JP7768481B2 - Work machinery - Google Patents

Description

This disclosure relates to a work machine.

Conventionally, excavators have been known that automatically raise the boom through autonomous control while excavating by closing the bucket (see Patent Document 1).

International Publication No. 2015/194601

In recent years, there has been a desire to automate the operation of work machines such as excavators, but there are many different types of end attachments for work machines, and they are used in a variety of ways, making it difficult to easily automate their operation.

The disclosed technology aims to automate operations according to the work content.

A work machine according to an embodiment of the present invention is a work machine equipped with a lower traveling body, an upper rotating body, an end attachment, and a display device, and has a control unit that stores in the storage device automatic control information that associates a combination of operations of the work machine selected on the setting screen, which accepts selection of multiple types of operations to be automatically controlled from multiple types of operations of the work machine , with operation information for the selected multiple types of operations from operation information for each of the operations of the work machine that is pre-stored in a storage device possessed by the work machine, on a setting screen displayed on the display device.

You can automate operations to suit the work you are doing.

FIG. 1 is a side view of a shovel according to an embodiment of the present invention. FIG. 2 is a top view of the shovel of FIG. 1. FIG. 2 is a diagram showing an example of the configuration of a hydraulic system mounted on the excavator of FIG. 1 . FIG. 1 is a diagram of a portion of the hydraulic system for operating the arm cylinder. FIG. 2 is a diagram of a portion of the hydraulic system for the boom cylinder. FIG. 2 is a diagram of a portion of the hydraulic system for the bucket cylinder. FIG. 1 is a diagram of a portion of a hydraulic system for a swing hydraulic motor. FIG. 2 is a diagram illustrating the functions of a controller. 10 is a first flowchart illustrating processing by a controller of the shovel. FIG. 10 is a first diagram showing an example of a main screen. FIG. 10 is a diagram illustrating an example of a setting screen for an automatic control function. FIG. 10 is a diagram illustrating the setting of an automatic control function. 10 is a second flowchart illustrating the processing of the controller of the shovel. FIG. 10 is a second diagram showing an example of the main screen. FIG. 10 is a first diagram illustrating the operation of the shovel by the automatic control function. FIG. 10 is a second diagram illustrating the operation of the shovel by the automatic control function.

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

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

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

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

The upper rotating body 3 is provided with a cabin 10 serving as a driver's cab, and is equipped with a power source such as an engine 11. Inside the cabin 10, an operating device 26, a controller 30, an operation method switching device SD, etc. are provided. The upper rotating body 3 is also equipped with a spatial recognition device 70, etc. For convenience, in this document, the side of the upper rotating body 3 where the attachment AT is attached will be referred to as the front, and the side where the counterweight is attached will be referred to as the rear.

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

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

The images captured by the spatial recognition device 70 are displayed on a display device 40 installed inside the cabin 10. The spatial recognition device 70 may be configured to display viewpoint-converted images, such as overhead images, on the display device 40. The overhead image is generated, for example, by combining the images output by each of cameras 70B, 70L, and 70R.

This configuration allows the shovel 100 to display an image of an object detected by the spatial recognition device 70 on the display device 40. Therefore, if the operation of the driven body is restricted or prohibited, the operator of the shovel 100 can immediately identify the object that caused this by looking at the image displayed on the display device 40.

The spatial recognition device 70 (cameras 70F, 70B, 70L, 70R) is, for example, a monocular wide-angle camera with an extremely wide angle of view. The spatial recognition device 70 may also be a stereo camera or a distance imaging camera. Images captured by the spatial recognition device 70 are input into the controller 30 via the display device 40.

The spatial recognition device 70 may also function as an object detection device. In this case, the spatial recognition device 70 may detect objects present around the shovel 100. Objects to be detected may include, for example, terrain shapes (slope, holes, etc.), people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, or specified marks on helmets.

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

The spatial recognition device may be, for example, a monocular camera having an imaging element such as a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, and may output the captured image to the display device 40. The spatial recognition device may also be configured to calculate the distance from the shovel 100 to the recognized object.

In addition to using captured image information, if the shovel 100 uses millimeter-wave radar, an ultrasonic sensor, or a laser radar as a spatial recognition device, it may transmit multiple signals (i.e., millimeter waves, ultrasonic waves, laser light, etc.) into the surrounding area and receive the reflected signals, thereby detecting the distance and direction of an object from the reflected signals.

In this way, the spatial recognition device may be configured to identify at least one of the type, position, and shape of an object. For example, the spatial recognition device may be configured to distinguish between people and non-human objects.

The spatial recognition device 70 may also be directly connected to the controller 30 so as to be able to communicate with it.

The spatial recognition device 70 may also be independent of the shovel 100. The controller 30 may also acquire captured images of the work site around the shovel 100 output by the spatial recognition device 70 via a communication device. Specifically, the spatial recognition device 70 may be attached to an aerial photography multicopter, a steel tower or utility pole installed at the work site, or the like, and acquire information about the work site based on captured images of the work site viewed from above.

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

The operation mode switching device SD is configured to switch the operation mode of the control lever. For example, the operation mode switching device SD includes a push button switch provided on the right console inside the cabin 10, and is configured to switch the operation mode of the control lever between a first operation mode and a second operation mode each time the push button switch is pressed. For example, the first operation mode is configured so that when the left control lever 26L (see Figure 3) is tilted forward, the arm 5 is opened, when the left control lever 26L is tilted rearward, the arm 5 is closed, when the left control lever 26L is tilted left, a left turn is performed, and when the left control lever 26L is tilted right, a right turn is performed. The first operation method is configured so that when the right operating lever 26R (see FIG. 3) is tilted forward, the boom 4 is lowered, when the right operating lever 26R is tilted rearward, the boom 4 is raised, when the right operating lever 26R is tilted left, the bucket 6 is closed, and when the right operating lever 26R is tilted right, the bucket 6 is opened. On the other hand, the second operation method is configured so that when the left operating lever 26L (see FIG. 3) is tilted forward, a right turn is performed, when the left operating lever 26L is tilted rearward, a left turn is performed, when the left operating lever 26L is tilted left, the arm 5 is opened, and when the left operating lever 26L is tilted right, the arm 5 is closed.

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

The controller 30 is a control device for controlling the shovel 100. In this embodiment, the controller 30 is configured as a computer equipped with a CPU, a volatile storage device, a non-volatile storage device, etc. The controller 30 reads programs corresponding to each function from the non-volatile storage device, loads them into the volatile storage device, and causes the CPU to execute the corresponding processing. Each function includes, for example, a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that assists the operator in manually operating the shovel 100 or operates the shovel 100 automatically or autonomously. The controller 30 may also include a contact avoidance function that automatically or autonomously operates or stops the shovel 100 to avoid contact between the shovel 100 and objects present within a monitoring range around the shovel 100. Monitoring of objects around the shovel 100 is performed not only within the monitoring range but also outside the monitoring range.

Next, referring to Figure 3, an example configuration of a hydraulic system mounted on the excavator 100 will be described. Figure 3 is a diagram showing an example configuration of a hydraulic system mounted on the excavator 100. In Figure 3, the mechanical power transmission system, hydraulic oil lines, pilot lines, and electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

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

In Figure 3, the hydraulic system is configured to circulate hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the center bypass line 60 or parallel line 62.

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

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

The regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in response to a control command from the controller 30.

The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may also be realized by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line, as well as the function of supplying hydraulic oil to various hydraulic control devices via a pilot line. In this case, the pilot pump 15 may be omitted.

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

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

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

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

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

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

The left center bypass line 60L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L located within the control valve unit 17. The right center bypass line 60R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R located within the control valve unit 17.

The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply hydraulic oil discharged from the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge hydraulic oil discharged from the left traveling hydraulic motor 2ML to the hydraulic oil tank.

The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply hydraulic oil discharged from the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge hydraulic oil discharged from the right traveling hydraulic motor 2MR to the hydraulic oil tank.

The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

Control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. Control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

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

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

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

The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge volume of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in response to the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the swash plate tilt angle of the left main pump 14L in response to an increase in the discharge pressure of the left main pump 14L, thereby reducing the discharge volume. The same is true for the right regulator 13R. This is to ensure that the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge volume, does not exceed the output power (output horsepower) of the engine 11.

The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.

The left operating lever 26L is used for swing operations and operating the arm 5. When the left operating lever 26L is operated in the forward/backward direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the amount of lever operation into the pilot port of the control valve 176. When the left operating lever 26L is operated in the left/right direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the amount of lever operation into the pilot port of the control valve 173.

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

In the example shown in Figure 3, the left operating lever 26L functions as an arm operating lever when operated in the forward/backward direction, and functions as a rotation operating lever when operated in the left/right direction.

The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward/backward direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the amount of lever operation into the pilot port of the control valve 175. When it is operated in the left/right direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the amount of lever operation into the pilot port of the control valve 174.

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

In the example shown in Figure 3, the right operating lever 26R functions as a boom operating lever when operated in the forward/backward direction, and functions as a bucket operating lever when operated in the left/right direction.

The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to operate in conjunction with the left travel pedal. When the left travel lever 26DL is operated in the forward/backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the amount of lever operation into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to operate in conjunction with the right travel pedal. When the right travel lever 26DR is operated in the forward/backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce control pressure corresponding to the amount of lever operation into the pilot port of the control valve 172.

The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

Operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. Operation sensor 29LA detects the operation of left operating lever 26L by the operator in the forward/backward direction, and outputs the detected value to controller 30. Examples of the operation include the lever operation direction and lever operation amount (lever operation angle).

In other words, the operation information in this embodiment may include the lever operation direction, lever operation amount (lever operation angle), etc., and may be associated with the work performed by the operation.

Similarly, operation sensor 29LB detects the operation of the left control lever 26L in the left-right direction by the operator and outputs the detected value to controller 30. Operation sensor 29RA detects the operation of the right control lever 26R in the forward-backward direction by the operator and outputs the detected value to controller 30. Operation sensor 29RB detects the operation of the right control lever 26R in the left-right direction by the operator and outputs the detected value to controller 30. Operation sensor 29DL detects the operation of the left travel lever 26DL in the forward-backward direction by the operator and outputs the detected value to controller 30. Operation sensor 29DR detects the operation of the right travel lever 26DR in the forward-backward direction by the operator and outputs the detected value to controller 30.

The controller 30 receives the output of the operation sensor 29 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 located upstream of the orifice 18 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The orifice 18 includes a left orifice 18L and a right orifice 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

A left throttle 18L is located in the left center bypass line 60L between the hydraulic oil tank and the control valve 176L, which is located most downstream. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L then generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to this control pressure. The controller 30 reduces the discharge rate of the left main pump 14L as this control pressure increases, and increases the discharge rate of the left main pump 14L as this control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

Specifically, as shown in FIG. 3 , when the excavator 100 is in a standby state in which none of the hydraulic actuators are operated, hydraulic oil discharged from the left main pump 14L passes through the left center bypass line 60L and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the minimum allowable discharge rate, suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass line 60L. Meanwhile, when one of the hydraulic actuators is operated, hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator. The flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L, circulating sufficient hydraulic oil to the hydraulic actuator to be operated and ensuring reliable drive of the hydraulic actuator to be operated. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

With the above-described configuration, the hydraulic system of Figure 3 can reduce unnecessary energy consumption in the main pump 14 when in standby mode. This unnecessary energy consumption includes pumping loss caused by the hydraulic oil discharged by the main pump 14 in the center bypass line 60. Furthermore, when operating a hydraulic actuator, the hydraulic system of Figure 3 can reliably supply sufficient hydraulic oil from the main pump 14 to the hydraulic actuator being operated.

Next, with reference to Figures 4A to 4D, the configuration for the controller 30 to operate the actuators using the machine control function will be described. Figures 4A to 4D are diagrams of portions of the hydraulic system. Specifically, Figure 4A is a diagram of the hydraulic system portion related to the operation of the arm cylinder 8, Figure 4B is a diagram of the hydraulic system portion related to the operation of the boom cylinder 7, Figure 4C is a diagram of the hydraulic system portion related to the operation of the bucket cylinder 9, and Figure 4D is a diagram of the hydraulic system portion related to the operation of the swing hydraulic motor 2A.

As shown in Figures 4A to 4D, the hydraulic system includes a proportional valve 31. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.

The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is disposed in a pipe connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to be able to change the flow path area of that pipe. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31, regardless of the operator's operation of the operating device 26. The controller 30 can then apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26 even when an operation is being performed on that specific operating device 26.

For example, as shown in FIG. 4A, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses hydraulic oil discharged from the pilot pump 15 to apply pilot pressure corresponding to operation in the forward/backward direction to the pilot port of the control valve 176. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward), it applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Furthermore, when the left operating lever 26L is operated in the arm opening direction (forward), it applies pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

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

The operation sensor 29LA detects the forward/backward operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.

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

With this configuration, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL in response to the arm closing operation by the operator. Furthermore, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the arm closing operation by the operator. In other words, the controller 30 can close the arm 5 in response to the arm closing operation by the operator, or regardless of the arm closing operation by the operator.

In addition, in response to the arm opening operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. In addition, regardless of the arm opening operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. In other words, the controller 30 can open the arm 5 in response to the arm opening operation by the operator, or regardless of the arm opening operation by the operator.

Furthermore, with this configuration, even when the operator is performing an arm closing operation, the controller 30 can, as necessary, reduce the pilot pressure acting on the closing-side pilot ports of the control valve 176 (the left pilot port of control valve 176L and the right pilot port of control valve 176R) to forcibly stop the closing operation of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm-opening operation.

Alternatively, even if the operator is performing an arm closing operation, the controller 30 may, as necessary, control the proportional valve 31AR to increase the pilot pressure acting on the opening pilot ports of the control valve 176 (the right pilot port of control valve 176L and the left pilot port of control valve 176R) opposite the closing pilot port of the control valve 176, thereby forcibly returning the control valve 176 to the neutral position, thereby forcibly stopping the closing operation of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm opening operation.

Although the following explanation with reference to Figures 4B to 4D will be omitted, the same applies to the case where the operation of the boom 4 is forcibly stopped when the operator is performing a boom-raising or boom-lowering operation, the case where the operation of the bucket 6 is forcibly stopped when the operator is performing a bucket-closing or bucket-opening operation, and the case where the rotation operation of the upper rotating body 3 is forcibly stopped when the operator is performing a rotation operation. The same also applies to the case where the traveling operation of the lower traveling body 1 is forcibly stopped when the operator is performing a traveling operation.

Also, as shown in FIG. 4B, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses hydraulic oil discharged from the pilot pump 15 to apply pilot pressure corresponding to operation in the forward/backward direction to the pilot port of the control valve 175. More specifically, when the right operating lever 26R is operated in the boom-up direction (rearward), it applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Also, when the right operating lever 26R is operated in the boom-down direction (forward), it applies pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

The operation sensor 29RA detects the forward/backward operation of the right operating lever 26R by the operator and outputs the detected value to the controller 30.

Proportional valve 31BL operates in response to a control command (current command) output by controller 30. It adjusts the pilot pressure of hydraulic oil introduced from pilot pump 15 via proportional valve 31BL to the right pilot port of control valve 175L and the left pilot port of control valve 175R. Proportional valve 31BR operates in response to a control command (current command) output by controller 30. It adjusts the pilot pressure of hydraulic oil introduced from pilot pump 15 via proportional valve 31BR to the right pilot port of control valve 175R. Proportional valve 31BL can adjust the pilot pressure so that control valves 175L and 175R can be stopped at any valve position. Furthermore, proportional valve 31BR can adjust the pilot pressure so that control valve 175R can be stopped at any valve position.

With this configuration, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL in response to the boom-raising operation by the operator. Furthermore, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL, regardless of the boom-raising operation by the operator. In other words, the controller 30 can raise the boom 4 in response to the boom-raising operation by the operator, or regardless of the boom-raising operation by the operator.

In addition, in response to the operator's boom lowering operation, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. In addition, regardless of the operator's boom lowering operation, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. In other words, the controller 30 can lower the boom 4 in response to the operator's boom lowering operation, or regardless of the operator's boom lowering operation.

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

The operation sensor 29RB detects the left/right operation of the right operating lever 26R by the operator and outputs the detected value to the controller 30.

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

With this configuration, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL in response to the bucket closing operation by the operator. Furthermore, the controller 30 can supply hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL, regardless of the bucket closing operation by the operator. In other words, the controller 30 can close the bucket 6 in response to the bucket closing operation by the operator, or regardless of the bucket closing operation by the operator.

In addition, in response to the bucket opening operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. In addition, regardless of the bucket opening operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. In other words, the controller 30 can open the bucket 6 in response to the bucket opening operation by the operator, or regardless of the bucket opening operation by the operator.

As shown in FIG. 4D, the left operating lever 26L is also used to operate the swing mechanism 2. Specifically, the left operating lever 26L uses hydraulic oil discharged from the pilot pump 15 to apply pilot pressure corresponding to left/right operation to the pilot port of the control valve 173. More specifically, when the left operating lever 26L is operated in the left swing direction (leftward), it applies pilot pressure corresponding to the amount of operation to the left pilot port of the control valve 173. Furthermore, when the left operating lever 26L is operated in the right swing direction (rightward), it applies pilot pressure corresponding to the amount of operation to the right pilot port of the control valve 173.

The operation sensor 29LB detects the left/right operation of the left operating lever 26L by the operator and outputs the detected value to the controller 30.

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

With this configuration, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL in response to a left rotation operation by the operator. Furthermore, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL, regardless of a left rotation operation by the operator. In other words, the controller 30 can rotate the rotation mechanism 2 left in response to a left rotation operation by the operator, or regardless of a left rotation operation by the operator.

In addition, in response to a right turn operation by the operator, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. In addition, regardless of a right turn operation by the operator, the controller 30 can supply hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. In other words, the controller 30 can rotate the swing mechanism 2 to the right in response to a right turn operation by the operator, or regardless of a right turn operation by the operator.

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

Although the description has been given of an electric control lever as the form of the operating device 26, a hydraulic control lever may be used instead. In this case, the lever operation amount of the hydraulic control lever may be detected in the form of pressure by a pressure sensor and input to the controller 30. Furthermore, a solenoid valve may be disposed between the operating device 26 as a hydraulic control lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation is performed using the operating device 26 as a hydraulic control lever, the operating device 26 can move each control valve by increasing or decreasing the pilot pressure in response to the lever operation amount. Furthermore, each control valve may be configured as an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electrical signal from the controller 30 that corresponds to the lever operation amount of the electric control lever.

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

In FIG. 5, the controller 30 is configured to receive signals output from at least one of the operating device 26, the spatial recognition device 70, the operation method switching device SD, and the switch NS, perform various calculations, and output control commands to the proportional valve 31, etc. In addition, the controller 30 of this embodiment displays various types of information on the display device 40.

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

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

The controller 30 of this embodiment has, as functional elements, an input reception unit 310, a display control unit 311, a registration unit 312, a prohibition determination unit 313, a bucket operation control unit 314, and an arm operation control unit 315. Each functional element may be configured as hardware or software. Furthermore, while the bucket operation control unit 314 and the arm operation control unit 315 are shown as separate units for ease of explanation, they do not need to be physically separate units and may be configured, in whole or in part, as common software or hardware components.

The input reception unit 310 receives various operational inputs from the input device 42 of the display device 40, the switch NS (NSL) provided on the left operating lever 26L, etc.

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

The registration unit 312 associates the work content of the shovel 100 with operation information of the shovel 100 in accordance with the operation accepted by the input acceptance unit 310, and stores the associated information in a storage device or the like of the controller 30. In other words, the registration unit 312 stores automatic control information in a storage device that associates the work content to be automated with the operation information corresponding to the work content.

The work content in this embodiment may be a combination of operations of the shovel 100. Furthermore, the work content in this embodiment may include multiple operation groups each including multiple operations. In this embodiment, the operation groups may be separated by a fixed interval or an interval that can be set to any time.

In the following description, storing automatic control information that associates work content with operation information in a storage device may be referred to as setting an automatic control function. In this embodiment, work content refers to a combination of actions that are the subject of automatic control.

The storage device may be a non-volatile storage device included in the controller 30, or a storage device provided external to the controller 30. Details of the processing by the registration unit 312 will be described later.

The prohibition determination unit 313 determines whether the work content registered by the registration unit 312 includes a combination of operations that have been prohibited in advance. An example of a combination of operations that have been prohibited in advance is a combination of a boom-raising operation and a boom-lowering operation.

The bucket operation control unit 314 performs automatic opening and closing operations of the bucket 6 based on the automatic control information stored in the storage device.

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

In this way, the controller 30 of this embodiment is an example of a control unit that accepts settings for automatic control functions on the screen displayed on the display device 40 of the shovel 100.

Next, the processing of the controller 30 of the shovel 100 of this embodiment will be described with reference to Figure 6. Figure 6 is a first flowchart illustrating the processing of the shovel controller. Figure 6 shows the processing for setting the automatic control function.

When the controller 30 of this embodiment receives an operation to instruct the setting of the automatic control function via the input receiving unit 310, the display control unit 311 causes the display device 40 to display a setting screen including icon images indicating the operation of the shovel 100 (step S601). The icon images displayed here can be switched using switch NS. Note that the icon images of this embodiment can also be considered images indicating the type of movement of the shovel 100. Details of the setting screen will be described later.

Next, when an icon image is determined (step S602), the controller 30 stores, in the registration unit 312, the action associated with the determined icon image and the operation information corresponding to the action in association with each other (step S603).

In other words, when the registration unit 312 accepts the selection of an icon image, it designates the operation associated with this icon image as the operation to be controlled by the automatic control function.

Note that operation information for each action may be prepared in advance and stored in a storage device.

The controller 30 then determines whether or not an instruction to operate registration has been received via the input receiving unit 310 (step S604). If an instruction to end registration has not been received in step S604, the controller 30 returns to step S601 and displays an icon image for selecting the next operation on the settings screen.

When an operation to end registration is accepted in step S604, the controller 30 determines, via the prohibition determination unit 313, whether the actions registered as a group include a combination that has been prohibited in advance (step S605).

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

If the combination of actions that corresponds to the action is not included in step S605, the controller 30 registers the information associated with the action and operation information stored in the registration unit 312 as automatic control information for the work content (step S607), and terminates the process.

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

Below, examples of the display on the display device 40 will be described with reference to Figures 7 and 8. Figure 7 is the first diagram showing an example of the main screen.

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

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

The travel mode display area 41b, attachment display area 41c, engine control status display area 41e, rotation speed mode display area 41i, and air conditioner operation status display area 41m are areas that display setting status information, which is information related to the setting status of the excavator 100. The fuel consumption display area 41d, engine operating time display area 41f, coolant temperature display area 41g, remaining fuel amount display area 41h, remaining urea water amount display area 41j, and hydraulic oil temperature display area 41k are areas that display operating status information, which is information related to the operating status of the excavator 100.

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

The engine control status display area 41e is an area that displays the control status of the engine 11. The engine operating time display area 41f is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 41g is an area that displays the current temperature of the engine coolant. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank.

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

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

The image display area 41n is an area that displays images captured by an imaging device serving as the spatial recognition device 70. In the example of FIG. 7, the image display area 41n displays an overhead image FV and a rearward image CBT. The overhead image FV is, for example, a virtual viewpoint image generated by the display control unit 311, and is generated based on images captured by the rearward camera 70B, left camera 70L, and right camera 70R.

In addition, a shovel image GE corresponding to the shovel 100 is placed in the center of the overhead image FV. This is to allow the operator to intuitively understand the positional relationship between the shovel 100 and objects around the shovel 100. The rear image CBT is an image that shows the space behind the shovel 100, and includes an image GC of the counterweight. The rear image CBT is a real viewpoint image generated by the display control unit 311, etc., and is generated based on an image acquired by the rear camera 70B.

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

In addition, in the example of Figure 7, the overhead image FV and the rear image CBT are arranged adjacent to each other vertically, but they may also be arranged with a gap between them.In addition, in the example of Figure 7, the image display area 41n is a vertically elongated area, but the image display area 41n may also be a horizontally elongated area.

When the image display area 41n is a horizontally long area, the image display area 41n may have an overhead image FV arranged on the left side as the first image display area 41n1 and a rearward image CBT arranged on the right side as the second image display area 41n2. In this case, they may be arranged with a gap between them on the left and right, or the positions of the overhead image FV and rearward image CBT may be swapped.

Furthermore, in this embodiment, an icon image 41x is displayed in each of the first image display area 41n1 and the second image display area 41n2. The icon image 41x is an image that represents the relative relationship between the position of the imaging device (spatial recognition device 70) and the orientation of the attachment on the upper rotating body 3.

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

Images 41xF, 41xB, 41xL, 41xR, and 41xI correspond to camera 70F, which captures images in front of the shovel 100, camera 70B, which captures images behind the shovel 100, camera 70L, which captures images to the left of the shovel 100, and camera 70R, which captures images to the right of the shovel 100, respectively. Image 41xI corresponds to a camera inside the cabin 10.

In this embodiment, when an image associated with a camera is selected in the icon image 41x, the image data captured by the camera corresponding to the selected image is displayed in the image display area 41n.

In the example of Figure 7, the display mode of images 41xB, 41xL, and 41xR in first image display area 41n1 is different from the display mode of images 41xF and 41xI. Therefore, it can be seen that first image display area 41n1 displays an overhead image represented by image data synthesized from image data captured by cameras 70B, 70L, and 70R corresponding to images 41xB, 41xL, and 41xR, respectively.

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

The menu display area 41p has tabs 41p1 to 41p7. In the example of Figure 7, the tabs 41p1 to 41p7 are arranged at the bottom of the image display section 41, spaced apart from each other on the left and right. The tabs 41p1 to 41p7 display icon images for displaying various types of information.

Tab 41p1 displays menu detail item icon images for displaying menu detail items. When tab 41p1 is selected by the operator, the icon images displayed on tabs 41p2 to 41p7 are switched to icon images associated with the menu detail items.

Tab 41p4 displays an icon image for displaying information about the digital level. When the operator selects tab 41p4, the rear image CBT switches to a screen showing information about the digital level. However, the screen showing information about the digital level may be displayed by superimposing it on the rear image CBT or by reducing the size of the rear image CBT.

In addition, the overhead image FV may be switched to a screen showing information about the digital level, or the screen showing information about the digital level may be superimposed on the overhead image FV or the overhead image FV may be reduced to display the screen.

Tab 41p5 displays an icon image for transitioning the main screen displayed on the image display unit 41 to a setting screen for the automatic control function. When the operator selects the input device 42 corresponding to tab 41p5 (described below), the main screen displayed on the image display unit 41 transitions to a setting screen for the automatic control function. At this time, the image display area 41n continues to be displayed, the first image display area 41n continues to be displayed, and icon images and the like for setting the automatic control function are displayed in the second image display area 41n2. The automatic control function is set when the excavator 100 is not being operated.

Tab 41p6 displays an icon image for displaying information about information-based construction. When tab 41p6 is selected by the operator, the rear image CBT switches to a screen showing information about information-based construction. However, a screen showing information about information-based construction may be displayed by superimposing it on the rear image CBT or by reducing the rear image CBT. Also, the overhead image FV may switch to a screen showing information about information-based construction, or a screen showing information about a digital level may be displayed by superimposing it on the overhead image FV or by reducing the overhead image FV.

Tab 41p7 displays an icon image for displaying information about the crane mode. When the operator selects tab 41p7, the rear image CBT switches to a screen showing information about the crane mode. However, a screen showing information about the crane mode may be displayed by superimposing it on the rear image CBT or by reducing the rear image CBT. Alternatively, the overhead image FV may switch to a screen showing information about the crane mode, or a screen showing information about the crane mode may be displayed by superimposing it on the overhead image FV or by reducing the overhead image FV.

No icon images are displayed on tabs 41p2 and 41p3. Therefore, even if the operator operates tabs 41p2 and 41p3, no change occurs in the image displayed on the image display unit 41.

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

Next, we will explain the input device 42. As shown in Figure 7, the input device 42 is composed of one or more button-type switches that allow the operator to select tabs 41p1 to 41p7, enter settings, etc.

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

However, the number, type, and arrangement of switches on the input device 42 are not limited to the above example. For example, the functions of multiple button-type switches may be combined into one using a jog wheel or jog switch, or the input device 42 may be separate from the display device 40. Alternatively, the image display unit 41 and the input device 42 may be integrated into a touch panel, allowing direct operation of the tabs 41p1 to 41p7.

Switches 42a1 to 42a7 are located below tabs 41p1 to 41p7, corresponding to tabs 41p1 to 41p7, and function as switches to select tabs 41p1 to 41p7, respectively.

Switches 42a1 to 42a7 are located below tabs 41p1 to 41p7, respectively, so the operator can intuitively select tabs 41p1 to 41p7.

In FIG. 7, for example, when switch 42a1 is operated, tab 41p1 is selected, the menu display area 41p is changed from a single-level display to a double-level display, and icon images corresponding to the first menu are displayed in tabs 41p2 to 41p7. Furthermore, in response to the change in the menu display area 41p from a single-level display to a double-level display, the size of the rear image CBT is reduced. At this time, the size of the overhead image FV is maintained without change, so visibility is not impaired when the operator checks the area around the excavator 100.

Furthermore, when switch 42a5 is operated, the display control unit 311 determines that tab 41p5 has been selected and transitions the main screen to the automatic control function setting screen shown in Figure 8.

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

In this way, in this embodiment, the captured image continues to be displayed in the image display area 41n even on the automatic control function setting screen, so visibility is not impaired when the operator checks the area around the excavator 100.

Switch 42b1 is a switch that switches the captured image displayed in image display area 41n. Each time switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of image display area 41n switches between, for example, a rear image, a left image, a right image, and an overhead image.

Furthermore, each time the switch 42b1 is operated, the captured image displayed in the second image display area 41n2 of the image display area 41n may be configured to switch between, for example, a rear image, a left image, a right image, and an overhead image.

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

Furthermore, the image display area 41n may be configured so that the captured image displayed in the first image display area 41n1 and the captured image displayed in the second image display area 41n2 are swapped each time the switch 42b1 is operated.

In this way, the switch 42b1 serving as the input device 42 may switch between the screens displayed in the first image display area 41n1 and the second image display area 41n2, or between the screens displayed in the first image display area 41n1 and the second image display area 41n2. A separate switch may also be provided for switching between the screens displayed in the second image display area 41n2.

Switches 42b2 and 42b3 are switches that adjust the airflow rate of the air conditioner. In the example in Figure 7, when switch 42b2 is operated, the airflow rate of the air conditioner decreases, and when switch 42b3 is operated, the airflow rate of the air conditioner increases.

Switch 42b4 is a switch that switches the cooling and heating functions ON and OFF. In the example shown in Figure 7, the cooling and heating functions are switched ON and OFF each time switch 42b4 is operated.

Switches 42b5 and 42b6 are switches that adjust the set temperature of the air conditioner. In the example in Figure 7, the set temperature is lowered when switch 42b5 is operated, and raised when switch 42b6 is operated.

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

In addition, switches 42a2-42a6 and 42b2-42b6 are configured to allow the user to input numbers displayed on or near the respective switches. Furthermore, switches 42a3, 42a4, 42a5, and 42b4 are configured to allow the user to move the cursor left, up, right, and down, respectively, when the cursor is displayed on the menu screen.

Note that the functions assigned to switches 42a1-42a7 and 42b1-42b7 are merely examples, and they may be configured to perform other functions.

As explained above, when tab 41p1 is selected while the overhead image FV and rearward image CBT are displayed in image display area 41n, the first menu detailed items are displayed in tabs 41p2 to 41p7 with the overhead image FV and rearward image CBT displayed. This allows the operator to check the first menu detailed items while viewing the overhead image FV and rearward image CBT.

In addition, the image display area 41n displays the overhead image FV without changing its size before or after the tab 41p1 is selected. This prevents a decrease in visibility when the operator checks the area around the excavator 100.

Figure 8 shows an example of a setting screen for the automatic control function. The image display unit 41 shown in Figure 8 displays a first image display area 41n1 and a second display area 41n2A.

The second display area 41n2A displays icon images 45a, 45b, icon image 46a, arrow images 47a, 47b, and icon image 48a. The second display area 41n2A also displays tabs 49a to 49d.

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

Icon image 46a is an icon image associated with the boom lowering operation. Arrow images 47a and 47b indicate that icon image 46a can be switched to an icon image associated with another operation.

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

Tab 49a is a tab for returning the display in the second display area 41n2A to its original state. Tab 49b is a tab for switching icon images 45a. Tab 49c is a tab for selecting the next operation after the operation indicated by icon image 46a. Tab 49d is a tab for transitioning from the automatic control function settings screen to the main screen.

In this embodiment, when an input device 42 located in a position corresponding to one of the tabs 49a to 49d is operated, the screen of the display device 40 displays a screen corresponding to the tab corresponding to the operated input device 42.

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

Next, we will explain in detail how to set up the automatic control function with reference to Figure 9. Figure 9 is a diagram explaining how to set up the automatic control function.

Figure 9 (A) shows the initial state of the automatic control function setting screen, which is similar to the second display area 41n2A in Figure 8.

In Figure 9 (A), an icon image 46a associated with the boom lowering operation is displayed. In this state, for example, when the input device 42 corresponding to tab 49b is operated, the icon image 46a switches to an icon image associated with an operation other than the boom lowering operation.

Furthermore, when the input device 42 corresponding to tab 49c is operated in the state shown in Figure 9 (A), a new icon image associated with the action is displayed next to icon image 48a.

Figure 9(B) shows the state of the second display area 41n2A while the automatic control function is being set. In the second display area 41n2A of Figure 9(B), icon images 46a, 46b, and 46c are associated with icon image 48a and icon image 48b. Therefore, in the example of Figure 9(B), it can be seen that the boom lowering operation associated with icon image 46a, the arm opening operation associated with icon image 46b, and the bucket opening operation associated with icon image 46c are combined.

In other words, it can be seen that the excavator 100 has selected an earth removal operation that simultaneously performs the boom lowering operation, arm opening operation, and bucket opening operation.

Also, in the second display area 41n2A of FIG. 9(B), an icon image 43a is displayed. This icon image 43a is associated with the interval provided between the selected type of action.

In the example of Figure 9 (B), icon image 43a is displayed below the area where icon images 46a to 46c are displayed. Then, icon images 46d and 46e are displayed below the area where icon image 43a is displayed.

Icon image 46d is associated with the arm closing operation, and icon image 46e is associated with the left swing operation. Furthermore, icon image 46d and icon image 46e are associated with icon image 48c, which indicates that the arm closing operation and left swing operation are combined. In other words, it can be seen that the left swing operation, which simultaneously performs the boom lowering operation, arm closing operation, and swing operation, has been selected for the excavator 100.

In this way, in Figure 9 (B), the earth removal operation, interval, and left turn operation are selected as a series of work operations.

In addition, in this embodiment, parameters such as angle and time can be set for the actions indicated by each icon image in the second display area 41n2A. Furthermore, in this embodiment, the work content may also include work conditions such as the location to be excavated. For example, when the work content is set and an action indicated by each icon image is selected to carry out the set work content, parameters indicating the operation time, etc. of each action are automatically set based on the work conditions included in the work content. Furthermore, by accumulating the operation time of each action, the work time required to complete the set work content can be estimated. Furthermore, parameters indicating the operation time, etc. of each action may also be set manually.

In the example of Figure 9 (B), parameters 50a, 50b, 50c, and 50e indicating operation times are set for icon images 46a to 46d, respectively, and parameter 50d indicating interval time is set for icon image 43a. Furthermore, parameter 50f indicating the rotation angle is set for icon image 46e.

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

Specifically, the registration unit 312 generates automatic control information that associates operation information for the earth unloading operation, including parameters set for each of the icon images 46a to 46c, the interval indicated by the parameters set for the icon image 43a, operation information for the left turning operation, including parameters set for each of the icon images 46d and 46e, with the work content of earth unloading and left turning, and stores this information in the storage device.

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

In Figure 9 (B), when registration of the automatic control information is complete, the second display area 41n2A will appear as shown in Figure 9 (C).

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

In this embodiment, by selecting a combination of icon images associated with the operation of the excavator 100, the operator can automate the work he or she desires.

Therefore, according to this embodiment, the work desired by the operator can be easily automated regardless of the type of end attachment of the shovel 100.

In addition, in this embodiment, work content can be automated by selecting icon images and combining actions, so, for example, no programming knowledge is required to perform automation, and operators can easily automate work content.

Furthermore, in this embodiment, if multiple switches NS are provided on the left operating lever 26L, different operation details can be set for each switch. In other words, in this embodiment, multiple types of automatic control information can be registered in association with each of the multiple NS switches.

Furthermore, in this embodiment, by operating the switch NS in which the work content is registered, the excavator 100 can automatically perform the registered work content, thereby reducing the burden on the operator.

Next, the processing of the controller 30 of the shovel 10 by the automatic control function will be described. In this embodiment, if the shovel 100 satisfies a predetermined condition while operating under the automatic control function, operation under the automatic control function is stopped. "Operating under the automatic control function" means, in other words, that the shovel 100 is currently operating under control based on the automatic control information.

The specified condition is, for example, when the operator operates the lever of the operating device 26, or when the spatial recognition device 70 detects a person or object around the excavator 100.

Figure 10 is a second flowchart illustrating the processing of the shovel controller. Figure 10 shows a case where the shovel 100 is operated using the automatic control function.

In this embodiment, the controller 30 determines whether an instruction for operation by the automatic control function has been received (step S1001). Specifically, the controller 30 determines, via the input receiving unit 310, whether the switch NS corresponding to the work content set in FIG. 9 has been operated.

If an instruction to operate using the automatic control function is not received in step S1001, the controller 30 waits. If an instruction to operate using the automatic control function is received in step S1001, the controller 30 reads out the automatic control information associated with the operated switch NS and the corresponding work content, and starts automatic control (step S1002). At this time, the controller 30 may cause the display control unit 311 to display on the display device 40 a message indicating that operation using the automatic control function is in progress.

Next, the controller 30 determines whether the shovel 100 satisfies predetermined conditions (step S1003). If the predetermined conditions are satisfied in step S1003, the controller 30 stops operation by the automatic control function (step S1004) and ends the process.

Specifically, when the controller 30 detects operation of the operating device 26 by the operator, it may stop operation by the automatic control function and switch to operation by operator operation.

Furthermore, the controller 30 may control the shovel 100 so that, if a person or object is detected around the shovel 100, operation by the automatic control function is stopped and operation by the operating device 26 is disabled. In this way, work safety can be ensured even when operation by the automatic control function is in progress.

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

If operation by the automatic control function has ended in step S1005, the controller 30 ends processing.

Next, we will explain an example of the display during operation of the automatic control function, with reference to Figure 11. Figure 11 is a second diagram showing an example of the main screen.

In FIG. 11, the first image display area 41n1 displays a display area 110, which displays the message "Automatic control in progress" indicating that operation is being performed by the automatic control function. Note that this message may also be displayed, for example, on a support device for the shovel 100 held by a worker working at a work site or the like using the shovel 100.

In this embodiment, by displaying a message in this manner, it is possible to notify the operator of the excavator 100, workers at the work site, etc.

Furthermore, in this embodiment, the display area 110 is displayed in the first image display area 41n1, so the visibility of the rear image CBT of the excavator 100 displayed in the second image display area 41n2 is not impaired.

Next, the operation of the shovel 100 using the automatic control function will be described with reference to Figures 12 and 13. Figure 12 is the first diagram illustrating the operation of the shovel using the automatic control function.

Figure 12 shows the relationship between time and the command value for the proportional valve 31 corresponding to each actuator by the automatic control function. Figure 12 also shows a case where the excavator 100 does not satisfy a specified condition during operation by the automatic control function.

In the example of Figure 12, when automatic control of the work content "earth removal and left swing" is selected at timing T1, the controller 30 performs the bucket opening operation, boom lowering operation, and arm opening operation in accordance with the automatic control information associated with the first operation group of this work content.

When the shovel 100 completes the operations combined as the first operation group between timing T1 and timing T2, the interval is determined to be between timing T2 and timing T3. During this interval, the controller 30 of the shovel 100 outputs to the proportional valve 31 a command value for neutralizing the spool positions of the control valves 171-176 corresponding to each actuator. Then, from timing T3, the shovel 100 performs an arm closing operation and a left swing operation in accordance with the automatic control information associated with the second operation group, and at timing T4, the operations combined as the second operation group are completed.

In this way, in this embodiment, multiple action groups can be registered as a series of work contents via intervals. Furthermore, in this embodiment, because intervals are provided between action groups, the prohibition determination unit 313 only needs to determine an error if the same action group contains a combination of prohibited actions.

Figure 13 is a second diagram illustrating the operation of a shovel using the automatic control function. Figure 13 shows the relationship between time and the command value for the proportional valve 31 corresponding to each actuator during operation using the automatic control function, and the relationship between time and the amount of operation of the control device 26 operated by the operator. Figure 12 also shows a case where the shovel 100 satisfies specified conditions during operation using the automatic control function.

The example in Figure 13 shows a case where the operator operates the operating device 26 at timing T5, when the automatic control function is operating in accordance with the automatic control information associated with the second operation group.

In this case, at timing T5, the shovel 100 stops operating using the automatic control function and operates based on the operator's operation. Specifically, at timing T5, the shovel 100 stops operating using the automatic control function and performs a boom-raising operation based on the operator's boom-raising operation.

In the above-described embodiment, the shovel 100 is an example of a work machine and the bucket 6 is an example of an end attachment, but this is not limiting. This embodiment can also be applied to, for example, a material handling machine equipped with a grapple, lifting magnet, or the like as an end attachment.

The present embodiment has been described above with reference to specific examples. However, the present invention is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art as appropriate are also included within the scope of the present invention as long as they comprise the features of the present invention. The elements of the specific examples described above, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and may be modified as appropriate. The elements of the specific examples described above may be combined as appropriate as long as no technical contradictions arise. For example, in the above-described embodiment, the operation time may be estimated based on the set automatic control information. Specifically, the operation time and interval time set for each operation may be added up to estimate the operation time required for automatic control.

26 Operation device 30 Controller 40 Display device 100 Shovel 310 Input reception unit 311 Display control unit 312 Registration unit 313 Prohibition determination unit 314 Bucket operation control unit 315 Arm operation control unit

Claims (9)

a lower running body;
An upper rotating body;
An end attachment;
A work machine equipped with a display device,
a control unit that stores in a storage device automatic control information that associates a combination of operations of the work machine selected on the setting screen, which is displayed on the display device and accepts selection of multiple types of operations to be automatically controlled from among multiple types of operations of the work machine, with operation information for the selected multiple types of operations from operation information for each of the operations of the work machine that is pre-stored in a storage device that the work machine has. An operating device is provided,
The control unit
The work machine according to claim 1 , wherein the work machine is caused to perform an operation based on the automatic control information stored in the storage device in response to an operation on the operation device. the setting screen includes an icon image indicating a type of operation of the work machine,
The control unit
3. The work machine according to claim 1, wherein a combination of the icon images selected on the setting screen and the corresponding actions is set as the combination of actions. The control unit
The work machine according to claim 1 , wherein a parameter setting is accepted for each of the operations. A work machine as described in any one of claims 1 to 4, wherein the combination of actions includes multiple action groups each including multiple types of action. The control unit
Accepting an operation on a switch that instructs an operation based on the automatic control information,
6. The work machine according to claim 5, wherein the work machine is caused to perform an operation of a type included in a first operation group among the plurality of operation groups, and after the operation of the type included in the first operation group is completed, the work machine is caused to perform an operation of a type included in a second operation group. The control unit
The work machine according to claim 1 , wherein when the state of the work machine satisfies a predetermined condition, operation based on the automatic control information is stopped. The predetermined condition is:
The work machine according to claim 7, wherein a person is detected around the work machine, or an operation of an operating device by an operator is detected. a lower running body;
An upper rotating body;
An end attachment;
A work machine equipped with a display device,
a control unit that stores in a storage device automatic control information that associates a combination of operations of the work machine selected on the setting screen displayed on the display device with operation information prepared for each of the operations,
The control unit
The work machine causes the display device to display an error if a combination of operations of the work machine selected on the setting screen includes a combination of operations that has been prohibited in advance.