Patent Application
20250188704
This application is based upon and claims priority to Japanese Patent Application No. 2023-206068, filed on Dec. 6, 2023 the entire contents of which are incorporated herein by reference.
The present disclosure relates to an excavator and a control device for an excavator.
Conventionally, so-called semi-automatic control has been known for excavators, which does not rely solely on the operation by an operator but performs work using information related to the work area, etc.
According to one embodiment, an excavator is provided. The excavator includes:
According to another embodiment, a control device for an excavator is provided, where the excavator includes a lower traveling body, and an upper turning body turnably mounted on the lower traveling body. The control device includes:
In order to perform the semi-automatic control with high accuracy, it is necessary to make the excavator directly face the target construction surface. However, it is difficult for the operator to accurately determine whether the excavator directly faces the target construction surface only by the semi-automatic control.
Therefore, it is desirable to provide an excavator and a control device for the excavator that enable the operator to accurately determine whether the excavator directly faces a target construction surface.
According to the present disclosure, an operator can accurately determine whether an excavator directly faces a target construction surface.
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.
An upper turning body 3 is turnably mounted on a lower traveling body 1 of the excavator 100 via a turning mechanism 2. A boom 4 is attached to the upper turning body 3. An arm 5 is attached to the distal end of the boom 4, and a bucket 6 as an end attachment is attached to the distal end of the arm 5.
The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment as an example of an attachment. 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 is configured to detect a rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an accelerometer, and detects a rotation angle of the boom 4 with respect to the upper turning body 3 (hereinafter, referred to as a “boom angle”). The boom angle, for example, is at a minimum when the boom 4 is at its lowest point and increases as the boom 4 is raised.
The arm angle sensor S2 is configured to detect a rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an accelerometer, and detects a rotation angle of the arm 5 with respect to the boom 4 (hereinafter, referred to as “arm angle”). The arm angle is, for example, at its minimum angle when the arm 5 is fully closed, and increases as the arm 5 is opened.
The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an accelerometer, and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter, referred to as “bucket angle”). For example, the bucket angle is at a minimum when the bucket 6 is fully closed, and increases as the bucket 6 is opened.
The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be potentiometers using variable resistors, stroke sensors that detect stroke amounts of corresponding hydraulic cylinders, rotary encoders that detect rotation angles around coupling pins, gyro sensors, combinations of accelerometers and gyro sensors, or the like.
The upper turning body 3 is provided with a cabin 10 as an operator's cab and a power source such as an engine 11. The upper turning body 3 is provided with a controller 30, a display device 40, an input device 42, a sound output device 43, a storage device 47, a body inclination sensor S4, a turning angular speed sensor S5, a camera S6, a communication device T1, a positioning device P1, and the like.
The controller 30 is configured to function as a main control unit that performs drive control of the excavator 100. In the present embodiment, the controller 30 is configured by a computer including circuitry, or a CPU, a RAM, a ROM, and the like. The various functions of the controller 30 are implemented by the CPU executing programs stored in the ROM, for example. The various functions include, for example, a machine guidance function of guiding a manual operation of the excavator 100 by the operator and a machine control function of automatically supporting the manual operation of the excavator 100 by the operator. A machine guidance device 50 included in the controller 30 is configured to perform machine guidance functions and machine control functions. Further, the controller 30 has a function of performing notification as to whether or not the upper turning body 3 directly faces the target construction surface.
The display device 40 is configured to display various kinds of information. The display device 40 may be connected to the controller 30 via a communication network such as a CAN, or may be connected to the controller 30 via a dedicated line.
The input device 42 is configured to enable an operator to input various kinds of information to the controller 30. The input device 42 includes a touch panel, a knob switch, a membrane switch, and the like installed in the cabin 10.
The sound output device 43 is configured to output information by sound. The sound output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm such as a buzzer. In the present embodiment, the sound output device 43 is configured to output various kinds of information by sound in response to a sound output command from the controller 30. The sound output device 43 can also notify the operator that the directly-facing control described later is being executed and notify the operator that the directly-facing control has been completed. The sound output device 43 can also notify whether or not the upper turning body 3 directly faces the target construction surface.
The storage device 47 is configured to store various kinds of information. The storage device 47 is, for example, a nonvolatile storage medium such as a semiconductor memory. The storage device 47 may store information output from various devices during the operation of the excavator 100, or may store information acquired via various devices before the operation of the excavator 100 is started. The storage device 47 may store, for example, information about the target construction surface acquired via the communication device T1 or the like. The target construction surface may be set by the operator of the excavator 100 or may be set by a construction manager or the like.
The body inclination sensor S4 is configured to detect the inclination of the upper turning body 3 with respect to the virtual horizontal plane. In the present embodiment, the body inclination sensor S4 is an accelerometer that detects an inclination angle around the longitudinal axis and an inclination angle around the lateral axis of the upper turning body 3. The longitudinal axis and the lateral axis of the upper turning body 3 are orthogonal to each other at, for example, an excavator center point which is one point on the turning axis of the excavator 100.
The turning angular speed sensor S5 is configured to detect a turning angular speed of the upper turning body 3. The turning angular speed sensor S5 may be configured to detect or calculate the turning angle of the upper turning body 3. In the present embodiment, the turning angular speed sensor S5 is a gyro sensor. The turning angular speed sensor S5 may be a resolver, a rotary encoder, or the like.
The camera S6 is an example of a space recognition device and is configured to acquire an image of the surroundings of the excavator 100. In the present embodiment, the cameras S6 include a front camera S6F that images a space in front of the excavator 100, a left camera S6L that images a space on the left side of the excavator 100, a right camera S6R that images a space on the right side of the excavator 100, and a rear camera S6B that images a space behind the excavator 100.
The camera S6 is, for example, a monocular camera having an image sensor such as a CCD or a CMOS, and outputs a captured image to the display device 40. The camera S6 may be a stereo camera, a distance image camera, or the like. The camera S6 may be replaced with another space recognition device such as an ultrasonic sensor, a millimeter wave radar, a LIDAR, or an infrared sensor, or may be replaced with a combination of another space recognition device and a camera.
The front camera S6F is mounted on, for example, the ceiling of the cabin 10, that is, inside the cabin 10. However, the front camera S6F may be attached to the roof of the cabin 10, that is, the outside of the cabin 10. The left camera S6L is attached to the left end of the upper surface of the upper turning body 3, the right camera S6R is attached to the right end of the upper surface of the upper turning body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper turning body 3.
The communication device T1 controls communication with an external device outside the excavator 100. In the present embodiment, the communication device T1 controls communication with external devices via satellite networks, mobile telephone networks, Internet networks, or the like. The external device may be, for example, a management device such as a server installed in an external facility, or may be a support device such as a smartphone carried by a worker around the excavator 100. The external device is configured to be able to manage construction information related to one or a plurality of excavators 100, for example. The construction information includes, for example, information related to at least one of the operating time, fuel efficiency, work amount, and the like of the excavator 100. The work amount is, for example, the amount of excavated soil, the amount of soil loaded on the loading platform of the dump truck, and the like. The excavator 100 is configured to transmit the working information about the excavator 100 to the external device at predetermined time intervals via the communication device T1.
The positioning device P1 is configured to measure the position of the upper turning body 3. The positioning device P1 may be configured to measure the orientation of the upper turning body 3. In the present embodiment, the positioning device P1 is, for example, a GNSS compass, and detects a position and an orientation of the upper turning body 3, and outputs the detected values to the controller 30. Therefore, the positioning device P1 can function as an orientation detection device that detects the orientation of the upper turning body 3. The orientation detection device may be an azimuth sensor attached to the upper turning body 3.
The drive system of the excavator 100 mainly includes the engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operation device 26, a discharge pressure sensor 28, an operation pressure sensor 29, the controller 30, a proportional valve 31, and the like.
The engine 11 is a drive source of the excavator 100. In the present embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. An output shaft of the engine 11 is connected to input shafts of the main pump 14 and the pilot pump 15.
The main pump 14 is configured to supply the hydraulic fluid to the control valve 17 via a hydraulic fluid line. In the present embodiment, the main pump 14 is a swash-plate-type variable displacement hydraulic pump.
The regulator 13 is configured to control the discharge amount of the main pump 14. In the present embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilting angle of the main pump 14 in response to a control command from the controller 30. For example, the controller 30 receives an output from the operation pressure sensor 29 or the like, and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.
The pilot pump 15 supplies the hydraulic fluid to various hydraulic control devices including the operation device 26 and the proportional valve 31 via the pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function of the pilot pump 15 may be implemented by the main pump 14. That is, separately from the function of supplying the hydraulic fluid to the control valve 17, the main pump 14 may be provided with a circuit and have a function of supplying the hydraulic fluid to the operation device 26 or the like after the supply pressure of the hydraulic fluid is reduced by a throttle or the like.
The control valve 17 is a hydraulic control device that controls a hydraulic system in the excavator 100. In the present embodiment, the control valve 17 includes control valves 171 to 176. The control valve 17 can selectively supply the hydraulic fluid discharged from the main pump 14 to one or a plurality of hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 are configured to control the flow rate of the hydraulic fluid flowing from the main pump 14 to the hydraulic actuator and the flow rate of the hydraulic fluid flowing from the hydraulic actuator to the hydraulic fluid tank. The hydraulic actuators include the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, a left-side traveling hydraulic motor 1L, a right-side traveling hydraulic motor 1R, and a turning hydraulic motor 2A. The turning hydraulic motor 2A may be a turning motor-generator, serving as an electric actuator.
The operation device 26 is a device including a lever 260 used by an operator to operate an actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operation device 26 supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve inside the control valve 17 via the pilot line. The pressure of the hydraulic fluid supplied to each of the pilot ports (pilot pressure) is, in principle, a pressure corresponding to the operation direction and the operation amount of the operation device 26 corresponding to each of the hydraulic actuators. At least one of the operation devices 26 is configured to be able to supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve inside the control valve 17 via the pilot line and a shuttle valve 32.
The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.
The operation pressure sensor 29 is configured to detect the content of an operation performed by the operator using the operation device 26. In the present embodiment, the operation pressure sensor 29 detects the operation direction and the operation amount of the operation device 26 corresponding to each of the actuators in the form of pressure, and outputs the detected value to the controller 30. The operation content of the operation device 26 may be detected using a sensor other than the operation pressure sensor.
The proportional valve 31 functioning as a control valve for machine control is disposed in a pipe line connecting the pilot pump 15 and the shuttle valve 32, and is configured to be able to change the flow passage area of the pipe line. In the present embodiment, the proportional valve 31 operates in response to a control command output from the controller 30. Therefore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the proportional valve 31 and the shuttle valve 32, independently of the operation of the operation device 26 by the operator.
The shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operation device 26, and the other is connected to the proportional valve 31. The outlet port is connected to a pilot port of a corresponding control valve in the control valve 17. Therefore, the shuttle valve 32 can cause the higher one among the pilot pressure generated by the operation device 26 and the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.
With this configuration, even when an operation is not performed on a specific operation device 26, the controller 30 can activate the hydraulic actuator corresponding to the specific operation device 26.
Next, the machine guidance device 50 included in the controller 30 will be described.
The machine guidance device 50 is configured to perform machine guidance functions, for example. In the present embodiment, the machine guidance device 50 notifies the operator of, for example, whether or not the upper turning body 3 directly faces the target construction surface. The information about the target construction surface is stored in advance in the storage device 47, for example. The machine guidance device 50 may acquire information about the target construction surface from an external device via the communication device T1. The information about the target construction surface is expressed by, for example, a reference coordinate system. The reference coordinate system is, for example, the world geodetic system. The world geodetic system is a three-dimensional orthogonal XYZ coordinate system with the origin at the center of gravity of the earth, the X-axis in the direction of the intersection of the Greenwich meridian and the equator, the Y-axis in the direction of 90 degrees east longitude, and the Z-axis in the direction of the north pole. The target construction surface may be set based on a relative positional relationship with a reference point. In this case, the operator may set any given point of the construction site as the reference point. The reference on the excavator 100 side for determining whether or not the upper turning body 3 directly faces the target construction surface is, for example, the claw tip of the bucket 6, the back surface of the bucket 6, or the like. The machine guidance device 50 may be configured to guide the operation of the excavator 100 by notifying the operator of whether or not the upper turning body 3 directly faces the target construction surface via the display device 40, the sound output device 43, or the like.
The machine guidance device 50 may execute a machine control function that automatically supports manual operation of the excavator 100 by the operator. For example, the machine guidance device 50 may automatically activate at least one of the boom 4, the arm 5, or the bucket 6 so that the target construction surface and the position of the claw tip of the bucket 6 match each other when the operator manually performs the excavation operation.
In the present embodiment, the machine guidance device 50 is incorporated in the controller 30, but may be a control device provided separately from the controller 30. In this case, the machine guidance device 50 is configured by a computer including circuitry, or a CPU and an internal memory, for example, as in the controller 30. Various functions of the machine guidance device 50 are implemented by the CPU executing the program stored in the internal memory. The machine guidance device 50 and the controller 30 are connected to each other via a communication network such as a CAN so as to be able to communicate with each other.
Specifically, the machine guidance device 50 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, the turning angular speed sensor S5, the camera S6, the positioning device P1, the communication device T1, the input device 42, and the like. The machine guidance device 50 calculates the distance between the bucket 6 and the target construction surface based on the acquired information, determines whether the upper turning body 3 directly faces the target construction surface based on the calculated distance, and performs notification of whether the upper turning body 3 directly faces the target construction surface by at least one of sound and display.
Therefore, the machine guidance device 50 includes a position calculation unit 51, a distance calculation unit 52, an information transmission unit 53, and an automatic control unit 54.
The position calculation unit 51 is configured to calculate the position of a positioning target. In the present embodiment, the position calculation unit 51 calculates the coordinates of the work part of the attachment in the reference coordinate system. Specifically, the position calculation unit 51 calculates the coordinates of the claw tip of the bucket 6 from the respective rotation angles of the boom 4, the arm 5, and the bucket 6. The position calculation unit 51 may calculate not only the coordinates of the center of the claw tip of the bucket 6 but also the coordinates of the left end of the claw tip of the bucket 6 and the coordinates of the right end of the claw tip of the bucket 6 in order to determine whether or not the upper turning body 3 directly faces the target construction surface.
The distance calculation unit 52 is configured to calculate a distance between two positioning targets. In the present embodiment, the distance calculation unit 52 calculates the vertical distance between the claw tip of the bucket 6 and the target construction surface. The distance calculation unit 52 may calculate the distance (for example, the vertical distance) between the coordinates of the left end and the right end of the claw tip of the bucket 6 and the target construction surface and between the coordinates of the right end of the claw tip of the bucket 6 and the target construction surface, so that the machine guidance device 50 can determine whether or not the excavator 100 directly faces the target construction surface.
The information transmission unit 53 is configured to transmit various kinds of information to the operator of the excavator 100. In the present embodiment, the information transmission unit 53 notifies the operator of the excavator 100 of whether or not the upper turning body 3 directly faces the target construction surface using at least one of visual information and auditory information based on the distance calculated by the distance calculation unit 52. Further, the length of the vertical distance between the claw tip of the bucket 6 and the target construction surface may be transmitted to the operator of the excavator 100.
For example, the information transmission unit 53 may notify the operator of whether or not the upper turning body 3 directly faces the target construction surface by using the sound from the sound output device 43. In this case, the information transmission unit 53 may use different sounds depending on whether the upper turning body 3 directly faces the target construction surface or not. Thus, the operator can distinguish and recognize the case where the upper turning body 3 directly faces the target construction surface and the case where the upper turning body 3 does not directly face the target construction surface.
The information transmission unit 53 may cause the display device 40 to display whether or not the upper turning body 3 directly faces the target construction surface. The display device 40 displays, for example, the information received from the information transmission unit 53 on the screen together with the image received from the camera S6. The information transmission unit 53 may notify the operator of whether or not the upper turning body 3 directly faces the target construction surface by using information by characters or icons, for example.
The automatic control unit 54 automatically activates the actuator to automatically support the manual operation of the excavator 100 by the operator. For example, when the operator manually performs the arm closing operation, the automatic control unit 54 may automatically extend and contract at least one of the boom cylinder 7, the arm cylinder 8, or the bucket cylinder 9 so that the position of the target construction surface and the position of the claw tip of the bucket 6 coincide with each other. In this case, the operator can close the arm 5 while making the claw tip of the bucket 6 match the target construction surface, for example, by only operating the arm operation lever in the closing direction. The automatic control may be configured to be executed when a predetermined switch, which is one of the input devices 42, is operated, for example, pressed. The predetermined switch is, for example, a machine control switch (hereinafter, referred to as an “MC switch”). The switch may be disposed at the distal end of the operation device 26 as a knob switch.
The automatic control unit 54 may automatically rotate the turning hydraulic motor 2A to cause the upper turning body 3 to directly face the target construction surface when a predetermined switch such as an MC switch is pressed. In this case, the operator can simply press the predetermined switch or only operate the turning operation lever in a state where the predetermined switch is pressed to cause the upper turning body 3 to directly face the target construction surface. Alternatively, the operator can simply press a predetermined switch to cause the upper turning body 3 to directly face the target construction surface and start the machine control function. Hereinafter, the control for causing the upper turning body 3 to directly face the target construction surface will be referred to as “directly-facing control”. In the directly-facing control, the machine guidance device 50 determines that the excavator 100 directly faces the target construction surface when a left-end vertical distance, which is a vertical distance between the coordinates of the left end of the claw tip of the bucket 6 and the target construction surface, and a right-end vertical distance which is a vertical distance between the coordinates of the right end of the claw tip of the bucket 6 and the target construction surface are equal to each other. However, the machine guidance device 50 may determine that the excavator 100 directly faces the target construction surface not when the left-end vertical distance and the right-end vertical distance are equal to each other, that is, not when the difference between the left-end vertical distance and the right-end vertical distance becomes zero but when this difference is equal to or less than a predetermined value. When the machine guidance device 50 determines that the excavator 100 directly faces the target construction surface after the turning hydraulic motor 2A is automatically rotated, the machine guidance device 50 may notify the operator that the directly-facing control is completed using at least one of the visual information and the auditory information. That is, the machine guidance device 50 may notify the operator that the upper turning body 3 has been caused to directly face the target construction surface. Further, the machine guidance device 50 may notify the operator that the directly-facing control is being executed during the execution of the directly-facing control.
Note that a switch (a third switch) to be pressed when the above-described automatic control is performed and a switch (a second switch) to be pressed when the directly-facing control is performed need not be the same switch, and as long as the switches can be operated, the switches are not limited to a type that is pressed. However, if the switch to be pressed when the automatic control is performed and the switch to be pressed when the directly-facing control is performed are the same switch, the directly-facing control is performed by operating the turning operation lever while pressing the switch to cause the upper turning body 3 to directly face the target construction surface, and then the automatic control can be performed by operating another lever while continuously pressing the switch. Thus, the directly-facing control and the automatic control can be performed by a series of operations. Further, a first switch provided as one of the input devices 42 for checking whether or not the upper turning body 3 and the target construction surface directly face each other may be the same switch as the third switch to be pressed when the above-described automatic control is performed and the second switch to be pressed when the directly-facing control is executed. Thus, the work of checking whether the upper turning body 3 and the target construction surface directly face each other can also be performed by a series of operations.
In the present embodiment, the automatic control unit 54 can automatically activate each actuator by individually and automatically adjusting the pilot pressure acting on the control valve corresponding to each actuator. For example, in the directly-facing control, the automatic control unit 54 may activate the turning hydraulic motor 2A based on the difference between the left-end vertical distance and the right-end vertical distance. Specifically, when the turning operation lever is operated in a state where a predetermined switch is pressed, the automatic control unit 54 determines whether or not the turning operation lever is operated in a direction causing the upper turning body 3 to directly face the target construction surface. For example, when the turning operation lever is operated in a direction causing the vertical distance between the claw tip of the bucket 6 and the target construction surface (upward slope) to increase, the automatic control unit 54 does not execute the directly-facing control. On the other hand, when the turning operation lever is operated in a direction causing the vertical distance between the claw tip of the bucket 6 and the target construction surface (upward slope) to decrease, the automatic control unit 54 executes the directly-facing control. As a result, the automatic control unit 54 can activate the turning hydraulic motor 2A so that the difference between the left-end vertical distance and the right-end vertical distance becomes small. Thereafter, when the difference becomes equal to or less than a predetermined value or becomes zero, the automatic control unit 54 stops the turning hydraulic motor 2A. Alternatively, the automatic control unit 54 may set a turning angle at which the difference is equal to or less than a predetermined value or is zero as a target angle, and may perform turning angle control such that the angle difference between the target angle and the current turning angle (detection value) becomes zero. In this case, the turning angle is, for example, an angle of the front-rear axis of the upper turning body 3 with respect to the reference direction.
Further, the automatic control unit 54 may automatically activate the actuator so that the upper turning body 3 is maintained in a state of directly facing the target construction surface when an operation related to the target construction surface such as an excavation operation or a slope finishing operation is performed. For example, when the direction of the upper turning body 3 is changed due to an excavation reaction force or the like and the upper turning body 3 does not directly face the target construction surface, the automatic control unit 54 may automatically activate the turning hydraulic motor 2A in order to quickly make the upper turning body 3 directly face the target construction surface. Alternatively, the automatic control unit 54 may activate the actuator in a preventive manner so that the orientation of the upper turning body 3 is not changed by the excavation reaction force or the like when the operation related to the target construction surface is performed.
Further, when the turning control lever is continuously operated while the predetermined switch is pressed, in a state where the predetermined switch is pressed and the upper turning body 3 turns to face the target construction surface, the automatic control unit 54 may control the turning hydraulic motor 2A or the turning electric actuator not to rotate so as not to turn the upper turning body 3, thereby maintaining the state where the upper turning body 3 directly faces the target construction surface. Further, when the turning operation lever is set to neutral and the turning operation lever is operated again, the upper turning body 3 may be turned.
Next, a configuration example of a hydraulic system mounted on the excavator 100 will be described with reference to
The hydraulic system circulates the hydraulic fluid from main pumps 14L and 14R driven by the engine 11 to the hydraulic fluid tank via at least one of center bypass pipelines 40L and 40R or parallel pipelines 42L and 42R. The main pumps 14L and 14R correspond to the main pump 14 of FIG. 2.
The center bypass pipeline 40L is a hydraulic fluid line passing through the control valves 171, 173, 175L, and 176L disposed in the control valve 17. The center bypass pipeline 40R is a hydraulic fluid line passing through the control valves 172, 174, 175R, and 176R disposed in the control valve 17. The control valves 175L and 175R correspond to the control valve 175 of
The control valve 171 is a spool valve that switches the flow of the hydraulic fluid in order to supply the hydraulic fluid discharged by the main pump 14L to the left-side traveling hydraulic motor 1L and discharge the hydraulic fluid discharged by the left-side traveling hydraulic motor 1L to the hydraulic fluid tank.
The control valve 172 is a spool valve that switches the flow of the hydraulic fluid in order to supply the hydraulic fluid discharged by the main pump 14R to the right-side traveling hydraulic motor 1R and discharge the hydraulic fluid discharged by the right-side traveling hydraulic motor 1R to the hydraulic fluid tank.
The control valve 173 is a spool valve that switches the flow of the hydraulic fluid in order to supply the hydraulic fluid discharged by the main pump 14L to the turning hydraulic motor 2A and discharge the hydraulic fluid discharged by the turning hydraulic motor 2A to the hydraulic fluid tank.
The control valve 174 is a spool valve that switches the flow of the hydraulic fluid in order to supply the hydraulic fluid discharged by the main pump 14R to the bucket cylinder 9 and discharge the hydraulic fluid in the bucket cylinder 9 to the hydraulic fluid tank.
The control valves 175L and 175R are spool valves that switch the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic fluid in the boom cylinder 7 to the hydraulic fluid tank.
The control valves 176L and 176R are spool valves that switch the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the main pumps 14L and 14R to the arm cylinder 8 and discharge the hydraulic fluid in the arm cylinder 8 to the hydraulic fluid tank.
The parallel pipeline 42L is a hydraulic fluid line parallel to the center bypass pipeline 40L. The parallel pipeline 42L is configured to be able to supply the hydraulic fluid to the control valves farther downstream, when the flow of the hydraulic fluid passing through the center bypass pipeline 40L is restricted or blocked by any of the control valves 171, 173, and 175L. The parallel pipeline 42R is a hydraulic fluid line parallel to the center bypass pipeline 40R. The parallel pipeline 42R is configured to be able to supply the hydraulic fluid to the control valves farther downstream, when the flow of the hydraulic fluid passing through the center bypass pipeline 40R is restricted or blocked by any of the control valves 172, 174, and 175R.
The regulators 13L and 13R control the discharge amounts of the main pumps 14L and 14R by adjusting the swash plate tilt angles of the main pumps 14L and 14R in accordance with the discharge pressures of the main pumps 14L and 14R. The regulators 13L and 13R correspond to the regulator 13 in
The discharge pressure sensor 28L is an example of the discharge pressure sensor 28, and detects the discharge pressure of the main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.
Here, the negative control employed in the hydraulic system of
In the center bypass pipeline 40L, a throttle 18L is disposed between the control valve 176L located farthest downstream and the hydraulic fluid tank. The flow of the hydraulic fluid discharged from the main pump 14L is restricted by the throttle 18L. The throttle 18L generates a control pressure for controlling the regulator 13L. A control pressure sensor 19L is a sensor for detecting the control pressure, and outputs the detected value to the controller 30. Similarly, in the center bypass pipeline 40R, a throttle 18R is disposed between the control valve 176R located farthest downstream and the hydraulic fluid tank. The flow of the hydraulic fluid discharged from the main pump 14R is restricted by the throttle 18R. The throttle 18R generates a control pressure for controlling the regulator 13R. The control pressure sensor 19R is a sensor for detecting the control pressure, and outputs the detected value to the controller 30.
The controller 30 controls the discharge amount of the main pump 14L by adjusting the swash plate tilting angle of the main pump 14L in accordance with the control pressure detected by the control pressure sensor 19L. The controller 30 decreases the discharge amount of the main pump 14L as the control pressure increases, and increases the discharge amount of the main pump 14L as the control pressure decreases.
Specifically, as illustrated in
On the other hand, when any of the hydraulic actuators are operated, the hydraulic fluid discharged from the main pump 14L flows into the hydraulic actuators to be operated via the control valves corresponding to the hydraulic actuators to be operated. The flow of the hydraulic fluid discharged from the main pump 14L reduces or eliminates the amount of the hydraulic fluid reaching the throttle 18L, and reduces the control pressure generated upstream of the throttle 18L. As a result, the controller 30 increases the discharge amount of the main pump 14L, circulates sufficient hydraulic fluid to the hydraulic actuators to be operated, and ensures the driving of the hydraulic actuators to be operated. The description of the main pump 14L is also applied to the main pump 14R.
With the above-described configuration, the hydraulic system of
Next, a configuration for automatically activating the actuators will be described with reference to
The boom operation lever 26A in
An operation pressure sensor 29A is an example of the operation pressure sensor 29, and detects the operation content of the operator with respect to the boom operating lever 26A in the form of a pressure and outputs the detected value to the controller 30. The operation content is, for example, an operation direction, an operation amount (operation angle), and the like.
Proportional valves 31AL and 31AR are examples of the proportional valve 31, and shuttle valves 32AL and 32AR are examples of the shuttle valve 32. The proportional valve 31AL operates in response to an electric current command output from the controller 30. The proportional valve 31AL adjusts the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 via the proportional valve 31AL and the shuttle valve 32AL to the right-side pilot port of a control valve 175L and the left-side pilot port of the control valve 175R. The proportional valve 31AR operates in response to an electric current command output from the controller 30. The proportional valve 31AR adjusts the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 to the right-side pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32AR. The proportional valves 31AL and 31AR can adjust the pilot pressures so that the control valves 175L and 175R can be stopped at any given positions.
With this configuration, the controller 30 can supply hydraulic fluid discharged from the pilot pump 15 to the right-side pilot port of the control valve 175L and the left-side pilot port of the control valve 175R via the proportional valve 31AL and the shuttle valve 32AL, independently of the boom raising operation by the operator, for example. That is, the controller 30 can automatically raise the boom 4. Furthermore, the controller 30 can supply hydraulic fluid discharged from the pilot pump 15 to the right-side pilot port of the control valve 175R via the proportional valve 31AR and the shuttle valve 32AR, independently of the boom lowering operation by the operator. In other words, the controller 30 can automatically lower the boom 4.
A bucket operation lever 26B in
An operation pressure sensor 29B is an example of the operation pressure sensor 29, and detects the operation content of the bucket operation lever 26B by the user in the form of pressure, and outputs the detected value to the controller 30.
Proportional valves 31BL and 31BR are examples of the proportional valve 31, and shuttle valves 32BL and 32BR are examples of the shuttle valve 32. The proportional valve 31BL operates in response to an electric current command output from the controller 30. The proportional valve 31BL adjusts the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 to the left-side pilot port of the control valve 174 via the proportional valve 31BL and the shuttle valve 32BL. The proportional valve 31BR operates in response to an electric current command output from the controller 30. The proportional valve 31BR adjusts the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 to the right-side pilot port of the control valve 174 via the proportional valve 31BR and the shuttle valve 32BR. The proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valve 174 can be stopped at any given position.
With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left-side pilot port of the control valve 174 via the proportional valve: 31BL and the shuttle valve 32BL, independently of the bucket closing operation by the operator. That is, the controller 30 can automatically close the bucket 6. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right-side pilot port of the control valve 174 via the proportional valve 31BR and the shuttle valve 32BR, independently of the bucket opening operation by the operator. That is, the controller 30 can automatically open the bucket 6.
A turning operation lever 26C in
An operation pressure sensor 29C is an example of the operation pressure sensor 29, and detects the operation content of the operator on the turning operation lever 26C in the form of pressure, and outputs the detected value to the controller 30.
Proportional valves 31CL and 31CR are examples of the proportional valve 31, and shuttle valves 32CL and 32CR are examples of the shuttle valve 32. The proportional valve 31CL operates in response to an electric current command output from the controller 30. The proportional valve 31CL adjusts the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 to the left-side pilot port of the control valve 173 via the proportional valve 31CL and the shuttle valve 32CL. The proportional valve 31CR operates in response to an electric current command output from the controller 30. The proportional valve 31CR adjusts the pilot pressure by the hydraulic fluid introduced from the pilot pump 15 to the right-side pilot port of the control valve 173 via the proportional valve 31CR and the shuttle valve 32CR. The proportional valves 31CL and 31CR can adjust the pilot pressures so that the control valve 173 can be stopped at any given position.
With this configuration, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the left-side pilot port of the control valve 173 via the proportional valve 31CL and the shuttle valve 32CL, independently of the left turning operation by the operator. That is, the controller 30 can automatically turn the upper turning body 3 to the left. Furthermore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the right-side pilot port of the control valve 173 via the proportional valve 31CR and the shuttle valve 32CR, independently of the right turning operation by the operator. That is, the controller 30 can automatically turn the upper turning body 3 to the right.
The excavator 100 may be provided with a configuration in which the arm 5 is automatically opened and closed and a configuration in which the lower traveling body 1 automatically moves forward and rearward. In this case, the hydraulic system portion related to the operation of the arm cylinder 8, the hydraulic system portion related to the operation of the left-side traveling hydraulic motor 1L, and the hydraulic system portion related to the operation of the right-side traveling hydraulic motor 1R may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7, and the like.
In this way, the controller 30 can activate the attachment independently of the operation on the operation device 26. At this time, when an operation is performed on the operation device 26 in a state where the MC switch is pressed, the controller 30 can activate the attachment based on the operation performed on the operation device 26, the information acquired about the position and the orientation of the excavator 100, and the information registered in advance. For example, as described above, when the operator manually performs the arm closing operation, the controller 30 may automatically extend and contract at least one of the boom cylinder 7, the arm cylinder 8, or the bucket cylinder 9 so that the target construction surface and the position of the claw tip of the bucket 6 match each other. This can reduce the burden on the operator by operation. The position and the orientation of the excavator 100 may be measured by the positioning device Pl and output to the controller 30. In addition, information about the target construction surface stored in the storage device 47 can be used as the information registered in advance.
Next, another configuration example of the machine guidance device 50 will be described with reference to FIG. 5.
The turning angle calculation unit 55 calculates the turning angle of the upper turning body 3. This is for specifying the current orientation of the upper turning body 3. In the present embodiment, the turning angle calculation unit 55 calculates the angle of the front-rear axis of the upper turning body 3 with respect to the reference direction as the turning angle based on the output of the GNSS compass serving as the positioning device P1. The turning angle calculation unit 55 may calculate the turning angle based on the output of the turning angular speed sensor S5. In addition, when a reference point is set in the construction site, the turning angle calculation unit 55 may set a direction in which the reference point is viewed from the turning axis as the reference direction.
The turning angle indicates the direction in which an attachment operating plane extends. The attachment operating plane is, for example, a virtual plane that longitudinally traverses the attachment, and is disposed so as to be perpendicular to the turning plane. The turning plane is, for example, a virtual plane including a bottom surface of the turning frame perpendicular to the turning axis. The machine guidance device 50 is provided with, for example, an attachment operating plane AF (see
The relative angle calculation unit 56 calculates a relative angle as a turning angle necessary for causing the upper turning body 3 to directly face the target construction surface. The relative angle is, for example, a relative angle formed between the direction of the longitudinal axis of the upper turning body 3 when the upper turning body 3 is caused to directly face the target construction surface and the current direction of the longitudinal axis of the upper turning body 3. In the present embodiment, the relative angle calculation unit 56 calculates the relative angle based on the information about the target construction surface stored in the storage device 47 and the turning angle calculated by the turning angle calculation unit 55.
When the turning operation lever is operated in a state where a predetermined switch is pressed, the automatic control unit 54 determines whether the turning operation lever is operated in a direction causing the upper turning body 3 to directly face the target construction surface. Then, when it is determined that the turning operation lever is operated in the direction causing the upper turning body 3 to directly face the target construction surface, the automatic control unit 54 sets a relative angle calculated by the relative angle calculation unit 56 as the target angle. When the change in the turning angle after the turning operation lever is operated reaches the target angle, it is determined that the upper turning body 3 directly faces the target construction surface, and the movement of the turning hydraulic motor 2A is stopped.
In this way, the machine guidance device 50 of
Next, an example of the directly-facing control in which the controller 30 causes the upper turning body 3 to directly face the target construction surface will be described with reference to
The state in which the upper turning body 3 directly faces the target construction surface includes, for example, a state in which an angle x formed between a line segment L1 representing an orientation (extending direction) of the target construction surface and a line segment L2 representing the longitudinal axis of the upper turning body 3 is 90 degrees in the virtual horizontal plane as illustrated in
A virtual cylindrical body CB in
The automatic control unit 54 sets, for example, a turning angle at which the attachment operating plane AF and the target construction surface (upward slope BS) are perpendicular to each other as the target angle. The automatic control unit 54 detects the current turning angle based on the output of the positioning device P1 and the like, and calculates the difference between the target angle and the current turning angle (detected value). Then, the automatic control unit 54 activates the turning hydraulic motor 2A so that the difference becomes equal to or less than a predetermined value or becomes zero. Specifically, the automatic control unit 54 determines that the upper turning body 3 directly faces the target construction surface when the difference between the target angle and the current turning angle is equal to or less than the predetermined value or is zero. When the turning operation lever is operated in a state where the predetermined switch is pressed, the automatic control unit 54 determines whether the turning operation lever is operated in a direction causing the upper turning body 3 to directly face the target construction surface. For example, when the turning operation lever is operated in a direction causing the difference between the target angle and the current turning angle to increase, the automatic control unit 54 determines that the turning operation lever is not operated in a direction causing the upper turning body 3 to directly face the target construction surface, and does not execute the directly-facing control. On the other hand, when the turning operation lever is operated in a direction causing the difference between the target angle and the current turning angle to decreases, the automatic control unit 54 determines that the turning operation lever is operated in a direction causing the upper turning body 3 to directly face the target construction surface, and executes the directly-facing control. As a result, the turning hydraulic motor 2A can be activated so that the difference between the target angle and the current turning angle is reduced. Thereafter, the automatic control unit 54 stops the turning hydraulic motor 2A when the difference between the target angle and the current turning angle becomes equal to or less than the predetermined value or becomes zero.
The example illustrated in
The controller 30 executes the directly-facing control when the MC switch is pressed.
First, the machine guidance device 50 included in the controller 30 determines whether or not a directly-facing misalignment has occurred. In the present embodiment, the machine guidance device 50 determines whether or not the directly-facing misalignment occurs based on the information about the target construction surface stored in advance in the storage device 47 and the output of the positioning device P1 serving as the orientation detection device. The information about the target construction surface includes information about the orientation of the target construction surface. The positioning device P1 outputs information about the orientation of the upper turning body 3. For example, as illustrated in
The machine guidance device 50 may determine whether or not the directly-facing misalignment has occurred based on the image captured by the camera S6. For example, the machine guidance device 50 may derive information about the shape of the slope surface that is the work target by performing various kinds of image processing on the image captured by the camera S6, and determine whether or not the directly-facing misalignment has occurred based on the derived information. Alternatively, the machine guidance device 50 may determine whether or not the directly-facing misalignment occurs based on an output of another space recognition device other than the camera S6, such as an ultrasonic sensor, a millimeter wave radar, a distance image sensor, a LIDAR, or an infrared sensor.
When it is determined that the directly-facing misalignment has not occurred, the machine guidance device 50 ends the current directly-facing control without executing the directly-facing control.
When it is determined that the directly-facing misalignment has occurred, the machine guidance device 50 determines whether or not an obstacle is present around the excavator 100. Then, when it is determined that no obstacle is present around the excavator 100, the machine guidance device 50 executes the directly-facing control. In the examples of
In this way, the controller 30 can execute the directly-facing control for causing the upper turning body 3 to turn so that the upper turning body 3 directly faces the target construction surface based on the information about the target construction surface and the information about the orientation of the upper turning body 3.
The controller 30 may be configured to execute the directly-facing control when a predetermined switch is operated. For example, the directly-facing control may be executed when the MC switch is pressed. In this case, the controller 30 can automatically cause the upper turning body 3 to directly face the target construction surface when the MC switch for starting the machine control function is pressed. That is, the controller 30 can execute the directly-facing control as a part of the machine control function. Therefore, when the machine control function is executed, the controller 30 can reduce the troublesomeness felt by the operator of the excavator 100 when the excavator 100 is caused to directly face the target construction surface. As a result, the controller 30 can improve the work efficiency of the excavator 100. In this case, when the turning operation lever is operated in a direction causing the difference between the target angle and the current turning angle to decrease in a state in which a predetermined switch is operated, the automatic control unit 54 may determine that the turning operation lever is operated in a direction causing the upper turning body 3 to directly face the target construction surface, and may execute the directly-facing control. That is, the directly-facing control may be executed in a case where an operation of turning the upper turning body is performed while a predetermined switch is operated. This can assist the operator to cause the upper turning body 3 to directly face the target construction surface.
The controller 30 may cause the upper turning body 3 to directly face the target construction surface by activating another actuator. For example, as illustrated in
The diagrams 8A and 8B are top views of the excavator 100 when the directly-facing control is executed, and correspond to
In the example of
As described above, when work is performed using the excavator 100, it is necessary to make the claw tip or the back surface of the bucket 6, which is a work part, face the target construction surface. That is, the upper turning body 3 and the target construction surface need to be directly facing each other. Therefore, it is preferable that the controller 30 executes the above-described directly-facing control, but it is recommended that the operator also check whether or not the upper turning body 3 and the target construction surface directly face each other.
The excavator 100 is provided with a first switch as one of the input devices 42 for checking whether or not the upper turning body 3 and the target construction surface directly face each other.
When the first switch is operated, for example, pressed (step ST1), the machine guidance device 50 of the controller 30 determines whether the upper turning body 3 and the target construction surface directly face each other. The machine guidance device 50 can determine whether the upper turning body 3 and the target construction surface directly face each other based on the distances since the distances between the coordinates of the left end and the target construction surface and coordinates of the right end of the claw tip of the bucket 6 and the target construction surface are calculated by the distance calculation unit 52.
When the upper turning body 3 and the target construction surface directly face each other (YES in step ST2), the information transmission unit 53 of the machine guidance device 50 performs notification that the upper turning body 3 and the target construction surface directly face each other, via the sound output device 43 (step ST3). The sound output device 43 may perform notification that the upper turning body 3 and the target construction surface directly face each other by, for example, a buzzer. The information transmission unit 53 may perform notification that the upper turning body 3 and the target construction surface directly face each other via the display device 40. The display device 40 may perform notification that the upper turning body 3 and the target construction surface directly face each other by characters or an icon. The information transmission unit 53 may perform notification that the upper turning body 3 and the target construction surface directly face each other using a lighting state of a lamp.
On the other hand, when the upper turning body 3 and the target construction surface do not directly face each other (NO in step ST2), the information transmission unit 53 of the machine guidance device 50 performs notification that the upper turning body 3 and the target construction surface do not directly face each other, via the sound output device 43 (step ST4). The sound output device 43 may perform notification that the upper turning body 3 and the target construction surface do not directly face each other, for example, by a buzzer. In this case, the sound output device 43 activates the buzzer so as to enable distinguishing between a case where the upper turning body 3 and the target construction surface directly face each other and a case where the upper turning body 3 and the target construction surface do not directly face each other. The information transmission unit 53 may perform notification that the upper turning body 3 and the target construction surface do not directly face each other via the display device 40. The display device 40 may perform notification that the upper turning body 3 and the target construction surface do not directly face each other by characters or an icon. The information transmission unit 53 may perform notification that the upper turning body 3 and the target construction surface do not directly face each other using a lighting state of a lamp. In this case, the information transmission unit 53 can make it possible to distinguish between the case where the upper turning body 3 and the target construction surface directly face each other and the case where the upper turning body 3 and the target construction surface do not directly face each other by changing the lighting state of the lamp. For example, the lamp may be turned on when the upper turning body 3 and the target construction surface directly face each other, and the lamp may blink when the upper turning body 3 and the target construction surface do not directly face each other.
The machine guidance device 50 may constantly determine whether the upper turning body 3 and the target construction surface directly face each other, instead of determining whether the upper turning body 3 and the target construction surface directly face each other after the first switch is operated. In this case, when the first switch is operated, the machine guidance device 50 performs notification of whether or not the upper turning body 3 and the target construction surface directly face each other based on the current determination.
As described above, the excavator 100 according to the embodiment of the present disclosure includes the lower traveling body 1, the upper turning body 3 turnably mounted on the lower traveling body 1, and the controller 30 as a control device that performs notification of whether the upper turning body 3 directly faces the target construction surface based on the information about the target construction surface and the information about the orientation of the upper turning body 3. Thus, the operator can accurately determine whether the excavator directly faces the target construction surface.
In addition, when the first switch is operated by being pressed or the like, the notification of whether or not the upper turning body 3 directly faces the target construction surface is performed, and thus, it is possible to notify the operator of whether or not the upper turning body 3 directly faces the target construction surface at a timing at which the operator desires to check.
The series of processes described with reference to
In addition, when the controller 30 is performing the directly-facing control, the controller 30 may perform notification of the directly-facing control.
As described above, for example, when a predetermined switch is operated, the automatic control unit 54 of the controller 30 can activate an automatic directly-facing function of turning the upper turning body 3 so that the upper turning body 3 directly faces the target construction surface based on the information about the target construction surface and the information about the orientation of the upper turning body 3, and can execute the directly-facing control described above.
In the machine guidance device 50, when the automatic control unit 54 executes the directly-facing control (step ST11), the information transmission unit 53 notifies the operator of the directly-facing control being executed, via the sound output device 43 (step ST12). The sound output device 43 may perform notification of the directly-facing control being executed by, for example, a buzzer. The information transmission unit 53 may perform notification of the directly-facing control being executed via the display device 40. The display device 40 may perform notification of the directly-facing control being executed by characters. The information transmission unit 53 may perform notification of the directly-facing control being executed using a lighting state of a lamp.
Thereafter, when the upper turning body 3 directly faces the target construction surface and the directly-facing control by the automatic control unit 54 is completed (YES in step ST13), the information transmission unit 53 notifies the operator of the directly-facing control being completed via the sound output device 43 (step ST14). The sound output device 43 may perform notification of the directly-facing control being completed by, for example, a buzzer. In this case, the sound output device 43 activates the buzzer so that the buzzer can be distinguished between a case where the directly-facing control is being executed and a case where the directly-facing control is completed. The information transmission unit 53 may perform notification of the directly-facing control being completed via the display device 40. The display device 40 may perform notification of the directly-facing control being completed by characters. The information transmission unit 53 may perform notification of the directly-facing control being completed using the lighting state of a lamp. In this case, the information transmission unit 53 can make it possible to distinguish between the case where the directly-facing control is being executed and the case where the directly-facing control is completed from each other by making the lighting states of the lamp differ. For example, the lamp may blink when the directly-facing control is being executed, and the lamp may be turned on when the directly-facing control is completed.
As described above, in the excavator 100 according to the embodiment of the present disclosure, the controller 30 as the control device is capable of executing the directly-facing control for causing the upper turning body 3 to turn so that the upper turning body 3 directly faces the target construction surface based on the information about the target construction surface and the information about the orientation of the upper turning body 3, and perform notification that the directly-facing control is being executed when the directly-facing control is being executed. This enables the operator to recognize when the directly-facing control is being executed to turn upper turning body 3 so that the upper turning body 3 directly faces the target construction surface.
Further, the controller 30 notifies the operator of the directly-facing control being completed when the upper turning body 3 directly faces the target construction surface due to execution of the directly-facing control. Thus, the directly-facing control for causing the upper turning body 3 to turn so that the upper turning body 3 directly faces the target construction surface is completed, and when the upper turning body 3 directly faces the target construction surface, the operator can recognize that the upper turning body 3 directly faces the target construction surface. In the directly-facing control by the automatic control unit 54 of the controller 30, the turning speed of the upper turning body 3 may be reduced as the upper turning body 3 approaches a state of directly facing the target construction surface. In this case, even when the directly-facing control is completed and the upper turning body 3 directly faces the target construction surface, the operator may fail to recognize the fact that the upper turning body 3 directly faces the target construction surface. Therefore, as in the excavator 100 according to the present embodiment, when the completion of the directly-facing control is notified in a case where the upper turning body 3 directly faces the target construction surface due to execution of the directly-facing control, the operator can reliably recognize that the directly-facing control is completed and the upper turning body 3 directly faces the target construction surface.
In the excavator 100 according to the embodiment of the present disclosure, the controller 30 as the control device notifies the operator of the case where the upper turning body 3 directly faces the target construction surface, the case where the upper turning body 3 does not directly face the target construction surface, the case where the directly-facing control is being executed, and the case where the directly-facing control is completed in a mutually distinguishable manner. Thus, the operator can distinguish and recognize the case where the upper turning body 3 directly faces the target construction surface, the case where the upper turning body 3 does not directly face the target construction surface, the case where the directly-facing control is being executed, and the case where the directly-facing control is completed. At this time, it is preferable to perform notification of at least a case where the upper turning body 3 directly faces the target construction surface and a case where the upper turning body 3 does not directly face the target construction surface in a distinguishable manner, and to perform notification of a case where the directly-facing control is being executed and a case where the directly-facing control is completed in a distinguishable manner.
In the excavator 100 according to the embodiment of the present disclosure, the controller 30 as the control device may perform notification of the case where the upper turning body 3 directly faces the target construction surface, the case where the upper turning body 3 does not directly face the target construction surface, the case where the directly-facing control is being executed, and the case where the directly-facing control is completed via the sound output device 43. Thus, the operator can safely recognize the situation of the case where the upper turning body 3 directly faces the target construction surface, the situation of the case where the upper turning body 3 does not directly face the target construction surface, the situation of the case where the directly-facing control is being executed, and the situation of the case where the directly-facing control is completed, without moving their line of sight from the work area when operating the excavator 100. Further, it is described that the notification in the case where the upper turning body 3 directly faces the target construction surface, the notification in the case where the upper turning body 3 does not directly face the target construction surface, the notification in the case where the directly-facing control is being executed, and the notification in the case where the directly-facing control is completed may be performed via the display device 40. Thus, the operator can reliably recognize, for example, by characters, the case where the upper turning body 3 directly faces the target construction surface, the case where the upper turning body 3 does not directly face the target construction surface, the case where the directly-facing control is being executed, and the case where the directly-facing control is completed.
In the above-described embodiment, a hydraulic operation device is employed as the operation device 26, but an electric operation device may be employed.
Specifically, the operation system of
The pilot pressure operated-type control valve 17 includes control valves 175L and 175R related to the boom cylinder 7 as illustrated in
When a manual operation is performed, the controller 30 generates a boom raising operation signal (electric signal) or a boom lowering operation signal (electric signal) in response to an operation signal (electric signal) output from an operation signal generation unit of the boom operation lever 26A. The operation signal output from the operation signal generation unit of the boom operation lever 26A is an electric signal that changes in accordance with the operation amount and the operation direction of the boom operation lever 26A.
Specifically, when the boom operation lever 26A is operated in the boom raising direction, the controller 30 outputs a boom raising operation signal (electric signal) corresponding to the lever operation amount to the electromagnetic valve 60. The electromagnetic valve 60 adjusts the flow passage areas in response to the boom raising operation signal (electric signal), and controls the pilot pressures acting on the right-side pilot port of the control valve 175L and the left-side pilot port of the control valve 175R. Similarly, when the boom operation lever 26A is operated in the boom lowering direction, the controller 30 outputs a boom lowering operation signal (electric signal) corresponding to the lever operation amount to the electromagnetic valve 62. The electromagnetic valve 62 adjusts the flow passage areas in response to the boom lowering operation signal (electric signal), and controls the pilot pressure acting on the right-side pilot ports of the control valves 175R.
When the automatic control is executed, the controller 30 generates a boom raising operation signal (electric signal) or a boom lowering operation signal (electric signal) in response to a correction operation signal (electric signal) instead of the operation signal output from the operation signal generation unit of the boom operation lever 26A. The correction operation signal may be an electric signal generated by the machine guidance device 50 or may be an electric signal generated by a control device other than the machine guidance device 50.
The excavator 100 described above may be employed in a construction system. A construction system SYS will be described with reference to
As illustrated in
The information acquired by the excavator 100 may be shared with the manager, the operator of another excavator, and the like through the construction system SYS. There may be one or more of each of the excavator 100, the support device 200, and the management device 300 constituting the construction system SYS. In the present example, the construction system SYS includes one excavator 100, one support device 200, and one management device 300.
The support device 200 is typically a portable terminal device, and is, for example, a laptop computer terminal, a tablet terminal, or a smartphone carried by a worker or the like at a construction site. The support device 200 may be a portable terminal carried by an operator of the excavator 100. The support device 200 may be a fixed terminal device.
The management device 300 is typically a fixed terminal device, and is, for example, a server computer (so-called cloud server) installed in a management center or the like outside the construction site. The management device 300 may be, for example, an edge server set in a construction site. The management device 300 may be a portable terminal device (for example, a laptop computer terminal, a tablet terminal, or a mobile terminal such as a smartphone).
At least one of the support device 200 or the management device 300 may include a monitor and an operation device for remote operation. In this case, the operator who uses the support device 200 or the manager who uses the management device 300 may operate the excavator 100 while using the operation device for remote operation. The operation device for remote operation is communicably connected to the controller 30 mounted on the excavator 100 through a wireless communication network such as a near-field wireless communication network, a mobile phone communication network, or a satellite communication network.
Various kinds of information (for example, image information indicating the state of the surroundings of the excavator 100 or various setting screens) displayed on the display device 40 installed in the cabin 10 may be displayed on a display device connected to at least one of the support device 200 or the management device 300. The image information representing the state of the surroundings of the excavator 100 may be generated based on an image captured by an imaging device (for example, a camera as a space recognition device). Thus, the worker who uses the support device 200 or the manager who uses the management device 300 can remotely operate the excavator 100 or perform various settings related to the excavator 100 while checking the state of the surroundings of the excavator 100.
For example, in the construction system SYS, the controller 30 of the excavator 100 may transmit information about at least one of the time when and place where the switch of the input device 42 is pressed, a target trajectory used when the excavator 100 is autonomously activated, a trajectory actually traced by a predetermined part during the autonomous operation, and the like to at least one of the support device 200 or the management device 300. At this time, the controller 30 may transmit the captured image of the imaging device to at least one of the support device 200 or the management device 300. The captured image may be a plurality of images captured during the autonomous operation. Further, the controller 30 may transmit information about at least one of data relating to operation content of the excavator 100 during the autonomous operation, data relating to the posture of the excavator 100, data relating to the posture of the excavation attachment, and the like to at least one of the support device 200 or the management device 300. Thus, the worker who uses the support device 200 or the manager who uses the management device 300 can acquire information about the excavator 100 in autonomous operation. The controller 30 may transmit information about the directly-facing control to at least one of the support device 200 or the management device 300. For example, the controller 30 may transmit information indicating that the directly-facing control is being executed or information indicating that the directly-facing control is completed. Further, information indicating whether or not the upper turning body 3 directly faces the target construction surface may be transmitted.
In this way, the construction system SYS enables the operator of the excavator 100 to share information about the excavator 100 with the manager, the operator of another excavator, and the like.
As illustrated in
In the remote control room RC, a remote controller 30R, a sound output device A2, an indoor imaging device C2, a display device RD, a communication device T2, and the like are installed. In addition, an operator's seat DE on which an operator OP who remotely operates the excavator 100 sits is installed in the remote control room RC.
The remote controller 30R is a calculation device that executes various calculations. In the present embodiment, the remote controller 30R is configured by a microcomputer including, circuitry, or a central processing unit (CPU) and a memory, as in the same manner as the controller 30. The various functions of the remote controller 30R are implemented by the CPU executing the programs stored in the memories. The remote controller 30R may have at least some functions of the controller 30 included in the excavator 100 to constitute an example of the control device of the present disclosure. Thus, the above-described directly-facing control can be executed even in the remote operation.
The sound output device A2 is configured to output a sound. In the present embodiment, the sound output device A2 is a speaker. The sound output device A2 is configured to reproduce a sound collected by a sound collecting device (not illustrated). The sound output device A2 may also output a sound corresponding to information transmitted from the controller 30 using a buzzer or the like. Thus, for example, it is possible to perform notification that the directly-facing control is being executed or to perform notification that the directly-facing control is completed. Further, it is also possible to perform notification of whether or not the upper turning body 3 directly faces the target construction surface.
The indoor imaging device C2 is configured to image the inside of the remote control room RC. In the present embodiment, the indoor imaging device C2 is a camera installed inside the remote control room RC, and is configured to image the operator OP seated on the operator's seat DE.
The communication device T2 is configured to control wireless communication with a communication device attached to the excavator 100.
In the present embodiment, the operator's seat DE has the same structure as an operator's seat installed in the cabin 10 of a normal excavator. Specifically, a left console box is disposed on the left side of the operator's seat DE, and a right console box is disposed on the right side of the operator's seat DE. A left operation lever is disposed at the front end of the upper surface of the left console box, and a right operation lever is disposed at the front end of the upper surface of the right console box. A travel lever and a travel pedal are disposed in front of the operator's seat DE. Further, a dial 75 is disposed at the center of the upper surface of the right console box. Each of the left operation lever, the right operation lever, the travel lever, and the travel pedal constitutes an operation device 26E.
The dial 75 is a dial for adjusting the rotation speed of the engine 11, and is configured to be able to switch the engine rotation speed in four stages, for example.
Specifically, the dial 75 is configured to be able to switch the engine speed in four stages of an SP mode, an H mode, an A mode, and an idling mode. The dial 75 transmits data relating to the setting of the engine speed to the controller 30.
The SP mode is a rotation speed mode selected when the operator OP desires to prioritize the work amount, and uses the highest engine rotation speed. The H mode is a rotation speed mode selected when the operator OP desires to achieve both the work amount and the fuel efficiency, and uses the second highest engine rotation speed. The A mode is a rotation speed mode selected when the operator OP desires to operate the excavator with low noise while giving priority to fuel efficiency, and uses the third highest engine rotation speed. The idling mode is a rotation speed mode selected when the operator OP desires to set the engine to an idling state, and uses the lowest engine rotation speed. The engine 11 is controlled to rotate at a constant speed in the speed mode selected via the dial 75.
The operation device 26E is provided with an operation pressure sensor 129A for detecting the operation content of the operation device 26E. The operation pressure sensor 129A is, for example, an inclination sensor that detects an inclination angle of the operation lever, an angle sensor that detects a turning angle of the operation lever around a turning shaft, or the like. The operation pressure sensor 129A may be configured by other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation pressure sensor 129A outputs information about the detected operation content of the operation device 26E to the remote controller 30R. The remote controller 30R generates an operation signal based on the received information and transmits the generated operation signal to the excavator 100. The operation pressure sensor 129A may be configured to generate an operation signal. In this case, the operation pressure sensor 129A may output the operation signal to the communication device T2 without passing through the remote controller 30R.
The display device RD is configured to display information about the situation around the excavator 100. In the present embodiment, the display device RD is a multi-display including nine monitors arranged in three rows and three columns, and is configured to be able to display the states of the spaces in front of, on the left of, and on the right of the excavator 100. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device RD may be configured by one or a plurality of curved surface monitors, or may be configured by a projector. The display device RD may be configured to be able to display the states of the spaces in front of, on the left of, on the right of, and behind the excavator 100. The display device RD may display information transmitted from the controller 30. Thus, for example, it is possible to perform notification that the directly-facing control is being executed by characters, or to perform notification that the directly-facing control is completed by characters. Further, it is also possible to perform notification of whether or not the upper turning body 3 directly faces the target construction surface by characters.
The display device RD may be a display device that can be worn by the operator OP. For example, the display device RD may be a head-mounted display and may be configured to be able to transmit and receive information to and from the remote controller 30R by wireless communication. The head-mounted display may be wired to the remote controller 30R. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.
The display device RD is configured to display an image that allows the operator OP in the remote control room RC to visually recognize the surroundings of the excavator 100. That is, the display device RD displays an image so that the operator can check the situation around the excavator 100 as if the operator is in the cabin 10 of the excavator 100 although the operator is in the remote control room RC.
Although embodiments of the present disclosure have been described above in detail, the present disclosure is not limited to such specific embodiments, and various alterations and modifications are possible within the scope of the claims as recited.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2023-206068 | Dec 2023 | JP | national |
