CN116997698A - Excavator - Google Patents

Abstract

The excavator (100) has: a lower traveling body (1); an upper revolving body (3) rotatably mounted on the lower traveling body (1); and a controller (30) provided on the upper revolving body (3). The controller (30) is configured to identify the position of the object of the backfill action and generate a target position related to the backfill action. The controller (30) can change the target position according to the shape of the sand at the position of the object of the backfill action.

Description

Excavator

Technical field

The invention relates to an excavator.

Background technique

Conventionally, a hydraulic excavator equipped with a semi-autonomous excavation control system has been known (see Patent Document 1). This excavation control system is configured to execute an autonomous boom lifting and turning operation when predetermined conditions are met.

Previous technical literature

patent documents

Patent Document 1: Japanese Patent Publication No. 2011-514456

Contents of the invention

The technical problem to be solved by the invention

However, the excavation control system described above is not configured to perform autonomous backfill actions. Therefore, the excavation control system described above cannot improve the efficiency of the backfill operation.

Therefore, it is preferable to provide an excavator that can improve the efficiency of backfilling operations.

Means used to solve technical issues

An excavator according to an embodiment of the present invention includes: a lower traveling body; an upper revolving body rotatably mounted on the lower traveling body; and a control device mounted on the upper revolving body, and the control device is configured as follows Identify the location of the object of the backfill action and generate a target location associated with the backfill action.

Invention effect

The above method can improve the efficiency of backfill operations.

Description of the drawings

FIG. 1A is a side view of the excavator according to the embodiment of the present invention.

FIG. 1B is a top view of the excavator according to the embodiment of the present invention.

FIG. 2 is a diagram showing a structural example of a hydraulic system mounted on an excavator.

Figure 3A is a diagram of a portion of the hydraulic system associated with the operation of the arm cylinder.

FIG. 3B is a diagram of a part of the hydraulic system related to the operation of the swing hydraulic motor.

Figure 3C is a diagram of a portion of the hydraulic system associated with the operation of the boom cylinder.

Figure 3D is a diagram of a portion of the hydraulic system associated with operation of the bucket cylinder.

Figure 4 is the functional block diagram of the controller.

Figure 5 is a block diagram of the autonomous control function.

Figure 6 is a block diagram of the autonomous control function.

FIG. 7A is a top view of an excavator performing a backfilling operation.

FIG. 7B is a top view of the excavator performing backfilling action.

Figure 7C is a top view of the excavator performing backfilling action.

FIG. 8A is a cross-sectional view of a pit targeted for backfilling operation.

FIG. 8B is a cross-sectional view of a pit targeted for backfilling operation.

FIG. 8C is a cross-sectional view of a pit targeted for backfilling operation.

Figure 9A is a cross-sectional view of a backfilled pit.

Figure 9B is a cross-sectional view of a backfilled pit.

Figure 10A is a top view of the excavator performing another backfill action.

FIG. 10B is a cross-sectional view of a pit that is the target of another backfill operation.

Figure 11 is a top view of the excavator performing another backfilling action.

FIG. 12A is a cross-sectional view of a pit that is the target of yet another backfill operation.

FIG. 12B is a cross-sectional view of a pit that is the target of yet another backfill operation.

FIG. 12C is a cross-sectional view of a pit that is the target of yet another backfill operation.

Detailed ways

First, an excavator 100 as an excavator according to an embodiment of the present invention will be described with reference to FIGS. 1A and 1B . FIG. 1A is a side view of the shovel 100 , and FIG. 1B is a top view of the shovel 100 .

In this embodiment, the lower traveling body 1 of the excavator 100 includes crawler belts 1C. The crawler belt 1C is driven by a traveling hydraulic motor 2M mounted on the lower traveling body 1 . Specifically, the crawler belt 1C includes a left crawler belt 1CL and a right crawler belt 1CR. The left crawler track 1CL is driven by a left-travel hydraulic motor 2ML, and the right crawler track 1CR is driven by a right-travel hydraulic motor 2MR.

An upper revolving body 3 is mounted on the lower traveling body 1 so as to be rotatable via a revolving mechanism 2 . The turning mechanism 2 is driven by a turning hydraulic motor 2A mounted on the upper turning body 3 . However, the turning hydraulic motor 2A may be a turning motor generator that is an electric actuator.

A boom 4 is installed on the upper revolving body 3 . An arm 5 is installed at the front end of the boom 4 , and a bucket 6 as a termination accessory is installed at the front end of the arm 5 . The boom 4, the arm 5, and the bucket 6 constitute an excavation attachment AT as an example of the attachment. The boom 4 is driven by the boom cylinder 7 , the arm 5 is driven by the arm cylinder 8 , and the bucket 6 is driven by the bucket cylinder 9 .

The boom 4 is supported so as to be rotatable up and down relative to the upper revolving body 3 . Furthermore, a boom angle sensor S1 is mounted on the boom 4 . The boom angle sensor S1 can detect the rotation angle of the boom 4, that is, the boom angle β ₁ . The boom angle β ₁ is, for example, the rising angle from the state where the boom 4 is lowered to the maximum extent. Therefore, the boom angle β ₁ becomes the maximum when the boom 4 is lifted to the maximum.

The arm 5 is supported rotatably relative to the boom 4 . Furthermore, an arm angle sensor S2 is installed on the arm 5 . The arm angle sensor S2 can detect the rotation angle of the arm 5, that is, the arm angle β ₂ . The arm angle β ₂ is, for example, the opening angle from the state in which the arm 5 is fully retracted. Therefore, the arm angle β ₂ becomes maximum when the arm 5 is opened to the maximum extent.

The bucket 6 is supported rotatably relative to the arm 5 . Furthermore, a bucket angle sensor S3 is mounted on the bucket 6 . The bucket angle sensor S3 can detect the bucket angle β ₃ which is the rotation angle of the bucket 6 . The bucket angle β ₃ is the opening angle from the state where the bucket 6 is fully retracted. Therefore, the bucket angle β ₃ becomes maximum when the bucket 6 is opened to the maximum extent.

In the embodiment shown in FIGS. 1A and 1B , the boom angle sensor S1 , the arm angle sensor S2 , and the bucket angle sensor S3 are each composed of a combination of an acceleration sensor and a gyro sensor. However, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be composed of only an acceleration sensor. Furthermore, the boom angle sensor S1 may be a stroke sensor mounted on the boom cylinder 7 , or may be a rotary encoder, a potentiometer, an inertial measurement device, or the like. The same applies to the arm angle sensor S2 and the bucket angle sensor S3.

The upper revolving body 3 is provided with a cab 10 as a cockpit, and is equipped with one or more power sources. In the present embodiment, the engine 11 as a power source is mounted on the upper revolving body 3 . Furthermore, the object detection device 70, the imaging device 80, the body tilt sensor S4, the rotation angular velocity sensor S5, and the like are installed on the upper revolving body 3. An operating device 26, a controller 30, a display device D1, a sound output device D2, and the like are provided inside the cab 10. In addition, in this specification, for the sake of convenience, the side of the upper revolving body 3 on which the excavation attachment AT is mounted is referred to as the front side, and the side on which the counterweight is mounted is referred to as the rear side.

The object detection device 70 is configured to detect objects existing around the shovel 100 . Objects are, for example, people, animals, vehicles, construction machinery, buildings, walls, fences or pits, etc. The object detection device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor. In the present embodiment, the object detection device 70 includes a front sensor 70F installed on the front end of the upper surface of the cab 10 , a rear sensor 70B installed on the rear end of the upper surface of the upper revolving body 3 , and a rear sensor 70B installed on the upper surface of the upper revolving body 3 . There is a left sensor 70L at the left end of the surface and a right sensor 70R attached to the right end of the upper surface of the upper revolving body 3 . Each sensor is composed of LIDAR.

Furthermore, the object detection device 70 may be independent of the excavator 100 . At this time, the controller 30 can acquire the camera image of the work site around the shovel output by the object detection device 70 via the communication device. Specifically, the object detection device 70 can be installed on a multi-rotor helicopter for aerial photography or on an iron tower or telephone pole installed at a work site. Furthermore, the controller 30 can acquire information on the work site based on a photographic image of the work site observed from above.

The object detection device 70 may be configured to detect a predetermined object set in a predetermined area around the shovel 100 . That is, the object detection device 70 may be configured to be able to recognize the type of object. For example, the object detection device 70 may be configured to be able to distinguish between a person and an object other than a person (a dump truck, a telephone pole, a fence, a pit, terrain such as a sand hill, etc.). The object detection device 70 may be configured to calculate the distance from the object detection device 70 or the shovel 100 to the recognized object. Accordingly, when the object to be recognized is terrain, the object detection device 70 can recognize the distance from the object detection device 70 or the shovel 100 to each measurement position of the terrain to be measured, and can also recognize the terrain to be measured. concave and convex shape. Even when a pit exists in the terrain of the measurement target, the object detection device 70 can recognize the shape (area, depth, etc.) and position of the pit.

The imaging device 80 is configured to photograph the surroundings of the excavator 100 . In the present embodiment, the imaging device 80 includes a rear camera 80B attached to the rear end of the upper surface of the revolving upper body 3 , a front camera 80F attached to the front end of the upper surface of the cab 10 , and an upper surface of the revolving upper body 3 . The left camera 80L at the left end and the right camera 80R installed at the right end of the upper surface of the upper revolving body 3 are provided.

The rear camera 80B is arranged adjacent to the rear sensor 70B, the front camera 80F is arranged adjacent to the front sensor 70F, the left camera 80L is arranged adjacent to the left sensor 70L, and the right camera 80R is arranged adjacent to the front sensor 70F. The sensors 70R are arranged adjacent to each other.

The image captured by the camera 80 is displayed on the display device D1. The imaging device 80 may be configured to be able to display a viewpoint conversion image such as a bird's-eye view image on the display device D1. The bird's-eye view image is generated, for example, by combining images output from the rear camera 80B, the left camera 80L, and the right camera 80R.

The camera device 80 can also be used as the object detection device 70 . At this time, the object detection device 70 may be omitted.

The body inclination sensor S4 is configured to detect the inclination of the upper revolving body 3 with respect to a predetermined plane. In the present embodiment, the body tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper revolving body 3 around the front and rear axes and the tilt angle around the left and right axes relative to the virtual horizontal plane. For example, the front and rear axes and the left and right axes of the upper revolving body 3 are orthogonal to each other and pass through a point on the rotation axis of the excavator 100 , that is, the excavator center point.

The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper revolving body 3 . In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may also be a rotary transformer, a rotary encoder, or the like. The rotation angular speed sensor S5 can detect the rotation speed. The rotation speed can be calculated based on the rotation angular speed.

Hereinafter, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body tilt sensor S4, and the rotation angular velocity sensor S5 are each also referred to as a posture detection device.

The display device D1 is a device that displays information. The sound output device D2 is a device that outputs sound. The operating device 26 is a device for an operator to operate the actuator.

The controller 30 is a control device for controlling the excavator 100 . In this embodiment, the controller 30 is composed of a computer including a CPU, a volatile storage device, a nonvolatile storage device, and the like. Furthermore, the controller 30 reads the program corresponding to each function from the nonvolatile storage device, loads the program into the volatile storage device, and causes the CPU to execute corresponding processing. Each function includes, for example, an equipment guidance function that guides an operator's manual operation of the excavator 100 and an equipment control function that automatically supports the operator's manual operation of the excavator 100 .

Next, a structural example of the hydraulic system mounted on the shovel 100 will be described with reference to FIG. 2 . FIG. 2 is a diagram showing a structural example of a hydraulic system mounted on the shovel 100 . In Figure 2, double lines, solid lines, dotted lines and dotted lines are used to represent the mechanical power transmission line, working oil pipeline, pilot line and electrical control line 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 pressure sensor 29, a controller 30, etc.

In FIG. 2 , the hydraulic system circulates working oil from the main pump 14 driven by the engine 11 to the working oil tank via an intermediate bypass line 40 or a parallel line 42 .

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

The main pump 14 is configured to supply operating oil to the control valve unit 17 via an operating 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 amount (displacement) of the main pump 14 . In the present embodiment, the regulator 13 controls the discharge amount (displacement) of the main pump 14 by adjusting the swash plate deflection angle of the main pump 14 based on the control command from the controller 30 .

The pilot pump 15 is configured to supply operating oil to a hydraulic control device including an operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed capacity hydraulic pump. However, the pilot pump 15 may be omitted. At this time, the function assumed by the pilot pump 15 can also be performed by the main pump 14 . That is, in addition to the function of supplying the operating oil to the control valve unit 17 , the main pump 14 may also have a function of supplying the operating oil to the operating device 26 and the like after reducing the pressure of the operating oil through a throttle or the like.

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

The operating device 26 is a device for an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operating device 26 supplies the operating oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the pilot line. The pressure (pilot pressure) of the operating oil supplied to each pilot port is a pressure corresponding to the operation direction and operation amount of the lever or pedal (not shown) of the operating device 26 of each hydraulic actuator. However, the operating device 26 may also be an electric operating device instead of a hydraulic operating device as described above. At this time, the control valve in the control valve unit 17 may be an electromagnetic slide valve.

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 operating pressure sensor 29 is configured to detect the content of the operator's operation on the operating device 26 . In the present embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller 30 as operation data. The operation content of the operating device 26 can be detected using sensors other than the operation pressure sensor.

The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L is configured to circulate the operating oil to the operating oil tank via the left center bypass line 40L or the left parallel line 42L. The right main pump 14R is configured to circulate the operating oil to the operating oil tank via the right center bypass line 40R or the right parallel line 42R.

The left center bypass line 40L is a hydraulic oil line that passes through the control valves 171 , 173 , 175L and 176L arranged in the control valve unit 17 . The right center bypass line 40R is a working oil line that passes through the control valves 172 , 174 , 175R and 176R arranged in the control valve unit 17 .

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

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

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

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

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

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

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

The left parallel pipeline 42L is a working oil pipeline connected in parallel with the left middle bypass pipeline 40L. When the flow of the operating oil through the left center bypass line 40L is restricted or cut off by any one of the control valves 171, 173, or 175L, the left parallel line 42L can supply the operating oil to the control valve further downstream. . The right parallel line 42R is a working oil line connected in parallel with the right center bypass line 40R. When the flow of the operating oil through the right center bypass line 40R is restricted or cut off by any one of the control valves 172, 174, or 175R, the right parallel line 42R can supply the operating oil to the control valve further downstream. .

The adjuster 13 includes a left adjuster 13L and a right adjuster 13R. The left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate deflection angle of the left main pump 14L according to the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the swash plate deflection angle of the left main pump 14L according to an increase in the discharge pressure of the left main pump 14L to reduce the discharge amount. The same applies to the right adjuster 13R. This is to prevent the absorbed power (for example, absorbed horsepower) of the main pump 14 expressed by the product of the discharge pressure and the discharge amount from exceeding the output power (for example, 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 traveling rod 26D includes a left traveling rod 26DL and a right traveling rod 26DR.

The left operating lever 26L is one of the operating levers and is used for the turning operation and the operation of the arm 5 . When the left operating lever 26L is operated in the forward and backward direction, the operating oil discharged from the pilot pump 15 causes a control pressure corresponding to the lever operation amount to act on the pilot port of the control valve 176 . And when the operation is performed in the left and right direction, the operating oil discharged from the pilot pump 15 causes a control pressure corresponding to the lever operation amount to act on the pilot port of the control valve 173 .

Specifically, when the arm retracting direction is operated, the left operating lever 26L introduces the operating oil to the right pilot port of the control valve 176L, and introduces the operating oil to the left pilot port of the control valve 176R. When the arm is operated in the arm opening direction, the left operating lever 26L introduces the operating oil to the left pilot port of the control valve 176L, and introduces the operating oil to the right pilot port of the control valve 176R. Furthermore, when the left operating lever 26L is operated in the left rotation direction, the operating oil is introduced into the left pilot port of the control valve 173. When the right rotation direction is operated, the left operating lever 26L operates. Oil is introduced into the right pilot port of control valve 173.

The right operating lever 26R is one of the operating levers and is used for operating the boom 4 and operating the bucket 6 . When the right operating lever 26R is operated in the forward and backward direction, the operating oil discharged from the pilot pump 15 causes a control pressure corresponding to the lever operation amount to act on the pilot port of the control valve 175 . And when the operation is performed in the left and right direction, the operating oil discharged from the pilot pump 15 causes a control pressure corresponding to the lever operation amount to act on the pilot port of the control valve 174 .

Specifically, when the boom lowering direction is operated, the right operating lever 26R introduces the operating oil to the right pilot port of the control valve 175R. When the boom lift direction is operated, the right operating lever 26R introduces the operating oil to the right pilot port of the control valve 175L, and introduces the operating oil to the left pilot port of the control valve 175R. When the bucket retracting direction is operated, the right operating lever 26R introduces the operating oil to the left pilot port of the control valve 174. When the bucket opening direction is operated, the right operating lever 26R introduces operating oil to the left pilot port of the control valve 174. 26R introduces the operating oil to the right pilot port of the control valve 174.

The traveling rod 26D is used for the operation of the crawler track 1C. Specifically, the left travel lever 26DL is used to operate the left crawler track 1CL. The left travel lever 26DL may be configured to interlock with the left travel pedal. When the left travel lever 26DL is operated in the forward and backward direction, the operating oil discharged from the pilot pump 15 causes a control pressure corresponding to the lever operation amount to act on the pilot port of the control valve 171 . The right travel lever 26DR is used to operate the right crawler track 1CR. The right travel lever 26DR may be configured to interlock with the right travel pedal. When operated in the forward and backward direction, the right travel lever 26DR uses the operating oil discharged from the pilot pump 15 to cause a control pressure corresponding to the lever operation amount to act on 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.

The operating pressure sensor 29 includes operating pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation pressure sensor 29LA detects the operator's operation content of the left operation lever 26L in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30 . The operation content is, for example, the lever operation direction and the lever operation amount (lever operation angle).

Similarly, the operation pressure sensor 29LB detects the content of the operator's operation on the left operation lever 26L in the left-right direction in the form of pressure, and outputs the detected value to the controller 30 . The operation pressure sensor 29RA detects the content of the operator's operation on the right operation lever 26R in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30 . The operation pressure sensor 29RB detects the content of the operator's operation on the right operation lever 26R in the left-right direction in the form of pressure, and outputs the detected value to the controller 30 . The operation pressure sensor 29DL detects the operator's operation content on the left travel lever 26DL in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30 . The operation pressure sensor 29DR detects the operator's operation content on the right travel lever 26DR in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30 .

The controller 30 receives the output of the operating pressure sensor 29 and outputs control instructions to the regulator 13 as needed to change the discharge volume of the main pump 14 . Furthermore, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, and outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

In the left intermediate bypass line 40L, a left throttle 18L is arranged between the control valve 176L located at the most downstream and the operating oil tank. Therefore, the flow of the operating oil discharged by the left main pump 14L is restricted by the left throttle 18L. Furthermore, the left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L is a sensor for detecting the control pressure and outputs the detected value to the controller 30 . The controller 30 controls the discharge amount of the left main pump 14L by adjusting the swash plate deflection angle of the left main pump 14L based on the control pressure. The greater the control pressure, the more the controller 30 decreases the discharge amount of the left main pump 14L. The smaller the control pressure, the more the controller 30 increases the discharge amount of the left main pump 14L. The discharge amount of the right main pump 14R is also controlled similarly.

Specifically, as shown in FIG. 2 , in the standby state in which none of the hydraulic actuators in the shovel 100 is operated, the operating oil discharged from the left main pump 14L passes through the left middle bypass line 40L. Reach left throttle 18L. Furthermore, the flow of the operating oil discharged by the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge volume of the left main pump 14L to the allowable minimum discharge volume, thereby suppressing pressure loss (pumping loss) when the operating oil discharged by the left main pump 14L passes through the left middle bypass line 40L. On the other hand, when any one of the hydraulic actuators is operated, the operating 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 to be operated. Furthermore, the flow of the operating oil discharged from the left main pump 14L reduces or eliminates the amount reaching the left throttle 18L, thereby reducing the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge amount of the left main pump 14L so that sufficient operating oil flows into the hydraulic actuator of the operation target, thereby ensuring the driving of the hydraulic actuator of the operation target. In addition, the controller 30 similarly controls the discharge amount of the right main pump 14R.

According to the above structure, the hydraulic system of FIG. 2 can suppress unnecessary energy consumption related to the main pump 14 in the standby state. Unnecessary energy consumption includes pumping loss caused by the working oil discharged by the main pump 14 in the intermediate bypass line 40 . Furthermore, when the hydraulic actuator is operated, the hydraulic system of FIG. 2 can reliably supply a necessary and sufficient amount of operating oil from the main pump 14 to the hydraulic actuator of the work object.

Next, a structure for the controller 30 to operate the actuator through the device control function will be described with reference to FIGS. 3A to 3D . 3A to 3D are diagrams of a part of the hydraulic system. Specifically, FIG. 3A is an extracted diagram of the hydraulic system part related to the operation of the arm cylinder 8 , and FIG. 3B is an extracted diagram of the hydraulic system part related to the operation of the boom cylinder 7 . FIG. 3C is an extracted diagram of the hydraulic system part related to the operation of the bucket cylinder 9 , and FIG. 3D is an extracted diagram of the hydraulic system part related to the operation of the swing hydraulic motor 2A.

As shown in FIGS. 3A to 3D , 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 equipment control. The proportional valve 31 is arranged in a pipeline 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 the pipeline. In this embodiment, the proportional valve 31 operates based on the control command output from the controller 30 . Therefore, the controller 30 can supply the operating oil discharged from 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 . Furthermore, the controller 30 can cause the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.

With this configuration, the controller 30 can operate the hydraulic actuator corresponding to the specific operating device 26 even when the specific operating device 26 is not operated. Furthermore, even when the specific operating device 26 is operated, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operating device 26 .

For example, as shown in FIG. 3A , the left operating lever 26L is used to operate the arm 5 . Specifically, the left operating lever 26L uses the operating oil discharged from the pilot pump 15 to apply the pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 176 . More specifically, when the arm retraction direction (rearward direction) is operated, the left operating lever 26L causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 176L and the left port of the control valve 176R. Side pilot port. When the arm opening direction (forward direction) is operated, the left operation lever 26L causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 176L and the right pilot port of the control valve 176R. port.

A switch NS is provided on the left operating lever 26L. In the present embodiment, the switch NS is a push button switch provided at the front end of the left operation lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. The switch NS may be provided on the right operating lever 26R, or may be provided at other positions in the cab 10 .

The operation pressure sensor 29LA detects the operator's operation content on the left operation lever 26L in the front-rear direction, and outputs the detected value to the controller 30 .

The proportional valve 31AL operates based on the control command (current command) output from the controller 30 . Then, the pilot pressure generated by the operating oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL is adjusted. The proportional valve 31AR operates based on the control command (current command) output from the controller 30 . Furthermore, the pilot pressure generated by the operating oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR is adjusted. The proportional valve 31AL can adjust the pilot pressure so that the control valve 176L and the control valve 176R can be stopped at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that the control valve 176L and the control valve 176R can be stopped at any valve position.

With this configuration, the controller 30 can supply the operating 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 retracting operation by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL regardless of the arm retracting operation by the operator. That is, the controller 30 can retract the arm 5 in accordance with or regardless of the arm retraction operation performed by the operator.

Furthermore, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR in response to the arm opening operation by the operator. Furthermore, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR regardless of the arm opening operation by the operator. . That is, the controller 30 can open the arm 5 in accordance with the arm opening operation performed by the operator or regardless of the arm opening operation performed by the operator.

Moreover, with this structure, even when the operator performs the arm retracting operation, the controller 30 can reduce the closing side pilot port (the left pilot port and the control valve 176L of the control valve 176L) acting on the control valve 176 as necessary. The pilot pressure of the right pilot port of the valve 176R forcibly stops the retracting action of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator performs the arm opening operation.

Alternatively, even in the case where the arm retraction operation is performed by the operator, the controller 30 may control the proportional valve 31AR as necessary to increase the pressure acting on the control valve 176 located on the side opposite to the closed-side pilot port of the control valve 176 The pilot pressure of the side pilot ports (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) is opened, and the control valve 176 is forcibly returned to the neutral position, thereby forcibly stopping the retracting action of the arm 5 . The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator performs the arm opening operation.

3B to 3D below will be omitted. However, when the operator performs the boom lifting operation or the boom lowering operation, the operation of the boom 4 is forcibly stopped. The same applies to the case where the movement of the bucket 6 is forcibly stopped during the retracting operation or the bucket opening operation, and the case where the turning movement of the upper revolving body 3 is forcibly stopped when the operator performs a turning operation. The same applies to the case where the walking operation of the lower traveling body 1 is forcibly stopped when the operator performs walking operation.

Furthermore, as shown in FIG. 3B , the right operating lever 26R is used to operate the boom 4 . Specifically, the right operating lever 26R uses the operating oil discharged from the pilot pump 15 to apply the pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 175 . More specifically, when the boom lifting direction (rear direction) is operated, the right operation lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175L and the left side of the control valve 175R. Side pilot port. When the boom lowering direction (forward direction) is operated, the right operation lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 175R.

The operation pressure sensor 29RA detects the operator's operation content on the right operation lever 26R in the front-rear direction, and outputs the detected value to the controller 30 .

The proportional valve 31BL operates based on the control command (current command) output from the controller 30 . Furthermore, the pilot pressure generated by the operating oil introduced 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 is adjusted. The proportional valve 31BR operates based on the control command (current command) output from the controller 30 . Then, the pilot pressure generated by the operating oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR is adjusted. The proportional valve 31BL can adjust the pilot pressure so that the control valve 175L and the control valve 175R can be stopped at any valve position. Furthermore, the proportional valve 31BR can adjust the pilot pressure so that the control valve 175R can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the operating 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 lifting operation by the operator. Furthermore, the controller 30 can supply the 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 lifting operation by the operator. That is, the controller 30 can raise the boom 4 in accordance with or regardless of the boom raising operation by the operator.

Furthermore, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR in response to the boom lowering operation by the operator. Furthermore, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR regardless of the boom lowering operation by the operator. That is, the controller 30 can lower the boom 4 in accordance with the boom lowering operation performed by the operator or regardless of the boom lowering operation performed by the operator.

Furthermore, as shown in FIG. 3C , the right operating lever 26R is also used to operate the bucket 6 . Specifically, the right operating lever 26R uses the operating oil discharged from the pilot pump 15 to apply the pilot pressure corresponding to the operation in the left and right directions to the pilot port of the control valve 174 . More specifically, when the bucket retraction direction (left direction) is operated, the right operating lever 26R causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 174 . When the operation is performed in the bucket opening direction (right direction), the right operation lever 26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 174 .

The operation pressure sensor 29RB detects the operator's operation content on the right operation lever 26R in the left-right direction, and outputs the detected value to the controller 30 .

The proportional valve 31CL operates based on the control command (current command) output from the controller 30 . Then, the pilot pressure generated by the operating oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL is adjusted. The proportional valve 31CR operates based on the control command (current command) output from the controller 30 . Then, the pilot pressure generated by the operating oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR is adjusted. The proportional valve 31CL can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL in response to the bucket retracting operation by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL, regardless of the bucket retracting operation by the operator. That is, the controller 30 can retract the bucket 6 in accordance with or regardless of the bucket retracting operation performed by the operator.

In addition, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR according to the bucket opening operation by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR regardless of the bucket opening operation by the operator. That is, the controller 30 can expand the bucket 6 in accordance with the bucket opening operation performed by the operator or regardless of the bucket opening operation performed by the operator.

Furthermore, as shown in FIG. 3D , the left operating lever 26L is also used to operate the turning mechanism 2 . Specifically, the left operating lever 26L uses the operating oil discharged from the pilot pump 15 to apply the pilot pressure corresponding to the operation in the left and right directions to the pilot port of the control valve 173 . More specifically, when the operation is performed in the left rotation direction (left direction), the left operation lever 26L causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 173 . When the operation is performed in the rightward rotation direction (right direction), the left operation lever 26L causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve 173 .

The operation pressure sensor 29LB detects the operator's operation content on the left operation lever 26L in the left-right direction, and outputs the detected value to the controller 30 .

The proportional valve 31DL operates based on the control command (current command) output from the controller 30 . Then, the pilot pressure generated by the operating oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL is adjusted. The proportional valve 31DR operates based on the control command (current command) output from the controller 30 . Then, the pilot pressure generated by the operating oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR is adjusted. The proportional valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at an arbitrary valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at an arbitrary valve position.

With this configuration, the controller 30 can supply the operating 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 the operator's left-turn operation. Furthermore, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL regardless of the operator's left-turn operation. That is, the controller 30 can cause the turning mechanism 2 to turn left in response to or regardless of the left turning operation performed by the operator.

Furthermore, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR in response to the operator's right-turn operation. Furthermore, the controller 30 can supply the operating oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR regardless of the operator's right-turn operation. That is, the controller 30 can cause the turning mechanism 2 to turn right in response to or regardless of the right turning operation performed by the operator.

The excavator 100 may be configured to automatically advance/retreat the lower traveling body 1 . At this time, the hydraulic system part related to the operation of the left-hand hydraulic motor 2ML and the hydraulic system part related to the operation of the right-hand hydraulic motor 2MR may be configured to be the same as the hydraulic system part related to the operation of the boom cylinder 7 , etc. .

Furthermore, although the description is given regarding the electric operating lever as the form of the operating device 26, a hydraulic operating lever may be used instead of the electric operating lever. At this time, the lever operation amount of the hydraulic operating lever can be detected in the form of pressure by the pressure sensor and input to the controller 30 . Furthermore, a solenoid valve may be disposed between the operating device 26 as a hydraulic operating lever and the pilot port of each control valve. The solenoid valve is configured to operate based on an electrical signal from the controller 30 . With this configuration, when manual operation is performed using the operating device 26 as a hydraulic operating lever, the operating device 26 increases or decreases the pilot pressure according to the lever operation amount, thereby moving each control valve. Furthermore, each control valve may be composed of an electromagnetic spool valve. At this time, the electromagnetic spool valve operates based on an electrical signal from the controller 30 corresponding to the lever operation amount of the electric operating lever.

Next, the function of the controller 30 will be described with reference to FIG. 4 . FIG. 4 is a functional block diagram of the controller 30. In the example of FIG. 4 , the controller 30 is configured to receive signals output from the posture detection device, the operation device 26 , the object detection device 70 , the imaging device 80 , the switch NS, etc., perform various calculations, and provide the proportional valve with signals. 31. The display device D1 and the sound output device D2 output control instructions. The attitude detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a rotation angular velocity sensor S5. The controller 30 has a trajectory generation unit 30A and an autonomous control unit 30B as functional blocks. Each functional block can be composed of hardware or software.

The trajectory generating unit 30A is configured to generate a target trajectory that is a trajectory drawn by a predetermined portion of the shovel 100 when the shovel 100 is operated autonomously. The predetermined portion is, for example, the tip of the bucket 6 or a predetermined point located on the back surface of the bucket 6 . In the present embodiment, the trajectory generating unit 30A generates a target trajectory used when the autonomous control unit 30B causes the shovel 100 to autonomously operate. Specifically, the trajectory generation unit 30A generates a target trajectory based on the output of at least one of the object detection device 70 and the imaging device 80 .

The autonomous control unit 30B is configured to operate the shovel 100 autonomously. In the present embodiment, the autonomous control unit 30B is configured to move a predetermined portion of the shovel 100 along the target trajectory generated by the trajectory generation unit 30A when the predetermined start condition is satisfied. Specifically, when the operation device 26 is operated with the switch NS pressed, the autonomous control unit 30B autonomously operates the shovel 100 so that a predetermined portion of the shovel 100 moves along the target track. For example, when the left operating lever 26L is operated in the arm opening direction while the switch NS is pressed, the autonomous control unit 30B autonomously operates the excavation attachment AT so that the cutting edge of the bucket 6 moves along the target track. Regardless of whether the operating device 26 is operated, when the switch NS is pressed, the autonomous control unit 30B may autonomously operate the shovel 100 so that a predetermined portion of the shovel 100 moves along the target track.

Next, an example of the function of the controller 30 to autonomously control the operation of the accessory device (hereinafter, referred to as “autonomous control function”) will be described with reference to FIGS. 5 and 6 . Figures 5 and 6 are block diagrams of the autonomous control function.

First, as shown in FIG. 5 , the controller 30 determines the target moving speed and the target moving direction according to the operation trend. The operation trend is determined based on the lever operation amount, for example. The target movement speed is a target value that controls the movement speed of the reference point, and the target movement direction is a target value that controls the movement direction of the reference point. The control reference point is, for example, the tip of the bucket 6 or a predetermined point located on the back surface of the bucket 6 . The control reference point is calculated based on the boom angle β ₁ , the arm angle β ₂ , the bucket angle β ₃ and the rotation angle α ₁ , for example.

Then, the controller 30 calculates the three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after the unit time has elapsed based on the target movement speed, the target movement direction, and the three-dimensional coordinates (Xe, Ye, Ze) of the control reference point. The three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after the unit time has elapsed are, for example, the coordinates on the target orbit. The unit time is, for example, a time corresponding to an integer multiple of the control cycle.

The target track may be, for example, a target track related to a backfilling operation performed in a backfilling operation, which is a backfilling operation. The backfilling operation includes an operation of unloading the sand and soil taken into the bucket 6 into the pit, an operation of pushing the sand and soil around the pit with the bucket 6 and falling into the pit, and the like. Typically, the backfilling action is a compound action including a bucket opening action and a bucket arm opening action. At this time, the target trajectory may be calculated based on at least one of the opening shape of the pit, the depth of the pit, the volume of sand and soil that has been unloaded into the pit, and the volume of sand and soil that has been taken into the bucket 6 . In addition, the shape of the pit, the depth of the pit, the volume of the sand and soil that has been discharged into the pit, and the volume of the sand and soil that has been taken into the bucket 6 can be derived based on the output of at least one of the object detection device 70 and the camera device 80 , for example. For example, the target trajectory can be set so that the deviation in the depth of each part of the pit does not significantly increase. That is, the target track can be set so as not to concentrate only a part of the backfilled pit. Conversely, the target track can also be set to focus on backfilling only a portion of the pit.

Typically, the target trajectory is calculated before the backfill action begins, and does not change until the backfill action ends. However, it is also possible to change the target orbit while performing a backfill action. That is, the content of the backfill operation may be changed.

Then, the controller 30 generates command values β _1r , β _2r and β _3r related to the rotation of the boom 4 , the arm 5 and the bucket 6 and the upper rotation of the upper part based on the calculated three-dimensional coordinates (Xer, Yer, Zer). Command value α _1r related to the rotation of body 3. The command value β _1r represents, for example, the boom angle β ₁ when the control reference point is aligned with the three-dimensional coordinates (Xer, Yer, Zer). Similarly, the command value β _2r represents the stick angle β ₂ when the control reference point is aligned to the three-dimensional coordinates (Xer, Yer, Zer), and the command value β _3r represents the alignment of the control reference point to the three-dimensional coordinates. The bucket angle β ₃ at (Xer, Yer, Zer), and the command value α _1r represents the rotation angle α ₁ when the control reference point is aligned with the three-dimensional coordinate (Xer, Yer, Zer).

The command value β _3r related to the rotation of the bucket 6 can be changed when performing the backfill operation. For example, when the depth of the pit in the backfilled portion becomes smaller than a desired depth, the command value β _3r can be adjusted to be smaller. That is, the command value β _3r is typically controlled by open-loop control, but feedback control may be performed based on the depth of the pit in the backfilled portion.

Then, as shown in FIG. 6 , the controller 30 operates the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 and the swing hydraulic motor 2A so that the boom angle β ₁ , the arm angle β ₂ , and the bucket The angle β ₃ and the rotation angle α ₁ become the generated command values β ₁ r, β ₂ r, β ₃ r and α ₁ r respectively. In addition, the rotation angle α ₁ can be calculated based on the output of the rotation angular velocity sensor S5, for example.

Specifically, the controller 30 generates a boom cylinder pilot pressure command corresponding to the difference Δβ ₁ between the current value of the boom angle β ₁ and the command value β ₁ r. Then, the control current corresponding to the boom cylinder pilot pressure command is output to the boom control mechanism 31B. The boom control mechanism 31B is configured to cause the pilot pressure corresponding to the control current corresponding to the boom cylinder pilot pressure command to act on the control valve 175 as the boom control valve. The boom control mechanism 31B may be, for example, the proportional valve 31BL and the proportional valve 31BR in FIG. 3B .

Then, the control valve 175 that receives the pilot pressure generated by the boom control mechanism 31B causes the operating oil discharged from the main pump 14 to flow into the boom cylinder 7 in a flow direction and flow rate corresponding to the pilot pressure.

At this time, the controller 30 may generate a boom valve core control command based on the valve core displacement amount of the control valve 175 detected by the boom valve core displacement sensor S7. The boom valve body displacement sensor S7 is a sensor that detects the displacement amount of the valve body constituting the control valve 175 . Then, the controller 30 may output the control current corresponding to the boom spool control command to the boom control mechanism 31B. At this time, the boom control mechanism 31B causes the pilot pressure corresponding to the control current corresponding to the boom spool control command to act on the control valve 175 .

The boom cylinder 7 expands and contracts by operating oil supplied via the control valve 175 . The boom angle sensor S1 detects the boom angle β ₁ of the boom 4 operated by the telescopic boom cylinder 7 .

Then, the controller 30 feeds back the boom angle β ₁ detected by the boom angle sensor S1 as the current value of the boom angle β ₁ used when generating the boom cylinder pilot pressure command.

The above description relates to the movement of the boom 4 based on the command value β ₁ r, but the same applies to the movement of the arm 5 based on the command value β ₂ r, the movement of the bucket 6 based on the command value β ₃ r, and the movement of the bucket 6 based on the command value β 3 r. The rotation motion of the upper revolving body 3 with value α ₁ r. In addition, the arm control mechanism 31A is configured to cause the pilot pressure corresponding to the control current corresponding to the arm cylinder pilot pressure command to act on the control valve 176 as the arm control valve. The arm control mechanism 31A may be, for example, the proportional valve 31AL and the proportional valve 31AR in FIG. 3A . Furthermore, the bucket control mechanism 31C is configured to cause the pilot pressure corresponding to the control current corresponding to the bucket cylinder pilot pressure command to act on the control valve 174 as the bucket control valve. The bucket control mechanism 31C may be, for example, the proportional valve 31CL and the proportional valve 31CR in FIG. 3C . Furthermore, the rotation control mechanism 31D is configured so that the pilot pressure corresponding to the control current corresponding to the rotation hydraulic motor pilot pressure command can act on the control valve 173 as the rotation control valve. The rotation control mechanism 31D may be, for example, the proportional valve 31DL and the proportional valve 31DR in FIG. 3D . Furthermore, the arm valve core displacement sensor S8 is a sensor that detects the displacement amount of the valve core constituting the control valve 176, and the bucket valve core displacement sensor S9 is a sensor that detects the displacement amount of the valve core constituting the control valve 174. The rotary valve core displacement sensor The sensor S6 is a sensor that detects the displacement amount of the valve body constituting the control valve 173 .

As shown in FIG. 5 , the controller 30 can derive the pump discharge amount from the command values β ₁ r , β ₂ r , β ₃ r and α ₁ r using the pump discharge amount deriving units CP1 , CP2 , CP3 and CP4 . In the present embodiment, the pump discharge amount deriving units CP1, CP2, CP3 and CP4 derive the pump discharge amount from the command values _β1r , _β2r , _β3r and _α1r using a pre-registered reference table or the like. The pump discharge amounts derived from the pump discharge amount deriving units CP1, CP2, CP3, and CP4 are added together and input to the pump flow rate calculation unit as the total pump discharge amount. The pump flow rate calculation unit controls the discharge amount of the main pump 14 based on the input total pump discharge amount. In the present embodiment, the pump flow rate calculation unit controls the discharge amount of the main pump 14 by changing the swash plate deflection angle of the main pump 14 in accordance with the total pump discharge amount.

In this way, the controller 30 can simultaneously perform opening control of the control valve 175 as the boom control valve, the control valve 176 as the arm control valve, the control valve 174 as the bucket control valve, and the control valve 173 as the swing control valve. and control of the discharge volume of the main pump 14. Therefore, the controller 30 can supply appropriate amounts of operating oil to the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 and the swing hydraulic motor 2A.

Furthermore, the controller 30 treats the calculation of the three-dimensional coordinates (Xer, Yer, Zer), the generation of the command values β _1r , β _2r , β _3r and α _1r and the determination of the discharge amount of the main pump 14 as one control cycle, and repeats this cycle. control cycle to perform autonomous control. In addition, the controller 30 can improve the accuracy of autonomous control by performing feedback control on the control reference point based on the respective outputs of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the rotation angular velocity sensor S5. Specifically, the controller 30 can improve the accuracy of autonomous control by performing feedback control on the flow rates of the operating oil flowing into the boom cylinder 7 , the arm cylinder 8 , the bucket cylinder 9 , and the swing hydraulic motor 2A.

Furthermore, the controller 30 may be configured to monitor the distance between the bucket 6 and surrounding obstacles so that the bucket 6 does not come into contact with the surrounding obstacles when performing autonomous control regarding the backfilling operation. For example, when it is determined based on the outputs of the posture detection device and the object detection device 70 that the distance between each of one or more predetermined points in the bucket 6 and surrounding obstacles is less than a predetermined value, the controller 30 may The operation of the excavation attachment AT is stopped.

Next, an example of autonomous control related to the backfilling operation will be described with reference to FIGS. 7A to 7C and 8A to 8C. 7A to 7C are plan views of the excavator 100 that performs the backfilling operation and the pit HL that is the target of the backfilling operation. 8A to 8C are cross-sectional views of the pit HL. The controller 30 recognizes the position of the pit HL that is the target of the backfill operation (the backfill target position), and generates a target trajectory from the sand hill (the excavation completion position) to the pit HL.

The excavation completion position can be set to the position of the bucket 6 when sand is taken into the bucket 6 . Alternatively, the excavation completion position may be set to the position of the bucket 6 when the bucket 6 is raised by a predetermined height from the position of the bucket 6 when sand and soil are taken into the bucket 6 .

Furthermore, the controller 30 can identify the shape (opening area, depth, etc.) or the position of the pit HL based on the output of the object detection device 70, and set a target position for backfilling. Furthermore, the controller 30 may recognize the uneven shape of the terrain based on the output of the object detection device 70 and display the recognized uneven shape on the display device D1. At this time, the controller 30 may display a frame, a mark, etc. on the image of the pit HL, concave-convex shape, etc. (hereinafter, referred to as "pit HL, etc.") displayed on the display device D1 so that the operator of the shovel 100 can recognize it. . In addition, images such as pits HL include captured images output from the imaging device 80 (object detection device 70). Then, by setting and inputting (selecting) the pit HL or the like to be recognized by the operator, the controller 30 can set the target position for the pit HL or the like. Furthermore, the operator can select an image such as a pit HL to be backfilled from the captured image displayed on the display device D1 and set it as a target position. At this time, a corresponding relationship is established between the actual position displayed in the terrain area of the display device D1 and the position of the image in the display area of the display device D1. Therefore, by the operator selecting a predetermined location in the display area of the display device D1, the controller 30 can recognize the actual position of the pit HL relative to the excavator 100 and set the target position for backfilling.

Thereby, the controller 30 generates a trajectory to the set target position as the target trajectory. Usually, the target position is set above the bottom surface of pit HL. In addition, usually, the target position is set inside the outline of the pit HL.

Specifically, FIG. 7A and FIG. 8A show the state when the first backfilling operation by autonomous control is completed. The excavator diagram represented by a dotted line in FIG. 7A represents the state of the excavator 100 after the first excavation operation by manual operation is completed and before the first backfilling operation is started. The sand R1 represents the sand discharged into the pit HL through the first backfilling action. The sand R1 is discharged, for example, into the part of the pit HL farthest from the excavator 100 . In the state shown in FIGS. 7A and 8A , the controller 30 generates a target trajectory between the position of the sand hill and the farthest part of the pit HL. The controller 30 can change the target position each time a backfill action is performed. This changes the target position and target trajectory in the second or third backfill operation. The timing of changing the target position and the target trajectory can be changed according to the shape (size, depth, etc.) of the pit HL.

7B and 8B show the state when the second backfilling operation by autonomous control is completed. The excavator diagram represented by a dotted line in FIG. 7B represents the state of the excavator 100 after the second excavation operation by manual operation is completed and before the second backfilling operation is started. Sand R2 represents the sand discharged into pit HL through the second backfilling action. The sand R2 is, for example, discharged into a portion of the pit HL closer to the excavator 100 than the sand R1 so as to be adjacent to the sand R1. In the states shown in FIGS. 7B and 8B , the controller 30 updates the target trajectory generated in the states shown in FIGS. 7A and 8A .

7C and 8C show the state when the third backfilling operation by autonomous control is completed. The excavator diagram represented by a dotted line in FIG. 7C represents the state of the excavator 100 after the third excavation operation by manual operation is completed and before the third backfilling operation is started. Sand R3 represents the sand discharged into the pit HL through the third backfilling action. For example, the sand R3 is discharged into a portion of the pit HL closer to the excavator 100 than the sand R2 so as to be adjacent to the sand R2. In the states shown in FIGS. 7C and 8C , the controller 30 updates the target trajectory updated in the states shown in FIGS. 7B and 8B . In addition, the controller 30 can recognize the shape of the sand and soil dropped into the pit HL based on the output from the camera device 80 (object detection device 70). For example, the controller 30 may estimate the shape of the sand and soil dropped into the pit HL based on the shape of the pit HL, the characteristics of the sand and soil, the falling position, etc. In this way, the controller 30 can change the target position in the next backfill operation by grasping the shape of the sand and soil dropped into the pit HL.

The operator of the excavator 100 presses the switch NS before starting the first backfilling operation, that is, when the state of the excavator 100 becomes the state indicated by the dotted line in FIG. 7A , to execute the first backfilling by autonomous control. action. In the examples shown in FIGS. 7A to 7C and 8A to 8C , the excavator 100 is configured to perform the backfilling operation when the switch NS is pressed. However, the excavator 100 may be configured to rotate to the right while the switch NS is pressed. When the left operating lever 26L is operated in the direction, the backfilling operation is performed.

In the example shown in FIG. 7A , the target trajectory for the first backfilling operation is determined based on the current position AP1 of the blade tip of the bucket 6 and the position BP1 of the blade tip of the bucket 6 when the first backfilling operation is completed. generate. The position BP1 is set, for example, so that the blade tip of the bucket 6 is located directly above the center point of the sand R1. In addition, the sand R1 is the predetermined sand thrown into the pit HL through the first backfilling operation.

Then, the controller 30 uses the calculated target trajectory to perform the first backfilling action through autonomous control. Specifically, the controller 30 automatically rotates the upper revolving body 3 to the right and automatically expands and contracts the excavation attachment AT so that the trajectory traced by the cutting edge of the bucket 6 follows the target trajectory.

After the first backfilling action by autonomous control is completed, the operator of the excavator 100 performs an intermediate action including a left turning action by manual operation to bring the bucket 6 closer to the sand hill F1 shown in FIG. 7A . This intermediate movement for moving the blade tip of the bucket 6 from the position when the backfilling operation is completed to the position when the next excavation operation is started may be performed autonomously without manual operation by the operator, or may be performed semi-autonomously for support. Manual operation by the operator. When the intermediate operation is performed autonomously, the target trajectory for the intermediate operation is determined based on the current position BP1 of the cutting edge of the bucket 6 and the position DP1 of the cutting edge of the bucket 6 when the second excavation operation is started. generate. The position DP1 is set, for example, directly above the center point of the sandy soil mountain F1. In addition, the semi-autonomous operation is different from the autonomous operation in that it is performed by manual operation of the operating lever by the operator, but is the same as the autonomous operation in that the cutting edge of the bucket 6 is moved along the target track.

Then, the operator takes in the sand and soil constituting the sand and soil mountain F1 into the bucket 6 according to the digging operation by manual operation. Then, the operator presses the switch NS at a time after the excavation operation is completed, that is, when the state of the excavator 100 becomes the state indicated by the dotted line in FIG. 7B , to execute the second backfill operation by autonomous control.

In the example shown in FIG. 7B , the target trajectory for the second backfilling operation is determined based on the current position AP2 of the blade tip of the bucket 6 and the position BP2 of the blade tip of the bucket 6 when the second backfilling operation is completed. generate. The position BP2 is set, for example, so that the blade tip of the bucket 6 is located directly above the center point of the sand R2. In addition, the sand R2 is the predetermined sand thrown into the pit HL through the second backfilling operation.

Then, the controller 30 uses the calculated target trajectory to perform the second backfilling action through autonomous control. Specifically, the controller 30 automatically rotates the upper revolving body 3 to the right and automatically expands and contracts the excavation attachment AT so that the trajectory traced by the cutting edge of the bucket 6 follows the target trajectory.

After the second backfilling action by autonomous control is completed, the operator of the excavator 100 performs an intermediate action including a left turning action by manual operation to bring the bucket 6 closer to the sand hill F2 shown in FIG. 7B . This intermediate action may be performed autonomously without the operator's manual operation, or may be performed semi-autonomously to support the operator's manual operation. When the intermediate operation is performed autonomously, the target trajectory for the intermediate operation is determined based on the current position BP2 of the cutting edge of the bucket 6 and the position DP2 of the cutting edge of the bucket 6 when the third excavation operation is started. generate. The position DP2 is set, for example, directly above the center point of the sandy soil mountain F2.

Then, the operator takes in the sand and soil constituting the sand and soil mountain F2 into the bucket 6 according to the digging operation by manual operation. Then, the operator presses the switch NS at a time after the excavation operation is completed, that is, when the state of the excavator 100 becomes the state indicated by the dotted line in FIG. 7C , to execute the third backfill operation by autonomous control.

In this way, the controller 30 can reduce the operator's burden related to the backfilling operation by manual operation by autonomously executing the backfilling operation. In addition, in the above-described embodiment, the intermediate operation and the excavation operation are executed according to the operator's manual operation. However, at least one of the intermediate operation and the excavation operation may be executed autonomously or semi-autonomously by the controller 30 in the same manner as the backfill operation.

Next, an example of the flattening operation performed after the pit HL is backfilled will be described with reference to FIGS. 9A and 9B . 9A and 9B are cross-sectional views of the backfilled pit HL, and correspond to FIGS. 8A to 8C . Specifically, FIGS. 9A and 9B show the state of the sand and soil backfilled into the pit HL through multiple backfill operations. More specifically, FIG. 9A shows the state of the sand and soil in the pit HL before the leveling operation is performed, and FIG. 9B shows the state of the sand and soil in the pit HL after the leveling operation is performed. In addition, in FIGS. 9A and 9B , for the sake of clarity, the foundation located around the pit HL is marked with a diagonal line pattern, and the sand and soil backfilled into the pit HL is marked with a dotted pattern.

In this embodiment, the controller 30 is configured to set the height of the target surface TS before performing the backfilling operation. The target surface TS is an imaginary surface corresponding to the ground surface formed when the pit HL to be backfilled is backfilled with sand, and is typically an imaginary horizontal surface. The controller 30 detects the pit HL and the surrounding surface CS as the ground around the pit HL, for example, based on the output of the object detection device 70 . Furthermore, the controller 30 sets the height of the target surface TS based on the detected height of the surrounding surface CS. Typically, the height of the target surface TS is set to be the same as the height of the surrounding surface CS. The one-dot chain line shown in FIG. 9A and FIG. 9B represents the target surface TS.

Then, the controller 30 determines whether the pit HL is backfilled with sand or soil, for example based on the output of the object detection device 70 . In the example shown in FIGS. 9A and 9B , the controller 30 determines that the pit HL is backfilled with sand when the entire target surface TS is buried in the sand. Furthermore, the controller 30 performs an autonomous leveling operation when it is determined that the pit HL is backfilled with sand. In addition, the backfilling operation performed before the leveling operation is performed so that the height of the sand and soil backfilled into the pit HL is slightly higher than the height of the target surface TS.

If it is determined that the pit HL is backfilled with sand, the controller 30 generates a target trajectory along the target surface TS, and automatically moves the blade tip of the bucket 6 along the target trajectory in a direction away from the excavator 100 to perform a leveling action. . At this time, the leveling action is a compound action including the arm opening action. FIG. 9A shows the position of the bucket 6 when the leveling operation starts, and FIG. 9B shows the position of the bucket 6 when the leveling operation is completed. The controller 30 may set the target surface TS according to the height of the terrain adjacent to the pit HL. Alternatively, the controller 30 may set the target surface TS based on the height or shape of the sand backfilled into the pit HL. Alternatively, the controller 30 may set the target surface TS based on the construction plan (design data).

With this structure, the controller 30 can smooth the surface of the sand and soil backfilled into the pit HL so that the surface of the sand and soil backfilled into the pit HL becomes a state without unevenness. Furthermore, the controller 30 can make the height of the surface of the sand and soil backfilled into the pit HL substantially the same as the height of the surrounding surface CS.

Next, another example of autonomous control related to the backfill operation will be described with reference to FIGS. 10A and 10B . FIG. 10A is a plan view of the excavator 100 during the backfill operation and the pit HL that is a target of the backfill operation, and corresponds to FIGS. 7A to 7C . FIG. 10B is a cross-sectional view of pit HL and corresponds to FIGS. 8A to 8C .

In the example shown in FIGS. 10A and 10B , the controller 30 is configured such that when the sand and soil backfilled into the pit HL is within a predetermined distance from the pit HL, the controller 30 does not lift the sand with the bucket 6 but uses the shovel to lift the sand and soil. The bucket 6 pushes away the sand, thereby pushing the sand into the pit HL. In the example shown in FIGS. 10A and 10B , the controller 30 uses the back surface BF of the bucket 6 to autonomously perform a pushing operation for pushing the sand and soil that constitutes a predetermined distance from the pit HL into the pit HL. Range of Sand Mountain F10. In addition, in FIG. 10A , the range of the predetermined distance is the range Z1 surrounded by a dotted line.

Specifically, as shown in FIG. 10B , the controller 30 autonomously operates the excavation attachment AT to push the sand constituting the sand hill F10 into the pit HL through two backfill operations (pushing operations).

For example, the controller 30 recognizes the position and shape of the sand mountain F10 based on the output of the object detection device 70 . Furthermore, the controller 30 generates a target trajectory TL for pushing the sand and soil constituting the sand and soil hill F10 into the pit HL based on the recognized position and shape of the sand and soil hill F10. At this time, the controller 30 can calculate the volume, weight, etc. of the sand and soil constituting the sand and soil mountain F10. There is a limit to the volume or weight of sand that can be pushed away with one push action, and a target trajectory can be generated so that the limit is not exceeded.

In FIG. 10B , the target track TL1 that is part of the target track TL for the first push-away action is represented by a single-dot chain line, and is represented by a double-dot-chain line as the target track for the second push-away movement. Target track TL2 of part of TL. In addition, in FIGS. 10A and 10B , the state of the bucket 6 when the first push-out operation is completed is shown by a solid line, and the bucket pattern 6A drawn by a dotted line shows the state of the bucket 6 when the first push-out operation is started. Dou 6 status. Furthermore, in FIG. 10B , the sand F10T pushed into the pit HL by the first pushing operation among the sand constituting the sand hill F10 is shown by a solid line, and the sand hill F10 before the start of the first pushing action is shown by a dotted line. The part F10T1 corresponding to the sandy soil F10T.

Among the sand and soil constituting the sand and soil mountain F10, the sand F10B that remains even after the first push-off operation is carried out through the second push-off operation, that is, by moving the blade tip of the bucket 6 along the target track TL2 from the position closer to the excavator 100. Move one side away from you to push into the pit HL.

By performing the pushing action as described above, the controller 30 can push the sand and soil located relatively close to the pit HL into the pit HL. In the above example, the controller 30 is configured to use the back surface BF of the bucket 6 to perform the pushing operation for causing the sand and soil to fall into the pit HL. However, the controller 30 may be configured to use the front or side surface of the bucket 6 to perform the pushing operation. A pushing action that causes sand and soil to fall into the pit HL. For example, the controller 30 may be configured to cause the sand and soil forming the sand and soil hill F11 located on the +X side of the pit HL (the side away from the excavator 100) within the range Z1 to fall into the pit HL. The front surface of the bucket 6 is used to perform a pushing action for causing the sand and soil to fall into the pit HL.

Furthermore, the controller 30 may be configured as follows: when the sand and soil backfilled into the pit HL is outside the range of a predetermined distance from the pit HL, as described with reference to FIGS. 7A to 7C and 8A to 8C , the controller 30 may The sand taken into the bucket 6 and lifted by the digging action is discharged into the pit HL. Specifically, the controller 30 may be configured as follows: with respect to the sand and soil mountain F12 located outside the range Z1, the sand and soil forming the sand and soil mountain F12 that is taken into the bucket 6 and lifted by the excavation operation is unloaded through the autonomous backfilling operation. Enter the pit HL.

Furthermore, in the example shown in FIGS. 10A and 10B , the controller 30 is configured to perform the pushing operation when the switch NS is pressed. However, the controller 30 may be configured to operate in the arm opening direction while the switch NS is pressed. When the left operating lever 26L is pressed, the pushing action is performed.

Next, the backfilling operation (pushing operation) of causing sand and soil to fall into the pit HL using the side surface of the bucket 6 will be described with reference to FIG. 11 . FIG. 11 is a plan view of the excavator 100 during the backfilling operation (pushing operation) and the pit HL targeted for the backfilling operation (pushing operation), and corresponds to FIG. 10A .

In the example shown in FIG. 11 , the controller 30 is configured as follows: similarly to the example shown in FIGS. 10A and 10B , when the sand and soil backfilled into the pit HL is within a predetermined distance from the pit HL Next, the bucket 6 is not used to lift the sand, but the bucket 6 is used to push the sand away, thereby pushing the sand into the pit HL. In addition, the controller 30 is configured as follows: when the sand and soil backfilled into the pit HL is outside the range of a predetermined distance from the pit HL, as explained with reference to FIGS. 7A to 7C and 8A to 8C , by excavation After the sand and soil are taken into the bucket 6 and lifted, the sand and soil taken into the bucket 6 are discharged into the pit HL.

In the example shown in FIG. 11 , the controller 30 uses the side SF (left side LSF) of the bucket 6 to autonomously perform a pushing action for pushing the sand and soil that is located away from the pit HL. Sand hill F13 within the specified distance. In addition, in FIG. 11 , the range of the predetermined distance is the range Z1 surrounded by a dotted line.

Specifically, as shown in FIG. 11 , the controller 30 is configured to autonomously rotate the upper revolving body 3 to the left to push the sand constituting the sand hill F13 into the pit HL through two backfilling operations (pushing operations).

For example, the controller 30 recognizes the position and shape of the sand mountain F13 based on the output of the object detection device 70 . Furthermore, the controller 30 generates a target trajectory TL for pushing the sand and soil constituting the sand and soil hill F13 into the pit HL based on the recognized position and shape of the sand and soil hill F13. At this time, the controller 30 can calculate the volume, weight, etc. of the sand and soil constituting the sand and soil mountain F13. There is a limit to the volume or weight of sand that can be pushed away by one pushing action, and a target trajectory TL can be generated so that the limit is not exceeded.

In FIG. 11 , a target track TL3 that is a part of the target track TL for the first push-off operation is indicated by a dashed-dotted line. In addition, in FIG. 11 , the state of the bucket 6 when the first pushing operation is completed is shown by a solid line, and the state of the bucket 6 when the first pushing operation is started is shown by a bucket graphic 6B drawn with a dotted line. Location. Furthermore, in FIG. 11 , the sand and soil F13T that constitutes the sand and soil mountain F13 and is pushed into the pit HL by the first pushing operation is shown by a solid line, and the sand and soil that constitutes the sand and soil mountain F10 is shown by a solid line. F13B, the sand and soil that remains unchanged even after the first pushing action.

The sand F13T is pushed into the pit HL through the first pushing movement, that is, by moving the blade tip of the bucket 6 from right to left along the target track TL3.

The sand F13B is pushed into the pit HL by the second pushing action, that is, by moving the blade tip of the bucket 6 from right to left along the target track (not shown) for the second pushing action.

By executing the pushing operation including the turning operation as described above, the controller 30 can push the sand and soil located relatively close to the pit HL into the pit HL. In addition, in the above example, the controller 30 is configured to use the left side surface LSF of the bucket 6 to perform the pushing operation for causing the sand and soil to fall into the pit HL. However, the controller 30 may be configured to use the right side surface of the bucket 6 to perform the pushing operation. Pushing action used to make sand fall into the pit HL. For example, the controller 30 may be configured to execute the operation using the right side of the bucket 6 when the sand and soil constituting the sand and soil hill located on the +Y side of the pit HL within the range Z1 fall into the pit HL. A pushing action that causes sand and soil to fall into the pit HL.

Next, another example of autonomous control related to the backfill operation will be described with reference to FIGS. 12A to 12C . 12A to 12C are cross-sectional views of the pit HL and correspond to FIGS. 9A and 9B . Specifically, FIGS. 12A to 12C show the state of the sand GR backfilled into the pit HL through multiple backfill operations. More specifically, FIG. 12A shows the state of the sand and soil GR in the pit HL before the penultimate backfilling operation (pushing operation) is performed, and FIG. 12B shows the pit HL after the penultimate backfilling operation (pushing operation) is performed. The state of the sand and soil in the pit HL is shown in FIG. 12C after the final backfilling action (pushing action).

In the example shown in FIGS. 12A to 12C , the controller 30 is configured to set the height of the target surface TS before performing the backfilling operation. The target surface TS is an imaginary surface corresponding to the ground surface formed when the pit HL to be backfilled is backfilled with sand, and is typically an imaginary horizontal surface. The controller 30 detects the pit HL and the surrounding surface CS as the ground around the pit HL, for example, based on the output of the object detection device 70 . Furthermore, the controller 30 sets the height of the target surface TS based on the detected height of the surrounding surface CS. Typically, the height of the target surface TS is set to be the same as the height of the surrounding surface CS. The lower one-dot chain line shown in FIG. 12A represents the target surface TS.

Furthermore, the controller 30 determines whether there is a mountain of sand and soil within a range of a predetermined distance from the pit HL, for example, based on the output of the object detection device 70 . Furthermore, when a mountain of sand and soil exists within a predetermined distance from the pit HL, the controller 30 calculates the volume of the sand and soil constituting the mountain of sand and soil based on, for example, the output of the object detection device 70 . The sand hill existing within a predetermined distance from the pit HL is a sand hill in which the sand constituting the sand hill is pushed into the pit HL by a pushing action, and is also referred to as an "adjacent sand hill" below. In the example shown in FIGS. 12A to 12C , the controller 30 recognizes that the sand hill F14 exists on the −X side of the pit HL (the side close to the excavator 100 ) as an adjacent sand hill. Therefore, the controller 30 calculates the volume of sand and soil constituting the sand and soil mountain F14.

Furthermore, for example, the controller 30 calculates the volume of sand and soil (required volume) required to completely backfill the pit HL based on the output of the object detection device 70 every time the backfilling operation is completed. The required volume corresponds to the volume of the space in the pit HL below the target surface TS (except for the volume of the portion that has been backfilled with sand.). Furthermore, the controller 30 determines whether the volume of the sand and soil constituting the adjacent sand and soil hill (sand and soil hill F14) is equal to or larger than a required volume. In addition, the controller 30 is typically configured to adjust the volume of sand backfilled into the pit HL through the previous backfill action so that the required volume is approximately equal to the volume of the adjacent sand hill.

When it is determined that the volume of the sand constituting the adjacent sand hill (sand hill F14) is greater than the required volume, the controller 30 executes an autonomous pushing operation as an autonomous backfilling operation.

Specifically, the controller 30 generates the target trajectory TL for pushing the sand and soil constituting the sand and soil hill F14 into the pit HL based on the position and shape of the sand and soil hill F14. At this time, the controller 30 can set a target position for the pit HL and generate a target track TL.

In FIGS. 12A and 12B , a target track TL4 that is a part of the target track TL used for the penultimate pushing operation is shown by a dashed-dotted line. Furthermore, in FIGS. 12B and 12C , the target track TL5 that is a part of the target track TL used for the final pushing operation is indicated by a two-dot chain line.

Furthermore, in FIG. 12A , the state of the bucket 6 when the penultimate pushing operation is started is shown by a solid line. In addition, in FIG. 12B , the state of the bucket 6 at the start of the last pushing operation is shown by a solid line, and the push into the pit by the penultimate pushing operation in the sand constituting the sand hill F14 is shown by a sparse dot pattern. Sand F14T in HL. In addition, the state of the bucket 6 when the final pushing operation is completed is shown by a solid line in FIG. 12C . In addition, in FIGS. 12A to 12C , for the sake of clarity, the sandy soil GR and the sandy soil mountain F14 (except the sandy soil F14T) are marked with a dense dot pattern, and the foundation around the pit HL is marked with a diagonal line pattern.

As shown in FIG. 12B , among the sand and soil forming the sand and soil mountain F14 , the sand and soil F14B that remains even after the penultimate push-off operation is performed as shown in FIG. 12C . The tip moves along the target track TL5 from the side close to the excavator 100 to the far side to push into the pit HL.

By performing the pushing action as described above, the controller 30 can push the sand located relatively close to the pit HL into the pit HL and at the same time smooth the surface of the sand backfilled into the pit HL, so that the sand backfilled into the pit HL can be smoothed. The surface of the sand in HL has no unevenness. Furthermore, the controller 30 can make the height of the surface of the sand and soil backfilled into the pit HL substantially the same as the height of the surrounding surface CS. In addition, in the example shown in FIGS. 12A to 12C , the controller 30 is configured to use the back surface BF of the bucket 6 to perform the pushing operation for causing the sand and soil to fall into the pit HL and simultaneously perform the leveling operation, but it may also be performed. It is configured so that the front surface or the side surface of the bucket 6 is used to perform the pushing operation for causing the sand and soil to fall into the pit HL and at the same time perform the leveling operation.

In this way, the controller 30 can reduce the operator's burden related to the backfilling operation and the leveling operation performed by manual operation by autonomously and simultaneously performing the backfilling operation and the leveling operation. Furthermore, the controller 30 can improve the efficiency of the backfilling operation compared to the case where the backfilling operation and the leveling operation are performed separately.

As described above, the excavator 100 according to the embodiment of the present invention includes: the lower traveling body 1; the upper revolving body 3, which is rotatably mounted on the lower traveling body 1; and the controller 30 as a control device, which is provided in the upper portion. Rotary body 3. Furthermore, the controller 30 is configured to start an autonomous backfill operation by the shovel 100 when a predetermined condition is satisfied.

The predetermined condition is, for example, a condition in which a predetermined switch is operated or a control lever is operated in a predetermined direction in a predetermined operation mode.

The predetermined switch is, for example, a switch NS provided on the operating lever. The prescribed operation mode is, for example, backfill mode. The operator of the shovel 100 can switch the operation mode of the shovel 100 between the normal mode and the backfill mode by operating the switch NS, for example. Furthermore, when the operation mode of the excavator 100 is the backfill mode, the operator can, for example, operate the left operating lever 26L in the left rotation direction to perform an autonomous backfill operation as shown in FIGS. 7A to 7C , or can perform an autonomous backfill operation by turning the bucket to the left. The left operation lever 26L is operated in the lever opening direction to perform an autonomous backfilling operation (pushing operation) as shown in FIGS. 10A and 10B .

This structure can improve the efficiency of the backfilling operation compared with the backfilling operation performed by manual operation of the operating lever. Furthermore, this structure can reduce the burden on the operator of the excavator 100 related to backfilling work.

The backfilling operation may include at least one of an operation of the excavation attachment AT installed on the upper revolving body 3 and a turning action of the upper revolving body 3 . Specifically, as shown in FIGS. 7A to 7C , the backfilling action may include boom lifting action, boom lowering action, arm opening action, arm retracting action, bucket opening action, bucket retracting action, left At least one of a turning movement and a right turning movement. Alternatively, as shown in FIGS. 10A and 10B , the backfilling action may not include a turning action. Alternatively, the backfilling operation may not include the operation of the excavation attachment AT. Furthermore, the backfilling operation may include at least one of an operation of pushing the sand and soil with the front surface of the bucket 6 , an operation of pushing the sand and soil with the side surfaces SF of the bucket 6 , and an operation of pushing the sand and soil with the back surface BF of the bucket 6 .

This structure can autonomously execute an appropriate backfill operation in accordance with the positional relationship between the pit to be the backfill operation and the sand hill to be the backfill operation, for example, thereby further improving the efficiency of the backfill operation.

The controller 30 may be configured to determine the position of the ground object to be backfilled based on the output of the object detection device 70 . Ground objects that are subject to backfilling include, for example, pits that are subject to backfilling, hills of sand that are subject to backfilling, and the like. For example, the controller 30 may be configured to determine the position of a ground object to be backfilled based on an image captured by the camera 80 . Alternatively, the controller 30 may be configured to determine the position of the feature to be backfilled based on the distance information measured by the LID AR. At this time, the controller 30 may be configured to recognize the shape, depth, and volume of the pit to be backfilled, the shape, height, and volume of the sand hill to be backfilled, and the progress of the backfilling operation based on the output of the object detection device 70 . at least one of them.

The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiment, nor is it limited to the contents illustrated below. Various modifications, substitutions, etc. may be applied to the above-described embodiment without departing from the scope of the present invention. Furthermore, features described separately may be combined as long as there is no technical contradiction.

For example, in the above-described embodiment, the controller 30 is configured to reduce the burden on the operator sitting on the driver's seat in the cab 10 by autonomously or semi-autonomously executing the backfill operation. However, the autonomous or semi-autonomous actions performed by the controller 30 may also be applied to a remotely operated excavator. At this time, the controller 30 can reduce the burden on the remote operator sitting in the driver's seat of the remote operation room connected to the excavator 100 via wireless communication by autonomously or semi-autonomously executing the backfilling operation.

Furthermore, the controller 30 may be configured to recognize the positional relationship between the excavator 100 and the pit HL based on the output of the object detection device 70 . At this time, the controller 30 can determine the position of the pit HL based on the output of the positioning device (GNSS, etc.) mounted on the excavator 100 . Furthermore, the controller 30 may be configured to recognize the positional relationship between the excavator 100 and the sand mountain based on the output of the object detection device 70 . At this time, the controller 30 can determine the position of the sand mountain based on the output of the positioning device mounted on the excavator 100 .

Furthermore, the controller 30 may be configured to identify the pit based on the construction plan input through communication or the like when the position, shape, etc. of the pit to be the target of the backfill operation is set in advance in the construction plan (design data). HL position. Similarly, the controller 30 may be configured to recognize the position of the sand and soil mountain to be the target of the backfill operation in advance in the construction plan (design data) based on the construction plan input through communication or the like. The location of Sand Mountain. Thereby, the controller 30 can compare the control reference point calculated based on the output of the positioning device (GNSS, etc.) or attitude sensor mounted on the excavator 100 with the position of the sand hill, pit HL, etc. on the construction plan map ( target position) for comparison to control the position of the bucket 6.

This application claims priority based on Japanese Patent Application No. 2021-044182 filed on March 17, 2021, and the entire content of this Japanese Patent Application is incorporated by reference into this specification.

Symbol Description

1-lower traveling body, 1C-crawler, 1CL-left crawler, 1CR-right crawler, 2-slewing mechanism, 2A-hydraulic motor for slewing, 2M-hydraulic motor for traveling, 2ML-hydraulic motor for left traveling, 2MR-right Hydraulic motor for travel, 3-upper rotary body, 4-boom, 5-bucket, 6-bucket, 7-boom cylinder, 8-bucket cylinder, 9-bucket cylinder, 10-cab, 11 -Engine, 13-regulator, 14-main pump, 15-pilot pump, 17-control valve unit, 18-throttle, 19-control pressure sensor, 26-operating device, 26D-walking rod, 26DL-left walking Rod, 26DR-right travel rod, 26L-left operating rod, 26R-right operating rod, 28, 28L, 28R-discharge pressure sensor, 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB-operating pressure sensor, 30- Controller, 30A-track generation part, 30B-autonomous control part, 31, 31AL~31DL, 31AR~31DR-proportional valve, 40-intermediate bypass pipeline, 42-parallel pipeline, 70-object detection device, 70F- Front sensor, 70B - rear sensor, 70L - left sensor, 70R - right sensor, 80 - camera device, 80B - rear camera, 80F - front camera, 80L - left camera, 80R - right camera , 100-excavator, 171~176-control valve, AT-excavation accessory device, D1-display device, D2-sound output device, F1, F2, F10~F14-sand mountain, NS-switch, S1-boom Angle sensor, S2-bucket angle sensor, S3-bucket angle sensor, S4-body tilt sensor, S5-rotation angular velocity sensor, S6-rotary spool displacement sensor, S7-boom spool displacement sensor, S8-bucket Rod valve core displacement sensor, S9-bucket valve core displacement sensor, TL, TL1~TL5-target track.

Claims (modification in accordance with Article 19 of the Treaty)

1. An excavator having:

lower walking body;

The upper revolving body is rotatably mounted on the lower walking body; and

A control device is provided on the upper rotating body,

The control device is configured to identify the position of the object of the backfilling action and generate a target position related to the backfilling action.

2. The excavator according to claim 1, wherein,

The control device changes the target position according to the shape of the sand and soil at the position of the object.

3. The excavator according to claim 1, wherein,

The control device changes the action content based on the height of the sand and soil at the position of the object.

4.(delete)

5.(delete)

6. (After correction) The excavator according to claim 1, wherein

The control device is configured to start an autonomous backfilling operation by the excavator when predetermined conditions are met,

The predetermined condition is the following condition: a predetermined switch is operated or an operation lever is operated in a predetermined direction in a predetermined operation mode.

7.(Delete)

8. (After correction) The excavator according to claim 1, wherein

The backfilling action includes a pushing action, which is an action of using a bucket to push away the sand without lifting the sand,

The pushing action includes at least one of a pushing action of pushing the sand with the front of the bucket, a pushing action of pushing the sand with the side of the bucket, and a pushing action of pushing the sand with the back of the bucket. .

9. (After correction) The excavator according to claim 1, further equipped with an object detection device installed on the upper revolving body,

The control device is configured to determine the position of the ground object that is the target of the backfilling operation based on the output of the object detection device.

10. (Additional) The excavator according to claim 1, wherein

The control device performs a smoothing action for smoothing the surface of the sand when backfilling the pit.

11. (Additional) The excavator according to claim 8, wherein

The control device performs the leveling action while performing the pushing action.

12. (Additional) The excavator according to claim 1, wherein

The control device sets an imaginary surface equivalent to the ground surface formed when backfilling the pit as a target surface, generates a target trajectory along the target surface, and performs a leveling operation by moving the bucket along the target trajectory.

13. (Additional) The excavator according to claim 12, wherein

The height of the target surface is set according to the height of the ground around the pit.

14. (Additional) The excavator according to claim 8, wherein

When the object exists within a predetermined distance from the pit to be backfilled, the control device performs the pushing action, and when the object exists outside the predetermined distance from the pit to be backfilled, the control device performs the pushing action. The control device executes the backfilling action including the excavation action.

15. (Additional) The excavator according to claim 8, wherein

When the object exists within a prescribed distance from the pit to be backfilled, the control device backfills the object into the pit through multiple pushing actions.

16. (Additional) The excavator according to claim 8, wherein

The control device generates a target trajectory for the pushing action based on a limit on the volume or weight of the sand that can be pushed away by one pushing action.

17. (Additional) The excavator according to claim 8, further comprising an object detection device mounted on the upper revolving body,

The control device calculates the volume of the object located within a prescribed distance from the pit and the volume of sand required to backfill the pit as the required volume based on the output of the object detection device. If the volume of the object is less than the required volume, the backfilling action including the excavation action is performed; if the volume of the object is greater than the required volume, the pushing action is performed.

18. (Additional) The excavator according to claim 1, further equipped with an object detection device installed on the upper revolving body,

The control device identifies the opening area or depth of the pit to be backfilled based on the output of the object detection device, and sets the target position based on the opening area or the depth.

Claims (9)

1. An excavator having: lower walking body; The upper revolving body is rotatably mounted on the lower walking body; and A control device is provided on the upper rotating body, The control device is configured to identify the position of the object of the backfill action and generate a target position related to the backfill action. 2. The excavator according to claim 1, wherein, The control device changes the target position according to the shape of the sand and soil at the position of the object. 3. The excavator according to claim 1, wherein, The control device changes the action content based on the height of the sand and soil at the position of the object. 4. An excavator having: lower walking body; The upper revolving body is rotatably mounted on the lower walking body; and A control device is provided on the upper rotating body, The control device is configured to generate a target trajectory in accordance with the shape of a feature to be operated. 5. An excavator having: lower walking body; The upper revolving body is rotatably mounted on the lower walking body; and A control device mounted on the upper rotating body, The control device is configured to start an autonomous backfilling operation by the excavator when predetermined conditions are met. 6. The excavator according to claim 5, wherein, The predetermined condition is the following condition: a predetermined switch is operated or an operation lever is operated in a predetermined direction in a predetermined operation mode. 7. The excavator according to claim 5, wherein, The backfilling action includes at least one of an action of an attachment mounted on the upper revolving body and a rotational action of the upper revolving body. 8. The excavator according to claim 5, wherein The backfilling action includes at least one of an action of pushing the sand with the front of the bucket, an action of pushing the sand with the side of the bucket, and an action of pushing the sand with the back of the bucket. 9. The excavator according to claim 5, further comprising an object detection device installed on the upper rotary body, The control device is configured to determine the position of the ground object that is the target of the backfilling operation based on the output of the object detection device.