JP7655504B2 - Excavator - Google Patents

Description

This disclosure relates to a shovel.

For example, there is a known technology that changes the bucket angle depending on the work environment (hardness of the ground to be excavated) (see Patent Document 1).

International Publication No. 2019/009341

However, the above-mentioned technology only changes the bucket angle automatically. Therefore, for example, when the machine control (MC) function is used to automatically cause the attachment to perform excavation operations, it is desirable to be able to set the target trajectory of the bucket taking into account various efficiencies such as work efficiency and energy consumption efficiency.

In view of the above problems, the objective is to provide a technology that can set a target trajectory for the bucket during excavation operations of a shovel, taking into account various efficiencies of the shovel.

In order to achieve the above object, in one embodiment of the present disclosure,
A lower running body;
An upper rotating body rotatably mounted on the lower traveling body;
A work attachment attached to the upper rotating body and including a boom, an arm, and a bucket;
a plurality of hydraulic actuators including a boom cylinder that drives the boom, an arm cylinder that drives the arm, and a bucket cylinder that drives the bucket;
a control valve for controlling the plurality of hydraulic actuators;
a control device that sets a target trajectory of the bucket during operation of the shovel involving operation of the work attachment based on a predetermined priority between work efficiency and energy consumption efficiency ,
the control device sets the target trajectory of the bucket such that the higher the priority of work efficiency over energy consumption efficiency, the greater the amount of work in the operation of the shovel, and the higher the priority of energy consumption efficiency over work efficiency, the smaller the amount of work in the operation of the shovel .
Shovel provided.

According to the above-described embodiment, the target trajectory of the bucket during the excavation operation of the shovel can be set taking into account various efficiencies of the shovel.

FIG. FIG. FIG. 1 is a diagram illustrating an example of a configuration of a hydraulic system of a shovel. FIG. 2 is a diagram illustrating an example of a configuration of a control system for a shovel. FIG. 2 is a functional block diagram showing an example of a functional configuration related to a machine control function of a shovel. FIG. 13 is a diagram showing an example of an operation map showing the relationship between the work efficiency and the energy consumption efficiency of a shovel using a fully automatic machine control function. FIG. 4 is a diagram illustrating an example of parameters related to a trajectory of a bucket during excavation.

The following describes the embodiment with reference to the drawings.

[Outline of the excavator]
First, an overview of a shovel 100 according to this embodiment will be described with reference to Figs. 1 and 2 .

Figures 1 and 2 are a top view and a side view, respectively, of a shovel 100 according to this embodiment.

As shown in Figures 1 and 2, the excavator 100 according to this embodiment includes a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be freely rotatable via a rotating mechanism 2, an attachment AT for performing various tasks, and a cabin 10. Hereinafter, the front of the excavator 100 (upper rotating body 3) corresponds to the direction in which the attachment for the upper rotating body 3 extends when the excavator 100 is viewed in a plan view (top view) from directly above along the rotation axis of the upper rotating body 3. In addition, the left and right sides of the excavator 100 (upper rotating body 3) correspond to the left and right sides, respectively, as viewed from an operator seated in the driver's seat in the cabin 10.

As described below, when the excavator 100 is remotely operated or operates in a fully automated manner, the cabin 10 may be omitted.

The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The lower traveling body 1 causes the excavator 100 to travel by hydraulically driving the left crawler 1CL and the right crawler 1CR with a left traveling hydraulic motor 2ML and a right traveling hydraulic motor 2MR (see FIG. 3), respectively.

The upper rotating body 3 rotates relative to the lower traveling body 1 as the rotating mechanism 2 is hydraulically driven by the rotating hydraulic motor 2A.

The attachment AT (an example of a work attachment) includes a boom 4, an arm 5, and a bucket 6.

The boom 4 is attached to the center of the front of the upper rotating body 3 so that it can be raised and lowered, and an arm 5 is attached to the tip of the boom 4 so that it can rotate up and down, and a bucket 6 is attached to the tip of the arm 5 so that it can rotate up and down.

The bucket 6 is an example of an end attachment. The bucket 6 is used, for example, for excavation work. In addition, instead of the bucket 6, other end attachments may be attached to the tip of the arm 5 depending on the work content, etc. The other end attachments may be other types of buckets, such as a large bucket, a slope bucket, or a dredging bucket. The other end attachments may also be types of end attachments other than buckets, such as mixers, breakers, grapples, etc.

The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, arm cylinder 8, and bucket cylinder 9, which serve as hydraulic actuators, respectively.

The shovel 100 may be configured such that some of the driven elements, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, are electrically driven. In other words, the shovel 100 may be a hybrid shovel or an electric shovel in which some of the driven elements are driven by an electric actuator.

The cabin 10 is the cockpit where the operator sits and is mounted on the front left side of the upper rotating body 3.

As described below, the cabin 10 may be omitted if the excavator 100 is remotely operated or operates in a fully automated manner.

The excavator 100 may also be equipped with a communication device T1, for example, and may be capable of communicating with an external device via a specified communication line.

The communication line may include, for example, a wide area network (WAN). The wide area network may include, for example, a mobile communication network with a base station as its terminal. The wide area network may also include, for example, a satellite communication network that uses a communication satellite above the shovel 100. The wide area network may also include, for example, the Internet network. The communication line may also include, for example, a local network (LAN) of a facility in which an external device is installed. The local network may be a wireless line, a wired line, or a line that includes both. The communication line may also include, for example, a short-distance communication line based on a predetermined wireless communication method such as WiFi or Bluetooth (registered trademark).

The external device is, for example, a management device 200 (see FIG. 5) that manages (monitors) the operating status and operational status of the shovel 100. This allows the shovel 100 to transmit (upload) various information to the management device 200 and receive various signals (for example, information signals and control signals) from the management device 200.

The management device 200 is, for example, a cloud server or an on-premise server installed in a remote location different from the work site of the shovel 100. The management device 200 may also be, for example, an edge server installed inside the work site of the shovel 100 (for example, a management office for the work site) or in a location relatively close to the work site (for example, a communication facility such as a nearby base station). The management device 200 may also be a management terminal device used at the work site.

The external device may also be, for example, a terminal device (user terminal) used by a user of the shovel 100. The user of the shovel 100 may include, for example, an operator, a serviceman, an administrator, an owner, etc. of the shovel 100. This allows the shovel 100 to transmit various information to the user terminal and provide information about the shovel 100 to the user of the shovel 100.

The excavator 100 operates actuators (e.g., hydraulic actuators) in response to the operation of an operator in the cabin 10, and drives operating elements (hereinafter, "driven elements") such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6.

In addition to or instead of being configured to be operable by an operator in the cabin 10, the shovel 100 may be configured to be remotely operated from outside the shovel 100. When the shovel 100 is remotely operated, the inside of the cabin 10 may be unmanned. In the following description, it is assumed that the operation of the operator includes at least one of the operation of the operating device 26 by the operator in the cabin 10 and the remote operation by an external operator.

The remote operation includes, for example, an operation of the shovel 100 by input from a user (operator) regarding the actuator of the shovel 100 performed in a predetermined external device (for example, the above-mentioned management device 200). In this case, the shovel 100 transmits image information (hereinafter, "surrounding image") of the surroundings of the shovel 100 based on the output of the spatial recognition device 70 (imaging device) described later to the external device, and the image information may be displayed on a display device (hereinafter, "display device for remote operation") provided in the external device. In addition, various information images (information screens) displayed on the display device D1 in the cabin 10 of the shovel 100 may also be displayed on the remote operation display device of the external device. As a result, the operator of the external device can remotely operate the shovel 100 while checking the display contents such as the surrounding image showing the state of the surroundings of the shovel 100 and various information images displayed on the display device for remote operation. The excavator 100 may operate the actuators and drive the driven elements such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6 in response to a remote control signal that is received from an external device and indicates the content of the remote control.

Remote operation may also include a mode in which the shovel 100 is operated by external voice input or gesture input to the shovel 100 by a person (e.g., a worker) around the shovel 100. Specifically, the shovel 100 recognizes voices uttered by surrounding workers and gestures made by the workers through a voice input device (e.g., a microphone) or an imaging device mounted on the shovel 100 (its own machine). The shovel 100 may then operate actuators in accordance with the contents of the recognized voices and gestures to drive driven elements such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

The excavator 100 may also automatically operate the actuators regardless of the content of the operator's operation. This allows the excavator 100 to realize a function of automatically operating at least some of the driven elements, such as the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, and the bucket 6, i.e., a so-called "automatic driving function" or "machine control function."

The automatic operation function may include a function of automatically operating a driven element (actuator) other than the driven element (actuator) to be operated in response to an operator's operation of the operating device 26 or remote operation, i.e., a so-called "semi-automatic operation function" or "operation-assisted machine control function". The automatic operation function may also include a function of automatically operating at least a part of the multiple driven elements (hydraulic actuators) on the premise that there is no operation or remote operation of the operating device 26 by the operator, i.e., a so-called "fully automatic operation function" or "fully automatic machine control function". In the excavator 100, when the fully automatic operation function is enabled, the inside of the cabin 10 may be unmanned. The semi-automatic operation function, the fully automatic operation function, etc. may also include a mode in which the operation content of the driven element (actuator) to be operated automatically is determined according to a rule that is specified in advance. In addition, the semi-automatic operation function and the fully automatic operation function may include a mode in which the excavator 100 autonomously makes various decisions and autonomously determines the operation content of the driven element (hydraulic actuator) that is the target of the automatic operation based on the decision results (so-called "autonomous operation function").

[Excavator configuration]
Next, the configuration of the shovel 100 will be described with reference to FIGS. 3 and 4 in addition to FIGS. 1 and 2.

Figure 3 is a diagram showing an example of the configuration of a hydraulic system of the excavator 100 according to this embodiment. Figure 4 is a diagram showing an example of the configuration of a control system of the excavator 100 according to this embodiment.

The excavator 100 includes various components, such as a hydraulic drive system for hydraulically driving the driven elements, an operation system for operating the driven elements, a user interface system for exchanging information with the user, a communication system for communicating with the outside world, and a control system for various controls.

<Hydraulic drive system>
3, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators that hydraulically drive each of the driven elements, such as the lower traveling body 1 (left crawler 1CL and right crawler 1CR), upper rotating body 3, boom 4, arm 5, and bucket 6, as described above. The hydraulic actuators include traveling hydraulic motors 2ML, 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9. The hydraulic drive system of the excavator 100 according to this embodiment also includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

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

The excavator 100 may be equipped with another prime mover instead of or in addition to the engine 11. The other prime mover may be, for example, an electric motor capable of driving the main pump 14 and the pilot pump 15.

The regulator 13 controls (adjusts) the discharge rate of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle of the swash plate of the main pump 14 (hereinafter, the "tilt angle") in response to a control command from the controller 30. The regulator 13 includes, for example, regulators 13L and 13R corresponding to the main pumps 14L and 14R, respectively, which will be described later.

The main pump 14 supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper rotating body 3, similar to the engine 11. As described above, the main pump 14 is driven by the engine 11. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13 to adjust the stroke length of the piston and control the discharge flow rate (discharge pressure). The main pump 14 includes, for example, main pumps 14L and 14R.

The control valve 17 is a hydraulic control device that controls the hydraulic actuators in response to the operator's operation of the operating device 26, the contents of remote operation, or operation commands related to the automatic operation function output from the controller 30. The control valve 17 is mounted, for example, in the center of the upper rotating body 3. As described above, the control valve 17 is connected to the main pump 14 via a high-pressure hydraulic line, and selectively supplies hydraulic oil supplied from the main pump 14 to each hydraulic actuator in response to the operator's operation or operation commands output from the controller 30. Specifically, the control valve 17 includes multiple control valves (also called "directional control valves") 171 to 176 that control the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to each hydraulic actuator.

As shown in FIG. 3, in the hydraulic drive system, hydraulic oil is circulated from each of the main pumps 14L, 14R driven by the engine 11 through center bypass oil passages 40L, 40R and parallel oil passages 42L, 42R to the hydraulic oil tank.

The center bypass oil passage 40L starts at the main pump 14L, passes through the control valves 171, 173, 175L, and 176L arranged in the control valve 17, and reaches the hydraulic oil tank.

The center bypass oil passage 40R starts at the main pump 14R, passes through the control valves 172, 174, 175R, and 176R arranged in the control valve 17, and reaches the hydraulic oil tank.

The control valve 171 is a spool valve that supplies hydraulic oil discharged from the main pump 14L to the travel hydraulic motor 2ML and discharges hydraulic oil discharged by the travel hydraulic motor 2ML into the hydraulic oil tank.

The control valve 172 is a spool valve that supplies hydraulic oil discharged from the main pump 14R to the travel hydraulic motor 2MR and discharges hydraulic oil discharged by the travel hydraulic motor 2MR into the hydraulic oil tank.

The control valve 173 is a spool valve that supplies hydraulic oil discharged from the main pump 14L to the swing hydraulic motor 2A and discharges hydraulic oil discharged by the swing hydraulic motor 2A into the hydraulic oil tank.

The control valve 174 is a spool valve that supplies hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and also discharges the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

The control valve 175 includes control valves 175L and 175R. The control valves 175L and 175R are spool valves that supply hydraulic oil discharged from the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

The control valve 176 includes control valves 176L and 176R. The control valves 176L and 176R are spool valves that supply hydraulic oil discharged from the main pumps 14L and 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

Control valves 171, 172, 173, 174, 175L, 175R, 176L, and 176R each adjust the flow rate of hydraulic oil supplied to or discharged from the hydraulic actuator and switch the flow direction according to the pilot pressure acting on the pilot port.

The parallel oil passage 42L supplies hydraulic oil of the main pump 14L to the control valves 171, 173, 175L, and 176L in parallel with the center bypass oil passage 40L. Specifically, the parallel oil passage 42L branches off from the center bypass oil passage 40L upstream of the control valve 171, and is configured to be able to supply hydraulic oil of the main pump 14L in parallel to each of the control valves 171, 173, 175L, and 176R. As a result, the parallel oil passage 42L can supply hydraulic oil to a more downstream control valve when the flow of hydraulic oil through the center bypass oil passage 40L is restricted or blocked by any of the control valves 171, 173, and 175L.

The parallel oil passage 42R supplies hydraulic oil of the main pump 14R to the control valves 172, 174, 175R, and 176R in parallel with the center bypass oil passage 40R. Specifically, the parallel oil passage 42R branches off from the center bypass oil passage 40R upstream of the control valve 172, and is configured to be able to supply hydraulic oil of the main pump 14R in parallel to each of the control valves 172, 174, 175R, and 176R. The parallel oil passage 42R can supply hydraulic oil to a more downstream control valve when the flow of hydraulic oil through the center bypass oil passage 40R is restricted or blocked by any of the control valves 172, 174, and 175R.

In the center bypass oil passages 40L, 40R, negative control throttles (hereinafter "negative control throttles") 18L, 18R are provided between the hydraulic oil tank and the most downstream control valves 176L, 176R, respectively. As a result, the flow of hydraulic oil discharged by the main pumps 14L, 14R is restricted by the negative control throttles 18L, 18R. The negative control throttles 18L, 18R then generate a control pressure (hereinafter "negative control pressure") for controlling the regulators 13L, 13R.

<Operation system>
As shown in FIGS. 3 and 4 , the operating system of the excavator 100 according to this embodiment includes a pilot pump 15 , an operating device 26 , a hydraulic control valve 31 , and a hydraulic control valve 33 .

The pilot pump 15 supplies pilot pressure to various hydraulic equipment via a pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper rotating body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

The pilot pump 15 may be omitted. In this case, the relatively high pressure hydraulic oil discharged from the main pump 14 is reduced in pressure by a specified pressure reducing valve, and the relatively low pressure hydraulic oil is supplied to various hydraulic equipment as pilot pressure.

The operating device 26 is provided near the cockpit of the cabin 10 and is used by the operator to operate the various driven elements (lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc.). In other words, the operating device 26 is used by the operator to operate the hydraulic actuators that drive the respective driven elements (i.e., traveling hydraulic motors 2ML, 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, bucket cylinder 9, etc.).

3, the operating device 26 is, for example, a hydraulic pilot type. The operating device 26 is connected to the control valve 17 via a shuttle valve (not shown) provided in the secondary pilot line. As a result, pilot pressures corresponding to the operation states of the driven elements in the operating device 26, i.e., the hydraulic actuators, can be input to the control valve 17 via the shuttle valve. Therefore, the control valve 17 can drive the driven elements (hydraulic actuators) according to the operation states in the operating device 26. The operating device 26 includes a left operating lever 26L and a right operating lever 26R for operating the arm 5 (arm cylinder 8) and the upper rotating body 3 (swing hydraulic motor 2A), as well as the boom 4 (boom cylinder 7) and the bucket 6 (bucket cylinder 9). The operating device 26 also includes a travel lever 26D for operating the lower traveling body 1. The travel lever 26D includes a left travel lever 26DL for operating the left crawler 1CL and a right travel lever 26DR for operating the right crawler 1CR.

The left operating lever 26L is used to rotate the upper rotating body 3 and operate the arm 5.

Operation of the left operating lever 26L in the forward and rearward directions (i.e., the forward and rearward directions of the upper rotating body 3) as viewed from the operator in the cabin 10 corresponds to operation of the arm 5 in the opening and closing directions, respectively. When the left operating lever 26L is operated in the forward direction, hydraulic oil discharged from the pilot pump 15 is used to output a control pressure (pilot pressure) corresponding to the lever operation amount to the secondary pilot line corresponding to the arm opening operation. When the left operating lever 26L is operated in the rearward direction, hydraulic oil discharged from the pilot pump 15 is used to output a pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the arm closing operation. The secondary pilot lines of the left operating lever 26L corresponding to the arm opening and arm closing are connected to the pilot ports corresponding to the arm opening and arm closing of the control valves 176L and 176R, respectively, via shuttle valves (not shown) for arm opening and arm closing.

Operation of the left operation lever 26L in the left and right directions (i.e., left and right directions of the upper rotating body 3) as viewed from the operator in the cabin 10 corresponds to left and right rotation of the upper rotating body 3, respectively. When the left operation lever 26L is operated to the left, it uses hydraulic oil discharged from the pilot pump 15 to output pilot pressure according to the lever operation amount to the secondary pilot line corresponding to the left rotation of the upper rotating body 3. When the left operation lever 26L is operated to the right, it uses hydraulic oil discharged from the pilot pump 15 to output pilot pressure according to the lever operation amount to the secondary pilot line corresponding to the right rotation of the upper rotating body 3. The secondary pilot lines of the left operation lever 26L corresponding to the left and right rotation of the upper rotating body 3 are connected to the pilot ports corresponding to the left and right rotation of the control valve 173 via shuttle valves for left and right rotation (not shown), respectively.

The right operating lever 26R is used to operate the boom 4 and the bucket 6.

Operation of the right operating lever 26R in the forward and backward directions corresponds to operation of the boom 4 in the lowering and raising directions, respectively. When the right operating lever 26R is operated in the forward direction, it uses hydraulic oil discharged from the pilot pump 15 to output pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the boom lowering operation. When the right operating lever 26R is operated in the backward direction, it uses hydraulic oil discharged from the pilot pump 15 to output pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the boom raising operation. The secondary pilot lines of the right operating lever 26R corresponding to the boom raising and boom lowering are connected to the pilot ports corresponding to the boom raising and boom lowering of the control valves 175L and 175R, respectively, via shuttle valves (not shown) for boom raising and boom lowering.

Operation of the right operating lever 26R to the left and right corresponds to operation of the bucket 6 in the closing and opening directions, respectively. When the right operating lever 26R is operated to the left, it uses hydraulic oil discharged from the pilot pump 15 and outputs pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the bucket closing operation. When the right operating lever 26R is operated to the right, it uses hydraulic oil discharged from the pilot pump 15 and outputs pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the bucket opening operation. The secondary pilot lines of the right operating lever 26R corresponding to bucket closing and bucket opening are connected to pilot ports corresponding to bucket closing and bucket opening of the control unit 174 via shuttle valves (not shown) for bucket closing and bucket opening, respectively.

As described above, the left travel lever 26DL is used to operate the left crawler 1CL. The left travel lever 26DL may be configured to be linked to a left travel pedal (not shown). The forward and backward operations of the left travel lever 26DL correspond to the forward and reverse operations of the left crawler 1CL, respectively. When the left travel lever 26DL is operated in the forward direction, it uses hydraulic oil discharged from the pilot pump 15 and outputs pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the forward operation of the left crawler 1CL. When the left travel lever 26DL is operated in the backward direction, it uses hydraulic oil discharged from the pilot pump 15 and outputs pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the reverse operation of the left crawler 1CL. The secondary pilot lines of the left travel lever 26DL corresponding to the forward and reverse operations of the left crawler 1CL are connected to the pilot ports corresponding to the left forward and left reverse operations of the control valve 171 via shuttle valves (not shown) for left forward and left reverse, respectively.

The right travel lever 26DR is used to operate the right crawler 1CR as described above. The right travel lever 26DR may be configured to be linked to a right travel pedal (not shown). The forward and backward operations of the right travel lever 26DR correspond to the forward and reverse operations of the right crawler 1CR, respectively. When the right travel lever 26DR is operated in the forward direction, it uses hydraulic oil discharged from the pilot pump 15 and outputs pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the forward operation of the right crawler 1CR. When the right travel lever 26DR is operated in the backward direction, it uses hydraulic oil discharged from the pilot pump 15 and outputs pilot pressure corresponding to the lever operation amount to the secondary pilot line corresponding to the reverse operation of the right crawler 1CR. The secondary pilot lines of the right travel lever 26DR corresponding to the forward and reverse operations of the right crawler 1CR are connected to the pilot ports corresponding to the right forward and right reverse operations of the control valve 171 via shuttle valves (not shown) for right forward and right reverse, respectively.

The hydraulic control valve 31 is provided in a pilot line connecting the pilot pump 15 and the shuttle valve. The hydraulic control valve 31 uses the hydraulic oil discharged from the pilot pump 15 to output a pilot pressure corresponding to a control command (control current) from the controller 30 to the secondary pilot line. The hydraulic control valve 31 is, for example, an electromagnetic proportional valve configured to be able to change its flow path area according to a control command (control current) from the controller 30. The secondary pilot line of the hydraulic control valve 31 is connected to the control valve 17 (pilot port of the control valves 171 to 176) through the shuttle valve. A secondary pilot line of the operating device 26 is connected to one inlet port of the shuttle valve, and a secondary pilot line of the hydraulic control valve 31 is connected to the other inlet port. As a result, the controller 30 can apply the pilot pressure of the hydraulic control valve 31 to the control valve 17 through the shuttle valve by outputting a pilot pressure greater than the secondary pilot pressure of the operating device 26 from the hydraulic control valve 31. Therefore, the controller 30 can drive the hydraulic actuator regardless of the operation of the operating device 26.

The operating device 26 (left operating lever 26L, right operating lever 26R, left travel lever 26DL, and right travel lever 26DR) may be an electric type that outputs an electric signal (hereinafter, "operation signal") corresponding to the operation content. In this case, the shuttle valve described above may be omitted, and the output (operation signal) of the operating device 26 may be taken in, for example, by the controller 30, and the controller 30 may output a control command corresponding to the operation signal, i.e., a control command corresponding to the operation content of the operating device 26, to the hydraulic control valve 31. The hydraulic control valve 31 may output a pilot pressure corresponding to the control command from the controller 30 using hydraulic oil supplied from the pilot pump 15, and may directly apply the pilot pressure to the pilot port of the control valve corresponding to the operation content of the control valve 17. In this way, the controller 30 can control the hydraulic control valve 31 and reflect the operation content of the operating device 26 in the operation of the control valve 17. Therefore, the controller 30 can realize the operation of various driven elements according to the operation content of the electric operating device 26.

For example, the controller 30 may use the hydraulic control valve 31 to realize remote operation of the excavator 100. Specifically, the controller 30 may output a control command corresponding to the content of the remote operation specified by a remote operation signal received from an external device to the hydraulic control valve 31. The hydraulic control valve 31 may output a pilot pressure corresponding to the control command from the controller 30 using hydraulic oil supplied from the pilot pump 15, and apply the pilot pressure to the pilot port of the control valve of the control valve 17 corresponding to the control command. In this way, the controller 30 can control the hydraulic control valve 31 and reflect the content of the remote operation in the operation of the control valve 17. Therefore, the excavator 100 can realize the operation of various driven elements according to the content of the remote operation by the hydraulic actuator.

For example, the controller 30 may control the hydraulic control valve 31 to realize the automatic driving function. Specifically, the controller 30 outputs a control signal corresponding to an operation command related to the automatic driving function to the hydraulic control valve 31, regardless of whether the operating device 26 is operated. As a result, the controller 30 can supply pilot pressure corresponding to the operation command related to the automatic driving function from the hydraulic control valve 31 to the control valve 17, thereby realizing the operation of the excavator 100 based on the automatic driving function.

The hydraulic control valve 31 is provided for each driven element (hydraulic actuator) to be operated by the operating device 26 and for each operation direction of the driven element. That is, for each of the multiple hydraulic actuators, two hydraulic control valves 31 corresponding to the two operation directions are provided. For example, the hydraulic control valves 31 for closing the arm and opening the arm are connected to the other inlet ports of the shuttle valves for closing the arm and opening the arm, respectively. Also, for example, the hydraulic control valves 31 for turning left and turning right are connected to the other inlet ports of the hydraulic control valves 31 for turning left and turning right, respectively. Also, for example, the hydraulic control valves 31 for raising the boom and lowering the boom are connected to the other inlet ports of the hydraulic control valves 31 for raising the boom and lowering, respectively. Also, for example, the hydraulic control valves 31 for closing the bucket and opening the bucket are connected to the other color port ports of the shuttle valves for closing the bucket and opening the bucket, respectively. Also, for example, the left forward and left reverse hydraulic control valves 31 are connected to the other inlet ports of the shuttle valves for left forward and right reverse, respectively. Also, for example, the right forward and right reverse hydraulic control valves 31 are connected to the other inlet ports of the hydraulic control valves for right forward and right reverse, respectively.

When the operating device 26 is electric, the control valves 171 to 176 of the control valve 17 may be electromagnetic solenoid spool valves. In this case, the hydraulic control valve 31 is omitted, and the output (operation signal) of the operating device 26 is input directly to the electromagnetic solenoid spool valves.

The hydraulic control valve 33 is provided in a pilot line connecting the operating device 26 and the shuttle valve. The hydraulic control valve 33 operates in response to a control command input from the controller 30. The hydraulic control valve 33 is, for example, an electromagnetic proportional valve configured to change its flow path area in response to a control command (control current) from the controller 30. As a result, the controller 30 can forcibly reduce the pilot pressure output from the operating device 26 when the operating device 26 is operated by the operator. Therefore, even when the operating device 26 is operated, the controller 30 can forcibly decelerate or stop the operation of the hydraulic actuator corresponding to the operation of the operating device 26. In addition, for example, when the operating device 26 is operated, the controller 30 can reduce the pilot pressure output from the operating device 26 to be lower than the pilot pressure output from the hydraulic control valve 31. Therefore, the controller 30 can reliably apply a desired pilot pressure to the pilot port of the control valve of the control valve 17, for example, regardless of the operation content of the operating device 26, by controlling the hydraulic control valve 31 and the hydraulic control valve 33. Therefore, for example, the controller 30 can more appropriately realize the automatic operation function and remote control function of the excavator 100 by controlling the hydraulic control valve 33 in addition to the hydraulic control valve 31.

If the operating device 26 is electric, the hydraulic control valve 33 may be omitted.

<User interface>
As shown in FIGS. 3 and 4, the user interface system of the shovel 100 according to this embodiment includes the operation device 26, an input device 72, a display device D1, a sound output device D2, and a switch NS.

The input device 72 is located within close proximity to the operator seated in the cabin 10 and receives various inputs from the operator, and signals corresponding to the received inputs are input to the controller 30.

For example, the input device 72 is an operation input device that accepts operation input. The operation input device may include a touch panel mounted on the display device D1, a touch pad installed around the display device D1, a button switch, a lever, a toggle, a knob switch provided on the operation device 26 (lever device), etc.

For example, the input device 72 may be a voice input device that accepts voice input from an operator. The voice input device may include, for example, a microphone.

For example, the input device 72 may be a gesture input device that accepts gesture input from an operator. The gesture input device may include, for example, an imaging device (indoor camera) installed in the cabin 10.

The display device D1 is provided in a location that is easily visible to the operator seated in the cabin 10, displays various information images, and outputs various information in a visual manner. The display device D1 is, for example, a liquid crystal display or an organic EL (electroluminescence) display.

In addition to the display device, lighting devices capable of outputting various information visually may be provided inside the cabin 10. Examples of lighting devices include warning lights.

The sound output device D2 outputs various information in an auditory manner. Examples of the sound output device D2 include a buzzer, an alarm, a speaker, etc.

In addition, an output device capable of outputting various information by a method other than visual or auditory methods, for example, a tactile method such as vibration of the cockpit, may be provided inside the cabin 10.

The switch NS is, for example, a push button switch provided at the tip of the left operation lever 26L. The operator can operate the left operation lever 26L while pressing the switch NS. For example, when the arm 5 of the left operation lever 26L is operated (i.e., the left operation lever 26L is tilted forward or backward) while the switch NS is pressed, the operation assistance type machine control function may be enabled. Also, for example, when the switch NS is pressed while the machine control function is disabled, the machine control function may be enabled, and when the switch NS is pressed while the machine control function is enabled, the machine control function may be disabled. Also, the switch NS may be provided on the right operation lever 26R, or may be provided at another position within the cabin 10. A signal corresponding to the operation state of the switch NS is taken into the controller 30.

<Communications>
As shown in FIG. 4, the communication system of the shovel 100 according to this embodiment includes a communication device T1.

The communication device T1 connects to a predetermined communication line and communicates with a device (e.g., the management device 200) provided separately from the shovel 100. The device provided separately from the shovel 100 may include a device outside the shovel 100 as well as a portable terminal device brought into the cabin 10 by the user of the shovel 100. The communication device T1 may include, for example, a mobile communication module conforming to standards such as 4G ( ^4th Generation) and 5G ( ^5th Generation). The communication device T1 may also include, for example, a satellite communication module. The communication device T1 may also include, for example, a WiFi communication module or a Bluetooth communication module. The communication device T1 may also include, for example, a communication module capable of wired communication with a terminal device connected through a cable connected to a predetermined connector.

<Control system>
3 and 4, the control system of the shovel 100 according to this embodiment includes a controller 30. The control system of the shovel 100 according to this embodiment also includes a negative control pressure sensor 19, a discharge pressure sensor 28, an operating pressure sensor 29, a spatial recognition device 70, and a positioning device 73. The control system of the shovel 100 according to this embodiment also includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body attitude sensor S4, and a swing angle sensor S5.

The controller 30 (an example of a control device) performs various controls related to the excavator 100. The functions of the controller 30 may be realized by any hardware or any combination of hardware and software. For example, the controller 30 is configured around a computer including a CPU (Central Processing Unit), a memory device such as a RAM (Random Access Memory), a non-volatile auxiliary storage device such as a ROM (Read Only Memory), and various interface devices for input and output. The controller 30 realizes various functions, for example, by loading a program installed in the auxiliary storage device into the memory device and executing the program on the CPU.

The controller 30, for example, controls the main pumps 14L and 14R.

Specifically, the controller 30 may control the regulators 13L, 13R in response to the discharge pressure of the main pumps 14L, 14R detected by the discharge pressure sensors 28L, 28R to adjust the discharge volume of the main pumps 14L, 14R. For example, the controller 30 may control the regulator 13L in response to an increase in the discharge pressure of the main pump 14L, and reduce the discharge volume by adjusting the swash plate tilt angle of the main pump 14L. The same applies to the regulator 13R. This allows the controller 30 to control the total horsepower of the main pumps 14L, 14R so that the absorption horsepower of the main pumps 14L, 14R, which is expressed as the product of the discharge pressure and the discharge volume, does not exceed the output horsepower of the engine 11.

The controller 30 may also adjust the discharge volume of the main pumps 14L, 14R by controlling the regulators 13L, 13R according to the negative control pressure detected by the negative control pressure sensors 19L, 19R. For example, the controller 30 decreases the discharge volume of the main pumps 14L, 14R as the negative control pressure increases, and increases the discharge volume of the main pumps 14L, 14R as the negative control pressure decreases.

When the excavator 100 is in a standby state (see FIG. 3) in which none of the hydraulic actuators are being operated, the hydraulic oil discharged from the main pumps 14L, 14R passes through the center bypass oil passages 40L, 40R to the negative control throttles 18L, 18R. The flow of hydraulic oil discharged from the main pumps 14L, 14R increases the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 reduces the discharge rate of the main pumps 14L, 14R to the minimum allowable discharge rate, suppressing the pressure loss (pumping loss) that occurs when the discharged hydraulic oil passes through the center bypass oil passages 40L, 40R.

On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged from the main pumps 14L, 14R flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of hydraulic oil discharged from the main pumps 14L, 14R reduces or eliminates the amount of hydraulic oil reaching the negative control throttles 18L, 18R, lowering the negative control pressure generated upstream of the negative control throttles 18L, 18R. As a result, the controller 30 increases the discharge amount of the main pumps 14L, 14R, circulates sufficient hydraulic oil to the hydraulic actuator to be operated, and can reliably drive the hydraulic actuator to be operated.

The controller 30 also controls the operation of the hydraulic actuator (driven element) of the excavator 100, for example, by controlling the hydraulic control valve 31.

Specifically, when the operating device 26 is electric, the controller 30 may control the operation of the hydraulic actuator (driven element) of the excavator 100 based on the operation of the operating device 26, with the hydraulic control valve 31 as the control object.

The controller 30 may also control the remote operation of the hydraulic actuator (driven element) of the shovel 100, with the hydraulic control valve 31 as the control target. That is, the operation of the hydraulic actuator (driven element) of the shovel 100 may include remote operation of the hydraulic actuator from outside the shovel 100.

The controller 30 may also control the automatic operation function of the shovel 100 by controlling the hydraulic control valve 31. That is, the operation of the hydraulic actuator of the shovel 100 may include an operation command for the hydraulic actuator of the shovel 100 that is output based on the automatic operation function.

The controller 30 also controls, for example, the perimeter monitoring function. In the perimeter monitoring function, the entry of a monitored object into a predetermined range (hereinafter, the "monitoring range") around the excavator 100 is monitored based on information acquired by the spatial recognition device 70. The process of determining whether a monitored object has entered the monitoring range may be performed by the spatial recognition device 70 or may be performed outside the spatial recognition device 70 (for example, by the controller 30). The monitored object may include, for example, a person, a truck, other construction machinery, a utility pole, a suspended load, a pylon, a building, etc.

The controller 30 also controls, for example, an object detection and notification function. In the object detection and notification function, when the periphery monitoring function determines that a monitored object is present within the monitoring range, the presence of the monitored object in the vicinity of the operator in the cabin 10 or the shovel 100 is notified. The controller 30 may realize the object detection and notification function, for example, using a display device D1 or a sound output device D2.

For example, the controller 30 also controls the operation restriction function. The operation restriction function restricts the operation of the excavator 100 when, for example, the perimeter monitoring function determines that a monitored object is present within the monitored area.

For example, before the actuator operates, if the controller 30 determines that a person is present within a predetermined range (monitoring range) from the excavator 100 based on the information acquired by the spatial recognition device 70, the controller 30 may disable the actuator or limit the actuator to operating at a slow speed even if the operator operates the operating device 26. Specifically, if the controller 30 determines that a person is present within the monitoring range, the controller 30 can disable the actuator by locking the gate lock valve. In the case of an electric operating device 26, the actuator can be disabled by disabling the signal from the controller 30 to the hydraulic control valve 31. The same is true for other types of operating device 26, if a hydraulic control valve 31 that outputs a pilot pressure corresponding to a control command from the controller 30 and applies the pilot pressure to the pilot port of the corresponding control valve in the control valve 17 is used. If it is desired to operate the actuator at a slow speed, the actuator can be operated at a slow speed by limiting the control signal from the controller 30 to the hydraulic control valve 31 to a content corresponding to a relatively small pilot pressure. In this way, when it is determined that the detected monitored object is present within the monitoring range, the actuator is not driven even if the operating device 26 is operated, or is driven at an operating speed (slow speed) lower than the operating speed corresponding to the operation input to the operating device 26. Furthermore, when it is determined that a person is present within the monitoring range while the operator is operating the operating device 26, the operation of the actuator may be stopped or decelerated regardless of the operation of the operator. Specifically, when it is determined that a person is present within the monitoring range, the actuator may be stopped by locking the gate lock valve. When a hydraulic control valve 31 is used that outputs a pilot pressure corresponding to a control command from the controller 30 and applies the pilot pressure to a pilot port of a corresponding control valve in the control valve, the actuator can be made inoperable or limited to operating at a slow speed by invalidating the signal from the controller 30 to the hydraulic control valve 31 or outputting a deceleration command to the hydraulic control valve 31. Furthermore, when the detected monitored object is a truck, control regarding stopping or deceleration of the actuator may not be performed. For example, the actuator may be controlled to avoid the detected truck. In this way, the type of object detected can be recognized and the actuator can be controlled based on that recognition.

For example, the controller 30 also controls the machine guidance (MG) function and the machine control function (automatic driving function). Details will be described later.

Note that some of the functions of the controller 30 may be realized by another controller (control device). In other words, the functions of the controller 30 may be realized in a distributed manner by multiple controllers.

The negative control pressure sensor 19 includes negative control pressure sensors 19L and 19R. The negative control pressure sensors 19L and 19R detect the negative control pressure of each of the negative control apertures 18L and 18R, and the detection signal corresponding to the detected negative control pressure is input to the controller 30.

The discharge pressure sensor 28 includes discharge pressure sensors 28L and 28R. The discharge pressure sensors 28L and 28R detect the discharge pressures of the main pumps 14L and 14R, respectively, and detection signals corresponding to the detected discharge pressures are input to the controller 30.

The operating pressure sensor 29 detects the secondary pilot pressure of the hydraulic pilot type operating device 26, i.e., the pilot pressure corresponding to the operating state of each driven element (hydraulic actuator) in the operating device 26. The detection signal of the pilot pressure by the operating pressure sensor 29 corresponding to the operating state of the lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc. in the operating device 26 is taken into the controller 30. The operating pressure sensor 29 includes operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

The operating pressure sensor 29LA detects the forward/rearward operation of the left operating lever 26L by the operator (e.g., the direction and amount of operation) in the form of hydraulic oil pressure in the secondary pilot line of the left operating lever 26L (hereinafter, "operating pressure").

The operating pressure sensor 29LB detects the left-right operation of the left operating lever 26L by the operator (e.g., the direction and amount of operation) in the form of operating pressure in the secondary pilot line of the left operating lever 26L.

The operating pressure sensor 29RA detects the operation of the right operating lever 26R by the operator in the forward/rearward direction (e.g., the direction and amount of operation) in the form of operating pressure in the secondary pilot line of the right operating lever 26R.

The operating pressure sensor 29RB detects the left-right operation of the right operating lever 26R by the operator (e.g., the direction and amount of operation) in the form of operating pressure in the secondary pilot line of the right operating lever 26R.

The operating pressure sensor 29DL detects the operation of the left travel lever 26DL by the operator in the forward/rearward direction (e.g., the direction and amount of operation) in the form of operating pressure on the secondary pilot line of the left travel lever 26DL.

The operating pressure sensor 29DR detects the operation of the right travel lever 26DR by the operator in the forward/rearward direction (e.g., the direction and amount of operation) in the form of operating pressure on the secondary pilot line of the right travel lever 26DR.

The operation of the operating device 26 (left operating lever 26L, right operating lever 26R, left travel lever 26DL, and right travel lever 26DR) may be detected by a sensor other than the operating pressure sensor 29 (for example, a potentiometer attached to the right operating lever 26R, left travel lever 26DL, and right travel lever 26DR). If the operating device 26 is electric, the operating pressure sensor 29 is omitted. In this case, the controller 30 can grasp the operating state of each driven element (hydraulic actuator) based on the operation signal received from the electric operating device 26.

The spatial recognition device 70 is configured to recognize objects present in the three-dimensional space around the shovel 100, and to measure (calculate) positional relationships such as the distance from the spatial recognition device 70 or the shovel 100 to the recognized objects. The spatial recognition device 70 may include a distance sensor capable of measuring the distance to objects around the shovel 100, such as an ultrasonic sensor, a millimeter wave radar, an infrared sensor, or a LIDAR (Light Detecting and Ranging). The spatial recognition device 70 may also include an imaging device such as a monocular camera, a stereo camera, a distance image camera, or a depth camera.

As shown in Figures 1 and 2, the spatial recognition device 70 includes a forward recognition sensor 70F attached to the front end of the upper surface of the cabin 10, a rear recognition sensor 70B attached to the rear end of the upper surface of the upper rotating body 3, a left recognition sensor 70L attached to the left end of the upper surface of the upper rotating body 3, and a right recognition sensor 70R attached to the right end of the upper surface of the upper rotating body 3. In addition, an upward recognition sensor that recognizes objects present in the space above the upper rotating body 3 may be attached to the excavator 100.

The positioning device 73 measures the position and orientation of the upper rotating body 3. The positioning device 73 is, for example, a Global Navigation Satellite System (GNSS) compass, which detects the position and orientation of the upper rotating body 3, and a detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. In addition, the function of the positioning device 73, which is to detect the orientation of the upper rotating body 3, may be substituted by a direction sensor attached to the upper rotating body 3.

The boom angle sensor S1 acquires detection information regarding the attitude angle of the boom 4 (hereinafter, "boom angle") relative to a predetermined reference (e.g., a horizontal plane or one of the states at either end of the movable angle range of the boom 4). The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a cylinder sensor capable of detecting the extension/retraction position of the boom cylinder 7.

The arm angle sensor S2 acquires detection information regarding the posture angle of the arm 5 (hereinafter, "arm angle") relative to a predetermined reference (e.g., a straight line connecting the connection points at both ends of the boom 4 or a state at either end of the movable angle range of the arm 5). The arm angle sensor S2 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The arm angle sensor S2 may also include a cylinder sensor capable of detecting the extension/retraction position of the arm cylinder 8.

The bucket angle sensor S3 acquires detection information regarding the attitude angle of the bucket 6 (hereinafter, "bucket angle") relative to a predetermined reference (e.g., a straight line connecting the connection points at both ends of the arm 5 or a state at either end of the movable angle range of the bucket 6). The bucket angle sensor S3 may include, for example, a rotary encoder, an acceleration sensor, an angular velocity sensor, a six-axis sensor, an IMU, etc. The bucket angle sensor S3 may also include a cylinder sensor capable of detecting the extension/retraction position of the bucket cylinder 9.

The vehicle attitude sensor S4 acquires detection information regarding the attitude state of the vehicle including the lower running body 1 and the upper rotating body 3. The attitude state of the vehicle includes the inclination state of the vehicle. The inclination state of the vehicle includes, for example, a tilt state in the front-rear direction, which corresponds to the attitude state around the left-right axis of the upper rotating body 3, and a tilt state in the left-right direction, which corresponds to the attitude state around the front-rear axis of the upper rotating body 3. The attitude state of the vehicle also includes the rotation state of the upper rotating body 3, which corresponds to the attitude state around the rotation axis of the upper rotating body 3. The vehicle attitude sensor S4 is mounted, for example, on the upper rotating body 3, and acquires (outputs) detection data regarding the attitude angle around the front-rear axis, left-right axis, and rotation axis of the upper rotating body 3 (hereinafter, "front-rear tilt angle" and "left-right tilt angle"). As a result, the vehicle attitude sensor S4 can acquire detection information regarding the orientation of the upper rotating body 3 with respect to the ground (rotation attitude around the rotation axis). The orientation of the upper rotating body 3 means, for example, the direction in which the attachment AT extends when viewed from above, that is, the forward direction as seen from the upper rotating body 3. The aircraft attitude sensor S4 may include, for example, an acceleration sensor (tilt sensor), an angular velocity sensor, a six-axis sensor, an IMU, etc.

In addition, information regarding the orientation of the upper rotating body 3 with respect to the ground may be obtained from another device instead of or in addition to the aircraft attitude sensor S4. For example, a geomagnetic sensor may be mounted on the upper rotating body 3. In this case, the controller 30 can obtain information regarding the orientation of the upper rotating body 3 with respect to the ground from the geomagnetic sensor. Also, for example, the controller 30 may determine the orientation of the upper rotating body 3 with respect to the ground by determining the direction of the surrounding objects (particularly fixed objects such as utility poles and trees) that are captured based on the output (captured image) of the spatial recognition device 70 (imaging device). In other words, information regarding the orientation of the upper rotating body 3 with respect to the ground may be obtained from the spatial recognition device 70 (imaging device).

The slewing angle sensor S5 obtains detection information regarding the relative slewing angle of the upper rotating body 3 with respect to the lower running body 1 as a reference. As a result, the slewing angle sensor S5 obtains detection information regarding the slewing angle of the upper rotating body 3 with respect to a predetermined reference (for example, a state in which the forward direction of the lower running body 1 and the front of the upper rotating body 3 are aligned). The slewing angle sensor S5 includes, for example, a potentiometer, a rotary encoder, a resolver, etc. The slewing angle sensor S5 may also include, for example, a combination of a geomagnetic sensor attached to the lower running body 1 and a geomagnetic sensor attached to the upper rotating body 3. The slewing angle sensor S5 may also include a combination of a GNSS receiver attached to the lower running body 1 and a GNSS receiver attached to the upper rotating body 3.

In addition, information regarding the orientation of the upper rotating body 3 with respect to the lower running body 1 as a reference may be obtained from another device instead of or in addition to the rotation angle sensor S5. For example, the orientation of the upper rotating body 3 relative to the lower running body 1 may be determined by determining the orientation of the lower running body 1 shown based on the captured image of the spatial recognition device 70 (imaging device) attached to the upper rotating body 3. Specifically, the controller 30 extracts the image of the lower running body 1 included in the captured image by performing known image processing. Then, the controller 30 may use known image recognition technology to identify the longitudinal direction of the lower running body 1 and derive the angle formed between the direction of the front-rear axis of the upper rotating body 3 and the longitudinal direction of the lower running body 1. At this time, the direction of the front-rear axis of the upper rotating body 3 can be derived from the mounting position of the spatial recognition device 70 that acquired the captured image. In particular, since the crawler 1C protrudes from the upper rotating body 3, the controller 30 can identify the longitudinal direction of the lower running body 1 by extracting the image of the crawler 1C. Also, for simplicity, it may be assumed that the orientation of the upper rotating body 3 relative to the ground and the orientation of the upper rotating body 3 relative to the lower running body 1 are substantially the same. In this case, the rotation angle sensor S5 may be omitted.

[Outline of excavator machine guidance and control functions]
Next, still referring to FIG. 4, an overview of the machine guidance function and the machine control function of the shovel 100 will be described.

The controller 30 controls the excavator 100, for example, with respect to a machine guidance function that guides the operator in manually operating the excavator 100.

The controller 30 conveys work information such as the distance between the target construction surface and the tip of the attachment AT, that is, a predetermined work part of the bucket 6 (for example, the tip of the bucket 6, the back of the bucket 6, etc.) (hereinafter simply referred to as the "work part") to the operator through the display device D1, the sound output device D2, etc. Specifically, the controller 30 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine attitude sensor S4, the rotation angle sensor S5, the spatial recognition device 70, the positioning device 73, the input device 72, etc. Then, the controller 30 may, for example, calculate the distance between the bucket 6 and the target construction surface based on the acquired information, and notify the operator of the calculated distance by an image displayed on the display device D1 or a sound output from the sound output device D2. Data on the target construction surface is stored in an internal memory or an external storage device connected to the controller 30, for example, based on a setting input by the operator through the input device 72, or by downloading from an external device (for example, a predetermined management server). The data on the target construction surface is expressed, for example, in 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. For example, the operator may determine an arbitrary point on the construction site as a reference point and set the target construction surface based on the relative positional relationship with the reference point through the input device 72. This allows the controller 30 to notify the operator of work information through the display device D1, sound output device D2, etc., and to guide the operator in operating the excavator 100 through the operating device 26.

The controller 30 also controls the shovel 100 with respect to machine control functions, for example, assisting an operator in manually operating the shovel 100 and causing the shovel 100 to operate fully automatically or autonomously.

For example, when the operator is manually performing an excavation operation or a leveling operation on the ground, the controller 30 automatically operates at least one of the boom 4, the arm 5, and the bucket 6 so that the target construction surface coincides with the tip of the attachment AT, specifically, the position that serves as the control standard (hereinafter, simply referred to as the "control standard") set in the working part of the bucket 6. The control standard may include, for example, a plane or a curved surface that constitutes the tip of the bucket 6 as the working part, a line segment defined on the plane or the curved surface, a point defined on the plane or the curved surface, etc. The control standard may also include, for example, a plane or a curved surface that constitutes the back surface of the bucket 6 as the working part, a line segment defined on the plane or the curved surface, a point defined on the plane or the curved surface, etc. Specifically, when the operator operates the arm 5 through the left operating lever 26L while operating (pushing) the switch NS, the controller 30 automatically operates the boom 4, the arm 5, and the bucket 6 in response to the operation of the arm 5 by the operator so that the target construction surface coincides with the control standard of the bucket 6. More specifically, as described above, the controller 30 controls the hydraulic control valve 31 to automatically operate the boom 4, the arm 5, and the bucket 6. This allows the operator to cause the excavator 100 to perform excavation work, leveling work, and the like along the target construction surface simply by operating the left operation lever 26L in the forward and backward directions.

The working part of the bucket 6 may be set, for example, according to a setting input by an operator or the like through the input device 72. Also, the working part of the bucket 6 may be set automatically, for example, according to the work content of the shovel 100. Specifically, the working part of the bucket 6 may be set to the tip of the bucket 6 when the work content of the shovel 100 is excavation work or the like, and may be set to the back of the bucket 6 when the work content of the shovel 100 is leveling work, rolling work, or the like. In this case, the work content of the shovel 100 may be automatically determined based on the captured image of the imaging device included in the spatial recognition device 70 (forward recognition sensor 70F), or may be set according to the selected content or input content by the operator or the like selecting or inputting through the input device 72.

The control standard for the working part of the bucket 6 (hereinafter, simply referred to as the "control standard for the bucket 6") may be set at a point on a curved or flat surface that constitutes the tip of a specific one of the multiple tines of the bucket 6, for example, when the working part is the tip of the bucket 6. Also, the control standard for the bucket 6 may be set arbitrarily on a curved or flat surface that constitutes the back surface of the bucket 6, for example, when the working part is the back surface of the bucket 6. In this case, the controller 30 may set the control standard for the back surface of the bucket 6 in response to a setting operation by an operator or the like via the input device 72, or may automatically set (change) the control standard for the back surface of the bucket 6 based on predetermined conditions, as described below.

[Configuration related to fully automatic machine control function]
Next, a functional configuration related to a fully automatic machine control function (fully automatic driving function) will be described with reference to FIG.

Figure 5 is a functional block diagram showing an example of the functional configuration related to the machine control function of the shovel 100 according to this embodiment. Specifically, Figure 5 is a functional block diagram showing a specific example of the functional configuration related to the fully automatic machine control function of the shovel 100.

In this example, the controller 30 realizes a fully automatic machine control function (autonomous driving function) in response to a signal received from a specific external device (e.g., the management device 200, etc.) by the communication device T1.

The controller 30 includes, as functional units related to the machine control function, a work start determination unit 3001A, an operation content determination unit 3001B, an operation condition setting unit 3001C, and an operation start determination unit 3001D. The controller 30 also includes, as functional units related to the machine control function, a target construction surface acquisition unit 3002, an excavation target recognition unit 3003, a target trajectory setting unit 3004, a current position calculation unit 3005, a target position calculation unit 3006, and an operation command generation unit 3007.

The work start determination unit 3001A determines the start of a specified task of the shovel 100. The specified task is, for example, excavation work. For example, when a start command is input from an external device via the communication device T1, the work start determination unit 3001A determines the start of the task specified by the start command. In addition, when a start command is input from an external device via the communication device T1, the work start determination unit 3001A may determine the start of the task specified by the start command when the periphery monitoring function determines that no object to be monitored is present within the monitoring range around the shovel 100.

The operation content determination unit 3001B determines the current operation content when the start of work is determined by the work start determination unit 3001A. The operation content determination unit 3001B determines, for example, based on the current position of the control reference of the bucket 6, whether the excavator 100 is performing operations corresponding to multiple operations that constitute a specified work. For example, the multiple operations that constitute a specified work include an excavation operation, a boom raising and rotating operation, a soil removal operation, and a boom lowering and rotating operation when the specified work is an excavation operation.

The operating condition setting unit 3001C sets operating conditions for performing a specified task using the autonomous driving function. For example, if the specified task is an excavation task, the operating conditions may include conditions related to the excavation depth, excavation length, etc.

The operation start determination unit 3001D determines the start of a predetermined operation constituting a predetermined task whose start has been determined by the work start determination unit 3001A. For example, the operation start determination unit 3001D may determine that the excavation operation can be started when the operation content determination unit 3001B determines that the boom lowering rotation operation has ended and that the control reference (toe) of the bucket 6 has reached the excavation start position. Then, when the operation start determination unit 3001D determines that the excavation operation can be started, it inputs an operation command for an operation element (actuator) corresponding to an autonomous driving function generated according to the setup of the predetermined task to the target position calculation unit 3006. As a result, the target position calculation unit 3006 can calculate the target position of the work part (control reference) of the bucket 6 according to the operation command corresponding to the autonomous driving function.

The target construction surface acquisition unit 3002 acquires data on the target construction surface, for example, from an internal memory or a specified external storage device. The data on the target construction surface may be manually input by an operator via the input device 72, or may be input (received) from the management device 200, for example, via the communication device T1.

The excavation target recognition unit 3003 recognizes the shape of the ground as the excavation target based on the output of the spatial recognition device 70.

The excavation target recognition unit 3003 may recognize the shape of the ground as the excavation target based on the output of a spatial recognition device external to the shovel 100. The spatial recognition device external to the shovel 100 may include, for example, a spatial recognition device installed on a utility pole or the like at the construction site, or a spatial recognition device mounted on a drone (e.g., a multicopter) flying above the construction site. The excavation target recognition unit 3003 may also recognize the shape of the ground as the excavation target based on the movement trajectory of the working part of the bucket 6 during the immediately preceding (previous) excavation.

The target trajectory setting unit 3004 sets the target trajectory of the working part (control standard) of the bucket 6 based on data related to the target construction surface. For example, when rough excavation is performed when the distance between the actual terrain and the target construction surface is relatively large, the target trajectory setting unit 3004 sets the target trajectory of the working part of the bucket 6 within a range that does not exceed the target construction surface. In addition, for example, when finish excavation is performed or leveling work or compaction work is performed when the distance between the actual terrain and the target construction surface is relatively small, the target trajectory setting unit 3004 sets the target trajectory of the working part of the bucket 6 so that the working part of the bucket 6 moves along the target construction surface. In addition to the target trajectory, the target trajectory setting unit 3004 may set the attitude angle of the bucket 6 on the target trajectory. The method of setting the target trajectory and attitude angle of the bucket 6 during excavation will be described later (see Figures 6 and 7).

The current position calculation unit 3005 calculates the position (current position) of the control reference of the bucket 6. Specifically, the current position calculation unit 3005 may calculate the position of the control reference of the bucket 6 based on the boom angle _β1 , the arm angle _β2 , and the bucket angle _β3 acquired based on the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3.

The target position calculation unit 3006 calculates the target position of the control reference for the bucket 6 based on the operation details (operation direction and operation amount) of the operation of the arm 5 at the left operating lever 26L, information on the set target trajectory, and the current position of the control reference for the bucket 6. The target position is a position on the target construction surface (in other words, the target trajectory) that should be reached during the current control cycle, assuming that the arm 5 operates according to the operation direction and operation amount of the arm 5 at the left operating lever 26L. The target position calculation unit 3006 may calculate the target position of the control reference for the bucket 6 using, for example, a map or an arithmetic expression that is stored in advance in a non-volatile internal memory or the like.

The motion command generating unit 3007 generates a command value β1r for the motion of the boom 4 (hereinafter "boom command value"), a command value _β2r for the motion of the arm 5, and a command value _β3r for the motion of the bucket 6 (hereinafter "bucket command value") based on the target position of the control reference of the bucket _6. For example, the boom command value _β1r , the arm command value _β2r , and the bucket command value _β3r are the boom angle, the arm angle, and the bucket angle, respectively, when the control reference of the bucket 6 achieves the target position. As a result, the controller 30 converts the boom command value _β1r , the arm command value _β2r , and the bucket command value _β3r into operation commands for the boom 4, the arm 5, and the bucket 6, and controls the hydraulic control valve 31, thereby achieving a machine control function.

The boom command value, arm command value, and bucket command value may be the angular velocity and angular acceleration of the boom 4, arm 5, and bucket 6 required for the control standard of the bucket 6 to achieve the target position.

In this way, in this example, the controller 30 can cause the shovel 100 to autonomously perform a predetermined operation (e.g., an excavation operation) based on a fully automatic machine control function (autonomous driving function).

[Method for controlling the excavation operation of the shovel 100 using the machine control function]
Next, a method of controlling the excavation operation of the shovel 100 using the machine control function will be described with reference to Figs. 6 and 7.

＜Overview＞
FIG. 6 is a diagram showing an example of an operation map (operation map 600) showing the relationship between the work efficiency and the energy consumption efficiency of the shovel 100 with a fully automatic machine control function.

The work efficiency of the shovel 100 corresponds to, for example, the work time required for the shovel 100 to complete a specified unit task.

The energy consumption efficiency of the excavator 100 corresponds to, for example, the fuel consumption rate of the engine 11.

As shown in FIG. 6, the contour line 602, which shows the same energy consumption in the shovel 100, indicates that a trade-off relationship exists between the work efficiency and the energy consumption efficiency of the shovel 100. Specifically, the contour line 602 indicates that when the work efficiency is increased with the same energy consumption, the operating speed of the driven elements of the shovel 100 becomes relatively faster, and the energy consumption efficiency decreases, so that the operating point moves toward the lower right of the operation map 600. On the other hand, the contour line 602 indicates that when the energy consumption efficiency is increased with the same energy consumption, the operating speed of the driven elements of the shovel 100 becomes relatively slower, and the work efficiency decreases, so that the operating point moves toward the upper left of the operation map 600.

The amount of energy consumption required for the operation of the shovel 100 increases as the operating speed of the driven element of the shovel 100 increases. Therefore, in order to complete a unit task with a specific amount of energy consumption, there is a lower limit to the work time (upper limit of work efficiency), and a limit line 604 corresponding to the upper limit of work efficiency is specified. The higher the energy consumption efficiency, the lower the upper limit of work efficiency (the larger the lower limit of work time) and, the lower the energy consumption efficiency, the higher the upper limit of work efficiency (the smaller the lower limit of work time).

From the viewpoint of improving work efficiency, the controller 30 sets an operating point of the shovel 100 near the limit line 604, and determines the operation content of the shovel 100 according to the relative priority between the work efficiency corresponding to the operating point and the energy consumption efficiency. Then, the controller 30 controls the operation of the shovel 100 by a machine control function so as to realize the operation content. For example, when the shovel 100 is excavating, the controller 30 sets the target trajectory of the working part of the bucket 6 and the attitude angle of the bucket 6 with respect to a reference plane (e.g., the ground) according to the relative priority between the work efficiency and the energy consumption efficiency of the shovel 100. Then, the controller 30 may control the operation of the attachment AT according to the set target trajectory of the bucket 6 and the attitude angle of the bucket 6 with respect to the ground.

The operating point may also be set by the operator. In this case, the controller 30 can adjust the operating characteristics of the shovel 100 to suit the operator's preferences.

The operating point may also be set by a manager at the construction site of the excavator 100. In this case, even if the operator sets the operating point in an inefficient manner, the manager can set the operating point via the management device from the perspective of improving work efficiency.

The controller 30 may also perform reinforcement learning for the parameters A to E based on information on the actual work content, work site, work process, etc., starting from the parameters A to E that are set in advance, and select an optimal operating point from the operation map in FIG. 6. For example, the target trajectory setting unit 3004 may perform reinforcement learning for the parameters A to E in accordance with information on the work content, work site, work process, etc., so as to maximize the work efficiency (work time) and energy consumption efficiency (e.g., fuel consumption rate) as evaluation indices (rewards), and calculate the parameters A to E and the optimal operating point.

For example, operating point 606 corresponds to a case where the priority of energy consumption efficiency is set relatively higher than the priority of work efficiency between the work efficiency and energy consumption efficiency of the excavator 100. In this case, the controller 30 sets the target trajectory of the working part of the bucket 6 and the attitude angle of the bucket 6 with respect to the ground, etc., so that the priority of energy consumption efficiency is relatively higher than the priority of work efficiency, i.e., so that the energy consumption efficiency is relatively high.

For example, operating point 608 corresponds to a case where the priority of work efficiency is set relatively higher than the priority of energy consumption efficiency between the work efficiency and energy consumption efficiency of the excavator 100. In this case, the controller 30 sets the target trajectory of the working part of the bucket 6 and the attitude angle of the bucket 6 with respect to the ground, etc., so that the priority of work efficiency is relatively higher than the priority of energy consumption efficiency, i.e., so that the work efficiency is relatively high.

<Method of Setting Target Trajectory of Bucket and Attitude Angle of Bucket During Excavation>
FIG. 7 is a diagram for explaining an example of parameters relating to a trajectory 700 of the tip of the bucket 6 during excavation.

In this example, the controller 30 (target trajectory setting unit 3004) sets parameters related to the trajectory of the tip of the bucket 6 during excavation based on a predetermined template, thereby setting the target trajectory of the working part (tip) of the bucket 6 during excavation.

For example, as shown in FIG. 7, the controller 30 sets a target trajectory for the working part (toe) of the bucket 6 during excavation by setting some or all of parameters A to E.

Parameters A and B are parameters that define the dimensions of the bucket 6's trajectory 700 relative to the ground surface 702 during excavation.

The trajectory 700 corresponding to the target trajectory of the bucket 6 during excavation is set in a range above the target construction surface 704 or along the target construction surface 704. That is, the trajectory 700 corresponding to the target trajectory of the bucket 6 during excavation is set so as not to exceed the target construction surface 704 downward, as described above. Also, the controller 30 grasps the shape of the ground 702 to be excavated based on the output of the spatial recognition device 70, as described above. Also, the controller 30 may grasp the shape of the ground 702 to be excavated based on the output of a spatial recognition device installed outside the shovel 100, for example, on a multicopter or a utility pole, instead of the spatial recognition device 70, as described above. Also, the controller 30 may grasp the shape of the ground 702 to be excavated based on the trajectory of the working part (for example, the tip of the bucket 6) during the previous excavation, as described above.

Parameter A represents the excavation length. The excavation length means the horizontal length (distance) from when the tip of the bucket 6 penetrates the ground 702 until the tip of the bucket 6 leaves the ground as the soil is scooped up.

Parameter B represents the excavation depth. The excavation depth refers to the depth of the deepest point from the ground surface 702 along the trajectory of the toe of the bucket 6 during excavation.

Parameters C to E specify the angle of the bucket 6 trajectory relative to the reference plane during excavation.

Parameter C represents the penetration angle. The penetration angle means the angle of the trajectory of the bucket 6 relative to the horizontal plane or the ground surface 702 when the toe of the bucket 6 penetrates the ground surface 702.

Parameter D represents the horizontal pull angle. The horizontal pull angle means the angle of the trajectory of the bucket 6 with respect to the horizontal plane or the ground surface 702 when the horizontal movement of the bucket 6 is predominant (during horizontal pull) between when the toe of the bucket 6 penetrates the ground surface 702 and when it is lifted off the ground surface 702.

Parameter E represents the scooping angle. The scooping angle refers to the angle of the trajectory of the toe of the bucket 6 relative to the horizontal plane or the ground surface 702 when the toe of the bucket 6 leaves the ground surface 702 when the bucket 6 scoops up soil.

The target trajectory setting unit 3004 may, for example, set at least one of parameters A and B when the shovel 100 is excavating, thereby simply setting a target trajectory for the tip of the bucket 6. The target trajectory setting unit 3004 may also set a more detailed target trajectory for the tip of the bucket 6, for example, by setting at least one of parameters C to E in addition to parameters A and B. In other words, the target trajectory setting unit 3004 changes the trajectory of the template in accordance with the settings of parameters A to E by setting some or all of parameters A to E when the shovel 100 is excavating, thereby setting the target trajectory.

Specifically, the target trajectory setting unit 3004 may set the target trajectory by setting parameters A to E according to the relative priority between work efficiency and energy consumption efficiency, as described above.

For example, when the priority of work efficiency is relatively higher than the priority of energy consumption efficiency, the target trajectory setting unit 3004 may set at least one of parameters A and B (digging length and digging depth) to a relatively large value. This is because the excavation volume in one excavation operation can be relatively large.

On the other hand, for example, when the priority of energy consumption efficiency is relatively higher than the priority of work efficiency, the target trajectory setting unit 3004 may set at least one of parameters A and B (digging length and excavation depth) to a relatively small value. This is because the resistance during excavation can be made relatively small.

The target trajectory setting unit 3004 may also set the attitude angle of the bucket 6 relative to a reference plane (e.g., the ground) during excavation in accordance with the relative priority between work efficiency and energy consumption efficiency, as described above.

For example, when the priority of work efficiency is relatively higher than the priority of energy consumption efficiency, the target trajectory setting unit 3004 may set the attitude angle of the bucket 6 so that the angle θ (see FIG. 7) between the opening of the bucket 6 and the ground in a side view is relatively small.

On the other hand, when the priority of energy consumption efficiency is relatively higher than the priority of work efficiency, the target trajectory setting unit 3004 may set the attitude angle of the bucket 6 so that the angle θ is relatively large.

The priority between the work efficiency and the energy consumption efficiency of the excavator 100 may be determined, for example, according to the frequency of visits by dump trucks that enter and leave the work site to transport soil and sand discharged during excavation work.

For example, if the frequency of visits by dump trucks is relatively high, the priority of work efficiency is set relatively higher than the priority of energy consumption efficiency.

On the other hand, for example, if the frequency of visits by dump trucks is relatively low, the priority of energy consumption efficiency is set relatively higher than the priority of work efficiency.

The frequency of visits by dump trucks may be determined, for example, based on information about the operation schedule of the dump trucks (an example of information about visit frequency) managed by the management device 200, etc.

The frequency of visits by the dump truck may be determined based on, for example, dump truck location information (an example of information related to the frequency of visits) obtained from the dump truck through communication with the dump truck. The dump truck location information is obtained using, for example, a GNSS module or a GNSS compass mounted on the dump truck. Specifically, the time at which the dump truck will arrive may be predicted based on the dump truck location information, and the relative priority between work efficiency and energy consumption efficiency may be determined based on the remaining time of the excavation work converted from the predicted arrival time of the dump truck.

Furthermore, the priority between the work efficiency and the energy consumption efficiency of the excavator 100 may be determined, for example, according to the time that the dump truck can stay at the work site, i.e., the time that the dump truck can be kept waiting at the work site.

For example, if the time that a dump truck can stay is relatively short, the priority of work efficiency is set relatively higher than the priority of energy consumption efficiency.

On the other hand, for example, if the time that a dump truck can stay is relatively long, the priority of energy consumption efficiency is set relatively higher than the priority of work efficiency.

Furthermore, the priority between the work efficiency and the energy consumption efficiency of the shovel 100 may be determined, for example, according to the planned work time (planned operation time) of the shovel 100 on the day of work.

For example, if the planned work time of the excavator 100 on the day of work is relatively short, the priority of work efficiency is set relatively higher than the priority of energy consumption efficiency.

On the other hand, for example, if the planned working time of the excavator 100 on the day of work is relatively long, the priority of energy consumption efficiency is set relatively higher than the priority of work efficiency.

The planned work time may be determined, for example, based on information about the construction schedule of the work site managed by the management device 200 or the like. The planned work time may also be determined based on manual input received from the user by the excavator 100 or the management device 200.

The determination of the relative priority between work efficiency and energy consumption efficiency may be performed by the excavator 100 (controller 30), or may be performed by the management device 200, and the result of the determination may be transmitted to the excavator 100.

When the relative priority between work efficiency and energy consumption efficiency is determined by the excavator 100 (controller 30), the controller 30 may acquire various information required for the judgment from the management device 200 or the like via the communication device T1 (an example of an acquisition device). The various information includes information related to the operation schedule of the dump truck described above, location information of the dump truck, information related to the construction schedule at the work site, information related to manual input contents accepted by the management device 200 or the like, and the like.

In addition, when the determination of the relative priority between work efficiency and energy consumption efficiency is performed by the excavator 100, the controller 30 may obtain the position information of the dump truck by directly communicating with the dump truck through the communication device T1.

The relative priority between work efficiency and energy consumption efficiency may be manually specified by the user via the input device 72 of the excavator 100 or the input device of the management device 200, etc.

In this way, in this example, the controller 30 sets the target trajectory of the bucket 6 during excavation based on the priority between the work efficiency and energy consumption efficiency of the excavator 100.

This allows the controller 30 to set a target trajectory for the bucket 6 when the shovel 100 is excavating, taking into account the work efficiency and energy consumption efficiency of the shovel 100.

In addition, in this example, the target trajectory of the working part (toe) of the bucket 6 during excavation is set by varying at least one of the excavation length and excavation depth.

The controller 30 can specifically set the target trajectory of the working part (toe) of the bucket 6 by, for example, setting the excavation length and excavation depth in accordance with the work efficiency and energy consumption efficiency of the excavator 100 based on a predetermined template.

In addition, in this example, the target trajectory of the working part (toe) of the bucket 6 during excavation is set by varying at least one of the penetration angle, horizontal pull angle, and scooping angle in addition to the excavation length and excavation depth.

The controller 30 can adjust the target trajectory of the working part (toe) of the bucket 6 in more detail to match the work efficiency and energy consumption efficiency of the excavator 100.

In addition, in this example, the controller 30 determines the priority between work efficiency and energy consumption efficiency based on information regarding the frequency of dump trucks entering and leaving the work site, which is obtained by the communication device T1.

This allows the controller 30 to set a target trajectory for the working part (tip) of the bucket 6 based on the priority between the work efficiency and energy consumption efficiency of the excavator 100, taking into account the frequency of visits of the dump truck to the work site.

In addition, in this example, the communication device T1 communicates with the dump truck or a specific external device (e.g., the management device 200, etc.) that can communicate with the dump truck, and obtains the location information of the dump truck as information regarding the frequency of visits by the dump truck.

This allows the controller 30 to determine the frequency of visits by dump trucks based on the dump truck's location information.

In addition, in this example, the controller 30 selects an operating point to prioritize work efficiency when the frequency of visits by dump trucks is relatively high, and prioritizes energy consumption efficiency when the frequency of visits by dump trucks is relatively low, and sets a target trajectory for the working part (toe) of the bucket 6 during excavation.

This allows the controller 30 to set a target trajectory for the working part (tip) of the bucket 6, taking into account work efficiency and energy consumption efficiency, in accordance with the frequency of visits by the dump truck.

Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the invention as described in the claims.

REFERENCE SIGNS LIST 1 Lower traveling body 1C Crawler 2ML, 2MR Travel hydraulic motor 2A Swing hydraulic motor 3 Upper rotating body 4 Boom 5 Arm 6 Bucket 7 Boom cylinder 8 Arm cylinder 9 Bucket cylinder 10 Cabin 11 Engine 14 Main pump 15 Pilot pump 17 Control valve 26 Operation device 30 Controller (control device)
31 Hydraulic control valve 33 Hydraulic control valve 70 Spatial recognition device 72 Input device 100 Shovel AT Attachment (work attachment)
D1 Display device D2 Sound output device S1 Boom angle sensor S2 Arm angle sensor S3 Bucket angle sensor S4 Aircraft attitude sensor S5 Swing angle sensor T1 Communication device (acquisition device)

Claims (6)

A lower running body;
An upper rotating body rotatably mounted on the lower traveling body;
A work attachment attached to the upper rotating body and including a boom, an arm, and a bucket;
a plurality of hydraulic actuators including a boom cylinder that drives the boom, an arm cylinder that drives the arm, and a bucket cylinder that drives the bucket;
a control valve for controlling the plurality of hydraulic actuators;
a control device that sets a target trajectory of the bucket during operation of the shovel involving operation of the work attachment based on a predetermined priority between work efficiency and energy consumption efficiency ,
the control device sets the target trajectory of the bucket such that the higher the priority of work efficiency over energy consumption efficiency, the greater the amount of work in the operation of the shovel, and the higher the priority of energy consumption efficiency over work efficiency, the smaller the amount of work in the operation of the shovel .
Shovel. The target trajectory of the bucket is set by varying at least one of the excavation length and the excavation depth.
The shovel according to claim 1. The target trajectory of the bucket is set by varying at least one of a penetration angle, a horizontal pull angle, and a scooping angle.
The shovel according to claim 2. An acquisition device is provided for acquiring information on the frequency of visits of dump trucks entering and leaving the work site from an external source,
The control device determines a priority between work efficiency and energy consumption efficiency based on information regarding a frequency of visits of the dump truck.
A shovel according to any one of claims 1 to 3. The acquisition device communicates with the dump truck or a predetermined external device capable of communicating with the dump truck, and acquires location information of the dump truck as information regarding the frequency of visits of the dump truck.
The shovel according to claim 4. The control device sets the target trajectory of the bucket so as to prioritize work efficiency when the frequency of visits of the dump truck is relatively high, and to prioritize energy consumption efficiency when the frequency of visits of the dump truck is relatively low.
The shovel according to claim 4 or 5.

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