WO2020203843A1 - ショベル - Google Patents

ショベル Download PDF

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Publication number
WO2020203843A1
WO2020203843A1 PCT/JP2020/014205 JP2020014205W WO2020203843A1 WO 2020203843 A1 WO2020203843 A1 WO 2020203843A1 JP 2020014205 W JP2020014205 W JP 2020014205W WO 2020203843 A1 WO2020203843 A1 WO 2020203843A1
Authority
WO
WIPO (PCT)
Prior art keywords
excavator
controller
slope
bucket
pilot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/014205
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
竜二 白谷
朋紀 黒川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo SHI Construction Machinery Co Ltd
Original Assignee
Sumitomo SHI Construction Machinery Co Ltd
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 Sumitomo SHI Construction Machinery Co Ltd filed Critical Sumitomo SHI Construction Machinery Co Ltd
Priority to KR1020217027941A priority Critical patent/KR20210140722A/ko
Priority to CN202080019285.7A priority patent/CN113677853B/zh
Priority to EP20784317.8A priority patent/EP3951079A4/en
Priority to JP2021512043A priority patent/JPWO2020203843A1/ja
Publication of WO2020203843A1 publication Critical patent/WO2020203843A1/ja
Priority to US17/448,910 priority patent/US12116751B2/en
Anticipated expiration legal-status Critical
Priority to JP2024050000A priority patent/JP2024071579A/ja
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—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
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2054—Fleet management
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2239—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance
    • E02F9/2242—Control of flow rate; Load sensing arrangements using two or more pumps with cross-assistance including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2292—Systems with two or more pumps
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump

Definitions

  • This disclosure relates to excavators as excavators.
  • the above-mentioned excavator relates to an error included in the output of the GNSS antenna due to the satellite position or the weather, an error included in the output of the IMU, a hydraulic pump discharge amount due to the hydraulic oil temperature or the temperature of the hydraulic actuator, etc. Due to the influence of an error or an error related to the amount of expansion and contraction of the hydraulic cylinder, there is a possibility that a relatively large step is generated between two adjacent strip-shaped regions formed by the repeatedly executed excavation operation.
  • the strip-shaped region is a part of the finished surface having a width corresponding to the width of the bucket.
  • the excavator according to the embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body, an attachment actuator for moving the attachment, and the like. To assist the operator so that the level difference formed between two adjacent finished surfaces is equal to or less than a predetermined value.
  • FIG. 1 is a side view of the excavator 100
  • FIG. 2 is a top view of the excavator 100.
  • the lower traveling body 1 of the excavator 100 includes the crawler 1C.
  • the crawler 1C is driven by a traveling hydraulic motor 2M as a traveling actuator mounted on the lower traveling body 1.
  • the crawler 1C includes a left crawler 1CL and a right crawler 1CR.
  • the left crawler 1CL is driven by the left traveling hydraulic motor 2ML
  • the right crawler 1CR is driven by the right traveling hydraulic motor 2MR.
  • the lower traveling body 1 is mounted so that the upper rotating body 3 can be swiveled via the swivel mechanism 2.
  • the swivel mechanism 2 is driven by a swivel hydraulic motor 2A as a swivel actuator mounted on the upper swivel body 3.
  • the swivel actuator may be a swivel motor generator as an electric actuator.
  • 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, arm 5, and bucket 6 form an excavation attachment AT, which is an example of an attachment.
  • the boom 4 is driven by the boom cylinder 7, the arm 5 is driven by the arm cylinder 8, and the bucket 6 is driven by the bucket cylinder 9.
  • the boom cylinder 7, arm cylinder 8 and bucket cylinder 9 constitute an attachment actuator.
  • the end attachment may be a slope bucket.
  • the boom 4 is supported so as to be rotatable up and down with respect to the upper swing body 3.
  • a boom angle sensor S1 is attached to the boom 4.
  • the boom angle sensor S1 can detect the boom angle ⁇ , which is the rotation angle of the boom 4.
  • the boom angle ⁇ is, for example, an ascending angle from the state in which the boom 4 is most lowered. Therefore, the boom angle ⁇ becomes maximum when the boom 4 is raised most.
  • the arm 5 is rotatably supported with respect to the boom 4.
  • An arm angle sensor S2 is attached to the arm 5.
  • the arm angle sensor S2 can detect the arm angle ⁇ , which is the rotation angle of the arm 5.
  • the arm angle ⁇ is, for example, an opening angle from the most closed state of the arm 5. Therefore, the arm angle ⁇ becomes maximum when the arm 5 is opened most.
  • the bucket 6 is rotatably supported with respect to the arm 5.
  • a bucket angle sensor S3 is attached to the bucket 6.
  • the bucket angle sensor S3 can detect the bucket angle ⁇ , which is the rotation angle of the bucket 6.
  • the bucket angle ⁇ is an opening angle from the most closed state of the bucket 6. Therefore, the bucket angle ⁇ becomes maximum when the bucket 6 is opened most.
  • each of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 is composed of a combination of an acceleration sensor and a gyro sensor. However, it may be composed only of an acceleration sensor. Further, the boom angle sensor S1 may be a stroke sensor attached to the boom cylinder 7, a rotary encoder, a potentiometer, an inertial measurement unit, or the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.
  • the upper swing body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. Further, a space recognition device 70, an orientation detection device 71, a positioning device 73, an airframe tilt sensor S4, a swivel angular velocity sensor S5, and the like are attached to the upper swivel body 3. Inside the cabin 10, an operating device 26, a controller 30, an information input device 72, a display device D1, a voice output device D2, and the like are provided. In this document, for convenience, the side of the upper swing body 3 to which the excavation attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.
  • the space recognition device 70 is configured to recognize an object existing in the three-dimensional space around the excavator 100.
  • Objects are, for example, construction surfaces, people, animals, vehicles (dump trucks, etc.), work equipment, construction machinery, buildings, electric wires, fences, holes, and the like.
  • the space recognition device 70 is configured to be able to distinguish between a person and a non-human object. Further, the space recognition device 70 may be configured to identify the type of the object from the person based on the work vest or helmet worn by the person.
  • the space recognition device 70 may be configured to recognize the terrain. Specifically, the space recognition device 70 may be configured to calculate, for example, the difference between the current terrain and the design surface. The difference between the current terrain and the design surface is, for example, the distance between the surface of the current terrain and the design surface in the direction perpendicular to the design surface.
  • the space recognition device 70 may be configured to calculate the distance from the space recognition device 70 or the excavator 100 to the recognized object.
  • the space recognition device 70 includes, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a range image sensor, an infrared sensor, or any combination thereof.
  • the space recognition device 70 is attached to the front sensor 70F attached to the front end of the upper surface of the cabin 10, the rear sensor 70B attached to the rear end of the upper surface of the upper swing body 3, and the left end of the upper surface of the upper swing body 3.
  • the left sensor 70L and the right sensor 70R attached to the upper right end of the upper swing body 3 are included.
  • An upper sensor that recognizes an object existing in the space above the upper swivel body 3 may be attached to the excavator 100.
  • the orientation detection device 71 is configured to detect information regarding the relative relationship between the orientation of the upper swing body 3 and the orientation of the lower traveling body 1.
  • the orientation detection device 71 may be composed of, for example, a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper rotating body 3.
  • the orientation detection device 71 may be composed of a combination of a GNSS receiver attached to the lower traveling body 1 and a GNSS receiver attached to the upper rotating body 3.
  • the orientation detection device 71 may be a rotary encoder, a rotary position sensor, or any combination thereof.
  • the orientation detection device 71 may be configured by a resolver.
  • the orientation detection device 71 may be attached to, for example, a center joint provided in connection with the swivel mechanism 2 that realizes relative rotation between the lower traveling body 1 and the upper swivel body 3.
  • the orientation detection device 71 may be composed of a camera attached to the upper swing body 3. In this case, the orientation detection device 71 performs known image processing on the image (input image) captured by the camera attached to the upper swivel body 3 to detect the image of the lower traveling body 1 included in the input image. Then, the orientation detection device 71 identifies the longitudinal direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 by using a known image recognition technique. Then, the angle formed between the direction of the front-rear axis of the upper swing body 3 and the longitudinal direction of the lower traveling body 1 is derived. The direction of the front-rear axis of the upper swing body 3 is derived from the mounting position of the camera.
  • the orientation detection device 71 can specify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C.
  • the orientation detection device 71 may be integrated with the controller 30.
  • the camera may be a space recognition device 70.
  • the information input device 72 is configured so that the operator of the excavator can input information to the controller 30.
  • the information input device 72 is a switch panel installed close to the display unit of the display device D1.
  • the information input device 72 may be a touch panel arranged on the display unit of the display device D1, or may be a voice input device such as a microphone arranged in the cabin 10.
  • the information input device 72 may be a communication device that acquires information from the outside.
  • the positioning device 73 is configured to measure the position of the upper swing body 3.
  • the positioning device 73 is a GNSS receiver, detects the position of the upper swing body 3, and outputs the detected value to the controller 30.
  • the positioning device 73 may be a GNSS compass. In this case, since the positioning device 73 can detect the position and orientation of the upper swing body 3, it also functions as the orientation detecting device 71.
  • the body tilt sensor S4 detects the tilt of the upper swivel body 3 with respect to a predetermined plane.
  • the airframe tilt sensor S4 is an acceleration sensor that detects the tilt angle around the front-rear axis and the tilt angle around the left-right axis of the upper swing body 3 with respect to the horizontal plane.
  • the front-rear axis and the left-right axis of the upper swivel body 3 pass, for example, the excavator center point which is one point on the swivel axis of the shovel 100 at right angles to each other.
  • the turning angular velocity sensor S5 detects the turning angular velocity of the upper swing body 3. In this embodiment, it is a gyro sensor. It may be a resolver, a rotary encoder, or any combination thereof. The turning angular velocity sensor S5 may detect the turning velocity. The turning speed may be calculated from the turning angular velocity.
  • At least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, and the turning angular velocity sensor S5 is also referred to as an attitude detection device.
  • the posture of the excavation attachment AT is detected based on, for example, the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3.
  • the display device D1 is a device that displays information.
  • the display device D1 is a liquid crystal display installed in the cabin 10.
  • the display device D1 may be a display of a mobile terminal such as a smartphone.
  • the audio output device D2 is a device that outputs audio.
  • the voice output device D2 includes at least one device that outputs voice to the operator inside the cabin 10 and a device that outputs voice to the operator outside the cabin 10. It may be a speaker of a mobile terminal.
  • the operating device 26 is a device used by the operator to operate the actuator.
  • the operating device 26 includes, for example, an operating lever and an operating pedal.
  • the actuator includes at least one of a hydraulic actuator and an electric actuator.
  • the controller 30 is a control device for controlling the excavator 100.
  • the controller 30 is composed of a computer including a CPU, a volatile storage device, a non-volatile storage device, and the like. Then, the controller 30 reads the program corresponding to each function from the non-volatile storage device, loads it into the volatile storage device, and causes the CPU to execute the corresponding process.
  • Each function is, for example, a machine guidance function for guiding the manual operation of the excavator 100 by the operator, supporting the manual operation of the excavator 100 by the operator, or operating the excavator 100 automatically or autonomously. Includes a machine control function.
  • the controller 30 may include a contact avoidance function for automatically or autonomously operating or stopping the excavator 100 in order to avoid contact between an object existing around the excavator 100 and the excavator 100.
  • the controller 30 determines that a person exists within a predetermined range (within the monitoring range) from the excavator 100 based on the information acquired by the space recognition device 70 before the actuator operates, the operator operates the operation device 26. Even so, the operation of the actuator may be limited to inoperability or operation in a very low speed state. Specifically, when the controller 30 determines that a person is within the monitoring range, the controller 30 can disable the actuator by locking the gate lock valve. In the case of the electric operating device 26, the controller 30 can disable the actuator by disabling the control command to the operating control valve.
  • the operation device 26 of another type also outputs the pilot pressure corresponding to the control command from the controller 30, and the pilot port of the corresponding control valve (for example, one of the control valves 171 to 176) in the control valve unit 17.
  • the operation of the actuator can be slowed down by limiting the control command from the controller 30 to the control valve for operation to a relatively small content. In this way, if it is determined that the object to be monitored exists within the monitoring range, the actuator is not driven even if the operation device 26 is operated, or the operating speed corresponding to the operation input to the operation device 26 is increased. Is driven at a small operating speed (slow speed).
  • the controller 30 stops the operation of the actuator or stops the operation of the actuator regardless of the operation of the operator. , May be decelerated. Specifically, when it is determined that a person exists within the monitoring range, the controller 30 may stop the actuator by locking the gate lock valve.
  • the controller 30 When an operation control valve that outputs a pilot pressure corresponding to a control command from the controller 30 and applies the pilot pressure to the pilot port of the corresponding control valve in the control valve unit is used, the controller 30 operates. By disabling the control command to the control valve for operation or outputting the deceleration command to the control valve for operation, the actuator can be restricted to the inoperable or slow speed operation.
  • control regarding stopping or deceleration of the actuator may not be performed.
  • the actuator may be controlled to avoid detected dump trucks. In this way, the type of detected object is recognized, and the actuator may be controlled based on the recognition.
  • FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the excavator 100.
  • the mechanical power transmission system, the hydraulic oil line, the pilot line and the electric control system are shown by double lines, solid lines, broken lines and dotted lines, respectively.
  • the hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, and the like.
  • the hydraulic system is configured to circulate hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the center bypass pipeline 40 or the parallel pipeline 42.
  • the engine 11 is a drive source for the excavator 100.
  • the engine 11 is, for example, a diesel engine that operates so as to maintain a predetermined rotation speed.
  • the output shaft of the engine 11 is connected to each input shaft of the main pump 14 and the pilot pump 15.
  • the main pump 14 is configured so that hydraulic oil can be supplied to the control valve unit 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 be able 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 response to a control command from the controller 30.
  • the pilot pump 15 is an example of a pilot pressure generating device, and is configured to be able to supply hydraulic oil to a hydraulic control device including an operating device 26 via a pilot line.
  • the pilot pump 15 is a fixed displacement hydraulic pump.
  • the pilot pressure generator may be realized by the main pump 14. That is, the main pump 14 has a function of supplying hydraulic oil to the control valve unit 17 via the hydraulic oil line and a function of supplying hydraulic oil to various hydraulic control devices including the operating device 26 via the pilot line. May be. In this case, the pilot pump 15 may be omitted.
  • the control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100.
  • the control valve unit 17 includes control valves 171 to 176.
  • the control valve 175 includes a control valve 175L and a control valve 175R
  • the control valve 176 includes a control valve 176L and a control valve 176R.
  • the control valve unit 17 is configured to selectively supply the hydraulic oil discharged by 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, for example, 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 2ML, a right traveling hydraulic motor 2MR, and a swivel hydraulic motor 2A.
  • the operating device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the pilot line.
  • the pressure of the hydraulic oil (pilot pressure) supplied to each of the pilot ports is a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each of the hydraulic actuators.
  • the operating device 26 may be an electrically controlled type instead of the pilot pressure type as described above.
  • the control valve in the control valve unit 17 may be an electromagnetic solenoid type spool valve.
  • the discharge pressure sensor 28 is configured to be able 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 operating pressure sensor 29 is configured to be able to detect the content of the operation of the operating device 26 by the operator.
  • the operating pressure sensor 29 detects the operating direction and operating amount of the operating device 26 corresponding to each of the actuators in the form of pressure (operating pressure), and outputs the detected value to the controller 30.
  • the content of the operation of the operating device 26 may be detected by using a sensor other than the operating pressure sensor.
  • the main pump 14 includes a left main pump 14L and a right main pump 14R. Then, the left main pump 14L circulates the hydraulic oil to the hydraulic oil tank via the left center bypass line 40L or the left parallel line 42L, and the right main pump 14R is the right center bypass line 40R or the right parallel line 42R. The hydraulic oil is circulated to the hydraulic oil tank via.
  • the left center bypass pipeline 40L is a hydraulic oil line passing through the control valves 171, 173, 175L and 176L arranged in the control valve unit 17.
  • the right center bypass line 40R is a hydraulic oil line passing through the control valves 172, 174, 175R and 176R arranged in the control valve unit 17.
  • the control valve 171 supplies the hydraulic oil discharged by the left main pump 14L to the left hydraulic motor 2ML, and discharges the hydraulic oil discharged by the left hydraulic motor 2ML to the hydraulic oil tank. It is a spool valve that switches.
  • the control valve 172 supplies the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR, and discharges the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank. It is a spool valve that switches.
  • the control valve 173 supplies the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A, and switches the flow of the hydraulic oil in order to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank. It is a valve.
  • the control valve 174 is a spool valve that supplies the hydraulic oil discharged by 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 hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7.
  • the control valve 175R is a spool valve that supplies the hydraulic oil discharged by 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 by 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 by 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 pipeline 42L can supply hydraulic oil to a control valve further downstream when the flow of hydraulic oil through the left center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, and 175L.
  • the right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R.
  • the right parallel line 42R can supply the hydraulic oil to the control valve further downstream when the flow of the hydraulic oil through the right center bypass line 40R is restricted or blocked by any of the control valves 172, 174 and 175R. ..
  • the regulator 13 includes a left regulator 13L and a right regulator 13R.
  • the left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L.
  • the left regulator 13L reduces the discharge amount by adjusting the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L, for example.
  • the operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a traveling lever 26D.
  • the traveling lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.
  • the left operating lever 26L is used for turning and operating the arm 5.
  • the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure according to the lever operating amount into the pilot port of the control valve 176.
  • the hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure according to the lever operation amount into the pilot port of the control valve 173.
  • the hydraulic oil is introduced into the right pilot port of the control valve 176L and the hydraulic oil is introduced into the left pilot port of the control valve 176R. ..
  • the hydraulic oil is introduced into the left pilot port of the control valve 176L and the hydraulic oil is introduced into the right pilot port of the control valve 176R.
  • hydraulic oil is introduced into the left pilot port of the control valve 173, and when operated in the right turning direction, the right pilot port of the control valve 173 is introduced. Introduce hydraulic oil to.
  • the right operating lever 26R is used for operating the boom 4 and the bucket 6.
  • the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure according to the lever operating amount into the pilot port of the control valve 175.
  • the hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure according to the lever operation amount into the pilot port of the control valve 174.
  • hydraulic oil is introduced into the left pilot port of the control valve 175R.
  • the hydraulic oil is introduced into the right pilot port of the control valve 175L, and the hydraulic oil is introduced into the left pilot port of the control valve 175R.
  • the right operating lever 26R causes hydraulic oil to be introduced into the right pilot port of the control valve 174 when operated in the bucket closing direction, and into the left pilot port of the control valve 174 when operated in the bucket opening direction. Introduce hydraulic oil.
  • the traveling lever 26D is used to operate the crawler 1C.
  • the left traveling lever 26DL is used for operating the left crawler 1CL. It may be configured to work with the left travel pedal.
  • the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure according to the lever operating amount into the pilot port of the control valve 171.
  • the right traveling lever 26DR is used to operate the right crawler 1CR. It may be configured to work with the right-handed pedal.
  • the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure according to the lever operating amount into the pilot port of the control valve 172.
  • the discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R.
  • the discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.
  • the operating pressure sensor 29 includes the operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.
  • the operating pressure sensor 29LA detects the content of the operator's operation of the left operating lever 26L in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
  • the contents of the operation are, for example, the lever operation direction, the lever operation amount (lever operation angle), and the like.
  • the operation pressure sensor 29LB detects the content of the operation by the operator in the left-right direction with respect to the left operation lever 26L in the form of pressure, and outputs the detected value to the controller 30.
  • the operating pressure sensor 29RA detects the content of the operator's operation of the right operating lever 26R in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
  • the operating pressure sensor 29RB detects the content of the operator's operation of the right operating lever 26R in the left-right direction in the form of pressure, and outputs the detected value to the controller 30.
  • the operating pressure sensor 29DL detects the content of the operator's operation of the left traveling lever 26DL in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
  • the operating pressure sensor 29DR detects the content of the operator's operation on the right traveling lever 26DR in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
  • the controller 30 receives the output of the operating pressure sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. Further, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, outputs a control command to the regulator 13 as needed, and changes the discharge amount of the main pump 14.
  • the diaphragm 18 includes a left diaphragm 18L and a right diaphragm 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.
  • a left throttle 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of hydraulic oil discharged by the left main pump 14L is limited by the left throttle 18L. Then, 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 this control pressure, and outputs the detected value to the controller 30.
  • the controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure is larger, and increases the discharge amount of the left main pump 14L as the control pressure is smaller.
  • the discharge amount of the right main pump 14R is also controlled in the same manner.
  • the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipe 40L to the left.
  • the aperture reaches 18L.
  • the flow of hydraulic oil discharged by 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 line 40L.
  • the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of the hydraulic oil discharged by the left main pump 14L reduces or eliminates the amount reaching the left throttle 18L, and lowers the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic oil to the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. The controller 30 also controls the discharge amount of the right main pump 14R in the same manner.
  • the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state.
  • the wasteful energy consumption includes a pumping loss generated in the center bypass line 40 by the hydraulic oil discharged from the main pump 14. Further, in the hydraulic system of FIG. 3, when operating the hydraulic actuator, the necessary and sufficient hydraulic oil can be reliably supplied from the main pump 14 to the hydraulic actuator to be operated.
  • FIGS. 4A to 4D are views of a part of the hydraulic system.
  • FIG. 4A is a diagram showing an extracted hydraulic system portion related to the operation of the arm cylinder 8
  • FIG. 4B is a diagram showing an extracted hydraulic system portion related to the operation of the boom cylinder 7.
  • FIG. 4C is a diagram showing an extracted hydraulic system portion related to the operation of the bucket cylinder 9
  • FIG. 4D is a diagram showing an extracted hydraulic system portion related to the operation of the swing hydraulic motor 2A.
  • the hydraulic system includes a proportional valve 31, a shuttle valve 32, and a proportional valve 33.
  • the proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR
  • the shuttle valve 32 includes shuttle valves 32AL to 32DL and 32AR to 32DR
  • the proportional valve 33 includes proportional valves 33AL to 33DL and 33AR to 33DR. ..
  • the proportional valve 31 functions as a control valve for machine control.
  • the proportional valve 31 is arranged in a pipeline connecting the pilot pump 15 and the shuttle valve 32, and is configured so that the flow path area of the pipeline can be changed.
  • the proportional valve 31 operates in response to a control command output from the controller 30. Therefore, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the corresponding control valve in the control valve unit 17 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 pilot port.
  • the shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26 and the other is connected to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the control valve unit 17. Therefore, the shuttle valve 32 can make the higher of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 act on the pilot port of the corresponding control valve.
  • the proportional valve 33 functions as a machine control control valve in the same manner as the proportional valve 31.
  • the proportional valve 33 is arranged in a pipeline connecting the operating device 26 and the shuttle valve 32, and is configured so that the flow path area of the pipeline can be changed.
  • the proportional valve 33 operates in response to a control command output from the controller 30. Therefore, the controller 30 reduces the pressure of the hydraulic oil discharged by the operating device 26 regardless of the operation of the operating device 26 by the operator, and then controls the corresponding control in the control valve unit 17 via the shuttle valve 32. Can be supplied to the pilot port of the valve.
  • the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated. Further, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 even when the operation on the specific operating device 26 is being performed.
  • the left operating lever 26L is used to operate the arm 5.
  • the left operating lever 26L utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 176.
  • the pilot pressure according to the amount of operation is applied to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Let it work.
  • the pilot pressure according to the operating amount is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.
  • a switch NS is provided on the left operating lever 26L.
  • the switch NS is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS.
  • the switch NS may be provided on the right operating lever 26R or may be provided at another position in the cabin 10.
  • the operating pressure sensor 29LA detects the content of the operator's operation of the left operating lever 26L in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
  • the proportional valve 31AL operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right side pilot port of the control valve 176L and the left side pilot port of the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL is adjusted.
  • the proportional valve 31AR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced from the pilot pump 15 to the left side pilot port of the control valve 176L and the right side pilot port of the control valve 176R is adjusted 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 176L and 176R can be stopped at any valve position.
  • the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the control valve 176R via the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm closing operation by the operator. Can be supplied to the pilot port on the left side of. That is, the arm 5 can be closed. Further, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the left side pilot port of the control valve 176L and the right side of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR regardless of the arm opening operation by the operator. Can be supplied to the pilot port. That is, the arm 5 can be opened.
  • the proportional valve 33AL operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to 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 is reduced via the left operating lever 26L, the proportional valve 33AL, and the shuttle valve 32AL.
  • the proportional valve 33AR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to 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 is reduced via the left operating lever 26L, the proportional valve 33AR, and the shuttle valve 32AR.
  • the proportional valves 33AL and 33AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.
  • the controller 30 can use the pilot port on the closing side of the control valve 176 (the left pilot port of the control valve 176L and the control valve, if necessary, even when the arm closing operation is performed by the operator.
  • the pilot pressure acting on the right side pilot port of the 176R) can be reduced to forcibly stop the closing operation of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped while the arm opening operation is being performed by the operator.
  • the controller 30 controls the proportional valve 31AR as necessary even when the arm closing operation is performed by the operator, and is on the opposite side of the pilot port on the closing side of the control valve 176.
  • the arm The closing operation of 5 may be forcibly stopped.
  • the proportional valve 33AL may be omitted. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the arm opening operation is performed by the operator.
  • the right operating lever 26R is used to operate the boom 4.
  • the right operating lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 175. More specifically, when the right operating lever 26R is operated in the boom raising direction (rear direction), the pilot pressure according to the amount of operation is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Let it work. Further, when the right operating lever 26R is operated in the boom lowering direction (forward direction), the pilot pressure corresponding to the operating amount is applied to the right pilot port of the control valve 175R.
  • the operating pressure sensor 29RA detects the content of the operator's operation of the right operating lever 26R in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
  • the proportional valve 31BL operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right side pilot port of the control valve 175L and the left side pilot port of the control valve 175R via the proportional valve 31BL and the shuttle valve 32BL is adjusted.
  • the proportional valve 31BR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced from the pilot pump 15 to the left side pilot port of the control valve 175L and the right side pilot port of the control valve 175R is adjusted 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 175L and 175R can be stopped at any valve position.
  • the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the control valve 175R via the proportional valve 31BL and the shuttle valve 32BL, regardless of the boom raising operation by the operator. Can be supplied to the pilot port on the left side of. That is, the boom 4 can be raised. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR and the shuttle valve 32BR regardless of the boom lowering operation by the operator. That is, the boom 4 can be lowered.
  • the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operating lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 174. More specifically, when the right operating lever 26R is operated in the bucket closing direction (left direction), the pilot pressure according to the operating amount is applied to the left pilot port of the control valve 174. Further, when the right operating lever 26R is operated in the bucket opening direction (right direction), the pilot pressure according to the operating amount is applied to the right pilot port of the control valve 174.
  • the operating pressure sensor 29RB detects the content of the operator's operation of the right operating lever 26R in the left-right direction in the form of pressure, and outputs the detected value to the controller 30.
  • the proportional valve 31CL operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL and the shuttle valve 32CL is adjusted.
  • the proportional valve 31CR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR and the shuttle valve 32CR is adjusted.
  • the proportional valves 31CL and 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position.
  • the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL and the shuttle valve 32CL regardless of the bucket closing operation by the operator. That is, the bucket 6 can be closed. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR and the shuttle valve 32CR regardless of the bucket opening operation by the operator. That is, the bucket 6 can be opened.
  • the left operating lever 26L is also used to operate the turning mechanism 2.
  • the left operating lever 26L utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 173. More specifically, when the left operating lever 26L is operated in the left turning direction (left direction), the pilot pressure according to the operating amount is applied to the left pilot port of the control valve 173. Further, when the left operating lever 26L is operated in the right turning direction (right direction), the pilot pressure according to the operating amount is applied to the right pilot port of the control valve 173.
  • the operating pressure sensor 29LB detects the content of the operator's operation of the left operating lever 26L in the left-right direction in the form of pressure, and outputs the detected value to the controller 30.
  • the proportional valve 31DL operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL is adjusted.
  • the proportional valve 31DR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR is adjusted.
  • the proportional valves 31DL and 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at an arbitrary valve position.
  • the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL, regardless of the left turning operation by the operator. That is, the turning mechanism 2 can be turned to the left. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR regardless of the right turning operation by the operator. That is, the turning mechanism 2 can be turned to the right.
  • the excavator 100 may have a configuration in which the lower traveling body 1 is automatically or autonomously moved forward and backward.
  • the hydraulic system portion related to the operation of the left traveling hydraulic motor 2ML and the hydraulic system portion related to the operation of the right traveling hydraulic motor 2MR may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7.
  • the electric operation lever provided with the electric pilot circuit may be adopted instead of the hydraulic operation lever.
  • the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal.
  • an electromagnetic valve is arranged 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 moves each control valve by controlling the solenoid valve by an electric signal corresponding to the lever operating amount to increase or decrease the pilot pressure. be able to.
  • Each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.
  • FIG. 5 is a diagram showing a configuration example of the controller 30.
  • the controller 30 receives various signals output by at least one of the attitude detection device, the operation device 26, the space recognition device 70, the orientation detection device 71, the information input device 72, the positioning device 73, the switch NS, and the like. It is configured to execute an operation and output a control command to at least one of a proportional valve 31, a display device D1, a voice output device D2, and the like.
  • the attitude detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a turning angular velocity sensor S5.
  • the controller 30 has a position calculation unit 30A, a trajectory acquisition unit 30B, and an autonomous control unit 30C as functional elements. Each functional element may be composed of hardware or software.
  • the position calculation unit 30A is configured to calculate the position of the positioning target.
  • the position calculation unit 30A calculates the coordinate points in the reference coordinate system of the predetermined portion of the attachment.
  • the predetermined portion is, for example, the toe or the back surface of the bucket 6.
  • the origin of the reference coordinate system is, for example, the intersection of the swivel axis and the ground plane of the excavator 100.
  • the reference coordinate system is, for example, an XYZ Cartesian coordinate system, in which an X axis parallel to the front-rear axis of the excavator 100, a Y axis parallel to the left-right axis of the excavator 100, and a Z axis parallel to the turning axis of the excavator 100 are used.
  • the position calculation unit 30A calculates, for example, the coordinate points of the toes of the bucket 6 from the rotation angles of the boom 4, the arm 5, and the bucket 6.
  • the position calculation unit 30A may calculate not only the coordinate point at the center of the toe of the bucket 6, but also the coordinate point at the left end of the toe of the bucket 6 and the coordinate point at the right end of the toe of the bucket 6. In this case, the position calculation unit 30A may use the output of the airframe tilt sensor S4. Further, the position calculation unit 30A may calculate the coordinate points in the world coordinate system of the predetermined portion of the attachment by using the output of the positioning device 73.
  • the trajectory acquisition unit 30B is configured to acquire a target trajectory, which is a trajectory followed by a predetermined portion of the attachment when the excavator 100 is autonomously operated.
  • the trajectory acquisition unit 30B acquires a target trajectory used when the autonomous control unit 30C autonomously operates the shovel 100.
  • the trajectory acquisition unit 30B derives a target trajectory based on data related to the design surface (hereinafter referred to as “design data”) stored in the non-volatile storage device.
  • the target trajectory is typically a trajectory that coincides with the design surface.
  • the trajectory acquisition unit 30B may derive a target trajectory based on the information regarding the terrain around the excavator 100 recognized by the space recognition device 70.
  • the trajectory acquisition unit 30B may derive information on the past trajectory of the toe of the bucket 6 from the past output of the posture detection device stored in the volatile storage device, and derive a target trajectory based on the information. .. Alternatively, the trajectory acquisition unit 30B may derive a target trajectory based on the current position of the predetermined portion of the attachment and the design data.
  • the autonomous control unit 30C is configured so that the excavator 100 can be operated autonomously.
  • the autonomous control unit 30C is configured to move a predetermined portion of the attachment along the target trajectory acquired by the trajectory acquisition unit 30B when a predetermined start condition is satisfied. Specifically, when the operating device 26 is operated while the switch NS is pressed, the excavator 100 is autonomously operated so that the predetermined portion moves along the target trajectory.
  • the autonomous control unit 30C is configured to support the manual operation of the excavator by the operator by autonomously operating the actuator.
  • the autonomous control unit 30C has a boom cylinder 7 and an arm cylinder 8 so that the target trajectory and the position of the toe of the bucket 6 match when the operator manually closes the arm while pressing the switch NS.
  • at least one of the bucket cylinders 9 may be autonomously expanded and contracted. In this case, the operator can close the arm 5 while aligning the toes of the bucket 6 with the target trajectory by simply operating the left operating lever 26L in the arm closing direction, for example.
  • the autonomous control unit 30C autonomously operates each actuator by giving a control command (current command) to the proportional valve 31 and individually adjusting the pilot pressure acting on the control valve corresponding to each actuator. Can be made to. For example, at least one of the boom cylinder 7 and the bucket cylinder 9 can be operated regardless of whether the right operating lever 26R is tilted or not.
  • FIG. 6 is a perspective view of the excavator 100 performing the finishing work on the slope of the downward slope.
  • FIG. 7 is a flowchart of the first support process.
  • FIG. 8 shows a configuration example of the first support screen displayed on the display unit of the display device D1 when the first support process is being performed.
  • the operator of the excavator 100 determines the finishing work of moving the slope bucket 6S from the slope FS to the slope TS along the design surface, and the lower traveling body 1 in the direction indicated by the arrow AR.
  • the slope is finished by alternately executing the running work of moving only the distance.
  • the finishing work includes excavating the slope as the construction surface with the tip of the slope bucket 6S, the work of pressing the slope as the construction surface on the back surface of the slope bucket 6S, and the method. Includes work such as excavating the construction surface while pressing the slope as the construction surface on the back surface of the surface bucket 6S.
  • the strip-shaped region SW is a region (finished surface) on the slope that can be finished in one finishing operation.
  • the strip-shaped region SW has substantially the same width as the width of the slope bucket 6S.
  • the strip-shaped region SW0 is an unfinished region finished by the finishing work this time.
  • the strip-shaped region SW1 is a region that has already been finished by the finishing work of the previous time (one time before), and the strip-shaped region SW2 is a region that has already been finished by the finishing work of the previous time (two times before).
  • the area indicated by the dot pattern represents the slope portion for which finishing has already been completed
  • the region indicated by the cross pattern represents the slope portion for which finishing has not been completed.
  • the target trajectory is set to match the design surface during finishing work. Therefore, the excavator 100 is controlled so that the trajectory of the actual work site falls within a predetermined tolerance with respect to the design surface. However, even if the excavator 100 can continue the construction so that the locus of the work part actually falls within the predetermined tolerance range, a step LD may occur between the two adjacent strip-shaped regions. is there.
  • the step LD6 as the step LD in FIG. 6 is a step formed between the strip-shaped region SW5 and the strip-shaped region SW6. If this step LD is large, even if each of the constructed strip-shaped region SWs is within the permissible range, there is a risk of causing problems such as the concrete block floating when the concrete block is installed on a slope. ..
  • the controller 30 executes the first support process when the back surface of the bucket 6 is positioned on the buttock FS by the autonomous control unit 30C.
  • the controller 30 calculates the difference between the surface of the strip-shaped region SW1 formed by the previous finishing work and the design surface (step ST1). For example, in the example of FIG. 6, the controller 30 calculates the difference DS1 (see FIG. 8) between the surface and the design surface of the strip-shaped region SW1 formed by the previous finishing work.
  • the controller 30 derives the difference DS1 between the surface of the band-shaped region SW1 and the design surface in the direction perpendicular to the design surface based on the locus of the working part of the attachment when the band-shaped region SW1 is finished. At this time, the controller 30 may derive the difference DS1 between the surface of the band-shaped region SW1 and the design surface in the direction perpendicular to the design surface based on the output of the space recognition device 70 and the output of the positioning device 73.
  • the working part of the attachment is, for example, the toe of the slope bucket 6S or the back surface of the slope bucket 6S.
  • the controller 30 calculates the difference between the surface (estimated surface) of the band-shaped region SW0 formed by the finishing work this time and the design surface (step ST2). For example, in the example of FIG. 6, the controller 30 estimates the difference DS0 between the estimated surface and the design surface of the band-shaped region SW0 formed by the finishing work this time.
  • the toe of the slope bucket 6S can be moved to the slope of the slope as a construction surface by manual operation or autonomous control by the operator during the finishing work. Then, when the toe of the slope bucket 6S is moved to the slope, the controller 30 is incomplete in the direction perpendicular to the design surface based on the coordinate points of the toe of the slope bucket 6S calculated by the position calculation unit 30A.
  • the difference DS0 between the estimated surface and the design surface of the band-shaped region SW0 is derived. That is, the controller 30 sets the coordinate point of the toe of the current slope bucket 6S as the coordinate point on the estimated surface of the unfinished strip region SW0, and then sets the estimated surface and the design surface of the unfinished strip region SW0.
  • the difference DS0 is derived.
  • the controller 30 is unfinished after setting the coordinate point of the contact point between the back surface of the current slope bucket 6S and the slope as the construction surface as the coordinate point on the estimated surface of the unfinished strip region SW0.
  • the difference DS0 between the estimated surface and the design surface of the band-shaped region SW0 may be derived.
  • the controller 30 determines whether or not the size of the step is larger than the predetermined value (step ST3).
  • the controller 30 sets the band-shaped region SW0 based on the difference DS1 between the surface and the design surface of the band-shaped region SW1 that has already been formed and the difference DS0 between the estimated surface and the design surface of the strip-shaped region SW0 that has not yet been formed.
  • the size HT1 of the step LD1 with the band-shaped region SW1 is derived. That is, the controller 30 derives the difference between the surface of the band-shaped region SW1 and the estimated surface of the band-shaped region SW0 as the size HT1 of the step LD1.
  • the controller 30 determines whether or not the size HT1 of the step LD1 is larger than the predetermined value TH1.
  • the predetermined value TH1 is, for example, a value stored in advance in the non-volatile storage device, and is typically several mm (for example, 5 mm).
  • the predetermined value TH1 may be zero.
  • step ST3 When it is determined that the size HT1 of the step LD1 is larger than the predetermined value TH1 (YES in step ST3), the controller 30 notifies that the size HT1 of the step LD1 is larger than the predetermined value TH1 (step ST4).
  • the controller 30 notifies that the size HT1 of the step LD1 between the surface of the band-shaped region SW1 that has already been formed and the estimated surface of the strip-shaped region SW0 that has not yet been formed may be larger than the predetermined value TH1. To do. Specifically, the controller 30 outputs a voice message such as "the height of the bucket is adjusted because the step may become large" from the voice output device D2, and / or displays a similar message on the display device D1. It is displayed on the display part of.
  • the controller 30 changes the target related to autonomous control (step ST5).
  • the target for autonomous control is, for example, a target trajectory.
  • the controller 30 may change the target trajectory so that the surface of the band-shaped region SW1 and the surface of the band-shaped region SW0 are flush with each other. After that, the controller 30 autonomously operates the excavator 100 so that the predetermined portion of the attachment moves along the newly set target trajectory.
  • the controller 30 changes the target trajectory so that the position of the estimated surface of the band-shaped region SW0 with respect to the design surface is within a predetermined allowable range and the size HT1 of the step LD1 is equal to or less than the predetermined value TH1. ..
  • the predetermined allowable range is, for example, the design surface ⁇ 30 mm.
  • the controller 30 ends the first support process this time without changing the target related to the autonomous control.
  • FIG. 8 shows a configuration example of the first support screen displayed on the display unit of the display device D1 when the slope bucket 6S is positioned on the slope FS in order to complete the strip-shaped region SW0.
  • the first support screen includes a cross-section display area G1, a surface display area G2, and a message display area G3.
  • the cross section display area G1 is an area for displaying the cross section of the slope.
  • the cross-section display area G1 displays the cross-section of the slope in the virtual plane perpendicular to the slope, including the alternate long and short dash line LN1 of FIG.
  • the image parts GL1 to GL6 are a part of the solid line LS representing the unevenness of the slope, and represent the size of the steps LD1 to LD6, respectively.
  • the image portion GL2 shows that the size of the step LD2 is almost zero, that is, the surface of the strip-shaped region SW1 and the surface of the strip-shaped region SW2 are substantially flush with each other.
  • the thick solid line L0 indicates the position of the design surface
  • the broken line L1 indicates the allowable upper limit position of the finished surface (for example, the design surface + 30 mm)
  • the broken line L2 indicates the allowable lower limit position of the finished surface (for example, the design surface -30 mm). ing. That is, the finished surface is treated as acceptable if the position with respect to the design surface is equal to or less than the allowable upper limit position and equal to or more than the allowable lower limit position.
  • the operator of the excavator 100 can determine that the distance between the design surface and the surface of the strip-shaped region SW1 is DS1 and that the distance between the design surface and the estimated surface of the strip-shaped region SW0 is It is easy that the DS0, the size of the step LD1 between the surface of the band-shaped region SW1 and the estimated surface of the band-shaped region SW0 is HT1, and the size of the step LD1 HT1 is larger than the predetermined value TH1. Can be grasped.
  • the dashed arrows representing DS0, DS1, DS2, HT1, and TH1 are for explanation purposes only and are not actually displayed. However, the display device D1 may display auxiliary figures such as these broken line arrows.
  • the surface display area G2 is an area for displaying the difference in surface height of each band-shaped area constituting the slope, and shows a state in which each band-shaped area is viewed from above.
  • the surface display area G2 represents the difference in the height of the surface of each band-shaped area with a plurality of colors.
  • the image portion GS0 represents in the first color (cross pattern) that the difference between the estimated surface and the design surface of the unfinished strip region SW0 finished by this finishing work is DS0.
  • the image portion GS1 is represented by a second color (coarse dot pattern) that the difference between the surface of the strip-shaped region SW1 finished by the previous finishing work and the design surface is DS1.
  • the image portion GS2 represents in the second color (coarse dot pattern) that the difference between the surface of the strip-shaped region SW2 finished by the finishing work two times before and the design surface is the same DS1 as the strip-shaped region SW1. ..
  • the image portion GS3 indicates that the difference between the surface and the design surface of the strip-shaped region SW3 finished by the finishing work three times before is DS2 in the third color (fine dot pattern).
  • the image portion GS4 represents in the first color (cross pattern) that the difference between the surface and the design surface of the strip-shaped region SW4 finished by the finishing work four times before is the same DS0 as the strip-shaped region SW0.
  • the image portion GS5 represents in the third color (fine dot pattern) that the difference between the surface and the design surface of the strip-shaped region SW5 finished by the finishing work five times before is the same DS2 as the strip-shaped region SW3. ..
  • the image portion GS6 represents in the second color (coarse dot pattern) that the difference between the surface and the design surface of the strip-shaped region SW6 finished by the finishing work six times before is the same DS1 as the strip-shaped region SW1. ..
  • the image portion GS0 corresponding to the strip-shaped region SW0 that has not been finished is a thick line frame for distinguishing from the image portions GS1 to GS6 corresponding to the strip-shaped regions SW1 to SW6 that have been finished. It is surrounded by FR1 and has a figure GB.
  • the figure GB is a figure representing the slope bucket 6S, and indicates the current position of the slope bucket 6S.
  • the image portion GSx indicates that the area is not reached by the excavator 100 in the fourth color (white).
  • the operator of the excavator 100 can easily grasp the height of each surface of the strip-shaped areas SW1 to SW6 that have already been finished, that is, the unevenness of the slope. Further, the operator of the excavator 100 can compare the height of the estimated surface of the strip-shaped region SW0, which has not been finished, with respect to the design surface of each surface of the strip-shaped regions SW1 to SW6.
  • the message display area G3 is an area in which a message generated by the controller 30 is displayed.
  • the controller 30 determines that the size HT1 of the step LD1 between the surface of the band-shaped area SW1 and the estimated surface of the band-shaped area SW0 may be larger than the predetermined value TH1.
  • a message generated by the controller 30 is displayed.
  • the operator of the excavator 100 autonomously raises the height of the slope bucket 6S so that the size HT1 of the step LD1 is equal to or less than the predetermined value TH1. You can recognize that it is adjusted. However, the controller 30 may autonomously adjust the height of the slope bucket 6S without making the operator recognize that the height of the slope bucket 6S is autonomously adjusted.
  • FIG. 9 is a perspective view of the excavator 100 and the excavator 100A performing the finishing work on the slope of the downward slope.
  • FIG. 10 is a flowchart of the second support process.
  • FIG. 11 shows a configuration example of the second support screen displayed on the display unit of the display device D1 when the second support process is being performed.
  • the operator of the excavator 100 determines the finishing work of moving the slope bucket 6S from the slope FS to the slope TS along the design surface, and the lower traveling body 1 in the direction indicated by the arrow AR1.
  • the slope is finished by alternately executing the running work of moving only the distance.
  • the operator of the excavator 100A moves the slope bucket 6S from the buttock FS to the shoulder TS along the design surface, and moves the lower traveling body 1 by a predetermined distance in the direction indicated by the arrow AR2.
  • the slope is finished by alternately executing the running work.
  • the excavator 100A has the same configuration as the excavator 100.
  • the excavator 100A may include a controller that does not have functional elements such as a position calculation unit 30A, a trajectory acquisition unit 30B, and an autonomous control unit 30C.
  • the region indicated by the dot pattern represents the slope portion where the finish is completed
  • the region indicated by the cross pattern represents the slope portion where the finish is not completed.
  • the region represented by the dot pattern includes the slope portion SF1 that has been finished by the excavator 100 and the slope portion SF2 that has been finished by the excavator 100A.
  • the region represented by the cross pattern includes the slope portion SN1 which has not been finished by the excavator 100 and the slope portion SN2 which has not been finished by the excavator 100A.
  • the connecting portion LK the portion where the slope portion SN1 which has not been finished by the excavator 100 and the slope portion SF2 which has been finished by the excavator 100A are in contact with each other, that is, the slope portion SF1 and the slope portion SF2 will be in the future. It is a part that is connected to each other.
  • the figure of the part surrounded by the broken line circle CL1 is an enlarged view of the part surrounded by the broken line circle CL2.
  • This enlarged view shows that the size of the step LDa between the slope portion SN1 and the slope portion SF2, that is, the current step LDa in the connecting portion LK is HTa.
  • the controller 30 mounted on the excavator 100 repeatedly executes the second support process at a predetermined control cycle while the excavator 100 is in operation.
  • the controller 30 determines whether or not the distance DT to the connecting portion LK is less than the predetermined distance TH2 (step ST11). For example, in the example of FIG. 9, the controller 30 determines whether or not the distance DT between the slope portion SF1 and the connecting portion LK in the extending direction of the slope is less than the predetermined distance TH2.
  • the predetermined distance TH2 is, for example, a distance pre-stored in the non-volatile storage device, typically several meters (eg, 5 meters).
  • the controller 30 derives the distance DT based on the output of the space recognition device 70.
  • the controller 30 may derive the distance DT based on the output of the positioning device 73 and the information regarding the position of the slope portion SF2 acquired from the excavator 100A via the communication device.
  • the information regarding the position of the slope portion SF2 may be the information measured by the measuring device carried by the operator working around the excavator 100, and is acquired by the space recognition device mounted on the flying object such as the multicopter. It may be the information provided.
  • the controller 30 estimates the size HTb of the step LDb that can be formed by the connecting portion LK (step ST12).
  • the controller 30 relates to the output of the space recognition device 70, information on the position of the working part of the attachment, the output of the positioning device 73, and the position of the slope portion SF2 acquired from the excavator 100A via the communication device. Based on at least one of the information and the like, the size HTb of the step LDb formed when the slope portion SF1 and the slope portion SF2 are connected by the connecting portion LK is estimated. In the broken line circle CL1 of FIG. 9, the position of the estimated surface of the slope portion SF1 when the slope portion SF1 and the slope portion SF2 are connected by the connecting portion LK is indicated by the broken line HM.
  • the controller 30 has a difference DS1 between the surface and the design surface of the slope portion SF1 at the present time, that is, when the slope portion SF1 and the slope portion SF2 are not yet connected by the connecting portion LK (see FIG. 11). ) Is used to estimate the height HTb.
  • the height DS1 is the difference between the surface of the strip-shaped region SW1 formed by the previous finishing work and the design surface.
  • the controller 30 determines the difference between the surface of the strip-shaped region SW1 and the design surface in the direction perpendicular to the design surface based on the locus of the work portion of the attachment when the strip-shaped region SW1 is finished by the previous finishing work. Height DS1 is derived.
  • the controller 30 may derive the height DS1 as the difference between the surface of the band-shaped region SW1 and the design surface in the direction perpendicular to the design surface based on the output of the space recognition device 70 and the output of the positioning device 73. Good.
  • the working part of the attachment is, for example, the toe of the slope bucket 6S or the back surface of the slope bucket 6S.
  • the controller 30 determines whether or not the size HTb of the step LDb is larger than the predetermined value TH3 (step ST13).
  • the predetermined value TH3 is, for example, a value stored in advance in the non-volatile storage device, and is typically several mm (for example, 5 mm).
  • the predetermined value TH3 may be zero.
  • step ST13 When it is determined that the size HTb of the step LDb is larger than the predetermined value TH3 (YES in step ST13), the controller 30 notifies that the size HTb of the step LDb is larger than the predetermined value TH3 (step ST14).
  • the controller 30 notifies that if the formation of the slope portion SF1 is continued as it is, the size HTb of the step LDb formed by the connecting portion LK may be larger than the predetermined value TH3. Specifically, the controller 30 outputs a voice message such as "the height of the bucket is adjusted because the step may become large at the connecting portion" from the voice output device D2, and / or outputs a similar message. It is displayed on the display unit of the display device D1.
  • the controller 30 changes the target related to autonomous control (step ST15).
  • the controller 30 determines the difference between the estimated surface and the design surface of each strip region finished up to the connecting portion LK.
  • the slope portion SF1 and the slope portion SF2 are connected to each other when the finishing work including the unfinished strip-shaped region SW0 finished by the finishing work is performed four times. Derives that they are connected by.
  • the unfinished strip-shaped region SW finished by the four finishing operations includes the strip-shaped regions SW0, SW10, SW11 and SW12 as shown in FIG.
  • the controller 30 determines the difference between the estimated surface and the design surface of each of the four strip-shaped regions so that the sizes of the five steps related to these four strip-shaped regions are all equal to or less than the predetermined value TH3.
  • the five steps include a step LD1 formed between the band-shaped area SW1 and the band-shaped area SW0, a step LD10 formed between the band-shaped area SW0 and the band-shaped area SW10, and a band-shaped area SW10.
  • the size of the step LDb formed between the band-shaped region SW12 and the band-shaped region SW21 is zero, and all of the remaining four steps LD1 and LD10 to LD12 are the minimum.
  • the difference between the estimated surface and the design surface of each of the four strip-shaped regions SW0 and SW10 to SW12 is determined so as to have the same size.
  • the controller 30 changes the goal related to autonomous control.
  • the target for autonomous control is, for example, a target trajectory.
  • the controller 30 changes the target trajectory based on the difference between the estimated surface and the design surface of each of the four strip-shaped regions SW0 and SW10 to SW12, for example.
  • the controller 30 when finishing the strip-shaped region SW0, the controller 30 makes the target trajectory lower than the design surface by the size of the step LD1 which is the difference between the surface of the strip-shaped region SW1 and the estimated surface of the strip-shaped region SW0. Change the target trajectory to. After that, the controller 30 autonomously operates the excavator 100 so that the predetermined portion of the attachment moves along the newly set target trajectory.
  • the controller 30 when finishing the band-shaped region SW10, the controller 30 further lowers the target trajectory from the design surface by the size of the step LD10, which is the difference between the estimated surface of the strip-shaped region SW0 and the estimated surface of the strip-shaped region SW10. Change the target trajectory. The same applies when finishing each of the strip-shaped region SW11 and the strip-shaped region SW12.
  • the size of the step LDb formed between the band-shaped region SW12 and the band-shaped region SW21 becomes zero, and the sizes of the remaining four steps LD1 and LD10 to LD12 are different.
  • the difference between the estimated surface and the design surface of each of the four strip-shaped regions SW0 and SW10 to SW12 may be determined.
  • the controller 30 may determine the difference between the estimated surface and the design surface of each of the four strip regions SW0 and SW10 to SW12 so that all five steps have the minimum and same size.
  • the controller 30 makes sure that the positions of the surfaces of the six strip-shaped regions SW1, SW0, SW10 to SW12, and SW21 are all within a predetermined allowable range, and the five steps LD1 with respect to the six strip-shaped regions. , LD10 to LD12 and LDb are all changed to have a predetermined value TH3 or less.
  • the predetermined allowable range is, for example, the design surface ⁇ 30 mm.
  • the controller 30 ends the second support process this time without changing the target related to the autonomous control.
  • FIG. 11 is a second support screen displayed on the display unit of the display device D1 mounted on the excavator 100 when the slope bucket 6S is positioned on the slope FS in order to complete the strip-shaped region SW0.
  • the second support screen includes a cross-section display area G1, a surface display area G2, and a message display area G3, similarly to the first support screen.
  • the cross section display area G1 is an area for displaying the cross section of the slope.
  • the cross-section display area G1 displays the cross-section of the slope in the virtual plane perpendicular to the slope, including the alternate long and short dash line LN2 of FIG.
  • the image portion GL1 is a part of the solid line LS1 representing the unevenness of the slope formed by the excavator 100, and indicates the size of the step LD1.
  • the image portions GL10 to GL12 are a part of the dotted line LS2 representing the unevenness of the slope formed by the subsequent finishing work, and indicate the respective sizes of the steps LD10 to LD12.
  • the image portion GLb is a part of the solid line LS3 representing the unevenness of the slope formed by the excavator 100A, and indicates the size of the step LDb formed by the subsequent finishing work.
  • the image portion GLb shows that the size of the step LDb becomes almost zero, that is, the surface of the band-shaped region SW12 and the surface of the band-shaped region SW21 are substantially flush with each other.
  • the thick solid line L0 indicates the position of the design surface
  • the broken line L1 indicates the allowable upper limit position of the finished surface (for example, the design surface + 30 mm)
  • the broken line L2 indicates the allowable lower limit position of the finished surface (for example, the design surface -30 mm). ing.
  • the operator of the excavator 100 can determine that the distance between the design surface and the surface of the strip-shaped region SW1 is DS1 and that the distance between the design surface and the estimated surface of the strip-shaped region SW0 is DS0, the size of the step LD1 between the surface of the band-shaped region SW1 and the estimated surface of the band-shaped region SW0, and the size of the step LD10 between the estimated surface of the band-shaped region SW0 and the estimated surface of the band-shaped region SW10.
  • the broken line arrows representing DS0, DS1, DS10 to DS12, HTb, and TH3 are for explanation purposes only and are not actually displayed.
  • the display device D1 may display auxiliary figures such as these broken line arrows.
  • the surface display area G2 is an area for displaying the difference in surface height of each band-shaped area constituting the slope, and shows a state in which each band-shaped area is viewed from above.
  • the surface display area G2 represents the difference in the height of the surface of each band-shaped area with a plurality of colors.
  • the image part GS0 is represented by the first color (dot pattern) that the difference between the estimated surface and the design surface of the unfinished strip-shaped region SW0 finished by this finishing work is DS0.
  • the image portion GS1 is represented by a second color (coarse dot pattern) that the difference between the surface of the strip-shaped region SW1 finished by the previous finishing work and the design surface is DS1.
  • the image portion GS10 is represented by a third color (coarse diagonal line pattern) that the difference between the estimated surface and the design surface of the unfinished strip-shaped region SW10 to be finished by the next finishing work is DS10 smaller than DS0.
  • the image portion GS11 has a fourth color (fine diagonal line pattern) that the difference between the estimated surface and the design surface of the unfinished band-shaped region SW11 finished by the finishing work one after another (after two times) is DS11 smaller than DS10. It is represented by.
  • the image portion GS12 represents in the fifth color (cross pattern) that the difference between the estimated surface and the design surface of the unfinished strip-shaped region SW12 finished by the finishing work after three times is DS12 smaller than DS11. ..
  • the fifth color (cross pattern) of the image portions GS21 to GS23 is that the difference between the surface and the design surface of the strip-shaped regions SW21 to SW23 finished by the finishing work by the excavator 100A is the same DS12 as the strip-shaped region SW12. It is represented by.
  • the image portion GS0 corresponding to the strip-shaped region SW0 formed by the finishing work by the excavator 100 is surrounded by a thick line frame FR2 in order to distinguish it from the image portion corresponding to the other strip-shaped region.
  • the figure GB is attached.
  • the figure GB is a figure representing the slope bucket 6S, and indicates the current position of the slope bucket 6S.
  • the image portions corresponding to the other strip-shaped regions are, for example, the image portion GS1 corresponding to the strip-shaped region SW1 that has been finished by the excavator 100, and the strip-shaped regions SW21 to SW23 that have been finished by the excavator 100A.
  • the corresponding image portions GS21 to GS23 and the image portions GS10 to GS12 corresponding to the strip-shaped regions SW10 to SW12 for which the finishing work by the excavator 100 has not been started are included.
  • the image portions GS10 to GS12 corresponding to the strip-shaped regions SW10 to SW12 for which the finishing work by the excavator 100 has not been started are surrounded by the dotted line frame FR3 in order to distinguish them from other strip-shaped regions.
  • the image portion corresponding to the other strip-shaped region is, for example, the image portion GS0 corresponding to the strip-shaped region SW0 formed by the current finishing work by the excavator 100, and the strip-shaped region SW1 which has been finished by the excavator 100.
  • the operator of the excavator 100 can easily determine the estimated surface heights of the strip-shaped areas SW0 and SW10 to SW12, which will be finished in the next four finishing operations including the current finishing operation. I can grasp it. Then, the operator of the excavator 100 makes sure that the sizes of the steps LD1, LD10 to LD12, and LDb are equal to or less than the predetermined value TH3, that is, the slope finished by the excavator 100 and the method finished by the shovel 100A. It can be confirmed that the surfaces are smoothly connected.
  • the message display area G3 is an area in which a message generated by the controller 30 is displayed.
  • a message generated by the controller 30 is displayed when the controller 30 determines that the size HTb of the step LDb in the connecting portion LK may be larger than the predetermined value TH3. ing.
  • the operator of the excavator 100 autonomously lowers the height of the slope bucket 6S so that the size HTb of the step LDb becomes a predetermined value TH3 or less. You can recognize that it is adjusted. Specifically, it can be recognized that the height of the slope bucket 6S is autonomously and stepwise adjusted downward in the next four finishing operations. However, the controller 30 may autonomously adjust the height of the slope bucket 6S without making the operator recognize that the height of the slope bucket 6S is autonomously adjusted.
  • FIGS. 12A and 12B are functional block diagrams showing an example of a detailed configuration of the machine control function of the excavator 100 according to the present embodiment.
  • the controller 30 has operation content acquisition unit 3001, target construction surface acquisition unit 3002, target trajectory setting unit 3003, current position calculation unit 3004, target position calculation unit 3005, and trajectory acquisition as functional units related to the machine control function.
  • the operation content acquisition unit 3001 acquires the operation content related to the operation of the arm 5 (that is, the tilting operation in the front-rear direction) in the left operation lever 26L based on the detection signal captured from the operation pressure sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (whether it is an arm opening operation or an arm closing operation) and the operation amount as the operation content.
  • the target construction surface acquisition unit 3002 acquires data on the target construction surface (design surface) from, for example, an internal memory or a predetermined external storage device.
  • the target trajectory setting unit 3003 sets information on the target trajectory of the work part for moving the work part of the attachment along the design surface based on the data on the design surface. For example, the target trajectory setting unit 3003 may set an inclination angle of the design surface in the front-rear direction with reference to the body of the excavator 100 (upper turning body 3) as information on the target trajectory.
  • the current position calculation unit 3004 calculates the position (current position) of the work portion of the attachment. Specifically, the position of the working portion of the attachment may be calculated based on the boom angle ⁇ 1 , the arm angle ⁇ 2 , and the bucket angle ⁇ 3 calculated by the posture angle calculation unit 3013 described later.
  • the target position calculation unit 3005 determines the attachment based on the operation content (operation direction and operation amount) related to the operation of the arm 5 on the left operation lever 26L, the information on the set target trajectory, and the current position of the work part of the attachment. Calculate the target position of the work part.
  • the target position is a design surface (in other words, a target) that should be an achievement target during the current control cycle, assuming that the arm 5 operates according to the operation direction and operation amount of the arm 5 on the left operation lever 26L. It is a position on the orbit).
  • the target position calculation unit 3005 may calculate the target position of the work portion of the attachment by using, for example, a map or an arithmetic expression stored in advance in a non-volatile internal memory or the like.
  • the locus acquisition unit 3006 acquires data on the locus of the work part of the past attachment from, for example, an internal memory or a predetermined external storage device.
  • the construction surface acquisition unit 3007 is a strip-shaped region SW1 (see FIG. 6), which is an area already completed by the previous (one time before) finishing work based on the locus of the work part of the past attachment acquired by the locus acquisition unit 3006. ) Get data about the surface.
  • the estimated surface acquisition unit 3008 is a strip-shaped area SW0 (see FIG. 6), which is an unfinished area finished by the finishing work this time, based on the position (current position) of the work part of the attachment calculated by the current position calculation unit 3004. Get data about the estimated surface of.
  • the comparison unit 3009 compares the size HT1 of the step LD1 between the surface of the band-shaped region SW1 and the estimated surface of the band-shaped region SW0 with the predetermined value TH1. For example, as shown in FIG. 8, the comparison unit 3009 shows the difference DS1 between the surface and the design surface of the band-shaped region SW1 that has already been formed, and the difference between the estimated surface and the design surface of the strip-shaped region SW0 that has not yet been formed. Based on DS0, the size HT1 of the step LD1 between the band-shaped region SW0 and the band-shaped region SW1 is derived. Then, the comparison unit 3009 compares the size HT1 of the step LD1 with the predetermined value TH1.
  • the target position correction unit 3010 may correct the target position so that the surface of the band-shaped region SW1 and the surface of the band-shaped region SW0 are flush with each other.
  • the target position correction unit 3010 When the comparison unit 3009 determines that the size HT1 of the step LD1 is equal to or less than the predetermined value TH1, the target position correction unit 3010 directly commands the operation of the target position of the attachment work portion calculated by the target position calculation unit 3005. Output to the generation unit 3011.
  • the operation command generation unit 3011 Based on the target position of the work part of the attachment, the operation command generation unit 3011 has a command value related to the operation of the boom 4 (hereinafter, “boom command value”) ⁇ 1r and a command value related to the operation of the arm 5 (hereinafter, “arm command value”). ”) ⁇ 2r and a command value (“bucket command value”) ⁇ 3r relating to the operation of the bucket 6 are generated.
  • the boom command value ⁇ 1r , the arm command value ⁇ 2r , and the bucket command value ⁇ 3r are the boom angle, the arm angle, and the bucket angle when the working part of the attachment can achieve the target position, respectively.
  • the operation command generation unit 3011 includes a master command value generation unit 3011A and a slave command value generation unit 3011B.
  • the boom command value, arm command value, and bucket command value may be the angular velocity or angular acceleration of the boom 4, arm 5, and bucket 6 required for the working part of the attachment to realize the target position.
  • the master command value generation unit 3011A operates in response to the operation input in the front-rear direction of the left operating lever 26L (hereinafter referred to as the operating element). Generates a command value (hereinafter, "master command value") related to the operation of the "master element").
  • the master element is the arm 5, and the master command value generation unit 3011A generates the arm command value ⁇ 2r and outputs it to the arm pilot command generation unit 3012B described later.
  • the master command value generation unit 3011A generates the arm command value ⁇ 2r corresponding to the operation content (operation direction and operation amount) of the left operation lever 26L.
  • the master command value generation unit 3011A generates and outputs the arm command value ⁇ 2r based on a predetermined map or conversion formula that defines the relationship between the operation content of the left operation lever 26L and the arm command value ⁇ 2r. You can do it.
  • the arm 5 When the arm command value ⁇ 2r output by the master command value generation unit 3011A is “0”, the arm 5 operates according to the operator's operation on the operating device 26 with respect to the arm 5 regardless of the control of the controller 30. To do. Further, the master command value generation unit 3011A may be omitted. As described above, the pilot pressure corresponding to the content of the front-rear operation of the left operating lever 26L acts on the pilot port of the control valve 176L and 176R corresponding to the arm cylinder 8 for driving the arm 5 via the shuttle valves 32AL and 32AR. Because it does.
  • the slave command value generation unit 3011B operates so that the work part of the attachment moves along the design surface in accordance with (synchronously) the operation of the master element (arm 5) among the operation elements constituting the attachment AT. Generates a command value related to the operation of the slave element (hereinafter, "slave command value").
  • the slave elements are the boom 4 and the bucket 6, and the slave command value generation unit 3011B generates the boom command value ⁇ 1r and the bucket command value ⁇ 3r , respectively, and the boom pilot command generation unit 3012A described later, respectively. And output to the bucket pilot command generation unit 3012C.
  • the slave command value generation unit 3011B at least one of the boom 4 and the bucket 6 operates in accordance with (synchronously) the operation of the arm 5 corresponding to the arm command value ⁇ 2r , and the working part of the attachment. Generates a boom command value ⁇ 1r and a bucket command value ⁇ 3r so that can achieve the target position (that is, move along the design surface).
  • the controller 30 operates the boom 4 and the bucket 6 of the attachment AT in accordance with (that is, in synchronization with) the operation of the arm 5 corresponding to the operation related to the arm 5 in the left operation lever 26L, thereby causing the attachment to be attached.
  • the work area can be moved along the design surface.
  • the arm 5 (arm cylinder 8) operates in response to the operation input to the left operation lever 26L, and the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9) are attached ATs such as the toes of the bucket 6.
  • the operation is controlled in accordance with the operation of the arm 5 (arm cylinder 8) so that the tip portion of the arm 5 moves along the design surface.
  • the pilot command generation unit 3012 acts on the control valves 174 to 176 for realizing the boom angle, arm angle, and bucket angle corresponding to the boom command value ⁇ 1r , the arm command value ⁇ 2r , and the bucket command value ⁇ 3r . Generates a pilot pressure command value (hereinafter, "pilot pressure command value").
  • the pilot command generation unit 3012 includes a boom pilot command generation unit 3012A, an arm pilot command generation unit 3012B, and a bucket pilot command generation unit 3012C.
  • the boom pilot command generation unit 3012A drives the boom cylinder 7 to drive the boom 4 based on the deviation between the boom command value ⁇ 1r and the current boom angle calculation value (measured value) by the boom angle calculation unit 3013A described later.
  • a pilot pressure command value is generated to act on the control valves 175L and 175R corresponding to the above.
  • the boom pilot command generation unit 3012A outputs the control current corresponding to the generated pilot pressure command value to the proportional valves 31BL and 31BR.
  • the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31BL and 31BR acts on the corresponding pilot ports of the control valves 175L and 175R via the shuttle valves 32BL and 32BR.
  • the boom cylinder 7 operates by the action of the control valves 175L and 175R, and the boom 4 operates so as to realize the boom angle corresponding to the boom command value ⁇ 1r .
  • the arm pilot command generation unit 3012B drives the arm cylinder 8 based on the deviation between the arm command value ⁇ 2r and the current arm angle calculation value (measured value) by the arm angle calculation unit 3013B described later.
  • a pilot pressure command value is generated to act on the control valves 176L and 176R corresponding to the above.
  • the arm pilot command generation unit 3012B outputs the control current corresponding to the generated pilot pressure command value to the proportional valves 31AL and 31AR.
  • the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31AL and 31AR acts on the corresponding pilot ports of the control valves 176L and 176R via the shuttle valves 32AL and 32AR.
  • the arm cylinder 8 operates by the action of the control valves 176L and 176R, and the arm 5 operates so as to realize the arm angle corresponding to the arm command value ⁇ 2r .
  • the bucket pilot command generation unit 3012C drives the bucket cylinder 9 based on the deviation between the bucket command value ⁇ 3r and the current bucket angle calculation value (measured value) by the bucket angle calculation unit 3013C described later. Generates a pilot pressure command value that acts on the control valve 174 corresponding to. Then, the bucket pilot command generation unit 3012C outputs the control current corresponding to the generated pilot pressure command value to the proportional valves 31CL and 31CR. As a result, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31CL and 31CR acts on the corresponding pilot port of the control valve 174 via the shuttle valves 32CL and 32CR. Then, by the action of the control valve 174, the bucket cylinder 9 operates, and the bucket 6 operates so as to realize the bucket angle corresponding to the bucket command value ⁇ 3r .
  • the attitude angle calculation unit 3013 calculates (current) boom angle ⁇ 1 , arm angle ⁇ 2 , and bucket angle ⁇ 3 based on the detection signals of boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 (current). Measure.
  • the posture angle calculation unit 3013 includes a boom angle calculation unit 3013A, an arm angle calculation unit 3013B, and a bucket angle calculation unit 3013C.
  • the boom angle calculation unit 3013A calculates (measures) the boom angle ⁇ 1 based on the detection signal captured from the boom angle sensor S1.
  • the arm angle calculation unit 3013B calculates (measures) the arm angle ⁇ 2 based on the detection signal captured from the arm angle sensor S2.
  • the bucket angle calculation unit 3013C calculates (measures) the bucket angle ⁇ 3 based on the detection signal captured from the bucket angle sensor S3.
  • FIG. 13 is a functional block diagram showing another example of a detailed configuration regarding the machine control function of the excavator 100 according to the present embodiment.
  • FIG. 12B since the configuration corresponding to FIG. 12B is the same as that of the above example, FIG. 12B is incorporated.
  • FIG. 12A a part different from the above example (FIG. 12A) will be mainly described.
  • the excavator 100 includes the communication device T1, and the controller 30 realizes the autonomous driving function according to the signal received from the predetermined external device by the communication device T1.
  • the communication device T1 controls communication between the excavator 100 and the outside of the excavator 100.
  • the communication device T1 receives, for example, a command (hereinafter, “start command”) indicating the start of the autonomous driving function of the excavator 100 from a predetermined external device.
  • start command a command indicating the start of the autonomous driving function of the excavator 100 from a predetermined external device.
  • the controller 30 has work start determination unit 3001A, operation content determination unit 3001B, operation condition setting unit 3001C, operation start determination unit 3001D, target construction surface acquisition unit 3002, and target trajectory as functional units related to the machine control function.
  • the operation command generation unit 3011, the pilot command generation unit 3012, and the attitude angle calculation unit 3013 are included.
  • the work start determination unit 3001A determines the start of a predetermined work of the excavator 100.
  • the predetermined work is, for example, excavation work or the like.
  • the work start determination unit 3001A determines, for example, the start of the work specified by the start command when the start command is input from the external device through the communication device T1. Further, when the work start determination unit 3001A determines that the object to be monitored does not exist within the monitoring range around the excavator 100 by the peripheral monitoring function when the start command is input from the external device through the communication device T1. , The start of the work specified by the start command may be determined.
  • the operation content determination unit 3001B determines the current operation content when the work start determination unit 3001A determines the start of work.
  • the operation content determination unit 3001B determines, for example, whether or not the excavator 100 is performing an operation corresponding to a plurality of operations constituting a predetermined work, based on the current position of the work portion of the attachment.
  • the plurality of operations constituting the predetermined work include an excavation operation, a boom raising turning operation, a soil discharging operation, a boom lowering turning operation, and the like when the predetermined work is an excavation work.
  • the operating condition setting unit 3001C sets the operating conditions related to the execution of a predetermined work by the autonomous driving function.
  • the operating conditions may include, for example, conditions relating to excavation depth, excavation length, and the like when the predetermined work is excavation work.
  • the operation start determination unit 3001D determines the start of a predetermined operation constituting the predetermined work whose start is determined by the work start determination unit 3001A.
  • the operation start determination unit 3001D determines, for example, that the operation content determination unit 3001B has finished the boom lowering turning operation and the work part of the attachment (the toe of the bucket 6) has reached the excavation start position. It may be determined that the excavation operation can be started.
  • the operation command of the operation element (actuator) corresponding to the autonomous operation function generated according to the setup of the predetermined work is calculated at the target position.
  • the unit 3005 input.
  • the target position calculation unit 3005 can calculate the target position of the work portion of the attachment in response to the operation command corresponding to the autonomous driving function.
  • the controller 30 can cause the excavator 100 to perform a predetermined operation (for example, excavation operation) based on the autonomous driving function.
  • FIG. 14 shows a configuration example of an electric operation system.
  • the electric operation system of FIG. 14 is an example of a boom operation system, and mainly includes a pilot pressure actuated control valve unit 17, a boom operation lever 26A as an electric operation lever, and a controller 30. It is composed of a solenoid valve 65 for raising the boom and an electromagnetic valve 66 for lowering the boom.
  • the electric operation system of FIG. 14 can be similarly applied to an arm operation system, a bucket operation system, and the like.
  • the pilot pressure actuated control valve unit 17 includes a control valve 175 for the boom cylinder 7 (see FIG. 4B), a control valve 176 for the arm cylinder 8 (see FIG. 4A), and a control valve 174 for the bucket cylinder 9 (see FIG. 4A). See 4C.) Etc. are included.
  • the solenoid valve 65 is configured so that the flow path area of the pipeline connecting the pilot pump 15 and the raising side pilot port of the control valve 175 can be adjusted.
  • the solenoid valve 66 is configured so that the flow path area of the pipeline connecting the pilot pump 15 and the lowering side pilot port of the control valve 175 can be adjusted.
  • the controller 30 When a manual operation is performed, the controller 30 outputs a boom raising operation signal (electric signal) or a boom lowering operation signal (electric signal) according to the operation signal (electric signal) output by 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 electric signal that changes according to the operation amount and operation direction of the boom operation lever 26A.
  • the controller 30 when the boom operating 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 solenoid valve 65.
  • the solenoid valve 65 adjusts the flow path area according to the boom raising operation signal (electric signal), and controls the pilot pressure as the boom raising operation signal (pressure signal) acting on the raising side pilot port of the control valve 175. ..
  • the controller 30 when the boom operating lever 26A 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 solenoid valve 66.
  • the solenoid valve 66 adjusts the flow path area according to the boom lowering operation signal (electric signal), and controls the pilot pressure as the boom lowering operation signal (pressure signal) acting on the lowering side pilot port of the control valve 175. ..
  • the controller 30 When executing autonomous control, for example, the controller 30 responds to a correction operation signal (electric signal) instead of responding to an operation signal (electric signal) output by the operation signal generation unit of the boom operation lever 26A. (Electrical signal) or boom lowering operation signal (electrical signal) is generated.
  • the correction operation signal may be an electric signal generated by the controller 30, or may be an electric signal generated by an external control device or the like other than the controller 30.
  • FIG. 15 is a schematic view showing an example of the construction system SYS.
  • the construction system SYS includes a shovel 100, a support device 200, and a management device 300.
  • the construction system SYS is configured to support construction by one or a plurality of excavators 100.
  • the information acquired by the excavator 100 may be shared with the manager, other excavator operators, and the like through the construction system SYS.
  • Each of the excavator 100, the support device 200, and the management device 300 constituting the construction system SYS may be one unit or a plurality of units.
  • the construction 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, for example, a laptop-type computer terminal, a tablet terminal, a smartphone, or the like carried by a worker or the like at a construction site.
  • the support device 200 may be a mobile terminal 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 (so-called cloud server) installed in a management center or the like outside the construction site. Further, the management device 300 may be, for example, an edge server set at the construction site. Further, the management device 300 may be a portable terminal device (for example, a laptop computer terminal, a tablet terminal, or a mobile terminal such as a smartphone).
  • a server computer so-called cloud server
  • the management device 300 may be, for example, an edge server set at the construction site.
  • the management device 300 may be a portable terminal device (for example, a laptop computer terminal, a tablet terminal, or a mobile terminal such as 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 control.
  • the operator who uses the support device 200 or the manager who uses the management device 300 may operate the excavator 100 while using the operation device for remote control.
  • the operation device for remote control is communicably connected to the controller 30 mounted on the excavator 100 through a wireless communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network.
  • various information displayed on the display device D1 installed in the cabin 10 is at least one of the support device 200 and the management device 300. It may be displayed on a display device connected to. Image information representing the surroundings of the excavator 100 may be generated based on an image captured by an image pickup device (for example, a camera as a space recognition device 70).
  • an image pickup device for example, a camera as a space recognition device 70.
  • the controller 30 of the excavator 100 determines the time and place when the switch NS is pressed, the target trajectory used when the excavator 100 is autonomously operated, and the time and place when the excavator 100 is autonomously operated.
  • Information about at least one such as the trajectory actually followed by the part may be transmitted to at least one of the support device 200 and the management device 300.
  • the controller 30 may transmit the captured image of the imaging device to at least one of the support device 200 and the management device 300.
  • the captured image may be a plurality of images captured during the autonomous operation.
  • the controller 30 provides information on at least one such as data on the operation content of the excavator 100 during autonomous operation, data on the posture of the excavator 100, and data on the posture of the excavation attachment, at least one of the support device 200 and the management device 300. May be sent to.
  • the worker who uses the support device 200 or the manager who uses the management device 300 can obtain information about the excavator 100 during autonomous operation.
  • the construction system SYS allows the operator of the excavator 100 to share information about the excavator 100 with the manager, other excavator operators, and the like.
  • the communication device mounted on the excavator 100 is configured to transmit and receive information to and from the communication device T2 installed in the remote control room RC via wireless communication. May be good.
  • the communication device and the communication device T2 mounted on the excavator 100 transmit and receive information via a fifth generation mobile communication line (5G line), an LTE line, a satellite line, or the like. It is configured.
  • 5G line fifth generation mobile communication line
  • LTE line Long Term Evolution
  • satellite line or the like. It is configured.
  • a remote controller 30R In the remote control room RC, a remote controller 30R, a sound output device A2, an indoor image pickup device C2, a display device RD, a communication device T2, and the like are installed. Further, in the remote control room RC, a driver's seat DE on which the operator OP who remotely controls the excavator 100 sits is installed.
  • the remote controller 30R is an arithmetic unit that executes various arithmetic operations.
  • the remote controller 30R like the controller 30, is composed of a microcomputer including a CPU and a memory. Then, various functions of the remote controller 30R are realized by the CPU executing a program stored in the memory.
  • the sound output device A2 is configured to output sound.
  • the sound output device A2 is a speaker, and is configured to reproduce the sound collected by the sound collecting device (not shown) attached to the excavator 100.
  • the indoor imaging device C2 is configured to image the inside of the remote control room RC.
  • the indoor imaging device C2 is a camera installed inside the remote control room RC, and is configured to image the operator OP seated in the driver's seat DE.
  • the communication device T2 is configured to control wireless communication with the communication device attached to the excavator 100.
  • the driver's seat DE has the same structure as the driver's seat installed in the cabin 10 of a normal excavator.
  • the left console box is arranged on the left side of the driver's seat DE
  • the right console box is arranged on the right side of the driver's seat DE.
  • a left operation lever is arranged at the front end of the upper surface of the left console box
  • a right operation lever is arranged at the front end of the upper surface of the right console box.
  • a traveling lever and a traveling pedal are arranged in front of the driver's seat DE.
  • a dial 75 is arranged at the center of the upper surface of the right console box.
  • Each of the left operating lever, the right operating lever, the traveling lever, and the traveling pedal constitutes the operating device 26E.
  • the dial 75 is a dial for adjusting the engine speed, and is configured so that the engine speed can be switched in four stages, for example.
  • the dial 75 is configured so that the engine speed can be switched in four stages of SP mode, H mode, A mode, and idling mode.
  • the dial 75 transmits data regarding the setting of the engine speed to the controller 30.
  • the SP mode is a rotation speed mode selected when the operator OP wants to prioritize the amount of work, and uses the highest engine speed.
  • the H mode is a rotation speed mode selected when the operator OP wants to achieve both work load and fuel consumption, and uses the second highest engine speed.
  • the A mode is a rotation speed mode selected when the operator OP wants to operate the excavator with low noise while giving priority to fuel consumption, and uses the third highest engine speed.
  • the idling mode is a rotation speed mode selected when the operator OP wants to put the engine in the idling state, and uses the lowest engine speed. Then, the engine 11 is constantly controlled in rotation speed by the engine rotation speed in the rotation speed mode selected via the dial 75.
  • the operation device 26E is provided with an operation sensor 29A for detecting the operation content of the operation device 26E.
  • the operation sensor 29A is, for example, an inclination sensor that detects the inclination angle of the operation lever, an angle sensor that detects the swing angle around the swing axis of the operation lever, and the like.
  • the operation sensor 29A may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor.
  • the operation sensor 29A outputs information regarding the operation content of the detected operation device 26E to the remote controller 30R.
  • the remote controller 30R generates an operation signal based on the received information, and transmits the generated operation signal to the excavator 100.
  • the operation sensor 29A may be configured to generate an operation signal. In this case, the operation sensor 29A may output the operation signal to the communication device T2 without going through the remote controller 30R.
  • the display device RD is configured to display information on the surrounding conditions of the excavator 100.
  • the display device RD is a multi-display composed of nine monitors having three vertical rows and three horizontal rows so as to be able to display the state of the space in front, left, and right of the excavator 100. It is configured.
  • Each monitor is a liquid crystal monitor, an organic EL monitor, or the like.
  • the display device RD may be composed of one or a plurality of curved surface monitors, or may be composed of a projector. Further, the display device RD may be configured to be able to display the state of the space in front, left, right, and rear of the excavator 100.
  • the display device RD may be a display device that can be worn by the operator OP.
  • the display device RD may be a head-mounted display and may be configured so that information can be transmitted and received to and from the remote controller 30R by wireless communication.
  • the head-mounted display may be wiredly connected to the remote controller 30R.
  • the head-mounted display may be a transmissive head-mounted display or a non-transparent head-mounted display.
  • the head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.
  • the display device RD is configured to display an image that allows the operator OP in the remote control room RC to visually recognize the surroundings of the excavator 100. That is, the display device RD has an image so that the situation around the excavator 100 can be confirmed as if the operator is in the cabin 10 of the excavator 100 even though the operator is in the remote control room RC. Is displayed.
  • the construction system SYS is configured to support construction by the excavator 100.
  • the construction system SYS has a communication device CD and a control device CTR that communicate with the excavator 100.
  • the communication device CD and the control device CTR are installed outside the excavator 100.
  • the control device CTR assists the operator of the excavator 100 so that the step formed between the two adjacent finished surfaces becomes a predetermined value or less.
  • the control device CTR may be configured to autonomously expand and contract the hydraulic cylinder so that the step becomes a predetermined value or less.
  • control device CTR may be configured to move a predetermined portion of the attachment along a target trajectory set based on the design surface and adjust the height of the target trajectory when the step exceeds the predetermined value. Good.
  • control device CTR may be configured to display information about the step.
  • control device CTR may be configured to output an alarm when the step exceeds a predetermined value.
  • control device CTR is arranged on both sides of the unfinished slope portion, and when the distance between the two finished slope portions is less than a predetermined value, one method is used. It may be configured to calculate the difference between the height of the finished surface on the surface portion and the height of the finished surface on the other slope portion.
  • control device CTR may be configured so that the size of the step formed between two adjacent finished surfaces can be calculated.
  • control device CTR may be configured to control the attachment so that the step is equal to or less than a predetermined value.
  • the excavator 100 includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and an attachment attached to the upper rotating body 3. It is equipped with an attachment actuator that moves the attachment.
  • the excavator 100 is configured to support the operator so that the step formed between two adjacent finished surfaces is equal to or less than a predetermined value.
  • the excavator 100 has a step LD1 size HT1 formed between the surface of the strip-shaped region SW1 and the surface of the strip-shaped region SW0, which are two adjacent finished surfaces. It is configured to support the operator by autonomously operating the excavation attachment AT so that the value is TH1 or less.
  • the excavator 100 can suppress a step between two adjacent strip-shaped regions. Therefore, the excavator 100 can realize a continuous finished surface. Further, the excavator 100 can reduce the frequency of requiring extra work for eliminating a relatively large step, and can improve the work efficiency.
  • the excavator 100 autonomously changes the target trajectory of the excavation attachment AT so that the step does not exceed the predetermined value TH1, so that the above-mentioned problem is surely prevented from occurring. it can.
  • the excavator 100 is preferably configured to calculate the size of the step each time the attachment is brought into contact with the ground. With this configuration, the excavator 100 can continuously suppress that the step between two adjacent strip-shaped regions becomes relatively large.
  • the excavator 100 moves a predetermined portion of the attachment along a target trajectory set based on the design surface, and when the step between two adjacent strip-shaped regions exceeds a predetermined value, the height of the target trajectory is increased. It is configured to adjust. With this configuration, the excavator 100 can suppress a step between two adjacent strip-shaped regions without forcing the operator to perform a special operation.
  • the excavator 100 displays information on a step between two adjacent strip-shaped regions as an example of a process of assisting the operator so that the step formed between two adjacent finished surfaces is equal to or less than a predetermined value. It may be configured as follows. For example, the excavator 100 displays the first support screen as shown in FIG. 8 or the second support screen as shown in FIG. 11 on the display unit of the display device D1 when the finishing work is being performed. It may be configured in. With this configuration, the excavator 100 can make the operator recognize the state of the slope realized by the autonomous control in advance.
  • the excavator 100 is arranged on both sides of an unfinished slope portion, and when the distance between two finished slope portions is less than a predetermined value, the excavator 100 is placed on one of the slope portions. It may be configured to calculate the difference between the height of the finished surface and the height of the finished surface on the other slope portion. For example, as shown in FIG. 9, the excavator 100 is arranged on both sides of the unfinished slope portion SN1 and is the distance between the finished slope portion SF1 and the slope portion SF2.
  • the size of the step LDb that can be formed by the connecting portion LK which is the difference between the height of the band-shaped region SW1 in the slope portion SF1 and the height of the strip-shaped region SW21 in the slope portion SF2. It may be configured to calculate the HTb. This is to effectively execute the function of reducing the step LDb that may be formed by the connecting portion LK when the slope portion SF1 and the slope portion SF2 are connected in the future.
  • the excavator 100 may autonomously operate the actuator so that three or more consecutive finished surfaces are gradually raised or lowered stepwise.
  • the difference between the surface of each of the strip regions SW1, SW0, SW10, SW11, and SW12 and the design surface is in the order of DS1, DS0, DS10, DS11, and DS12.
  • the actuator may be operated autonomously so as to be smaller. This is to prevent one of the steps LD1, LD10, LD11, LD12, and LDb from protruding and becoming large.
  • At least one of two adjacent finished surfaces may be unfinished.
  • the excavator 100 estimates the size of the step between the two adjacent finished surfaces when both of the two adjacent finished surfaces are incomplete, and the target trajectory is determined according to the estimated size. It may be configured to adjust the height of the. With this configuration, the excavator 100 can flexibly determine the state of the slope realized by autonomous control.
  • the two adjacent finished surfaces may be, for example, a part of a slope or a part of the surface of a base on which a pavement is laid.
  • the excavator 100 can suppress a step between each of the plurality of strip-shaped regions constituting the slope or the base.
  • the excavator 100 may output an alarm when the step between two adjacent strip-shaped regions exceeds a predetermined value.
  • the excavator 100 can inform the operator that the target trajectory is adjusted in order to suppress the step. In this case, the operator may prohibit the adjustment of the target trajectory by performing a predetermined operation.
  • the excavator 100 may autonomously expand and contract the hydraulic cylinder, which is an example of the attachment actuator, so that the step formed between two adjacent finished surfaces becomes a predetermined value or less.
  • the hydraulic cylinder includes, for example, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9. With this configuration, the excavator 100 can easily and easily reduce the size of the step.
  • the excavator 100 may be configured to output sound according to the magnitude of the distance between a predetermined portion of the attachment and the target trajectory.
  • the excavator 100 uses the machine guidance function to output an intermittent sound from the audio output device D2 according to the magnitude of the distance (vertical distance or shortest distance) between the back surface of the slope bucket 6S and the target trajectory. You may. This is to make the operator of the excavator 100 audibly recognize the magnitude of the distance between the back surface of the slope bucket 6S and the target trajectory.
  • the excavator 100 may inform the operator that the back surface of the slope bucket 6S is approaching the target trajectory by shortening the output interval of the intermittent sound as the distance becomes smaller.
  • the finishing work is the work of moving the slope bucket 6S from the buttock TS to the buttock TS along the design surface, but the buttock TS is moved to the buttock TS along the design surface. It may be the work of moving the slope bucket 6S to the FS.
  • Excavator 171 to 176 Control valve AT ... Excavation attachment D1 ... Display device D2 ... Audio output device FS ... Hojiri G1 ... Cross section display area G2 ... Surface Display area G3 ... Message display area GB ... Figures GL1 to GL6, GL10 to GL12, GS0 to GS6, GS10 to GS12, GS21 to GS23 ... Image part LD ... Step LK ...

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PCT/JP2020/014205 2019-03-29 2020-03-27 ショベル Ceased WO2020203843A1 (ja)

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KR1020217027941A KR20210140722A (ko) 2019-03-29 2020-03-27 쇼벨
CN202080019285.7A CN113677853B (zh) 2019-03-29 2020-03-27 挖土机
EP20784317.8A EP3951079A4 (en) 2019-03-29 2020-03-27 SHOVEL
JP2021512043A JPWO2020203843A1 (https=) 2019-03-29 2020-03-27
US17/448,910 US12116751B2 (en) 2019-03-29 2021-09-27 Shovel
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JP7572797B2 (ja) * 2020-05-29 2024-10-24 株式会社小松製作所 作業システムおよび制御方法
US12352011B2 (en) * 2020-08-15 2025-07-08 Kubota Corporation Working machine
JP7504815B2 (ja) * 2021-01-27 2024-06-24 株式会社クボタ 旋回作業機
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US20230097563A1 (en) * 2021-09-28 2023-03-30 Deere & Company System and method for blade control on a utility vehicle
KR102864042B1 (ko) 2021-10-21 2025-09-23 엘지디스플레이 주식회사 박막 트랜지스터 기판 및 이를 포함하는 표시장치
US20240401304A1 (en) * 2021-10-28 2024-12-05 Kobelco Construction Machinery Co., Ltd. Work machine
WO2026071087A1 (ja) * 2024-09-27 2026-04-02 日立建機株式会社 作業機械

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US12116751B2 (en) 2024-10-15
KR20210140722A (ko) 2021-11-23
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EP3951079A1 (en) 2022-02-09
EP3951079A4 (en) 2022-06-08
CN113677853B (zh) 2023-09-22
CN113677853A (zh) 2021-11-19
JP2024071579A (ja) 2024-05-24

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