  • Controller 30 controls the discharge amount of left main pump 14L by adjusting the swash plate tilt angle of left main pump 14L according to the control pressure.
  • the controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases.
  • the discharge amount of the right main pump 14R is similarly controlled.
  • the hydraulic oil discharged from the left main pump 14L passes through the left center bypass conduit 40L.
  • the left diaphragm reaches 18L.
  • the flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L.
  • the controller 30 reduces the discharge amount of the left main pump 14L to the allowable minimum discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass conduit 40L.
  • the hydraulic oil discharged from the left main pump 14L flows into the operation target hydraulic actuator via the control valve corresponding to the operation target hydraulic actuator.
  • the flow of the hydraulic oil discharged from the left main pump 14L reduces or disappears the amount reaching the left throttle 18L, and lowers the control pressure generated upstream of the left throttle 18L.
  • the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic oil to the operation target hydraulic actuator, and ensures the operation of the operation target hydraulic actuator. The same applies to the hydraulic oil discharged from the right main pump 14R.
  • the hydraulic system of FIG. 3 can suppress wasteful energy consumption in each of the left main pump 14L and the right main pump 14R in the standby state.
  • Wasteful energy consumption includes pumping loss caused by hydraulic oil discharged from the left main pump 14L in the left center bypass pipeline 40L, and pumping generated by hydraulic oil discharged from the right main pump 14R in the right center bypass pipeline 40R. Includes loss.
  • the hydraulic system of FIG. 3 can supply necessary and sufficient hydraulic oil from each of the left main pump 14L and the right main pump 14R to the hydraulic actuator to be operated.
  • the boom operation lever 26 ⁇ / b> A is an example of the operation device 26 and is used for operating the boom 4.
  • the boom operation lever 26A uses the hydraulic oil discharged from the pilot pump 15 and applies a pilot pressure corresponding to the operation content to the pilot ports of the control valves 175L and 175R. Specifically, when the boom operation lever 26A is operated in the boom raising direction, the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. In addition, when the boom operation lever 26A is operated in the boom lowering direction, the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175R.
  • the operation pressure sensor 29A is an example of the operation pressure sensor 29, detects the operation content of the operator with respect to the boom operation lever 26A in the form of pressure, and outputs the detected value to the controller 30.
  • the operation content includes, for example, an operation direction and an operation amount (operation angle).
  • the proportional valves 31AL and 31AR constitute a boom proportional valve 31A which is an example of the proportional valve 31, and the shuttle valves 32AL and 32AR constitute a boom shuttle valve 32A which is an example of the shuttle valve 32.
  • the proportional valve 31AL operates in accordance with a current command adjusted by the controller 30.
  • the controller 30 adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL and the shuttle valve 32AL.
  • the proportional valve 31AR operates in accordance with a current command adjusted by the controller 30.
  • the controller 30 adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32AR.
  • the proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at arbitrary valve positions.
  • the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to flow through the proportional valve 31AL and the shuttle valve 32AL during the automatic excavation control regardless of the boom raising operation by the operator via the control valve 175L.
  • the right pilot port and the left pilot port of the control valve 175R can be supplied. That is, the controller 30 can raise the boom 4 automatically.
  • the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32AR regardless of the boom lowering operation by the operator. That is, the controller 30 can automatically lower the boom 4.
  • the arm operation lever 26B is an example of the operation device 26, and is used to operate the arm 5.
  • the arm operation lever 26B uses the hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation content to the pilot ports of the control valves 176L and 176R. Specifically, when the arm operation lever 26B is operated in the arm opening direction, the pilot pressure corresponding to the operation amount is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. Further, when operated in the arm closing direction, the arm operation lever 26B applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.
  • the operation pressure sensor 29B is an example of the operation pressure sensor 29, detects the operation content of the operator with respect to the arm operation lever 26B in the form of pressure, and outputs the detected value to the controller 30.
  • the proportional valves 31BL and 31BR constitute an arm proportional valve 31B which is an example of the proportional valve 31, and the shuttle valves 32BL and 32BR constitute an arm shuttle valve 32B which is an example of the shuttle valve 32.
  • the proportional valve 31BL operates according to a current command adjusted by the controller 30.
  • the controller 30 adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31BL and the shuttle valve 32BL.
  • the proportional valve 31BR operates in accordance with a current command adjusted by the controller 30.
  • the controller 30 adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31BR and the shuttle valve 32BR.
  • the proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at arbitrary valve positions.
  • the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to flow through the proportional valve 31BL and the shuttle valve 32BL through the proportional valve 31BL and the shuttle valve 32BL regardless of the arm closing operation by the operator. Can be supplied to the left pilot port. That is, the controller 30 can automatically close the arm 5.
  • the controller 30 also supplies the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right side of the control valve 176R via the proportional valve 31BR and the shuttle valve 32BR, regardless of the arm opening operation by the operator. Can be supplied to the pilot port. That is, the controller 30 can automatically open the arm 5.
  • the arm cylinder 8 and the boom cylinder 7 are automatically operated according to the operation amount of the arm operation lever 26B, so that the speed control or the position control of the work site is executed.
  • the excavator 100 has a configuration for automatically turning the upper swing body 3 to the left and right, a configuration for automatically opening and closing the bucket 6, and a function for automatically moving the lower traveling body 1 forward and backward.
  • You may have the structure of.
  • a hydraulic system part related to the swing hydraulic motor 2A, a hydraulic system part related to the operation of the bucket cylinder 9, a hydraulic system part related to the operation of the left traveling hydraulic motor 1L, and a hydraulic system part related to the operation of the right traveling hydraulic motor 1R. May be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7.
  • FIG. 4 is a block diagram showing an example of the relationship between the functional elements F1 to F6 related to the execution of automatic control in the controller 30.
  • the controller 30 includes functional elements F1 to F6 related to execution of automatic control.
  • the functional element may be configured by software, may be configured by hardware, or may be configured by a combination of software and hardware.
  • the functional element F1 is configured to analyze an operation tendency that is a manual operation tendency by the operator.
  • the functional element F1 analyzes the operation tendency based on the operation data output from the operation pressure sensor 29, and outputs the analysis result together with the operation data.
  • the operation tendency includes, for example, an operation tendency to bring the toe of the bucket 6 linearly closer to the machine body, an operation tendency to move the toe of the bucket 6 linearly away from the machine body, an operation tendency to raise the toe of the bucket 6 linearly, and the bucket The operation tendency etc. which lower the 6 toes linearly are included. Then, the functional element F1 outputs which operation tendency the current operation tendency matches as an analysis result.
  • the functional element F2 is configured to generate a target trajectory.
  • the functional element F2 refers to the design data stored in the storage device 47, and generates a trajectory that the toe of the bucket 6 should follow during the slope finishing operation.
  • the functional element F3 is configured so that the operation mode of the excavator 100 can be switched.
  • the functional element F3 when the functional element F3 receives the ON command from the MC switch 42A, the functional element F3 switches the operation mode of the excavator 100 from the manual control mode to the automatic control mode, and receives the OFF command from the MC stop switch 42B.
  • the operation mode of the excavator 100 is switched from the automatic control mode to the manual control mode.
  • the function element F3 may switch the operation mode of the excavator 100 from the automatic control mode to the manual control mode based on the analysis result of the operation tendency that is the output of the function element F1. For example, when the function element F3 determines that “information regarding the movement of the shovel 100 shows a tendency different from normal” as described above based on the analysis result of the operation tendency that is the output of the function element F1, the shovel The 100 operation modes may be switched from the automatic control mode to the manual control mode.
  • the operation data that is the output of the function element F1 and the analysis result of the operation tendency are supplied to the function element F5.
  • the operation data in the output of the functional element F1 is supplied to the functional element F6.
  • the functional element F4 is configured to calculate the current toe position.
  • the functional element F4 is based on the boom angle ⁇ detected by the boom angle sensor S1, the arm angle ⁇ detected by the arm angle sensor S2, and the bucket angle ⁇ detected by the bucket angle sensor S3.
  • the coordinate point of the toe is calculated as the current toe position.
  • the functional element F4 may use the output of the body tilt sensor S4 when calculating the current toe position.
  • the functional element F5 is configured to calculate the next toe position when the automatic control mode is selected.
  • the function element F5 includes the analysis result of the operation data and the operation tendency output by the function element F1, the target trajectory generated by the function element F2, and the function element F4 when the automatic control mode is selected.
  • the toe position after a predetermined time is calculated as the target toe position based on the current toe position calculated by.
  • the functional element F6 is configured to calculate a command value for operating the actuator.
  • the functional element F6 uses the boom command value ⁇ based on the target toe position calculated by the functional element F5 in order to move the current toe position to the target toe position. At least one of * , arm command value ⁇ * , and bucket command value ⁇ * is calculated.
  • the functional element F6 has a boom command value ⁇ * , an arm command value ⁇ * , and a bucket based on the operation data in order to realize the movement of the actuator according to the operation data. At least one of the command values ⁇ * is calculated.
  • the functional element F6 calculates the boom command value ⁇ * as necessary even when the boom operation lever 26A is not operated. This is for automatically operating the boom 4. The same applies to the arm 5 and the bucket 6.
  • the functional element F6 does not calculate the boom command value ⁇ * when the boom operation lever 26A is not operated. This is because in the manual control mode, the boom 4 is not operated unless the boom operation lever 26A is operated. The same applies to the arm 5 and the bucket 6.
  • FIG. 5 is a block diagram illustrating a configuration example of the functional element F6 that calculates various command values.
  • the controller 30 further includes functional elements F11 to F13, F21 to F23, and F31 to F33 related to generation of command values.
  • the functional element may be configured by software, may be configured by hardware, or may be configured by a combination of software and hardware.
  • the functional elements F11 to F13 are functional elements related to the boom command value ⁇ *
  • the functional elements F21 to F23 are functional elements related to the arm command value ⁇ *
  • the functional elements F31 to F33 are functions related to the bucket command value ⁇ *. Is an element.
  • Functional elements F11, F21 and F31 are configured to generate a current command output to the proportional valve 31.
  • the functional element F11 outputs a boom current command to the boom proportional valve 31A (see FIG. 3)
  • the functional element F21 outputs an arm current to the arm proportional valve 31B (see FIG. 3).
  • the function element F31 outputs a bucket current command to the bucket proportional valve 31C.
  • the functional elements F12, F22 and F32 are configured to calculate the displacement amount of the spool constituting the spool valve.
  • the functional element F12 calculates the displacement amount of the boom spool that constitutes the control valve 175 related to the boom cylinder 7 based on the output of the boom spool displacement sensor S11.
  • the functional element F22 calculates the displacement amount of the arm spool constituting the control valve 176 related to the arm cylinder 8 based on the output of the arm spool displacement sensor S12.
  • the functional element F23 calculates the displacement amount of the bucket spool constituting the control valve 174 related to the bucket cylinder 9 based on the output of the bucket spool displacement sensor S13.
  • Functional elements F13, F23, and F33 are configured to calculate the rotation angle of the work body.
  • the functional element F13 calculates the boom angle ⁇ based on the output of the boom angle sensor S1.
  • the functional element F23 calculates the arm angle ⁇ based on the output of the arm angle sensor S2.
  • the functional element F33 calculates the bucket angle ⁇ based on the output of the bucket angle sensor S3.
  • the functional element F11 basically has a function for the boom proportional valve 31A so that the difference between the boom command value ⁇ * generated by the functional element F6 and the boom angle ⁇ calculated by the functional element F13 is zero. A boom current command is generated. At that time, the functional element F11 adjusts the boom current command so that the difference between the target boom spool displacement amount derived from the boom current command and the boom spool displacement amount calculated by the functional element F12 becomes zero. Then, the functional element F11 outputs the adjusted boom current command to the boom proportional valve 31A.
  • the boom proportional valve 31A changes the opening area according to the boom current command, and causes the pilot pressure corresponding to the magnitude of the boom command current to act on the pilot port of the control valve 175.
  • the control valve 175 moves the boom spool according to the pilot pressure, and causes the hydraulic oil to flow into the boom cylinder 7.
  • the boom spool displacement sensor S11 detects the displacement of the boom spool and feeds back the detection result to the functional element F12 of the controller 30.
  • the boom cylinder 7 expands and contracts in response to the inflow of hydraulic oil, and moves the boom 4 up and down.
  • the boom angle sensor S1 detects the rotation angle of the boom 4 that moves up and down, and feeds back the detection result to the functional element F13 of the controller 30.
  • the functional element F13 feeds back the calculated boom angle ⁇ to the functional element F4.
  • the function element F21 basically generates an arm current command for the arm proportional valve 31B so that the difference between the arm command value ⁇ * generated by the function element F6 and the arm angle ⁇ calculated by the function element F23 becomes zero. To do. At that time, the functional element F21 adjusts the arm current command so that the difference between the target arm spool displacement amount derived from the arm current command and the arm spool displacement amount calculated by the functional element F22 becomes zero. Then, the functional element F21 outputs the adjusted arm current command to the arm proportional valve 31B.
  • the arm proportional valve 31B changes the opening area in accordance with the arm current command, and causes the pilot pressure corresponding to the magnitude of the arm command current to act on the pilot port of the control valve 176.
  • the control valve 176 moves the arm spool according to the pilot pressure and causes the hydraulic oil to flow into the arm cylinder 8.
  • the arm spool displacement sensor S12 detects the displacement of the arm spool and feeds back the detection result to the functional element F22 of the controller 30.
  • the arm cylinder 8 expands and contracts according to the inflow of hydraulic oil, and opens and closes the arm 5.
  • the arm angle sensor S2 detects the rotation angle of the arm 5 to be opened and closed, and feeds back the detection result to the functional element F23 of the controller 30.
  • the functional element F23 feeds back the calculated arm angle ⁇ to the functional element F4.
  • the functional element F31 basically has a bucket current for the bucket proportional valve 31C so that the difference between the bucket command value ⁇ * generated by the functional element F6 and the bucket angle ⁇ calculated by the functional element F33 becomes zero. Generate directives. At that time, the functional element F31 adjusts the bucket current command so that the difference between the target bucket spool displacement amount derived from the bucket current command and the bucket spool displacement amount calculated by the functional element F32 becomes zero. Then, the functional element F31 outputs the adjusted bucket current command to the bucket proportional valve 31C.
  • the bucket proportional valve 31C changes the opening area in accordance with the bucket current command, and causes the pilot pressure corresponding to the magnitude of the bucket command current to act on the pilot port of the control valve 174.
  • the control valve 174 moves the bucket spool according to the pilot pressure, and causes the hydraulic oil to flow into the bucket cylinder 9.
  • the bucket spool displacement sensor S13 detects the displacement of the bucket spool and feeds back the detection result to the functional element F32 of the controller 30.
  • the bucket cylinder 9 expands and contracts according to the inflow of hydraulic oil, and opens and closes the bucket 6.
  • the bucket angle sensor S3 detects the rotation angle of the bucket 6 that opens and closes, and feeds back the detection result to the functional element F33 of the controller 30.
  • the functional element F33 feeds back the calculated bucket angle ⁇ to the functional element F4.
  • the controller 30 constitutes a three-stage feedback loop for each work body. That is, the controller 30 constitutes a feedback loop related to the spool displacement amount, a feedback loop related to the rotation angle of the work body, and a feedback loop related to the toe position. Therefore, the controller 30 can control the movement of the toe of the bucket 6 with high accuracy during automatic control.
  • FIGS. 6 to 9 relate to the movement of the excavator 100 when the portion LP (see FIG. 7) of the ground supporting the excavator 100 during the slope finishing operation collapses.
  • the operator reflexes the arm to prevent the excavator 100 from overturning.
  • This relates to the movement of the excavator 100 when the opening operation is performed. The operator intends to stop the forward tilt of the shovel 100 by opening the arm 5 to bring the bucket 6 into contact with the slope.
  • FIG. 6 is a diagram illustrating a state of the hydraulic system when an arm opening operation is performed during automatic excavation control in the excavator 100 that is set so that the emergency stop function does not operate.
  • FIG. 7 is a diagram illustrating the movement of the excavation attachment when the arm opening operation is performed during automatic excavation control in the excavator 100 in which the emergency stop function is set not to operate, and corresponds to FIG.
  • the controller 30 detects that the arm operation lever 26B is operated in the arm opening direction based on the output of the operation pressure sensor 29B. As the shovel 100 tilts forward, the tip of the bucket 6 approaches the target construction surface. For this reason, the controller 30 performs a boom raising operation in order to suppress the toes of the bucket 6 from moving downward relative to the target construction surface. Specifically, the controller 30 outputs a control command to the proportional valve 31AL and applies a predetermined pilot pressure to each of the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. This is because the boom cylinder 7 is extended in accordance with the opening of the arm 5 to raise the boom 4.
  • the boom 4 is raised against the operator's intention as indicated by an arrow AR2 in FIG. Then, as shown in FIG. 7, the vertical distance between the tip of the bucket 6 and the target construction surface TS is maintained at the value D1 against the operator's intention. That is, the operator cannot support the shovel 100 by bringing the bucket 6 into contact with the slope. As a result, the excavator 100 is further tilted forward as indicated by an arrow AR3 in FIG.
  • FIG. 8 is a diagram illustrating a state of the hydraulic system when an arm opening operation is performed during automatic excavation control in the excavator 100 that is set to operate the emergency stop function, and corresponds to FIG. 3.
  • FIG. 9 is a diagram illustrating the movement of the excavation attachment when the arm opening operation is performed during the automatic excavation control in the excavator 100 configured to operate the emergency stop function, and corresponds to FIG.
  • the controller 30 detects that the arm operation lever 26B is operated in the arm opening direction based on the output of the operation pressure sensor 29B. Then, the controller 30 determines whether or not a predetermined condition for stopping the automatic control is satisfied. For example, the controller 30 determines that the predetermined condition is satisfied when the operation speed of the arm operation lever 26B in the arm opening direction exceeds a predetermined speed. When it is determined that the predetermined condition is satisfied, the controller 30 stops the automatic control. Thus, the controller 30 can switch the operation mode of the excavator 100 from the automatic control mode to the manual control mode even during automatic control.
  • the controller 30 When the automatic control is stopped, the controller 30 does not output a control command to the proportional valve 31AL, unlike the case where the emergency stop function does not operate. Therefore, a predetermined pilot pressure is not applied to each of the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. That is, the boom cylinder 7 is not extended according to the opening of the arm 5, and the boom 4 is not raised. That is, the boom 4 does not rise against the operator's intention as shown in FIG. As a result, the vertical distance between the toe of the bucket 6 and the target construction surface TS is shortened as the arm 5 opens in a form that conforms to the operator's intention, and becomes zero when the arm angle reaches a certain angle. That is, as shown in FIG. 9, the operator can bring the tip of the bucket 6 into contact with the slope and stop further shoveling of the shovel 100.
  • FIGS. 10 and 11 relate to the movement of the shovel 100 when the portion LP of the ground supporting the shovel 100 during the slope finishing operation by the arm closing operation collapses. Specifically, when a part of the ground LP below the front end of the lower traveling body 1 collapses and the excavator 100 tilts forward, the operator reflexes the boom to prevent the excavator 100 from overturning. This relates to the movement of the excavator 100 when the lowering operation is performed. The operator intends to stop the shovel 100 from being tilted forward by lowering the boom 4 to bring the bucket 6 into contact with the slope.
  • FIG. 10 shows the state of the hydraulic system when a boom lowering operation is performed during automatic excavation control in the excavator 100 that is set to operate the emergency stop function.
  • FIG. 11 shows the movement of the excavation attachment when the boom lowering operation is performed during the automatic excavation control in the excavator 100 set to operate the emergency stop function.
  • the controller 30 determines whether or not a predetermined condition for stopping the automatic control is satisfied. For example, the controller 30 determines that the predetermined condition is satisfied when the operation speed of the boom operation lever 26A in the boom lowering direction exceeds a predetermined speed. When it is determined that the predetermined condition is satisfied, the controller 30 stops the automatic control.
  • the distance between the toe of the bucket 6 and the target construction surface TS is shortened as the boom 4 is lowered in a form in line with the operator's intention, and becomes zero when the boom angle reaches a certain angle.
  • the operator can bring the tip of the bucket 6 into contact with the slope and stop further shoveling of the shovel 100.
  • the controller 30 stops the automatic control when the boom operation lever 26A or the arm operation lever 26B is suddenly operated.
  • the controller 30 may stop the automatic control when detecting that the pitch angle of the upper-part turning body 3 is equal to or greater than a predetermined angle based on the output of the body tilt sensor S4.
  • the controller 30 may stop the automatic control when an emergency stop switch 48 that is a foot switch installed under the operator's foot in the cabin 10 is depressed.
  • the controller 30 may stop the automatic control when the MC stop switch 42B is pressed. Even in these cases, for example, the operator can stop the forward tilt of the shovel 100 by bringing the bucket 6 into contact with the slope by opening the arm 5 or lowering the boom 4.
  • the excavator 100 includes the lower traveling body 1, the upper revolving body 3 that is turnably mounted on the lower traveling body 1, and the excavation attachment as an attachment attached to the upper revolving body 3. And a controller 30 mounted on the upper swing body 3 as a control device capable of executing automatic control. And the controller 30 is comprised so that automatic control may be stopped, when the information regarding the motion of the shovel 100 or the information regarding the state of a peripheral machine shows the tendency different from usual.
  • the case where the information regarding the movement of the excavator 100 shows a tendency different from the normal case corresponds to, for example, the case where the bucket 6 may not be pressed against the upward slope as intended by the operator.
  • the automatic control may be automatic excavation control, for example.
  • the automatic control may be, for example, control for moving the work site along the target trajectory. With this configuration, the excavator 100 can move so as to follow the operator's will even during automatic control.
  • the “information regarding the movement of the excavator 100” may be information regarding an operation on the operation device 26 mounted on the upper swing body 3, for example.
  • the controller 30 may be configured to determine that “the information regarding the movement of the excavator 100 shows a tendency different from normal” when the operation device 26 is suddenly operated. “When the operation device 26 is operated rapidly” includes, for example, a case where the operation amount per unit time of the arm operation lever as the operation device 26 exceeds a predetermined value. Note that the operation amount of the arm operation lever per unit time may be, for example, the tilt angle of the arm operation lever per unit time.
  • the automatic control may be, for example, automatic direct control or automatic combined turning control.
  • the “information regarding the movement of the excavator 100” may be information regarding an operation on the turning operation lever mounted on the upper turning body 3. In this case, when the operation of turning the upper turning body 3 in the direction opposite to the turning executed by the automatic control is performed, the controller 30 “the information regarding the movement of the excavator 100 tends to be different from usual. May be determined.
  • FIG. 12 is a block diagram showing another example of the relationship between the functional elements F1 to F6 related to the execution of automatic control in the controller 30, and corresponds to FIG.
  • FIG. 13 is a block diagram illustrating another configuration example of the functional element F6 for calculating various command values, and corresponds to FIG.
  • the functional element F2 generates a target trajectory based on the output of the space recognition device S7, the functional element F4 acquires a turning angle ⁇ , and the functional element F6 has a turning command value ⁇ * .
  • the other points are the same as the configuration of FIG. 13 differs from the configuration of FIG. 5 in that it includes functional elements related to automatic control of the turning hydraulic motor 2A, but is otherwise the same as the configuration of FIG. Therefore, below, description of a common part is abbreviate
  • the functional element F2 generates a trajectory to be followed by the tip of the bucket 6 based on the object data detected by the space recognition device S7 as a target trajectory.
  • the object data is information about an object existing around the excavator 100 such as the position and shape of the dump truck.
  • the functional element F4 calculates the coordinate point of the tip of the bucket 6 as the current tip position based on the boom angle ⁇ , the arm angle ⁇ , the bucket angle ⁇ , and the turning angle ⁇ calculated from the output of the turning angular velocity sensor S5. To do.
  • the functional element F4 may use the output of the body tilt sensor S4 when calculating the current toe position.
  • the functional element F6 When the automatic control mode is selected, the functional element F6 has a boom command value ⁇ * and an arm command value based on the target toe position calculated by the functional element F5 in order to move the current toe position to the target toe position. At least one of ⁇ * , bucket command value ⁇ * , and turning command value ⁇ * is calculated.
  • the functional elements F41 to F43 are functional elements related to the turning command value ⁇ * . Specifically, the functional element F41 outputs a turning current command to the turning proportional valve 31D.
  • the functional element F42 calculates the displacement amount of the turning spool that constitutes the control valve 173 related to the turning hydraulic motor 2A based on the output of the turning spool displacement sensor S14.
  • the functional element F43 calculates the turning angle ⁇ based on the output of the turning angular velocity sensor S5.
  • the functional element F41 basically has a swing current command for the swing proportional valve 31D so that the difference between the swing command value ⁇ * generated by the function element F6 and the swing angle ⁇ calculated by the function element F43 becomes zero. Is generated. At that time, the functional element F41 adjusts the swing current command so that the difference between the target swing spool displacement amount derived from the swing current command and the swing spool displacement amount calculated by the functional element F42 becomes zero. Then, the functional element F41 outputs the adjusted swing current command to the swing proportional valve 31D.
  • the swing proportional valve 31D changes the opening area according to the swing current command, and applies a pilot pressure corresponding to the magnitude of the swing command current to the pilot port of the control valve 173.
  • the control valve 173 moves the swing spool in accordance with the pilot pressure, and causes hydraulic oil to flow into the swing hydraulic motor 2A.
  • the swing spool displacement sensor S14 detects the displacement of the swing spool and feeds back the detection result to the functional element F42 of the controller 30.
  • the turning hydraulic motor 2A rotates in response to the inflow of hydraulic oil, and turns the upper turning body 3.
  • the turning angular velocity sensor S5 detects the turning angle of the turning upper turning body 3 and feeds back the detection result to the functional element F43 of the controller 30.
  • the functional element F43 feeds back the calculated turning angle ⁇ to the functional element F4.
  • the controller 30 in FIGS. 12 and 13 constitutes a three-stage feedback loop not only for the boom angle ⁇ , arm angle ⁇ , and bucket angle ⁇ , but also for the turning angle ⁇ . That is, the controller 30 constitutes a feedback loop related to the amount of displacement of the turning spool, a feedback loop related to the rotation angle of the upper turning body 3, and a feedback loop related to the toe position. Therefore, the controller 30 can control the movement of the toe of the bucket 6 with high accuracy during automatic control.
  • FIG. 14 is a top view of the work site.
  • FIG. 15 is a side view of the work site when the work site is viewed from the + Y side.
  • FIG. 15 omits the shovel 100 (excluding the bucket 6) for the sake of clarity.
  • the excavation attachment indicated by the solid line indicates the state of the excavation attachment when the excavation operation is completed
  • the excavation attachment indicated by the dotted line indicates the state of the excavation attachment when the turning operation is performed.
  • the excavation attachment indicated by the alternate long and short dash line indicates the state of the excavation attachment immediately before the soil removal operation is performed.
  • Point P11 indicates the center point of the back surface of the bucket 6 when the excavation operation is completed
  • point P12 indicates the center point of the back surface of the bucket 6 when the turning operation is performed
  • point P13 indicates the earth removal
  • the center point of the back surface of the bucket 6 just before operation is shown.
  • a thick broken line connecting the point P11, the point P12, and the point P13 indicates a trajectory through which the center point on the back surface of the bucket 6 passes.
  • the soil removal operation is an operation for dropping the earth and sand in the bucket 6 onto the loading platform of the dump truck DT.
  • the automatic control unit 54 moves the boom cylinder 7, so that the center point on the back surface of the bucket 6 moves along a predetermined trajectory.
  • At least one of the arm cylinder 8 and the bucket cylinder 9 is automatically expanded and contracted.
  • the predetermined trajectory is a target trajectory calculated based on information about the dump truck DT including, for example, the position and shape of the dump truck DT.
  • the information regarding the dump truck DT as the peripheral machine is acquired based on at least one output from the space recognition device S7 and the communication device T1, for example. In this case, the operator can move the center point on the back surface of the bucket 6 along a predetermined trajectory only by operating the turning operation lever.
  • the operator simply operates the turning operation lever, and prevents the contact between the excavation attachment and the dump truck DT, while holding the bucket 6 near the ground on the loading platform of the dump truck DT having the height Hd. Can be moved to. Alternatively, the operator can move the bucket 6 on the loading platform of the dump truck DT having a height Hd close to the ground while preventing the contact between the excavation attachment and the dump truck DT simply by operating the turning operation lever. Can be moved. Note that the trajectory used during the right turn (boom raising turn) may be the same as or different from the trajectory used during the left turn (boom lowering turn).
  • the emergency stop function related to automatic combined turning control will be described.
  • the operator can reflect the emergency stop function. Operates when turning left.
  • this emergency stop function is performed by the operator in a reflective manner to prevent contact between the excavator 100 and the dump truck DT. Operates when turning left. In this case, the operator intends to keep the bucket 6 away from the dump truck DT while maintaining the height of the bucket 6 by turning the upper turning body 3 turning rightward in the opposite direction to the left. Yes.
  • the automatic control unit 54 determines that “information regarding the movement of the excavator 100 shows a tendency different from normal”, and performs automatic combined turning control. Stop.
  • the automatic control unit 54 does not stop the center point on the back surface of the bucket 6 even when the turning operation lever is suddenly operated to the left. Is moved along a predetermined trajectory, and thus the height of the bucket 6 is reduced against the operator's intention.
  • the figure shown by cross hatching in FIG. 15 indicates the position of the bucket 6 whose height has been reduced. That is, FIG. 15 shows that the bucket 6 that was at the height of the graphic indicated by the dotted line descends to the height of the graphic indicated by cross-hatching.
  • the automatic control unit 54 determines that the center of the rear surface of the bucket 6 is centered when the turning operation lever is suddenly operated to the left.
  • the bucket 6 can be moved with the point deviating from the predetermined trajectory. For this reason, the automatic control unit 54 moves the bucket 6 to the left while maintaining the height of the bucket 6 according to the operator's intention without reducing the height of the bucket 6 against the operator's intention. Can be moved to.
  • the figure shown by hatching in FIG. 15 indicates the position of the bucket 6 that has been moved to the left while maintaining its height. That is, FIG. 15 shows that the bucket 6 that was at the height of the graphic indicated by the dotted line moves to the position of the graphic indicated by the hatching with the same height.
  • the controller 30 can prevent the excavation attachment from automatically moving against the intention of the operator. .
  • the controller 30 may be configured to detect that the dump truck DT starts to move (for example, starts to move backward) based on the output of the space recognition device S7. In this case, the controller 30 specifies which work is currently being executed based on the outputs of various sensors, and then registers the peripheral machines related to the work that are registered in advance for each work. Get information about normal status. Then, for example, if the controller 30 can identify that the work currently being performed is a loading work for loading earth and sand on the loading platform of the dump truck DT, the controller 30 can perform a normal operation of the dump truck DT that is a peripheral machine related to the loading work. Information indicating that the state is the stopped state is acquired. When the dump truck DT starts to move during the loading operation, the controller 30 can determine that the dump truck DT is in a state different from the normal state. Based on this determination result, the controller 30 can stop the automatic control.
  • the operation mode of the excavator 100 may have a stop mode separately from the manual control mode and the automatic control mode.
  • the controller 30 automatically detects when the dump truck DT starts to move.
  • the operation mode of the excavator 100 may be switched from the automatic control mode to the stop mode after the control is stopped.
  • the controller 30 sets the work site in the space between the point P11 indicating the center point on the back of the bucket 6 when the excavation operation is completed and the dump truck DT regardless of whether or not the operation device 26 is operated.
  • the movement may be stopped.
  • In order to prevent contact between the work site and the dump truck DT by waiting the work site until the dump truck DT stops, that is, forcibly stopping the movement of the work site until the dump truck DT stops. It is.
  • the controller 30 may switch the operation mode of the excavator 100 from the automatic control mode to the stop mode.
  • the operation mode of the excavator 100 may have an avoidance mode separately from the manual control mode and the automatic control mode.
  • the controller 30 detects that the dump truck DT has started to move during the loading operation, and the toe of the bucket 6 as the work site is in an area above the loading platform of the dump truck DT. If it exists, the operation mode of the excavator 100 may be switched from the automatic control mode to the avoidance mode. In the avoidance mode, the controller 30 automatically operates various hydraulic actuators regardless of whether or not the operation device 26 is operated, and thereby a point P11 indicating the center point on the back surface of the bucket 6 when the excavation operation is completed. The toe of the bucket 6 may be avoided in the space between the dump truck DT. Until the dump truck DT stops, the work site is forcibly moved from the area above the loading platform of the dump truck DT to the outside of the area to prevent contact between the work site and the dump truck DT. is there.
  • the controller 30 may switch the operation mode of the excavator 100 from the automatic control mode to the avoidance mode when detecting that the dump truck DT starts moving during the loading operation.
  • the excavator 100 may have a switch related to automatic control such as the MC switch 42A.
  • the controller 30 may be configured to execute automatic control when the switch is operated.
  • a hydraulic operation system including a hydraulic pilot circuit is disclosed.
  • the hydraulic oil supplied from the pilot pump 15 to the remote control valve 27A is controlled at a flow rate corresponding to the opening of the remote control valve 27A opened by tilting the boom operation lever 26A.
  • the hydraulic oil supplied from the pilot pump 15 to the remote control valve 27B is controlled at a flow rate corresponding to the opening degree of the remote control valve 27B opened by the tilting of the arm operation lever 26B.
  • an electric operation system having an electric operation lever may be adopted instead of the hydraulic operation system having such a hydraulic pilot circuit.
  • the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal.
  • An electromagnetic valve is disposed between the pilot pump 15 and the pilot port of each control valve.
  • the solenoid valve is configured to operate in response to an electrical signal from the controller 30.
  • the controller 30 can easily switch between the manual control mode and the automatic control mode.
  • the controller 30 switches the manual control mode to the automatic control mode, the plurality of control valves may be separately controlled according to an electric signal corresponding to the lever operation amount of one electric operation lever.
  • FIG. 16 shows a configuration example of the electric operation system.
  • the electric operation system of FIG. 16 is an example of a boom operation system.
  • the boom raising operation electromagnetic valve 60 and the boom lowering operation electromagnetic valve 62 are configured.
  • the electric operation system of FIG. 16 can be similarly applied to an arm operation system, a bucket operation system, and the like.
  • the pilot pressure actuated control valve 17 includes a control valve 175 for the boom cylinder 7 (see FIG. 2), a control valve 176 for the arm cylinder 8 (see FIG. 2), and a control valve 174 for the bucket cylinder 9 (FIG. 2). Etc.).
  • the electromagnetic valve 60 is configured so that the flow area of the pipe line connecting the pilot pump 15 and the pilot port of the control valve 175 can be adjusted.
  • the electromagnetic valve 62 is configured so that the flow area of a pipe line connecting the pilot pump 15 and the lower pilot port of the control valve 175 can be adjusted.
  • the controller 30 When manual operation is performed, the controller 30 generates a boom raising operation signal (electric signal) or a boom lowering operation signal (electric signal) according to an operation signal (electric signal) output from the operation signal generation unit of the boom operation lever 26A. Generate.
  • the operation signal output by the operation signal generation unit of the boom operation lever 26A is an electrical signal that changes according to the operation amount and operation direction of the boom operation lever 26A.
  • the controller 30 when the boom operation lever 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electric signal) corresponding to the lever operation amount to the electromagnetic valve 60.
  • the solenoid valve 60 adjusts the flow path area according to the boom raising operation signal (electrical signal), and controls the pilot pressure acting on the raising side pilot port of the control valve 175.
  • the controller 30 when the boom operation lever 26 ⁇ / b> A is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electric signal) corresponding to the lever operation amount to the electromagnetic valve 62.
  • the electromagnetic valve 62 adjusts the flow path area according to the boom lowering operation signal (electrical signal) and controls the pilot pressure acting on the lower pilot port of the control valve 175.
  • the controller 30 may, for example, use a boom raising operation signal (electric signal) or a boom operation signal (electric signal) or a response according to a correction operation signal (electric signal) instead of the operation signal output by the operation signal generation unit of the boom operation lever 26A.
  • a boom lowering operation signal (electric signal) is generated.
  • the correction operation signal may be an electric signal generated by the controller 30, or an electric signal generated by an external control device other than the controller 30.
  • FIG. 17 is a schematic diagram illustrating a configuration example of the excavator management system SYS.
  • the management system SYS is a system that manages the excavator 100.
  • the management system SYS is mainly composed of an excavator 100, a support device 200, and a management device 300.
  • the shovel 100, the support device 200, and the management device 300 constituting the management system SYS may each be one or more.
  • the management system SYS includes one excavator 100, one support device 200, and one management device 300.
  • the support device 200 is typically a mobile terminal device, and is, for example, a computer such as a notebook PC, a tablet PC, or a smartphone that is carried by an operator at the construction site.
  • the support device 200 may be a computer carried by the operator of the excavator 100.
  • the support device 200 may be a fixed terminal device.
  • the management device 300 is typically a fixed terminal device, for example, a server computer installed in a management center or the like outside the construction site.
  • the management device 300 may be a portable computer (for example, a portable terminal device such as a notebook PC, a tablet PC, or a smartphone).
  • At least one of the support device 200 and the management device 300 may include a monitor and an operation device for remote operation.
  • the operator operates the excavator 100 while using an operation device for remote operation.
  • the remote operation device is connected to the controller 30 through a communication network such as a wireless communication network.
  • the controller 30 of the excavator 100 may transmit information related to at least one of the time and place where the automatic control is stopped to the support device 200 or the like. At that time, the controller 30 may transmit a peripheral image that is an image captured by the imaging device S6 to the support device 200 or the like. The peripheral images may be a plurality of peripheral images captured in a predetermined period including the time when automatic control is stopped. Further, the controller 30 supports information related to at least one of data relating to the work content of the excavator 100 during a predetermined period including the time when automatic control is stopped, data relating to the attitude of the excavator 100, data relating to the attitude of the excavation attachment, and the like.
  • the management system SYS of the excavator 100 stores and stores in the storage device 47 and the like at least one of the time, place, posture, and surrounding image when the automatic control by the excavator 100 is stopped.
  • An excavator 100 that transmits at least one of time, place, orientation, and surrounding image to the outside at an arbitrary timing, and at least one of the time, location, orientation, and surrounding image transmitted by the excavator 100 are received, and the received orientation and And a management device 300 that outputs at least one of the peripheral images.
  • the posture is, for example, at least one of the posture of the excavator 100 when the automatic control is stopped and the posture of the excavation attachment when the automatic control is stopped.
  • the management apparatus 300 displays an illustration image of the excavator 100 on a monitor so that the administrator can recognize the posture of the excavator 100.
  • the management apparatus 300 may allow the administrator to recognize the attitude of the excavator 100 by outputting audio information.
  • the controller 30 causes the upper swing body 3 to face the target construction surface by automatically operating the swing hydraulic motor 2A.
  • the controller 30 may cause the upper turning body 3 to face the target construction surface by automatically operating the turning motor generator.
  • the operation data is generated according to the operation device or the remote operation device, but may be automatically generated by a predetermined operation program.
  • controller 30 may cause the upper swing body 3 to face the target construction surface by operating another actuator.
  • the controller 30 may cause the upper swing body 3 to face the target construction surface by automatically operating the left traveling hydraulic motor 1L and the right traveling hydraulic motor 1R.
  • Imaging device S6B Rear camera S6F ... Front camera S6L ... Left camera S6R ... Right camera S7 ... Space recognition device S11 ... Boom spool displacement sensor S12 ... Arm spool displacement sensor S13 ... Bucket spool displacement sensor S14 ... Swivel spool displacement sensor P1 ... Positioning device T1 ... Communication device

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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)

Abstract

Un mode de réalisation de la présente invention concerne une pelle (100) qui comporte : un support de base (1); une superstructure tournante (3) montée rotative sur le support de base (1); un accessoire d'excavation servant d'accessoire fixé à la superstructure tournante (3); et un dispositif de commande (30) monté sur la superstructure tournante (3) et servant de dispositif de commande capable d'exécuter une commande automatique. Le dispositif de commande (30) est configuré pour arrêter la commande automatique lorsque des informations relatives au mouvement de la pelle (100) indiquent une tendance différente de la tendance habituelle.
PCT/JP2019/003201 2018-01-30 2019-01-30 Pelle et système de gestion de pelle WO2019151335A1 (fr)

Priority Applications (6)

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KR1020207022365A KR20200111193A (ko) 2018-01-30 2019-01-30 쇼벨 및 쇼벨의 관리시스템
CN201980010909.6A CN111670286A (zh) 2018-01-30 2019-01-30 挖土机及挖土机的管理系统
CN202410298931.8A CN118007731A (zh) 2018-01-30 2019-01-30 挖土机及挖土机的管理系统
JP2019569184A JPWO2019151335A1 (ja) 2018-01-30 2019-01-30 ショベル及びショベルの管理システム
EP19747825.8A EP3748089B1 (fr) 2018-01-30 2019-01-30 Pelle et système de gestion de pelle
US16/941,924 US20200354921A1 (en) 2018-01-30 2020-07-29 Shovel and shovel management system

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JP2018013970 2018-01-30
JP2018-013970 2018-01-30

Related Child Applications (1)

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US16/941,924 Continuation US20200354921A1 (en) 2018-01-30 2020-07-29 Shovel and shovel management system

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WO2019151335A1 true WO2019151335A1 (fr) 2019-08-08

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US (1) US20200354921A1 (fr)
EP (1) EP3748089B1 (fr)
JP (1) JPWO2019151335A1 (fr)
KR (1) KR20200111193A (fr)
CN (2) CN111670286A (fr)
WO (1) WO2019151335A1 (fr)

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WO2021054436A1 (fr) * 2019-09-18 2021-03-25 住友重機械工業株式会社 Excavatrice
JP2021121717A (ja) * 2020-01-31 2021-08-26 国立大学法人広島大学 位置制御装置及び位置制御方法
WO2022049987A1 (fr) * 2020-09-01 2022-03-10 コベルコ建機株式会社 Système pour définir la trajectoire cible d'un accessoire
CN114787452A (zh) * 2019-12-02 2022-07-22 株式会社小松制作所 作业机械以及作业机械的控制方法
RU2799040C1 (ru) * 2022-06-24 2023-07-03 Общество с ограниченной ответственностью "Лаборатория компьютерного моделирования" Система поддержки принятия решений операторов карьерных экскаваторов
WO2024075650A1 (fr) * 2022-10-06 2024-04-11 日立建機株式会社 Machine de travail

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JP6938389B2 (ja) * 2016-01-29 2021-09-22 住友建機株式会社 ショベル及びショベルの周囲を飛行する自律式飛行体
KR20210106410A (ko) * 2018-10-31 2021-08-30 스미토모 겐키 가부시키가이샤 쇼벨, 쇼벨지원시스템
CN112681411A (zh) * 2021-01-15 2021-04-20 南通皋标建筑劳务有限公司 一种挖掘机的挖掘控制方法
CN114032981B (zh) * 2021-12-01 2023-04-25 广西柳工机械股份有限公司 自动铲装控制方法和电动装载机
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US20200354921A1 (en) 2020-11-12
CN111670286A (zh) 2020-09-15
EP3748089A4 (fr) 2021-04-07
KR20200111193A (ko) 2020-09-28
JPWO2019151335A1 (ja) 2021-01-14
EP3748089B1 (fr) 2023-03-15
CN118007731A (zh) 2024-05-10

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