JP6911018B2 - Excavator - Google Patents

Description

The present invention relates to a shovel provided with an attachment.

A shovel is known that informs an operator that an attachment composed of a boom, an arm, and a bucket is in a running posture (see, for example, Patent Document 1). The running posture of the attachment means the posture that the attachment should take when the shovel is running. This excavator turns on the boom indicator when the boom is in the running position, turns on the arm indicator when the arm is in the running position, and turns on the bucket indicator when the bucket is in the running position. Let me.

JP-A-2009-97303

However, the excavator of Patent Document 1 only includes an indicator that lights up when the attachment is in the traveling posture by the manual operation of the operation lever by the operator. Therefore, the operator of the excavator must perform troublesome work such as manually operating the boom, arm, and bucket while visually recognizing the state of the display when the attachment is put into the traveling posture.

In view of the above points, it is desirable to provide a shovel that can more easily shift the posture of the attachment to a desired posture.

The excavator according to the embodiment of the present invention includes a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and an attachment including a boom, an arm, and a bucket attached to the upper rotating body. Based on the image data of an object including the ground around the excavator output by the imaging device when a predetermined condition is satisfied , the lower traveling body touches the ground so that the attachment does not come into contact with the object during traveling. A control device for changing the posture of the attachment to a predetermined posture capable of traveling is provided before the start of traveling according to the height of the object including the ground.

By the above-mentioned means, it is possible to provide a shovel capable of more easily shifting the posture of the attachment to a desired posture.

It is a side view of the excavator which concerns on embodiment of this invention. It is a block diagram of the control system mounted on the excavator of FIG. It is a side view of the excavator working in an indoor work place. It is a side view of the excavator running in an outdoor work place.

FIG. 1 is a side view of an excavator (excavator) according to an embodiment of the present invention. The excavator of FIG. 1 moves back and forth between the outdoor work place OD and the indoor work place ID, and mainly performs work on the work object TR such as industrial waste by the indoor work place ID. An upper swivel body 3 is mounted on the lower traveling body 1 of the excavator so as to be swivelable via a swivel mechanism 2. The upper swing body 3 is provided with a cabin 10 and is equipped with a power source such as an engine 11. A boom 4 as a working body is attached to the upper swing body 3. An arm 5 as a working body is attached to the tip of the boom 4, and a working body and a bucket 6 as an end attachment are attached to the tip of the arm 5. As the end attachment, a grapple, a lifting magnet, a breaker or the like may be attached.

The boom 4, arm 5, and bucket 6 form an excavation attachment, which is an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively.

In the example of FIG. 1, the outdoor work place OD and the indoor work place ID are separated by a shutter SH. The height H1 of the doorway when the shutter SH is fully opened is lower than the height H2 of the excavation attachment when the excavation attachment is lifted to some extent. Therefore, when the excavator moves between the outdoor work place OD and the indoor work place ID, it is necessary to change the posture of the excavation attachment so that the height of the excavation attachment is lower than the height H1.

An inclination sensor S0 is attached to the upper swing body 3. 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 tilt sensor S0, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are collectively referred to as "attitude sensors".

The tilt sensor S0 acquires the tilt angle of the upper swing body 3 with respect to the horizontal plane as the vehicle body tilt angle. The vehicle body tilt angle includes an axial tilt angle extending in the vehicle width direction and an axial tilt angle extending in the vehicle front-rear direction. The boom angle sensor S1 acquires the rotation angle of the boom 4 with respect to the upper swing body 3 as the boom angle. The arm angle sensor S2 acquires the rotation angle of the arm 5 with respect to the boom 4 as the arm angle. The bucket angle sensor S3 acquires the rotation angle of the bucket 6 with respect to the arm 5 as the bucket angle. In this embodiment, the tilt sensor S0, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are all acceleration sensors. However, each sensor may be a combination of an acceleration sensor and a gyro sensor. In this case, desired angles such as a vehicle body tilt angle, a boom angle, an arm angle, and a bucket angle are calculated from the outputs of the acceleration sensor and the gyro sensor. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 are a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, and a rotary that detects the rotation angle around the connecting pin. It may be an encoder or the like.

Next, with reference to FIG. 2, the control system mounted on the excavator of FIG. 1 will be described. FIG. 2 is a block diagram of the control system.

The controller 30 functions as a main control unit that controls the drive of the excavator. In this embodiment, the controller 30 is composed of an arithmetic processing unit including a CPU and an internal memory. Various functions of the controller 30 are realized by the CPU executing a program stored in the internal memory. The controller 30 is connected to an input device, an audio output device, a storage device, and the like.

The input device is a device for the operator of the excavator to input various information to the controller 30. In this embodiment, the input device is a hardware switch installed in the cabin 10. The input device may be a touch panel.

The voice output device outputs various voice information in response to a voice output command from the controller 30. In this embodiment, the audio output device is an in-vehicle speaker provided in the cabin 10. The audio output device may be an alarm device such as a buzzer.

The controller 30 may be connected to a microphone as a voice input device. The microphone is installed in the cabin 10, for example. In this case, the controller 30 may convert the operator's voice input through the microphone into a control signal associated in advance by the voice identification function. Then, the excavator may be controlled by using the control signal. The voice input device may be a multifunctional portable information terminal such as a smartphone. In this case, the multifunctional portable information terminal may activate the voice identification function by receiving, for example, a signal emitted when a switch provided on the operation lever is pressed, wirelessly or by wire. Then, the voice of the operator may be converted into a control signal associated in advance by the voice recognition function, and the control signal may be transmitted to the controller 30. With such a configuration, the operator can perform a predetermined function of the excavator without taking his / her hand off the operating lever.

The storage device is a device for storing various types of information. In this embodiment, the storage device is a non-volatile storage medium such as a semiconductor memory. The storage device stores various information output by the controller 30 and the like.

The display device 40 outputs various image information in response to a command from the controller 30. In this embodiment, the display device 40 is a liquid crystal display provided in the cabin 10. The display device 40 includes a conversion processing unit 40a that generates an image to be displayed on the image display unit 41. The conversion processing unit 40a generates a camera image to be displayed on the image display unit 41 based on the output of the image pickup apparatus 80. Therefore, the image pickup device 80 is connected to the display device 40 via, for example, a dedicated line. The display device 40 is connected to the controller 30 via a communication network such as CAN or LIN. The display device 40 may be connected to the controller 30 via a dedicated line.

The conversion processing unit 40a converts, for example, the data to be displayed on the image display unit 41 among the data input to the display device 40 into an image signal. The data input to the display device 40 includes image data from the image pickup device 80. The image pickup apparatus 80 may include, for example, a left side surveillance camera, a rear side surveillance camera, and a right side surveillance camera. In that case, the image data output by each of the left side surveillance camera, the rear side surveillance camera, and the right side surveillance camera is input to the display device 40. The image pickup device 80 may include a forward surveillance camera that images the excavation attachment. The forward surveillance camera is, for example, a stereo camera, which is used to grasp the posture of the excavation attachment by using image recognition technology.

Further, the conversion processing unit 40a generates an image to be displayed on the image display unit 41 based on the output of the controller 30. In this embodiment, the conversion processing unit 40a converts the data to be displayed on the image display unit 41 among the data input to the controller 30 into an image signal. The data input to the controller 30 includes, for example, data indicating the temperature of the engine cooling water, data indicating the temperature of the hydraulic oil, data indicating the remaining amount of urea water, data indicating the remaining amount of fuel, and the like. The conversion processing unit 40a outputs the converted image signal to the image display unit 41, and causes the image display unit 41 to display the corresponding image.

The conversion processing unit 40a may be realized not as a function of the display device 40 but as a function of the controller 30. In this case, the image pickup device 80 is connected to the controller 30 instead of the display device 40.

The display device 40 includes a switch panel 42 as an input unit. The switch panel 42 is a panel including various hardware switches. In this embodiment, the switch panel 42 includes a light switch 42a, a wiper switch 42b, and a window washer switch 42c as hardware buttons. The light switch 42a is a switch for switching on / off of a light attached to the outside of the cabin 10. The wiper switch 42b is a switch for switching the operation / stop of the wiper. Further, the window washer switch 42c is a switch for injecting the window washer liquid.

The display device 40 operates by receiving electric power from the storage battery 70. The storage battery 70 is charged with the electric power generated by the alternator 11a. The electric power of the storage battery 70 is also supplied to the electric component 72 of the excavator and the like. The starter 11b is driven by the electric power from the storage battery 70 to start the engine 11.

The engine 11 is controlled by an engine control unit (ECU) 74. The ECU 74 transmits various data indicating the state of the engine 11 to the controller 30. The various data include, for example, data indicating the cooling water temperature detected by the water temperature sensor 11c. The controller 30 can store this data in the internal temporary storage unit 30a and transmit it to the display device 40 when necessary.

The controller 30 receives various data and stores it in the temporary storage unit 30a. For example, data indicating the swash plate angle is received from the regulator 14a of the main pump 14 which is a variable displacement hydraulic pump. In addition, data indicating the discharge pressure of the main pump 14 is received from the discharge pressure sensor 14b. Further, data indicating the temperature of the hydraulic oil flowing through the pipeline is received from the oil temperature sensor 14c provided in the pipeline between the tank in which the hydraulic oil sucked by the main pump 14 is stored and the main pump 14.

The operation device 26 is a device for operating various actuators, and includes an operation lever, an operation pedal, an operation switch, and the like. The pilot pressure sent to the control valve 17 when the operating device 26 is operated is detected by the pilot pressure sensors 15L and 15R. The controller 30 receives data indicating the pilot pressure from the pilot pressure sensors 15L and 15R. A switch button 27 is provided on the operation lever as the operation device 26. The operator can send a command signal to the controller 30 by operating the switch button 27 while operating the operation lever. The controller 30 executes various functions based on the command signal from the switch button 27.

The engine speed adjustment dial 75 is a dial for adjusting the engine speed. In this embodiment, the engine speed adjustment dial 75 enables the engine speed to be switched in four stages of SP mode, H mode, A mode, and idling mode. FIG. 5 shows a state in which the H mode is selected by the engine speed adjustment dial 75.

The SP mode is a rotation speed mode selected when it is desired to prioritize the amount of work, and the highest engine speed is used. The H mode is a rotation speed mode selected when it is desired to achieve both work load and fuel consumption, and uses the second highest engine speed. The A mode is a rotation speed mode selected when it is desired to operate the excavator with low noise while giving priority to fuel consumption, and uses the third highest engine speed. The idling mode is a rotation speed mode selected when the engine is desired to be in an idling state, and the lowest engine speed is used. The engine speed is constantly controlled by the engine speed in the speed mode set by the engine speed adjustment dial 75.

The pressure sensor S7B detects the pressure of the hydraulic oil in the oil chamber on the bottom side of the boom cylinder 7, and the pressure sensor S7R detects the pressure of the hydraulic oil in the oil chamber on the rod side of the boom cylinder 7. The pressure sensor S8B detects the pressure of the hydraulic oil in the oil chamber on the bottom side of the arm cylinder 8, and the pressure sensor S8R detects the pressure of the hydraulic oil in the oil chamber on the rod side of the arm cylinder 8. The pressure sensor S9B detects the pressure of the hydraulic oil in the oil chamber on the bottom side of the bucket cylinder 9, and the pressure sensor S9R detects the pressure of the hydraulic oil in the oil chamber on the rod side of the bucket cylinder 9. The output of these pressure sensors may be used to derive the orientation of the drilling attachment.

The posing switch SW is a switch for starting the posing function. The posing function is a function of shifting the posture of the excavation attachment to a predetermined posture. The posing switch SW may be a software switch displayed on the screen of the image display unit 41 of the display device 40, may be a hardware switch installed inside the cabin 10, and may be installed outside the cabin 10. It may be a hardware switch. Further, the posing switch SW may be a switch button 27 provided at the tip of the operation lever. However, the posing function may be started not in response to a switch input such as a posing switch SW, but in response to a voice input via a voice input device such as a smartphone.

The predetermined posture is, for example, a target posture determined by using the boom angle, the arm angle, and the bucket angle, and includes a posture suitable for running (hereinafter, referred to as “running posture”). In this embodiment, the predetermined posture is a posture determined by using the boom angle, the arm angle, and the bucket angle and stored in advance in the storage device. For example, the upper end of the boom 4 is the predetermined first height. It is a posture that satisfies the condition that the lower end of the bucket 6 as an end attachment is higher than a predetermined second height. The predetermined posture may be determined by the boom angle and the arm angle, or may be determined only by the boom angle. The boom angle, arm angle, and bucket angle that determine a predetermined posture may be represented by a specific angle value or may be represented by an angle range. The predetermined posture may be specified by using the stroke amounts of the boom cylinder 7 and the arm cylinder 8, and is specified by using the stroke amounts of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. You may be.

The excavator operator can also memorize the desired posture regarding the excavation attachment as the target posture. For example, the operator can memorize the desired posture as the target posture by operating the operation device 26 and pressing the posture memory switch in a state where the excavation attachment is in the desired posture.

The posture memory switch is a switch for storing the current posture of the excavation attachment as a target posture. Like the posing switch SW, the posture memory switch may be a software switch displayed on the image display unit 41 of the display device 40, or may be a hardware switch installed inside the cabin 10. Alternatively, it may be a hardware switch installed outside the cabin 10, or a switch button 27 provided at the tip of the operating lever. Alternatively, the target posture may be stored using a voice input device. For example, the controller 30 may memorize the current posture of the excavation attachment as the target posture when a predetermined voice such as "posture memory" is input.

The control valve 50 is a valve for controlling the pilot pressure acting on the pilot port of the flow rate control valve. In this embodiment, the control valve 50 is a solenoid valve that operates in response to a command from the controller 30. The flow rate control valve is a spool valve included in the control valve 17, and includes a left side pilot port and a right side pilot port. The flow rate control valve includes a boom flow rate control valve that controls the flow of hydraulic oil in the boom cylinder 7, an arm flow control valve that controls the flow of hydraulic oil in the arm cylinder 8, and a bucket flow rate that controls the flow of hydraulic oil in the bucket cylinder 9. Includes control valve.

The control valve 50L, which is an example of the control valve 50, is a pilot line connecting the left side (raising operation side) port of the boom operating lever, which is an example of the operating device 26, and the left side (raising operation side) pilot port of the boom flow rate control valve. is set up. The control valve 50R, which is another example of the control valve 50, is installed on a pilot line connecting the right side (lowering operation side) port of the boom operating lever and the right side (lowering operation side) pilot port of the boom flow rate control valve.

When not receiving a command from the controller 30, the control valve 50L communicates the left port of the boom operating lever with the left pilot port of the boom flow rate control valve, and is generated when the boom operating lever is operated in the upward direction. Apply pilot pressure to the left pilot port. Similarly, the control valve 50R communicates the right port of the boom operating lever with the right pilot port of the boom flow rate control valve, and acts on the left pilot port the pilot pressure generated when the boom operating lever is operated in the downward direction. Let me.

Upon receiving a command from the controller 30, the control valve 50L cuts off the communication between the left port of the boom operating lever and the left pilot port of the boom flow rate control valve, and communicates with the pilot pump 15 and the left pilot port of the boom flow rate control valve. Let me. Then, using the hydraulic oil discharged by the pilot pump 15, a pilot pressure having a magnitude corresponding to a command from the controller 30 is generated, and the pilot pressure is applied to the left pilot port of the boom flow rate control valve. Similarly, the control valve 50R cuts off the communication between the right port of the boom operating lever and the right pilot port of the boom flow rate control valve, and communicates with the pilot pump 15 and the right pilot port of the boom flow rate control valve. Then, using the hydraulic oil discharged by the pilot pump 15, a pilot pressure having a magnitude corresponding to a command from the controller 30 is generated, and the pilot pressure is applied to the right pilot port of the boom flow rate control valve.

The same applies to the control valve installed on the pilot line connecting the arm operating lever and the arm flow rate control valve, and the control valve installed on the pilot line connecting the bucket operating lever and the bucket flow rate control valve.

Next, with reference to FIG. 3, the movement of the excavator when the posing switch SW is operated will be described. FIG. 3 is a side view of an excavator working with an indoor work place ID, and corresponds to FIG.

When the posing switch SW is pressed in the state shown in FIG. 1, the controller 30 determines that the predetermined condition is satisfied, and reads out the information regarding the traveling posture of the excavation attachment stored in the storage device. Information on the running posture includes, for example, the boom angle, the arm angle, and the bucket angle when the posture of the excavation attachment is set to the running posture (hereinafter, the running posture boom angle, the running posture arm angle, and the running posture bucket, respectively). Includes (referred to as angle).

The controller 30 outputs a command to the control valve 50 in order to change the posture of the excavation attachment to the traveling posture. In the example of the attitude change from the state shown in FIG. 1 to the state shown in FIG. 3, the controller 30 first closes the bucket operating lever and the bucket flow control valve so as to automatically close the bucket 6. A command is output to the control valve 50 provided on the pilot line connecting to the pilot port on the closing operation side. Then, after closing the bucket 6 to the traveling posture bucket angle, the arm 5 is automatically closed on the pilot line connecting the closing operation side port of the arm operating lever and the closing operation side pilot port of the arm flow control valve. A command is output to the control valve 50. Then, after closing the arm 5 to the traveling posture arm angle, the boom 4 is provided on the pilot line connecting the lowering operation side port of the boom operation lever and the lowering operation side pilot port of the boom flow rate control valve so as to automatically lower the boom 4. A command is output to the control valve 50. In this way, the controller 30 moves the bucket 6, the arm 5, and the boom 4 in order to change the posture of the excavation attachment to the traveling posture shown in FIG.

The traveling posture shown in FIG. 3 is a posture in which the uppermost portion of the excavation attachment has the minimum height when the excavator can travel. In the running posture shown in FIG. 3, the bucket link portion at the bottom of the excavation attachment is separated from the ground by a predetermined height. The bucket angle is, for example, the angle when the bucket 6 is closed to the closing or the vicinity of the closing, and the arm angle is, for example, the angle when the arm 5 is closed to the closing or the vicinity of the closing. "Closed" means the most closed state. Then, "when the bucket 6 is closed to the closing limit" means, for example, when the cylinder stroke amount of the bucket cylinder 9 is maximized, and "when the arm 5 is closed to the closing limit" means, for example, the arm. It means when the cylinder stroke amount of the cylinder 8 is maximized. Further, the boom angle is, for example, a predetermined angle that satisfies the traveling condition. The height of the bucket link portion at the bottom of the excavation attachment from the ground is preferably 30 cm or more. More preferably, it is 40 cm or more.

As a result, the height H3 of the excavation attachment, which is the height of the excavator, is lower than the height H1 of the doorway when the shutter SH is fully opened. Therefore, the excavator can move from the indoor work place ID to the outdoor work place OD without bringing the excavation attachment into contact with the shutter SH.

In the example of FIG. 3, the controller 30 sets the posture of the excavation attachment to the traveling posture on condition that the posing switch SW is pressed. However, the present invention is not limited to this configuration. For example, the controller 30 may change the posture of the excavation attachment to the traveling posture when a predetermined lever operation is performed. The predetermined lever operation includes, for example, continuously tilting both the left and right operating levers provided in the cabin 10 in a predetermined direction within a predetermined time within a dead zone.

Next, another example of the running posture will be described with reference to FIG. FIG. 4 is a side view of the excavator traveling on the outdoor work place OD, and corresponds to FIGS. 1 and 3.

The running posture shown in FIG. 3 (hereinafter referred to as “first running posture”) is a running posture suitable for passing through the shutter SH, but is most suitable for running in an outdoor work place OD with no height limit. It is not a good running posture. This is because the boom 4 is in a greatly lowered posture and it is difficult to balance.

Therefore, when the excavator is to be traveled in the outdoor work place OD, the excavator operator may change the posture of the excavation attachment to the second traveling posture by pressing a second posing switch different from the posing switch SW. Alternatively, the operator of the excavator may change the posture of the excavation attachment to the second traveling posture by voice input via a voice input device such as a smartphone instead of the switch input of the second posing switch or the like.

The second traveling posture is a posture in which the turning radius of the excavation attachment is minimized when the excavator can travel. In the second running posture, the bucket link portion at the bottom of the excavation attachment is separated from the ground by a predetermined height. The bucket angle is, for example, the angle when the bucket 6 is closed to the closing or the vicinity of the closing, and the arm angle is, for example, the angle when the arm 5 is closed to the closing or the vicinity of the closing. The boom angle is, for example, an angle when the boom 4 is raised to the upper limit or the vicinity of the upper limit. “When the boom 4 is raised to the upper limit” means, for example, when the cylinder stroke amount of the boom cylinder 7 is maximized. In the second running posture, the height of the lowermost bucket link portion of the excavation attachment from the ground is preferably 30 cm or more. More preferably, it is 40 cm or more.

The second posing switch may be the posing switch SW. In this case, for example, when the shovel is operated in the first traveling posture, the posing switch SW starts the posing function of shifting the posture of the excavation attachment from the first traveling posture to the second traveling posture. On the other hand, when the excavator is operated in a posture other than the first running posture, the posing function of shifting the posture of the excavation attachment from the current posture to the first running posture is started.

FIG. 4 shows a state in which the boom 4, the arm 5, and the bucket 6 are moved in order to change the posture of the excavation attachment to the second running posture. The second running posture has, for example, the same running posture bucket angle and running posture arm angle as the first running posture, and has a running posture boom angle larger than the running posture boom angle of the first running posture.

When the second posing switch is pressed in the state of the first running posture, the controller 30 determines that the predetermined condition is satisfied, and reads out the information regarding the second running posture of the excavation attachment stored in the storage device.

Then, the controller 30 outputs a command to the control valve 50 in order to change the posture of the excavation attachment to the second traveling posture. In the example of FIG. 4, the controller 30 is a control provided on the pilot line connecting the raising operation side port of the boom operating lever and the raising operation side pilot port of the boom flow rate control valve so as to automatically raise the boom 4. A command is output to the valve 50. In this way, the controller 30 can raise the boom 4 to shift the posture of the excavation attachment from the first running posture to the second running posture.

With the above configuration, the controller 30 can automatically switch the posture of the excavation attachment to a predetermined posture. Therefore, the operator of the excavator does not need to manually operate the operation lever to change the posture of the excavation attachment to the first traveling posture when moving the excavator from the indoor work place ID to the outdoor work place OD, for example. Further, the excavator does not run without the degree of closing of the arm 5 and the degree of lowering of the boom 4 being sufficient, and the excavation attachment does not come into contact with the shutter SH.

Although the embodiment for carrying out the present invention has been described in detail above, the present invention is not limited to the specific examples as described above. Various modifications and modifications can be applied to the above-mentioned examples within the scope of the gist of the present invention described in the claims.

For example, in the above-described embodiment, the hydraulic operating device 26 is adopted, but the present invention is not limited to this configuration. For example, an electric operating device may be adopted instead of the hydraulic operating device 26. In this case, the flow rate control valve included in the control valve 17 may be composed of a solenoid valve instead of a hydraulic spool valve.

Further, in the above-described embodiment, the controller 30 moves the bucket 6, the arm 5, and the boom 4 in order to change the posture of the excavation attachment to the traveling posture. However, the controller 30 may change the operation order and the operation direction of the working body according to the posture of the excavation attachment when the posing switch SW is operated. For example, when the posing switch SW is operated when the arm 5 is wide open and the boom 4 is greatly lowered, moving the working body in the order of the bucket 6, the arm 5, and the boom 4 causes the bucket 6 to move. It will come into contact with the ground. Therefore, the controller 30 first raises the boom 4, then closes the bucket 6, closes the arm 5, and further lowers the boom 4. Further, the controller 30 may move a plurality of working bodies at the same time. For example, at least one of the bucket 6 and the arm 5 may be closed while raising the boom 4, or at least one of the bucket 6 and the arm 5 may be closed while lowering the boom 4.

Further, the controller 30 may shift the posture of the excavation attachment to a predetermined posture while maintaining the height of the lowermost end of the excavation attachment at a predetermined height or higher. The predetermined height is, for example, the height with respect to the plane including the ground plane of the lower traveling body 1, and is typically the height with respect to the horizontal ground.

Further, the controller 30 may prohibit the posture of the excavation attachment from being automatically switched when the height of the lowermost end of the excavation attachment is lower than the predetermined height. That is, when the height of the lowermost end of the excavation attachment is lower than the predetermined height, the posture of the excavation attachment may not be changed even when the posing switch SW is pressed. This is because changing the posture of the excavation attachment may cause the excavation attachment to come into contact with surrounding features. The height of the lowermost end of the excavation attachment may be derived based on the output of the attitude sensor or may be derived based on the output of the camera. In particular, it is effective when the ground shape has large undulations and when the ground contact surface of the lower traveling body 1 and the surface below the excavation attachment are not in the same plane (not parallel). In this case, the controller 30 may notify the operator that the posing function cannot be started. Specifically, the voice message may be output from the voice output device, or the text message may be displayed on the image display unit 41 of the display device 40.

Further, in the above-described embodiment, the running posture is adopted as the target posture regarding the excavation attachment, but a posture suitable for parking, a posture suitable for turning, and the like may be adopted. The posture suitable for parking is, for example, a posture in which the excavation attachment is in contact with the ground in a posture substantially the same as the first running posture in FIG.

This application claims priority based on Japanese Patent Application No. 2016-098880 filed on May 17, 2016, and the entire contents of this Japanese patent application are incorporated herein by reference.

1 ... Lower traveling body 2 ... Swivel mechanism 3 ... Upper swivel body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ...・ Bucket cylinder 10 ・ ・ ・ Cabin 11 ・ ・ ・ Engine 11a ・ ・ ・ Alternator 11b ・ ・ ・ Starter 11c ・ ・ ・ Water temperature sensor 14 ・ ・ ・ Main pump 14a ・ ・ ・ Regulator 14b ・ ・ ・ Discharge pressure sensor 14c ・ ・・ Oil temperature sensor 15 ・ ・ ・ Pilot pump 15L, 15R ・ ・ ・ Pilot pressure sensor 17 ・ ・ ・ Control valve 26 ・ ・ ・ Operating device 27 ・ ・ ・ Switch button 30 ・ ・ ・ Controller 30a ・ ・ ・ Temporary storage unit 40・ ・ ・ Display device 40a ・ ・ ・ Conversion processing unit 41 ・ ・ ・ Image display unit 42 ・ ・ ・ Switch panel 42a ・ ・ ・ Light switch 42b ・ ・ ・ Wiper switch 42c ・ ・ ・ Window washer switch 70 ・ ・ ・ Storage battery 72・ ・ ・ Electrical components 74 ・ ・ ・ Engine control device 75 ・ ・ ・ Engine rotation speed adjustment dial 80 ・ ・ ・ Imaging device S0 ・ ・ ・ Tilt sensor S1 ・ ・ ・ Boom angle sensor S2 ・ ・ ・ Arm angle sensor S3 ・ ・-Bucket angle sensor S7B, S7R, S8B, S8R, S9B, S9R ... Pressure sensor SW ... Posing switch

Claims (12)

With the lower running body,
An upper swivel body mounted on the lower traveling body so as to be swivel,
An attachment including a boom, an arm, and a bucket attached to the upper swing body, and
Based on the image data of an object including the ground around the excavator output by the imaging device when a predetermined condition is satisfied , the lower traveling body touches the ground so that the attachment does not come into contact with the object during traveling. A control device for setting the posture of the attachment to a predetermined posture capable of traveling before starting traveling according to the height of the object including the ground is provided.
Excavator. The predetermined posture is a posture suitable for running.
The excavator according to claim 1. The posture suitable for traveling is set by using a software switch displayed on the screen of the display device or a hardware switch installed inside or outside the cabin.
The excavator according to claim 2. The predetermined condition includes that a predetermined lever operation has been performed, a predetermined software switch displayed on the screen of the display device has been operated, or a predetermined hardware switch has been operated.
The excavator according to claim 1. The control device moves the bucket, the arm, and the boom in order to bring the attachment into a predetermined posture.
The excavator according to claim 1. The control device sets the posture of the attachment to a predetermined posture while maintaining the height of the lowermost end of the attachment at a predetermined height or higher.
The predetermined height is a height with respect to a plane including the ground plane of the lower traveling body.
The excavator according to claim 1. The control device does not change the posture of the attachment when the height of the lowermost end of the attachment is lower than the predetermined height.
The excavator according to claim 6. The height of the lowermost end of the attachment is derived based on the output of the attitude sensor or camera.
The excavator according to claim 1. The predetermined posture is the posture of the attachment that satisfies the condition that the upper end of the boom is lower than the first height and the lower end of the bucket is higher than the second height.
The excavator according to claim 1. The predetermined posture is the posture of the attachment when the boom is raised to the upper limit or the vicinity of the upper limit and the arm is closed or close to the closing limit.
The excavator according to claim 1. The posture suitable for running is set by using a voice input device.
The excavator according to claim 2. The voice input device is a mobile information terminal.
The control device receives a control signal generated by the voice identification function of the mobile information terminal.
The excavator according to claim 11.

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