JP2025104060A - Excavator - Google Patents

Abstract

To provide a shovel capable of reducing the operational burden of switching on an operator.SOLUTION: A shovel 100 comprises a lower running body 1, an upper rotating body 3 rotatably provided on the lower running body 1, an attachment provided on the upper rotating body 3 and having a bucket 6 performing construction work, and a controller 30 for controlling operation of the attachment. The controller 30 is capable of selectively performing a first mode in which the operation of the attachment is controlled based on a plane with a reference point of the shovel 100 as a reference, and a second mode in which the operation of the attachment is controlled based on a target construction surface WD in three-dimensional coordinates. The controller 30 automatically switches between the first mode and the second mode based on the target construction surface.SELECTED DRAWING: Figure 6

Description

This disclosure relates to a shovel.

Patent Document 1 discloses a shovel equipped with a machine control function that controls the operation of an attachment. For example, the shovel is configured to perform semi-automatic construction based on a design drawing of three-dimensional coordinates that has been input in advance by turning on an MC switch that switches the implementation of the machine control function. Also, the shovel is configured to perform semi-automatic construction on a two-dimensional plane based on the intersection of the shovel and the ground by turning on the MC switch.

International Publication No. 2021/20464

However, at an actual construction site, there are cases where an excavator needs to form a work base that is not included in the three-dimensional coordinate design drawing to carry out work. For example, a work base is required when performing deep excavation. However, the machine control function of the excavator, which is based on the three-dimensional coordinate design drawing, is not configured to control construction other than that shown in the design drawing.

It is possible to use two-dimensional machine control functions when forming a work base, but with conventional excavators, various operations are required when switching from three-dimensional coordinate machine control functions to two-dimensional machine control functions.

This disclosure provides an excavator that can reduce the operational burden of switching on the operator.

According to one aspect of the present disclosure, there is provided a shovel including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment mounted on the upper rotating body and having an end attachment for performing construction work, and a control unit for controlling the operation of the attachment, wherein the control unit is capable of selectively executing a first mode for controlling the operation of the attachment based on a plane based on a reference point of the shovel and a second mode for controlling the operation of the attachment based on a target construction surface in three-dimensional coordinates, and the control unit automatically switches between the first mode and the second mode based on the target construction surface.

According to one embodiment, the excavator can reduce the operational burden of switching on the operator.

FIG. 2 is a side view of the shovel according to the embodiment. FIG. 2 is a block diagram showing an example of a configuration of a shovel according to an embodiment. 1 is a diagram showing a first operating lever device having an MC switch, a second operating lever device having an MC function switching button, and a controller. FIG. 13 is a diagram showing an example of a layout setting screen for changing assignment of each button. Fig. 5A is a diagram showing an example of a 2D mode screen displayed on the display device, and Fig. 5B is a diagram showing an example of a 3D mode screen displayed on the display device 40. FIG. 4 is a diagram illustrating a schematic relationship of the distance between a bucket and a target construction surface. 11 is a flowchart showing a process flow for automatically switching to 2D mode when 3D mode is being executed. Fig. 8(A) is a schematic side view showing a state before construction by a shovel, and Fig. 8(B) is a schematic side view showing the formation of a work base by the shovel. Fig. 9(A) is a schematic side view showing the excavation of the shovel moved to the work platform, and Fig. 9(B) is a schematic side view showing the excavation of the shovel in a completed state.

Below, a description will be given of a mode for carrying out the present disclosure with reference to the drawings. In each drawing, the same components are given the same reference numerals, and duplicate descriptions may be omitted.

[Outline of the excavator]
First, an overview of a shovel 100 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a side view of the shovel 100 according to an embodiment.

The excavator 100 according to the embodiment includes a lower carrier 1, an upper rotating body 3 mounted on the lower carrier 1 so as to be freely rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 as attachments, and a cabin 10.

The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each crawler is hydraulically driven by traveling hydraulic motors 1L, 1R (see FIG. 2) to cause the excavator 100 to travel.

The upper rotating body 3 rotates relative to the lower traveling body 1 by being driven by a hydraulic motor 2A (see FIG. 2), which is a hydraulic actuator. Note that the driving source of the rotating mechanism 2 is not limited to a hydraulic actuator, and an electric motor or the like may also be used.

The boom 4 is connected to the front center of the upper rotating body 3 so that it can move up and down. The arm 5 is connected to the tip of the boom 4 so that it can rotate. The bucket 6 is connected to the tip of the arm 5 so that it can rotate. The boom 4 is hydraulically driven by a boom cylinder 7, which is a hydraulic actuator. The arm 5 is hydraulically driven by an arm cylinder 8, which is a hydraulic actuator. The bucket 6, which is an end attachment, is hydraulically driven by a bucket cylinder 9, which is a hydraulic actuator.

The cabin 10 is the driver's cab in which the user (operator) sits, and is mounted on the front left side of the upper rotating body 3.

[Excavator configuration]
Next, a specific configuration of the shovel 100 will be described with reference to Fig. 2 in addition to Fig. 1. Fig. 2 is a block diagram showing an example of the configuration of the shovel 100 according to an embodiment. In the figure, mechanical power lines are indicated by double lines, high-pressure hydraulic lines by solid lines, pilot lines by dashed lines, and electric drive and control lines by dotted lines.

The hydraulic drive system that hydraulically drives the hydraulic actuators of the excavator 100 according to the embodiment includes an engine 11, a regulator 13, a main pump 14, and a control valve 17. As described above, the hydraulic drive system of the excavator 100 according to the embodiment also includes hydraulic actuators such as the traveling hydraulic motors 1L and 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 that hydraulically drive the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, respectively.

The engine 11 is the main power source in the hydraulic drive system, and is mounted, for example, at the rear of the upper rotating body 3. The engine 11 rotates at a constant speed at a preset target speed based on direct (or indirect) control by the controller 30 described below, and drives the main pump 14 and pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel.

The regulator 13 controls the discharge volume of the main pump 14. The regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

The main pump 14 is mounted, for example, at the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is, for example, a variable displacement hydraulic pump, and the tilt angle of the swash plate is adjusted by the regulator 13 to adjust the stroke length of the piston, thereby controlling the discharge volume (discharge pressure).

The control valve 17 is a hydraulic control device mounted, for example, at the center of the upper rotating body 3, and controls the hydraulic drive system in response to the operation of the operating device 26 by the operator. The control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to the hydraulic actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9) in response to the operating state of the operating device 26. Specifically, the control valve 17 includes control valves 171 to 176 that control the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each of the hydraulic actuators. The control valve 171 corresponds to the travel hydraulic motor 1L, the control valve 172 corresponds to the travel hydraulic motor 1R, the control valve 173 corresponds to the swing hydraulic motor 2A, the control valve 174 corresponds to the bucket cylinder 9, the control valve 175 corresponds to the boom cylinder 7, and the control valve 176 corresponds to the arm cylinder 8.

The operating system of the shovel 100 according to the embodiment includes a pilot pump 15 and an operating device 26. The operating system of the shovel 100 also includes a shuttle valve 32 as a component related to the automatic control function by the controller 30.

The pilot pump 15 is mounted, for example, at the rear of the upper rotating body 3 and supplies pilot pressure to the operating device 26 via a pilot line. The pilot pump 15 is, for example, a fixed displacement hydraulic pump.

The operation device 26 is provided near the cockpit of the cabin 10, and is an operation input means for the operator to operate various operating elements (lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc.). In other words, the operation device 26 is an operation input means for the operator to operate the hydraulic actuators (travel hydraulic motors 1L, 1R, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.) that drive each operating element. The operation device 26 is connected to the control valve 17 directly through its secondary pilot line, or indirectly through a shuttle valve 32 provided in the secondary pilot line. As a result, a pilot pressure corresponding to the operating state of the lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc. in the operation device 26 is input to the control valve 17. Therefore, the control valve 17 can drive each hydraulic actuator according to the operating state in the operation device 26. The operating device 26 includes a lever device that operates each of the attachments, the boom 4 (boom cylinder 7), the arm 5 (arm cylinder 8), and the bucket 6 (bucket cylinder 9). For example, the operating device 26 also includes a pedal device that operates each of the left and right lower traveling bodies 1 (travel hydraulic motors 1L, 1R).

The shuttle valve 32 has two inlet ports and one outlet port, and outputs hydraulic oil having the higher pilot pressure of the two pilot pressures input to the two inlet ports to the outlet port. One of the two inlet ports of the shuttle valve 32 is connected to the operating device 26, and the other is connected to the proportional valve 31. The outlet port of the shuttle valve 32 is connected to the pilot port of the corresponding control valve in the control valve 17 through a pilot line. Therefore, the shuttle valve 32 applies the higher of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve. In other words, the controller 30 controls the corresponding control valve and the operation of the attachment regardless of the operation of the operating device 26 by the operator by outputting a pilot pressure from the proportional valve 31 that is higher than the secondary pilot pressure output from the operating device 26.

The control system of the excavator 100 according to the embodiment includes a controller 30, a discharge pressure sensor 25, an operating pressure sensor 29, a proportional valve 31, a relief valve 33, a display device 40, an input device 42, an audio output device 43, a memory device 47, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor S4, a turning state sensor S5, an imaging device S6, a boom rod pressure sensor S7R, a boom bottom pressure sensor S7B, an arm rod pressure sensor S8R, an arm bottom pressure sensor S8B, a bucket rod pressure sensor S9R, a bucket bottom pressure sensor S9B, a positioning device V1, and a communication device T1.

The controller 30 is provided, for example, in the cabin 10, and functions as a control unit that drives and controls the excavator 100. The functions of the controller 30 may be realized by any hardware or a combination of hardware and software. For example, the controller 30 is mainly composed of a microcomputer including a processor such as a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and various interface devices for input and output. The controller 30 realizes various functions by executing various programs stored in the non-volatile auxiliary storage device on the CPU.

For example, the controller 30 sets a target rotation speed based on a work mode that is set in advance by a predetermined operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed. The controller 30 also outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. Furthermore, the controller 30 controls a machine control function that automatically assists the operator in manually operating the shovel 100 through the operating device 26. Alternatively, the controller 30 controls a machine guidance function that guides the operator in manually operating the shovel 100 through the operating device 26.

Note that some of the functions of the controller 30 may be realized by other controllers (controllers). That is, the functions of the controller 30 may be realized in a distributed manner by multiple controllers. For example, the machine guidance function and the machine control function described above may be realized by a dedicated controller.

The discharge pressure sensor 25 detects the discharge pressure of the main pump 14. A detection signal corresponding to the discharge pressure detected by the discharge pressure sensor 25 is input to the controller 30.

The operating pressure sensor 29 detects the secondary pilot pressure of the operating device 26, i.e., the pilot pressure corresponding to the operating state of each operating element (hydraulic actuator) in the operating device 26. The detection signal of the pilot pressure of the operating pressure sensor 29, which corresponds to the operating state of the lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc. by the operating device 26, is input to the controller 30.

The proportional valve 31 is provided in a pilot line connecting the pilot pump 15 and the shuttle valve 32, and is configured so that its flow path area (the cross-sectional area through which hydraulic oil can flow) can be changed. The proportional valve 31 operates in response to a control command input from the controller 30. As a result, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32, even when the operating device 26 is not being operated by the operator.

The relief valve 33 discharges hydraulic oil from the rod-side oil chamber of the boom cylinder 7 to the tank in response to a control signal (control current) from the controller 30, suppressing excess pressure in the rod-side oil chamber of the boom cylinder 7.

The display device 40 is provided in a location that is easily visible to the operator seated in the cabin 10, and displays various information images based on the control of the controller 30. The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a one-to-one dedicated line.

The input device 42 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs by the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 42 includes a touch panel mounted on the display of the display device 40 that displays various information images, a knob switch provided at the tip of a lever device of the operation device 26, and button switches, levers, toggles, etc. installed around the display device 40. Signals corresponding to the operations performed on the input device 42 are input to the controller 30.

The audio output device 43 is provided, for example, in the cabin 10 and is connected to the controller 30. The audio output device 43 is, for example, a speaker or a buzzer. The audio output device 43 outputs various information by voice in response to a voice output command from the controller 30.

The storage device 47 is provided, for example, in the cabin 10, and stores various information under the control of the controller 30. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during operation of the shovel 100, or may store information acquired via various devices before operation of the shovel 100 is started. The storage device 47 may store, for example, data related to a target construction surface acquired via a communication device T1 or the like, or set via an input device 42 or the like. The target construction surface may be set (saved) by the operator of the shovel 100, or may be set by a construction manager or the like.

The boom angle sensor S1 is attached to the boom 4 and detects the elevation angle (boom angle) of the boom 4 relative to the upper rotating body 3. The boom angle is, for example, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 with respect to the rotation plane of the upper rotating body 3 in a side view. The boom angle sensor S1 may include a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc., and the same applies to the arm angle sensor S2, bucket angle sensor S3, and machine body tilt sensor S4 described below. A detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle (arm angle) of the arm 5 relative to the boom 4. The arm angle is, for example, the angle between a line connecting the fulcrums at both ends of the boom 4 and a line connecting the fulcrums at both ends of the arm 5 in a side view. A detection signal corresponding to the arm angle by the arm angle sensor S2 is input to the controller 30.

The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle (bucket angle) of the bucket 6 relative to the arm 5. The bucket angle is, for example, the angle between a line connecting the fulcrums at both ends of the arm 5 and a line connecting the fulcrum and tip (cutting edge) of the bucket 6 in a side view. A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is input to the controller 30.

The vehicle body inclination sensor S4 detects the inclination state of the vehicle body (upper rotating body 3 or lower running body 1) relative to the horizontal plane. The vehicle body inclination sensor S4 is attached, for example, to the upper rotating body 3, and detects the inclination angles (fore-aft inclination angle and lateral inclination angle) of the upper rotating body 3 about two axes in the fore-aft and lateral directions. The detection signal corresponding to the inclination angle (fore-aft inclination angle and lateral inclination angle) by the vehicle body inclination sensor S4 is input to the controller 30.

The rotation state sensor S5 outputs detection information regarding the rotation state of the upper rotating body 3. The rotation state sensor S5 detects, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The rotation state sensor S5 includes a gyro sensor, a resolver, a rotary encoder, etc.

The imaging device S6 captures images of the periphery of the shovel 100. The imaging device S6 includes a front camera that captures images in front of the shovel 100, a left camera that captures images to the left of the shovel 100, a right camera that captures images to the right of the shovel 100, and a rear camera that captures images to the rear of the shovel 100. Each camera of the imaging device S6 is, for example, a monocular wide-angle camera with a very wide angle of view. The imaging device S6 may be a stereo camera, a distance imaging camera, or the like. Images captured by the imaging device S6 are taken into the controller 30 via the display device 40. The imaging device S6 may communicate directly with the controller 30.

The imaging device S6 may also function as an object detection device that detects objects present around the shovel 100. The objects to be detected may include, for example, terrain (slope, hole, etc.), people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, or a specific mark on a helmet. The imaging device S6 may also calculate the distance from the imaging device S6 or the shovel 100 to the recognized object. The imaging device S6 as an object detection device may include, for example, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a LIDAR (Light Detection and Ranging), a distance image sensor, an infrared sensor, etc. The object detection device may be configured to identify at least one of the type, position, and shape of an object. For example, the object detection device may be configured to distinguish between a person and an object other than a person.

The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are attached to the boom cylinder 7, respectively, and detect the pressure in the rod side oil chamber (boom rod pressure) and the pressure in the bottom side oil chamber (boom bottom pressure) of the boom cylinder 7. The detection signals corresponding to the boom rod pressure and the boom bottom pressure by the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively input to the controller 30.

The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are attached to the arm cylinder 8, and detect the pressure in the rod side oil chamber (arm rod pressure) and the pressure in the bottom side oil chamber (arm bottom pressure) of the arm cylinder 8. The detection signals corresponding to the arm rod pressure and the arm bottom pressure from the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are respectively input to the controller 30.

The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are attached to the bucket cylinder 9, respectively, and detect the pressure in the rod side oil chamber (bucket rod pressure) and the pressure in the bottom side oil chamber (bucket bottom pressure) of the bucket cylinder 9. The detection signals corresponding to the bucket rod pressure and the bucket bottom pressure by the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively input to the controller 30.

The positioning device V1 measures the position and orientation of the upper rotating body 3. The positioning device V1 is, for example, a Global Navigation Satellite System (GNSS) compass, which detects the position and orientation of the upper rotating body 3, and a detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. In addition, the function of detecting the orientation of the upper rotating body 3, which is one of the functions of the positioning device V1, may be replaced by a direction sensor attached to the upper rotating body 3.

The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as an end, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

The excavator 100 according to the embodiment also has a function (machine control (MC) function) for automatically operating various actuators regardless of the content of the operator's operation. The MC function enables the excavator 100 to automatically operate at least a portion of the lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc.

The MC function includes a semi-automatic function that drives an actuator in response to an operator's operation of the operating device 26 or remote operation, and automatically performs a predetermined operation. In the operation support type MC function, the shovel 100 may, for example, automatically operate actuators other than the actuator to be operated. The MC function may also include a fully automatic function that automatically operates at least a part of the multiple actuators, assuming that there is no operation of the operating device 26 or remote operation by the operator. In the shovel 100, when the fully automatic function is active, the inside of the cabin 10 may be unmanned. The semi-automatic function, the fully automatic function, etc. also include a mode in which the operation content of the actuator targeted by the MC function is automatically determined according to a rule that is defined in advance. The semi-automatic function, the fully automatic function, etc. may also include a mode in which the shovel 100 autonomously makes various judgments and autonomously determines the operation content of the actuator targeted by the MC function according to the judgment results (so-called "autonomous driving").

[Configuration for performing MC function]
Next, a configuration for performing the MC function will be described with reference to Fig. 3. Fig. 3 is a diagram showing a first operating lever device 27 having an MC switch 273, a second operating lever device 28 having an MC function changeover button 282a, and a controller 30.

The operating device 26 includes, for example, a first operating lever device 27 and a second operating lever device 28. The first operating lever device 27 is a lever for operating an attachment (at least one of the boom 4, the arm 5, and the bucket 6). The first operating lever device 27 is, for example, a left lever (left joystick) installed in a console on the left side of the seat. The second operating lever device 28 is a lever for operating an attachment (at least one of the boom 4, the arm 5, and the bucket 6). The second operating lever device 28 is, for example, a right lever (right joystick) installed in a console on the right side of the seat. The operating device 26 may include a lever device and a pedal device in addition to the first operating lever device 27 and the second operating lever device 28.

The first operating lever device 27 has a lever body 271 and an MC switch 273 arranged alongside this lever body 271. The lever body 271 is supported in a form tilted backward so that it is easy for the operator to grip, and its upper end protrudes slightly inward. This lever body 271 is operated by the operator so that it is tilted in the front-rear and left-right directions. In addition, a plurality of buttons 272 for operating the shovel 100 are provided on the upper end of the lever body 271. Although not shown in FIG. 3, the first operating lever device 27 may have buttons for operating the shovel 100 on the side of the lever body 271.

An operating pressure sensor 29 (see FIG. 2) that detects the operating direction and amount of operation is provided at the base of the lever body 271. The operating pressure sensor 29 transmits detection information about the operator's operating direction and amount of operation to the controller 30. The first operating lever device 27 also transmits information about the operation of each button 272 to the controller 30.

The MC switch 273 is disposed behind the lever body 271 and is supported in a manner tilted backwards, similar to the lever body 271. The MC switch 273 is operated in the forward and backward directions by the operator. The MC switch 273 is formed in a concave shape in a cross section perpendicular to the longitudinal direction, and is capable of covering the rear half circumference of the lever body 271 when operated forward. The MC switch 273 is disposed behind when on standby due to a spring structure (not shown) or the like. In this arrangement, the shovel 100 has the MC function turned off. When the operator pushes the MC switch 273 forward and grasps the middle part of the lever body 271, the shovel 100 turns the MC function on.

The MC switch 273 further includes a number of buttons 274 on its side for performing operations related to the MC function. The MC switch 273 may also include an engagement portion 275 that can hook onto the lever body 271 in order to maintain the on state of the MC function without being gripped by the operator.

On the other hand, the second operating lever device 28, like the lever body 271 of the first operating lever device 27, has a lever body 281 that is supported in a tilted backward form and whose upper end protrudes slightly inward (to the left). This lever body 281 is operated by the operator so as to tilt in the front-rear and left-right directions. A plurality of buttons 282 for operating the shovel 100 are provided on the front side of the lever body 281. One of the plurality of buttons 282 is a switching button 282a for switching between two modes (2D mode and 3D mode) of the MC function described below. Although not shown in FIG. 3, the second operating lever device 28 may also have a button for operating the shovel 100 at its upper end.

An operating pressure sensor 29 that detects the operating direction and amount of operation is provided at the base of the lever body 281. The operating pressure sensor 29 transmits detection information of the operator's operating direction and amount of operation to the controller 30. The second operating lever device 28 also transmits information on the operation of each button 282 to the controller 30.

When the MC function is enabled (MC switch 273 is turned on), controller 30 controls the semi-automatic function that automatically assists the operator in manually operating the excavator 100. As an example, controller 30 controls the attachment (at least one of boom 4, arm 5, and bucket 6) so that the working part of the bucket 6 performs a predetermined construction operation in response to the operation of the arm 5 by the operator.

Under execution of a program by the CPU, the controller 30 internally constructs a functional block that executes the MC function, for example, as shown in FIG. 3. Specifically, the controller 30 internally includes a 2D mode control unit 301, a 3D mode control unit 302, an information acquisition unit 303, a switching determination unit 304, a display control unit 305, and a storage unit 306.

The 2D mode control unit 301 is a functional unit that controls the 2D mode (first mode) in which construction is performed by setting design information of a two-dimensional plane, which is two-dimensional coordinates (including a horizontal plane, a slope, etc.) from a reference point based on the cutting edge of the bucket 6 of the shovel 100. In the 2D mode, the construction range of the plane (excavation range, etc.) may be limited based on the target construction surface WD of the 3D mode described later, and the operation of the attachment may be controlled. The 2D mode control unit 301 automatically sets the design information of the two-dimensional plane based on, for example, the information of the imaging device S6 acquired via the information acquisition unit 303, and the excavation depth (the amount of penetration of the bucket 6 from the ground) previously set by the operator. In other words, the two-dimensional plane in the 2D mode is formed as a design drawing that incorporates the construction range of the cutting edge of the attachment according to the ground surface of the actual work site. The design information of the two-dimensional plane may include the inclination of the two-dimensional plane with respect to the horizontal plane. In other words, the two-dimensional plane may be not only a horizontal plane but also an inclined plane.

For example, when an operator manually performs an excavation operation (such as digging a hole or trench), the 2D mode control unit 301 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the tip of the bucket 6 coincides with a two-dimensional plane. This causes the tip of the bucket 6 to move along the two-dimensional plane to perform an excavation operation. The tip of the bucket 6 has a pointed shape and a relatively small area of contact with the ground, making it suitable as a working part for the excavator 100 in excavation operations.

The 2D mode control unit 301 may also reflect the flatness of the ground detected by various sensors in the construction operation of the tip of the bucket 6. For example, the 2D mode control unit 301 generates a target trajectory that makes the tip of the bucket 6 parallel according to the flatness of the ground, and automatically controls the operation of the attachment according to the target trajectory.

Furthermore, when a rolling operation (leveling work) is performed manually by the operator, the 2D mode control unit 301 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the back surface of the bucket 6 moves along the ground. In this case, the controller 30 controls the attachment so that the back surface of the bucket 6 applies an appropriate pressing force to the ground, and can cause the shovel 100 to perform a rolling operation on the ground. The back surface of the bucket 6 has a substantially flat shape or a curved shape with a relatively gentle curvature, and the area in contact with the ground is relatively large, making it suitable as a working part used for the rolling operation of the shovel 100.

Even in the case of compaction operation, the 2D mode control unit 301 may reflect the flatness of the ground detected by various sensors in the construction operation of the back of the bucket 6. For example, the 2D mode control unit 301 generates a target trajectory that makes the back of the bucket 6 parallel according to the flatness of the ground, and automatically controls the operation of the attachment according to the target trajectory.

On the other hand, the 3D mode control unit 302 is a functional unit that acquires the position information and posture information of the shovel 100 and controls the 3D mode in which construction is performed using design data of the target construction surface WD (see FIG. 6) in three-dimensional coordinates. In other words, the 3D mode is a second mode that controls the operation of the attachment based on the position information of the shovel 100, the posture information of the shovel 100, and the target construction surface WD. As an example, the target construction surface WD in the 3D mode can be applied with CAD data that designs the final shape of the entire work site. The design data is stored in advance in the storage unit 306. For example, the design data can be input by the operator through the input device 42 and registered in the storage unit 306. Alternatively, the design data can be downloaded from an external device (for example, a server device of a business operator that manages the work site or a management terminal in the management office of the work site) through the communication device T1 and registered in the storage unit 306.

The 3D mode control unit 302 may set an operation plan to be executed by the shovel 100 based on, for example, design data of the target construction surface WD in the 3D mode, position information, attitude information, and imaging information of the shovel 100, and display the operation plan on the display device 40. When the operator manually performs an excavation operation, the 3D mode control unit 302 automatically sets the range and depth of the excavation operation based on the target construction surface WD, and determines the operation content of the bucket 6 from the setting content. Note that when actually excavating the ground, the 3D mode control unit 302 can perform operations similar to those in the 2D mode, and for example, controls the operation of the attachment so that the tip of the bucket 6 moves along the target trajectory.

When the operator manually performs the compaction operation, the 3D mode control unit 302 automatically sets the range and height of the compaction operation based on the target construction surface WD, and determines the operation of the bucket 6 from the settings. When actually compacting the ground, the 3D mode control unit 302 can perform operations similar to those in the 2D mode, for example, controlling the operation of the attachment so that the back of the bucket 6 moves along the target trajectory.

When the 2D mode control unit 301 and the 3D mode control unit 302 execute the MC function, the information acquisition unit 303 acquires various information from the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, turning state sensor S5, imaging device S6, positioning device V1, communication device T1, operating pressure sensor 29, input device 42, etc. Based on the information acquired by the information acquisition unit 303, the 2D mode control unit 301 and the 3D mode control unit 302 can generate a target trajectory (e.g., a trajectory along a target construction surface) for the working portion of the bucket 6 as described above.

The switching determination unit 304 performs processing such as switching between the 2D mode and 3D mode of the MC function under the operator's operation or automatically switching and executing the same. For example, the excavator 100 according to the embodiment is capable of switching between the 2D mode and 3D mode of the MC function based on the switching operation of the switching button 282a of the second control lever device 28 by the operator. It should be noted that the position of the 2D mode and 3D mode switching button 282a is of course not particularly limited, and for example, the button 274 of the MC switch 273 may be applied.

The excavator 100 according to the embodiment allows the operator to change the assignment of each button 272, 282 of the operating device 26 (first operating lever device 27, second operating lever device 28) as desired. The display control unit 305 of the controller 30 displays a layout setting screen 400 as shown in FIG. 4 on the display device 40 based on the operator's operation of the input device 42 (e.g., operation of the home screen of the touch panel). FIG. 4 is a diagram showing an example of the layout setting screen 400 for changing the assignment of each button 272, 282.

The layout setting screen 400 has a main display image 401 that displays each lever that constitutes the operation device 26, and an operation display image 402 that is arranged below the main display image 401 and allows the operator to perform touch operations.

The main display image 401 displays an image showing each button 272 of the first operating lever device 27 and each button 282 of the second operating lever device 28, or each button of another lever. The main display image 401 also has a plurality of bubble window images 403 for each button 272, 282. In the bubble window images 403, the operation content of the corresponding button is depicted diagrammatically using pictograms, characters, etc.

For example, if a switch button 282a for switching between 2D mode and 3D mode is set to the button 282 of the second operating lever device 28, the characters 2D/3D are displayed in the bubble window image 403 attached to the image of that button. This allows an operator viewing the main display image 401 to easily recognize the current assignment of the switch button 282a for switching between 2D mode and 3D mode.

When changing the assignment of the switching button 282a, the operation display image 402 can be operated to select the old button, and then the new button can be selected to change it to another button. The operation display image 402 has, for example, a cursor button for moving the selection frame, a confirmation button for confirming the selection, a cancel button for canceling the selection, a home button for moving to the home screen, and the like (all not shown). Note that if the display device 40 and the input device 42 are touch panels, the layout setting screen 400 may be configured to change the button assignment by the operator touching each button on the main display image 401.

In this way, by making it possible to change the assignment of each button 272, 282 using the layout setting screen 400, it is possible to realize a layout according to the preferences of the operator of the shovel 100. As a result, the operability of the shovel 100 can be improved.

The display control unit 305 displays a display screen for 2D mode (hereinafter referred to as 2D mode screen 410) when the 2D mode is being executed, and displays a display screen for 3D mode (hereinafter referred to as 3D mode screen 450) when the 3D mode is being executed. FIG. 5(A) is a diagram showing an example of the 2D mode screen 410 displayed on the display device 40. FIG. 5(B) is a diagram showing an example of the 3D mode screen 450 displayed on the display device 40.

As shown in FIG. 5(A), the 2D mode screen 410 has a time display section 411, a rotation speed mode display section 412, a driving mode display section 413, an engine control state display section 415, a urea water remaining amount display section 416, a fuel remaining amount display section 417, a cooling water temperature display section 418, an engine operation time display section 419, a camera image display section 420, and a work guidance display section 430. The rotation speed mode display section 412, the driving mode display section 413, the attachment display section 414, and the engine control state display section 415 are display sections that display information related to the setting state of the shovel. The urea water remaining amount display section 416, the fuel remaining amount display section 417, the cooling water temperature display section 418, and the engine operation time display section 419 are display sections that display information related to the operating state of the shovel. The images displayed in each section are generated by the display device 40 using data transmitted from the controller 30 and camera images transmitted from the imaging device S6.

The time display unit 411 displays the current time. The rotation speed mode display unit 412 displays the rotation speed mode set by an engine rotation speed adjustment dial (not shown) of the operating device 26. The travel mode display unit 413 displays the travel mode of the lower traveling body 1. The travel mode displays the setting state of the traveling hydraulic motor using a variable displacement motor (for example, "turtle" for low speed mode, "rabbit" for high speed mode). The engine control state display unit 415 displays the control state of the engine 11 (for example, "automatic deceleration/automatic stop mode", "automatic deceleration mode", "automatic stop mode", "manual deceleration mode").

The urea water remaining amount display unit 416 displays the remaining amount of urea water stored in the urea water tank using a bar gauge. The fuel remaining amount display unit 417 displays the remaining amount of fuel stored in the fuel tank using a bar gauge. The cooling water temperature display unit 418 displays the temperature state of the engine cooling water using a bar gauge. The engine operating time display unit 419 displays the accumulated operating time of the engine 11.

The camera image display unit 420 displays images captured by the imaging device S6. The camera image display unit 420 may selectively display camera images captured by the front camera, left camera, right camera, or rear camera, or may display images from multiple cameras side by side. The camera image display unit 420 may display a camera icon 421 indicating the orientation of the image being displayed. The camera icon 421 is composed of a shovel icon 421a indicating the shape of a shovel, and a direction display icon 421b indicating the orientation of the camera that captured the image being displayed. The operator can switch to the image of each camera, for example, by pressing an image change switch (not shown).

The work guidance display section 430 displays guidance information when performing the MC function. The work guidance display section 430 includes a position display image 431, a first target construction surface display image 432, a second target construction surface display image 433, a bucket left end information image 434, a bucket right end information image 435, a side view numerical information image 436, a front view numerical information image 437, an attachment image 438, a distance display format image 439, and a target setting image 440.

The position display image 431 represents a change in the magnitude of the relative distance from the working part of the bucket 6 to the target construction surface by changing the display position of a figure related to the working part of the bucket 6 (e.g., the toe). The first target construction surface display image 432 shows a schematic representation of the relationship in the pitch direction between the bucket 6 and the target construction surface. The second target construction surface display image 433 shows a schematic representation of the relationship in the yaw direction between the bucket 6 and the target construction surface.

The bucket left end information image 434 displays the distance between the left end of the tip of the bucket 6 and the target construction surface. The bucket right end information image 435 displays the distance between the right end of the tip of the bucket 6 and the target construction surface. The side view numerical information image 436 displays the relationship between the bucket 6 and the target construction surface when viewed from the side. The front view numerical information image 437 displays the relationship between the bucket 6 and the target construction surface when the operator sits in the cabin 10 and looks forward of the shovel. The attachment image 438 is an image that represents the attached attachment. The distance display format image 439 is an image that represents the display format of the left end distance displayed in the bucket left end information image 434 and the right end distance displayed in the bucket right end information image 435. The target setting image 440 is an image that indicates whether or not a target value or a target construction surface has been set.

On the other hand, as shown in FIG. 5(B), the 3D mode screen 450 basically displays the same as the 2D mode screen 410. However, instead of the camera image display section 420, a 3D image display section 460 that simulates the three-dimensional coordinates of the work site is displayed. Therefore, explanations of the time display section 411, RPM mode display section 412, driving mode display section 413, engine control status display section 415, urea water remaining amount display section 416, fuel remaining amount display section 417, cooling water temperature display section 418, engine operating time display section 419, camera image display section 420, and work guidance display section 430 on the 3D mode screen 450 will be omitted.

The 3D image display unit 460 displays, for example, a shovel image 461 that resembles the shovel 100, and also displays a work site image 462 that is a composite of images of the work site captured by each camera of the imaging device S6. The 3D image display unit 460 places the shovel image 461 on this work site image 462 based on the positioning information and attitude information of the shovel 100, thereby allowing the operator to recognize information about approximately the entire work site.

The 3D image display unit 460 may also display a target construction surface image 463 based on the design data of the target construction surface stored in the memory unit 306. The target construction surface image 463 may be displayed, for example, superimposed on the work site image 462, or may be displayed in place of the work site image 462. By checking the target construction surface image 463, the operator can compare the target construction surface to be constructed by the excavator 100 with the actual work site.

As described above, in 2D mode, the excavator 100 can display the 2D mode screen 410 and perform work while checking the situation at the work site, while in 3D mode, the excavator 100 can display the 3D mode screen 450 and perform work while checking the target construction surface image 463 in three-dimensional coordinates.

[Switching between 2D and 3D modes]
Incidentally, at a work site where the shovel 100 is used, in order to perform efficient construction, a work base is created by leveling, and the shovel 100 is placed on the work base to perform work. However, in the 3D mode, the operation content of the attachment is set based on the design data of the target construction surface WD stored in advance as described above, so that construction such as creating a work base according to the situation at the work site cannot be performed. On the other hand, in the 2D mode, a two-dimensional plane is created based on information such as sensor information and excavation depth, and the operation of the attachment can be controlled, so that a work base can be formed. Therefore, when creating a work base, it is preferable to switch the shovel 100 from the 3D mode to the 2D mode to perform the work.

When switching from 3D mode to 2D mode in a conventional excavator, for example, the operator would operate the display screen of the display device to display an image for switching between 2D mode and 3D mode, and then perform the operation of switching according to this switching image. Such operations are cumbersome and cause a decrease in construction efficiency.

In contrast, the excavator 100 according to the embodiment allows the operator to switch between 2D mode and 3D mode by operating the switch button 282a. Therefore, when the operator wants to create a work base while in 3D mode, the operator can easily switch from 3D mode to 2D mode by performing a first switch operation of the switch button 282a. Then, when the work base is completed, the operator can easily return from 2D mode to 3D mode by performing a second switch operation of the switch button 282a.

Furthermore, the shovel 100 according to the embodiment is capable of automatically switching between 2D mode and 3D mode. Next, the control for automatically switching between the 2D mode and the 3D mode will be described. Specifically, when the 3D mode is being executed, the switching determination unit 304 of the controller 30 is configured to monitor the distance between the bucket 6 of the shovel 100 and the target construction surface WD of the 3D mode, and to switch between the 2D mode and the 3D mode according to this distance.

Figure 6 is a diagram that shows a schematic relationship between the distance between the target construction surface WD and the bucket 6 in the 3D mode. As shown in Figure 6, when the 3D mode is implemented, the controller 30 of the shovel 100 recognizes the position of the tip of the bucket 6 based on detection information from various sensors. For example, the shovel 100 calculates the position of the bucket 6 based on detection information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, etc. The position of the bucket 6 can be recognized as a relative height with respect to the ground on which the shovel 100 is located. Alternatively, the shovel 100 may recognize the position of the bucket 6 using information from the imaging device S6 (distance image, object detection, etc.).

When the 3D mode is executed, the controller 30 also fits the target construction surface WD to the ground surface to be worked on. As described above, the target construction surface WD is design data in three-dimensional coordinates including the horizontal direction (X-axis-Y-axis direction) and the vertical direction (Z-axis direction). Therefore, the controller 30 can calculate the distance between the target construction surface WD vertically below the bucket 6 and the bucket 6 (hereinafter referred to as the "calculated distance").

The controller 30 pre-stores in the memory unit 306 a threshold value corresponding to the distance between the target construction surface WD and the bucket 6 in order to switch from the 3D mode to the 2D mode. The threshold value may be set to a value according to the capabilities of the attachment (e.g., the distance that the bucket 6 can reach). As an example, the threshold value may be set to an appropriate value within the range of approximately 300 mm to 1000 mm. The switching determination unit 304 compares the calculated distance with the threshold value, and determines to maintain the 3D mode if the calculated distance is less than the threshold value, but determines to transition from the 3D mode to the 2D mode if the calculated distance is equal to or greater than the threshold value. This is because if the calculated distance is equal to or greater than the threshold value, it becomes necessary to create a work platform to carry out the work.

That is, the switching determination unit 304 automatically switches from the 3D mode to the 2D mode when the calculated distance is equal to or greater than the threshold value. As a result, the controller 30 performs control using the 2D mode control unit 301, and for example, a work base can be formed by a horizontal excavation operation. In addition, it is preferable that the display control unit 305 of the controller 30 maintains the 3D mode screen 450 without switching to the 2D mode screen 410 when automatically switching to the 2D mode during execution of the 3D mode, with respect to the screen displayed on the display device 40. That is, the excavator 100 performs construction in the 2D mode while continuing to display the 3D mode screen 450 of FIG. 5 (B) on the display device 40. As a result, the excavator 100 can perform horizontal drawing in the 2D mode while checking the target construction surface WD in the 3D mode, and it is possible to avoid excavation at a position that is out of alignment with the target construction surface WD or over-digging with the bucket 6.

The switching determination unit 304 continues to compare the calculated distance with the threshold value even after automatically switching from 3D mode to 2D mode. Then, when the calculated distance falls below the threshold value, the mode is automatically returned from 2D mode to 3D mode. When the calculated distance falls below the threshold value, the bucket 6 is in a position close to the target construction surface WD, and it is desirable to perform construction along the target construction surface WD. Therefore, by automatically returning from 2D mode to 3D mode, the excavator 100 can operate the bucket 6 with high precision to reach the target construction surface WD.

The excavator 100 according to the embodiment is basically configured as described above, and its operation will be described below with reference to FIG. 7. FIG. 7 is a flowchart showing an example of a process flow for automatically switching to 2D mode when 3D mode is being executed.

The switching determination unit 304 of the controller 30 receives a signal from the switching button 282a and recognizes that the 3D mode has been selected by the operator, and then decides to execute the 3D mode under the control of the 3D mode control unit 302 (step S101).

As a result, the 3D mode control unit 302 performs pre-processing such as reading out the target construction surface WD, and then executes the 3D mode with the excavator 100 (step S102). At this time, the display control unit 305 displays a 3D mode screen 450 on the display device 40. The operator can perform necessary inputs for the pre-processing of the 3D mode via the 3D mode screen 450. When executing the 3D mode, the 3D mode control unit 302 performs semi-automatic control to operate the attachment appropriately while recognizing the operation of the operator. In addition, the controller 30 acquires information from each sensor via the information acquisition unit 303, recognizes the position of the bucket 6, and operates the bucket 6 appropriately.

As described above, when the 3D mode is executed, the switching determination unit 304 calculates the calculated distance between the target construction surface WD and the bucket 6, compares the calculated distance with a threshold value, and determines whether the calculated distance is equal to or greater than the threshold value (step S103). If the calculated distance is less than the threshold value (step S103: NO), the process proceeds to step S104, whereas if the calculated distance is equal to or greater than the threshold value (step S103: YES), the process proceeds to step S106.

In step S104, the controller 30 continues to execute the 3D mode by the 3D mode control unit 302. Furthermore, while executing the 3D mode, the controller 30 determines whether to stop the construction of the shovel 100 or to stop the MC function (3D mode) based on the operation of the operator (step S105). If the construction of the shovel 100 is to be continued (step S105: NO), the process returns to step S102, and the same processing flow is repeated thereafter. On the other hand, if the construction of the shovel 100 (or the MC function) is to be stopped, this processing flow ends.

On the other hand, if the calculated distance is equal to or greater than the threshold, the controller 30 switches from the 3D mode control unit 302 to the 2D mode control unit 301 to execute the 2D mode (step S106). This allows the excavator 100 to perform construction in the 2D mode. At this time, the display control unit 305 continues to display the 3D mode screen 450.

The controller 30 also determines whether to stop the construction of the shovel 100 or to stop the MC function (2D mode) based on the operator's operation when the 2D mode is being executed (step S107). If the construction of the shovel 100 is to be continued (step S107: NO), the process returns to step S106 and repeats the same processing flow thereafter. On the other hand, if the construction of the shovel 100 (or the MC function) is to be stopped, this processing flow ends.

Furthermore, even when the 2D mode is being executed, the controller 30 calculates the calculated distance between the target construction surface WD and the bucket 6, and determines whether the calculated distance is equal to or greater than a threshold value (step S108). If the calculated distance is equal to or greater than the threshold value (step S108: YES), the process returns to step S106. If the calculated distance is less than the threshold value (step S107: NO), the process returns to step S102. This allows the excavator 100 to smoothly switch between continuing in the 2D mode and returning to the 3D mode.

Next, an example of the excavation operation of the shovel 100 according to the above process flow will be described with reference to Figures 8(A) to 9(B). Figure 8(A) is a schematic side view showing the state of the shovel 100 before construction. Figure 8(B) is a schematic side view showing the formation of a work base GS by the shovel 100. Figure 9(A) is a schematic side view showing the excavation by the shovel 100 that has moved to the work base. Figure 9(B) is a schematic side view showing the state of the shovel 100 after construction is completed.

When the operator selects the 3D mode for the shovel 100, the 3D coordinate target construction surface WD is applied to the ground at the work site before construction, as shown in FIG. 8(A). The shovel 100 also recognizes the position of the bucket 6 using various sensors as described above, and calculates the calculated distance between the target construction surface WD and the bucket 6. FIG. 8(A) shows a case where the calculated distance between the target construction surface WD and the bucket 6 is equal to or greater than a threshold value. In this case, the controller 30 of the shovel 100 automatically switches from the 3D mode to the 2D mode. The switching from the 3D mode to the 2D mode may be performed, for example, based on the operation of the switching button 282a.

The shovel 100 performs excavation operations such as horizontal pulling in 2D mode, and excavates the ground at the work site shallower than the target construction surface WD. As a result, the shovel 100 forms a work base GS as shown in FIG. 8(B). The excavation depth at this time may be a preset depth, or may be set each time an excavation operation is performed. In addition, the excavation range, which is the construction range at this time, may be limited based on the target construction surface WD so that excavation in 2D mode does not exceed the target construction surface WD in three-dimensional coordinates.

Then, as shown in FIG. 9(A), the shovel 100 moves to the formed work platform GS. When the shovel 100 is on the work platform GS, the calculated distance between the target construction surface WD and the bucket 6 becomes less than the threshold value. Therefore, the shovel 100 automatically returns from the 2D mode to the 3D mode and performs an excavation operation in the 3D mode. In this case, the shovel 100 performs an excavation operation on the work platform GS, etc. along the target construction surface WD.

As a result, as shown in FIG. 9(B), the shovel 100 can accurately form a construction state that follows the target construction surface WD.

As described above, the excavator 100 according to the embodiment can perform construction work along the target construction surface WD efficiently and accurately by automatically switching from 3D mode to 2D mode based on the calculated distance between the target construction surface WD and the bucket 6. In particular, when the excavator 100 automatically switches from 3D mode to 2D mode, the 3D mode screen 450 is maintained. This allows the operator to perform operations in 2D mode while referring to the target construction surface WD in 3D mode.

The shovel 100 according to the present disclosure is not limited to the above embodiment, and various modifications are possible. For example, in the embodiment, an example has been described in which an operator rides in the cabin 10 of the shovel 100 to perform work. However, the shovel 100 may also be configured so that an operator operates it in a remote control room (not shown). Even in this case, appropriate construction work can be performed by automatically switching between 2D mode and 3D mode.

Furthermore, in the embodiment, an example has been described in which, when the 3D mode set by the switching button 282a is executed, the 3D mode is switched to the 2D mode based on the calculated distance between the target construction surface WD and the bucket 6, and then the 2D mode is returned to the 3D mode. However, the shovel 100 may be configured to switch from the 2D mode to the 3D mode when the 2D mode set by the switching button 282a is executed. In this case as well, the shovel 100 can perform construction work efficiently and accurately by automatically switching from the 2D mode to the 3D mode based on, for example, the calculated distance between the target construction surface WD and the bucket 6.

The excavator 100 according to the embodiment is configured to automatically switch from the 3D mode to the 2D mode based on the calculated distance between the target construction surface WD in the 3D mode and the bucket 6. However, the controller 30 may also switch from the 3D mode to the 2D mode based on the calculated distance between the target construction surface WD in the 3D mode and the ground surface to be worked on. Alternatively, the controller 30 may switch from the 3D mode to the 2D mode based on the calculated distance between the target construction surface WD in the 3D mode and the target two-dimensional plane in the 2D mode. In short, the controller 30 can automatically switch between the 2D mode and the 3D mode using the target construction surface WD in the 3D mode.

The technical ideas and effects of the present disclosure described in the above embodiments are described below.

The first aspect of the present disclosure is an excavator 100 including a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, an attachment mounted on the upper rotating body 3 and having an end attachment (bucket 6) for performing construction work, and a control unit (controller 30) for controlling the operation of the attachment, in which the control unit is capable of selectively executing a first mode for controlling the operation of the attachment based on a plane based on a reference point of the excavator, and a second mode for controlling the operation of the attachment based on a target construction surface WD of three-dimensional coordinates, and the control unit automatically switches between the first mode and the second mode based on the target construction surface WD.

As described above, the shovel 100 can automatically switch between the first mode and the second mode based on the target construction surface WD, thereby reducing the operational burden of switching on the operator. Moreover, the shovel 100 can appropriately use the first mode and the second mode depending on the position by referring to the target construction surface WD, and can perform construction work efficiently and accurately.

In addition, in the second mode, the operation of the attachment is controlled based on the position information of the shovel 100, the posture information of the shovel 100, and the target construction surface WD, and in the first mode, the operation of the attachment is controlled by limiting the construction range of the plane based on the target construction surface WD. This allows the shovel 100 to appropriately perform construction along the plane in the first mode, while appropriately performing construction along the target construction surface in the second mode.

The control unit (controller 30) also automatically switches between the first mode and the second mode based on the distance between the target construction surface WD and the end attachment (bucket 6). This allows the excavator 100 to appropriately switch between the first mode and the second mode depending on the position of the end attachment.

In addition, the control unit (controller 30) switches from the second mode to the first mode when the distance between the target construction surface WD and the end attachment (bucket 6) becomes equal to or greater than a threshold value while the second mode is being executed. This allows the excavator 100 to smoothly switch from the second mode to the first mode, for example, when performing work such as forming a work base GS while the second mode is being executed.

The control unit (controller 30) also switches from the first mode to the second mode when the distance between the target construction surface WD and the end attachment (bucket 6) becomes less than a threshold value while the first mode is being executed. This allows the excavator 100 to smoothly switch from the first mode to the second mode when the distance between the bucket 6 and the target construction surface WD becomes closer while the first mode is being executed, and allows construction work to be performed along the target construction surface WD.

The device also has a plurality of physical operation units (buttons 272, 282) that the operator physically operates, and the control unit (controller 30) executes either the first mode or the second mode based on the operation of a set physical operation unit among the plurality of physical operation units. This allows the operator to easily execute either the first mode or the second mode by operating the set physical operation unit.

The control unit (controller 30) can also change the allocation of the physical operation units that switch between the first mode and the second mode among the multiple physical operation units. This allows the shovel 100 to be assigned according to the operator's preferences, making it easier for the user to operate the physical operation units.

When the control unit (controller 30) automatically switches between the first mode and the second mode, the control unit (controller 30) continues to display the display screen (2D mode screen 410, 3D mode screen 450) related to the mode before the switch on the display device 40. This allows the excavator 100 to eliminate the hassle of switching display screens that accompany switching between the first mode and the second mode. Also, for example, when the excavator 100 switches to the first mode while the second mode is being executed, the operation of the first mode can be performed while checking the target construction surface WD.

The shovel 100 according to the embodiment disclosed herein is illustrative in all respects and not restrictive. The embodiment may be modified and improved in various ways without departing from the spirit and scope of the appended claims. The matters described in the above embodiments may be configured in other ways as long as they are not inconsistent, and may be combined as long as they are not inconsistent.

1 Lower travel unit 3 Upper rotating unit 6 Bucket 30 Controller 100 Shovel 272, 282 Button 282a Switching button WD Target construction surface

Claims (8)

A lower running body;
An upper rotating body rotatably provided on the lower traveling body;
An attachment provided on the upper rotating body and having an end attachment for performing construction work;
A control unit that controls the operation of the attachment,
The control unit is
A first mode in which the operation of the attachment is controlled based on a plane based on a reference point of the shovel;
A second mode in which the operation of the attachment is controlled based on a target construction surface in three-dimensional coordinates is selectively executable;
The control unit automatically switches between the first mode and the second mode based on the target construction surface.
Shovel. In the second mode, the operation of the attachment is controlled based on the position information of the shovel, the attitude information of the shovel, and the target construction surface;
In the first mode, a construction range of the plane is limited based on the target construction plane, and the operation of the attachment is controlled.
The shovel according to claim 1. The control unit automatically switches between the first mode and the second mode based on a distance between the target construction surface and the end attachment.
The shovel according to claim 1 or 2. The control unit switches from the second mode to the first mode when a distance between the target construction surface and the end attachment becomes equal to or greater than a threshold value during execution of the second mode.
The shovel according to claim 3. The control unit switches from the first mode to the second mode when a distance between the target construction surface and the end attachment becomes less than a threshold value during execution of the first mode.
The shovel according to claim 3. a plurality of physical operation units for an operator to perform physical operations;
The control unit executes one of the first mode and the second mode based on an operation of a physical operation unit set among the plurality of physical operation units.
The shovel according to claim 1 or 2. The control unit is capable of changing an assignment of a physical operation unit that switches between the first mode and the second mode among the plurality of physical operation units.
The shovel according to claim 6. When the control unit automatically switches between the first mode and the second mode, the control unit continues to display, on the display device, a display screen related to the mode before the switching.
The shovel according to claim 1 or 2.

Images