WO2020203887A1 - ショベル及びショベルの制御装置 - Google Patents
ショベル及びショベルの制御装置 Download PDFInfo
- Publication number
- WO2020203887A1 WO2020203887A1 PCT/JP2020/014318 JP2020014318W WO2020203887A1 WO 2020203887 A1 WO2020203887 A1 WO 2020203887A1 JP 2020014318 W JP2020014318 W JP 2020014318W WO 2020203887 A1 WO2020203887 A1 WO 2020203887A1
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- WIPO (PCT)
- Prior art keywords
- traveling
- excavator
- actuator
- bucket
- control device
- Prior art date
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- 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
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- 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
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- 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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—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
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- E—FIXED CONSTRUCTIONS
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- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/123—Drives or control devices specially adapted therefor
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- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- 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
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
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- 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
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- 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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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- 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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- 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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
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- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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- E—FIXED CONSTRUCTIONS
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- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
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- E—FIXED CONSTRUCTIONS
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- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
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- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
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- 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
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- E02F9/261—Surveying the work-site to be treated
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- 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
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- 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
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- 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)
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- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
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Definitions
- This disclosure relates to excavators and excavator control devices.
- Patent Document 1 a shovel equipped with an attachment including a boom, an arm and a bucket is known (see Patent Document 1).
- the center of gravity is relatively high. Therefore, if the inclination of the ground changes during traveling, the excavator may swing back and forth.
- 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, and a traveling actuator for driving the lower traveling body.
- the attachment actuator for moving the attachment and the control device provided on the upper swing body are provided, and the control device includes the traveling actuator and the traveling actuator according to the inclination of the ground on which the lower traveling body is traveling. At least one of the attachment actuators is operated autonomously.
- 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 traveling hydraulic motor 2M includes a left traveling hydraulic motor 2ML and a right traveling hydraulic motor 2MR.
- 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 boom 4 is rotatably supported 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 ⁇ 1 , which is the rotation angle of the boom 4.
- the boom angle ⁇ 1 is, for example, an ascending angle from the state in which the boom 4 is most lowered. Therefore, the boom angle ⁇ 1 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 ⁇ 2 , which is the rotation angle of the arm 5.
- the arm angle ⁇ 2 is, for example, an opening angle from the most closed state of the arm 5. Therefore, the arm angle ⁇ 2 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 ⁇ 3 , which is the rotation angle of the bucket 6.
- the bucket angle ⁇ 3 is an opening angle from the most closed state of the bucket 6. Therefore, the bucket angle ⁇ 3 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. Further, the space recognition device 70 is configured to calculate the distance from the space recognition device 70 or the excavator 100 to the object recognized by the space recognition device 70.
- the space recognition device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, an infrared sensor, or the like.
- the 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 space recognition device 70 is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device D1.
- the space recognition device 70 not only uses the captured image, but also uses a large number of signals (laser light, etc.) when the space recognition device 70 uses a LIDAR, a millimeter-wave radar, an ultrasonic sensor, a laser radar, or the like. May be detected from the reflected signal by transmitting the laser toward the object and receiving the reflected signal.
- the space recognition device 70 may be configured to detect an object existing around the excavator 100.
- the object is, for example, a terrain shape (inclination or hole, etc.), an electric wire, a utility pole, a person, an animal, a vehicle, a construction machine, a building, a wall, a helmet, a safety vest, work clothes, or a predetermined mark on the helmet. ..
- the space recognition device 70 may be configured to be able to identify at least one of the type, position, shape, and the like of the object.
- the space recognition device 70 may be configured so as to be able to distinguish between a person and an object other than a person.
- 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 the like.
- 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. Further, the orientation detection device 71 derives an 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. The direction of the front-rear axis of the upper swing body 3 is derived from the mounting position of the camera. Since the crawler 1C protrudes from the upper swing body 3, 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 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. In this case, the operator can input information to the controller 30 via a communication terminal such as a smartphone.
- the positioning device 73 is configured to measure the current position.
- 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, the positioning device 73 can detect the position and orientation of the upper swing body 3.
- 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 (roll angle) around the front-rear axis and the tilt angle (pitch angle) around the left-right axis of the upper swing body 3 with respect to the horizontal plane.
- Each of the front-rear axis and the left-right axis of the upper swivel body 3 passes through, for example, the excavator center point, which is one point on the swivel axis of the shovel 100, and is orthogonal 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.
- the turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like.
- 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 communication 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 attached to a communication terminal.
- 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 includes a contact avoidance function that automatically or autonomously operates or stops the excavator 100 in order to avoid contact between an object existing within the monitoring range around the excavator 100 and the excavator 100. You may be. Monitoring of objects around the excavator 100 is performed not only within the monitoring range but also outside the monitoring range. At this time, the controller 30 detects the type and position of the object.
- FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the excavator 100.
- the mechanical power transmission system is shown by a double line
- the hydraulic oil line is shown by a solid line
- the pilot line is shown by a broken line
- the electric control system is shown by a dotted line.
- 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 configured to be able to supply hydraulic oil to the hydraulic control equipment including the operating device 26 via the pilot line.
- the pilot pump 15 is a fixed displacement hydraulic pump.
- the main pump 14 may be configured to realize the function of the pilot pump 15. 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 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 operating device 26 is configured 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 pipeline 42R can supply hydraulic oil to a control valve further downstream when the flow of hydraulic oil through the right center bypass pipeline 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 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 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 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 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 and the lever operation amount (lever operation angle).
- 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-4D are partial views of the hydraulic system.
- FIG. 4A is a partial view of the hydraulic system relating to the operation of the arm cylinder 8
- FIG. 4B is a partial view of the hydraulic system relating to the operation of the boom cylinder 7.
- FIG. 4C is a partial view of the hydraulic system for the operation of the bucket cylinder 9
- FIG. 4D is a partial view of the hydraulic system for the operation of the swing hydraulic motor 2A.
- FIGS. 5A and 5B are partial views of the hydraulic system.
- FIG. 5A is a partial view of a hydraulic system relating to the operation of the left traveling hydraulic motor 2ML
- FIG. 5B is a partial diagram of a hydraulic system relating to the operation of the right traveling hydraulic motor 2MR.
- the hydraulic system includes a proportional valve 31 and a shuttle valve 32.
- the proportional valve 31 includes proportional valves 31AL to 31FL and 31AR to 31FR
- the shuttle valve 32 includes shuttle valves 32AL to 32FL and 32AR to 32FR.
- a part of the hydraulic system related to the operation of the traveling hydraulic motor 2M includes a proportional valve 33.
- the proportional valve 33 includes proportional valves 33EL, 33ER, 33FL, 33FR.
- At least one of the parts relating to the operation of the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9 includes a proportional valve 33 as well as a part of the hydraulic system relating to the operation of the traveling hydraulic motor 2M. You may be.
- 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 traveling hydraulic motor 2M even when the traveling lever 26D is being operated.
- 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. 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 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 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 via the proportional valve 31AR and the shuttle valve 32AR is adjusted.
- 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 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 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 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 via the proportional valve 31BR and the shuttle valve 32BR is adjusted.
- 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 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 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 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 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 left traveling lever 26DL is used to operate the left crawler 1CL.
- the left traveling lever 26DL 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 171. More specifically, when the left traveling lever 26DL is operated in the forward direction (forward direction), the pilot pressure according to the amount of operation is applied to the left pilot port of the control valve 171. Further, when the left traveling lever 26DL is operated in the reverse direction (reverse direction), the pilot pressure according to the amount of operation is applied to the right pilot port of the control valve 171.
- 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 proportional valve 31EL operates in response to a 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 171 via the proportional valve 31EL and the shuttle valve 32EL is adjusted.
- the proportional valve 31ER operates in response to a 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 171 via the proportional valve 31ER and the shuttle valve 32ER is adjusted.
- the proportional valves 31EL and 31ER can adjust the pilot pressure so that the control valve 171 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 171 via the proportional valve 31EL and the shuttle valve 32EL, regardless of the left forward operation by the operator. That is, the left crawler 1CL can be advanced. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER and the shuttle valve 32ER regardless of the left reverse operation by the operator. That is, the left crawler 1CL can be moved backward.
- the proportional valve 33EL 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 171 via the left traveling lever 26DL, the proportional valve 33EL, and the shuttle valve 32EL is reduced.
- the proportional valve 33ER 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 171 via the left traveling lever 26DL, the proportional valve 33ER, and the shuttle valve 32ER is reduced.
- the proportional valves 33EL and 33ER can adjust the pilot pressure so that the control valve 171 can be stopped at an arbitrary valve position.
- the controller 30 reduces the pilot pressure acting on the left pilot port of the control valve 171 as necessary even when the operator is performing a left forward operation, and the lower traveling body 1 It is possible to forcibly stop the left forward movement of. The same applies to the case where the left reverse movement of the lower traveling body 1 is forcibly stopped while the left reverse operation is being performed by the operator.
- the controller 30 controls the proportional valve 31ER as necessary even when the operator is performing a left forward operation, and is a control valve located on the opposite side of the left pilot port of the control valve 171.
- the left forward operation of the lower traveling body 1 may be forcibly stopped by increasing the pilot pressure acting on the right pilot port of 171 and forcibly returning the control valve 171 to the neutral position.
- the proportional valve 33EL may be omitted.
- the right traveling lever 26DR is used to operate the right crawler 1CR.
- the right traveling lever 26DR 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 172. More specifically, when the right traveling lever 26DR is operated in the forward direction (forward direction), the pilot pressure according to the amount of operation is applied to the right pilot port of the control valve 172. Further, when the right traveling lever 26DR is operated in the reverse direction (reverse direction), the pilot pressure according to the amount of operation is applied to the left pilot port of the control valve 172.
- the operating pressure sensor 29DR detects the content of the operator's operation of 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 proportional valve 31FL operates in response to a current command output from 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 172 via the proportional valve 31FL and the shuttle valve 32FL is adjusted.
- the proportional valve 31FR operates in response to a 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 172 via the proportional valve 31FR and the shuttle valve 32FR is adjusted.
- the proportional valves 31FL and 31FR can adjust the pilot pressure so that the control valve 172 can be stopped at an arbitrary valve position.
- the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FL and the shuttle valve 32FL, regardless of the right forward operation by the operator. That is, the right crawler 1CR can be advanced. Further, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FR and the shuttle valve 32FR regardless of the right reverse operation by the operator. That is, the right crawler 1CR can be moved backward.
- the proportional valve 33FL 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 172 via the right traveling lever 26DR, the proportional valve 33FL, and the shuttle valve 32FL is reduced.
- the proportional valve 33FR operates in response to a control command (current command) output by the controller 30. Then, the pilot pressure due to the hydraulic oil introduced into the right pilot port of the control valve 172 is reduced via the pilot pump 15, the right traveling lever 26DR, the proportional valve 33FR, and the shuttle valve 32FR.
- the proportional valves 33FL and 33FR can adjust the pilot pressure so that the control valve 172 can be stopped at an arbitrary valve position.
- the controller 30 reduces the pilot pressure acting on the right pilot port of the control valve 172 as necessary even when the operator is performing the right forward operation, and the lower traveling body 1 It is possible to forcibly stop the right forward movement of. The same applies to the case where the right reverse movement of the lower traveling body 1 is forcibly stopped while the right reverse operation is being performed by the operator.
- the controller 30 controls the proportional valve 31FL as necessary even when the operator is performing a right forward operation, and is a control valve located on the opposite side of the right pilot port of the control valve 172.
- the right forward movement of the lower traveling body 1 may be forcibly stopped by increasing the pilot pressure acting on the left pilot port of 172 and forcibly returning the control valve 172 to the neutral position.
- the proportional valve 33FR may be omitted. The same applies to the case where the right reverse movement of the lower traveling body 1 is forcibly stopped when the right reverse operation is performed by the operator.
- FIG. 6 is a functional block diagram of the controller 30.
- the controller 30 receives a signal output by at least one of the information acquisition device E1 and the switch NS, executes various calculations, and at least the proportional valve 31, the display device D1, and the voice output device D2. It is configured so that a control command can be output to one.
- the information acquisition device E1 detects information about the excavator 100.
- the information acquisition device E1 includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, a turning angle speed sensor S5, a boom rod pressure sensor, a boom bottom pressure sensor, and an arm rod pressure sensor.
- the information acquisition device E1 includes, for example, information about the excavator 100, such as boom angle, arm angle, bucket angle, body tilt angle, turning angular velocity, boom rod pressure, boom bottom pressure, arm rod pressure, arm bottom pressure, bucket rod pressure, Bucket bottom pressure, boom stroke amount, arm stroke amount, bucket stroke amount, discharge pressure of main pump 14, operating pressure of operating device 26, information on objects existing in the three-dimensional space around the excavator 100, upper swivel body 3 At least one of the information regarding the relative relationship between the orientation and the orientation of the lower traveling body 1, the information input to the controller 30, and the information regarding the current position is acquired. Further, the information acquisition device E1 may obtain information from other construction machines, flying objects, or the like.
- the air vehicle is, for example, a multicopter or an airship that acquires information about the work site.
- the controller 30 mainly has an autonomous control unit 30B as a functional element.
- the autonomous control unit 30B may be configured by hardware or software.
- the autonomous control unit 30B is configured to be able to autonomously control the excavator 100 regardless of the presence or absence of operation by the operator.
- the autonomous control unit 30B can autonomously operate the hydraulic actuator by outputting a control command to the proportional valve 31 when a predetermined start condition is satisfied.
- the autonomous control unit 30B can autonomously operate each actuator by giving a current command to the proportional valve 31 and individually adjusting the pilot pressure acting on the control valve corresponding to each actuator. ..
- the boom cylinder 7 can be operated regardless of whether the right operating lever 26R is tilted in the front-rear direction, and the arm cylinder 8 can be operated regardless of whether the left operating lever 26L is tilted in the front-rear direction.
- the left traveling hydraulic motor 2ML can be operated regardless of whether the left traveling pedal is depressed, and the right traveling hydraulic motor 2MR can be operated regardless of whether the right traveling pedal is tilted. Can be done.
- the autonomous control unit 30B outputs a current command to the proportional valve 31BL, the pilot pressure acting on the right pilot port of the control valve 175L, and the left pilot of the control valve 175R. It is configured so that the pilot pressure acting on the port can be adjusted.
- the autonomous control unit 30B applies the same pilot pressure as when the right operating lever 26R is actually operated in the boom raising direction even when the right operating lever 26R is not operated in the boom raising direction. It can be generated and the boom cylinder 7 can be extended.
- the boom cylinder 7 is contracted.
- the bucket cylinder 9 is expanded and contracted, and the traveling hydraulic motor 2M is rotated.
- the autonomous control unit 30B When the hydraulic actuator is operated autonomously, the autonomous control unit 30B outputs a control command to at least one of the display device D1 and the voice output device D2, and the operator indicates that the hydraulic actuator is operated autonomously. You may tell to.
- FIG. 7 shows a flowchart of a process in which the autonomous control unit 30B autonomously controls the posture of the excavation attachment AT of the excavator 100 traveling uphill (hereinafter, referred to as “first autonomous control process”).
- the autonomous control unit 30B repeatedly executes this first autonomous control process at a predetermined control cycle while the excavator 100 is traveling uphill.
- the autonomous control unit 30B determines whether or not the excavator 100 is running based on the outputs of the operating pressure sensors 29DL and 29DR, and the excavator 100 goes uphill based on the output of the aircraft tilt sensor S4. Determine if it is located.
- the autonomous control unit 30B determines that the excavator 100 is located on a substantially horizontal plane, that is, when it is determined that the excavator 100 is not located on an uphill, the execution of the first autonomous control process is stopped. May be good. Further, the autonomous control unit 30B may stop the execution of the first autonomous control process when the attachment actuator is moved via the manual operation of the operation device 26. This is to prioritize the movement of the attachment actuator based on manual operation.
- the autonomous control unit 30B extends the attachment actuator so that the posture of the excavation attachment AT becomes a predetermined climbing posture. Therefore, in the climbing posture, the attachment is in a lifted state, and the position of the center of gravity of the excavator 100 is in a raised state. Whether or not the posture should be climbing may be determined based on whether or not the inclination of a predetermined angle or more continues for a predetermined distance.
- the autonomous control unit 30B may change the climbing posture according to the magnitude of the slope of the uphill.
- 8A to 8C and 9A to 9D are side views of the excavator 100 traveling uphill.
- 8A to 8C show the movement of the excavator 100 until the excavator 100 reaches the upper end P2 of the uphill in the order of FIGS. 8A, 8B, and 8C.
- 9A-9D show the movement of the excavator 100 when the excavator 100 passes the upper end P2 of the uphill in the order of FIGS. 9A, 9B, 9C, and 9D.
- the autonomous control unit 30B determines whether or not the predetermined start condition is satisfied, that is, whether or not the bucket 6 exceeds the upper end P2 of the uphill (step ST1).
- the autonomous control unit 30B calculates the horizontal distance HD1 between the predetermined point P1 on the bucket 6 and the upper end P2 of the uphill.
- the predetermined point P1 on the bucket 6 is, for example, the point on the bucket 6 which is the most forward in the traveling direction.
- the autonomous control unit 30B calculates the horizontal distance HD1 based on the position of the upper end P2 derived from the output of the front sensor 70F and the position of the predetermined point P1 derived from the output of the posture detection device.
- the horizontal distance HD1 may be calculated based on the position information acquired by the positioning device 73, or may be calculated based on the position information acquired by the space recognition device 70. Then, as shown in FIG. 8A, the autonomous control unit 30B determines that the bucket 6 does not exceed the upper end P2 of the uphill when the horizontal distance HD1 is larger than the predetermined value (zero). On the other hand, as shown in FIG. 8B, the autonomous control unit 30B determines that the bucket 6 has exceeded the upper end P2 of the uphill when the horizontal distance HD1 becomes a predetermined value (zero) or less.
- step ST1 When it is determined that the bucket 6 does not exceed the upper end P2 of the uphill (NO in step ST1), the autonomous control unit 30B executes step ST3 without changing the posture of the excavation attachment AT.
- the autonomous control unit 30B lowers the bucket 6 (step ST2). By this operation, the center of gravity of the excavator 100 moves downward.
- the autonomous control unit 30B outputs a control command to the proportional valve 31 so that the bucket height, which is the vertical distance between the bucket 6 and the ground, becomes a predetermined value HT. Then, the boom cylinder 7 is contracted (see arrow AR1), and the boom 4 is lowered (see arrow AR2).
- the height of the bucket may be a vertical distance between the toe of the bucket 6 and the ground.
- the autonomous control unit 30B determines whether or not another start condition is satisfied, that is, whether or not the counterweight has floated (step ST3).
- the autonomous control unit 30B determines whether or not the counterweight has floated based on the output of the airframe tilt sensor S4.
- the autonomous control unit 30B may determine whether or not the counterweight has floated based on the output of another device such as the front sensor 70F.
- the autonomous control unit 30B continuously derives a change in the pitch angle of the upper swing body 3 from the output of the airframe tilt sensor S4, and determines that the counterweight has floated when the change becomes larger than a predetermined value. To do.
- the autonomous control unit 30B ends the first autonomous control process this time without changing the posture of the excavation attachment AT.
- the autonomous control unit 30B raises the bucket 6 (step ST4).
- the autonomous control unit 30B buckets.
- a control command is output to the proportional valve 31 so that the height becomes a predetermined value HT, the boom cylinder 7 is extended (see arrow AR7), and the boom 4 is raised (see arrow AR8).
- the autonomous control unit 30B extends the boom cylinder 7 so that the bucket height becomes a predetermined value HT (see arrow AR10). , Raise the boom 4 (see arrow AR11).
- the autonomous control unit 30B can slowly land the excavator 100 on the horizontal plane at the end of the uphill while suppressing the pitching of the excavator 100. This is because the autonomous control unit 30B can cancel the rotational moment that causes the counterweight to rise by raising the bucket 6 and moving the position of the center of gravity of the excavator 100 upward when the counterweight is lifted.
- the autonomous control unit 30B has the boom cylinder 7 so that the bucket height becomes the predetermined value HT even after the tip of the lower traveling body 1 exceeds the upper end P2 of the uphill. Is contracted to lower the boom 4.
- the autonomous control unit 30B determines that the counterweight is lifted by the tip of the lower traveling body 1 protruding into the air, and the bucket height is a predetermined value.
- the boom cylinder 7 is extended to raise the boom 4 so as to be HT.
- the autonomous control unit 30B may move the boom 4 up and down without determining whether or not the counterweight has floated.
- the autonomous control unit 30B may expand and contract the boom cylinder 7 so that the bucket height is maintained at a predetermined value HT, for example, based on the output of the front sensor 70F.
- the autonomous control unit 30B may move the bucket 6 up and down by expanding and contracting the boom cylinder 7, expanding and contracting the arm cylinder 8, expanding and contracting the bucket cylinder 9, or a combination thereof.
- the autonomous control unit 30B moves the excavator 100 back and forth due to a sudden change in the pitch angle of the excavator 100 due to the lifting of the tip of the lower traveling body 1 when the excavator 100 passes the upper end P2 of the uphill. It is possible to suppress rocking.
- FIG. 10 is a block diagram showing a configuration example of the autonomous control unit 30B.
- the autonomous control unit 30B can realize the movement of the excavator 100 as shown in FIGS. 8A to 8C and 9A to 9D.
- the autonomous control unit 30B has a terrain determination unit Fa, a shovel position calculation unit Fb, a position comparison unit Fc, a bucket position calculation unit Fd, a bucket position command generation unit Fe, and a command value calculation unit Ff.
- the terrain determination unit Fa, the excavator position calculation unit Fb, the position comparison unit Fc, the bucket position calculation unit Fd, the bucket position command generation unit Fe, and the command value calculation unit Ff are represented separately for convenience of explanation. However, it does not have to be physically distinguished, and may be composed of software components or hardware components that are totally or partially common.
- the terrain determination unit Fa is configured to determine the terrain. In the example shown in FIG. 10, the terrain determination unit Fa determines whether or not there is an uphill around the excavator 100 based on the output of the space recognition device 70.
- the excavator position calculation unit Fb is configured to calculate the position of the excavator 100.
- the excavator position calculation unit Fb calculates the position (latitude, longitude, and altitude) of the excavator 100 based on the output of the positioning device 73.
- the position comparison unit Fc is configured to compare the position of the uphill determined to exist by the terrain determination unit Fa with the position of the excavator 100 calculated by the excavator position calculation unit Fb. With this configuration, the position comparison unit Fc can determine whether or not the excavator 100 is traveling uphill.
- the bucket position calculation unit Fd is configured to calculate the position of a predetermined point P1 on the bucket 6.
- the bucket position calculation unit Fd is a predetermined point P1 which is a point on the bucket 6 which is the frontmost in the traveling direction of the excavator 100 based on the output of the positioning device 73 and the output of the posture detection device. Calculate the position of.
- the predetermined point P1 of the bucket 6 is, for example, a point on the bottom surface of the bucket 6, a point on the back surface, a point on the toe of the bucket 6, or the like.
- the bucket position command generation unit Fe is configured to generate a command regarding the position of the bucket 6 (hereinafter referred to as "bucket position command").
- the bucket position command generation unit Fe generates a bucket position command when the position comparison unit Fc determines that the excavator 100 is traveling uphill.
- the bucket position command generation unit Fe calculates the horizontal distance HD1 between the predetermined point P1 on the bucket 6 and the upper end P2 of the uphill. Then, the bucket position command generation unit Fe determines that the bucket 6 has exceeded the upper end P2 of the uphill when the horizontal distance HD1 becomes a predetermined value (zero) or less. Then, when it is determined that the bucket 6 has exceeded the upper end P2 of the uphill, the bucket position command generation unit Fe generates a bucket position command so that the bucket 6 can be lowered. More specifically, the bucket position command generation unit Fe generates a bucket position command so that the bucket height, which is the vertical distance between the bucket 6 and the ground, becomes a predetermined value HT.
- the command value calculation unit Ff is configured to calculate a command value for operating the actuator.
- the command value calculation unit Ff has a command value ⁇ 1r regarding the boom angle ⁇ 1 and a command value ⁇ 2r regarding the arm angle ⁇ 2 based on the bucket position command generated by the bucket position command generation unit Fe.
- the command value ⁇ 3r for the bucket angle ⁇ 3 is calculated.
- the command value calculation unit Ff calculates the command value ⁇ 1r as necessary even when the boom 4 is not operated. This is to operate the boom 4 automatically. The same applies to the arm 5 and the bucket 6.
- the autonomous control unit 30B operates the boom cylinder 7 so that the actual boom angle ⁇ 1 becomes the same as the generated command value ⁇ 1r, and the actual arm angle ⁇ 2 becomes the generated command value ⁇ .
- the arm cylinder 8 is operated so as to be the same as 2r
- the bucket cylinder 9 is operated so that the actual bucket angle ⁇ 3 is the same as the generated command value ⁇ 3r .
- the autonomous control unit 30B generates a boom cylinder pilot pressure command corresponding to the difference ⁇ 1 between the current value of the boom angle ⁇ 1 and the command value ⁇ 1 r. Then, the control current corresponding to the boom cylinder pilot pressure command is output to the boom control mechanism (not shown).
- the boom control mechanism is configured so that a pilot pressure corresponding to a control current corresponding to a boom cylinder pilot pressure command can be applied to a control valve 175 as a boom control valve.
- the boom control mechanism may be, for example, the proportional valve 31BL and the proportional valve 31BR in FIG. 4B.
- control valve 175 that receives the pilot pressure generated by the boom control mechanism causes the hydraulic oil discharged from the main pump 14 to flow into the boom cylinder 7 in the flow direction and flow rate corresponding to the pilot pressure.
- the autonomous control unit 30B may generate a boom spool control command based on the spool displacement amount of the control valve 175 detected by the boom spool displacement sensor (not shown).
- the boom spool displacement sensor is a sensor that detects the displacement amount of the spool constituting the control valve 175.
- the controller 30 may output a control current corresponding to the boom spool control command to the boom control mechanism.
- the boom control mechanism applies a pilot pressure corresponding to the control current corresponding to the boom spool control command to the control valve 175.
- the boom cylinder 7 expands and contracts due to the hydraulic oil supplied via the control valve 175.
- the boom angle sensor S1 detects the boom angle ⁇ 1 of the boom 4 moved by the telescopic boom cylinder 7.
- the autonomous control unit 30B feeds back the boom angle ⁇ 1 detected by the boom angle sensor S1 as the current value of the boom angle ⁇ 1 used when generating the boom cylinder pilot pressure command.
- the above description relates to the operation of the boom 4 based on the command value ⁇ 1 r, but the same applies to the operation of the arm 5 based on the command value ⁇ 2 r and the operation of the bucket 6 based on the command value ⁇ 3 r.
- the arm control mechanism (not shown) is configured so that a pilot pressure corresponding to a control current corresponding to an arm cylinder pilot pressure command can be applied to a control valve 176 as an arm control valve.
- the arm control mechanism may be, for example, the proportional valve 31AL and the proportional valve 31AR in FIG. 4A.
- the bucket control mechanism (not shown) is configured so that a pilot pressure corresponding to a control current corresponding to a bucket cylinder pilot pressure command can be applied to a control valve 174 as a bucket control valve.
- the bucket control mechanism may be, for example, the proportional valve 31CL and the proportional valve 31CR in FIG. 4C.
- FIG. 11 shows a flowchart of a process in which the autonomous control unit 30B autonomously controls the posture of the excavation attachment AT of the excavator 100 approaching an uphill (hereinafter, referred to as “second autonomous control process”).
- the autonomous control unit 30B repeatedly executes this second autonomous control process at a predetermined control cycle when the excavator 100 is approaching an uphill.
- the autonomous control unit 30B determines whether or not a predetermined start condition is satisfied, that is, whether or not the first remaining distance, which is the distance between the bucket 6 and the lower end of the uphill, is less than the predetermined distance. (Step ST11).
- the autonomous control unit 30B is located between the predetermined point P1 on the bucket 6 and the lower end of the uphill based on, for example, the output of the positioning device 73 and the terrain data stored in advance in the non-volatile storage device or the like.
- the horizontal distance of is derived as the first remaining distance.
- the autonomous control unit 30B may derive the first remaining distance based on the output of the front sensor 70F. Then, the autonomous control unit 30B compares the derived first remaining distance with the predetermined distance stored in advance in the non-volatile storage device or the like.
- the autonomous control unit 30B executes step ST13 without changing the posture of the excavation attachment AT.
- the autonomous control unit 30B converts the posture of the excavation attachment AT into the predetermined posture (step ST12).
- the autonomous control unit 30B converts the current posture of the excavation attachment AT into a climbing posture by expanding and contracting at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, and the bucket height is predetermined. To be maintained at a value.
- the autonomous control unit 30B determines whether or not another start condition is satisfied, that is, whether or not the excavator 100 has passed the lower end of the uphill (step ST13). In this example, the autonomous control unit 30B determines whether or not the first remaining distance has reached zero. Then, when the first remaining distance reaches zero, it is determined that the excavator 100 has passed the lower end of the uphill.
- the autonomous control unit 30B ends the second autonomous control process this time without changing the posture of the excavation attachment AT.
- the autonomous control unit 30B raises the bucket 6 (step ST14).
- the autonomous control unit 30B extends the boom cylinder 7 so that the bucket height, which is the vertical distance between the bucket 6 and the ground (uphill slope), becomes a predetermined value, and the boom 4 To raise.
- the height of the bucket may be a vertical distance between the toe of the bucket 6 and the ground (uphill slope).
- the operator of the excavator 100 can change the posture of the excavation attachment AT to the uphill posture simply by operating the traveling lever 26D to bring the excavator 100 closer to the uphill.
- the autonomous control unit 30B can prevent the bucket 6 from colliding with the inclined surface of the uphill when the excavator 100 passes the lower end of the uphill.
- FIG. 12 shows a flowchart of a process in which the autonomous control unit 30B autonomously controls the posture of the excavation attachment AT of the excavator 100 traveling uphill (hereinafter, referred to as “third autonomous control process”).
- the autonomous control unit 30B repeatedly executes this third autonomous control process at a predetermined control cycle while the excavator 100 is traveling uphill.
- the autonomous control unit 30B acquires the bucket height, which is the vertical distance between the bucket 6 and the ground (step ST21).
- the autonomous control unit 30B determines the vertical distance between the lowest point of the bucket 6 and the ground based on the terrain data stored in advance in the non-volatile storage device or the like and the output of the attitude detection device. Calculated as height.
- the autonomous control unit 30B determines whether or not the predetermined start condition is satisfied, that is, whether or not the bucket height is less than the lower limit value (step ST22).
- the lower limit value is a value that can prevent the bucket 6 from coming into contact with the slope while climbing a slope, and is stored in advance in a non-volatile storage device or the like.
- the autonomous control unit 30B raises the bucket 6 (step ST23).
- the autonomous control unit 30B raises the bucket 6 by extending the boom cylinder 7 by a predetermined stroke amount.
- the autonomous control unit 30B may raise and lower the bucket 6 by expanding and contracting the boom cylinder 7, expanding and contracting the arm cylinder 8, expanding and contracting the bucket cylinder 9, and a combination thereof.
- the autonomous control unit 30B determines whether or not the bucket height is larger than the upper limit value (step ST24).
- the upper limit value is a value (value equal to or higher than the lower limit value) that can prevent the bucket 6 and the slope from coming into contact with each other during climbing, and is stored in advance in a non-volatile storage device or the like.
- the autonomous control unit 30B lowers the bucket 6 (step ST25).
- the autonomous control unit 30B lowers the bucket 6 by contracting the boom cylinder 7 by a predetermined stroke amount.
- the autonomous control unit 30B may lower the bucket 6 by expanding / contracting the boom cylinder 7, expanding / contracting the arm cylinder 8, expanding / contracting the bucket cylinder 9, and a combination thereof.
- the autonomous control unit 30B ends the third autonomous control process this time without changing the posture of the excavation attachment AT.
- the autonomous control unit 30B determines whether or not the bucket height is greater than the upper limit value after determining that the bucket height is equal to or greater than the lower limit value, but the bucket height is equal to or less than the upper limit value. After determining that, it may be determined whether or not the bucket height is less than the lower limit value.
- the autonomous control unit 30B can maintain the bucket height within the range of the lower limit value or more and the upper limit value or less when the excavator 100 is traveling uphill. Therefore, the autonomous control unit 30B maintains the posture of the excavation attachment AT in an appropriate climbing posture until the excavator 100 exceeds the upper end P2 of the uphill, as in the case of executing the first autonomous control process shown in FIG. It is possible to prevent the tip of the lower traveling body 1 from being lifted.
- the autonomous control unit 30B can slowly land the excavator 100 on the horizontal plane at the tip of the uphill while suppressing the pitching of the excavator 100.
- FIG. 13 shows a flowchart of a process in which the autonomous control unit 30B autonomously controls the traveling speed of the excavator 100 traveling uphill (hereinafter, referred to as “fourth autonomous control process”).
- the autonomous control unit 30B repeatedly executes the fourth autonomous control process at a predetermined control cycle while the excavator 100 is traveling uphill. For example, the autonomous control unit 30B determines whether or not the excavator 100 is running based on the outputs of the operating pressure sensors 29DL and 29DR, and the excavator 100 goes uphill based on the output of the aircraft tilt sensor S4. Determine if it is located.
- the autonomous control unit 30B determines that the excavator 100 is located on a substantially horizontal plane, that is, when it is determined that the excavator 100 is not located on an uphill, the execution of the fourth autonomous control process is stopped. May be good. Further, the autonomous control unit 30B may stop the execution of the fourth autonomous control process when the attachment actuator is moved via the manual operation of the operation device 26. This is to prioritize the movement of the attachment actuator based on manual operation.
- 14A to 14C are side views of the excavator 100 traveling uphill.
- 14A to 14C show the movement of the excavator 100 when the excavator 100 travels uphill in the order of FIGS. 14A, 14B, and 14C.
- the autonomous control unit 30B determines whether or not the predetermined start condition is satisfied, that is, whether or not the second remaining distance RD, which is the distance between the bucket 6 and the upper end P2 of the uphill, is less than the predetermined distance TH1. (Step ST31).
- the autonomous control unit 30B sets the upper end P2 of the uphill and the center point P3 of the excavator 100 based on, for example, the output of the positioning device 73 and the terrain data stored in advance in the non-volatile storage device or the like.
- the horizontal distance between them is derived as the second remaining distance RD.
- the second remaining distance RD may be a horizontal distance between the predetermined point P1 on the bucket 6 and the upper end P2 of the uphill.
- the autonomous control unit 30B may derive the second remaining distance RD based on the output of the front sensor 70F. Then, the autonomous control unit 30B compares the derived second remaining distance RD with the predetermined distance TH1 stored in advance in the non-volatile storage device or the like.
- step ST31 When it is determined that the second remaining distance RD is equal to or greater than the predetermined distance TH1 (NO in step ST31), the autonomous control unit 30B executes step ST33 without changing the traveling speed.
- the autonomous control unit 30B limits the traveling speed (step ST32).
- the autonomous control unit 30B limits the traveling speed of the excavator 100 by reducing the amount of hydraulic oil supplied to the traveling hydraulic motor 2M regardless of the operation content of the traveling lever 26D.
- the autonomous control unit 30B waits until the second remaining distance RD, which is the distance between the upper end P2 of the uphill and the center point P3 of the excavator 100, falls below the predetermined distance TH1. , Do not limit the running speed. Therefore, the excavator 100 travels at a speed corresponding to the amount of operation of the traveling lever 26D.
- the long thick arrow AR21 in FIG. 14A indicates a state in which the excavator 100 is traveling uphill at a relatively high speed.
- the autonomous control unit 30B limits the traveling speed when the second remaining distance RD is less than the predetermined distance TH1. Therefore, the excavator 100 travels at a predetermined speed limit even when the traveling lever 26D is tilted to the maximum.
- the short dotted arrow AR22 in FIG. 14B shows the excavator 100 traveling uphill at a relatively small speed limit.
- the autonomous control unit 30B determines whether or not another start condition is satisfied, that is, whether or not the excavator 100 has passed the upper end P2 of the uphill (step ST33).
- the autonomous control unit 30B is a mileage that is the distance between the upper end P2 of the uphill and the center point P3 of the excavator 100 after the second remaining distance RD reaches zero. It is determined whether or not the MD exceeds the predetermined distance TH2. Then, if the mileage MD is a predetermined distance TH2 or more, it is determined that the excavator 100 has passed the upper end P2 of the uphill.
- the autonomous control unit 30B ends the fourth autonomous control process this time without releasing the limitation of the traveling speed. ..
- the autonomous control unit 30B does not release the limitation on the traveling speed when the traveling distance MD is still less than the predetermined distance TH2. Therefore, the excavator 100 travels at a predetermined speed limit even when the traveling lever 26D is tilted to the maximum.
- the short dotted arrow AR23 in FIG. 14C shows the excavator 100 traveling at a relatively small speed limit.
- the autonomous control unit 30B releases the restriction on the traveling speed (step ST34).
- the autonomous control unit 30B releases the limitation on the traveling speed when the traveling distance MD becomes the predetermined distance TH2 or more. Therefore, for example, when the traveling lever 26D is returned to the neutral position and then operated again, the excavator 100 travels at a speed corresponding to the amount of operation of the traveling lever 26D.
- the autonomous control unit 30B may immediately release the limitation on the traveling speed when the traveling distance MD reaches the predetermined distance TH2. In this case, the excavator 100 can accelerate by increasing the amount of hydraulic oil supplied to the traveling hydraulic motor 2M even when the operating amount of the traveling lever 26D does not change.
- the autonomous control unit 30B may be configured to release the limitation on the traveling speed when the boom raising operation is performed.
- the autonomous control unit 30B detects that the boom raising operation has been performed based on at least one of the signal output by the right operating lever 26R and the cylinder pressure which is the pressure of the hydraulic oil in the boom cylinder 7, and the excavator. This is because it can be estimated that 100 has passed the upper end P2 of the uphill.
- the autonomous control unit 30B moves the excavator 100 back and forth due to a sudden change in the pitch angle of the excavator 100 due to the lifting of the tip of the lower traveling body 1 when the excavator 100 passes the upper end P2 of the uphill. It is possible to suppress rocking.
- FIGS. 13 and 14A to 14C show an example in which the autonomous control unit 30B controls the traveling actuator based on the positional relationship between the upper end P2 of the uphill and the center point P3 of the excavator 100
- the autonomous control unit 30B may control the attachment actuator based on the change in the center point P3 (or the position of the center of gravity) of the excavator 100 when the excavator 100 gets over the upper end P2 of the uphill.
- the autonomous control unit 30B can accurately grasp the situation where the excavator 100 is over the upper end P2 of the uphill.
- FIG. 15 is a block diagram showing another configuration example of the autonomous control unit 30B.
- the autonomous control unit 30B can realize the movement of the excavator 100 as shown in FIGS. 14A to 14C.
- the autonomous control unit 30B receives a signal output by at least one of a posture detection device, a space recognition device 70, an information input device 72, a positioning device 73, an abnormality detection sensor 74, and the like, and executes various calculations. However, it is configured so that a control command can be output to the proportional valve 31, the proportional valve 33, and the like.
- the attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a turning state sensor S5.
- the autonomous control unit 30B includes a target work setting unit F1, a target position setting unit F2, a traveling target trajectory generation unit F3, an abnormality monitoring unit F4, a stop determination unit F5, an attitude detection unit F6, an intermediate target setting unit F7, and a position calculation unit F8. , Comparison unit F9, object detection unit F10, movement command generation unit F11, speed calculation unit F12, speed limit unit F13, flow command generation unit F14, terrain determination unit Fa, position comparison unit Fc, and calculation unit CAL.
- Object detection unit F10 movement command generation unit F11, speed calculation unit F12, speed limit unit F13, flow rate command generation unit F14, terrain determination unit Fa, position comparison unit Fc, and calculation unit CAL are for convenience of explanation. Although they are represented as distinct, they do not have to be physically distinguished and may consist of software or hardware components that are in whole or in part.
- the target work setting unit F1 is configured to set the target work according to the output of the information input device 72, that is, the operation input received by the information input device 72.
- the target work is, for example, flat ground running, uphill running, downhill running, or the like.
- the target work setting unit F1 may set the target work based on the information received from the external device through the communication device.
- the target position setting unit F2 is configured to set the target position according to the output of the information input device 72, that is, the operation input received by the information input device 72.
- the target position is, for example, the end position of the flat ground running, the uphill running, the downhill running, or the like.
- the traveling target trajectory generation unit F3 generates a traveling target trajectory related to autonomous traveling of the excavator 100 (lower traveling body 1) based on the target work set by the target work setting unit F1 and the target position by the target position setting unit F2. To do. Further, the traveling target track generation unit F3 may set an allowable error range for the traveling target track to be generated.
- the abnormality monitoring unit F4 is configured to monitor the abnormality of the excavator 100. In the example shown in FIG. 15, the abnormality monitoring unit F4 determines the degree of abnormality of the excavator 100 based on the output of the abnormality detection sensor 74.
- the abnormality detection sensor 74 is, for example, a sensor for detecting an abnormality in the engine 11, a sensor for detecting an abnormality in the temperature of hydraulic oil, a sensor for detecting an abnormality in the controller 30, and the like.
- the stop determination unit F5 is configured to determine whether or not it is necessary to stop the excavator 100 based on various information. In the example shown in FIG. 15, the stop determination unit F5 determines whether or not it is necessary to stop the excavator 100 during autonomous driving based on the output of the abnormality monitoring unit F4. Specifically, the stop determination unit F5 determines that it is necessary to stop the excavator 100 during autonomous driving, for example, when the degree of abnormality of the excavator 100 determined by the abnormality monitoring unit F4 exceeds a predetermined threshold value. To do. In this case, the autonomous control unit 30B brakes and controls, for example, the traveling hydraulic motor 2M as a traveling actuator to decelerate or stop the rotation of the traveling hydraulic motor 2M.
- the stop determination unit F5 does not need to stop the excavator 100 during autonomous driving, that is, when the degree of abnormality of the excavator 100 determined by the abnormality monitoring unit F4 is equal to or less than a predetermined threshold value, that is, the excavator 100 It is determined that autonomous driving can be continued. Further, when a person (operator) is on board the excavator 100, the stop determination unit F5 determines whether or not the excavator 100 needs to be stopped and whether or not the autonomous driving is canceled. You may.
- the posture detection unit F6 is configured to detect information regarding the posture of the excavator 100. Further, the posture detection unit F6 may determine whether or not the posture of the excavator 100 is the traveling posture. The posture detection unit F6 may be configured to allow the excavator 100 to execute autonomous driving when it is determined that the posture of the excavator 100 is the traveling posture.
- the intermediate target setting unit F7 is configured to set an intermediate target position related to autonomous driving of the excavator 100.
- the intermediate target setting unit F7 does not need to be determined by the posture detection unit F6 that the posture of the excavator 100 is in the running posture, and the excavator 100 does not need to be stopped by the stop determination unit F5.
- one or more intermediate target positions may be set on the traveling target track.
- the position calculation unit F8 is configured to calculate the current position of the excavator 100. In the example shown in FIG. 15, the position calculation unit F8 calculates the current position of the excavator 100 based on the output of the positioning device 73.
- the comparison unit F9 is configured to compare the intermediate target position set by the intermediate target setting unit F7 with the current position of the excavator 100 calculated by the position calculation unit F8.
- the object detection unit F10 is configured to detect an object existing around the excavator 100.
- the object detection unit F10 detects an object existing around the excavator 100 based on the output of the space recognition device 70.
- the output of the space recognition device 70 is, for example, an image captured by a camera. Then, when the object detection unit F10 detects an object (for example, a person) existing in the traveling direction of the excavator 100 during autonomous driving, the object detection unit F10 generates a stop command for stopping the autonomous traveling of the excavator 100.
- the movement command generation unit F11 is configured to generate a command related to the travel movement of the lower traveling body 1.
- the movement command generation unit F11 generates a command regarding the movement direction and a command regarding the movement speed (hereinafter, referred to as “movement command”) based on the comparison result of the comparison unit F9.
- the movement command generation unit F11 may be configured to generate a movement command having a larger value as the difference between the intermediate target position and the current position of the excavator 100 increases. Further, the movement command generation unit F11 may be configured to generate a movement command that brings the difference closer to zero.
- the autonomous control unit 30B executes traveling control to the final target position while autonomously traveling the excavator 100 to each intermediate target position, for example.
- the movement command generation unit F11 may change the value of the movement command when it is determined that the excavator 100 exists on the slope based on the information on the terrain input in advance and the detection value of the positioning device 73. For example, when it is determined that the excavator 100 is on a downhill, the movement command generation unit F11 may generate a movement command value corresponding to a speed decelerated from a normal speed. The movement command generation unit F11 may acquire information on the terrain such as the inclination of the ground based on the output of the space recognition device 70.
- the movement command generation unit F11 may generate a movement command value corresponding to a speed decelerated from a normal speed. In this way, the movement command generation unit F11 may change the value of the movement command based on the information on the road surface on the traveling route. For example, when the excavator 100 moves from a sandy area to a gravel road in a riverbed, the movement command generation unit F11 may automatically change the value of the movement command. As a result, the movement command generation unit F11 can change the traveling speed according to the road surface condition.
- the autonomous control unit 30B may have a mode setting unit for setting the operation mode of the excavator 100.
- the movement command generation unit F11 causes the movement command corresponding to the low speed mode. Generate a value for. In this way, the movement command generation unit F11 may change the value (running speed) of the movement command according to the state of the excavator 100.
- the speed calculation unit F12 is configured to calculate the current running speed of the excavator 100. In the example shown in FIG. 15, the speed calculation unit F12 calculates the current traveling speed of the excavator 100 based on the transition of the current position of the excavator 100 calculated by the position calculation unit F8.
- the calculation unit CAL is configured to calculate the speed difference between the traveling speed corresponding to the movement command generated by the movement command generation unit F11 and the current traveling speed of the excavator 100 calculated by the speed calculation unit F12.
- the speed limiting unit F13 is configured to limit the traveling speed of the excavator 100.
- the speed limit unit F13 outputs a limit value instead of the speed difference, and the speed difference calculated by the calculation unit CAL is calculated.
- the speed difference is output as it is.
- the limit value may be a pre-registered value or a dynamically calculated value.
- the speed limiting unit F13 is configured to be able to limit the traveling speed of the excavator 100 based on the output of the position comparison unit Fc. Specifically, the speed limiting unit F13 is configured to be able to limit the traveling speed of the excavator 100 according to the fourth autonomous control process shown in FIG.
- the position comparison unit Fc is configured to compare the uphill position determined to exist by the terrain determination unit Fa with the current position of the excavator 100 calculated by the position calculation unit F8. With this configuration, the position comparison unit Fc can determine whether or not the excavator 100 is traveling uphill.
- the terrain determination unit Fa is configured to determine the terrain. In the example shown in FIG. 15, the terrain determination unit Fa determines, for example, whether or not there is an uphill around the excavator 100 based on the output of the object detection unit F10.
- the flow rate command generation unit F14 is configured to generate a command regarding the flow rate of the hydraulic oil supplied from the main pump 14 to the traveling hydraulic motor 2M.
- the flow rate command generation unit F14 generates a flow rate command based on the speed difference output by the speed limit unit F13.
- the flow rate command generation unit F14 may be configured to generate a larger flow rate command as the speed difference is larger.
- the flow rate command generation unit F14 may be configured to generate a flow rate command that brings the speed difference calculated by the calculation unit CAL close to zero.
- the flow rate command generated by the flow rate command generation unit F14 is a current command for the proportional valves 31 and 33.
- the proportional valves 31 and 33 operate in response to the current command to change the pilot pressure acting on the pilot port of the control valve 171. Therefore, the flow rate of the hydraulic oil flowing into the left traveling hydraulic motor 2ML is adjusted so as to correspond to the flow rate command generated by the flow rate command generation unit F14. Further, the proportional valves 31 and 33 operate in response to the current command to change the pilot pressure acting on the pilot port of the control valve 172. Therefore, the flow rate of the hydraulic oil flowing into the right traveling hydraulic motor 2MR is adjusted so as to correspond to the flow rate command generated by the flow rate command generation unit F14.
- the traveling speed of the excavator 100 is adjusted so as to be a traveling speed corresponding to the movement command generated by the movement command generation unit F11.
- the traveling speed of the excavator 100 is a concept including a traveling direction. This is because the traveling direction of the excavator 100 is determined based on the rotation speed and rotation direction of the left traveling hydraulic motor 2ML and the rotation speed and rotation direction of the right traveling hydraulic motor 2MR.
- the flow rate command generated by the flow rate command generation unit F14 is output to the proportional valves 31 and 33, but the autonomous control unit 30B is not limited to this configuration.
- the autonomous control unit 30B can control the traveling operation of the excavator 100 by controlling the discharge amount of the main pump 14.
- the autonomous control unit 30B steers the excavator 100 by controlling each of the left regulator 13L and the right regulator 13R, that is, by controlling the discharge amounts of the left main pump 14L and the right main pump 14R, respectively. You may control it. Further, the autonomous control unit 30B controls the steering of the traveling operation by controlling the supply amount of hydraulic oil to each of the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR by the proportional valve 31, and controls the regulator 13. You may control the traveling speed with.
- FIG. 16 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 using the support device 200 or the management device 300 may operate the excavator 100 while using the remote control operation device.
- 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 images displayed on the display device D1 installed in the cabin 10 are at least the support device 200 and the management device 300. It may be displayed on a display device connected to one side.
- the image information representing the surrounding state of the excavator 100 may be generated based on the image captured by the imaging device (for example, the imaging device as the space recognition device 70).
- the worker who uses the support device 200, the manager who uses the management device 300, etc. can remotely control the excavator 100 while checking the surroundings of the excavator 100, and various types of the excavator 100. You can make settings.
- 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 types and positions of the monitoring targets outside the monitoring range of the excavator 100 are stored in the storage unit in chronological order.
- the construction system SYS makes it possible 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 RP, a communication device T2, and the like are installed. Further, in the remote control room RC, a driver's seat DS 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 DS.
- the communication device T2 is configured to control wireless communication with the communication device attached to the excavator 100.
- the driver's seat DS has the same structure as the driver's seat installed in the cabin of a normal excavator. Specifically, the left console box is arranged on the left side of the driver's seat DS, and the right console box is arranged on the right side of the driver's seat DS. A left operation lever is arranged at the front end of the upper surface of the left console box, and a right operation lever is arranged at the front end of the upper surface of the right console box. Further, a traveling lever and a traveling pedal are arranged in front of the driver's seat DS. Further, 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, the traveling pedal, and the dial 75 constitutes the operating device 26A.
- 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 26A is provided with an operation sensor 29A for detecting the operation content of the operation device 26A.
- 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 detected operation content of the operation device 26A 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 RP is configured to display information on the surrounding conditions of the excavator 100.
- the display device RP is a multi-display composed of nine monitors having three vertical rows and three horizontal rows, and can display the state of the space in front, left, and right of the excavator 100. It is configured as follows.
- Each monitor is a liquid crystal monitor, an organic EL monitor, or the like.
- the display device RP may be composed of one or a plurality of curved surface monitors, or may be composed of a projector.
- the display device RP may be a display device that can be worn by the operator OP.
- the display device RP is 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.
- 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 RP 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 RP can confirm the situation around the excavator 100 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 control device CTR is configured to autonomously operate at least one of the traveling actuator and the attachment actuator according to the inclination of the ground on which the lower traveling body 1 is traveling.
- control device CTR may be configured to autonomously operate the attachment actuator so as to suppress the pitching of the upper swing body 3 that occurs when the inclination of the ground changes.
- control device CTR may be configured to autonomously operate the attachment actuator in response to a change in the inclination of the upper swing body 3.
- the control device CTR may limit the movement of the traveling actuator before the inclination of the ground changes to reduce the traveling speed of the lower traveling body 1.
- the control device CTR may limit the movement of the traveling actuator so that the traveling speed of the lower traveling body 1 decreases as the change in the inclination of the ground increases.
- the control device CTR may be configured to recognize the inclination of the ground based on the terrain data stored in advance in the storage device.
- the control device CTR may be configured to recognize the inclination of the ground based on the output of the space recognition device 70.
- control device CTR may be configured so that the lower traveling body 1 can automatically control the attachment while traveling.
- control device CTR may be configured to automatically reduce the movement command by the operator.
- control device CTR may be configured to generate command values separately for the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR.
- first control unit and the second control unit are represented separately for convenience of explanation, they do not need to be physically distinguished, and software components that are generally or partially common. Alternatively, it may be composed of hardware components.
- the excavator 100 includes the lower traveling body 1, the upper swivel body 3 rotatably mounted on the lower traveling body 1, and the excavation attachment as an attachment attached to the upper swivel body 3.
- the controller 30 is configured to autonomously operate at least one of the traveling actuator and the attachment actuator according to the inclination of the ground on which the lower traveling body 1 is traveling. With this configuration, the controller 30 can suppress the excavator 100 from swinging during traveling.
- the controller 30 is configured to autonomously operate the attachment actuator so as to suppress the pitching of the upper swing body 3 that occurs when the inclination of the ground changes.
- the controller 30 may be configured to contract the boom cylinder 7 when the bucket 6 crosses over the upper end P2 of the uphill, as shown in FIG. 8C.
- the controller 30 may be configured to extend the boom cylinder 7 when the counterweight is subsequently lifted. With this configuration, the controller 30 can suppress the pitching of the excavator 100 that occurs when the excavator 100 passes the upper end P2 of the uphill.
- the controller 30 is configured to autonomously operate the attachment actuator in response to a change in the inclination of the upper swing body 3.
- the controller 30 may be configured to operate the attachment actuator so that the center of gravity of the excavator 100 moves forward and downward as the slope of the uphill that the excavator 100 is trying to overcome increases.
- the controller 30 can realize the posture of the excavation attachment AT suitable for the size of the uphill slope that the excavator 100 is trying to overcome. Therefore, the controller 30 can efficiently suppress the pitching of the excavator 100 that occurs when the excavator 100 passes the upper end P2 of the uphill.
- the controller 30 is configured to limit the movement of the traveling actuator before the inclination of the ground changes to reduce the traveling speed of the lower traveling body 1.
- the controller 30 limits the movement of the traveling hydraulic motor 2M when the distance between the excavator 100 approaching the upper end P2 of the uphill and the upper end P2 of the uphill falls below a predetermined distance. May be configured to start.
- the controller 30 limits the movement of the traveling hydraulic motor 2M when the distance between the shovel 100 away from the upper end P2 of the uphill and the upper end P2 of the uphill exceeds a predetermined distance. It may be configured to be released.
- the controller 30 can suppress the pitching of the excavator 100 that occurs when the excavator 100 passes the upper end P2 of the uphill, as in the case of autonomously operating the attachment actuator.
- the controller 30 is configured to limit the movement of the traveling actuator so that the traveling speed of the lower traveling body 1 decreases as the change in the inclination of the ground increases.
- the controller 30 limits the movement of the traveling actuator so that the larger the slope of the uphill that the excavator 100 is trying to overcome, the smaller the traveling speed when the excavator 100 passes the upper end P2 of the uphill. It may be configured in. With this configuration, the controller 30 can realize a traveling speed suitable for the magnitude of the uphill slope that the excavator 100 is about to overcome. Therefore, the controller 30 can efficiently suppress the pitching of the excavator 100 that occurs when the excavator 100 passes the upper end P2 of the uphill.
- the controller 30 may be configured to recognize the inclination of the ground based on the topographical data stored in advance in the storage device. Alternatively, the controller 30 may be configured to recognize the inclination of the ground based on the output of the space recognition device 70 attached to the upper swing body 3. With these configurations, the controller 30 can recognize the inclination of the ground with high accuracy, and can execute autonomous control of the traveling actuator and the attachment actuator with higher accuracy.
- the autonomous control unit 30B is configured to autonomously control the posture of the excavator attachment AT of the excavator 100 traveling uphill.
- the autonomous control unit 30B may be configured to autonomously control the posture of the excavator attachment AT of the excavator 100 traveling downhill.
- the autonomous control unit 30B autonomously controls the attachment actuator (boom cylinder 7) as described with reference to FIGS. 7, 8A to 8C, and FIGS. 9A to 9D. It is configured to control, or as described with reference to FIGS. 13 and 14A-14C, it is configured to autonomously control the traveling actuator (traveling hydraulic motor 2M). However, the autonomous control unit 30B may be configured to simultaneously and autonomously control the attachment actuator and the traveling actuator when a predetermined start condition is satisfied.
- a hydraulic operating lever including a hydraulic pilot circuit is disclosed.
- the hydraulic oil supplied from the pilot pump 15 to the left operating lever 26L has an opening degree of a remote control valve that is opened and closed by tilting the left operating lever 26L in the arm opening direction. It is transmitted to the pilot port of the control valves 176L and 176R at the corresponding flow rate.
- the hydraulic oil supplied from the pilot pump 15 to the right operating lever 26R is set to the opening degree of the remote control valve that is opened and closed by tilting the right operating lever 26R in the boom raising direction. It is transmitted to the pilot port of the control valve 175L and 175R at the corresponding flow rate.
- an electric operation lever provided with an electric pilot circuit may be adopted instead of the hydraulic operation lever provided with such a hydraulic pilot circuit.
- the lever operation amount of the electric operation lever is input to the controller 30 as an electric signal, for example.
- 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.
- Control pressure sensor 26, 26A ... ⁇ ⁇ Operating device 26D ⁇ ⁇ ⁇ Traveling lever 26DL ⁇ ⁇ ⁇ Left traveling lever 26DR ⁇ ⁇ ⁇ Right traveling lever 26L ⁇ ⁇ ⁇ Left operating lever 26R ⁇ ⁇ ⁇ Right operating lever 28 ⁇ ⁇ ⁇ Discharge pressure sensor 29, 29DL, 29DR , 29LA, 29LB, 29RA, 29RB ... Operating pressure sensor 29A ... Operating sensor 30 ... Controller 30B ... Autonomous control unit 30R ... Remote controller 31, 31AL to 31FL, 31AR to 31FR ... Proportional valve 32, 32AL to 32FL, 32AR to 32FR ... Shuttle valve 33, 33EL, 33FL, 33ER, 33FR ... Proportional valve 40 ... Center bypass pipeline 42 ...
- Parallel pipeline 70 Space Recognition device 70F ⁇ ⁇ ⁇ Front sensor 70B ⁇ ⁇ ⁇ Rear sensor 70L ⁇ ⁇ ⁇ Left sensor 70R ⁇ ⁇ ⁇ Right sensor 71 ⁇ ⁇ ⁇ Direction detection device 72 ⁇ ⁇ ⁇ Information input device 73 ⁇ ⁇ ⁇ Positioning device 75 ⁇ ⁇ Dial 100 ⁇ ⁇ ⁇ Excavator 171 ⁇ 176 ⁇ ⁇ ⁇ Control valve 200 ⁇ ⁇ ⁇ Support device 300 ⁇ ⁇ ⁇ Management device A2 ⁇ ⁇ ⁇ Sound output device AT ⁇ ⁇ ⁇ Excavation attachment C2 ⁇ ⁇ ⁇ Indoor imaging device CD ⁇ ⁇ Communication device CTR ⁇ ⁇ ⁇ Control device D1 ⁇ ⁇ ⁇ Display device D2 ⁇ ⁇ ⁇ Voice output device DS ⁇ ⁇ ⁇ Driver's seat E1 ⁇ ⁇ ⁇ Information acquisition device NS ⁇ ⁇ ⁇ Switch OP ⁇ ⁇ ⁇ Operator RC ⁇ ⁇ Remote control room RP
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- Operation Control Of Excavators (AREA)
Abstract
Description
次に、図16を参照して、施工システムSYSについて説明する。図16は、施工システムSYSの一例を示す概略図である。図16に示すように、施工システムSYSは、ショベル100と、支援装置200と、管理装置300とを含む。施工システムSYSは、1台又は複数台のショベル100による施工を支援できるように構成されている。
なお、第1制御部及び第2制御部は、説明の便宜のために区別されて表されているが、物理的に区別されている必要はなく、全体的に或いは部分的に共通のソフトウェアコンポーネント若しくはハードウェアコンポーネントで構成されていてもよい。
Claims (15)
- 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記上部旋回体に取り付けられるアタッチメントと、
前記下部走行体を駆動する走行アクチュエータと、
前記アタッチメントを動かすアタッチメントアクチュエータと、
前記上部旋回体に設けられた制御装置と、を備え、
前記制御装置は、前記下部走行体が走行している地面の傾斜に応じて前記走行アクチュエータ及び前記アタッチメントアクチュエータの少なくとも1つを自律的に動作させる、
ショベル。 - 前記制御装置は、前記地面の傾斜が変化するときに発生する前記上部旋回体のピッチングを抑制するように前記アタッチメントアクチュエータを自律的に動作させる、
請求項1に記載のショベル。 - 前記制御装置は、前記上部旋回体の傾斜の変化に応じて前記アタッチメントアクチュエータを自律的に動作させる、
請求項1に記載のショベル。 - 前記制御装置は、前記地面の傾斜が変化する前に前記走行アクチュエータの動きを制限して前記下部走行体の走行速度を低減させる、
請求項1に記載のショベル。 - 前記制御装置は、前記地面の傾斜の変化が大きいほど、前記下部走行体の走行速度が小さくなるように前記走行アクチュエータの動きを制限する、
請求項4に記載のショベル。 - 前記制御装置は、記憶装置に予め記憶されている地形データに基づいて前記地面の傾斜を認識するように構成されている、
請求項1に記載のショベル。 - 前記上部旋回体に取り付けられる空間認識装置を備え、
前記制御装置は、前記空間認識装置の出力に基づいて前記地面の傾斜を認識するように構成されている、
請求項1に記載のショベル。 - 前記制御装置は、前記下部走行体が走行中に自動で前記アタッチメントを制御する、
請求項1に記載のショベル。 - 前記制御装置は、操作者による移動指令を自動で低減させる、
請求項1に記載のショベル。 - 前記走行アクチュエータは左走行油圧モータと右走行油圧モータとを含み、
前記制御装置は、前記左走行油圧モータと前記右走行油圧モータとに対して、別々に指令値を生成する、
請求項1に記載のショベル。 - 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記上部旋回体に取り付けられるアタッチメントと、
前記下部走行体を駆動する走行アクチュエータと、
前記アタッチメントを動かすアタッチメントアクチュエータと、を備えるショベルの制御装置であって、
前記下部走行体が走行している地面の傾斜に応じて前記走行アクチュエータ及び前記アタッチメントアクチュエータの少なくとも1つを自律的に動作させる、
ショベルの制御装置。 - 前記地面の傾斜が変化するときに発生する前記上部旋回体のピッチングを抑制するように前記アタッチメントアクチュエータを自律的に動作させる、
請求項11に記載のショベルの制御装置。 - 前記上部旋回体の傾斜の変化に応じて前記アタッチメントアクチュエータを自律的に動作させる、
請求項11に記載のショベルの制御装置。 - 前記地面の傾斜が変化する前に前記走行アクチュエータの動きを制限して前記下部走行体の走行速度を低減させる、
請求項11に記載のショベルの制御装置。 - 前記地面の傾斜の変化が大きいほど、前記下部走行体の走行速度が小さくなるように前記走行アクチュエータの動きを制限する、
請求項14に記載のショベルの制御装置。
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JP2021512073A JP7326428B2 (ja) | 2019-03-29 | 2020-03-27 | ショベル及びショベルの制御装置 |
KR1020217032222A KR20210143793A (ko) | 2019-03-29 | 2020-03-27 | 쇼벨 및 쇼벨의 제어장치 |
CN202080024890.3A CN113677855A (zh) | 2019-03-29 | 2020-03-27 | 挖土机及挖土机的控制装置 |
EP20784566.0A EP3951091A4 (en) | 2019-03-29 | 2020-03-27 | EXCAVATOR AND EXCAVATOR CONTROL DEVICE |
US17/449,142 US20220010526A1 (en) | 2019-03-29 | 2021-09-28 | Shovel and control device for shovel |
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