WO2023190031A1 - Excavator, control system for excavator, and remote operation system for excavator - Google Patents

Abstract

An excavator (100) comprises a lower traveling body (1), an upper turning body (3) mounted on the lower traveling body (1), an attachment (AT) mounted on the upper turning body (3), and an actuator that moves the attachment (AT). The excavator (100) is configured to control the movement of the actuator in a predetermined work site. The excavator (100) may be configured to expedite or restrain the movement of the actuator in the predetermined work site.

Description

Excavators, excavator control systems, and excavator remote control systems

The present disclosure relates to a shovel, a shovel control system, and a shovel remote control system.

Conventionally, excavators are known that monitor the surroundings using a camera placed on an upper revolving body (see Patent Document 1).

Japanese Patent Application Publication No. 2017-147759

However, with the above-mentioned excavator, there is a risk that detection of an object hidden behind an end attachment such as a bucket may be delayed.

Therefore, it is desirable to provide a shovel that can more reliably prevent contact between the attachment and objects existing around the attachment.

An excavator according to an embodiment of the present disclosure includes a lower traveling body, an upper rotating body mounted on the lower traveling body, an attachment mounted on the upper rotating body, and a control device mounted on the upper rotating body. , an actuator for moving the attachment, and the control device is configured to control movement of the actuator at a predetermined work site.

The above-mentioned shovel can more reliably prevent contact between the attachment and objects existing around the attachment.

FIG. 1 is a side view of an excavator according to an embodiment of the present disclosure. FIG. 1 is a top view of an excavator according to an embodiment of the present disclosure. It is a diagram showing an example of the configuration of a hydraulic system mounted on an excavator. FIG. 3 is a diagram of a portion of the hydraulic system related to the operation of the arm cylinder. FIG. 3 is a diagram showing a configuration example of a discharge amount control function. It is a figure explaining an example of the contents of a reference table. 3 is a flowchart of an example of operation restriction processing. FIG. 7 is a diagram illustrating another example of the contents of a reference table. FIG. 2 is a perspective view of an excavator performing crane work. FIG. 2 is a side view of an excavator performing deep digging work. It is a figure which shows an example of an operating state screen. It is a figure which shows another example of an operating state screen. FIG. 1 is a schematic diagram showing a configuration example of a control system for an excavator.

First, a shovel 100 as an excavator according to an embodiment of the present disclosure 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.

In this embodiment, the lower traveling body 1 of the excavator 100 includes a crawler 1C as a driven body. The crawler 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1. However, the traveling hydraulic motor 2M may be a traveling motor generator serving as an electric actuator. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left travel hydraulic motor 2ML, and the right crawler 1CR is driven by a right travel hydraulic motor 2MR. Since the lower traveling body 1 is driven by the crawler 1C, it functions as a driven body.

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

A boom 4 as a driven body is attached to the upper revolving body 3. An arm 5 as a driven body is attached to the tip of the boom 4, and a bucket 6 as a driven body and an end attachment is attached to the tip of the arm 5. The end attachment is a member attached to the tip of the arm 5, and may be a breaker, a grapple, a lifting magnet, or the like. The boom 4, the arm 5, and the bucket 6 constitute a digging attachment that is an example of the attachment AT. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.

A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect a boom angle that is a rotation angle of the boom 4 with respect to the upper rotating structure 3. For example, the boom angle becomes the minimum angle when the boom 4 is lowered the most, and increases as the boom 4 is raised.

The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4. For example, the arm angle becomes the minimum angle when the arm 5 is most closed, and increases as the arm 5 is opened.

The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. For example, the bucket angle becomes the minimum angle when the bucket 6 is most closed, and increases as the bucket 6 is opened.

The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 each include a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotary encoder that detects the rotation angle around the connecting pin. , a gyro sensor, a combination of an acceleration sensor and a gyro sensor, or the like.

The upper revolving body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. The power source may be a hydrogen engine or an electric motor. Moreover, an outdoor alarm 45A, an object detection device 70, a positioning device 85, a body tilt sensor S4, a turning angular velocity sensor S5, and the like are attached to the upper revolving body 3. Inside the cabin 10, an operating device 26, a controller 30, a display device 40, an indoor alarm 45B, and the like are provided. In this document, for convenience, the side of the upper revolving structure 3 to which the boom 4 is attached is referred to as the front, and the side to which the counterweight is attached is referred to as the rear.

The controller 30 is an example of a processing circuit, and functions as a control device for controlling the excavator 100. In this embodiment, the controller 30 is composed of a computer including a CPU, RAM, NVRAM, ROM, and the like. Then, the controller 30 reads a program corresponding to each function from the ROM, loads it into the RAM, and causes the CPU to execute the corresponding process.

The display device 40 is configured to display image information. In the illustrated example, the display device 40 is an organic EL display, and is configured to be able to present image information to the operator of the shovel 100.

The outdoor alarm 45A is configured to output sound toward the outside of the cabin 10. In the illustrated example, the outdoor alarm 45A is an outdoor speaker and is configured to output a sound to draw the attention of workers working around the shovel 100.

The indoor alarm 45B is configured to output sound toward the interior of the cabin 10. In the illustrated example, the indoor alarm 45B is an indoor speaker and is configured to output a sound to draw the attention of the operator operating the shovel 100.

The object detection device 70 is configured to detect objects existing around the excavator 100. The object is, for example, a person, an animal, a vehicle, a construction machine, a building, or a hole. The object detection device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, an imaging device, an infrared sensor, or the like. The imaging device is, for example, a monocular camera, a stereo camera, a LIDAR, or a distance image sensor. In this embodiment, the object detection device 70 includes an attachment camera 70A attached to the attachment AT, a rear camera 70B attached to the rear end of the upper surface of the upper rotating body 3, a front camera 70F attached to the front end of the upper surface of the cabin 10, It includes a left camera 70L attached to the left end of the upper surface of the upper revolving structure 3, and a right camera 70R attached to the right end of the upper surface of the upper revolving structure 3. In the illustrated example, the attachment cameras 70A include a first camera 70A1 attached to the bucket cylinder 9, a second camera 70A2 attached to the left side of the arm 5, and a third camera 70A3 attached to the right side of the arm 5. including. Note that the attachment camera 70A may be any one or two of the first camera 70A1 to third camera 70A3, and may include a camera attached to the back of the arm 5. The device may include a camera attached to the ventral surface of the device. Furthermore, the attachment camera 70A may be omitted.

The object detection device 70 may be configured to be able to detect a predetermined object (for example, a person) within a predetermined area set around the excavator 100. For example, the object detection device 70 may be configured to be able to distinguish between humans and objects other than humans and detect them.

The positioning device 85 is configured to measure the position of the excavator 100. In this embodiment, the positioning device 85 is a GNSS receiver incorporating an electronic compass, and calculates and outputs the latitude, longitude, and altitude of the excavator 100 based on the received GNSS signal, and also calculates and outputs the latitude, longitude, and altitude of the excavator 100. Calculate and output.

The body inclination sensor S4 is configured to detect the inclination of the upper revolving body 3 with respect to a predetermined plane. In this embodiment, the body inclination sensor S4 is an acceleration sensor that detects the inclination angle around the longitudinal axis and the inclination angle around the left-right axis of the upper rotating structure 3 with respect to the horizontal plane. For example, the longitudinal axis and the lateral axis of the upper revolving body 3 are orthogonal to each other and pass through the center point of the shovel, which is a point on the pivot axis of the shovel 100.

The turning angular velocity sensor S5 is configured to detect the turning angular velocity of the upper rotating structure 3. In this embodiment, the turning angular velocity sensor S5 is a gyro sensor. The turning angular velocity sensor S5 may be a resolver, a rotary encoder, or the like. The turning angular velocity sensor S5 may be configured to output at least one of the turning speed and the turning angle. In this case, at least one of the turning speed and the turning angle may be calculated from the turning angular velocity.

Hereinafter, any combination of boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, body tilt sensor S4, and turning angular velocity sensor S5 will also be collectively referred to as attitude sensor.

Next, with reference to FIG. 3, a configuration example of a hydraulic system mounted on the excavator 100 will be described. FIG. 3 is a diagram showing a configuration example of a hydraulic system mounted on the excavator 100. FIG. 3 shows the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control system as double lines, solid lines, dashed lines, and dotted lines, respectively.

The hydraulic system of the excavator 100 mainly includes an engine 11, a pump regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and a control valve 60. Including etc.

In FIG. 3, the hydraulic system circulates hydraulic oil from a main pump 14 driven by an engine 11 to a hydraulic oil tank via a center bypass line CB or a parallel line PC.

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

The main pump 14 is configured to supply hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

The pump regulator 13 is configured to control the discharge amount of the main pump 14. In this embodiment, the pump regulator 13 controls the discharge amount (displaced volume) of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in accordance with a control command from the controller 30.

The pilot pump 15 is configured to supply hydraulic oil to hydraulic control equipment including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the functions performed by the pilot pump 15 may be realized by the main pump 14. That is, in addition to the function of supplying hydraulic oil to the control valve unit 17, the main pump 14 also operates the operating device 26, the proportional valve 31 (see FIG. 4), etc. after reducing the pressure of the hydraulic oil by throttling or the like. It may also have a function of supplying oil.

The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, control valve unit 17 includes control valves 171-176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 1756. The control valve unit 17 can selectively supply the hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuator and the flow rate of hydraulic oil flowing from the hydraulic actuator to the hydraulic oil tank. The hydraulic actuator includes a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left travel hydraulic motor 2ML, a right travel hydraulic motor 2MR, and a swing hydraulic motor 2A.

The operating device 26 is a device used by the operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 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 pilot line. The pressure (pilot pressure) of the hydraulic fluid supplied to each of the pilot ports is a pressure that corresponds to the direction and amount of operation of the lever or pedal (not shown) of the operating device 26 corresponding to each of the hydraulic actuators. It is.

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 operating device 26 by the operator. In the present embodiment, the operation sensor 29 is an angle sensor that detects the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each of the actuators in the form of an angle, and sends the detected value to the controller 30. Output. The operation details of the operating device 26 may be detected using a sensor other than the angle sensor.

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 via the left center bypass line CBL or the left parallel line PCL, and the right main pump 14R circulates the hydraulic oil through the right center bypass line CBR or the right parallel line PCR. The hydraulic oil is circulated through to the hydraulic oil tank.

The left center bypass line CBL is a hydraulic oil line that passes through the control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line CBR is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

The control valve 171 supplies the hydraulic oil discharged by the left main pump 14L to the left travel hydraulic motor 2ML, and discharges the hydraulic oil discharged by the left travel hydraulic motor 2ML to the hydraulic oil tank. It is a spool valve that switches the flow.

The control valve 172 supplies the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR, and discharges the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank. It is a spool valve that switches the flow.

The control valve 173 controls the flow of hydraulic oil in order to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A, and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank. It is a switching spool valve.

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

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

The left parallel line PCL is a hydraulic oil line parallel to the left center bypass line CBL. The left parallel line PCL supplies hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass line CBL is restricted or blocked by any of the control valves 171, 173, or 175L. can. The right parallel pipe PCR is a hydraulic oil line parallel to the right center bypass pipe CBR. The right parallel line PCR supplies hydraulic oil to a more downstream control valve when the flow of hydraulic oil through the right center bypass line CBR is restricted or blocked by any of the control valves 172, 174, or 175R. can.

The pump regulator 13 includes a left pump regulator 13L and a right pump regulator 13R. The left pump regulator 13L controls the discharge amount (displaced volume) of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, the left pump regulator 13L adjusts the swash plate tilt angle of the left main pump 14L to reduce the discharge amount (displaced volume), for example, in response to an increase in the discharge pressure of the left main pump 14L. The same applies to the right pump regulator 13R. This is to prevent the absorbed power (absorbed horsepower) of the main pump 14, which is 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 operations and operating the arm 5. When the left operating lever 26L is operated in the front-back direction, the control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 176 using hydraulic oil discharged by the pilot pump 15. Further, when the lever is operated in the left-right direction, a control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 173 using hydraulic oil discharged by the pilot pump 15 .

Specifically, when the left operating lever 26L is operated in the arm closing direction, hydraulic oil is introduced into the right pilot port of the control valve 176L, and hydraulic oil is introduced into the left pilot port of the control valve 176R. . Further, when the left operating lever 26L is operated in the arm opening direction, hydraulic oil is introduced into the left pilot port of the control valve 176L, and hydraulic oil is introduced into the right pilot port of the control valve 176R. Furthermore, when the left operating lever 26L is operated in the left rotation direction, hydraulic oil is introduced into the left pilot port of the control valve 173, and when it is operated in the right rotation direction, the right pilot port of the control valve 173 is introduced. introduce hydraulic oil.

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

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

The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. The left travel lever 26DL may be configured to work in conjunction with a left travel pedal. When the left travel lever 26DL is operated in the front-back direction, the control pressure corresponding to the lever operation amount is introduced into the pilot port of the control valve 171 using hydraulic oil discharged by the pilot pump 15. The right travel lever 26DR is used to operate the right crawler 1CR. The right travel lever 26DR may be configured to work in conjunction with the right travel pedal. When the right travel lever 26DR is operated in the front-back direction, the control pressure corresponding to the amount of lever operation is introduced into the pilot port of the control valve 172 using hydraulic oil discharged by the pilot pump 15.

The discharge pressure sensor 28 includes a left discharge pressure sensor 28L and a right discharge pressure sensor 28R. The left 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 right 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 operation of the left operation lever 26L by the operator in the front-back direction in the form of an angle, and outputs the detected value to the controller 30. The operation details include, for example, the direction of lever operation and the amount of lever operation (lever operation angle). Similarly, the operation sensor 29LB detects in the form of an angle 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 operation sensor 29RA detects the content of the operation of the right operation lever 26R by the operator in the front-back direction in the form of an angle, and outputs the detected value to the controller 30. The operation sensor 29RB detects in the form of an angle the content of the operation of the right operation lever 26R by the operator in the left-right direction, and outputs the detected value to the controller 30. The operation sensor 29DL detects the content of the operation of the left running lever 26DL by the operator in the front-rear direction in the form of an angle, and outputs the detected value to the controller 30. The operation sensor 29DR detects the content of the operation of the right traveling lever 26DR by the operator in the front-back direction in the form of an angle, 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 pump regulator 13 as necessary, and changes the discharge amount of the main pump 14.

Here, negative control control using the diaphragm 18 and the control pressure sensor 19 will be explained. The aperture 18 includes a left aperture 18L and a right aperture 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

In the left center bypass line CBL, a left throttle 18L is arranged between the most downstream control valve 176L and the hydraulic oil tank. Therefore, the flow of the hydraulic oil discharged by the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left pump regulator 13L. The left control pressure sensor 19L is a sensor for detecting this control pressure, and outputs the detected value to the controller 30. The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 decreases the discharge amount of the left main pump 14L as the control pressure becomes larger, and increases the discharge amount of the left main pump 14L as the control pressure becomes smaller. The discharge amount of the right main pump 14R is similarly controlled.

Specifically, as shown in FIG. 3, when the excavator 100 is in a standby state where none of the hydraulic actuators are operated, the hydraulic oil discharged by the left main pump 14L passes through the left center bypass pipe CBL and flows to the left side. The aperture reaches 18L. The flow of hydraulic oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge amount of the left main pump 14L to the minimum allowable discharge amount, and suppresses pressure loss (pumping loss) when the discharged hydraulic fluid passes through the left center bypass pipe CBL. On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged by the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Then, the flow of hydraulic oil discharged by the left main pump 14L reduces or disappears in the amount reaching the left throttle 18L, thereby lowering 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, allows sufficient hydraulic oil to flow into the hydraulic actuator to be operated, and ensures the drive 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 above configuration, the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state. The wasteful energy consumption includes pumping loss caused by the hydraulic fluid discharged by the main pump 14 in the center bypass pipe CB. Furthermore, when operating a hydraulic actuator, the hydraulic system shown in FIG. 3 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

The control valve 60 is configured to switch the operating device 26 between a valid state and a disabled state. The valid state of the operating device 26 is a state in which the operator can move the related driven body by operating the operating device 26, and the disabled state of the operating device 26 is a state in which the operator can move the related driven body by operating the operating device 26. It is in a state where the related driven body cannot be moved even if the

In this embodiment, the control valve 60 is a solenoid valve that can switch between a communication state and a cutoff state of the pilot line CD1 that connects the pilot pump 15 and the operating device 26. Specifically, the control valve 60 is configured to switch the pilot line CD1 between a communication state and a cutoff state in response to a command from the controller 30.

The control valve 60 may be configured to operate in conjunction with a gate lock lever (not shown). Specifically, the pilot line CD1 may be configured to be in a cutoff state when the gate lock lever is pushed down, and to be in a communication state when the gate lock lever is pulled up. However, the control valve 60 may be a different electromagnetic valve from the electromagnetic valve that can switch between a communication state and a cutoff state of the pilot line CD1 in conjunction with the gate lock lever.

Next, with reference to FIG. 4, a configuration for the controller 30 to operate the actuator using the machine control function will be described. FIG. 4 is a diagram showing a part of the hydraulic system. Specifically, FIG. 4 is an extracted diagram of the hydraulic system portion related to the operation of the arm cylinder 8. As shown in FIG. Note that the following explanation with reference to FIG. 4 relates to the operation of the arm cylinder 8, but it also applies to the boom cylinder 7, the bucket cylinder 9, the swing hydraulic motor 2A, the left travel hydraulic motor 2ML, the right travel hydraulic motor 2MR, etc. The same applies to the operation of other actuators.

As shown in FIG. 4, the hydraulic system includes a proportional valve 31. Proportional valve 31 includes proportional valves 31AL and 31AR.

The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is arranged in a conduit connecting the pilot pump 15 and a pilot port of a corresponding control valve in the control valve unit 17, and is configured to be able to change the flow area of the conduit. 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 if a specific operating device 26 is being operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26.

For example, as shown in FIG. 4, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses the hydraulic oil discharged by the pilot pump 15 to apply pilot pressure to the pilot port of the control valve 176 in accordance with the operation in the longitudinal direction. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward direction), the left operating lever 26L applies pilot pressure according to the operating amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Let it work. Further, when the left operating lever 26L is operated in the arm opening direction (forward direction), a pilot pressure corresponding to the operating amount is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

The operating device 26 is provided with a switch SW1. In this embodiment, the switch SW1 is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch SW1. The switch SW1 may be provided on the right operating lever 26R, or may be provided at another position within the cabin 10.

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

The proportional valve 31AL operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced 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. The proportional valve 31AR operates according to a control command (current command) output by the controller 30. Then, the pilot pressure is adjusted by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. The pilot pressure of the proportional valve 31AL can be adjusted so that the control valve 176L and the control valve 176R can be stopped at any valve position. Similarly, the pilot pressure of the proportional valve 31AR can be adjusted 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 the hydraulic oil discharged by 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 the hydraulic oil discharged by 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 in response 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 oil discharged by 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 the hydraulic oil discharged by 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 in response to the arm opening operation by the operator or independently of the arm opening operation by the operator.

Further, with this configuration, the controller 30 can control the closing side pilot port of the control valve 176 (the left pilot port of the control valve 176L) as needed even when the operator performs an arm closing operation. The closing operation of the arm 5 can be forcibly stopped by reducing the pilot pressure acting on the right pilot port of the control valve 176R. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing the arm opening operation.

Alternatively, the controller 30 controls the proportional valve 31AR as necessary even when the operator performs an arm closing operation, and controls the proportional valve 31AR on the opposite side of the closing side pilot port of the control valve 176. The arm 5 may be forcibly stopped. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.

Although explanations with reference to the figures are omitted, when the operator is performing a boom raising operation or a boom lowering operation and the operation of the boom 4 is forcibly stopped, the bucket closing operation by the operator or When the operation of the bucket 6 is forcibly stopped when the bucket opening operation is being performed, and when the turning operation of the upper rotating structure 3 is forcibly stopped when the operator is performing the turning operation The same applies to The same applies to the case where the traveling operation of the lower traveling body 1 is forcibly stopped when the operator is performing a traveling operation.

Further, although the description has been given regarding an electric operation lever as the form of the operation device 26, a hydraulic operation lever may be adopted instead of an electric operation lever. In this case, the lever operation amount of the hydraulic operation lever may be detected in the form of an angle by an angle sensor and input to the controller 30. Furthermore, a solenoid valve may be disposed 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 the 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. . Moreover, each control valve may be comprised of an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electric signal from the controller 30 corresponding to the amount of lever operation of the electric operation lever.

Next, with reference to FIG. 5, an example of the function of the controller 30 to control the discharge amount of the main pump 14 (hereinafter referred to as "discharge amount control function") will be described. FIG. 5 shows a configuration example of the controller 30 that implements the discharge amount control function. In this embodiment, the controller 30 includes a power control section 30A, an energy saving control section 30B, a minimum value selection section 30C, a maximum value setting section 30D, and a current command output section 30E.

The power control unit 30A is a control unit that implements power control, which is one of the functions of controlling the discharge amount of the main pump 14, and derives a command value Qd of the discharge amount Q based on the discharge pressure Pd of the main pump 14. It is configured as follows. The discharge amount Q is, for example, a displacement volume that is the amount of hydraulic oil discharged by the main pump 14 when the rotation shaft of the main pump 14 makes one rotation. However, the discharge amount Q may be the amount of hydraulic oil discharged by the main pump 14 per unit time (for example, one minute). The power control adjusts the discharge amount of the main pump 14 so that the absorbed power (absorbed horsepower) expressed as the product of the discharge amount and the discharge pressure of the main pump 14 is equal to or less than the output power (output horsepower) of the engine 11. It is a function. In this embodiment, the power control unit 30A acquires the discharge pressure Pd output by the discharge pressure sensor 28. Then, the power control unit 30A refers to the reference table and derives the command value Qd corresponding to the obtained discharge pressure Pd. The reference table is a reference table related to a PQ diagram that retains the correspondence relationship between the allowable maximum absorption power (for example, allowable maximum absorption horsepower), discharge pressure Pd, and command value Qd of the main pump 14 so that it can be referenced, and is stored in a nonvolatile storage device. is stored in advance. For example, the power control unit 30A uniquely determines the command value Qd by referring to a reference table using the preset allowable maximum absorption horsepower of the main pump 14 and the discharge pressure Pd output by the discharge pressure sensor 28 as a search key. can be determined.

The energy saving control section 30B is a control section that implements negative control, which is one of the functions of controlling the discharge amount of the main pump 14, and is configured to derive a command value Qn of the discharge amount based on the control pressure Pn. ing. In this embodiment, the energy saving control unit 30B acquires the control pressure Pn output by the control pressure sensor 19. Then, the energy saving control unit 30B refers to the reference table and derives the command value Qn corresponding to the acquired control pressure Pn. The reference table is a reference table that retains the correspondence relationship (flow rate control characteristics) between the control pressure Pn and the command value Qn so that it can be referenced, and is stored in advance in a non-volatile storage device.

The minimum value selection unit 30C is configured to select and output the minimum value from a plurality of input values. In this embodiment, the minimum value selection unit 30C is configured to output the smaller of the command value Qd and the command value Qn as the final command value Qf.

The command value Qn derived by the energy saving control unit 30B is typically selected by the minimum value selection unit 30C when relatively low-load work such as finishing work, leveling work, or traveling work is performed. . That is, the command value Qn is selected when the low-load work characteristic is adopted. On the other hand, the command value Qd derived by the power control section 30A is typically selected by the minimum value selection section 30C when relatively high-load work such as excavation work is performed. That is, the command value Qd is selected when high load work characteristics are adopted. In this way, the command value Qd selected by the minimum value selection unit 30C determines whether the main pump 14 is controlled based on the low-load work characteristics or the high-load work characteristics.

The maximum value setting unit 30D is configured to output the maximum command value Qmax. The maximum command value Qmax is a command value corresponding to the maximum discharge amount of the main pump 14. In this embodiment, the maximum value setting section 30D is configured to output the maximum command value Qmax stored in advance in a nonvolatile storage device or the like to the current command output section 30E.

The current command output section 30E is configured to output a current command to the pump regulator 13. In the present embodiment, the current command output section 30E outputs a current command I derived from the final command value Qf outputted by the minimum value selection section 30C and the maximum command value Qmax outputted from the maximum value setting section 30D to the pump regulator 13. Output for. Note that the current command output unit 30E may output the current command I derived based on the final command value Qf to the pump regulator 13. In this case, the maximum value setting section 30D may be omitted.

In this way, the controller 30 controls the discharge amount of the main pump 14. In the illustrated example, the controller 30 separately controls the discharge amount of the left main pump 14L and the right main pump 14R. Specifically, the controller 30 controls the discharge pressure of the left main pump 14L detected by the left discharge pressure sensor 28L, and the control pressure which is the pressure of hydraulic fluid in the left center bypass pipe CBL detected by the left control pressure sensor 19L. Based on this, a current command for the left pump regulator 13L is derived. The controller 30 then controls the discharge amount of the left main pump 14L by outputting a current command to the left pump regulator 13L. The controller 30 also operates based on the discharge pressure of the right main pump 14R detected by the right discharge pressure sensor 28R and the control pressure which is the pressure of the hydraulic oil in the right center bypass pipe CBR detected by the right control pressure sensor 19R. A current command for the right pump regulator 13R is derived. The controller 30 then controls the discharge amount of the right main pump 14R by outputting a current command to the right pump regulator 13R.

Next, with reference to FIG. 6, an example of the contents of the reference table referred to by the energy saving control unit 30B will be described. FIG. 6 is a diagram showing an example of the correspondence relationship (flow rate control characteristics) between the control pressure Pn and the command value Qn, which is an example of the contents of the reference table. Specifically, in FIG. 6, the control pressure Pn detected by the control pressure sensor 19 is plotted on the horizontal axis, and the command value Qn is plotted on the vertical axis. A polygonal line including the slope line GL indicates the relationship between the command value Qn and the control pressure Pn. The command value Qn corresponds to the target discharge amount of the main pump 14. The controller 30 controls the pump regulator 13 so that the actual discharge amount Q of the main pump 14 becomes the target discharge amount. The reference table shown in FIG. 6 is used when controlling the respective discharge amounts of the left main pump 14L and the right main pump 14R. When controlling the discharge amount of the left main pump 14L, the horizontal axis in FIG. 6 corresponds to the control pressure detected by the left control pressure sensor 19L, and the vertical axis in FIG. 6 corresponds to the command value of the discharge amount of the left main pump 14L. do. Similarly, when controlling the discharge amount of the right main pump 14R, the horizontal axis in FIG. 6 corresponds to the control pressure detected by the right control pressure sensor 19R, and the vertical axis in FIG. 6 corresponds to the command for the discharge amount of the right main pump 14R. corresponds to a value.

More specifically, FIG. 6 is a diagram showing the contents of the reference table that is referred to when the left operating lever 26L is operated in the arm opening direction. FIG. 6 shows the correspondence relationship (flow rate control characteristic) between the control pressure Pn and the command value Qn when the left operating lever 26L is slightly operated. The fine operation is, for example, when the lever operation amount when the left operation lever 26L is in the neutral position is 0%, and the lever operation amount when the left operation lever 26L is tilted to the maximum is 100%. This means an operation with a lever operation amount of less than 20%. Moreover, FIG. 6 shows the correspondence relationship (flow rate control characteristic) between the control pressure Pn and the command value Qn when the left operating lever 26L is half-operated. Half lever operation means, for example, operation with a lever operation amount of 20% or more and less than 80%. Similarly, FIG. 6 shows the correspondence relationship (flow rate control characteristic) between the control pressure Pn and the command value Qn when the left operating lever 26L is fully operated, using a chain line. Full lever operation means, for example, operation with a lever operation amount of 80% or more.

In this embodiment, the energy saving control unit 30B is configured to derive the command value Qn corresponding to the control pressure Pn using the slope line GL passing through the upper end point A and the lower end point B.

The upper end point A is a point that defines the upper end of the slope line GL, and is represented by the maximum command value Qmax and the first set pressure Px. The maximum command value Qmax is the upper limit of the command value used in negative control, and is, for example, a set value corresponding to a swash plate tilt angle that is smaller than the maximum swash plate tilt angle of the main pump 14 by a predetermined angle. The first set pressure Px is a set value that is set regardless of the magnitude of the lever operation amount when the left operation lever 26L is operated in the arm opening direction. In the example shown in FIG. 6, the amount of lever operation when the left operating lever 26L is operated in the arm opening direction is based on the left operating lever 26L when it is in the neutral position. The angle of inclination (rotation angle) is detected by the operation sensor 29LA as an angle sensor. However, the amount of lever operation when the left operating lever 26L is operated in the arm opening direction is determined by a device other than the angle sensor, such as a pressure sensor, acceleration sensor, angular velocity sensor, resolver, voltmeter, or ammeter. may be detected.

The lower end point B is a point that defines the lower end of the slope line GL, and is represented by the minimum command value Qmin and the second set pressure Py. The minimum command value Qmin is the lower limit of the command value used in negative control, and is, for example, a swash plate tilt angle that is a predetermined angle larger than the minimum swash plate tilt angle of the main pump 14 (for example, a swash plate corresponding to the standby flow rate). This is the setting value corresponding to the tilt angle). The second set pressure Py is a value that is set regardless of the amount of lever operation when the left operating lever 26L is operated in the arm opening direction. For example, the standby flow rate of hydraulic oil passes through the throttle 18. It corresponds to the control pressure when

In the example shown in FIG. 6, the energy saving control unit 30B changes the control pressure Pn and the command value Qn by changing the position of the upper end point A in the vertical axis direction, that is, by changing the maximum command value Qmax. It is configured so that the correspondence relationship (flow rate control characteristics) can be adjusted.

Specifically, the energy saving control unit 30B adjusts the position of the upper end point A when a fine operation is performed, when a half lever operation is performed, and when a full lever operation is performed. By making the values different, the correspondence between the control pressure Pn and the command value Qn (flow rate control characteristic) is adjusted to be suitable for the state of the excavator 100 at that time. In the example shown in FIG. 6, for convenience of explanation, the energy saving control unit 30B is configured to control the energy saving control unit 30B when a fine operation is performed, when a half lever operation is performed, and when a full lever operation is performed. The position of the upper end point A is changed in three stages, but the position of the upper end point A can be changed in two or four stages depending on the amount of lever operation when the left operating lever 26L is operated in the arm opening direction. It may be configured to change in the above steps, and the position of the upper end point A is changed steplessly according to the magnitude of the lever operation amount when the left operation lever 26L is operated in the arm opening direction. It may be configured as follows. Alternatively, the energy saving control unit 30B may be configured so as not to change the position of the upper end point A even if the magnitude of the lever operation amount changes.

More specifically, when the fine operation is being performed, the energy saving control unit 30B changes the upper end point A to the upper end point A1 (when the maximum command value Qmax is the set value Qmax1), as shown by the solid line in FIG. Point), the slope line GL is configured to become the slope line GL1.

Furthermore, when the half lever operation is being performed, the energy saving control unit 30B sets the upper end point A to the upper end point A2 (the point when the maximum command value Qmax is the set value Qmax2), as shown by the broken line in FIG. The slope line GL is configured to become a slope line GL2. In addition, when the full lever operation is performed, the energy saving control unit 30B sets the upper end point A to the upper end point A3 (the point when the maximum command value Qmax is the set value Qmax3), as shown by the dashed line in FIG. The slope line GL is configured to become a slope line GL3. Note that the set value Qmax3 may be, for example, a set value corresponding to the maximum swash plate tilt angle of the main pump 14.

By changing the position of the upper end point A in the vertical axis direction in accordance with the amount of operation of the left operating lever 26L in the arm opening direction, the energy saving control unit 30B allows the energy to flow into the arm cylinder 8 during the arm opening operation. It is possible to suppress or prevent the amount of hydraulic oil from becoming unstable. If the amount of hydraulic oil becomes unstable, the operator will be shaken back and forth, unable to perform stable arm opening operations, and the amount of hydraulic oil flowing into the arm cylinder 8 will become unstable. This will cause further instability. In some cases, the operator may cause hunting or the like in which the rotational speed of the engine 11 becomes unstable. The energy saving control unit 30B can suppress or prevent problems such as hunting from occurring. In this way, the energy saving control section 30B can improve the operability of the arm 5.

For example, when starting the arm opening operation in the standby state, the amount of hydraulic fluid passing through the throttle 18 decreases when the left operating lever 26L is operated in the arm opening direction. This is because most of the hydraulic oil discharged by the main pump 14 is supplied to the arm cylinder 8. The standby state means, for example, the state of the excavator 100 when the engine 11 is in operation and the operating device 26 is not operated.

When the hydraulic oil passing through the throttle 18 decreases due to the supply of hydraulic oil to the arm cylinder 8, the control pressure Pn (negative control pressure) also decreases, so the command value Qn increases as shown in FIG. 6. If the slope line GL were fixed to the slope line GL3, the command value Qn would increase at a larger rate of increase than if the slope line GL was fixed to the slope line GL1, and the command value Qn would increase to the maximum command value regarding the slope line GL1. The maximum command value Qmax (set value Qmax3) is reached, which is larger than the value Qmax (set value Qmax1). Then, the rate of increase in the discharge amount of the main pump 14 with respect to the increase in the lever operation amount of the left operation lever 26L also becomes excessively large, and there is a possibility that the operator will not be able to perform a stable arm opening operation. This is because the shovel 100 swings back and forth. This rocking may cause the operator seated in the cabin 10 of the excavator 100 to be rocked back and forth, which may adversely affect the operation of the operating device 26 by the operator.

On the other hand, if the slope line GL1 is adopted as the slope line GL corresponding to the amount of lever operation (fine operation) of the left operating lever 26L when starting the arm opening operation, the upper limit of the command value Qn is the set value Qmax3. is limited to a set value Qmax1 smaller than . Therefore, the rate of increase in the discharge amount of the main pump 14 with respect to the increase in the amount of lever operation of the left operating lever 26L is suppressed to be lower than when the slope line GL3 is adopted as the slope line GL. As a result, swinging of the shovel 100 in the front-back direction when the arm opening operation is started is suppressed, and the operator can smoothly open the arm 5.

Furthermore, as shown in FIG. 6, the upper end point A of the slope line GL becomes higher as the lever operation amount of the left operation lever 26L increases, so that the discharge amount of the main pump 14 is not excessively restricted.

Specifically, by displacing the upper end point A as described above, the energy saving control unit 30B can prevent the discharge amount Q from becoming small when the arm opening operation is performed by full lever operation.

For example, when the left operating lever 26L is operated in the arm opening direction during full lever operation, if the slope line GL is fixed to the slope line GL1 used for fine operation, the upper limit of the command value Qn is limited to the set value Qmax1, which is smaller than the set value Qmax3. That is, even though the main pump 14 is under full lever operation and the discharge amount Q should be increased as much as possible, the swash plate tilt angle cannot be increased sufficiently.

On the other hand, when the slope line GL3 is adopted as the slope line GL, the upper end point A is set to be the upper end point A3. In this case, the energy saving control unit 30B derives the set value Qmax3 as the command value Qn when the actual control pressure Pn is the first set pressure Px. As a result, the main pump 14 is controlled to have the maximum swash plate tilt angle, and can discharge hydraulic oil at the maximum discharge amount.

The same applies to the case where the arm 5 is decelerated or stopped while the arm is open. For example, when the left operating lever 26L is returned from the full lever operating state to the fine operating state, the amount of hydraulic fluid passing through the throttle 18 increases. This is because most of the hydraulic oil discharged by the main pump 14 is discharged into the hydraulic oil tank T1 through the center bypass line CB.

As the hydraulic oil passing through the throttle 18 increases, the control pressure Pn (negative control pressure) also increases, so the command value Qn decreases as shown in FIG. 6. If the slope line GL is fixed to the slope line GL3, the command value Qn decreases at a greater rate than when the slope line GL is fixed to the slope line GL1, and reaches the minimum command value Qmin. . Due to such a relatively large slope (reduction rate) of the slope line GL3, the reduction rate of the discharge amount of the main pump 14 with respect to the reduction in the amount of lever operation of the left operation lever 26L becomes excessively large, causing the operator to , there is a risk that it will not be possible to perform a stable arm opening operation. This is because the shovel 100 will swing back and forth in the same way as when starting the arm opening operation.

On the other hand, if the slope line GL1 is adopted as the slope line GL corresponding to the amount of lever operation (fine operation) of the left operating lever 26L immediately before the arm 5 stops, the upper limit of the command value Qn is lower than the set value Qmax3. is also limited to a small set value Qmax1. Therefore, the rate of decrease in the discharge amount of the main pump 14 with respect to the decrease in the amount of lever operation of the left operating lever 26L is suppressed to be lower than in the case where the slope line GL3 is adopted as the slope line GL. As a result, swinging of the shovel 100 in the front-back direction when decelerating the arm 5 is suppressed, and the operator can smoothly decelerate the arm 5.

In addition, as shown in FIG. 6, the upper end point A of the slope line GL becomes lower as the lever operation amount of the left operation lever 26L decreases, so when the lever operation amount of the left operation lever 26L is gradually decreased, the upper end point A of the slope line GL becomes lower. The discharge amount of the pump 14 will not change suddenly.

That is, by displacing the upper end point A as described above, the energy saving control unit 30B can prevent the discharge amount Q from becoming unstable when the arm opening operation is decelerated.

In this way, the controller 30 controls the discharge of the main pump 14 by changing the flow rate control characteristic of the negative control according to the operation content of the left operating lever 26L, that is, by displacing the upper end point A in the vertical axis direction. The quantity Q can be controlled more flexibly. Specifically, the energy saving control unit 30B prevents the amount of hydraulic oil flowing into the arm cylinder 8 from becoming unstable by adjusting the slope line GL according to the lever operation amount of the left operation lever 26L. Can be suppressed or prevented. Therefore, the energy saving control unit 30B can smoothly open the arm 5 in response to, for example, operating the left operating lever 26L in the arm opening direction.

Note that the above description with reference to FIG. 6 relates to when the left operating lever 26L is operated in the arm opening direction, but when the left operating lever 26L is operated in the arm closing direction, the left operating lever 26L is When the right operating lever 26R is operated in the front-back direction, When the right operating lever 26R is operated in the left-right direction, When the travel lever 26D is operated in the front-back direction, , the same applies when the travel pedal is operated in the longitudinal direction.

Next, with reference to FIG. 7, a process in which the controller 30 limits the movement of the driven body (hereinafter referred to as "motion restriction process") will be described. FIG. 7 is a flowchart of an example of the operation restriction process. The controller 30 repeatedly executes this operation restriction process at a predetermined control cycle.

First, the controller 30 determines whether the operating device 26 has been operated (step ST1). In this embodiment, the controller 30 determines whether the operating device 26 has been operated based on the output of the operating sensor 29. For example, the controller 30 determines whether an arm closing operation has been performed and whether an arm opening operation has been performed based on the output of the operation sensor 29LA, and based on the output of the operation sensor 29LB, the controller 30 determines whether a left turning operation has been performed. It is determined whether or not a right turning operation has been performed. Alternatively, the controller 30 determines whether a boom raising operation has been performed and whether a boom lowering operation has been performed based on the output of the operation sensor 29RA, and performs a bucket closing operation based on the output of the operation sensor 29RB. It is determined whether or not a bucket opening operation has been performed. Similarly, the controller 30 determines whether the left crawler 1CL has been operated forward and whether the left crawler 1CL has been operated backward based on the output of the operation sensor 29DL. Based on the output, it is determined whether the right crawler 1CR has been operated forward and whether the right crawler 1CR has been operated backward.

If it is determined that the operating device 26 is not being operated (NO in step ST1), the controller 30 ends the current operation restriction process.

If it is determined that the operating device 26 has been operated (YES in step ST1), the controller 30 determines whether the work is being performed at a predetermined work site (step ST2). In this embodiment, the controller 30 determines whether the work is being performed at a predetermined work site based on the image acquired by the imaging device as the object detection device 70, that is, whether the excavator 100 is located at the predetermined work site. Determine. For example, when the controller 30 detects an image of a road cone, cone bar, A-type barricade, single pipe barricade, guard fence, etc. in the image acquired by the imaging device, the controller 30 determines that the work is being performed at a predetermined site. . Note that the controller 30 may determine whether the shovel 100 is located at a predetermined work site based on the output of the positioning device 85. For example, the controller 30 determines that the work is being performed at a predetermined work site when the current position of the excavator 100 is included within a geographical range preset as the range of the predetermined work site. In this case, the geographical range may be defined by multiple pieces of location information (latitude, longitude, and altitude).

The predetermined work site is, for example, a work site located in an urban area, or a work site adjacent to a roadway, sidewalk, cliff, hole, etc. Alternatively, the predetermined work site may be a work site where a predetermined work such as deep digging work or crane work is performed. Due to the presence of objects around the excavator 100, the predetermined work site is a circular area of the maximum working radius (centered on the rotation axis, between the reached position of the attachment AT when the attachment AT is extended to the maximum and the rotation axis). The work site may be a work site where the excavator 100 performs work in an area smaller than the area represented by a circle having a radius of distance . In this case, if the controller 30 detects an image of a hole deeper than a predetermined depth in the image acquired by the imaging device, the controller 30 may determine that the work site is a work site where a predetermined work (deep digging work) is to be performed. good. Alternatively, when the controller 30 detects an image of a suspended load lifted by the attachment AT in the image acquired by the imaging device, the controller 30 may determine that the work site is a work site where a predetermined work (crane work) is to be performed. good.

If it is determined that the work is not at a predetermined work site (NO in step ST2), the controller 30 ends the current operation restriction process.

If it is determined that the work is performed at a predetermined work site (YES in step ST2), the controller 30 limits the movement of the driven body (step ST3). In this embodiment, the controller 30 limits the movement of the driven body by controlling the discharge amount of the main pump 14. The driven body is at least one of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

With this configuration, the controller 30 can restrict the movement of the driven body when the shovel 100 is located within a predetermined work site. For example, the controller 30 can suppress the operating speed when the attachment AT starts moving. Therefore, the controller 30 can more reliably prevent contact between the attachment AT and objects existing around the attachment AT, for example.

Next, with reference to FIG. 8, another example of the contents of the reference table referenced by the energy saving control unit 30B will be described. FIG. 8 is a diagram showing another example of the correspondence relationship (flow rate control characteristics) between the control pressure Pn and the command value Qn, which is another example of the contents of the reference table, and corresponds to FIG. 6. Specifically, FIG. 8 shows the flow rate control characteristics adopted when the movement of the driven body is restricted, and FIG. 6 shows the flow rate control characteristics adopted when the movement of the driven body is not restricted. . The reference table shown in FIG. 8 is used when controlling the discharge amount of each of the left main pump 14L and the right main pump 14R. When controlling the discharge amount of the left main pump 14L, the horizontal axis in FIG. 8 corresponds to the control pressure detected by the left control pressure sensor 19L, and the vertical axis in FIG. 8 corresponds to the command value of the discharge amount of the left main pump 14L. do. Similarly, when controlling the discharge amount of the right main pump 14R, the horizontal axis in FIG. 8 corresponds to the control pressure detected by the right control pressure sensor 19R, and the vertical axis in FIG. 8 corresponds to the command for the discharge amount of the right main pump 14R. corresponds to a value.

More specifically, FIG. 8 is a diagram showing the contents of the reference table that is referred to when the left operating lever 26L is operated in the arm opening direction, and is a diagram showing the contents of the reference table that is referred to when the left operating lever 26L is operated in the arm opening direction. The flow rate control characteristics are shown by a solid line including a slope line GL1A. Further, FIG. 8 shows the flow rate control characteristics when the left operating lever 26L is half-operated by a broken line including the slope line GL2A. Moreover, FIG. 8 shows the flow rate control characteristic when the left operating lever 26L is fully operated by a dashed line including the slope line GL3A.

The slope line GL1A is the same as the slope line GL1 shown in FIG. 6 in terms of the tendency for the command value Qn to increase as the control pressure Pn decreases, but it differs from the diagram in that the rate of increase increases as the control pressure Pn decreases. This is different from the slope line GL1 shown in FIG. In the slope line GL1 shown in FIG. 6, the rate of increase is constant. The slope line GL2A is the same as the slope line GL2 shown in FIG. 6 in terms of the tendency for the command value Qn to increase as the control pressure Pn decreases, but the point is that the rate of increase increases as the control pressure Pn decreases. This is different from the slope line GL2 shown in FIG. The slope line GL3A is the same as the slope line GL3 shown in FIG. 6 in terms of the tendency for the command value Qn to increase as the control pressure Pn decreases, but the point is that the rate of increase increases as the control pressure Pn decreases. This is different from the slope line GL3 shown in FIG.

The controller 30 can appropriately limit the movement of the driven body by adopting the flow rate control characteristics as shown in FIG. For example, when the excavator 100 is located at a predetermined work site, the controller 30 can suppress the opening speed of the arm 5 when the arm 5 starts to move when the arm opening operation is performed. That is, the controller 30 can prevent the arm 5 from opening at an excessively high speed when the arm opening operation is performed. Note that in the example shown in FIG. 8, even when the controller 30 limits the movement of the driven body including the arm 5, it does not limit the maximum value of the operating speed of the arm 5. That is, the controller 30 is configured such that the maximum value of the movement speed of the arm 5 when the movement of the arm 5 is restricted is the same as the maximum value of the movement speed of the arm 5 when the movement of the arm 5 is not restricted. ing. This means that if the arm opening operation by full lever operation is continued, the operating speed of the arm 5 will reach the maximum value, regardless of whether or not the movement of the arm 5 is restricted. However, when the movement of the arm 5 is restricted, the time required for the operating speed of the arm 5 to reach the maximum value is longer than when the movement of the arm 5 is not restricted.

Next, with reference to FIG. 9, an example of a scene where the movement of the driven body is restricted by the movement restriction process will be described. FIG. 9 is a perspective view of the excavator 100 performing crane work.

In the example shown in FIG. 9, the excavator 100 lifts up the sewer pipe BP in order to bury the sewer pipe BP in an excavated trench EX formed in the road. The operator of the excavator 100 is attempting to perform a right turning operation in accordance with instructions from the sling operator FS located at the front left of the excavator 100. The controller 30 continuously monitors the distance DB between the shovel 100 (bucket 6) or the sewer pipe BP and the sling worker FS based on the output of the front camera 70F. The operator of the excavator 100 is trying to move the sewer pipe BP closer to the excavation groove EX by turning the upper rotating body 3 to the right using the left operating lever 26L. At this time, the sling worker FS may come too close to the shovel 100 (bucket 6) or the sewer pipe BP, for example, in order to adjust the attitude of the sewer pipe BP.

In such a situation, when the controller 30 detects at least one image of an object such as the road cone RC, guardrail GR, utility pole EP, or sewer pipe BP in the image acquired by the front camera 70F, the controller 30 performs a predetermined It may be determined that the work is at a work site, and the movement of the driven body may be restricted.

Specifically, when the controller 30 detects an image of the guardrail GR or utility pole EP in the image acquired by the front camera 70F, the controller 30 determines that the work is being performed at a predetermined work site (a work site adjacent to a sidewalk or a roadway). It may be determined that the movement of the driven body is restricted.

Alternatively, when the controller 30 detects an image of a suspended load (sewage pipe BP lifted by a hook provided at the tip of the arm 5) in the image acquired by the front camera 70F, the controller 30 performs work at a predetermined work site. (crane work), and the movement of the driven body may be suppressed.

Suppression of the movement of the driven body may be realized, for example, by suppressing the rise of the main pump 14, that is, by switching the flow rate control characteristic as shown in FIG. 6 to the flow rate control characteristic as shown in FIG. good. Alternatively, the movement of the driven body may be suppressed by reducing the maximum operating speed of the driven body, by decreasing the relief pressure of a relief valve (not shown) provided in the center bypass pipe CB, or by reducing the pressure of the engine 11 or This may be realized by reducing the output power (rotational speed) of a power source such as an electric motor, or by switching the operating mode of the excavator 100. The operation mode includes, for example, an excavation mode selected when excavation work is performed, a crane mode selected when crane work is performed, and the like. In the crane mode, the amount of operation of the actuator relative to the amount of operation of the operating device 26 is smaller than in the excavation mode.

Note that in a state where the distance DB is less than a predetermined value, when a left turning operation is performed, the controller 30 may output a shutoff command to the control valve 60 to switch the pilot line CD1 to the shutoff state. This is to disable the left operating lever 26L and stop the rotation of the swing hydraulic motor 2A.

In a configuration where the movement of the shovel 100 is uniformly restricted when objects exist around the shovel 100, not only the left turning operation but also the right turning operation will be invalidated. Therefore, the controller 30 may determine whether or not the driven body may be moved for each operation performed via the operating device 26. In this case, in the situation shown in FIG. 9, the controller 30 prohibits the turning hydraulic motor 2A from rotating in response to the operator's left turning operation, but prevents the turning hydraulic motor 2A from rotating in response to the right turning operation by the operator. Rotation of the hydraulic motor 2A is allowed. This is because it can be determined that there is no risk of the shovel 100 and the object coming too close even if the shovel 100 is turned to the right. As a result, the controller 30 can quickly bring the sewer pipe BP closer to the excavation groove EX while preventing the shovel 100 (bucket 6) or the sewer pipe BP from getting too close to the sling worker FS.

Alternatively, the controller 30 may determine that even if the shovel 100 is located at a predetermined work site, the distance DB between the shovel 100 (bucket 6) or the sewer pipe BP and the sling worker FS is less than a predetermined value. The structure may be such that the movement of the driven body is not restricted until the movement of the driven body is reached. In other words, the controller 30 may be configured to limit the movement of the driven object only when the driven object starts operating in a state where the distance DB is less than a predetermined value.

Further, the controller 30 may be configured to notify at least one of the operator of the shovel 100 and the sling worker FS when the distance DB becomes less than a predetermined value. In the illustrated example, when the controller 30 determines that the distance DB has become less than a predetermined value based on the image acquired by the front camera 70F, the controller 30 causes each of the outdoor alarm 45A and the indoor alarm 45B to output an alarm sound. This is to draw the attention of the operator and sling worker FS. Note that the controller 30 may display image information on the display device 40 to notify that the distance DB has become less than a predetermined value to call the operator's attention. It may be lit to alert the sling operator FS.

With the above configuration, the controller 30 can more reliably prevent the attachment AT from coming into contact with objects existing around the attachment AT when the shovel 100 is located at a work site where crane work is performed.

Next, with reference to FIG. 10, another example of a scene where the movement of the driven body is restricted by the movement restriction process will be described. FIG. 10 is a side view of the shovel 100 performing deep digging work.

In the example shown in FIG. 10, the excavator 100 moves the bucket 6 into a deep position within the hole HL in order to dig the hole HL deeply. A worker WK is waiting in the hole HL near the bucket 6 to check the work status. Worker WK sends a signal to the operator of shovel 100 as necessary. The operator of the excavator 100 takes the earth and sand at the bottom of the hole HL into the bucket 6 according to the signal from the worker WK, and transfers the earth and sand taken into the bucket 6 to the loading platform of a dump truck DT parked near the shovel 100. Load. The controller 30 continuously monitors whether the worker WK is present near the bucket 6 based on the output of the attachment camera 70A. In the illustrated example, the controller 30 monitors whether the worker WK is within a predetermined distance DS from the connecting pin 6P that connects the arm 5 and the bucket 6 (within the range indicated by the broken line L1). There is. Note that the dashed line L2 in FIG. 10 represents the imaging range of the attachment camera 70A.

The operator of the excavator 100 attempts to take the earth and sand in the hole HL into the bucket 6 by using the operating device 26 to execute a composite operation including an arm closing operation and a bucket closing operation. At this time, the worker WK may get too close to the bucket 6, for example, to check the position (depth) of the toe of the bucket 6.

In such a situation, when the controller 30 detects the worker WK within a predetermined distance DS from the connecting pin 6P based on the image acquired by the attachment camera 70A, the controller 30 moves to a predetermined work site (where deep digging work is being performed). The movement of the driven body may be restricted based on the determination that the work is being performed at a work site where the vehicle is operated. That is, the controller 30 may determine that the worker WK is present near the bucket 6, and may restrict the movement of the driven body.

In the illustrated example, the controller 30 switches the flow rate control characteristics as shown in FIG. 6 to the flow rate control characteristics as shown in FIG. The rate of increase in operating speed can be suppressed. That is, the controller 30 can suppress the rate of increase in the discharge amount of the main pump 14 with respect to the increase in the amount of operation of the operating device 26, compared to the case where the movement of the driven body is not restricted. Note that even when the movement of the driven body is restricted in this way, the controller 30 does not limit the maximum operating speed of the attachment AT (maximum command value Qmax corresponding to the maximum discharge amount of the main pump 14). There isn't.

Specifically, the controller 30 may, for example, slow down the lowering operation of the boom 4 when the operator starts a boom lowering operation in order to move the bucket 6 located above the hole HL into the hole HL. can. That is, compared to the case where the movement of the driven body (boom 4) is not restricted, the controller 30 controls the amount of lever operation of the right operation lever 26R in the boom lowering direction until it reaches a predetermined lever operation amount. By reducing the rate of increase in the flow rate of the hydraulic oil flowing into the rod side oil chamber of the boom cylinder 7 relative to the increase, the lowering speed of the boom 4 can be limited.

The controller 30 also slows down the closing operation of the arm 5 when the operator starts the arm closing operation in order to excavate earth and sand at the bottom of the hole HL with the bucket 6 that has reached the bottom of the hole HL, for example. I can do it. Similarly, the controller 30 can slow down the raising operation of the boom 4 when, for example, the operator starts a boom raising operation to lift earth and sand taken into the bucket 6.

On the other hand, the controller 30 allows the operator to perform a complex operation including a rotation operation and a boom raising operation in order to raise the boom 4 while rotating the upper rotating structure 3 with the bucket 6 lifted above the hole HL. The boom raising and turning operation (compound operation including the turning operation and the boom raising operation) is not slowed down when started. This is because the controller 30 can determine that the worker WK does not exist within the predetermined distance DS from the connecting pin 6P when the bucket 6 is lifted above the hole HL. Therefore, the operator can perform boom raising and turning operations without restrictions, and can quickly load earth and sand onto the platform of the dump truck DT without stress. The controller 30 also performs a boom lowering rotation operation ( It also does not slow down the composite movement (including turning movement and boom lowering movement). The object of detection does not necessarily have to be the worker WK. For example, the controller 30 may determine whether or not to restrict the operation of the actuator based on whether or not a pre-registered object other than earth and sand, such as a guardrail GR, utility pole EP, and sewer pipe BP, is detected. Furthermore, the controller 30 determines whether or not to restrict the actuator operation based on the angle (slope) of the side wall of the hole HL in FIG. may be determined. In this way, the controller 30 can improve the safety of the work site by determining whether or not it is necessary to restrict the operation of the actuator based on the presence or absence of an object in the work area.

Note that the movement of the driven body can be suppressed by reducing the maximum operating speed of the driven body, by decreasing the relief pressure of a relief valve (not shown) provided in the center bypass conduit CB, or by reducing the pressure of the engine 11 or This may be realized by reducing the output power (rotational speed) of a power source such as an electric motor, or by switching the operating mode of the excavator 100.

With the above configuration, the controller 30 can more reliably prevent the attachment AT from coming into contact with objects existing around the attachment AT even when the shovel 100 is located at a work site where deep digging work is performed.

Next, with reference to FIGS. 11 and 12, the operation status screen, which is a screen displayed on the display device 40 while the excavator 100 is in operation, will be described. 11 and 12 show examples of the configuration of the operating status screen.

The display device 40 includes a control section 40a, an image display section 41, and an operation section 42. The control unit 40a controls the image displayed on the image display unit 41. In this embodiment, the control unit 40a is composed of a computer including a CPU, a volatile storage device, a nonvolatile storage device, and the like. In this case, the control unit 40a 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.

The image display section 41 includes a date and time display area 41a, a driving mode display area 41b, an end attachment display area 41c, a fuel consumption display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a cooling water temperature display area 41g, and a remaining fuel display area 41a. It includes an amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a hydraulic 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 driving mode display area 41b, the end attachment display area 41c, the engine control status display area 41e, the rotation speed mode display area 41i, and the air conditioner operation status display area 41m display setting status information that is information regarding the setting status of the excavator 100. It is an area. The fuel consumption display area 41d, the engine operating time display area 41f, the cooling water temperature display area 41g, the remaining fuel amount display area 41h, the urea water remaining amount display area 41j, and the hydraulic oil temperature display area 41k are information regarding the operating state of the excavator 100. This is an area that displays certain operating status information.

The date and time display area 41a is an area that displays the current date and time. The driving mode display area 41b is an area that displays the current driving mode. The end attachment display area 41c is an area that displays an image representing the currently attached end attachment. The fuel efficiency display area 41d is an area where fuel efficiency information calculated by the controller 30 is displayed. The fuel consumption display area 41d includes an average fuel consumption display area 41d1 that displays the average fuel consumption for the entire period or an average fuel consumption for a partial period, and an instantaneous fuel consumption display area 41d2 that displays the instantaneous fuel consumption. The entire period means, for example, the entire period after the shovel 100 is shipped. The partial period means, for example, a period arbitrarily set by the operator.

The engine control state display area 41e is an area that displays the control state of the engine 11. The engine operating time display area 41f is an area that displays information regarding the operating time of the engine 11. The cooling water temperature display area 41g is an area that displays the current temperature state of the engine cooling water. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank. The rotation speed mode display area 41i is an area where the current rotation speed mode set by the engine rotation speed adjustment dial 75 is displayed 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 that displays the temperature state of the hydraulic oil in the hydraulic oil tank.

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

The image display area 41n is an area where an image captured by the imaging device is displayed. 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 shown in FIGS. 11 and 12, the bucket peripheral image BG is arranged in the first image display area 41n1, and the bird's-eye view image FV is arranged in the second image display area 41n2. However, in the image display area 41n, the bucket surrounding image BG may be arranged in the second image display area 41n2, and the bird's-eye view image FV may be arranged in the first image display area 41n1. Further, in the examples shown in FIGS. 11 and 12, the bucket peripheral image BG and the bird's-eye view image FV are arranged vertically adjacent to each other, but they may be arranged with an interval between them.

The bucket surrounding image BG is an image displayed when deep digging work is performed, and is an image generated based on the image acquired by the attachment camera 70A. The bucket surrounding image BG may be an image that has been subjected to viewpoint conversion processing, or may be an image that has not been subjected to viewpoint conversion processing. In addition, the bucket surrounding image BG includes an arm image 5G (a CG image representing the position of the arm 5), a bucket image 6G (a CG image representing the position of the bucket 6), and a worker image WG (a CG image representing the position of the bucket 6). It may also be a CG image including a CG image representing the position of the worker WK.

In the illustrated example, the bucket surrounding image BG includes a first bucket surrounding image BG1 (see FIG. 11) and a second bucket surrounding image BG2 (see FIG. 12). The first bucket peripheral image BG1 is an image showing the inside of the hole HL, which is the target of deep digging work, when viewed from above, and the second bucket peripheral image BG2 is the target of deep digging work. It is an image showing the position inside the hole HL when the hole HL is viewed from the side.

As shown in FIG. 11, the first bucket surrounding image BG1 includes an arm image 5G, a bucket image 6G, and a worker image WG. In FIG. 11, an arm image 5G shows the position of the arm 5 when looking at the arm 5 from above, a bucket image 6G shows the position of the bucket 6 when looking at the hole HL from above, and a worker image WG shows the position of the bucket 6 when looking at the hole HL from above. The position of worker WK is shown when HL is viewed from above. The operator of the excavator 100 can recognize that the worker WK is present diagonally to the left in front of the bucket 6 within the hole HL by looking at the first bucket surrounding image BG1.

As shown in FIG. 12, the second bucket surrounding image BG2 includes a shovel image 100G, a hole image HG, and a worker image WG. The shovel image 100G is a CG image showing the position of the shovel 100 when viewed from the side, and includes an arm image 5G and a bucket image 6G. The hole image HG is a CG image showing the position of the hole HL that is the target of deep digging work. In FIG. 12, an arm image 5G shows the position of the arm 5 when looking at the work site from the side, a bucket image 6G shows the position of the bucket 6 when looking at the work site from the side, and a worker image WG shows the position of the arm 5 when looking at the work site from the side. The position of the worker WK is shown when the work site is viewed from the side, and the hole image HG is the position of the hole HL when the work site is viewed from the side. The operator of the excavator 100 can recognize that the worker WK is present in front of the bucket 6 at approximately the same height as the bucket 6 by looking at the second bucket surrounding image BG2.

The bird's-eye view image FV is a virtual viewpoint image generated by the control unit 40a, and is generated based on images acquired by each of the rear camera 70B, left camera 70L, and right camera 70R. Further, in the central portion of the bird's-eye view image FV, a shovel figure GE corresponding to the shovel 100 is arranged. This is to allow the operator to intuitively grasp the positional relationship between the shovel 100 and objects existing around the shovel 100.

In the examples shown in FIGS. 11 and 12, the image display area 41n is a vertically long area, but it may be a horizontally long area. When the image display area 41n is a horizontally long area, the image display area 41n includes an overhead image FV as a first image display area 41n1 on the left side, and a bucket peripheral image BG as a second image display area 41n2 on the right side. Good too. In this case, the bird's-eye view image FV may be placed on the left side of the bucket surrounding image BG with an interval. Alternatively, the bird's-eye view image FV may be placed on the right side of the bucket surrounding image BG.

The menu display area 41p has tab areas 41p1 to 41p7. In the example shown in FIGS. 11 and 12, tab areas 41p1 to 41p7 are arranged at the bottom of the image display section 41 at intervals from each other in the left and right directions. Icons representing the content of related information are displayed in each of the tab areas 41p1 to 41p7.

The tab area 41p1 displays detailed menu item icons for displaying detailed menu items. When the operator selects the tab area 41p1, the icons displayed in the tab areas 41p2 to 41p7 are switched to icons associated with detailed menu items.

In the tab area 41p4, icons for displaying information regarding the digital level are displayed. When the operator selects the tab area 41p4, the bucket surrounding image BG is switched to the first screen showing information regarding the digital level.

Icons for displaying information regarding information-based construction are displayed in the tab area 41p6. When the operator selects the tab area 41p6, the bucket surrounding image BG is switched to a second screen showing information regarding computerized construction.

Icons for displaying information regarding the crane mode are displayed in the tab area 41p7. When the operator selects the tab area 41p7, the bucket surrounding image BG is switched to a third screen showing information regarding the crane mode.

However, any of the menu screens such as the first screen, second screen, or third screen may be displayed superimposed on the bucket surrounding image BG. Alternatively, the bucket surrounding image BG may be reduced to make room for displaying the menu screen. Alternatively, the overhead image FV may be configured to switch to a menu screen. Alternatively, the menu screen may be displayed superimposed on the bird's-eye view image FV. Alternatively, the bird's-eye view image FV may be reduced to make room for displaying the menu screen.

In the examples shown in FIGS. 11 and 12, no icons are displayed in the tab areas 41p2, 41p3, and 41p5. Therefore, even if the operator operates the tab areas 41p2, 41p3, or 41p5, the image displayed on the image display section 41 does not change.

Note that the icons displayed in the tab areas 41p1 to 41p7 are not limited to the above examples, and icons for displaying other information may be displayed.

In the example shown in FIGS. 11 and 12, the operation unit 42 is composed of a plurality of button-type switches that allow the operator to select tab areas 41p1 to 41p7 and input settings. Specifically, the operation unit 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 to 42b7 are arranged below the switches 42a1 to 42a7, respectively. However, the number, form, and arrangement of switches of the operating section 42 are not limited to the above-mentioned example. For example, the operation unit 42 may have a form that combines the functions of a plurality of button-type switches into one, such as a jog wheel or a jog switch. Further, the operation unit 42 may be configured as a member independent from the display device 40. Furthermore, the tab areas 41p1 to 41p7 may be configured as software buttons. In this case, the operator can select any tab area by touching the tab areas 41p1 to 41p7.

In the example shown in FIGS. 11 and 12, the switch 42a1 is arranged below the tab area 41p1 in correspondence with the tab area 41p1, and functions as a switch for selecting the tab area 41p1. The same applies to each of the switches 42a2 to 42a7.

With this configuration, the operator can intuitively recognize which of the switches 42a1 to 42a7 should be operated when selecting a desired one of the tab areas 41p1 to 41p7.

The switch 42b1 is a switch that switches the captured image displayed in the image display area 41n. The display device 40 is configured such that each time the switch 42b1 is operated, the captured images displayed in the first image display area 41n1 of the image display area 41n are, for example, a rear image, a left image, a right image, an overhead view image FV, and a bucket periphery. It is configured to switch in the order of images BG. Alternatively, the display device 40 may change the captured image displayed in the second image display area 41n2 of the image display area 41n each time the switch 42b1 is operated to be, for example, a rear image, a left image, a right image, an overhead image FV, and It may be configured to switch in the order of the bucket surrounding images BG. Alternatively, the display device 40 is arranged so that 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 each time the switch 42b1 is operated. It may be configured as follows.

In this way, the operator may switch the screen displayed in the first image display area 41n1 or the second image display area 41n2 by operating the switch 42b1 as the operation unit 42. Alternatively, the operator may switch the screen displayed in the first image display area 41n1 and the second image display area 41n2 by operating the switch 42b1. The display device 40 may include a separate switch for switching the screen displayed in the second image display area 41n2.

The switches 42b2 and 42b3 are switches that adjust the air volume of the air conditioner. In the example shown in FIGS. 11 and 12, the operating unit 42 is configured such that when the switch 42b2 is operated, the air volume of the air conditioner decreases, and when the switch 42b3 is operated, the air volume of the air conditioner increases.

The switch 42b4 is a switch that turns the cooling/heating function ON/OFF. In the example shown in FIGS. 11 and 12, the operation unit 42 is configured so that the cooling/heating function is switched between ON and OFF every time the switch 42b4 is operated.

The switches 42b5 and 42b6 are switches that adjust the set temperature of the air conditioner. In the example shown in FIGS. 11 and 12, the operating unit 42 is configured such that when the switch 42b5 is operated, the set temperature is lowered, and when the switch 42b6 is operated, the set temperature is increased.

The switch 42b7 is a switch that changes the content of information regarding the operating time of the engine 11, which is displayed in the engine operating time display area 41f. The information regarding the operating time of the engine 11 includes, for example, the cumulative operating time for the entire period, the cumulative operating time for a partial period, and the like.

Further, the switches 42a2 to 42a6 and 42b2 to 42b6 are configured so that numbers displayed at or near each switch can be input. Further, the switches 42a3, 42a4, 42a5, and 2b4 are configured to move the cursor to the left, up, right, and down, respectively, when the cursor is displayed on the image display section 41.

Note that the above-mentioned functions given to each of the switches 42a1 to 42a7 and 42b1 to 42b7 are merely examples. Each of the switches 42a1 to 42a7 and 42b1 to 42b7 may be configured to perform other functions.

As described above, the excavator 100 according to the embodiment of the present disclosure includes the undercarriage 1, the upper revolving structure 3 mounted on the undercarriage 1, and the upper revolving structure 3 mounted on the upper revolving structure 3, as shown in FIG. In addition, an attachment AT including an end attachment such as a bucket 6, a controller 30 as a control device mounted on the upper revolving body 3, and actuators such as a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 that move the attachment AT. It is equipped with. The controller 30 is configured to control the movement of the actuator at a predetermined work site. Specifically, controller 30 is configured to facilitate or inhibit movement of the actuator. Further, the movement of the actuator may be promoted, for example, by promoting the start-up of the main pump 14, that is, by switching the flow rate control characteristic as shown in FIG. 8 to the flow rate control characteristic as shown in FIG. good. Alternatively, the movement of the actuator can be promoted by increasing the maximum operating speed of the actuator, increasing the relief pressure of a relief valve (not shown) provided in the center bypass conduit CB, or increasing the pressure of the engine 11 or electric motor, etc. This may be achieved by increasing the output power (rotational speed) of the power source, switching the operating mode of the excavator 100, or the like. Suppression of the movement of the actuator may be realized, for example, by suppressing the rise of the main pump 14, that is, by switching the flow control characteristic shown in FIG. 6 to the flow control characteristic shown in FIG. 8. Alternatively, the movement of the actuator can be suppressed by stopping the actuator, reducing the maximum operating speed of the actuator, reducing the relief pressure of a relief valve (not shown) provided in the center bypass conduit CB, or reducing the pressure of the engine. 11 or by lowering the output power (rotational speed) of a power source such as an electric motor, or by switching the operating mode of the excavator 100.

With this configuration, the controller 30 can more reliably prevent the attachment from coming into contact with objects existing around the attachment. This is because the movement of the actuator can be suppressed when the excavator 100 is located at a specific work site, such as a work site in an urban area, where a worker may be forced to work near the attachment. On the other hand, the controller 30 can promote the movement of the actuator when the excavator 100 is located at a work site other than a specific work site where a situation where a worker is forced to work near the attachment occurs. Therefore, the controller 30 can improve the working efficiency of the shovel 100 when the shovel 100 is located at a work site other than a specific work site.

Note that the controller 30 determines whether or not the user is at a predetermined work site based on the information acquired by the information acquisition device, and when it is determined that the controller 30 is at a predetermined work site, the controller 30 promotes or suppresses the movement of the actuator. It may be configured as follows. The information acquisition device is, for example, a positioning device 85, an imaging device, a communication device, or the like. The information acquisition device may be a switch (a switch provided on the display device 40 or the like) that can be operated by the operator to inform the controller 30 that the user is at a predetermined work site.

Specifically, the controller 30 determines whether or not the user is at a predetermined work site based on the position information acquired by the positioning device 85 as an information acquisition device, and when it is determined that the controller 30 is at the predetermined work site, the controller 30 activates the actuator. It may be configured to promote or suppress the movement of the body.

Alternatively, the controller 30 determines whether or not the user is at a predetermined work site based on an image acquired by an imaging device serving as an information acquisition device, and when determining that the controller 30 is at a predetermined work site, promotes the movement of the actuator. Alternatively, it may be configured to suppress it.

With this configuration, the controller 30 can more reliably prevent contact between the attachment and objects existing around the attachment while preventing the movement of the driven body from being excessively restricted. This is because the controller 30 can more accurately determine whether the shovel 100 is located at a predetermined work site where the movement of the driven body should be restricted. That is, this is because the controller 30 can suppress or prevent the current work site from being erroneously determined to be a predetermined work site.

Further, as shown in FIG. 1, an excavator 100 according to another embodiment of the present disclosure includes an undercarriage 1, an upper revolving structure 3 mounted on the undercarriage 1, and an upper revolving structure 3 mounted on the upper revolving structure 3. , an attachment AT including an end attachment such as a bucket 6, actuators such as a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9 that move the attachment AT, and a control device that detects objects existing around the end attachment. A controller 30 is provided. The controller 30 is configured to suppress movement of the actuator when an object existing around the end attachment is detected.

With this configuration, the controller 30 can more reliably prevent the attachment from coming into contact with objects existing around the attachment. Moreover, the controller 30 is configured not to stop the movement of the actuator but to suppress the movement of the actuator when an object existing around the end attachment is detected. Therefore, the operator of the shovel 100 can continue working with the shovel 100 even if there are workers around the end attachment. As a result, this configuration can suppress a decrease in the working efficiency of the shovel 100 even when there are workers around the end attachment.

Note that the controller 30 may be configured to detect objects existing around the end attachment based on images acquired by an imaging device attached to the attachment AT.

In the example shown in FIG. 10, the controller 30 is configured to detect objects existing around the bucket 6 based on images acquired by an attachment camera 70A attached to the bucket cylinder 9. However, the controller 30 is located around the bucket 6 based on images obtained by at least one of the rear camera 70B, front camera 70F, left camera 70L, and right camera 70R attached to the upper revolving body 3. The object may be configured to detect an object that Alternatively, the controller 30 may be configured to detect objects existing around the bucket 6 based on images acquired by an external camera installed outside the excavator 100. Specifically, as shown in FIG. 10, the controller 30 uses images acquired by a camera 70D mounted on the flying object 50 or images acquired by a fixed-point camera 70P attached to a pole 55 installed at the work site. It may be configured to detect objects around the bucket 6 based on images or the like. The flying object 50 is an autonomous flying object that can be flown by remote control or autopilot, and includes, for example, a multicopter, an airship, or the like.

With this configuration, the controller 30 can more reliably prevent contact between the attachment and objects existing around the attachment while preventing the movement of the driven body from being excessively restricted. This is because the controller 30 can more accurately detect whether an object exists around the end attachment. That is, this is because the controller 30 can suppress or prevent objects from being detected incorrectly.

Furthermore, the controller 30 may be configured to call the attention of at least one of the operator and the worker when detecting a worker present around the end attachment.

With this configuration, the controller 30 can more reliably prevent contact between the attachment and the worker who is present around the attachment.

Note that the actuator is typically a hydraulic actuator. The controller 30 includes a hydraulic pump such as the main pump 14 that supplies hydraulic oil to the hydraulic actuator, control valves such as control valves 171 to 176 that control the flow rate of hydraulic oil flowing into the hydraulic actuator, and a hydraulic pump. The movement of the hydraulic actuator may be promoted or suppressed by controlling the movement of at least one of the power sources such as the engine 11 that drives the hydraulic actuator. However, the actuator may be an electric actuator.

Additionally, the information acquired by the excavator 100 may be shared with the administrator, other excavator operators, etc. through the excavator control system SYS as shown in FIG. FIG. 13 is a schematic diagram showing an example of the configuration of the excavator control system SYS. The control system SYS is a system that controls the excavator 100. In this embodiment, the control system SYS is mainly composed of an excavator 100, a support device 200, and a management device 300. The excavator 100, the support device 200, and the management device 300 are each equipped with a communication device and are connected to each other directly or indirectly via a mobile phone communication network, a satellite communication network, a short-range wireless communication network, or the like. There is. The number of shovels 100, support devices 200, and management devices 300 that constitute the control system SYS may be one or more than one. In the example of FIG. 13, the control system SYS includes one shovel 100, one support device 200, and one management device 300.

The support device 200, which is a device that supports control of the excavator 100, is typically a mobile terminal device, for example, a computer such as a notebook PC, a tablet PC, or a smartphone carried by a worker at a work site. The support device 200 may be a computer carried by the operator of the excavator 100. However, the support device 200 may be a fixed terminal device.

The management device 300, which is a device that manages various information, is typically a fixed terminal device, for example, a server computer installed in a management center or the like outside the work site. The management device 300 may be a portable computer (for example, a notebook PC, a tablet PC, or a mobile terminal device such as a smartphone).

At least one of the support device 200 and the management device 300 may include a monitor and an operating device for remote control. In this case, the shovel 100 and at least one of the support device 200 and the management device 300 constitute a remote control system for the shovel. Then, the remote operator can operate the excavator 100 using the operating device for remote control. The operating device for remote control is connected to the controller 30 through a communication network such as a mobile phone communication network, a satellite communication network, or a short-range wireless communication network. In this configuration, the control system SYS may be configured such that the user of the support device 200 can intervene in the operation of the shovel 100 by the operator of the shovel 100 or the remote operator. In this case, the user of the support device 200 can, for example, intervene in the operation of the shovel 100 while observing the positional relationship between the worker WK in the hole HL and the bucket 6 of the shovel 100 near the edge of the hole HL. , the safety of the worker WK can be ensured.

The controller 30 may be included in the support device 200 or the management device 300. Further, all or part of the functions executed by the controller 30 may be executed by the support device 200 or the management device 300.

The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described above, nor is it limited to the embodiments described below. Various modifications or substitutions may be made to the embodiments described above or below without departing from the scope of the present invention. Further, features described separately can be combined as long as no technical contradiction occurs.

For example, in the above-described embodiment, the controller 30 is configured to suppress the movement of the driven object when it is determined that the work is being performed at a predetermined work site; however, it promotes the movement of the driven object. It may be configured to do so.

The movement of the driven body may be promoted, for example, by promoting the start-up of the main pump 14, that is, by switching the flow rate control characteristic as shown in FIG. 8 to the flow rate control characteristic as shown in FIG. good. Alternatively, the movement of the driven body can be promoted by increasing the maximum operating speed of the driven body, increasing the relief pressure of a relief valve (not shown) provided in the center bypass conduit CB, or increasing the speed of the engine 11 or This may be realized by increasing the output power (rotational speed) of a power source such as an electric motor, or by switching the operating mode of the excavator 100.

Furthermore, in the above-described embodiments, a hydraulic operation lever equipped with a hydraulic pilot circuit is disclosed. For example, in a hydraulic pilot circuit related to the left operating lever 26L, the hydraulic oil supplied from the pilot pump 15 to the left operating lever 26L changes to the opening degree of a remote control valve that is opened and closed by tilting the left operating lever 26L in the arm opening direction. A corresponding flow rate is transmitted to the pilot port of control valve 176. Alternatively, in the hydraulic pilot circuit related to the right operating lever 26R, the hydraulic oil supplied from the pilot pump 15 to the right operating lever 26R changes to the opening degree of the remote control valve that is opened and closed by tilting the right operating lever 26R in the boom raising direction. It is transmitted to the pilot port of control valve 175 at a corresponding flow rate.

However, instead of the hydraulic operation lever equipped with such a hydraulic pilot circuit, an electric operation system equipped with an electric operation lever may be adopted. In this case, the lever operation amount of the electric operation lever is inputted to the controller 30 as an electric signal, for example. Further, a solenoid valve is arranged between the pilot pump 15 and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation using the electric operation lever is performed, the controller 30 controls each control valve (each spool valve) can be moved to the desired position.

If an electric operation system with an electric operation lever is employed, the controller 30 can easily switch between manual control mode and automatic control mode. The manual control mode is a mode in which the actuator is operated in response to a manual operation of the operating device 26 by the operator, and the automatic control mode is a mode in which the actuator is operated regardless of the manual operation. When the controller 30 switches the manual control mode to the automatic control mode, the plurality of control valves (spool valves) are controlled separately according to the electric signal corresponding to the lever operation amount of one electric operation lever. Good too.

This application claims priority based on Japanese patent application No. 2022-061307 filed on March 31, 2022, and the entire contents of this Japanese patent application are incorporated by reference into this application.

1... Lower traveling body 1C... Crawler 1CL... Left crawler 1CR... Right crawler 2... Turning mechanism 2A... Hydraulic motor for turning 2M... Hydraulic motor for traveling 2ML... Hydraulic motor for left travel 2MR... Hydraulic motor for right travel 3... Upper revolving body 4... Boom 5... Arm 6... Bucket 7... Boom cylinder 8... Arm cylinder 9. ... Bucket cylinder 10 ... Cabin 11 ... Engine 13 ... Pump regulator 14 ... Main pump 15 ... Pilot pump 17 ... Control valve unit 18 ... Throttle 19 ... Control pressure Sensor 26... Operating device 26D... Travel lever 26DL... Left traveling lever 26DR... Right traveling lever 26L... Left operating lever 26R... Right operating lever 28... Discharge pressure sensor 29. ...Operation sensor 30...Controller 31...Proportional valve 40...Display device 50...Flight object 55...Pole 60...Control valve 70...Object detection device 70A...Attachment Camera 70B... Rear camera 70D... Camera 70F... Front camera 70L... Left camera 70P... Fixed point camera 70R... Right camera 85... Positioning device 100... Excavator 171 ~176...Control valve 200...Support device 300...Management device CD1...Pilot line S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4... Aircraft tilt sensor S5... Turning angular velocity sensor SYS... Control system

Claims (13)

a lower running body;
an upper revolving body mounted on the lower traveling body;
an attachment mounted on the upper revolving body;
an actuator that moves the attachment;
configured to control movement of the actuator at a predetermined work site;
shovel. configured to promote or inhibit movement of the actuator at a predetermined work site;
The excavator according to claim 1. configured to suppress movement of the actuator when an object existing around the end attachment is detected;
The excavator according to claim 1. Determining whether or not the person is at a predetermined work site based on the information acquired by the information acquisition device, and promoting or suppressing the movement of the actuator when it is determined that the person is at the predetermined work site.
The excavator according to claim 1. Determine whether or not you are at a predetermined work site based on position information acquired by the positioning device as the information acquisition device, and if it is determined that you are at the predetermined work site, promote or suppress the movement of the actuator. ,
The excavator according to claim 4. Determining whether or not the person is at a predetermined work site based on an image acquired by the imaging device as the information acquisition device, and promoting or suppressing the movement of the actuator when it is determined that the person is at the predetermined work site.
The excavator according to claim 4. detecting objects existing around the end attachment based on images acquired by an imaging device attached to the attachment;
The excavator according to claim 3. When detecting a worker present around the end attachment, calling the attention of at least one of the operator and the worker;
The excavator according to claim 3. The actuator is a hydraulic actuator,
By controlling the movement of at least one of a hydraulic pump that supplies hydraulic oil to the hydraulic actuator, a control valve that controls the flow rate of hydraulic oil flowing into the hydraulic actuator, and a power source that drives the hydraulic pump. promoting or inhibiting movement of the hydraulic actuator;
The excavator according to claim 1. By increasing the maximum operating speed of the actuator, increasing the relief pressure of a relief valve provided in the center bypass line, increasing the output power of the power source, or switching the operating mode of the excavator. Promote actuator movement,
The excavator according to claim 1. Stopping the actuator, reducing the maximum operating speed of the actuator, reducing the relief pressure of a relief valve provided in the center bypass pipe, reducing the output power of the power source, or reducing the output power of the excavator. suppressing the movement of the actuator by switching the operation mode;
The excavator according to claim 1. An excavator control system comprising: an undercarriage; an upper revolving body mounted on the lower revolving body; an attachment mounted on the upper revolving body; and an actuator that moves the attachment.
configured to suppress movement of the actuator when an object existing around the end attachment is detected at a predetermined work site;
Excavator control system. A remote control system for an excavator, comprising: an undercarriage; an upper revolving body mounted on the lower revolving body; an attachment mounted on the upper revolving body; and an actuator that moves the attachment.
configured to suppress movement of the actuator when an object existing around the end attachment is detected at a predetermined work site;
Excavator remote control system.

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