JP2022157410A - working machine - Google Patents

Abstract

To provide a work machine allowing its motion to be automated according to work details.SOLUTION: A work machine is provided with a lower traveling body, an upper revolving structure, and a display device, wherein a setting screen displayed on the display device includes a control unit receiving settings of automatic control functions of the work machine.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to work machines.

Conventionally, there has been known an excavator that automatically raises a boom by autonomous control during excavation by closing the bucket (see Patent Document 1).

WO2015/194601

In recent years, there has been a demand for automating the operation of work machines such as excavators. There are various types of end attachments for work machines, and they are used in a variety of ways, so it is easy to automate the work. It is difficult to

An object of the technology disclosed herein is to automate operations in accordance with work content.

A working machine according to an embodiment of the present invention is a working machine comprising a lower traveling body, an upper revolving body, an end attachment, and a display device, wherein the setting screen displayed on the display device includes: It has a control unit that accepts settings for automatic control functions of the work machine.

Operations can be automated according to the work content.

1 is a side view of a shovel according to an embodiment of the present invention; FIG. Figure 2 is a top view of the shovel of Figure 1; 2 is a diagram showing a configuration example of a hydraulic system mounted on the excavator of FIG. 1; FIG. FIG. 4 is a diagram of part of the hydraulic system for operating the arm cylinder; FIG. 4 is a diagram of part of the hydraulic system for the boom cylinder; FIG. 4 is a diagram of part of the hydraulic system for the bucket cylinder; FIG. 4 is a diagram of part of the hydraulic system for the swing hydraulic motor; It is a figure explaining the function of a controller. 4 is a first flow chart for explaining processing of the excavator controller; FIG. 4 is a first diagram showing an example of a main screen; It is a figure which shows an example of the setting screen of an automatic control function. It is a figure explaining the setting of an automatic control function. FIG. 11 is a second flowchart for explaining processing of the excavator controller; FIG. FIG. 10 is a second diagram showing an example of the main screen; FIG. 4 is a first diagram for explaining the operation of the excavator by the automatic control function; FIG. 11 is a second diagram for explaining the operation of the excavator by the automatic control function;

First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view of the shovel 100, and FIG. 2 is a top view of the shovel 100. FIG.

In this embodiment, the undercarriage 1 of the excavator 100 includes a crawler 1C. The crawler 1</b>C is driven by a traveling hydraulic motor 2</b>M as a traveling actuator mounted on the lower traveling body 1 . Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.

An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2 . The revolving mechanism 2 is driven by a revolving hydraulic motor 2A as a revolving actuator mounted on the upper revolving body 3 . However, the turning actuator may be a turning motor generator as an electric actuator.

A boom 4 is attached to the upper revolving body 3 . An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The boom 4, the arm 5, and the bucket 6 constitute an attachment AT, which is an example of an attachment. A boom 4 is driven by a boom cylinder 7 , an arm 5 is driven by an arm cylinder 8 , and a bucket 6 is driven by a bucket cylinder 9 . The boom cylinder 7, arm cylinder 8, and bucket cylinder 9 constitute an attachment actuator. In the example shown in FIGS. 1 and 2, the bucket 6 is an excavation bucket, but it may be a skeleton bucket (removal bucket). Also, the bucket 6 may have a bucket tilt mechanism.

The upper swing body 3 is provided with a cabin 10 as an operator's cab and is equipped with a power source such as an engine 11 . Inside the cabin 10, an operation device 26, a controller 30, an operation method switching device SD, and the like are provided. A space recognition device 70 and the like are attached to the upper swing body 3 . In this document, for the sake of convenience, the side of the upper rotating body 3 to which the attachment AT is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

The space recognition device 70 is another example of a space recognition device, and is configured to capture an image of the surroundings of the excavator 100 . Note that the excavator 100 may have an object detection device as an example of the space recognition device. The space recognition device of this embodiment may be configured in any way as long as it can grasp the positional relationship between the surrounding objects and the shovel 100 .

The space recognition device 70 includes a camera 70B attached to the rear end of the upper surface of the upper rotating body 3, a camera 70L attached to the left end of the upper surface of the upper rotating body 3, and a camera 70R attached to the right end of the upper surface of the upper rotating body 3. including. The space recognition device 70 may include a camera 70F.

The image captured by the space recognition device 70 is displayed on the display device 40 installed inside the cabin 10 . The space recognition device 70 may be configured to display a viewpoint conversion image such as a bird's-eye view image on the display device 40 . The bird's-eye view image is generated, for example, by synthesizing images output by the cameras 70B, 70L, and 70R.

With this configuration, the excavator 100 can display an image of the object detected by the space recognition device 70 on the display device 40 . Therefore, when the movement of the driven body is restricted or prohibited, the operator of the excavator 100 can immediately confirm what the object is by looking at the image displayed on the display device 40. can.

The space recognition device 70 (cameras 70F, 70B, 70L, 70R) is, for example, a monocular wide-angle camera having a very wide angle of view. Also, the space recognition device 70 may be a stereo camera, a distance image camera, or the like. An image captured by the space recognition device 70 is captured by the controller 30 via the display device 40 .

Moreover, the space recognition device 70 may function as an object detection device. In this case, the space recognition device 70 may detect objects existing around the excavator 100 . Objects to be detected include, for example, terrain shapes (slopes, holes, etc.), people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, predetermined marks on helmets, and the like. can be

The space recognition device 70 may also calculate the distance from the space recognition device 70 or the excavator 100 to the recognized object. The space recognition device 70 as a space recognition device can include, for example, an ultrasonic sensor, millimeter wave radar, stereo camera, LIDAR (Light Detection and Ranging), distance image sensor, infrared sensor, and the like.

Further, the space recognition device is, for example, a monocular camera having an imaging device such as a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, and outputs the captured image to the display device 40. You can Further, the space recognition device may be configured to calculate the distance from the excavator 100 to the recognized object.

The excavator 100 not only uses captured image information, but also uses a millimeter wave radar, an ultrasonic sensor, a laser radar, or the like as a space recognition device. A laser beam or the like) may be transmitted to the surroundings, and the reflected signal may be received to detect the distance and direction of the object from the reflected signal.

In this way, the space recognition device may be configured to be able to identify at least one of the type, position, shape, and the like of an object. For example, the space recognition device may be configured to be able to distinguish between humans and objects other than humans.

Note that the space recognition device 70 may be directly connected to the controller 30 so as to be communicable.

Also, the space recognition device 70 may be independent of the excavator 100 . Also, the controller 30 may acquire a captured image of the work site around the excavator 100 output by the space recognition device 70 via a communication device. Specifically, the space recognition device 70 is attached to an aerial photography multi-copter, a steel tower installed at a work site, a utility pole, or the like, and acquires work site information based on a captured image of the work site viewed from above. good too.

The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuators include at least one of hydraulic actuators and electric actuators.

The operation method switching device SD is configured to be able to switch the operation method of the operation lever. For example, the operation method switching device SD includes a push button switch provided on the right console in the cabin 10, and each time the push button switch is pressed, the operation lever is switched between the first operation method and the second operation method. It is configured so that the operation method can be switched. For example, in the first operation method, the arm 5 is opened when the left control lever 26L (see FIG. 3) is tilted forward, and the arm 5 is closed when the left control lever 26L is tilted backward. A left turn is executed when the left control lever 26L is tilted leftward, and a right turn is executed when the left control lever 26L is tilted rightward. In the first operation method, the boom 4 is lowered when the right operating lever 26R (see FIG. 3) is tilted forward, and the boom 4 is raised when the right operating lever 26R is tilted backward. The bucket 6 is closed when the right operating lever 26R is tilted leftward, and the bucket 6 is opened when the right operating lever 26R is tilted rightward. On the other hand, in the second operation method, a right turn is executed when the left control lever 26L (see FIG. 3) is tilted forward, and a left turn is executed when the left control lever 26L is tilted backward. The arm 5 is opened when the left operating lever 26L is tilted leftward, and the arm 5 is closed when the left operating lever 26L is tilted rightward.

For example, the operator of the excavator 100 may select the first operation method when performing excavation work using an excavation bucket, and select the second operation method when performing gravel removal work using a gravel removal bucket. good.

Controller 30 is a control device for controlling excavator 100 . In this embodiment, the controller 30 is configured by a computer including a CPU, a volatile memory device, a non-volatile memory device, and the like. Then, the controller 30 reads a program corresponding to each function from the nonvolatile storage device, loads it into the volatile storage device, and causes the CPU to execute the corresponding process. Each function includes, for example, a machine guidance function that guides the manual operation of the excavator 100 by the operator, and supports the manual operation of the excavator 100 by the operator or causes the excavator 100 to operate automatically or autonomously. Including machine control functions such as The controller 30 includes a contact avoidance function that automatically or autonomously operates or stops the excavator 100 in order to avoid contact between the excavator 100 and an object present within the monitoring range around the excavator 100 . You can Objects around the excavator 100 are monitored not only within the monitoring range but also outside the monitoring range.

Next, a configuration example of the hydraulic system mounted on the excavator 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 excavator 100. As shown in FIG. FIG. 3 shows the mechanical driveline, hydraulic lines, pilot lines and electrical control system in double, solid, dashed and dotted lines respectively.

A hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operation device 26, a discharge pressure sensor 28, an operation sensor 29, a controller 30, and the like.

In FIG. 3, the hydraulic system is configured such that hydraulic oil can be circulated from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the center bypass line 60 or parallel line 62.

The engine 11 is a drive source for the excavator 100 . In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined number of revolutions. An output shaft of the engine 11 is connected to respective input shafts of the main pump 14 and the pilot pump 15 .

The main pump 14 is configured to supply hydraulic fluid to the control valve unit 17 via a hydraulic fluid line. In this 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 this 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 according to the 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 fluid to hydraulic control equipment via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generator may be implemented by the main pump 14 . That is, the main pump 14 may have a function of supplying hydraulic fluid to various hydraulic control devices via a pilot line in addition to the function of supplying hydraulic fluid to the control valve unit 17 via the hydraulic fluid line. In this case, pilot pump 15 may be omitted.

The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100 . In this embodiment, the control valve unit 17 includes control valves 171-176. Control valve 175 includes control valve 175L and control valve 175R, and control valve 176 includes control valve 176L and control valve 176R. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged from the main pump 14 to one or more hydraulic actuators through control valves 171-176. The control valves 171 to 176, for example, control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic fluid flowing from the hydraulic actuator to the hydraulic fluid tank. Hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR and a turning hydraulic motor 2A.

The operating device 26 is configured so that an operator can operate the actuator. In this embodiment, the operating device 26 includes a hydraulic actuator operating device configured to allow an operator to operate the hydraulic actuator. Specifically, the hydraulic actuator operation device is configured to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the pilot line. The pressure (pilot pressure) of hydraulic fluid supplied to each of the pilot ports is a pressure corresponding to the operation direction and amount of operation of the operating device 26 corresponding to each of the hydraulic actuators.

The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14 . In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30 .

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

In the present embodiment, the operation information including the operation direction and operation amount of the operation device 26 and the work content indicated by the operation information may be associated with each other and stored in the storage device of the controller 30 or the like.

The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates the hydraulic oil to the hydraulic oil tank through the left center bypass pipe 60L or the left parallel pipe 62L, and the right main pump 14R circulates the right center bypass pipe 60R or the right parallel pipe 62R. to circulate hydraulic oil to the hydraulic oil tank.

The left center bypass line 60L is a hydraulic oil line passing through control valves 171, 173, 175L and 176L arranged in the control valve unit 17. As shown in FIG. The right center bypass line 60R is a hydraulic fluid line passing through control valves 172, 174, 175R and 176R arranged in the control valve unit 17.

The control valve 171 controls the flow of hydraulic fluid in order to supply the hydraulic fluid discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic fluid discharged by the left traveling hydraulic motor 2ML to the hydraulic fluid tank. It is a switching spool valve.

The control valve 172 controls the flow of hydraulic fluid in order to supply the hydraulic fluid discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic fluid discharged by the right traveling hydraulic motor 2MR to the hydraulic fluid tank. It is a switching spool valve.

The control valve 173 supplies the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and discharges the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank. valve.

The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by 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 that switches the flow of hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the boom cylinder 7 . The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and to 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 hydraulic fluid to supply the hydraulic fluid discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank. .

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

The left parallel pipeline 62L is a hydraulic oil line parallel to the left center bypass pipeline 60L. The left parallel pipeline 62L supplies hydraulic fluid to more downstream control valves when the flow of hydraulic fluid through the left center bypass pipeline 60L is restricted or blocked by any of the control valves 171, 173, and 175L. can. The right parallel pipeline 62R is a hydraulic oil line parallel to the right center bypass pipeline 60R. The right parallel line 62R supplies hydraulic fluid to more downstream control valves when the flow of hydraulic fluid through the right center bypass line 60R is restricted or blocked by any of the control valves 172, 174, and 175R. can.

The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the tilt 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 adjusts the tilt angle of the swash plate of the left main pump 14L according to an increase in the discharge pressure of the left main pump 14L, for example, to reduce the discharge amount. The same applies to the right regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14 represented by the product of the discharge pressure and the discharge amount from exceeding 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 turning and operating the arm 5. As shown in FIG. When the left operating lever 26L is operated in the front-rear direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 176 . Further, when operated in the left-right direction, hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 173 .

Specifically, when the left operation lever 26L is operated in the arm closing direction, it introduces hydraulic fluid into the right pilot port of the control valve 176L and introduces hydraulic fluid into the left pilot port of the control valve 176R. . Further, when the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic fluid into the left pilot port of the control valve 176L and introduces hydraulic fluid into the right pilot port of the control valve 176R. When the left control lever 26L is operated in the left turning direction, hydraulic oil is introduced into the left pilot port of the control valve 173, and when it is operated in the right turning direction, the right pilot port of the control valve 173 is introduced. Hydraulic oil is introduced into

In the example shown in FIG. 3, the left control lever 26L functions as an arm control lever when operated in the front-rear direction, and functions as a turning control lever when operated in the left-right direction.

The right operating lever 26R is used for operating the boom 4 and operating the bucket 6 . When the right operating lever 26R is operated in the longitudinal direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 175 . Further, when operated in the left-right direction, hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 174 .

Specifically, when the right operation lever 26R is operated in the boom lowering direction, hydraulic fluid is introduced into the left pilot port of the control valve 175R. Further, when the right operating lever 26R is operated in the boom raising direction, it introduces hydraulic fluid into the right pilot port of the control valve 175L and introduces hydraulic fluid into the left pilot port of the control valve 175R. When the right operation lever 26R is operated in the bucket closing direction, hydraulic oil is introduced into the right pilot port of the control valve 174, and when it is operated in the bucket opening direction, the hydraulic oil is introduced into the left pilot port of the control valve 174. Introduce hydraulic oil.

In the example shown in FIG. 3, the right operating lever 26R functions as a boom operating lever when operated in the front-rear direction, and functions as a bucket operating lever when operated in the left-right direction.

The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to be interlocked with the left travel pedal. When the left travel lever 26DL is operated in the longitudinal direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to the pilot port of the control valve 171 . The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to interlock with the right travel pedal. When the right travel lever 26DR is operated in the longitudinal direction, the hydraulic oil discharged by the pilot pump 15 is used to introduce a control pressure corresponding to the amount of lever operation to 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 front-rear direction, and outputs the detected value to the controller 30. FIG. The details of the operation are, for example, the lever operation direction, lever operation amount (lever operation angle), and the like.

In other words, the operation information of the present embodiment includes the lever operation direction, lever operation amount (lever operation angle), and the like, and may be associated with the work performed by the operation.

Similarly, the operation sensor 29LB detects the details of the operator's operation of the left operation lever 26L in the horizontal direction, and outputs the detected value to the controller 30 . The operation sensor 29RA detects the content of the operator's operation of the right operation lever 26R in the front-rear direction, and outputs the detected value to the controller 30. FIG. The operation sensor 29 RB detects the content of the operator's operation of the right operation lever 26 R in the horizontal direction, and outputs the detected value to the controller 30 . The operation sensor 29DL detects the content of the operator's operation of the left traveling lever 26DL in the front-rear direction, and outputs the detected value to the controller 30 . The operation sensor 29DR detects the content of the operator's operation of the right traveling lever 26DR in the front-rear direction, and outputs the detected value to the controller 30 .

The controller 30 receives the output of the operation sensor 29 , outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14 . The controller 30 also receives the output of a control pressure sensor 19 provided upstream of the throttle 18 and outputs a control command to the regulator 13 as necessary to change 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.

A left throttle 18L is disposed between the most downstream control valve 176L and the hydraulic oil tank in the left center bypass line 60L. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. 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 this control pressure, and outputs the detected value to the controller 30. FIG. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and 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 similarly controlled.

Specifically, in the standby state in which none of the hydraulic actuators in the excavator 100 is operated as shown in FIG. It reaches the diaphragm 18L. The flow of hydraulic fluid 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 pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 60L. On the other hand, when one of the hydraulic actuators is operated, hydraulic fluid discharged from the left main pump 14L flows into the operated hydraulic actuator via the control valve corresponding to the operated hydraulic actuator. Then, the flow of hydraulic oil discharged from 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 amount of the left main pump 14L, circulates a sufficient amount of hydraulic oil to the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. Note that the controller 30 similarly controls the discharge amount of the right main pump 14R.

With the configuration as described above, the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state. Wasteful energy consumption includes pumping loss caused by the hydraulic oil discharged by the main pump 14 in the center bypass line 60 . Further, the hydraulic system of FIG. 3 can reliably supply necessary and sufficient working oil from the main pump 14 to the hydraulic actuator to be operated when the hydraulic actuator is to be operated.

Next, with reference to FIGS. 4A to 4D, the configuration for the controller 30 to operate the actuators by the machine control function will be described. 4A-4D are partial cutaway views of the hydraulic system. Specifically, FIG. 4A is a view of the hydraulic system portion related to the operation of the arm cylinder 8, and FIG. 4B is a view of the hydraulic system portion related to the operation of the boom cylinder 7. As shown in FIG. FIG. 4C is a diagram extracting a hydraulic system portion relating to the operation of the bucket cylinder 9, and FIG. 4D is a diagram extracting a hydraulic system portion relating to the operation of the turning hydraulic motor 2A.

The hydraulic system includes a proportional valve 31, as shown in FIGS. 4A-4D. The proportional valve 31 includes proportional valves 31AL-31DL and 31AR-31DR.

The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is arranged in a pipeline connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to change the flow area of the pipeline. In this embodiment, the proportional valve 31 operates according to a control command output by the controller 30 . Therefore, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator. can. The controller 30 can then cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated. Further, even when a specific operating device 26 is being operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 .

For example, the left operating lever 26L is used to operate the arm 5, as shown in FIG. 4A. Specifically, the left operation lever 26L utilizes hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 176 according to the operation in the front-rear direction. More specifically, when the left operation lever 26L is operated in the arm closing direction (backward), the pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. act. Further, when the left operating lever 26L is operated in the arm opening direction (forward direction), a pilot pressure corresponding to the amount of operation is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

A switch NS is provided on the left operating lever 26L. In this embodiment, the switch NS is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. The switch NS may be provided on the right operating lever 26R, or may be provided at another position inside the cabin 10 .

The operation sensor 29LA detects the content of the operator's operation of the left operation lever 26L in the front-rear direction, and outputs the detected value to the controller 30. FIG.

The proportional valve 31AL operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by 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 a control command (current command) output by the controller 30. Then, it adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 through the proportional valve 31AR into the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. The proportional valve 31AL can adjust the pilot pressure so that the control valve 176L and the control valve 176R can be stopped at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that the control valve 176L and the control valve 176R can be stopped at any valve position.

With this configuration, the controller 30 supplies 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 in response to the arm closing operation by the operator. can. In addition, the controller 30 supplies 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 arm closing operation by the operator. can. That is, the controller 30 can close the arm 5 according to the arm closing operation by the operator or regardless of the arm closing operation by the operator.

Further, the controller 30 can supply the hydraulic fluid 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 in response to the arm opening operation by the operator. In addition, the controller 30 supplies 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 arm opening operation by the operator. can. That is, the controller 30 can open the arm 5 according to the arm opening operation by the operator or regardless of the arm opening operation by the operator.

In addition, with this configuration, the controller 30 can operate the closing side pilot port of the control valve 176 (the left side pilot port of the control valve 176L and the By reducing the pilot pressure acting on the right pilot port of the control valve 176R, the closing operation of the arm 5 can be forcibly stopped. The same applies to the case where the opening operation of the arm 5 is forcibly stopped while the operator is performing the arm opening operation.

Alternatively, the controller 30 may optionally control the proportional valve 31AR to control the valve 31AR on the opposite side of the closed side pilot port of the control valve 176, even when the operator is performing an arm closing operation. By increasing the pilot pressure acting on the opening side pilot port of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) and forcibly returning the control valve 176 to the neutral position, the arm 5 may be forcibly stopped. The same applies to the case of forcibly stopping the opening operation of the arm 5 when the arm opening operation is performed by the operator.

Further, although the description with reference to FIGS. 4B to 4D below is omitted, when the operation of the boom 4 is forcibly stopped while the operator is performing the boom raising operation or the boom lowering operation, the operation When the movement of the bucket 6 is forcibly stopped when the bucket closing operation or bucket opening operation is performed by the operator, and when the turning operation of the upper rotating body 3 is performed by the operator The same applies to the case of forced termination. The same applies to the case where the running motion of the lower running body 1 is forcibly stopped while the running operation is being performed by the operator.

Moreover, as shown in FIG. 4B, the right operating lever 26R is used to operate the boom 4. As shown in FIG. Specifically, the right operating lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 175 according to the operation in the front-rear direction. More specifically, when the right operation lever 26R is operated in the boom raising direction (backward), the pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. act. Further, when the right operation lever 26R is operated in the boom lowering direction (forward direction), a pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 175R.

The operation sensor 29RA detects the content of the operator's operation of the right operation lever 26R in the front-rear direction, and outputs the detected value to the controller 30. FIG.

The proportional valve 31BL operates according to a control command (current command) output by the controller 30. Then, it adjusts the pilot pressure by the hydraulic oil introduced from the pilot pump 15 through the proportional valve 31BL to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. The proportional valve 31BR operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. 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. Also, the proportional valve 31BR can adjust the pilot pressure so that the control valve 175R can be stopped at any valve position.

With this configuration, the controller 30 supplies hydraulic 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 in response to the operator's boom raising operation. can. In addition, the controller 30 supplies hydraulic 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 operator's operation to raise the boom. can. That is, the controller 30 can raise the boom 4 according to the operator's boom raising operation or regardless of the operator's boom raising operation.

Further, 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 in response to the boom lowering operation by the operator. In addition, 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 by the operator. That is, the controller 30 can lower the boom 4 according to the operator's boom lowering operation or regardless of the operator's boom lowering operation.

The right operating lever 26R is also used to operate the bucket 6, as shown in FIG. 4C. Specifically, the right operating lever 26R utilizes the hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure to the pilot port of the control valve 174 according to the operation in the left-right direction. More specifically, the right operating lever 26R applies a pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 174 when operated in the bucket closing direction (leftward direction). Further, when the right operation lever 26R is operated in the bucket opening direction (rightward), a pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 174. As shown in FIG.

The operation sensor 29 RB detects the content of the operator's operation of the right operation lever 26 R in the horizontal direction, and outputs the detected value to the controller 30 .

The proportional valve 31CL operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The proportional valve 31CL can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position.

With 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 response to the bucket closing operation by the operator. Further, 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 by the operator. That is, the controller 30 can close the bucket 6 according to the bucket closing operation by the operator or regardless of the bucket closing operation by the operator.

Further, 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 response to the bucket opening operation by the operator. Further, 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 by the operator. That is, the controller 30 can open the bucket 6 according to the bucket opening operation by the operator or regardless of the bucket opening operation by the operator.

The left operating lever 26L is also used to operate the turning mechanism 2, as shown in FIG. 4D. Specifically, the left operation lever 26L utilizes the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 173 according to the operation in the left-right direction. More specifically, the left operation lever 26L applies a pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 173 when it is operated in the left turning direction (leftward direction). Further, when the left operating lever 26L is operated in the right turning direction (rightward direction), the pilot pressure corresponding to the amount of operation is applied to the right pilot port of the control valve 173 .

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

The proportional valve 31DL operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates according to a control command (current command) output by the controller 30 . Then, it adjusts the pilot pressure by hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The proportional valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

With this configuration, the controller 30 can supply the hydraulic fluid discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL in response to the left turning operation by the operator. In addition, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL regardless of the left turning operation by the operator. That is, the controller 30 can turn the turning mechanism 2 to the left according to the left turning operation by the operator or regardless of the left turning operation by the operator.

In addition, 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 in response to the right turning operation by the operator. In addition, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR regardless of the right turning operation by the operator. That is, the controller 30 can rotate the turning mechanism 2 to the right according to the right turning operation by the operator or regardless of the right turning operation by the operator.

The excavator 100 may be configured to automatically advance and reverse the undercarriage 1 . In this case, the hydraulic system portion related to the operation of the left travel hydraulic motor 2ML and the hydraulic system portion related to the operation of the right travel hydraulic motor 2MR may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7 and the like.

Also, although the electric operating lever has been described as the form of the operating device 26, a hydraulic operating lever may be employed instead of the electric operating lever. In this case, the lever operation amount of the hydraulic operation lever may be detected in the form of pressure by a pressure sensor and input to the controller 30 . Also, an electromagnetic valve may be arranged between the operating device 26 as a hydraulic operating lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from controller 30 . With this configuration, when manual operation is performed using the operating device 26 as a hydraulic operating lever, the operating device 26 can move each control valve by increasing or decreasing the pilot pressure according to the amount of lever operation. . Also, each control valve may be composed of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates according to an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.

Next, the functional configuration of the controller 30 will be described with reference to FIG. FIG. 5 is a diagram explaining the functions of the controller.

In FIG. 5, the controller 30 receives signals output by at least one of the operation device 26, the space recognition device 70, the operation method switching device SD, the switch NS, etc., performs various calculations, and controls the proportional valve 31 and the like. It is configured so that commands can be output. Further, the controller 30 of the present embodiment causes the display device 40 to display various information.

The display device 40 is connected to the controller 30, is provided at a position easily visible to a seated operator in the cabin 10 under the control of the controller 30, and displays various information images. The display device 40 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The display device 40 has an input device 42 which will be described later.

As the display device 40, a display unit of a support device such as a mobile terminal may be used. The support device is typically a mobile terminal device, such as a notebook PC, a tablet PC, or a smart phone carried by a worker or the like at a construction site. Further, the support device may be the terminal device 400 in this embodiment. The support device may be a computer carried by the operator of the excavator 100 . The support device may be a fixed terminal device.

The controller 30 of this embodiment has an input reception unit 310, a display control unit 311, a registration unit 312, a prohibition determination unit 313, a bucket operation control unit 314, and an arm operation control unit 315 as functional elements. Each functional element may be configured by hardware or may be configured by software. Also, although the bucket operation control unit 314 and the arm operation control unit 315 are shown separately for convenience of explanation, they do not need to be physically distinguished, and can be wholly or partially common. may consist of software or hardware components.

The input reception unit 310 receives input of various operations to the input device 42 of the display device 40, the switch NS (NSL) provided on the left operation lever 26L, and the like.

The display control unit 311 controls display on the display device 40 . Specifically, the display control unit 311 causes the display device 40 to display a screen or the like for setting the automatic control function of the excavator 100 .

The registration unit 312 associates the work content of the excavator 100 with the operation information of the excavator 100 according to the operation received by the input reception unit 310 and stores the information in the storage device or the like of the controller 30 . In other words, the registration unit 312 stores, in the storage device, automatic control information in which work content to be automated and operation information corresponding to the work content are associated with each other.

The work content of the present embodiment may be a combination of operations of the excavator 100 . Further, the work content of the present embodiment may include a plurality of action groups each including a plurality of actions. In this embodiment, the operation groups may include intervals of a fixed time or intervals that can be set at arbitrary times.

Further, in the following description, storing automatic control information in which work content and operation information are associated with each other in a storage device may be expressed as setting an automatic control function. The work content of the present embodiment is a combination of actions to be automatically controlled.

Note that the storage device may be a non-volatile storage device that the controller 30 has, or may be a storage device that is provided outside the controller 30 . Details of the processing of the registration unit 312 will be described later.

The prohibition determination unit 313 determines whether or not the work content registered by the registration unit 312 includes a previously prohibited combination of actions. The previously prohibited combination of actions is, for example, a combination of a boom raising action and a boom lowering action.

The bucket operation control unit 314 automatically opens and closes the bucket 6 based on the automatic control information stored in the storage device.

The arm motion control unit 315 performs automatic opening/closing motion of the arm 5 based on the automatic control information stored in the storage device.

As described above, the controller 30 of the present embodiment is an example of a control unit that receives settings for automatic control functions on the screen displayed on the display device 40 of the excavator 100 .

Next, referring to FIG. 6, processing of the controller 30 of the excavator 100 of this embodiment will be described. FIG. 6 is a first flowchart for explaining the processing of the shovel controller. FIG. 6 shows processing for setting the automatic control function.

When the controller 30 of the present embodiment receives an operation instructing the setting of the automatic control function by the input reception unit 310, the display control unit 311 causes the display device 40 to display a setting screen including an icon image indicating the operation of the excavator 100. is displayed (step S601). The icon image displayed here can be switched by a switch NS. Note that the icon image of the present embodiment can also be said to be an image indicating the type of movement of the excavator 100 . Details of the setting screen will be described later.

Subsequently, when the icon image is determined (step S602), the controller 30 causes the registration unit 312 to store the motion associated with the determined icon image and the operation information corresponding to the motion in association with each other. (Step S603).

That is, upon receiving the selection of the icon image, the registration unit 312 sets the action associated with the icon image as the action to be controlled by the automatic control function.

Operation information for each motion may be prepared in advance and stored in the storage device.

Subsequently, the controller 30 determines whether or not the input reception unit 310 has received an instruction to operate registration (step S604). In step S604, if the operation to end the registration is not accepted, the controller 30 returns to step S601 and displays an icon image for selecting the next operation on the setting screen.

In step S604, when receiving an operation to terminate the registration, the controller 30 causes the prohibition determination unit 313 to determine whether or not the actions registered as one group include a previously prohibited combination (step S605). ).

In step S605, if the corresponding combination of actions is included, the controller 30 causes the display control unit 311 to display an error on the display device 40 (step S606), and ends the process.

In step S605, if the corresponding combination of motions is not included, the controller 30 registers information in which motions and operation information are associated with each other, held in the registration unit 312, as automatic control information for work content (step S607), the process ends.

At this time, the registration unit 312 associates the work content with the switch NS, and when the switch NS is operated, the bucket operation control unit 314 and the arm operation are performed based on the automatic control information of the work content corresponding to the switch NS. The controller 315 may be controlled.

Display examples of the display device 40 will be described below with reference to FIGS. 7 and 8. FIG. FIG. 7 is a first diagram showing an example of the main screen.

A display device 40 shown in FIG. 7 has an image display section 41 and an input device 42 . The image display section 41 is a screen on which various images are displayed. In FIG. 7, the main screen is displayed on the image display section 41 . This main screen is displayed on the display device 40, for example, before the setting screen displayed in step S601 of FIG. 6 is displayed, and the setting screen is displayed by an operation on the main screen. The input device 42 includes various menu switches.

First, the image display section 41 will be described. As shown in FIG. 7, the image display section 41 includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel consumption display area 41d, an engine control state display area 41e, an engine operating time display area 41f, a cooling A water temperature display area 41g, a fuel remaining amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a working oil temperature display area 41k, an air conditioner operating state display area 41m, an image display area 41n, and a menu display area. 41p.

The traveling mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the air conditioner operation state display area 41m are areas for displaying setting state information, which is information regarding the setting state of the excavator 100. is. A fuel consumption display area 41d, an engine operating time display area 41f, a cooling water temperature display area 41g, a fuel remaining amount display area 41h, a urea water remaining amount display area 41j, and a working oil temperature display area 41k are information related to the operating state of the excavator 100. This is an area for displaying certain operating status information.

Specifically, the date and time display area 41a is an area for displaying the current date and time. The running mode display area 41b is an area for displaying the current running mode. The attachment display area 41c is an area for displaying an image representing the currently attached attachment. The fuel consumption display area 41 d is an area for displaying fuel consumption information calculated by the controller 30 . The fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays the lifetime average fuel consumption or the section average fuel consumption, and an instantaneous fuel consumption display area 41d2 that displays the instantaneous fuel consumption.

The engine control state display area 41e is an area where the control state of the engine 11 is displayed. The engine operating time display area 41f is an area for displaying the accumulated operating time of the engine 11. FIG. The cooling water temperature display area 41g is an area for displaying the current temperature state of the engine cooling water. The fuel remaining amount display area 41h is an area for displaying the remaining amount of fuel stored in the fuel tank.

The rotation speed mode display area 41i is an area for displaying the current rotation speed mode set by the engine rotation speed adjustment dial 75 as an image. The urea water remaining amount display area 41j is an area for displaying an image of the remaining amount of urea water stored in the urea water tank. The hydraulic oil temperature display area 41k is an area for displaying the temperature state of the hydraulic oil in the hydraulic oil tank.

The air conditioner operation state display area 41m includes an air outlet display area 41m1 for displaying the current position of the air outlet, an operation mode display area 41m2 for displaying the current operation mode, a temperature display area 41m3 for displaying the current set temperature, and a temperature display area 41m3 for displaying the current temperature setting. air volume display area 41m4 for displaying the set air volume.

The image display area 41n is an area for displaying an image captured by an imaging device as the space recognition device 70 . In the example of FIG. 7, the image display area 41n displays the overhead image FV and the rear image CBT. Bird's-eye view image FV is, for example, a virtual viewpoint image generated by display control unit 311, and is generated based on images obtained by rear camera 70B, left camera 70L, and right camera 70R.

A shovel graphic GE corresponding to the shovel 100 is arranged in the central portion of the bird's-eye view image FV. This is to allow the operator to intuitively grasp the positional relationship between the excavator 100 and objects existing around the excavator 100 . The rear image CBT is an image showing the space behind the excavator 100, and includes a counterweight image GC. The rear image CBT is a real viewpoint image generated by the display control unit 311 or the like, and is generated based on the image acquired by the rear camera 70B.

The image display area 41n has a first image display area 41n1 located above and a second image display area 41n2 located below. In the example of FIG. 7, the overhead image FV is arranged in the first image display area 41n1, and the rearward image CBT is arranged in the second image display area 41n2. However, the image display area 41n may arrange the overhead image FV in the second image display area 41n2 and arrange the rearward image CBT in the first image display area 41n1.

Also, in the example of FIG. 7, the bird's-eye view image FV and the rearward image CBT are arranged adjacent to each other vertically, but they may be arranged with an interval therebetween. Also, in the example of FIG. 7, the image display area 41n is a vertically long area, but the image display area 41n may be a horizontally long area.

When the image display area 41n is a horizontally long area, the image display area 41n arranges the overhead image FV as the first image display area 41n1 on the left side, and arranges the rearward image CBT as the second image display area 41n2 on the right side. good too. In this case, they may be arranged with a space left and right, or the positions of the bird's-eye view image FV and the rearward image CBT may be interchanged.

Furthermore, in the present embodiment, the icon image 41x is displayed in each of the first image display area 41n1 and the second image display area 41n2. The icon image 41x is an image representing the relative relationship between the position of the imaging device (space recognition device 70) and the orientation of the attachment of the upper rotating body 3. As shown in FIG.

The icon image 41x of the present embodiment includes an image 41xM of the excavator 100, an image 41xF showing the front of the excavator 100, and an image 41xB showing the rear of the excavator 100. The icon image 41x includes an image 41xL showing the left side of the excavator 100, an image 41xR showing the right side of the excavator 100, and an image 41xI showing the inside of the cabin 10.

Images 41xF, 41xB, 41xL, 41xR, and 41xI are respectively a camera 70F imaging the front of the excavator 100, a camera 70B imaging the rear of the excavator 100, a camera 70L imaging the left of the excavator 100, and a camera 70L imaging the right of the excavator 100. It corresponds to the camera 70R that takes an image of the other side. Also, the image 41xI corresponds to the camera inside the cabin 10 .

In the present embodiment, when an image associated with each camera is selected in the icon image 41x, the selected image and the image data captured by the corresponding camera are displayed in the image display area 41n.

In the example of FIG. 7, in the first image display area 41n1, the display modes of the images 41xB, 41xL, and 41xR are different from the display modes of the images 41xF and 41xI. Therefore, in the first image display area 41n1, a bird's-eye view image represented by image data synthesized from image data captured by the cameras 70B, 70L, and 70R corresponding to the images 41xB, 41xL, and 41xR is displayed. I understand.

Also, in the second image display area 41n2, the display mode of the image 41xB is different from the display modes of the images 41xF, 41xL, 41xR, and 41xI. Therefore, it can be seen that the image indicated by the image data captured by the camera 70B corresponding to the image 41xB is displayed in the second image display area 41n2.

The menu display area 41p has tabs 41p1 to 41p7. In the example of FIG. 7, tabs 41p1 to 41p7 are arranged at the lowermost portion of the image display section 41 with a space left and right. Icon images for displaying various information are displayed on the tabs 41p1 to 41p7.

The tab 41p1 displays detailed menu item icon images for displaying detailed menu items. When the operator selects the tab 41p1, the icon images displayed on the tabs 41p2 to 41p7 are switched to icon images associated with detailed menu items.

An icon image for displaying information about the digital level is displayed on the tab 41p4. When the operator selects the tab 41p4, the rear image CBT is switched to a screen showing information on the digital level. However, a screen showing information about the digital level may be displayed by being superimposed on the rear image CBT or by reducing the rear image CBT.

Moreover, the bird's-eye view image FV may be switched to a screen showing information about the digital level, and the screen showing the information about the digital level may be displayed by superimposing it on the bird's-eye view image FV or reducing the bird's-eye view image FV. good too.

The tab 41p5 displays an icon image for transitioning the main screen displayed on the image display section 41 to a setting screen for the automatic control function. When the operator selects the input device 42 corresponding to a tab 41p5, which will be described later, the main screen displayed on the image display section 41 transitions to a setting screen for the automatic control function. At this time, the image display area 41n is continuously displayed, the first image display area 41n is continuously displayed, and an icon image or the like for setting the automatic control function is displayed in the second image display area 41n2. be done. Note that the setting of the automatic control function is performed when the excavator 100 is not operated.

The tab 41p6 displays an icon image for displaying information about information-aided construction. When the operator selects the tab 41p6, the rear image CBT is switched to a screen showing information on information-aided construction. However, a screen showing information on information-aided construction may be displayed by being superimposed on the rear image CBT or by reducing the rear image CBT. In addition, the bird's-eye view image FV may be switched to a screen showing information about information-aided construction, and a screen showing information about the digital level may be displayed by superimposing the bird's-eye view image FV or shrinking the bird's-eye view image FV. good too.

An icon image for displaying information about the crane mode is displayed on the tab 41p7. When the operator selects the tab 41p7, the rear image CBT is switched to a screen showing information on the crane mode. However, a screen showing information about the crane mode may be displayed by being superimposed on the rear image CBT or by shrinking the rear image CBT. Further, the bird's-eye view image FV may be switched to a screen showing information about the crane mode, or a screen showing information about the crane mode may be displayed by superimposing the bird's-eye view image FV or shrinking the bird's-eye view image FV. .

Icon images are not displayed on the tabs 41p2 and 41p3. Therefore, even if the operator operates the tabs 41p2 and 41p3, the image displayed on the image display unit 41 does not change.

Note that the icon images displayed on the tabs 41p1 to 41p7 are not limited to the examples described above, and icon images for displaying other information may be displayed.

Next, the input device 42 will be explained. As shown in FIG. 7, the input device 42 is composed of one or a plurality of button-type switches for selection of tabs 41p1 to 41p7 by the operator, setting input, and the like.

In the example of FIG. 7, the input device 42 includes seven switches 42a1 to 42a7 arranged in the upper stage and seven switches 42b1 to 42b7 arranged in the lower stage. The switches 42b1-42b7 are arranged below the switches 42a1-42a7, respectively.

However, the number, form, and arrangement of the switches of the input device 42 are not limited to the above examples. form, and the input device 42 may be separate from the display device 40 . Alternatively, a method of directly operating the tabs 41p1 to 41p7 on a touch panel in which the image display unit 41 and the input device 42 are integrated may be used.

The switches 42a1-42a7 are arranged under the tabs 41p1-41p7 corresponding to the tabs 41p1-41p7, respectively, and function as switches for selecting the tabs 41p1-41p7, respectively.

Since the switches 42a1-42a7 are arranged under the tabs 41p1-41p7 corresponding to the tabs 41p1-41p7, respectively, the operator can intuitively select the tabs 41p1-41p7.

In FIG. 7, for example, when the switch 42a1 is operated, the tab 41p1 is selected, the menu display area 41p is changed from one-level display to two-level display, and icon images corresponding to the first menu are displayed on tabs 41p2 to 41p7. Is displayed. In addition, the size of the rear image CBT is reduced in response to the change of the menu display area 41p from the one-stage display to the two-stage display. At this time, the size of the bird's-eye view image FV is maintained without being changed, so the visibility when the operator checks the surroundings of the excavator 100 does not deteriorate.

Further, when the switch 42a5 is operated, the display control unit 311 assumes that the tab 41p5 is selected, and causes the main screen to transition to the automatic control function setting screen shown in FIG.

Specifically, when the switch 42a5 is operated, the display control unit 311 changes the second image display area 41n2 to display an image for setting the automatic control function while maintaining the image display area 41n. and

As described above, in the present embodiment, the captured image is continuously displayed in the image display area 41n even on the setting screen of the automatic control function. .

The switch 42b1 is a switch for switching the captured image displayed in the image display area 41n. Each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n is switched, for example, between the rear image, the left image, the right image, and the overhead image. It is configured.

In addition, each time the switch 42b1 is operated, the captured image displayed in the second image display area 41n2 of the image display area 41n switches among, for example, the rear image, the left image, the right image, and the overhead image. It may be configured as

Further, the display control unit 311 may change the display mode of the images 41xF, 41xB, 41xL, 41xR, and 41xI in the icon image 41x according to the operation of the switch 42b1.

Also, each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n and the captured image displayed in the second image display area 41n2 are switched. good too.

In this way, the switch 42b1 as the input device 42 may switch the screen displayed in the first image display area 41n1 or the second image display area 41n2, or switch between the first image display area 41n1 and the second image display area 41n1. You may switch the screen displayed on 41n2. Also, a switch for switching the screen displayed in the second image display area 41n2 may be provided separately.

The switches 42b2 and 42b3 are switches for adjusting the air volume of the air conditioner. In the example of FIG. 7, the air volume of the air conditioner decreases when the switch 42b2 is operated, and the air volume of the air conditioner increases when the switch 42b3 is operated.

The switch 42b4 is a switch for switching ON/OFF of the cooling/heating function. In the example of FIG. 7, the cooling/heating function is switched between ON and OFF each time the switch 42b4 is operated.

Switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner. In the example of FIG. 7, the set temperature is lowered when the switch 42b5 is operated, and the set temperature is raised when the switch 42b6 is operated.

The switch 42b7 is a switch that can switch the display of the engine operating time display area 41f.

Further, the switches 42a2 to 42a6 and 42b2 to 42b6 are configured so that numbers displayed on the respective switches or near the switches can be input. The switches 42a3, 42a4, 42a5, and 42b4 are configured to move the cursor left, up, right, and down, respectively, when the cursor is displayed on the menu screen.

Note that the functions given to the switches 42a1 to 42a7 and 42b1 to 42b7 are only examples, and may be configured so that other functions can be executed.

As described above, when the tab 41p1 is selected while the bird's-eye view image FV and the rearward image CBT are displayed in the image display area 41n, the tabs 41p2 to 41p2 are displayed while the bird's-eye view image FV and the rearward image CBT are displayed. The first menu detail item is displayed on 41p7. Therefore, the operator can confirm the first menu detailed items while confirming the bird's-eye view image FV and the rearward image CBT.

Also, in the image display area 41n, the overhead image FV is displayed without changing the size before and after the tab 41p1 is selected. Visibility is not deteriorated when an operator checks the surroundings of the excavator 100. - 特許庁

FIG. 8 is a diagram showing an example of a setting screen for the automatic control function. The image display section 41 shown in FIG. 8 displays a first image display area 41n1 and a second display area 41n2A.

Icon images 45a and 45b, an icon image 46a, arrow images 47a and 47b, and an icon image 48a are displayed in the second display area 41n2A. Further, tabs 49a to 49d are displayed in the second display area 41n2A.

The icon image 45a indicates that the second display area 41n2A is a display for registering the automatic control function. The icon image 45b is an icon image for ending the registration of the automatic control function.

The icon image 46a is an icon image associated with the boom lowering motion. Arrow images 47a and 47b indicate that the icon image 46a can be switched to icon images associated with other actions.

The icon image 48a is an icon image for combining another action with the action associated with the icon image 46a.

The tab 49a is a tab for restoring the display of the second display area 41n2A. The tab 49b is a tab for switching the icon image 45a. The tab 49c is a tab for selecting the action following the action indicated by the icon image 46a. The tab 49d is a tab for transitioning the automatic control function setting screen to the main screen.

In this embodiment, when the input device 42 at the position corresponding to each of the tabs 49a to 49d is operated, the screen of the display device 40 is displayed according to the tab corresponding to the operated input device 42. .

The second display area 41n2A shown in FIG. 8 may be the initial state of the automatic control function setting screen.

Next, setting of the automatic control function will be specifically described with reference to FIG. FIG. 9 is a diagram illustrating setting of the automatic control function.

FIG. 9A shows the initial state of the automatic control function setting screen, which is the same as the second display area 41n2A in FIG.

In FIG. 9A, an icon image 46a associated with the boom lowering motion is displayed. In this state, for example, when the input device 42 corresponding to the tab 49b is operated, the icon image 46a is switched to an icon image associated with an action other than the boom lowering action.

Further, when the input device 42 corresponding to the tab 49c is operated in the state of FIG. 9A, an icon image associated with the action is newly displayed next to the icon image 48a.

FIG. 9B shows the state of the second display area 41n2A during setting of the automatic control function. In the second display area 41n2A of FIG. 9B, the icon images 46a, 46b, and 46c are associated with each other by the icon image 48a and the icon image 48b. Therefore, in the example of FIG. 9B, the boom lowering motion associated with the icon image 46a, the arm opening motion associated with the icon image 46b, and the bucket opening motion associated with the icon image 46c are combined. It can be seen that

That is, here, it can be understood that the excavator 100 has selected the earth discharging operation in which the boom lowering operation, the arm opening operation, and the bucket opening operation are performed simultaneously.

In addition, an icon image 43a is displayed in the second display area 41n2A of FIG. 9B. This icon image 43a is an icon image associated with the intervals provided between the selected types of actions.

In the example of FIG. 9B, an icon image 43a is displayed below the area where the icon images 46a to 46c are displayed. Icon images 46d and 46e are displayed below the area where the icon image 43a is displayed.

The icon image 46d is associated with the arm closing motion, and the icon image 46e is associated with the left turning motion. Further, the icon image 46d and the icon image 46e are associated by the icon image 48c, and it can be seen that the arm closing motion and the left turning motion are combined. In other words, it can be seen that the excavator 100 has selected the left turning motion in which the boom lowering motion, the arm closing motion, and the turning motion are performed simultaneously.

In this manner, in FIG. 9B, the earth-discharging operation, the interval, and the left-turning operation are selected as a series of work contents.

In addition, in the present embodiment, parameters such as angle and time can be set for the action indicated by each icon image in the second display area 41n2A. In addition, in this embodiment, the work content may include work conditions such as a position to be excavated. For example, when a work content is set and an action indicated by each icon image is selected in order to execute the set work content, parameters indicating the operation time of each action, etc. are set based on the work conditions included in the work content. Set automatically. In addition, by accumulating the operation time of each operation, it is possible to estimate the work time necessary to complete the set work content. Also, parameters indicating the operation time of each operation, etc. may be set by manual input.

In the example of FIG. 9B, parameters 50a, 50b, 50c, and 50e indicating operation times are set for icon images 46a to 46d, respectively. is set. A parameter 50f indicating a turning angle is set in the icon image 46e.

In the present embodiment, when an operation to select the icon image 45b is performed in FIG. 9B, the registration unit 312 registers the automatic control information according to the setting of the second display area 41n2A.

Specifically, the registration unit 312 stores the operation information of the earth discharging operation including the parameters set for each of the icon images 46a to 46c, the interval indicated by the parameters set for the icon image 43a, the icon Automatic control information that associates operation information for left turning operation including parameters set for each of the images 46d and 46e with the work contents of earth dumping and left turning is generated and stored in a storage device.

In this embodiment, the combination of motions before the interval may be referred to as a first motion group, and the combination of motions after the interval may be referred to as a second motion group. In this case, the work content to be automated in the example of FIG. 9B is the work content including the first action group and the second action group. Also. The number of action groups included in the work content is not limited to the example shown in FIG. 9B. The number of action groups included in the work content may be arbitrary.

In FIG. 9(B), when the registration of the automatic control information is completed, the second display area 41n2A will be in the state shown in FIG. 9(C).

In the state shown in FIG. 9C, for example, when an operation to select the tab 49d is performed, the second display area 41n2A on the display device 40 is switched to the second image display area 41n2, and the automatic control function setting screen is displayed. You can transition to the main screen from

In this embodiment, by selecting a combination of icon images associated with the operation of the excavator 100 in this manner, the operator can automate the work desired by the operator.

Therefore, according to this embodiment, the work content desired by the operator can be easily automated without depending on the type of the end attachment of the excavator 100 or the like.

In addition, in the present embodiment, by selecting icon images and combining actions, it is possible to automate the work content. Content can be automated.

Furthermore, in this embodiment, when a plurality of switches NS are provided on the left operating lever 26L, different work contents can be set for each switch. That is, in this embodiment, multiple types of automatic control information can be registered in association with each of multiple NS switches.

Furthermore, in this embodiment, by operating the switch NS in which the work content is registered, the excavator 100 can be caused to automatically perform the registered work content, and the operator's load can be reduced.

Next, processing of the controller 30 of the excavator 10 by the automatic control function will be described. In this embodiment, when the excavator 100 satisfies a predetermined condition during operation by the automatic control function, the operation by the automatic control function is stopped. In other words, the excavator 100 is operating under the control based on the automatic control information.

The predetermined condition is, for example, when the operator operates the operating device 26 using a lever or the like, or when the space recognition device 70 detects a person or an object around the excavator 100 .

FIG. 10 is a second flowchart for explaining the processing of the shovel controller. FIG. 10 shows a case where the excavator 100 is operated by the automatic control function.

In this embodiment, the controller 30 determines whether or not an operation instruction by the automatic control function has been received (step S1001). Specifically, the controller 30 uses the input receiving unit 310 to determine whether or not the switch NS corresponding to the work content set in FIG. 9 has been operated.

In step S<b>1001 , the controller 30 waits when the operation instruction by the automatic control function is not accepted. In step S1001, when an operation instruction by the automatic control function is received, the controller 30 reads the automatic control information associated with the operation content corresponding to the operated switch NS, and starts automatic control (step S1002). . At this time, the controller 30 may cause the display control unit 311 to display a message indicating that the automatic control function is operating on the display device 40 .

Subsequently, the controller 30 determines whether the excavator 100 satisfies a predetermined condition (step S1003). In step S1003, if the predetermined condition is satisfied, the controller 30 stops the operation of the automatic control function (step S1004), and ends the process.

Specifically, when the controller 30 detects that the operator has operated the operation device 26, the controller 30 may stop the operation by the automatic control function and switch to the operation by the operator's operation.

Further, when a person or an object is detected around the excavator 100, the controller 30 may stop the operation by the automatic control function and perform control so that the operation by the operating device 26 is disabled. By doing so, it is possible to ensure safety in work even during operation by the automatic control function.

If the predetermined condition is not satisfied in step S1003, the controller 30 determines whether or not the operation by the automatic control function has ended (step S1005). In step S1005, if the operation has not ended, the controller 30 returns to step S1003.

In step S1005, when the operation by the automatic control function ends, the controller 30 ends the process.

Next, a display example during operation by the automatic control function will be described with reference to FIG. FIG. 11 is a second diagram showing an example of the main screen.

In FIG. 11, a display area 110 is displayed in the first image display area 41n1, and a message "under automatic control" is displayed in the display area 110 to indicate that the automatic control function is operating. Note that this message may be displayed, for example, on the support device of the excavator 100 held by a worker who works at the work site of the excavator 100 or the like.

In this embodiment, by displaying the message in this manner, the operator of the excavator 100, the worker at the work site, or the like can be notified.

Further, in the present embodiment, since the display area 110 is displayed in the first image display area 41n1, the visibility of the rearward image CBT of the excavator 100 displayed in the second image display area 41n2 is not deteriorated.

Next, operation of the excavator 100 by the automatic control function will be described with reference to FIGS. 12 and 13. FIG. FIG. 12 is a first diagram for explaining the operation of the excavator by the automatic control function.

FIG. 12 shows the relationship between the command value for the proportional valve 31 corresponding to each actuator by the automatic control function and time. Also, FIG. 12 shows a case where the shovel 100 does not satisfy a predetermined condition during operation by the automatic control function.

In the example of FIG. 12, at timing T1, when the automatic control of the work content "earth dumping and turning to the left" is selected, the controller 30 selects the automatic control information associated with the first action group among the work content. Bucket opening operation, boom lowering operation, and arm opening operation are performed in accordance with.

When the excavator 100 completes the operations combined as the first operation group from timing T1 to timing T2, the interval is from timing T2 to timing T3. In the excavator 100, the controller 30 outputs to the proportional valve 31 a command value for neutralizing the spool positions of the control valves 171 to 176 corresponding to the respective actuators during this interval. From timing T3, the excavator 100 performs an arm closing operation and a left turning operation according to the automatic control information associated with the second operation group. complete.

Thus, in this embodiment, a plurality of action groups can be registered as a series of work contents at intervals. Further, in the present embodiment, since intervals are provided between action groups, the prohibition determination unit 313 should make an error only when a combination of prohibited actions is included in the same action group.

FIG. 13 is a second diagram for explaining the operation of the excavator by the automatic control function. FIG. 13 shows the relationship between the command value for the proportional valve 31 corresponding to each actuator in operation by the automatic control function and time, and the relationship between the operation amount of the operating device 26 by the operator's operation and time. Moreover, FIG. 12 shows a case where the excavator 100 satisfies a predetermined condition during operation by the automatic control function.

The example of FIG. 13 shows a case where the operator operates the operation device 26 at timing T5 during operation of the automatic control function according to the automatic control information associated with the second operation group.

In this case, the excavator 100 stops the operation by the automatic control function at the timing T5, and operates based on the operator's operation. Specifically, at timing T5, the excavator 100 stops the operation by the automatic control function, and performs the boom raising operation based on the operator's boom raising operation.

In addition, in the embodiment described above, the shovel 100 is used as an example of a working machine, and the bucket 6 is used as an example of an end attachment, but the present invention is not limited to this. This embodiment can be applied to, for example, a material handling machine or the like to which a grapple, a lifting magnet, or the like is attached as an end attachment.

The present embodiment has been described above with reference to specific examples. However, the invention is not limited to these specific examples. Design modifications to these specific examples by those skilled in the art are also included in the scope of the present invention as long as they have the features of the present invention. Each element included in each specific example described above and its arrangement, conditions, shape, etc. are not limited to those illustrated and can be changed as appropriate. Each element included in each specific example described above may be appropriately combined as long as there is no technical contradiction. For example, in the above-described embodiments, the work time may be estimated based on the set automatic control information. Specifically, the work time required for automatic control may be estimated by accumulating the operation time and interval time set for each operation.

26 operating device 30 controller 40 display device 100 excavator 310 input reception unit 311 display control unit 312 registration unit 313 prohibition determination unit 314 bucket operation control unit 315 arm operation control unit

Claims (8)

a lower running body;
an upper rotating body;
an end attachment;
A working machine comprising a display device,
A working machine, comprising a control unit that accepts settings for an automatic control function of the working machine on a setting screen displayed on the display device. The control unit
2. The working machine according to claim 1, wherein the setting screen accepts selection of an operation to be controlled by the automatic control function. Icon images associated with the actions are displayed on the setting screen,
The control unit
3. The work machine according to claim 2, wherein selection of said icon image is accepted as selection of an action corresponding to said icon image. The control unit
The working machine according to any one of claims 1 to 3, wherein parameter setting is accepted for each operation to be controlled by the automatic control function. The working machine according to any one of claims 1 to 4, wherein the motions to be controlled by the automatic control function include a plurality of motion groups each including a plurality of types of motions. The control unit
Receiving an operation on a switch that instructs the start of control by the automatic control function,
The work machine is caused to execute the type of motion included in the first motion group among the plurality of motion groups, and after the type of motion included in the first motion group is completed, the type included in the second motion group is performed. 6. The work machine according to claim 5, which causes the work machine to perform the operation of . The control unit
The work machine according to any one of claims 1 to 6, wherein control by the automatic control function is stopped when the state of the work machine satisfies a predetermined condition. The predetermined condition is
8. The working machine according to claim 7, wherein detection of a person in the vicinity of said working machine or detection of operation of an operating device by an operator.

Images