WO2024111434A1 - Dispositif de commande pour excavateur - Google Patents

Dispositif de commande pour excavateur Download PDF

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Publication number
WO2024111434A1
WO2024111434A1 PCT/JP2023/040560 JP2023040560W WO2024111434A1 WO 2024111434 A1 WO2024111434 A1 WO 2024111434A1 JP 2023040560 W JP2023040560 W JP 2023040560W WO 2024111434 A1 WO2024111434 A1 WO 2024111434A1
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WO
WIPO (PCT)
Prior art keywords
controller
blade
shovel
bucket
boom
Prior art date
Application number
PCT/JP2023/040560
Other languages
English (en)
Japanese (ja)
Inventor
和俊 橋本
浩之 塚本
Original Assignee
住友建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 住友建機株式会社 filed Critical 住友建機株式会社
Publication of WO2024111434A1 publication Critical patent/WO2024111434A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

Definitions

  • the present invention relates to a control device for a shovel.
  • shovels equipped with a blade for performing ground leveling work are known. Furthermore, with this shovel, the blade is placed on the ground when performing excavation work to prevent the shovel from tipping over.
  • the blade In the conventional shovels described above, the blade must be lowered so that it touches the ground every time excavation work is performed. Furthermore, in conventional shovels, when traveling after excavation work, the blade must be raised to protect the traveling surface. For this reason, with conventional shovels, the blade must be lowered and raised every time excavation work is performed, which is cumbersome.
  • the disclosed technology aims to improve operability in light of the above issues.
  • a control device for a shovel is a control device for a shovel having an upper rotating body, an attachment provided on the upper rotating body, a rotating mechanism, a lower running body, and a blade provided on the lower running body, and is a control device for a shovel that receives an input of an operation command instructing the operation of the attachment, determines whether or not a person has been detected around the shovel, and if no person is detected, causes the shovel to perform an operation to lower the blade.
  • FIG. 2 is a side view of a small turning excavator.
  • FIG. 2 is a top view of a small turning type shovel.
  • FIG. 2 is a diagram showing an example of the configuration of a hydraulic circuit mounted on a shovel.
  • FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of an arm cylinder. This is a diagram of the hydraulic system related to the operation of the boom cylinder.
  • FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of a bucket cylinder.
  • FIG. 2 is a diagram illustrating a hydraulic system portion related to the operation of a swing hydraulic motor.
  • FIG. 2 is a block diagram showing an example of a configuration relating to a machine guidance function and a machine control function of a shovel.
  • 10 is a flowchart illustrating the operation of a shovel.
  • FIG. 13 is a diagram illustrating the situation when the blade is lowered.
  • Figure 1 is a side view of a small turning excavator
  • Figure 2 is a top view of the small turning excavator.
  • the small turning shovel may be referred to simply as "shovel.”
  • An upper turning body 3 is mounted on a lower running body 1 of the shovel 100 via a turning mechanism 2.
  • a boom 4 is attached to the upper turning body 3.
  • An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment.
  • a slope bucket, a dredging bucket, etc. may be used as the end attachment.
  • the boom 4, arm 5, and bucket 6 constitute an attachment, and are hydraulically driven by the boom cylinder 7, arm cylinder 8, and bucket cylinder 9, respectively.
  • the upper rotating body 3 is provided with a cabin 10, and is equipped with a power source such as an engine 11. Inside the cabin 10, a driver's seat, various operating devices 26 required for operating the shovel 100, and a controller 30 that controls the operation of the shovel 100 are installed.
  • the top part Th1 of the handrail 70 mounted on the fuel tank 24 becomes the highest position in the excavator 100.
  • the top part Th1 of the handrail 70 is higher than the top part Th2 of the handrail 60, the top part Tc of the cabin 10, and the piping Ta to the arm cylinder 8 mounted on the boom 4.
  • the top surface of the fuel tank 24 is higher than the muffler cover 90.
  • the top Th1 of the handrail 70 becomes lower than any of the top Th2 of the handrail 60, the top Tc of the cabin 10, and the piping Ta to the arm cylinder 8 mounted on the boom 4.
  • a blade 95 used for ground leveling work and the like is provided on the lower traveling body 1.
  • the blade 95 has a tip portion 95a and a support portion 95b,
  • the blade 95 is driven by a blade cylinder (not shown) provided on the lower traveling body 1. More specifically, the blade cylinder extends and retracts in response to an operation by the operator to raise and lower the blade 95.
  • the shovel 100 performs a blade lowering operation for lowering the blade 95 and a blade raising operation for raising the blade 95 in response to an operation by the operator.
  • the shovel 100 also has a blade angle sensor 96 for detecting the angle of the blade 95.
  • the angle of the blade 95 may be, for example, the angle with respect to the horizontal plane of the support portion 95b.
  • the blade angle sensor 96 of this embodiment transmits a detected signal to the controller 30 of the shovel 100 via wireless communication.
  • the blade angle sensor 96 of this embodiment may also transmit a signal using power supplied by vibration power generation, solar power generation, or the like.
  • the controller 30 When the shovel 100 of this embodiment receives an input of an operation commanding the operation of the attachment, the controller 30 performs a blade lowering operation to lower the blade 95, so that the blade 95 touches the ground and the shovel 100 is prohibited from traveling.
  • the controller 30 when the operation for the attachment is completed and an operation instructing traveling is received, the controller 30 performs a blade raising operation to raise the blade 95. In other words, the controller 30 performs a blade raising operation when no operation command for the attachment is input and a traveling command instructing traveling is input.
  • the controller 30 controls the blade 95 in this manner, so the operator does not need to lower the blade 95 every time excavation work is performed, simplifying operation.
  • the blade 95 when performing excavation work, the blade 95 is lowered and placed on the ground, thereby improving the stability of the shovel 100 during excavation work. Furthermore, in this embodiment, when the blade 95 is placed on the ground, the controller 30 prohibits the shovel 100 from traveling, so that the shovel 100 can be prevented from traveling with the blade 95 lowered. Details of the processing by the controller 30 will be described later.
  • the boom 4 is rotatably supported near the center of the upper rotating body 3.
  • the cabin 10 is installed on the left side of the boom 4, in front of the upper rotating body 3.
  • a urea water tank cover 19 that covers a urea water tank (described later) is attached to the right side of the boom 4, in front of the upper rotating body 3.
  • a fuel tank 24 and a hydraulic oil tank 27 are arranged behind the urea water tank cover 19.
  • the fuel tank 24 is arranged on the outside, and the hydraulic oil tank 27 is arranged inside the fuel tank 24.
  • the top surface of the urea water tank cover 19 and the top surface of the hydraulic oil tank 27 are used as walkways for workers during maintenance, etc.
  • the top surface of the fuel tank 24 is located higher than the top surface of the hydraulic oil tank 27 as described below, and is not used as a walkway for workers.
  • a handrail 60 is attached to the outer periphery of the upper rotating body 3, from the urea water tank cover 19 to the fuel tank 24.
  • the handrail 60 is a rail to protect the worker from falling when climbing onto the upper rotating body 3.
  • the upper end of the handrail 60 extends to the end of the fuel tank 24.
  • a handrail 70 extends in the extension direction of the handrail 60.
  • the handrail 70 is attached to the upper surface of the fuel tank 24, and bends inward along the corner of the upper surface of the fuel tank 24.
  • the handrail 70 is provided in a position that allows the worker to hold on to it when he or she stands on the top surface of the hydraulic oil tank 27.
  • a muffler cover 90 is provided behind the fuel tank 24 and hydraulic oil tank 27 to cover the exhaust gas treatment device, which will be described later.
  • An exhaust pipe (muffler) 92 extending from the exhaust gas treatment device protrudes from the part of the muffler cover 90 close to the fuel tank 24.
  • the urea water tank cover 19, fuel tank 24, hydraulic oil tank 27, handrail 60, handrail 70, and muffler cover 90 are located on the right side of the upper rotating body 3.
  • the boom 4 is rotatably attached to the center of the upper rotating body 3 as described above.
  • the shape of the rear part of the upper rotating body 3 is regulated by the turning radius of the excavator, and is an arc shape with the turning radius.
  • a counterweight 28 is placed in the center of the rear part of the upper rotating body 3.
  • the engine 11 is placed and fixed in the space between the counterweight 28 and the boom 4.
  • the engine 11 is not visible in Figures 1 and 2 because there is an engine hood 35 that covers the top of the engine 11.
  • an aisle 32 On which an operator stands when opening the engine hood 35 to perform maintenance work on the engine 11.
  • a work scaffold 34 is provided at a position lower than the aisle 32.
  • the work scaffold 34 is provided so as to cover the rotation motor arranged next to the hydraulic oil tank 27, and also functions as a rotation motor cover.
  • the worker When climbing up to the upper aisle 32, the worker first stands on the lower work scaffold 34 and then climbs up to the higher aisle 32. At this time, the worker can easily climb up from the work scaffold 34 to the aisle 32 by placing his or her hands on the vertically extending portion of the end of the handrail 70 described above.
  • the shovel 100 of this embodiment includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, and a turning state sensor S5.
  • the shovel 100 of this embodiment also includes a spatial recognition device 81, a direction detection device 82, an input device 83, a positioning device 84, a display device D1, and an audio output device D2.
  • the boom angle sensor S1 is attached to the boom 4 and detects the elevation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 relative to the rotation plane of the upper rotating body 3 when viewed from the side.
  • the boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a gyro sensor (angular velocity sensor), a six-axis sensor, an IMU (Inertial Measurement Unit), etc., and the same applies to the arm angle sensor S2, bucket angle sensor S3, and aircraft tilt sensor S4 below.
  • a detection signal corresponding to the boom angle by the boom angle sensor S1 is input to the controller 30.
  • the arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter, "arm angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 with a line connecting the fulcrums at both ends of the boom 4 in a side view.
  • a detection signal corresponding to the arm angle by the arm angle sensor S2 is input to the controller 30.
  • the bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 relative to the arm 5 (hereinafter referred to as the "bucket angle"), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 and a line connecting the fulcrum and tip (cutting edge) of the bucket 6 in a side view.
  • a detection signal corresponding to the bucket angle by the bucket angle sensor S3 is input to the controller 30.
  • the various angle sensors described above may include an operation amount detection unit that detects the amount of operation, and the various angle sensors may calculate an angle based on the detected amount of operation.
  • the machine body tilt sensor S4 detects the tilt state of the machine body (e.g., the upper rotating body 3) relative to the horizontal plane.
  • the machine body tilt sensor S4 is attached, for example, to the upper rotating body 3 and detects the tilt angles around two axes in the fore-aft and lateral directions (hereinafter, "fore-aft tilt angle” and "lateral tilt angle") of the shovel 100 (i.e., the upper rotating body 3).
  • the machine body tilt sensor S4 may include, for example, an acceleration sensor, a gyro sensor (angular velocity sensor), a six-axis sensor, an IMU, etc.
  • the detection signal corresponding to the tilt angle (fore-aft tilt angle and lateral tilt angle) by the machine body tilt sensor S4 is input to the controller 30.
  • the rotation state sensor S5 is attached to the upper rotating body 3 and outputs detection information related to the rotation state of the upper rotating body 3.
  • the rotation state sensor S5 detects, for example, the rotation angular velocity and rotation angle of the upper rotating body 3.
  • the rotation state sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc. If the vehicle tilt sensor S4 includes a gyro sensor, a six-axis sensor, an IMU, etc. capable of detecting angular velocity around three axes, the rotation state (e.g., rotation angular velocity) of the upper rotating body 3 may be detected based on the detection signal of the vehicle tilt sensor S4. In this case, the rotation state sensor S5 may be omitted.
  • the spatial recognition device 81 is configured to recognize objects present in the three-dimensional space around the shovel 100, and to measure (calculate) the positional relationship, such as the distance, from the spatial recognition device 81 or the shovel 100 to the recognized object.
  • the spatial recognition device 81 may include, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR (Light Detecting and Ranging), a distance image sensor, an infrared sensor, etc.
  • the spatial recognition device 81 includes a forward recognition sensor 81F attached to the front end of the upper surface of the cabin 10, and a rear recognition sensor 81B attached to the rear end of the upper surface of the upper rotating body 3.
  • the spatial recognition device 81 of this embodiment may also include a left recognition sensor attached to the left end of the upper surface of the upper rotating body 3, and a right recognition sensor attached to the right end of the upper surface of the upper rotating body 3.
  • An upward recognition sensor that recognizes objects present in the space above the upper rotating body 3 may also be attached to the excavator 100.
  • the orientation detection device 82 detects information regarding the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower running body 1 (for example, the rotation angle of the upper rotating body 3 relative to the lower running body 1).
  • the orientation detection device 82 may include, for example, a combination of a geomagnetic sensor attached to the lower running body 1 and a geomagnetic sensor attached to the upper rotating body 3.
  • the orientation detection device 82 may also include a combination of a GNSS receiver attached to the lower running body 1 and a GNSS receiver attached to the upper rotating body 3.
  • the orientation detection device 82 may also include a rotary encoder, a rotary position sensor, etc. capable of detecting the relative rotation angle of the upper rotating body 3 with respect to the lower running body 1, that is, the above-mentioned rotation state sensor S5, and may be attached, for example, to a center joint provided in association with the rotation mechanism 2 that realizes the relative rotation between the lower running body 1 and the upper rotating body 3.
  • the orientation detection device 82 may also include a camera attached to the upper rotating body 3. In this case, the orientation detection device 82 detects the image of the lower traveling body 1 included in the input image by applying known image processing to the image (input image) captured by the camera attached to the upper rotating body 3.
  • the orientation detection device 82 may be a resolver.
  • the input device 83 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30.
  • the input device 83 may include a touch panel mounted on the display of the display device D1 that displays various information images.
  • the input device 83 may include a button switch, a lever, a toggle, etc., that are arranged around the display device D1. Furthermore, the input device 83 may include a knob switch (for example, a switch SW, etc., that is arranged on the left operating lever 26L) that is arranged on the operating device 26. A signal corresponding to the operation content on the input device 83 is input to the controller 30.
  • the switch SW is, for example, a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch SW.
  • the switch SW may also be provided on the right operating lever 26R, or may be provided at another position within the cabin 10.
  • the positioning device 84 measures the position and orientation of the upper rotating body 3.
  • the positioning device 84 is, for example, a Global Navigation Satellite System (GNSS) compass, which detects the position and orientation of the upper rotating body 3, and a detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30.
  • GNSS Global Navigation Satellite System
  • the function of the positioning device 84 to detect the orientation of the upper rotating body 3 may be substituted by a direction sensor attached to the upper rotating body 3.
  • the display device D1 is provided in a location that is easily visible to the operator seated in the cabin 10, and displays various information images under the control of the controller 30.
  • the display device D1 may be connected to the controller 30 via an in-vehicle communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a one-to-one dedicated line.
  • CAN Controller Area Network
  • the audio output device D2 is provided, for example, in the cabin 10, connected to the controller 30, and outputs audio under the control of the controller 30.
  • the audio output device D2 is, for example, a speaker or a buzzer.
  • the audio output device D2 outputs various information as audio in response to audio output commands from the controller 30.
  • FIG. 3 is a diagram showing an example of the configuration of a hydraulic circuit mounted on an excavator. Also, FIG. 3 shows high-pressure hydraulic lines, pilot lines, and an electrical control system with solid lines, dashed lines, and dashed dotted lines, respectively.
  • the main pumps 14L, 14R are variable displacement hydraulic pumps driven by the engine 11.
  • the main pump 14L circulates hydraulic oil to the hydraulic oil tank 27 through a center bypass oil passage 21L that passes through each of the control valves 171L to 175L that make up the control valve 17.
  • the main pump 14L can also supply hydraulic oil to each of the control valves 172L to 175L through a parallel oil passage 22L that extends parallel to the center bypass oil passage 21L.
  • the main pump 14R circulates hydraulic oil to the hydraulic oil tank 27 through a center bypass oil passage 21R that passes through each of the control valves 171R to 175R that make up the control valve 17.
  • the main pump 14R can also supply hydraulic oil to each of the control valves 172R to 175R through a parallel oil passage 22R that extends parallel to the center bypass oil passage 21R.
  • the main pump 14L and the main pump 14R may be collectively referred to as the "main pump 14." The same applies to the other components that are configured in pairs on the left and right.
  • the control valve 171L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14L to the left-side traveling hydraulic motor 1A when the left-side traveling lever (not shown) is operated.
  • the control valve 171R is a spool valve that functions as a straight travel valve.
  • the control valve 171R has a first valve position and a second valve position.
  • the first valve position has a flow path that connects the main pump 14L and the parallel oil path 22L, and a flow path that connects the main pump 14R and the control valve 172R.
  • the second valve position has a flow path that connects the main pump 14R and the parallel oil path 22L, and a flow path that connects the main pump 14L and the control valve 172R.
  • the control valve 172L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14L to the blade cylinder 95A when the blade 95 is operated by the operating device 26.
  • the control valve 172L is a backup control valve.
  • the control valve 172R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14 to the right-side traveling hydraulic motor 1B when the operating device 26 is operated. Details of the operating device 26 will be described later.
  • the control valve 173L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14 to the swing hydraulic motor 2A when the swing mechanism 2 is operated by the operating device 26.
  • the control valve 173R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14R to the bucket cylinder 9 when the bucket 6 is operated by the operating device 26.
  • the control valves 174L and 174R are spool valves that switch the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14 to the boom cylinder 7 when the boom 4 is operated by the operating device 26.
  • the control valve 174L additionally supplies hydraulic oil to the boom cylinder 7 when the operating lever for operating the boom 4 is operated in the boom-raising direction by a predetermined lever operation amount or more.
  • the operating lever is part of the operating device 26.
  • the control valves 175L and 175R are spool valves that switch the flow of hydraulic oil to supply the hydraulic oil discharged by the main pump 14 to the arm cylinder 8 when the arm 5 is operated by the operating device 26.
  • the control valve 175R additionally supplies hydraulic oil to the arm cylinder 8 when the operating lever for operating the arm 5 is operated by a predetermined lever operation amount or more.
  • the hydraulic oil flowing out from the left-side traveling hydraulic motor 1A, the blade cylinder 95A, the swing hydraulic motor 2A, and the arm cylinder 8 is discharged into the hydraulic oil tank 27 through the return oil passage 23L.
  • the hydraulic oil flowing out from the right-side traveling hydraulic motor 1B, the bucket cylinder 9, and the boom cylinder 7 is discharged into the hydraulic oil tank 27 through the return oil passage 23R.
  • Some of the hydraulic oil flowing out from the arm cylinder 8 may also be discharged into the hydraulic oil tank 27 through the return oil passage 23R.
  • the center bypass oil passages 21L, 21R each have a negative control throttle 20L, 20R between the most downstream control valve 175L, 175R and the hydraulic oil tank 27.
  • negative control will be abbreviated as "negative control.”
  • the negative control throttles 20L, 20R restrict the flow of hydraulic oil discharged by the main pumps 14L, 14R to generate negative control pressure upstream of the negative control throttles 20L, 20R.
  • the controller 30 uses this negative control pressure to execute negative control. Specifically, the lower the negative control pressure generated by the negative control throttles 20L, 20R, the greater the discharge volume of the main pumps 14L, 14R. In addition, when the negative control pressure generated by the negative control throttles 20L, 20R exceeds a predetermined pressure, the controller 30 reduces the discharge volume of the main pumps 14L, 14R to a predetermined lower limit.
  • the relief valve 50 is a valve that controls the pressure in the rod side oil chamber of the blade cylinder 95A to a predetermined closing relief pressure or lower.
  • the load check valve 51 is a valve that prevents hydraulic oil in the blade cylinder 95A from flowing back into the parallel oil passage 22L.
  • the pressure sensors 61L and 61R detect the negative control pressure generated upstream of the negative control throttles 20L and 20R, and output the detected value to the controller 30 as an electrical negative control pressure signal.
  • the pressure sensors 62L, 62R detect the discharge pressure of the main pumps 14L, 14R and output the detected value to the controller 30 as an electrical discharge pressure signal.
  • the pressure sensor 63 detects the pressure in the rod-side oil chamber of the blade cylinder 95A and outputs the detected value to the controller 30 as an electrical blade rod pressure signal.
  • the pressure sensor 64 is one of the pressure sensors that detects the pilot pressure acting on the right pilot port of the control valve 172L and outputs the detected value as an electrical signal to the controller 30.
  • Pressure sensor 65 is one of the pressure sensors that detects the pilot pressure (hereinafter referred to as "boom-raising pilot pressure") acting on the left (boom-raising side) pilot port of control valve 174L and the right (boom-raising side) pilot port of control valve 174R, and outputs the detected value to controller 30 as an electrical boom-raising pilot pressure signal.
  • pilot pressure hereinafter referred to as "boom-raising pilot pressure”
  • the controller 30 receives the outputs of the pressure sensors 61L, 61R, 62L, 62R, 63, 64, 65, etc., and causes the CPU to execute a program that adjusts the discharge rate of each of the main pumps 14L and 14R.
  • the controller 30 makes the discharge volume L1 of the main pump 14L and the discharge volume L2 of the main pump 14R the same.
  • this method will be referred to as the "discharge volume synchronization method".
  • Figs. 4A to 4D are diagrams of parts of the hydraulic system. Specifically, Fig. 4A is a diagram of the hydraulic system portion related to the operation of the arm cylinder 8, Fig. 4B is a diagram of the hydraulic system portion related to the operation of the boom cylinder 7, Fig. 4C is a diagram of the hydraulic system portion related to the operation of the bucket cylinder 9, and Fig. 4D is a diagram of the hydraulic system portion related to the operation of the swing hydraulic motor 2A.
  • the hydraulic system includes a proportional valve 31.
  • the proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.
  • the proportional valve 31 functions as a control valve for machine control.
  • the proportional valve 31 is disposed in a pipe that connects the pilot pump 15 and the pilot port of the corresponding control valve in the control valve 17, and is configured so that the flow area of the pipe can be changed.
  • the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator. Then, the controller 30 can apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.
  • the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26 even when an operation is being performed on that specific operating device 26.
  • the left operating lever 26L is used to operate the arm 5.
  • the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to operation in the forward and backward directions to the pilot ports of the control valves 175L and 175R. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the left operating lever 26L is operated in the arm opening direction (forward), it applies pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R.
  • the operating device 26 is provided with switches SW.
  • the switches SW include a switch SW1 and another switch provided at the tip of the travel lever (not shown).
  • Switch SW1 is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing switch SW1. Switch SW1 may be provided on the right operating lever 26R or at another location within the cabin 10.
  • the other switch is a push button switch provided at the end of the left travel lever. The operator can operate the left travel lever while pressing the other switch.
  • the other switch may be provided on the right travel lever included in the operating device 26, or may be provided at another position within the cabin 10.
  • the operation sensor 29LA detects the forward/rearward operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.
  • the proportional valve 31AL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 via the proportional valve 31AL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R.
  • the proportional valve 31AR operates according to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31AR.
  • the proportional valve 31AL can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position.
  • the proportional valve 31AR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL in response to the arm closing operation by the operator. Furthermore, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31AL, regardless of the arm closing operation by the operator. In other words, the controller 30 can close the arm 5 in response to the arm closing operation by the operator or regardless of the arm closing operation by the operator.
  • the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31AR. Furthermore, regardless of the arm-opening operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31AR. In other words, the controller 30 can open the arm 5 in response to the arm-opening operation by the operator or regardless of the arm-opening operation by the operator.
  • the controller 30 can, if necessary, reduce the pilot pressure acting on the pilot ports on the closing side of the control valve 175 (the left pilot port of the control valve 175L and the right pilot port of the control valve 175R) to forcibly stop the closing operation of the arm 5.
  • the pilot pressure acting on the pilot ports on the closing side of the control valve 175 (the left pilot port of the control valve 175L and the right pilot port of the control valve 175R) to forcibly stop the closing operation of the arm 5.
  • the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.
  • the controller 30 may, as necessary, control the proportional valve 31AR to increase the pilot pressure acting on the opening pilot port of the control valve 175 (the right pilot port of control valve 175L and the left pilot port of control valve 175R) opposite the closing pilot port of the control valve 175, and forcibly return the control valve 175 to the neutral position, thereby forcibly stopping the closing operation of the arm 5.
  • the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.
  • the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to operation in the forward and backward directions to the pilot ports of the control valves 174L and 174R. More specifically, when the right operating lever 26R is operated in the boom-up direction (rearward), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R. Also, when the right operating lever 26R is operated in the boom-down direction (forward), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 174R.
  • the operation sensor 29RA detects the forward and backward operation of the right operating lever 26R by the operator and outputs the detected value to the controller 30.
  • the proportional valve 31BL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R via the proportional valve 31BL.
  • the proportional valve 31BR operates in response to a control command (current command) output by the controller 30.
  • the pilot pressure is adjusted by hydraulic oil introduced from pilot pump 15 to the right pilot port of control valve 174R via proportional valve 31BR.
  • Proportional valve 31BL can adjust the pilot pressure so that control valves 174L and 174R can be stopped at any valve position.
  • Proportional valve 31BR can also adjust the pilot pressure so that control valve 174R can be stopped at any valve position.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R via the proportional valve 31BL in response to the boom-raising operation by the operator. Furthermore, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174L and the left pilot port of the control valve 174R via the proportional valve 31BL, regardless of the boom-raising operation by the operator. In other words, the controller 30 can raise the boom 4 in response to the boom-raising operation by the operator or regardless of the boom-raising operation by the operator.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174R via the proportional valve 31BR in response to the boom lowering operation by the operator.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174R via the proportional valve 31BR, regardless of the boom lowering operation by the operator.
  • the controller 30 can lower the boom 4 in response to the boom lowering operation by the operator or regardless of the boom lowering operation by the operator.
  • the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operating lever 26R uses hydraulic oil discharged from the pilot pump 15 to apply pilot pressure corresponding to left and right operation to the pilot port of the control valve 173R.
  • the operation sensor 29RB detects the left/right operation of the right operating lever 26R by the operator and outputs the detected value to the controller 30.
  • the proportional valve 31CL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173R via the proportional valve 31CL.
  • the proportional valve 31CR operates in response to a control command (current command) output by the controller 30.
  • the proportional valve 31CL can adjust the pilot pressure so that the control valve 173R can be stopped at any valve position.
  • the proportional valve 31CR can adjust the pilot pressure so that the control valve 173R can be stopped at any valve position.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173R via the proportional valve 31CL in response to the bucket closing operation by the operator. Also, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173R via the proportional valve 31CL, regardless of the bucket closing operation by the operator. In other words, the controller 30 can close the bucket 6 in response to the bucket closing operation by the operator or regardless of the bucket closing operation by the operator.
  • the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173R via the proportional valve 31CR. Furthermore, regardless of the bucket opening operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173R via the proportional valve 31CR. In other words, the controller 30 can open the bucket 6 in response to the bucket opening operation by the operator or regardless of the bucket opening operation by the operator.
  • the left operating lever 26L is used to operate the turning mechanism 2. Specifically, the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply pilot pressure corresponding to left/right operation to the pilot port of the control valve 173L.
  • the operation sensor 29LB detects the left/right operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.
  • the proportional valve 31DL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173L via the proportional valve 31DL.
  • the proportional valve 31DR operates in response to a control command (current command) output by the controller 30.
  • the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173L via the proportional valve 31DR.
  • the proportional valve 31DL can adjust the pilot pressure so that the control valve 173L can be stopped at any valve position.
  • the proportional valve 31DR can adjust the pilot pressure so that the control valve 173L can be stopped at any valve position.
  • the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173L via the proportional valve 31DL in response to a left rotation operation by the operator. Also, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173L via the proportional valve 31DL, regardless of a left rotation operation by the operator. In other words, the controller 30 can rotate the rotation mechanism 2 to the left in response to a left rotation operation by the operator or regardless of a left rotation operation by the operator.
  • the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173L via the proportional valve 31DR. Furthermore, regardless of a right turning operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173L via the proportional valve 31DR. In other words, the controller 30 can rotate the turning mechanism 2 to the right in response to a right turning operation by the operator or regardless of a right turning operation by the operator.
  • FIG. 5 is a block diagram showing an example of the configuration related to the machine guidance function and the machine control function of the shovel.
  • the controller 30 controls the excavator 100, for example, with respect to a machine guidance function that guides the operator in manually operating the excavator 100.
  • the controller 30 conveys work information, such as the distance between the target construction surface and the tip of the attachment, specifically the working part of the end attachment, to the operator via the display device D1, audio output device D2, etc.
  • the controller 30 acquires information from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, aircraft tilt sensor S4, turning state sensor S5, spatial recognition device 81, positioning device 84, input device 83, etc.
  • Data regarding the target construction surface is stored in the internal memory or an external storage device connected to the controller 30, for example, based on settings input by the operator via the input device 83, or by being downloaded from an external device (for example, a specified management server).
  • the reference coordinate system is, for example, the World Geodetic System.
  • the World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, its X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, its Y-axis pointing in the direction of 90 degrees east longitude, and its Z-axis pointing in the direction of the North Pole.
  • the operator may define any point on the construction site as a reference point, and set the design surface based on its relative position to the reference point via the input device 83.
  • the working part of the bucket 6 is, for example, the tip of the bucket 6, the back of the bucket 6, etc. Furthermore, if, for example, a breaker is used instead of the bucket 6 as the end attachment, the tip of the breaker corresponds to the working part. This allows the controller 30 to notify the operator of work information via the display device D1, audio output device D2, etc., and to guide the operator in operating the excavator 100 via the operating device 26.
  • the controller 30 also controls the shovel 100 with respect to a machine control function that, for example, assists the operator in manually operating the shovel 100, or operates the shovel 100 automatically or autonomously.
  • the controller 30 is configured to obtain a target trajectory, which is a trajectory to be followed by a position that serves as a control reference (hereinafter, simply referred to as the "control reference") that is set on the working part of the attachment, etc.
  • the control criterion may be set to the working part of the end attachment (e.g., the tip or back of the bucket 6) when there is a work object with which the end attachment can come into contact, such as in excavation work or compaction work (e.g., the ground or soil in the bed of a dump truck, described below). Also, when there is no work object with which the end attachment can come into contact, such as in the boom up rotation operation, soil discharge operation, boom down rotation operation, etc., described below, the control criterion may be set to any part that can determine the position of the end attachment in that operation (e.g., the bottom end or tip of the bucket 6).
  • the controller 30 derives the target trajectory based on data related to the target construction surface.
  • the controller 30 may also derive the target trajectory based on information related to the topography around the excavator 100 recognized by the spatial recognition device 81.
  • the controller 30 may also derive information related to the past trajectory of a working part, such as the tip of the bucket 6, from past outputs of the attitude detection device temporarily stored in an internal volatile storage device, and derive the target trajectory based on that information.
  • the controller 30 may also derive the target trajectory based on the current position of a specified part of the attachment and data related to the target surface.
  • the posture detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a blade angle sensor 96, etc.
  • the controller 30 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the target surface and the tip position of the bucket 6, specifically, the working part such as the tip or back of the bucket 6, coincide with each other.
  • the controller 30 automatically operates at least one of the boom 4, arm 5, and bucket 6 in response to the operation so that the target surface coincides with the tip position of the bucket 6. More specifically, the controller 30 controls the proportional valve 31 as described above, and automatically operates at least one of the boom 4, arm 5, and bucket 6. This allows the operator to cause the excavator 100 to perform excavation work, leveling work, and the like along the target surface simply by operating the left operating lever 26L in the forward/backward direction.
  • the controller 30 may automatically perform the digging operation in accordance with the operator's operation of the attachment and move the bucket 6 in accordance with a predetermined target trajectory.
  • the digging start condition is a condition that indicates the start of the digging operation after the boom lowering and swinging operation of the shovel 100.
  • the digging start condition may include the condition that "with the bucket 6 above the target surface, an operation is performed on the arm 5 (i.e., the left operating lever 26L is operated in the forward and backward directions)."
  • the controller 30 automatically causes the shovel 100 to perform a predetermined operation in accordance with the operation of the operation target, and moves a predetermined part of the attachment in accordance with the target trajectory.
  • the controller 30 of the present embodiment Based on images etc. acquired by the spatial recognition device 81, it is detected whether or not there is a person around the shovel 100, and if there is no person, a blade lowering operation is performed to lower the blade 95, so that the blade 95 touches the ground and travel of the shovel 100 is prohibited. Furthermore, the controller 30 may automatically perform an excavation operation in accordance with the operation of the attachment by the operator.
  • the excavation start condition for the shovel 100 may include "the bucket 6 is above the target surface and an operation related to the arm 5 has been performed (i.e., the left operating lever 26L has been operated in the forward/rearward direction)” as well as “no people are detected nearby and the blade 95 is in contact with the ground.”
  • boost raising and rotation start condition a predetermined condition
  • the controller 30 automatically performs operations such as raising the boom 4 in accordance with the rotation operation by the operator, and moves the bucket 6 along a predetermined target trajectory.
  • the boom raising and swinging start condition is a condition that indicates the start of work to move soil and sand contained in the bucket 6 toward a dump truck parked in a specified position.
  • the boom raising and swinging start condition may include the condition that "the machine control function is enabled, that is, the switch SW is pressed, and the operation direction of the left operating lever 26L is switched from the forward/backward direction to the left/right direction.”
  • the boom raising and swinging start condition may include the condition that "the left operating lever 26L is operated leftward or to the left while a predetermined switch (hereinafter, "boom raising and swinging start switch") provided at the tip of the left operating lever 26L, which may be included in the input device 83, is pressed.”
  • a predetermined switch hereinafter, "boom raising and swinging start switch”
  • the boom raising and swinging start condition may include the condition that "the amount of soil excavated by the attachment is equal to or greater than a predetermined amount.”
  • the boom raising rotation start condition may include "completion of excavation by the attachment for a predetermined distance or more.”
  • the controller 30 can grasp the amount of soil excavated by the attachment, the excavation distance, etc., based on an image of the front of the upper rotating body 3 taken by a monocular camera or stereo camera that may be included in the spatial recognition device 81, for example.
  • the boom raising and swing start condition is a condition for determining whether or not one operation of the excavator 100, such as an excavation operation, has been completed. Furthermore, if the boom raising and swing start condition includes multiple conditions as described above, the boom raising and swing start condition may be satisfied when any one of the multiple conditions included is satisfied, or the boom raising and swing start condition may be satisfied when some or all of two or more of the multiple conditions included are satisfied.
  • the controller 30 automatically operates the upper rotating body 3 and at least the boom 4 of the attachment in response to the operation so that the target trajectory coincides with the part that serves as the control reference for the bucket 6 (for example, the lower end of the bucket 6, etc.).
  • the controller 30 controls the proportional valve 31 as described above to automatically operate the upper rotating body 3 and the boom 4, etc. This allows the operator to cause the excavator 100 to perform a boom-raising and rotating operation that moves the soil and sand contained in the bucket 6 to the dump truck simply by operating the left operating lever 26L in the left-right direction.
  • earth discharge start condition a predetermined condition
  • the controller 30 automatically performs an opening operation of the arm 5 in conjunction with the opening operation of the bucket 6, and discharges the soil and sand contained in the bucket 6 toward the dump truck.
  • the earth discharge start condition is a condition that indicates the start of the operation of discharging the soil and sand contained in the bucket 6 by the dump truck.
  • the soil discharge start condition may include the condition that "the machine control function is enabled, that is, the switch SW is pressed, and the left operating lever 26L is switched from being operated left and right to being operated right and left (specifically, to the left, which corresponds to the opening operation of the bucket 6).”
  • the soil discharge start condition may include the condition that "with a specified switch (hereinafter, "soil discharge start switch") provided at the tip of the right operating lever 26R, which may be included in the input device 83, pressed, the right operating lever 26R is operated to the left (to close the bucket 6) or to the right (to open the bucket 6).”
  • the soil discharge start condition may include the condition that "the bucket 6 has reached a predetermined location above the dump truck (e.g., the end point of the target trajectory, etc.)."
  • the "predetermined location (end point of the target trajectory)" in the soil discharge start condition may be changed each time soil is discharged.
  • the controller 30 causes the bucket 6 to open and the arm 5 to open in response to the operation so that soil and sand in the bucket 6 are discharged to a predetermined target position on the bed of the dump truck.
  • controller 30 controls the proportional valve 31 as described above, and automatically operates the arm 5 and bucket 6, etc. This allows the operator to unload the soil and sand contained in the bucket 6 onto the bed of the dump truck simply by operating the right operating lever 26R in the left-right direction (specifically, to the right).
  • boost lowering rotation start condition a predetermined condition
  • the controller 30 automatically performs operations such as lowering the boom 4 in accordance with the rotation operation by the operator, and moves the bucket 6 in accordance with a predetermined target trajectory.
  • the boom lowering rotation start condition is a condition that indicates the start of the operation of rotating the attachment to the original position for performing excavation work, etc., after discharging soil and sand from the bucket 6 onto the bed of the dump truck.
  • the boom lowering rotation start condition may include a condition that "the right operating lever 26R switches from a state in which it is operated in the left-right direction (specifically, to the right) to a state in which the left operating lever 26L is operated in the left-right direction," as described below.
  • the boom lowering rotation start condition may include the condition that "the left operating lever 26L is operated to the left or right while a specified switch (hereinafter, "boom lowering rotation start switch") provided at the tip of the left operating lever 26L, which may be included in the input device 83, is pressed.”
  • the boom lowering rotation start condition may include the condition that "there is no more soil falling from the bucket 6 onto the bed of the dump truck.”
  • the controller 30 can grasp the amount of soil and sand in the bucket 6 based on images of the front of the upper rotating body 3 taken by, for example, a monocular camera or stereo camera that may be included in the spatial recognition device 81. Specifically, when the operator operates the left operating lever 26L leftward or rightward, the controller 30 automatically operates the upper rotating body 3 and at least the boom 4 of the attachments in response to the operation so that the target trajectory coincides with the part that serves as the control reference for the bucket 6.
  • the controller 30 controls the proportional valve 31 as described above to automatically operate the upper rotating body 3 and the boom 4, etc. This allows the operator to simply operate the left operating lever 26L in the left-right direction to cause the excavator 100 to perform a boom-down rotation operation that discharges soil and sand contained in the bucket 6 onto the bed of the dump truck and then moves the attachment back to its original position for excavation work, etc.
  • the controller 30 may automatically perform an operation to level the soil or sand loaded on the bed of the dump truck (hereinafter, “bucket leveling operation”) in accordance with the operator's operation of the attachment, and move the bucket 6 in accordance with a predetermined target trajectory.
  • the bucket leveling operation start condition is a condition that indicates the start of the bucket leveling operation after the soil and sand in the bucket 6 has been discharged onto the bed of the dump truck.
  • the bucket leveling operation start condition may include the condition that "there is no more soil falling from the bucket 6 onto the bed of the dump truck.”
  • the bucket leveling operation start condition may include the condition that "with the bucket 6 above the bed of the dump truck, an operation related to the arm 5 is performed (i.e., the left operating lever 26L is operated in the forward/rearward direction)."
  • the controller 30 may generate a target trajectory based on the shape of the bed of the dump truck that is predefined and stored in an internal or external non-volatile storage device that can communicate.
  • the controller 30 detects whether or not there is a person around the excavator 100 based on the images acquired by the spatial recognition device 81, and if there is no person, performs a blade raising operation to raise the blade 95.
  • the controller 30 raises the blade 95 and drives the shovel 100.
  • the controller 30 of this embodiment may also automatically perform an operation of moving the lower traveling body to a target position along a predetermined target trajectory (hereinafter, "normal traveling operation").
  • the controller 30 may also set the start condition for normal traveling to be that the blade 95 is separated from the ground and that the bucket 6 has risen to a predetermined height above the ground. Furthermore, the controller 30 may automatically perform the operation of raising the blade 95 and the operation of raising the attachment.
  • the controller 30 detects whether or not there is a person around the shovel 100 based on images acquired by the spatial recognition device 81, and if there is no person, performs a blade lowering operation to lower the blade 95.
  • the controller 30 lowers the blade 95 and causes the shovel 100 to travel.
  • the controller 30 may also automatically perform an operation to move the lower traveling body along a target trajectory set within a specified area in order to level the ground in the specified area with the blade (hereinafter, "leveling travel operation").
  • the controller 30 may also set the start conditions for leveling travel as the blade 95 being in contact with the ground and the bucket 6 being raised to a specified height above the ground.
  • the operation to lower the blade 95 and the operation to raise the attachment may be performed automatically.
  • the controller 30 controls the blade 95 and the attachment based on the detection values of at least one of the spatial recognition device 81 and the attitude detection device.
  • the shovel 100 may have a communication device for transmitting and receiving information to and from an external device via a network or the like, and information received by the communication device may be input to the controller 30.
  • the controller 30 may also transmit information acquired by the controller 30 to an external device via the communication device.
  • the external device may be a support device for supporting work performed by the shovel 100, a management device for managing the work site of the shovel 100, or the like.
  • FIG. 6 is a flowchart explaining the operation of the shovel.
  • the controller 30 accepts input of an operation command for the attachment (step S601).
  • the shovel 100 accepts operation of the attachment by the operator.
  • the controller 30 determines whether or not a person has been detected around the shovel 100 (step S602). Specifically, for example, the controller 30 may determine whether or not a person has been detected around the shovel 100 using image data of the area around the shovel 100 acquired by the spatial recognition device 81.
  • step S602 If a person is detected in step S602, the controller 30 proceeds to step S609, which will be described later.
  • step S602 If no person is detected in step S602, the controller 30 performs a blade lowering operation to lower the blade 95 (step S603). Specifically, the controller 30 performs control to extend the blade cylinder 95A.
  • the controller 30 determines whether or not both ends of the tip 95a of the blade 95 have touched the ground (step S604).
  • the controller 30 may determine whether or not both ends of the tip 95a have touched the ground based on, for example, a signal output from the blade angle sensor 96, or may determine whether or not both ends of the tip 95a have touched the ground based on image data captured by the spatial recognition device 81, etc.
  • step S604 If, in step S604, both ends of the tip 95a of the blade 95 are not grounded, the process proceeds to step S609, which will be described later.
  • step S604 the controller 30 prohibits the shovel 100 from traveling while the attachment is operating (step S605). Specifically, the controller 30 may disable input from the travel lever.
  • the controller 30 accepts an instruction to travel (step S606). Specifically, the controller 30 accepts an input from the travel lever in a state in which an operation command for the operation of the attachment has not been input (operation of the operation lever).
  • the controller 30 determines whether or not a person has been detected around the shovel 100 (step S607). If no person is detected in step S607, the controller 30 performs a blade raising operation to raise the blade 95 (step S608). Specifically, the controller 30 performs control to retract the blade cylinder 95A.
  • the controller 30 may output an alarm or the like via the display device D1 or the audio output device D2.
  • the blade 95 when an operation on the attachment is received, the blade 95 is lowered and grounded. Therefore, in this embodiment, while an operation on the attachment is being performed, the tip 95a of the blade 95 is in contact with the ground, which reduces shaking of the machine during operation.
  • the blade 95 when there is no operation on the attachment and an operation is performed to instruct traveling, the blade 95 is raised. Therefore, in this embodiment, for example, when performing excavation work with the shovel 100, the operator does not need to perform an operation to lower the blade 95 every time he operates the attachment. In addition, in this embodiment, when completing excavation work with the shovel 100 and traveling, the operator does not need to perform an operation to raise the blade 95.
  • this embodiment simplifies the operation by the operator and improves operability.
  • the blade 95 automatically lowers when digging and automatically rises when traveling, which is effective in cases where digging and traveling are repeated, such as when digging a trench, and can improve the work efficiency of the shovel 100.
  • the blade 95 is operated only when no person is detected around the shovel 100. Therefore, in this embodiment, for example, if a person has entered an area that cannot be seen by an operator seated in the cabin 10, this can be detected, thereby improving safety.
  • the lower running structure 1 when performing deep excavation work in which the bucket 6 is positioned below the lower running structure 1, the lower running structure 1 may be rotated so that the blade 95 is positioned behind the cabin 10 when the direction in which the cabin 10 faces is considered to be the forward direction.
  • the controller 30 may calculate the position of the bucket 6 based on the input of an operation command for the attachment, and when the position of the bucket 6 is lower than the lower running structure 1, instruct the operator to rotate the lower running structure 1 so that the position of the blade 95 is rearward. Specifically, the controller 30 may display a message on the display device D1 instructing the operator to rotate the lower running structure 1 so that the position of the blade 95 is rearward, or output audio guidance from the audio output device D2.
  • the blade 95 when the blade 95 is raised in response to a command to travel, the blade 95 may be raised to a height where the tip of the blade 95 does not come into contact with the ground, and ground leveling work may be performed. Whether or not ground leveling work is to be performed when a command to travel is received may be set in advance by the operator.
  • Figure 7 is a diagram that explains the situation when the blade is lowered.
  • Figure 7 (A) is a diagram that shows the state where the tip 95a of the blade 95 is in contact with the ground
  • Figure 7 (B) is a diagram that explains the state during deep digging work.
  • the blade 95 is lowered until both ends of the tip 95a of the blade 95 are in contact with the ground surface G1, which is the running surface of the shovel 100. Then, in this embodiment, when it is detected that both ends of the tip 95a of the blade 95 are in contact with the ground surface G1, the attachment starts operating.
  • the body can perform excavation work in a stable state, improving work efficiency.
  • the lower running structure 1 is rotated to position the blade 95 at the rear, thereby preventing the blade 95 from coming into contact with the boom cylinder 7.
  • the distance between the boom cylinder 7 and the blade 95 may be calculated based on image data captured by the spatial recognition device 81F, and if the distance falls below a certain value, a warning may be issued to encourage the user to avoid contact.
  • the distance between the boom cylinder 7 and the blade 95 may be calculated, for example, from the detection value of the blade angle sensor 96 and the detection value of the boom angle sensor S1.
  • the distance between the boom cylinder 7 and the blade 95 may be calculated, for example, based on image data captured by an imaging device provided around the shovel 100.
  • the imaging device provided around the shovel 100 may be, for example, a fixed camera installed at the work site, or an imaging device provided on an aircraft flying around the shovel 100.
  • the controller 30 of the shovel 100 executes the process shown in FIG. 6, but is not limited to this.
  • the controller 30 of this embodiment may be, for example, a control unit provided in a device external to the shovel 100.
  • the controller 30 may be realized by a support device for remotely controlling the shovel 100 or a control unit of a management device that manages the shovel 100.
  • the support device or management device transmits attachment operation commands and travel commands to the shovel 100 in response to operations by the remote operator of the shovel 100.
  • the controller 30 in the shovel 100 receives these commands, it causes the shovel 100 to perform operations according to the commands.
  • the shovel 100 can automatically raise and lower the blade 95, improving operability.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention concerne un dispositif de commande pour une excavateur comprenant un corps de pivotement supérieur, une fixation disposée sur le corps de pivotement supérieur, un mécanisme de pivotement, un corps de déplacement inférieur, et une lame disposée sur le corps de déplacement inférieur, le dispositif de commande acceptant une entrée d'une commande d'action dirigeant l'action de la fixation, déterminant si une personne est détectée ou non près de l'excavateur, et faisant que l'excavateur effectue une action d'abaissement de la lame lorsqu'une personne n'est pas détectée.
PCT/JP2023/040560 2022-11-24 2023-11-10 Dispositif de commande pour excavateur WO2024111434A1 (fr)

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JP2022-187326 2022-11-24

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JPH08120706A (ja) * 1994-10-25 1996-05-14 Shin Caterpillar Mitsubishi Ltd 上部旋回体を有する建設機械用ドーザ装置
JP2000096604A (ja) * 1998-09-25 2000-04-04 Sumitomo Constr Mach Co Ltd 油圧ショベル排土板過負荷保護回路
JP2002070060A (ja) * 2000-08-29 2002-03-08 Komatsu Ltd 油圧ショベル
WO2020189049A1 (fr) * 2019-03-20 2020-09-24 ヤンマー株式会社 Engin de chantier
WO2021059615A1 (fr) * 2019-09-25 2021-04-01 日立建機株式会社 Engin de chantier

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5736703Y2 (fr) * 1977-04-19 1982-08-13
JP3000197U (ja) * 1994-01-17 1994-08-02 古河機械金属株式会社 建設車両の走行安定機構における作業装置降下抑制装置
JPH08120706A (ja) * 1994-10-25 1996-05-14 Shin Caterpillar Mitsubishi Ltd 上部旋回体を有する建設機械用ドーザ装置
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WO2020189049A1 (fr) * 2019-03-20 2020-09-24 ヤンマー株式会社 Engin de chantier
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