CN118668780A - Excavator - Google Patents

Abstract

An excavator is provided, which aims to reduce the workload related to setting. The excavator comprises: a lower traveling body; an upper revolving body rotatably mounted on the lower traveling body; an attachment device which is attached to the upper revolving structure and includes a boom, an arm, and a bucket; and a control device that sets a target surface that is based on a current angle of the bucket and that is different according to the angle of the bucket.

Description

Excavator

This application claims priority based on Japanese Patent Application No. 2023-044478 filed on March 20, 2023. The entire contents of the Japanese Patent Application are incorporated herein by reference.

Technical Field

The present invention relates to an excavator.

Background Art

Conventionally, there is known an excavator that sets a reference surface closer to the ground surface than a target excavation surface, compares the height of a working portion of an end attachment with the height of the reference surface, and provides guidance using a notification sound based on the comparison result.

Patent Document 1: International Publication No. 2016/148251

In the above-mentioned conventional technology, before the shovel starts working, it is necessary to set the excavation target surface or the reference surface, but this is somewhat complicated.

Summary of the invention

Therefore, in view of the above-mentioned problems, an object of the present invention is to reduce the workload involved in setting.

In order to achieve the above-mentioned purpose, an excavator involved in one embodiment of the present invention comprises: a lower walking body; an upper rotating body, which is freely mounted on the lower walking body; an auxiliary device, which is installed on the upper rotating body and includes a boom, a dipper arm and a bucket; and a control device, which sets a target surface based on the current angle of the bucket and the target surface is different according to the angle of the bucket.

Effects of the Invention

Can reduce the workload involved in setup.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of an excavator.

FIG. 2 is a top view of the excavator.

FIG. 3 is a diagram showing an example of the configuration of a hydraulic system of a shovel.

FIG. 4A is a diagram showing an extracted portion of a hydraulic system related to the operation of the arm cylinder.

FIG. 4B is a diagram in which a portion of the hydraulic system related to the operation of the boom cylinder is extracted.

FIG. 4C is a diagram in which a portion of the hydraulic system related to the operation of the bucket cylinder is extracted.

FIG. 4D is a diagram in which a portion of a hydraulic system related to the operation of the swing hydraulic motor is extracted.

FIG. 5 is a block diagram showing an example of a configuration related to a device guiding function and a device controlling function of a shovel.

FIG. 6A is a first functional block diagram showing a detailed configuration related to the semi-automatic operation function of the shovel.

FIG6B is a second functional block diagram showing a detailed configuration related to the semi-automatic operation function of the shovel.

FIG. 7 is a diagram for explaining the target surface.

FIG. 8 is a diagram showing an example of a target surface setting screen.

FIG. 9 is a diagram for explaining a display example of a display device.

FIG. 10 is a diagram for explaining changes in the target surface.

In the figure: 1-lower walking body, 2-slewing mechanism, 2A-slewing hydraulic motor, 3-upper slewing body, 4-boom, 5-arm, 6-bucket, 7-boom cylinder, 8-arm cylinder, 9-bucket cylinder, 26-operating device, 26L-left operating lever, 26R-right operating lever, 30-controller, 100-excavator, AT-attachment, S1-boom angle sensor, S2-arm angle sensor, S3-bucket angle sensor, S4-body tilt sensor, S5-slewing state sensor.

DETAILED DESCRIPTION

Hereinafter, the embodiment will be described with reference to the drawings. First, the outline of a shovel 100 according to the present embodiment will be described with reference to FIGS. 1 and 2 .

FIG1 and FIG2 are a top view and a side view, respectively, of a shovel 100 according to the present embodiment.

The shovel 100 according to the present embodiment includes a lower traveling body 1 , an upper revolving body 3 rotatably mounted on the lower traveling body 1 via a revolving mechanism 2 , a boom 4 , an arm 5 , and a bucket 6 constituting an attachment AT, and a control cabin 10 .

As described later, the lower traveling body 1 (an example of a traveling body) includes a pair of left and right crawlers 1C, specifically, a left crawler 1CL and a right crawler 1CR. The lower traveling body 1 hydraulically drives the left crawler 1CL and the right crawler 1CR by the traveling hydraulic motors 2M (2ML, 2MR), respectively, so that the excavator 100 travels.

The upper revolving body 3 (an example of a revolving body) is driven by a revolving hydraulic motor 2A, thereby revolving relative to the lower traveling body 1 .

The boom 4 is pivotally mounted at the front center of the upper slewing body 3 so as to be able to pitch, and a dipper arm 5 is pivotally mounted at the front end of the boom 4 so as to be able to rotate up and down, and a bucket 6 as an end attachment is pivotally mounted at the front end of the dipper arm 5 so as to be able to rotate up and down. The boom 4, dipper arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an dipper arm cylinder 8, and a bucket cylinder 9, which are hydraulic actuators, respectively.

The bucket 6 is an example of an end attachment, and other end attachments such as a slope bucket, a dredging bucket, a breaker, etc. may be mounted on the tip of the arm 5 instead of the bucket 6 depending on the work content.

The operator's cab 10 is a cab in which an operator rides, and is mounted on the front left side of the upper revolving body 3 .

The shovel 100 operates actuators according to operations by an operator riding in the operator's cabin 10 , thereby driving operating elements (driven elements) such as the lower traveling body 1 , the upper swing body 3 , the boom 4 , the arm 5 , and the bucket 6 .

Furthermore, the shovel 100 may be configured to be remotely operable by an operator of a predetermined external device (for example, a support device or a management device), instead of or in addition to being operable by an operator in the operator's cabin 10 .

At this time, the shovel 100 transmits image information (photographic image) output by the space recognition device 70 described later to the external device. In addition, various information images (e.g., various setting screens, etc.) displayed on the display device D1 of the shovel 100 described later can also be displayed on the display device provided in the external device.

Thus, the operator can remotely operate the excavator 100 while checking the contents displayed on the display device provided in the external device, for example. Furthermore, the excavator 100 can operate the actuator and drive the operating elements such as the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, and the bucket 6 according to the remote operation signal indicating the contents of the remote operation received from the external device.

When the shovel 100 is remotely operated, the interior of the cab 10 may be unmanned. The following description assumes that the operator's operation includes at least one of the operation of the operating device 26 by the operator in the cab 10 and the remote operation of an external device by the operator.

Furthermore, the excavator 100 can also automatically operate the hydraulic actuator without depending on the operation of the operator. Thus, the excavator 100 realizes a function of automatically operating at least a part of the operating elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5 and the bucket 6 (hereinafter referred to as "automatic operation function" or "equipment control function").

The automatic operation function may include a function of automatically operating an operation element (hydraulic actuator) other than an operation element (hydraulic actuator) of an operation target according to an operation of the operation device 26 by an operator or a remote operation (so-called "semi-automatic operation function"). Furthermore, the automatic operation function may include a function of automatically operating at least a part of a plurality of driven elements (hydraulic actuators) without an operation of the operation device 26 by an operator or a remote operation (so-called "fully automatic operation function").

In the shovel 100, when the fully automatic operation function is effective, the interior of the control room 10 may be unmanned. In addition, the automatic operation function may include a function ("gesture operation function") in which the shovel 100 recognizes gestures of a worker or the like around the shovel 100 and automatically operates at least a portion of a plurality of driven elements (hydraulic actuators) according to the content of the recognized gestures.

Furthermore, the semi-automatic operation function, the fully automatic operation function, and the gesture operation function may include a method for automatically determining the operation content of the operation element (hydraulic actuator) of the object of automatic operation according to a predetermined rule. Furthermore, the semi-automatic operation function, the fully automatic operation function, and the gesture operation function may include a method for the shovel 100 to autonomously perform various judgments and autonomously determine the operation content of the operation element (hydraulic actuator) of the object of automatic operation based on the judgment results (so-called "autonomous operation function").

In addition, the control system of the excavator 100 includes a controller 30, a space recognition device 70, a direction detection device 71, an input device 72, a positioning device 73, a display device D1, a sound output device D2, a boom angle sensor S1, a boom angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4 and a rotation state sensor S5.

As described above, the controller 30 performs control related to the shovel 100 .

For example, the controller 30 sets a target rotation speed based on an operation mode or the like that is preset by a predetermined operation of the input device 72 by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

The controller 30 also sets a target surface to be referred to when executing the equipment control function based on information input from the bucket angle sensor S3 and the input device 72. The setting of the target surface will be described in detail.

Then, for example, the controller 30 outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14 .

Furthermore, for example, when the operating device 26 is an electrical device, as described above, the controller 30 may control the proportional valve 31 to realize the operation of the hydraulic actuator corresponding to the operation content of the operating device 26 .

Furthermore, for example, the controller 30 can use the proportional valve 31 to realize the remote operation of the shovel 100. Specifically, the controller 30 can output a control command corresponding to the content of the remote operation specified by the remote operation signal received from the external device to the proportional valve 31. Furthermore, the proportional valve 31 can use the hydraulic oil supplied from the pilot pump 15 to output a pilot pressure corresponding to the control command from the controller 30, and make the pilot pressure act on the pilot port of the corresponding control valve in the control valve unit 17. Thus, the content of the remote operation is reflected in the action of the control valve unit 17, and the actions of various action elements (driven elements) according to the content of the remote operation can be realized through the hydraulic actuator.

Furthermore, for example, the controller 30 performs control related to the peripheral monitoring function. In the peripheral monitoring function, based on the information obtained by the space recognition device 70, the entry of the monitored object into the specified range around the excavator 100 (hereinafter referred to as the "monitoring range") is monitored. The judgment process of the entry of the monitored object into the monitoring range can be performed by the space recognition device 70, and can also be performed by the outside of the space recognition device 70 (for example, the controller 30). The monitored objects may include, for example, people, trucks, other construction machinery, electric poles, hoisted cargo, sign towers, and buildings.

Furthermore, for example, the controller 30 performs control related to the object detection notification function. In the object detection notification function, when it is determined by the surrounding monitoring function that an object to be monitored exists within the monitoring range, the existence of the object to be monitored is notified to the operator in the control room 10 or the surroundings of the shovel 100. The controller 30 can implement the object detection notification function using, for example, the display device D1 or the sound output device D2.

Furthermore, for example, the controller 30 performs control related to the motion restriction function. In the motion restriction function, for example, when it is determined by the surrounding monitoring function that a monitoring target object exists within the monitoring target, the motion of the shovel 100 is restricted. The following description will focus on the case where the monitoring target object is a person.

The controller 30 may be configured as follows: for example, before the actuator is actuated, when it is determined based on information obtained by the space recognition device 70 that there is a monitored object such as a person within a specified range (monitoring range) from the excavator 100, even if the operator operates the operating device 26, the actuator is set to be unable to actuate or is limited to actuation at a slow speed.

Specifically, when it is determined that there is a person within the monitoring range, the controller 30 can make the actuator unable to operate by locking the door lock valve. In the case of the electrical operating device 26, the actuator can be disabled by setting the signal from the controller 30 to the operating proportional valve (proportional valve 31) to be invalid.

The same is true for another type of operating device 26 when using an operating proportional valve (proportional valve 31 ) that outputs a pilot pressure corresponding to a control command from the controller 30 and causes the pilot pressure to act on a pilot port of a corresponding control valve in the control valve unit 17 .

When it is desired to set the operation of the actuator to a slow speed, the operation of the actuator can be set to a slow speed state by limiting the control signal from the controller 30 to the operating proportional valve (proportional valve 31) to a content corresponding to a relatively small pilot pressure.

In this way, if it is determined that the detected monitoring target object exists within the monitoring range, even if the operating device 26 is operated, the actuator is not driven, or is driven at an operation speed (slow speed) lower than the operation speed corresponding to the operation input to the operating device 26. In addition, in the shovel 100, when it is determined that the monitoring target object such as a person exists within the monitoring range while the operator is operating the operating device 26, the operation of the actuator may be stopped or decelerated regardless of the operator's operation.

Specifically, when it is determined that there is a person within the monitoring range, the actuator can be stopped by putting the door lock valve in a locked state. When using an operating proportional valve (proportional valve 31) that outputs a pilot pressure corresponding to a control command from the controller 30 and causes the pilot pressure to act on a pilot port of the corresponding control valve in the control valve, the actuator can be disabled or limited to a slow-speed state by setting a signal from the controller 30 to the operating proportional valve (proportional valve 31) to be invalid or outputting a deceleration command to the operating proportional valve (proportional valve 31).

Furthermore, when the detected object of the monitoring target is a truck, the control related to the stop or deceleration of the actuator may not be implemented. For example, the actuator may be controlled in a manner to avoid the detected truck. In this way, the type of the detected object is identified, and the actuator may be controlled based on the identification.

The space recognition device 70 is configured to recognize objects existing in the three-dimensional space around the shovel 100, and to measure (calculate) positional relationships such as the distance from the space recognition device 70 or the shovel 100 to the recognized object. The space recognition device 70 may include, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, LIDAR (Light Detecting and Ranging), a distance image sensor, an infrared sensor, and the like.

In the present embodiment, the space recognition device 70 includes a front recognition sensor 70F installed at the front end of the upper surface of the operator's cabin 10, a rear recognition sensor 70B installed at the rear end of the upper surface of the upper rotating body 3, a left recognition sensor 70L installed at the left end of the upper surface of the upper rotating body 3, and a right recognition sensor 70R installed at the right end of the upper surface of the upper rotating body 3. In addition, an upper recognition sensor that recognizes an object existing in the space above the upper rotating body 3 may be installed on the excavator 100.

The orientation detection device 71 detects information related to the relative relationship between the orientation of the upper rotating body 3 and the orientation of the lower traveling body 1 (for example, the rotation angle of the upper rotating body 3 relative to the lower traveling body 1 ).

The direction detection device 71 may include, for example, a combination of a geomagnetic sensor mounted on the lower traveling body 1 and a geomagnetic sensor mounted on the upper rotating body 3. Furthermore, the direction detection device 71 may also include a combination of a GNSS receiver mounted on the lower traveling body 1 and a GNSS receiver mounted on the upper rotating body 3.

Furthermore, the direction detection device 71 may include a rotary encoder, a rotation position sensor, etc., which can detect the relative rotation angle of the upper rotating body 3 relative to the lower walking body 1, that is, the above-mentioned rotation state sensor S5. For example, it can also be installed on the center joint that is associated with the rotation mechanism 2 that realizes the relative rotation between the lower walking body 1 and the upper rotating body 3.

Furthermore, the direction detection device 71 may include a camera mounted on the upper rotating body 3. In this case, the direction detection device 71 detects the image of the lower traveling body 1 included in the input image by performing known image processing on the image (input image) taken by the camera mounted on the upper rotating body 3.

Furthermore, the orientation detection device 71 can determine the length direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 using known image recognition technology, and derive the angle formed between the direction of the front-rear axis of the upper rotating body 3 and the length direction of the lower traveling body 1. At this time, the direction of the front-rear axis of the upper rotating body 3 can be derived from the installation position of the camera. In particular, the crawler 1C protrudes from the upper rotating body 3, so the orientation detection device 71 can determine the length direction of the lower traveling body 1 by detecting the image of the crawler 1C.

In addition, when the upper slewing body 3 is configured to be slewingly driven by an electric motor instead of the slewing hydraulic motor 2A, the direction detecting device 71 may be a resolver.

The input device 72 is provided within reach of an operator seated in the control room 10, receives various operation inputs from the operator, and outputs signals corresponding to the operation inputs to the controller 30. For example, the input device 72 may include a touch panel mounted on a display device that displays various information images.

Furthermore, for example, the input device 72 may include a push button switch, a joystick, a switch key, etc. provided around the display device D1. Furthermore, the input device 72 may include a knob switch provided on the operating device 26 (for example, a switch SW provided on the left operating stick 26L, etc.). A signal corresponding to the operation content of the input device 72 is input to the controller 30.

The switch SW is, for example, a push button switch provided at the front end of the left operating rod 26L. The operator can operate the left operating rod 26L while pressing the switch SW. Furthermore, the switch SW may be provided at the right operating rod 26R or at other locations in the control room 10.

The positioning device 73 measures the position and orientation of the upper rotating body 3. The positioning device 73 is, for example, a GNSS (Global Navigation Satellite System) 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. In addition, the function of detecting the orientation of the upper rotating body 3 among the functions of the positioning device 73 can also be replaced by an orientation sensor installed on the upper rotating body 3.

The display device D1 is installed in a position that is easily visible to the operator sitting in the control room 10, and displays various information images under the control of the controller 30. The display device D1 can be connected to the controller 30 via an in-vehicle network such as CAN (Controller Area Network) or a one-to-one dedicated line.

The sound output device D2 is, for example, provided in the control room 10 and connected to the controller 30, and outputs sound under the control of the controller 30. The sound output device D2 is, for example, a speaker or a buzzer. The sound output device D2 outputs various information by sound according to the sound output command from the controller 30.

The boom angle sensor S1 is mounted on the boom 4 to detect the pitch angle of the boom 4 relative to the upper swing body 3 (hereinafter referred to as "boom angle θ ₁ "), for example, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 relative to the swing plane of the upper swing 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, the bucket angle sensor S3, and the body tilt sensor S4. A detection signal corresponding to the boom angle detected by the boom angle sensor S1 is input to the controller 30.

The arm angle sensor S2 is mounted on the arm 5, and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as "arm angle θ ₂ "), for example, the angle formed by a straight line connecting the fulcrums at both ends of the arm 5 relative to a straight line connecting the fulcrums at both ends of the boom 4 when viewed from the side. A detection signal corresponding to the arm angle detected by the arm angle sensor S2 is input to the controller 30.

The bucket angle sensor S3 is mounted on the bucket 6 and detects the rotation angle of the bucket 6 relative to the boom 5 (hereinafter referred to as "bucket angle θ ₃ "), for example, the angle formed by a straight line connecting the fulcrum and the front end (blade tip) of the bucket 6 relative to a straight line connecting the fulcrums at both ends of the boom 5 when viewed from the side. A detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is input to the controller 30.

The fuselage tilt sensor S4 detects the tilt state of the fuselage (for example, the upper rotating body 3) relative to the horizontal plane. The fuselage tilt sensor S4 is installed on the upper rotating body 3, for example, to detect the tilt angles of the excavator 100 (that is, the upper rotating body 3) around two axes in the front-to-back direction and the left-to-right direction (hereinafter referred to as "front-to-back tilt angle" and "left-to-right tilt angle"). The fuselage tilt sensor S4 may include, for example, an acceleration sensor, a gyro sensor (angular velocity sensor), a six-axis sensor, and an IMU. The detection signal corresponding to the tilt angle (front-to-back tilt angle and left-to-right tilt angle) detected by the fuselage tilt sensor S4 is input to the controller 30.

The rotation state sensor S5 is mounted on 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 or rotation angle of the upper rotating body 3. The rotation state sensor S5 includes, for example, a gyro sensor, a rotary transformer, and a rotary encoder.

In addition, when the fuselage tilt sensor S4 includes a gyro sensor, a six-axis sensor, an IMU, etc. that can detect angular velocity around three axes, the rotation state (for example, rotation angular velocity) of the upper rotating body 3 can also be detected based on the detection signal of the fuselage tilt sensor S4. In this case, the rotation state sensor S5 can be omitted.

Next, a configuration example of a hydraulic system mounted on the shovel 100 will be described with reference to Fig. 3. Fig. 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100. In Fig. 3, a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are shown by double lines, solid lines, dashed lines, and dotted lines, respectively.

The hydraulic system of the shovel 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 sensor 29 , a controller 30 , and the like.

In FIG. 3 , the hydraulic system is configured so that hydraulic oil can be circulated from a main pump 14 driven by an engine 11 to a hydraulic oil tank via an intermediate bypass line 40 or a parallel line 42 .

The engine 11 is a driving source of the shovel 100. In the present embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. The output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15, respectively.

The main pump 14 is configured to be able to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line. In the present embodiment, 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. In the present embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in accordance with a control command from the controller 30.

The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic oil to a hydraulic control device via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14 .

That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line in addition to the function of supplying hydraulic oil to the control valve unit 17 via the hydraulic oil line. In this case, the pilot pump 15 may be omitted.

The control valve unit 17 is a hydraulic control device for controlling the hydraulic system in the shovel 100. In the present embodiment, 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, and 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 more 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 travel hydraulic motor 2M, and a swing hydraulic motor 2A. The travel hydraulic motor 2M includes a left travel hydraulic motor 2ML and a right travel hydraulic motor 2MR.

The operating device 26 is configured so that an operator can operate the actuator. In the present embodiment, the operating device 26 includes a hydraulic actuator operating device configured so that an operator can operate the hydraulic actuator.

Specifically, the hydraulic actuator operating device is configured to supply the working 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 working oil supplied to each pilot port (pilot pressure) is a pressure corresponding to the operating direction and amount of the operating device 26 corresponding to each hydraulic actuator.

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 operation sensor 29 is configured to detect the contents of the operation performed by the operator on the operation device 26. In the present embodiment, the operation sensor 29 detects the operation direction and the operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values to the controller 30.

The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to a hydraulic oil tank via a left intermediate bypass line 40L or a left parallel line 42L, and the right main pump 14R circulates hydraulic oil to a hydraulic oil tank via a right intermediate bypass line 40R or a right parallel line 42R.

The left center bypass line 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 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the left main pump 14L to the left travel hydraulic motor 2ML and to discharge hydraulic oil discharged from the left travel hydraulic motor 2ML to the hydraulic oil tank.

The control valve 172 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the right main pump 14R to the right travel hydraulic motor 2MR and to discharge the hydraulic oil discharged from the right travel hydraulic motor 2MR to the hydraulic oil tank.

The control valve 173 is a spool valve that switches the flow of hydraulic oil in order to supply hydraulic oil discharged from the left main pump 14L to the swing hydraulic motor 2A and discharge the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank.

The control valve 174 is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

The control valve 175L is a spool valve for switching the flow of hydraulic oil in order to supply hydraulic oil discharged from the left main pump 14L to the boom cylinder 7. The control valve 175R is a spool valve for switching the flow of hydraulic oil in order to supply hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

The control valve 176L is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

The control valve 176R is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

The left parallel line 42L is a hydraulic oil line parallel to the left center bypass line 40L. When the flow of hydraulic oil through the left center bypass line 40L is restricted or blocked by any of the control valves 171, 173, and 175L, the left parallel line 42L can supply hydraulic oil to a control valve further downstream.

The right parallel line 42R is a hydraulic oil line parallel to the right center bypass line 40R. When the flow of hydraulic oil through the right center bypass line 40R is restricted or blocked by any of the control valves 172, 174, and 175R, the right parallel line 42R can supply hydraulic oil to a control valve further downstream.

The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge volume of the left main pump 14L by adjusting the deflection angle of the swash plate of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L reduces the discharge volume by adjusting the deflection angle of the swash plate of the left main pump 14L according to the increase of the discharge pressure of the left main pump 14L. The same is true for the right regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14 represented by the product of the discharge pressure and the discharge volume does not exceed the output power (output horsepower) of the engine 11.

The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

The left operating lever 26L is used for the swing operation and the operation of the boom 5. When the left operating lever 26L is operated in the forward and backward directions, the control pressure corresponding to the lever operation amount is introduced into the pilot port of the control valve 176 using the hydraulic oil discharged from the pilot pump 15. And when the left and right directions are operated, the control pressure corresponding to the lever operation amount is introduced into the pilot port of the control valve 173 using the hydraulic oil discharged from the pilot pump 15.

Specifically, when the arm is operated in the arm closing direction, the left operating lever 26L introduces the working oil to the right pilot port of the control valve 176L, and introduces the working oil to the left pilot port of the control valve 176R. Furthermore, when the arm is operated in the arm opening direction, the left operating lever 26L introduces the working oil to the left pilot port of the control valve 176L, and introduces the working oil to the right pilot port of the control valve 176R. Furthermore, when the arm is operated in the left rotation direction, the left operating lever 26L introduces the working oil to the left pilot port of the control valve 173, and when the arm is operated in the right rotation direction, the left operating lever 26L introduces the working oil to the right pilot port of the control valve 173.

The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward and backward directions, the hydraulic oil discharged from the pilot pump 15 introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175. And when the right operating lever 26R is operated in the left and right directions, the hydraulic oil discharged from the pilot pump 15 introduces a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.

Specifically, when the operation is performed in the boom lowering direction, the right operating lever 26R introduces the hydraulic oil to the left pilot port of the control valve 175R. Furthermore, when the operation is performed in the boom raising direction, the right operating lever 26R introduces the hydraulic oil to the right pilot port of the control valve 175L, and introduces the hydraulic oil to the left pilot port of the control valve 175R. Furthermore, when the operation is performed in the bucket closing direction, the right operating lever 26R introduces the hydraulic oil to the right pilot port of the control valve 174, and when the operation is performed in the bucket opening direction, the right operating lever 26R introduces the hydraulic oil to the left pilot port of the control valve 174.

Hereinafter, the left operating lever 26L operated in the left-right direction may be referred to as a "swing operating lever", and the left operating lever 26L operated in the forward and backward direction may be referred to as a "bucket operating lever". In addition, the right operating lever 26R operated in the left-right direction may be referred to as a "bucket operating lever", and the right operating lever 26R operated in the forward and backward direction may be referred to as a "boom operating lever".

The travel rod 26D is used for operating the crawler belt 1C. Specifically, the left travel rod 26DL is used for operating the left crawler belt 1CL. It may be configured to be linked with the left travel pedal.

If the operation is performed in the forward and backward direction, the left travel rod 26DL uses the hydraulic oil discharged by the pilot pump 15 to introduce the control pressure corresponding to the rod operation amount into the pilot port of the control valve 171. The right travel rod 26DR is used for the operation of the right crawler 1CR. It can also be configured to be linked with the right travel pedal. If the operation is performed in the forward and backward direction, the right travel rod 26DR uses the hydraulic oil discharged by the pilot pump 15 to introduce the control pressure corresponding to the rod operation 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 operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation sensor 29LA detects the content of the operator's operation of the left operation lever 26L in the forward and backward directions, and outputs the detected value to the controller 30. The operation content is, for example, the lever operation direction, the lever operation amount (lever operation angle), etc.

Similarly, the operation sensor 29LB detects the contents of the operator's operation of the left operation lever 26L in the left-right direction, and outputs the detected value to the controller 30. The operation sensor 29RA detects the contents of the operator's operation of the right operation lever 26R in the forward-backward direction, and outputs the detected value to the controller 30.

The operation sensor 29RB detects the contents of the operator's operation on the right operating rod 26R in the left-right direction, and outputs the detected value to the controller 30. The operation sensor 29DL detects the contents of the operator's operation on the left travel rod 26DL in the forward and backward direction, and outputs the detected value to the controller 30. The operation sensor 29DR detects the contents of the operator's operation on the right travel rod 26DR in the forward and backward direction, and outputs the detected value to the controller 30.

The controller 30 receives the output of the operation sensor 29, and outputs a control command to the regulator 13 as needed, and changes the discharge amount of the main pump 14. In addition, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, and outputs a control command to the regulator 13 as needed, and changes the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

In the left intermediate bypass line 40L, a left throttle 18L is arranged between the control valve 176L located most downstream and the hydraulic oil tank. Therefore, the flow of hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. In addition, the left throttle 18L generates a control pressure for controlling the left regulator 13L.

The left control pressure sensor 19L is a sensor for detecting the control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate deflection angle of the left main pump 14L according to the control pressure. The controller 30 reduces the discharge amount of the left main pump 14L as the control pressure increases, and the controller 30 increases the discharge amount of the left main pump 14L as the control pressure decreases. The discharge amount of the right main pump 14R is also controlled in the same manner.

Specifically, as shown in FIG. 3 , in the standby state in which none of the hydraulic actuators in the shovel 100 is operated, the hydraulic oil discharged from the left main pump 14L reaches the left throttle 18L via the left middle bypass line 40L. Moreover, the flow of the hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, thereby suppressing the pressure loss (suction loss) of the discharged hydraulic oil when passing through the left middle bypass line 40L.

On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator of the operated object via the control valve corresponding to the hydraulic actuator of the operated object. Moreover, the flow of the hydraulic oil discharged by the left main pump 14L reduces or eliminates the amount reaching the left throttle 18L, thereby reducing the control pressure generated upstream of the left throttle 18L.

As a result, the controller 30 increases the discharge rate of the left main pump 14L so that sufficient hydraulic oil circulates to the hydraulic actuator to ensure driving of the hydraulic actuator. The controller 30 also controls the discharge rate of the right main pump 14R in the same manner.

According to the above-described structure, the hydraulic system of FIG3 can suppress unnecessary energy consumption in the main pump 14 in the standby state. The unnecessary energy consumption includes the suction loss of the hydraulic oil discharged by the main pump 14 in the intermediate bypass line 40. In addition, when the hydraulic actuator is operated, the hydraulic system of FIG3 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator of the working object.

Next, the structure of the controller 30 for operating the actuator through the equipment control function will be described with reference to Figs. 4A to 4D. Figs. 4A to 4D are diagrams in which a portion of the hydraulic system is extracted. Specifically, Fig. 4A is a diagram in which a portion of the hydraulic system related to the operation of the boom cylinder 8 is extracted, and Fig. 4B is a diagram in which a portion of the hydraulic system related to the operation of the boom cylinder 7 is extracted. Fig. 4C is a diagram in which a portion of the hydraulic system related to the operation of the bucket cylinder 9 is extracted, and Fig. 4D is a diagram in which a portion of the hydraulic system related to the operation of the swing hydraulic motor 2A is extracted.

As shown in Fig. 4A to Fig. 4D, 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 equipment control. The proportional valve 31 is disposed in a pipeline connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to be able to change the flow path area of the pipeline. In the present embodiment, the proportional valve 31 operates according to the control command output by the controller 30. Therefore, the controller 30 can supply the working oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31 regardless of the operation of the operating device 26 by the operator. Moreover, the controller 30 can make the pilot pressure generated by the proportional valve 31 act on the pilot port of the corresponding control valve.

According to this structure, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not being operated. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is being operated.

For example, as shown in FIG. 4A , the left operating lever 26L is used to operate the boom 5. Specifically, the left operating lever 26L uses the hydraulic oil discharged by the pilot pump 15 and causes the pilot pressure corresponding to the operation in the forward and backward directions to act on the pilot port of the control valve 176. More specifically, when the boom is operated in the boom closing direction (rearward direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. And, when the boom is operated in the boom opening direction (forward direction), the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

The operating device 26 is provided with a switch SW. In the present embodiment, the switch SW includes a switch SW1 and a switch SW2.

The switch SW1 is a push button switch provided at the front end of the left operating rod 26L. The operator can operate the left operating rod 26L while pressing the switch SW1. The switch SW1 may be provided at the right operating rod 26R or at other locations in the control room 10.

The switch SW2 is a push button switch disposed at the front end of the left travel rod 26DL. The operator can operate the left travel rod 26DL while pressing the switch SW2. The switch SW2 can be disposed at the right travel rod 26DR or at other positions in the control room 10.

The operation sensor 29LA detects the contents of the operator's operation of the left operation lever 26L in the forward and backward directions, and outputs the detected value to the controller 30 .

The proportional valve 31AL operates according to a control command (current command) outputted from the controller 30 and adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 through the proportional valve 31AL to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.

The proportional valve 31AR operates according to the control command (current command) output by the controller 30. In addition, the pilot pressure generated by the working oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR is adjusted. The proportional valve 31AL can adjust the pilot pressure in a manner that allows the control valve 176L and the control valve 176R to stop at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure in a manner that allows the control valve 176L and the control valve 176R to stop at any valve position.

According to this structure, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL according to the boom closing operation performed by the operator. Moreover, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL regardless of the boom closing operation performed by the operator. That is, the controller 30 can close the boom 5 according to the boom closing operation performed by the operator or regardless of the boom closing operation performed by the operator.

Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR according to the boom opening operation performed by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR regardless of the boom opening operation performed by the operator. That is, the controller 30 can open the boom 5 according to the boom opening operation performed by the operator or regardless of the boom opening operation performed by the operator.

Furthermore, according to this configuration, even when the operator is performing the boom closing operation, the controller 30 can reduce the pilot pressure acting on the pilot port on the closing side of the control valve 176 (the left pilot port of the control valve 176L and the right pilot port of the control valve 176R) as needed, and forcibly stop the closing operation of the boom 5. The same is true for the case where the opening operation of the boom 5 is forcibly stopped when the operator is performing the boom opening operation.

Alternatively, even when the operator is performing the boom closing operation, the controller 30 can control the proportional valve 31AR as needed to increase the pilot pressure acting on the pilot port on the opening side of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) located on the side opposite to the pilot port on the closing side of the control valve 176, and forcibly return the control valve 176 to the neutral position, thereby forcibly stopping the closing action of the boom 5. The same is true for the case where the opening action of the boom 5 is forcibly stopped when the operator is performing the boom opening operation.

In addition, although the description with reference to FIG. 4B to FIG. 4D is omitted below, the same applies to the case where the boom 4 is forcibly stopped when the operator is performing a boom raising operation or a boom lowering operation, the case where the bucket 6 is forcibly stopped when the operator is performing a bucket closing operation or a bucket opening operation, and the case where the rotation of the upper rotating body 3 is forcibly stopped when the operator is performing a rotation operation. The same applies to the case where the travel of the lower traveling body 1 is forcibly stopped when the operator is performing a travel operation.

Furthermore, as shown in FIG. 4B , the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses the hydraulic oil discharged by the pilot pump 15, and causes the pilot pressure corresponding to the operation in the forward and backward directions to act on the pilot port of the control valve 175. More specifically, when the boom is operated in the boom raising direction (rearward direction), the right operating lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Furthermore, when the boom is operated in the boom lowering direction (forward direction), the right operating lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175R.

The operation sensor 29RA detects the contents of the operation of the right operation lever 26R in the forward and backward directions by the operator, and outputs the detected value to the controller 30 .

The proportional valve 31BL operates according to the control command (current command) output by the controller 30. The proportional valve 31BL adjusts the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates according to the control command (current command) output by the controller 30.

The pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR is adjusted. The proportional valve 31BL can adjust the pilot pressure so that the control valve 175L and the control valve 175R can be stopped at any valve position. Furthermore, the proportional valve 31BR can adjust the pilot pressure so that the control valve 175R can be stopped at any valve position.

According to this structure, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL according to the boom raising operation performed by the operator. Moreover, the controller 30 can supply the working oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL regardless of the boom raising operation performed by the operator. That is, the controller 30 can raise the boom 4 according to the boom raising operation performed by the operator or regardless of the boom raising operation performed by the operator.

Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR according to the boom lowering operation performed by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR regardless of the boom lowering operation performed by the operator. That is, the controller 30 can lower the boom 4 according to the boom lowering operation performed by the operator or regardless of the boom lowering operation performed by the operator.

4C , the right operating lever 26R is used to operate the bucket 6. Specifically, the right operating lever 26R uses the hydraulic oil discharged from the pilot pump 15 and causes a pilot pressure corresponding to the operation in the left-right direction to act on the pilot port of the control valve 174.

More specifically, when the bucket is operated in the closing direction (left direction), the right operating lever 26R causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 174. When the bucket is operated in the opening direction (right direction), the right operating lever 26R causes a pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 174.

The operation sensor 29RB detects the contents of the operation of the right operation lever 26R in the left-right direction by the operator, and outputs the detected value to the controller 30 .

The proportional valve 31CL operates according to the control command (current command) output by the controller 30. The proportional valve 31CR operates according to the control command (current command) output by the controller 30. The proportional valve 31CR adjusts the pilot pressure generated by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL.

Furthermore, the pilot pressure generated by the working oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR is adjusted. The proportional valve 31CL can adjust the pilot pressure in a manner that enables the control valve 174 to stop at an arbitrary valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure in a manner that enables the control valve 174 to stop at an arbitrary valve position.

According to this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL in accordance with the bucket closing operation performed by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL regardless of the bucket closing operation performed by the operator. That is, the controller 30 can close the bucket 6 in accordance with the bucket closing operation performed by the operator or regardless of the bucket closing operation performed by the operator.

Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR in accordance with the bucket opening operation performed by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR regardless of the bucket opening operation performed by the operator. That is, the controller 30 can open the bucket 6 in accordance with the bucket opening operation performed by the operator or regardless of the bucket opening operation performed by the operator.

4D , the left operating lever 26L is used to operate the swing mechanism 2. Specifically, the left operating lever 26L uses the hydraulic oil discharged from the pilot pump 15 and causes a pilot pressure corresponding to the left-right operation to act on the pilot port of the control valve 173.

More specifically, when the left operating lever 26L is operated in the left rotation direction (left direction), the pilot pressure corresponding to the operation amount acts on the left pilot port of the control valve 173. And when the left operating lever 26L is operated in the right rotation direction (right direction), the pilot pressure corresponding to the operation amount acts on the right pilot port of the control valve 173.

The operation sensor 29LB detects the contents of the operator's operation of the left operation lever 26L in the left-right direction, and outputs the detected value to the controller 30 .

The proportional valve 31DL operates according to the control command (current command) output by the controller 30. In addition, the pilot pressure generated by the working oil introduced from the pilot pump 15 through the proportional valve 31DL to the left pilot port of the control valve 173 can be adjusted. The proportional valve 31DR operates according to the control command (current command) output by the controller 30.

Furthermore, the pilot pressure generated by the working oil introduced from the pilot pump 15 via the proportional valve 31DR to the right pilot port of the control valve 173 is adjusted. The proportional valve 31DL can adjust the pilot pressure in a manner that enables the control valve 173 to stop at an arbitrary valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure in a manner that enables the control valve 173 to stop at an arbitrary valve position.

According to this structure, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL according to the left turning operation performed by the operator. Moreover, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL regardless of the left turning operation performed by the operator. That is, the controller 30 can make the turning mechanism 2 turn left according to the left turning operation performed by the operator or regardless of the left turning operation performed by the operator.

Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR according to the right turning operation performed by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR regardless of the right turning operation performed by the operator. That is, the controller 30 can cause the turning mechanism 2 to turn right according to the right turning operation performed by the operator or regardless of the right turning operation performed by the operator.

Next, the equipment guidance function and the equipment control function of the shovel 100 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the configuration related to the equipment guidance function and the equipment control function of the shovel.

The controller 30 performs control of the shovel 100 related to a device guidance function for guiding an operator's manual operation of the shovel 100 , for example.

The controller 30 transmits operation information such as the distance between the target surface and the front end of the attachment device AT, specifically, the operation part where the attachment is connected, to the operator through the display device D1 or the sound output device D2.

Specifically, the controller 30 obtains information from the boom angle sensor S1 , the arm angle sensor S2 , the bucket angle sensor S3 , the machine body tilt sensor S4 , the rotation state sensor S5 , the space recognition device 70 , the positioning device V1 , the input device 72 , and the like.

The controller 30 sets the target surface by, for example, generating data related to the target surface based on an operation of setting the target surface by the operator, and temporarily storing the data in a storage device or the like included in the controller 30. The controller 30 can also calculate the distance between the working part of the bucket 6 and the target surface, and notify the operator of the calculated distance through an image displayed on the display device D1 or a sound output from the sound output device D2.

The controller 30 of the present embodiment sets the back surface of the bucket 6 as a reference surface, and sets a plane that forms a set angle with respect to the reference surface as a target surface. Details of setting the target surface will be described later.

In addition, in the excavator 100 of this embodiment, when a design surface (an example of a target construction surface) is set separately from the target surface, working information such as the distance to the working part of the bucket 6 can also be transmitted to the operator through the display device D1 or the sound output device D2.

The data related to the design surface is stored in the internal memory or an external storage device connected to the controller 30, for example, based on settings input by an operator through the input device 72, or by downloading from the outside (for example, a specified management server).

The data related to the design surface is expressed, for example, in a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system in which the origin is placed at the center of gravity of the earth, the X axis is taken in the direction of the intersection of the Greenwich meridian and the equator, the Y axis is taken in the direction of 90 degrees east longitude, and the Z axis is taken in the direction of the North Pole. For example, the operator can set any point on the construction site as a reference point, and set the design surface according to the relative position relationship with the reference point through the input device 72.

The working part of the bucket 6 is, for example, the blade tip of the bucket 6, the back of the bucket 6, etc. Furthermore, when a breaker is used as an end attachment instead of the bucket 6, for example, the front end of the breaker corresponds to the working part. Thus, the controller 30 notifies the operator of the working information through the display device D1, the sound output device D2, etc., and can guide the operator to operate the shovel 100 through the operating device 26.

The controller 30 controls the shovel 100 related to the equipment control function, for example, to support the operator's manual operation of the shovel 100 or to make the shovel 100 automatically or autonomously operate. Specifically, the controller 30 is configured to obtain a track, that is, a target track, followed by a position that serves as a control reference (hereinafter referred to as a "control reference") set at a working portion of an attachment or the like.

In the control standard, when there is a working object that the end attachment can contact (for example, the ground or the sand and soil in the truck compartment of the dump truck described later) such as excavation work or rolling work, the working part of the end attachment (for example, the blade tip or back of the bucket 6, etc.) can be set. In addition, in the control standard, when there is no working object that the end attachment can contact such as the boom raising and rotating action, soil discharge action, and boom lowering and rotating action described later, any part that can specify the position of the end attachment in the action (for example, the lower end or blade tip of the bucket 6, etc.) can be set.

For example, the controller 30 derives the target trajectory based on the data representing the set target surface. The controller 30 may also derive the target trajectory based on the information related to the terrain around the excavator 100 recognized by the space recognition device 70. In addition, the controller 30 may also derive information related to the past trajectory of the working parts such as the blade tip of the bucket 6 from the past output temporarily stored in the internal volatile storage device, and derive the target trajectory based on the information. In addition, the controller 30 may also derive the target trajectory based on the current position of the specified part of the attachment and the data related to the target surface.

In addition, the posture detection device includes, for example, a boom angle sensor S1 , an arm angle sensor S2 , a bucket angle sensor S3 , and the like.

For example, when an operator manually performs excavation or leveling operations on the ground, the controller 30 automatically operates at least one of the boom 4, the dipper arm 5 and the bucket 6 to make the target surface consistent with the front end position of the bucket 6, specifically the working part such as the tip or back of the bucket 6.

Specifically, when the operator operates (presses) the switch SW and operates the left operating lever 26L in the front-rear direction, the controller 30 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 according to the operation so that the target surface is aligned with the front end position of the bucket 6. More specifically, as described above, the controller 30 controls the proportional valve 31 and automatically operates at least one of the boom 4, the arm 5, and the bucket 6. Thus, the operator can make the shovel 100 perform excavation work or leveling work along the target surface by only operating the left operating lever 26L in the front-rear direction.

Next, an example of the equipment control function of the shovel 100 according to the present embodiment will be described in detail with reference to FIGS. 6A and 6B .

A detailed configuration related to an example of the equipment control function of the shovel 100 will be described with reference to FIG. 6A and FIG. 6B .

6A and 6B are functional block diagrams showing an example of a detailed structure related to the equipment control function of the shovel 100 involved in the present embodiment. Specifically, FIG6A is a first functional block diagram showing a detailed structure related to the semi-automatic operation function of the shovel 100, and FIG6B is a second functional block diagram showing a detailed structure related to the semi-automatic operation function of the shovel 100.

As shown in Fig. 6A and Fig. 6B, the controller 30 realizing the semi-automatic operation function of the shovel 100 includes an operation content acquisition unit 3001, a target surface acquisition unit 3002, a target trajectory setting unit 3003, a current position calculation unit 3004, a target position calculation unit 3005, a bucket shape acquisition unit 3006, a main part setting unit 3007, a control reference setting unit 3008, an action command generation unit 3009, a leading command generation unit 3010, and a posture angle calculation unit 3011. For example, when the switch SW is pressed, these functional units repeatedly perform the actions described below according to a predetermined control cycle.

The operation content acquisition unit 3001 acquires the operation content related to the dumping operation in the front-rear direction in the left operating lever 26L based on the detection signal input from the operating sensor 29LA. For example, the operation content acquisition unit 3001 acquires (calculates) the operation direction (front direction or rear direction) and the operation amount as the operation content. In addition, when the excavator 100 is remotely operated, the semi-automatic operation function of the excavator 100 can also be realized based on the content of the remote operation signal received from the external device. At this time, the operation content acquisition unit 3001 acquires the operation content related to the remote operation based on the remote operation signal received from the external device.

The work content information includes, for example, the content of the prescribed work performed by the excavator 100, the content of the actions constituting the prescribed work, the action conditions related to the prescribed work, and the trigger conditions for starting the work. The prescribed work may include, for example, excavation work, loading work, and ground leveling work. For example, when the prescribed work is excavation work, the actions constituting the prescribed work include excavation action, boom raising and rotating action, soil discharge action, and boom lowering and rotating action. For example, when the prescribed work is excavation work, the action conditions include conditions related to excavation depth and excavation length.

The target surface acquisition unit 3002 generates and acquires data related to the target surface, for example, based on the operation of the operator. Specifically, the target surface acquisition unit 3002 acquires the angle input from the input device 72 by the operation of the operator, and determines the surface that has the input angle relative to the back surface (reference surface) of the bucket 6 as the target surface. Then, the target surface acquisition unit 3002 acquires data related to the target surface. In addition, the reference surface is not limited to the back surface of the bucket 6, and can be set arbitrarily.

In addition, in the present embodiment, when a design surface (target construction surface) is pre-set separately from the target surface, the target surface acquisition unit 3002 may acquire data related to the design surface from an internal memory or a predetermined external storage device.

The target trajectory setting unit 3003 sets information related to the target trajectory of the front end of the attachment AT for moving the front end of the attachment AT along the target surface based on the data related to the target surface. Specifically, the front end of the attachment AT is a predetermined portion (e.g., the blade tip or back of the bucket 6) that serves as a control reference for the end attachment.

For example, the target trajectory setting unit 3003 may set the inclination angle of the target surface in the forward and backward direction based on the fuselage (upper swing body 3) of the excavator 100 as information related to the target trajectory. In addition, the range of allowable error (hereinafter referred to as "allowable error range") may also be set in the target trajectory. At this time, the information related to the target trajectory may also include information related to the allowable error range.

The current position calculation unit 3004 calculates the position (current position) of the control reference (e.g., the blade tip or the back surface of the bucket 6 as the working part) in the attachment AT. Specifically, the current position calculation unit 3004 can calculate the (current) position of the control reference of the attachment AT based on the boom angle θ ₁ , the arm angle θ ₂ , and the bucket angle θ ₃ calculated by the posture angle calculation unit 3011 described later.

In the semi-automatic operation function of the excavator 100, the target position calculation unit 3005 calculates the target position of the front end portion (control reference) of the attachment AT based on the content of the operator's operation input (for example, operation in the front and rear directions of the left operating lever 26L), information related to the set target track, and the current position of the control reference (working part) in the attachment AT.

The operation content includes, for example, the operation direction and the operation amount. Assuming that the arm 5 moves according to the operation direction and the operation amount in the operation input by the operator, the target position is a position on a target trajectory to be reached in this control cycle.

The target position calculation unit 3005 can calculate the target position of the front end portion of the attachment AT using, for example, a map or a calculation expression stored in advance in a non-volatile internal memory or the like.

Furthermore, the target position calculation unit 3005 calculates the target position of the front end portion (control reference) of the attachment AT based on the operation command input from the operation content acquisition unit 3001, the information related to the set target track, and the current position of the control reference (working part) in the attachment AT in the autonomous operation function of the shovel 100. Thus, the controller 30 can autonomously control the shovel 100 without relying on the operation of the operator.

The bucket shape acquisition unit 3006 acquires data related to the shape of the bucket 6 registered in advance, for example, from an internal memory or a predetermined external storage device. At this time, the bucket shape acquisition unit 3006 may acquire data related to the shape of the bucket 6 of the type set by the setting operation performed by the input device 72 among the data related to the shapes of the plurality of types of buckets 6 registered in advance.

The main component setting unit 3007 sets the operating elements (actuators) (hereinafter referred to as “main components”) that operate in accordance with the operator's operation input or operation command among the operating elements (actuators that drive these operating elements) constituting the attachment AT.

Hereinafter, the action elements that act in response to the operator's operation input or the operation instructions related to the autonomous operation function and the actuators that drive the action elements are sometimes collectively referred to as main elements, or are individually referred to as main elements. The same applies to the secondary elements described later.

The control standard setting unit 3008 sets the control standard in the accessory device AT. For example, the control standard setting unit 3008 may set the control standard of the accessory device AT according to the operation of the operator or the like through the input device 72. In addition, for example, the control standard setting unit 3008 may also automatically set and change the control standard of the accessory device AT according to the establishment of a predetermined condition.

The motion command generation unit 3009 generates a command value related to the motion of the boom 4 (hereinafter referred to as "boom command value") _β1r , a command value related to the motion of the arm 5 (hereinafter referred to as "arm command value") _β2r , and a command value related to the motion of the bucket 6 ("bucket command value") _β3r , based on the target position of the control reference in the attachment AT. For example, the boom command value _β1r , the arm command value _β2r , and the bucket command value _β3r are the angular velocity of the boom 4 (hereinafter referred to as boom angular velocity), the angular velocity of the arm 5 (hereinafter referred to as "arm angular velocity"), and the angular velocity of the bucket 6 (hereinafter referred to as "bucket angular velocity"), respectively, which are required for the control reference in the attachment AT to achieve the target position. The motion command generation unit 3009 includes a main command value generation unit 3009A and a sub-command value generation unit 3009B.

In addition, the boom command value, the arm command value, and the bucket command value may also be the boom angle, the arm angle, and the bucket angle when the control reference in the attachment AT achieves the target position. Furthermore, the boom command value, the arm command value, and the bucket command value may also be the angular acceleration required for the control reference in the attachment AT to achieve the target position.

The main command value generating unit 3009A generates a command value (hereinafter referred to as "main command value") β _m related to the operation of the main parts among the operation requirements (the boom 4, the arm 5 and the bucket 6) constituting the attachment AT. For example, when the main part set by the main part setting unit 3007 is the boom 4 (the boom cylinder 7), the main command value generating unit 3009A generates a boom command value β _1r as the main command value β _m , and outputs it to the boom pilot command generating unit 3010A described later.

Furthermore, for example, when the main component set by the main component setting unit 3007 is the arm 5 (arm cylinder 8), the main command value generating unit 3009A generates the arm command value β _2r and outputs it to the arm pilot command generating unit 3010B. Furthermore, for example, when the main component set by the main component setting unit 3007 is the bucket 6 (bucket cylinder 9), the main command value generating unit 3009A generates the bucket command value β _3r as the main command value β _m and outputs it to the bucket pilot command generating unit 3010C.

Specifically, the main command value generating unit 3009A generates the main command value β _m corresponding to the contents (operation direction and operation amount) of the operator's operation or operation command. For example, the main command value generating unit 3009A may generate the boom command value β _1r , the arm command value β _2r , and the bucket command value β _3r as the main command values based on a predetermined mapping diagram or conversion formula that specifies the relationship between the contents of the operator's operation or operation command and the boom command value β _1r , the arm command value β _2r , and the bucket command value β _3r , respectively.

The sub-command value generating unit 3009B generates command values (hereinafter referred to as "sub-command values") β s1 and β _s2 related to the operation of the sub-components, which correspond to (synchronize with) the operation of the main component and operate so that the accessory AT moves along the target surface according to the control reference of the accessory _AT .

For example, when the boom 4 is set as the main component by the main component setting unit 3007, the secondary command value generating unit 3009B generates an arm command value β _2r and a bucket command value β _3r as secondary command values β _s1 and β _s2 , and outputs them to the arm pilot command generating unit 3010B and the bucket pilot command generating unit 3010C, respectively.

Furthermore, for example, when the boom 5 is set as the main component by the main component setting unit 3007, the secondary command value generating unit 3009B generates a boom command value β _1r and a bucket command value β _3r as secondary command values β _s1 and β _s2 , and outputs them to the boom lead command generating unit 3010A and the bucket lead command generating unit 3010C, respectively.

When the bucket 6 is set as the main component by the main component setting unit 3007, the sub-command value generating unit 3009B generates a boom command value _β1r and an arm command value _β2r as sub-command values _βs1 and _βs2 , and outputs them to the boom lead command generating unit 3010A and the arm lead command generating unit 3010B, respectively.

Specifically, the sub-command value generating unit 3009B generates sub-command values β s1 , β s2 in such a manner that the sub-component operates in correspondence (synchronization) with the operation of the main component corresponding to the main command value _{β m} and the control reference of the attachment _AT can achieve the target position (i.e., move along the target surface).

Thus, the controller 30 operates the two secondary parts of the attachment AT in correspondence with (i.e., synchronously with) the operation of the main part of the attachment AT corresponding to the operator's operation input or operation instruction. Therefore, the controller 30 can move the control reference of the attachment AT along the target surface.

That is, the main part (the hydraulic actuator) moves in accordance with the operator's operation input or operation command, and the secondary part (the hydraulic actuator) controls its movement in accordance with the movement of the main part (the hydraulic actuator) in such a way that the front end (control reference) of the attachment AT such as the shovel tip of the bucket 6 moves along the target surface.

The pilot command generation unit 3010 generates a _command value (hereinafter referred to as a "pilot pressure command value") for the pilot pressure acting on the control valves 174 to 176 to realize the boom angular velocity, the arm angular velocity, and the bucket angular velocity corresponding to the boom command value β _1r , the arm command value β 2r, and the bucket command value β _3r . The pilot command generation unit 3010 includes a boom pilot command generation unit 3010A, an arm pilot command generation unit 3010B, and a bucket pilot command generation unit 3010C.

The boom pilot command generating unit 3010A generates a pilot pressure command value acting on the control valves 175L and 175R corresponding to the boom cylinder 7 driving the boom 4, based on the deviation between the boom command value _β1r and the calculated value (measured value) of the current boom angular velocity calculated by the boom angle calculating unit 3011A described later. The boom pilot command generating unit 3010A outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31BL and 31BR.

Thus, as described above, the pilot pressure corresponding to the pilot pressure command value outputted from the proportional valves 31BL and 31BR acts on the corresponding pilot ports of the control valves 175L and 175R. Furthermore, the boom cylinder 7 is actuated by the action of the control valves 175L and 175R, and the boom 4 is actuated to achieve a boom angular velocity corresponding to the boom command value _β1r .

The boom pilot command generating unit 3010B generates a pilot pressure command value acting on the control valves 176L and 176R corresponding to the boom cylinder 8 driving the boom 5, based on the deviation between the boom command value β _2r and the calculated value (measured value) of the current boom angular velocity calculated by the boom angle calculating unit 3011B described later. The boom pilot command generating unit 3010B outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31AL and 31AR.

Thus, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31AL and 31AR acts on the corresponding pilot ports of the control valves 176L and 176R. Furthermore, the boom cylinder 8 is actuated by the action of the control valves 176L and 176R, and the boom 5 is actuated in a manner to achieve the boom angular velocity corresponding to the boom command value β _2r .

The bucket pilot command generating unit 3010C generates a pilot pressure command value acting on the control valve 174 corresponding to the bucket cylinder 9 driving the bucket 6, based on the deviation between the bucket command value β _3r and the calculated value (measured value) of the current bucket angular velocity calculated by the bucket angle calculating unit 3011C described later. The bucket pilot command generating unit 3010C outputs a control current corresponding to the generated pilot pressure command value to the proportional valves 31CL and 31CR.

Thus, as described above, the pilot pressure corresponding to the pilot pressure command value output from the proportional valves 31CL and 31CR acts on the corresponding pilot port of the control valve 174. Then, the bucket cylinder 9 is actuated by the action of the control valve 174, and the bucket 6 is actuated to achieve a bucket angular velocity corresponding to the bucket command value _β3r .

The posture angle calculation unit 3011 calculates (measures) the (current) boom angle, arm angle, and bucket angle, as well as the boom angular velocity, arm angular velocity, and bucket angular velocity based on the detection signals of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. The posture angle calculation unit 3011 includes a boom angle calculation unit 3011A, an arm angle calculation unit 3011B, and a bucket angle calculation unit 3011C.

The boom angle calculation unit 3011A calculates (measures) the boom angle and boom angular velocity etc. based on the detection signal input from the boom angle sensor S1. Thus, the boom pilot command generation unit 3010A can perform feedback control on the operation of the boom cylinder 7 based on the measurement result of the boom angle calculation unit 3011A.

The arm angle calculation unit 3011B calculates (measures) the arm angle and arm angular velocity based on the detection signal input from the arm angle sensor S2. Thus, the arm pilot command generation unit 3010B can perform feedback control related to the operation of the arm cylinder 8 based on the measurement result of the arm angle calculation unit 3011B.

The bucket angle calculation unit 3011C calculates (measures) the bucket angle and bucket angular velocity based on the detection signal input from the bucket angle sensor S3. Thus, the bucket pilot command generation unit 3010C can perform feedback control on the operation of the bucket cylinder 9 based on the measurement result of the bucket angle calculation unit 3011C.

Next, the setting of the target plane in this embodiment will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a diagram for explaining the target plane.

In this embodiment, the back surface 6c of the bucket 6 is set as a reference plane, and a plane having a constant angle with respect to the reference plane G1 is set as a target plane G2. The constant angle may be, for example, a set angle input from the input device 72 by an operator's operation.

In the example of FIG. 7 , the operator inputs an angle θa as a set angle, and a plane forming an angle θa with respect to the back surface 6 c of the bucket 6 is set as the target surface G2 .

As described above, in the present embodiment, the target plane G2 is set with the back surface 6 c of the bucket 6 being the reference plane G1 . Therefore, when the bucket 6 is operated, the target plane G2 is changed in accordance with the reference plane G1 .

Specifically, for example, when the bucket 6 is operated so that the position of the reference plane G1 becomes the position of the reference plane G1a, the target plane G2 is changed to a target plane G2a which is a plane forming an angle θa with respect to the reference plane G1a.

Therefore, in the present embodiment, for example, when the blade edge of bucket 6 is moved along target surface G2a after the blade edge of bucket 6 is moved along target surface G2a, the target surface can be changed by only changing the angle of bucket 6.

Thus, according to the present embodiment, by setting the target surface, it is not necessary for the operator to set data related to the design surface (target construction surface) in advance before the operator gets on the shovel 100, and the workload involved in the setting can be reduced.

Furthermore, according to the present embodiment, the operator can change the target surface while riding in the control room 10 .

In addition, the setting angle in the present embodiment may be determined by the controller 30 according to the posture of the shovel 100 .

Specifically, for example, when the blade tip of the bucket 6 is in contact with a certain plane, when the operator instructs the controller 30 to set the target surface, the controller 30 may set the target surface by using the angle between the current back side 6c of the bucket 6 and the plane in contact with the blade tip of the bucket 6 as the set angle.

At this time, the operator can set the target surface by operating the bucket 6 without having to input a setting angle himself.

Fig. 8 is a diagram showing an example of a target surface setting screen. The guidance screen 41V1 shown in Fig. 8 is displayed on the display device D1 when the shovel 100 is operating, for example, when a door lock is released or when the operating device 26 (operating lever) is operated.

As shown in FIG8 , the guidance screen 41V1 includes a time display section 451, a speed mode display section 452, a travel mode display section 453, an accessory display section 454, an engine control state display section 455, a urea water remaining amount display section 456, a fuel remaining amount display section 457, a cooling water temperature display section 458, an engine operation time display section 459, a photographic image display section 460, an operation guidance display section 470, a set date display section 480, and an adjusted date display section 490. The images displayed in each section are generated by the conversion processing section 40a of the display device D1 based on various data sent from the controller 30 and the photographic image sent from the camera as the space recognition device 70.

The current time is displayed on the time display unit 451. In the example shown in FIG8, digital display is used to display the current time (10:05).

The rotation speed mode display unit 452 graphically displays the rotation speed mode set by the engine rotation speed adjustment control dial. The rotation speed mode includes, for example, four modes: SP mode, H mode, A mode, and idle mode. In the example shown in FIG8 , a symbol "SP" indicating the SP mode is displayed.

In addition, the engine speed adjustment control panel can be set in the control room 10 of the excavator 100. The engine speed adjustment control panel is a control panel for adjusting the engine speed, for example, the engine speed can be switched in stages. In the present embodiment, the engine speed adjustment control panel is set to be able to switch the engine speed in four stages: SP mode, H mode, A mode and idle mode. The engine speed adjustment control panel transmits data indicating the setting state of the engine speed to the controller 30.

The SP mode is a speed mode selected when it is desired to prioritize workload, and the highest engine speed is used. The H mode is a speed mode selected when it is desired to balance workload and fuel consumption, and the second highest engine speed is used. The A mode is a speed mode selected when it is desired to prioritize fuel consumption while making the excavator 100 run at low noise, and the third highest engine speed is used. The idle mode is a speed mode selected when it is desired to set the engine to an idle state, and the lowest engine speed is used. The engine 11 is controlled to a constant speed at the engine speed mode set by the engine speed adjustment control panel.

The travel mode display unit 453 displays the travel mode. The travel mode indicates the setting state of the travel hydraulic motor using the variable displacement pump. For example, the travel mode has a low-speed mode and a high-speed mode. In the low-speed mode, a mark imitating a "turtle" is displayed, and in the high-speed mode, a mark imitating a "rabbit" is displayed. In the example shown in FIG8 , a mark imitating a "turtle" is displayed, and the operator can recognize that the low-speed mode has been set.

The attachment display unit 454 displays images showing the attached attachments. Various attachments such as the bucket 6, rock drill, grapple, and lifting magnet are attached to the shovel 100. The attachment display unit 454 displays, for example, marks imitating these attachments and numbers corresponding to the attachments.

In this embodiment, the bucket 6 is installed as an end attachment, and the attachment display section 454 becomes blank as shown in Fig. 8. When a rock drill is installed as an end attachment, for example, a symbol imitating the rock drill and a number indicating the magnitude of the output of the rock drill are displayed on the attachment display section 454.

The engine control state display unit 455 displays the control state of the engine 11. In the example shown in FIG8 , the "automatic deceleration/automatic stop mode" is selected as the control state of the engine 11. In addition, the "automatic deceleration/automatic stop mode" indicates a control state in which the engine speed is automatically reduced according to the duration of the state in which the engine load is small, and then the engine 11 is automatically stopped. In addition, the control state of the engine 11 includes the "automatic deceleration mode", the "automatic stop mode" and the "manual deceleration mode".

The urea water remaining amount display unit 456 graphically displays the remaining amount of urea water stored in the urea water tank. In the example shown in FIG8 , a bar graph showing the current remaining amount of urea water is displayed. In addition, the remaining amount of urea water is displayed based on data output by a urea water remaining amount sensor provided in the urea water tank.

The remaining fuel amount display unit 457 displays the remaining amount of fuel stored in the fuel tank. In the example shown in FIG8 , a bar graph showing the current remaining amount of fuel is displayed. In addition, the remaining amount of fuel is displayed based on data output by a remaining fuel amount sensor provided in the fuel tank.

The cooling water temperature display unit 458 displays the temperature state of the engine cooling water. In the example shown in FIG8 , a bar graph showing the temperature state of the engine cooling water is displayed. In addition, the temperature of the engine cooling water is displayed based on the data output by the water temperature sensor 11 c provided in the engine 11 .

The engine operation time display unit 459 displays the accumulated operation time of the engine 11. In the example shown in FIG8 , the accumulated operation time since the driver restarts counting is displayed together with the unit "hr (hour)". The engine operation time display unit 459 displays the total operation time of the entire period since the excavator 100 was manufactured or the interval operation time since the operator restarts counting.

The photographic image display unit 460 displays an image captured by the camera. In the example shown in FIG8 , an image captured by the rear recognition sensor 70B as the rear camera is displayed on the photographic image display unit 460. The photographic image display unit 460 may also display a photographic image captured by the left recognition sensor 70L as the left camera or the right recognition sensor 70R as the right camera.

Furthermore, images captured by a plurality of cameras including the left camera, the right camera, and the rear camera may be displayed in a row on the photographic image display unit 460. Furthermore, a bird's-eye view image synthesized from the photographic images captured by the left camera, the right camera, and the rear camera may be displayed on the photographic image display unit 460.

Each camera is provided so that the captured image includes a portion of the cover 3a of the upper swing body 3. By including a portion of the cover 3a in the displayed image, the operator can easily understand the distance between the object displayed on the photographic image display unit 460 and the shovel 100.

The camera icon 461 indicating the direction of the camera 80 that captured the displayed camera image is displayed on the camera image display unit 460. The camera icon 461 is composed of a shovel icon 461a indicating the shape of the shovel 100 when viewed from above and a strip-shaped direction display icon 461b indicating the direction of the camera 80 that captured the displayed camera image.

In the example shown in FIG8 , a direction display icon 461b is displayed on the lower side (opposite to the attachment side) of the shovel icon 461a, and the image of the rear of the shovel 100 captured by the rear camera 80B is displayed on the photographic image display unit 460. For example, when the image captured by the right camera is displayed on the photographic image display unit 460, the direction display icon 461b is displayed on the right side of the shovel icon 461a. And, for example, when the image captured by the left camera is displayed on the photographic image display unit 460, the direction display icon 461b is displayed on the left side of the shovel icon 461a.

For example, the operator can switch the image displayed on the captured image display unit 460 to an image captured by another camera by pressing an image switching switch provided in the control room 10 .

In addition, when the shovel 100 is not provided with a camera as the space recognition device 70 , different information may be displayed instead of the photographed image display unit 460 .

The work guidance display unit 470 includes a position display image 471 and a bucket image display area 472 , and displays various information.

The position display image 471 is a bar graph in which a plurality of function bars are arranged vertically, and displays the distance from the working part of the attachment to the target surface.

In the present embodiment, one of the seven function bars becomes a bucket position display bar 471a (the third function bar from the top in FIG. 8 ) displayed in a different color from the other function bars, depending on the distance from the working part of the bucket 6 to the target surface. The bucket position display bar 471a indicates the current position of the working part of the attachment. And, the central function bar 471b (the fourth function bar from the top in FIG. 8 ) of the seven function bars indicates the target surface. For example, when the bucket position display bar 471a is consistent with the central function bar 471b, it indicates that the current working part of the bucket 6 is located on the target surface. In addition, the position display image 471 may also be composed of a larger number of function bars so that the distance from the working part of the bucket 6 to the target surface can be displayed with higher accuracy.

For example, as the distance from the working part of the bucket 6 to the target surface increases, the function bar on the upper side is displayed as a bucket position display bar in a different color from the other function bars. Also, as the distance from the working part of the bucket 6 to the target surface decreases, the function bar on the lower side is displayed as a bucket position display bar in a different color from the other function bars. In this way, the bucket position display bar moves up and down according to the distance from the working part of the bucket 6 to the target surface. The operator can grasp the distance from the working part of the bucket 6 to the target surface by observing the position display image 471.

The bucket image display area 472 displays information related to the setting of the target surface. Specifically, the bucket image display area 472 includes an image display area 473 and a setting angle display area 474.

The image display area 473 schematically displays the relationship between the bucket 6 and the target surface. The set angle display area 474 displays the set angle input from the input device 72.

8 , the image display area 473 shows that the back surface 6 c of the bucket 6 is set as the reference plane G1 and a plane having a set angle θa relative to the reference plane G1 is set as the target plane G2. The set angle display area 474 shows that the set angle is set to 30°.

Therefore, in the example of Fig. 8, it can be seen that the plane with an angle of 30° relative to the back surface 6c of the bucket 6 is set as the target surface G2. In addition, in the present embodiment, the setting angle may be set to be parallel to the back surface 6c of the bucket 6. In other words, in the present embodiment, the setting angle may also be set to 0°.

Furthermore, images 473a and 473b are displayed in the image display region 473. The images 473a and 473b indicate that the target surface G2 is set and that the bucket 6 can be moved along the target surface G2.

In other words, the images 473 a and 473 b are images for the operator to recognize that the working part of the bucket 6 moves along the target surface G2 according to the lever operation of the operator.

As described above, in the present embodiment, a plane having a constant angle with respect to the back surface 6 c of the bucket 6 can be set as a target surface through the operation of the operator.

In addition, the information displayed on the aforementioned rotation speed mode display unit 452, the travel mode display unit 453, the attachment display unit 454, the engine control state display unit 455, and the camera icon 461 is "information related to the setting state of the shovel 100". In addition, the information displayed on the urea water remaining amount display unit 456, the fuel remaining amount display unit 457, the cooling water temperature display unit 458, and the engine operation time display unit 459 is "information related to the operating state of the shovel 100".

Furthermore, in addition to the above, the guidance screen 41V1 may also include a fuel consumption display unit that displays fuel consumption, a working oil temperature display unit that displays the temperature state of the working oil in the working oil tank, and a warning display unit that displays information indicating that the parameters of the bucket 6 need to be adjusted. When a predetermined time has passed since the adjustment of the parameters of the bucket 6 was performed, the warning display unit displays information indicating that the parameters of the bucket 6 need to be adjusted. Thus, the operator can perform work such as excavation without adjusting the parameters of the bucket 6 when the parameters of the bucket 6 need to be adjusted.

In the example shown in FIG8 , the urea water remaining amount display unit 456, the fuel remaining amount display unit 457, and the cooling water temperature display unit 458 are set to be displayed in the form of bar graphs, but they may also be displayed in the form of pointers, etc., and the display method of each area is not limited to the method illustrated in this embodiment. In addition, the configuration of each area is not limited to the structure illustrated in this embodiment.

Next, a display example during the operation of the shovel 100 will be described with reference to Fig. 9. Fig. 9 is a diagram for explaining a display example of the display device.

In the present embodiment, when the operator operates the bucket 6 , the relationship between the bucket 6 in operation and the target surface is schematically displayed in the bucket image display area 472 of the guidance screen 41V1 .

In Fig. 9 , bucket image display region 472A includes image display region 473A. In image display region 473A, the position of bucket 6 is different from the position shown in Fig. 8 according to the operation of the operator.

The back surface 6c (reference surface G1) and the target surface G2 of the bucket 6 at this time are schematically displayed in the image display area 473A. At this time, images 473a and 473b showing the moving direction of the working part of the bucket 6 according to the lever operation of the operator are displayed.

Thus, in this embodiment, a target surface G2 that is different according to the angle of bucket 6 is set based on the current angle of bucket 6. In addition, in this embodiment, the operator can understand the working state by presenting the state that the target surface changes according to the operation of bucket 6.

Hereinafter, the change of the target surface corresponding to the operation of the bucket 6 will be described with reference to Fig. 10. Fig. 10 is a diagram for explaining the change of the target surface.

FIG10 shows the action of the shovel 100 of the present embodiment when excavating. At this time, the posture of the shovel 100 changes according to the operation of the operator. In the following description, the posture of the bucket angle shown by the symbol 101 is expressed as the first posture, and the posture of the bucket angle shown by the symbol 102 is expressed as the second posture. In addition, in the following description, the posture of the bucket angle shown by the symbol 103 is expressed as the third posture, and the posture of the bucket angle shown by the symbol 104 is expressed as the fourth posture.

Therefore, in FIG. 10 , the posture of the shovel 100 changes to a first posture, a second posture, a third posture, and a fourth posture.

In the first posture, the controller 30 of the shovel 100 moves the blade edge of the bucket 6 along the target plane G2a at a set angle relative to the back surface 6c of the bucket 6. In the second posture, the controller 30 of the shovel 100 moves the blade edge of the bucket 6 along the target plane G2b at a set angle relative to the back surface 6c of the bucket 6.

Similarly, in the third posture, the controller 30 of the excavator 100 moves the blade tip of the bucket 6 along a target surface G2c having a set angle relative to the back side 6c of the bucket 6, and in the fourth posture, the controller 30 of the excavator 100 moves the blade tip of the bucket 6 along a target surface G2d having a set angle relative to the back side 6c of the bucket 6.

In addition, during a series of posture changes, the boom 4 is controlled by the equipment control function. Specifically, the boom 4 generates a boom command value based on the target surface and the speed of the arm 5, and controls the operation.

Therefore, in the present embodiment, the target surface is changed according to the angle of the bucket 6 , so the operator can perform work only by the arm closing operation (the first posture to the third posture) and the bucket closing operation (the fourth posture).

Furthermore, in the present embodiment, each time the angle of the bucket 6 is changed, a target surface is set that forms a constant angle with the back surface of the bucket 6 , so that the accuracy of the work can be improved.

Furthermore, in the present embodiment, every time the angle of the bucket 6 is changed, the relationship between the back surface 6 c of the bucket 6 and the target surface may be schematically displayed in the image display area 473A of FIG. 9 .

At this time, the image display area 473 in Figure 9 schematically displays the relationship between the back side 6c of the bucket 6 and the target surface G2a when the posture of the shovel 100 becomes the first posture, and schematically displays the relationship between the back side 6c of the bucket 6 and the target surface G2b when the posture of the shovel 100 becomes the second posture.

9 schematically displays the relationship between the back side 6c of the bucket 6 and the target surface G2c when the shovel 100 is in the third posture, and schematically displays the relationship between the back side 6c of the bucket 6 and the target surface G2d when the shovel 100 is in the fourth posture.

In addition, in the present embodiment, for example, when a design surface (target construction surface) is set in advance in the shovel 100 , the design surface may be given priority over the target surface as the position for aligning the working part of the bucket 6 .

Referring to Fig. 9, the case where the plane G3 is pre-set as the design plane G3 is described. At this time, the controller 30 makes the working part of the bucket 6 reach the design plane G3 in the second posture. If it is detected that the working part of the bucket 6 has reached the design plane G3, the controller 30 may also control the operation in such a way that the working part of the bucket 6 is along the design plane G3.

Furthermore, in the present embodiment, when it is detected that the distance between the working part of the bucket 6 and the plane G3 is within a predetermined distance, the controller 30 may give priority to the design surface (plane G3) over the target surface G2.

As described above, according to the present embodiment, it is not necessary to set the design surface before the shovel 100 starts operating, and the amount of work involved in the setting can be reduced.

Furthermore, in the present embodiment, even in a state where the design surface is not set, the operation of the shovel 100 can be controlled by the device control function.

Furthermore, in the present embodiment, the setting angle is inputted by the input device 72, but the present invention is not limited thereto. For example, the setting angle may be inputted in a management device for managing the shovel 100 or a support device for supporting the shovel 100, and the input setting angle may be sent to the shovel 100 to set the setting angle in the shovel 100. Furthermore, regarding the setting angle, after operating the arm 5 or the boom 4 to move the bucket 6 to the vicinity of the design surface, the operator or the like may finely adjust the angle of the bucket 6 to set the target surface.

As mentioned above, although the specific embodiment was described, the above content does not limit the content of the invention, and various modifications and improvements are possible within the scope of the present invention.

Claims (7)

1. An excavator, comprising:

A lower traveling body;

an upper revolving body rotatably mounted on the lower traveling body;

an attachment device which is attached to the upper revolving structure and includes a boom, an arm, and a bucket; and

And a control device that sets a target surface that is based on a current angle of the bucket and that is different according to the angle of the bucket.

2. The excavator of claim 1, wherein,

The control device performs the following processing:

Generating a main command value related to the movements of main elements in the boom, the arm, and the bucket included in the attachment according to the operation of the operator; and

And generating a secondary command value related to a secondary part of a boom, an arm, and a bucket included in the attachment in response to an operation of the primary part corresponding to the primary command value, so that a working portion of the bucket moves along the target surface.

3. The excavator according to claim 1 or 2, wherein,

The target surface is a plane surface having a constant angle with respect to a reference surface of the bucket.

4. The excavator of claim 3, wherein,

The control device performs the following processing:

The target surface is set based on the angle of the bucket and the constant angle when an operation for setting the target surface is received.

5. The excavator of claim 3, wherein,

When the angle of the bucket is changed while the control by the control device is continued, the target surface is changed according to the angle of the bucket.

6. The excavator of claim 3, wherein,

The control device performs the following processing:

And displaying a screen for inputting the constant angle on a display device.

7. The excavator of claim 1, wherein,

The control device is controlled by:

When a target construction surface different from the target surface is set, the working portion of the bucket is moved along the target construction surface when the working portion of the bucket is detected to be within a constant distance from the target construction surface.