WO2019189935A1 - ショベル - Google Patents
ショベル Download PDFInfo
- Publication number
- WO2019189935A1 WO2019189935A1 PCT/JP2019/014530 JP2019014530W WO2019189935A1 WO 2019189935 A1 WO2019189935 A1 WO 2019189935A1 JP 2019014530 W JP2019014530 W JP 2019014530W WO 2019189935 A1 WO2019189935 A1 WO 2019189935A1
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- WO
- WIPO (PCT)
- Prior art keywords
- excavator
- travel
- lower traveling
- control valve
- controller
- Prior art date
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2292—Systems with two or more pumps
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2282—Systems using center bypass type changeover valves
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Definitions
- This disclosure relates to excavators.
- An excavator according to an embodiment of the present invention is provided in a lower traveling body, an upper swinging body that is turnably mounted on the lower traveling body, a travel actuator that drives the lower traveling body, and the upper swinging body.
- a control device, and the control device operates the travel actuator based on information on a target position.
- the above-described means provides an excavator that can reduce the troublesomeness of the driving operation.
- FIG. 2 is a diagram of a portion of a hydraulic system related to operation of a bucket cylinder. It is a figure of a part of hydraulic system regarding operation of a turning hydraulic motor. It is a figure of a part of hydraulic system regarding operation of the left traveling hydraulic motor. It is a figure of a part of hydraulic system regarding operation of a right traveling hydraulic motor.
- FIG. 1 is a side view of the excavator 100
- FIG. 2 is a top view of the excavator 100.
- the lower traveling body 1 of the excavator 100 includes a crawler 1C.
- the crawler 1 ⁇ / b> C is driven by a traveling hydraulic motor 2 ⁇ / b> M as a traveling actuator mounted on the lower traveling body 1.
- the crawler 1C includes a left crawler 1CL and a right crawler 1CR.
- the left crawler 1CL is driven by the left traveling hydraulic motor 2ML
- the right crawler 1CR is driven by the right traveling hydraulic motor 2MR.
- the upper traveling body 3 is mounted on the lower traveling body 1 through a turning mechanism 2 so as to be capable of turning.
- the turning mechanism 2 is driven by a turning hydraulic motor 2A as a turning actuator mounted on the upper turning body 3.
- the turning actuator may be a turning motor generator as an electric actuator.
- Boom 4 is attached to upper swing body 3.
- An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5.
- the boom 4, the arm 5, and the bucket 6 constitute an excavation attachment AT that is an example of an attachment.
- the boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9.
- the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 constitute an attachment actuator.
- the boom 4 is supported so as to be rotatable up and down with respect to the upper swing body 3.
- a boom angle sensor S1 is attached to the boom 4.
- the boom angle sensor S ⁇ b> 1 can detect the boom angle ⁇ ⁇ b> 1 that is the rotation angle of the boom 4.
- the boom angle ⁇ 1 is, for example, an ascending angle from a state where the boom 4 is lowered most. Therefore, the boom angle ⁇ 1 is maximized when the boom 4 is raised most.
- the arm 5 is supported so as to be rotatable with respect to the boom 4.
- An arm angle sensor S2 is attached to the arm 5.
- the arm angle sensor S2 can detect an arm angle ⁇ 2, which is the rotation angle of the arm 5.
- the arm angle ⁇ 2 is, for example, an opening angle from a state where the arm 5 is most closed. Therefore, the arm angle ⁇ 2 is maximized when the arm 5 is most opened.
- the bucket 6 is supported so as to be rotatable with respect to the arm 5.
- a bucket angle sensor S3 is attached to the bucket 6.
- the bucket angle sensor S3 can detect the bucket angle ⁇ 3 that is the rotation angle of the bucket 6.
- the bucket angle ⁇ 3 is an opening angle from a state where the bucket 6 is most closed. Therefore, the bucket angle ⁇ 3 is maximized when the bucket 6 is most opened.
- each of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 is composed of a combination of an acceleration sensor and a gyro sensor. However, it may be composed of only an acceleration sensor. Further, the boom angle sensor S1 may be a stroke sensor attached to 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 swing body 3 is provided with a cabin 10 as a cab and a power source such as an engine 11 is mounted. Further, a space recognizing device 70, a direction detecting device 71, a positioning device 73, a machine body inclination sensor S4, a turning angular velocity sensor S5, and the like are attached to the upper turning body 3. Inside the cabin 10, an operation device 26, a controller 30, an information input device 72, a display device D1, an audio output device D2, and the like are provided. In this document, for convenience, the side of the upper swing body 3 where the excavation attachment AT is attached is referred to as the front, and the side where the counterweight is attached is referred to as the rear.
- the space recognition device 70 is configured to recognize an object existing in a three-dimensional space around the excavator 100.
- the space recognition device 70 is configured to calculate the distance from the space recognition device 70 or the excavator 100 to the recognized object.
- the space recognition device 70 is, for example, an ultrasonic sensor, a millimeter wave radar, a monocular camera, a stereo camera, a LIDAR, a distance image sensor, or an infrared sensor.
- the space recognition device 70 is a LIDAR, and is configured to calculate the distance and direction of an object from the reflected light by emitting a number of laser beams in a number of directions and receiving the reflected light. ing.
- the space recognition device 70 is attached to the front sensor 70F attached to the front upper end of the cabin 10, the rear sensor 70B attached to the upper rear end of the upper swing body 3, and the upper left end of the upper swing body 3.
- the left sensor 70L and the right sensor 70R attached to the right end of the upper surface of the upper swing body 3 are included.
- An upper sensor for recognizing an object existing in the space above the upper swing body 3 may be attached to the excavator 100.
- the space recognition device 70 may be configured to image the periphery of the excavator 100.
- the space recognition device 70 is, for example, a monocular camera having an image sensor such as a CCD or a CMOS, and outputs a captured image to the display device D1.
- the space recognition device 70 may be configured to detect a predetermined object in a predetermined area set around the excavator 100. That is, the space recognition device 70 may be configured to identify at least one of the type, position, shape, and the like of the object. For example, the space recognition device 70 may be configured to distinguish between a person and an object other than a person. Furthermore, the space recognition device 70 may be configured to be able to identify the type of terrain around the excavator 100. The type of topography is, for example, a hole, an inclined surface, or a river. Furthermore, the space recognition device 70 may be configured to be able to specify the type of obstacle.
- the types of obstacles are, for example, electric wires, utility poles, people, animals, vehicles, work equipment, construction machines, buildings, or fences.
- the space recognition device 70 may be configured to be able to specify the type or size of a dump truck as a vehicle. Furthermore, the space recognition device 70 detects a person by recognizing a helmet, a safety vest, or work clothes, or by recognizing a predetermined mark or the like on the helmet, the safety vest, or work clothes. It may be configured as follows.
- the space recognition device 70 may be configured to recognize a road surface state. Specifically, the space recognition device 70 may be configured to specify the type of an object present on the road surface, for example.
- the types of objects present on the road surface are, for example, cigarettes, cans, plastic bottles, or stones.
- the direction detection device 71 is configured to detect information related to the relative relationship between the direction of the upper revolving unit 3 and the direction of the lower traveling unit 1.
- the direction detection device 71 may be configured by a combination of a geomagnetic sensor attached to the lower traveling body 1 and a geomagnetic sensor attached to the upper swing body 3, for example.
- the direction detection apparatus 71 may be comprised by the combination of the GNSS receiver attached to the lower traveling body 1, and the GNSS receiver attached to the upper turning body 3.
- the direction detection device 71 may be a rotary encoder, a rotary position sensor, or the like.
- the direction detection device 71 may be configured by a resolver.
- the direction detection device 71 may be attached to, for example, a center joint provided in association with the turning mechanism 2 that realizes the relative rotation between the lower traveling body 1 and the upper turning body 3.
- the orientation detection device 71 may be composed of a camera attached to the upper swing body 3.
- the orientation detection device 71 performs known image processing on an image (input image) captured by a camera attached to the upper swing body 3 to detect an image of the lower traveling body 1 included in the input image.
- the direction detection apparatus 71 specifies the longitudinal direction of the lower traveling body 1 by detecting the image of the lower traveling body 1 using a known image recognition technique. Then, an angle formed between the direction of the longitudinal axis of the upper swing body 3 and the longitudinal direction of the lower traveling body 1 is derived.
- the direction of the longitudinal axis of the upper swing body 3 is derived from the camera mounting position.
- the direction detection device 71 can specify the longitudinal direction of the lower traveling body 1 by detecting the image of the crawler 1C.
- the orientation detection device 71 may be integrated with the controller 30.
- the information input device 72 is configured such that an excavator operator can input information to the controller 30.
- the information input device 72 is a switch panel installed in the vicinity of the display unit of the display device D1.
- the information input device 72 may be a touch panel disposed on the display unit of the display device D1, or may be a voice input device such as a microphone disposed in the cabin 10.
- the information input device 72 may be a communication device. In this case, the operator can input information to the controller 30 via a communication terminal such as a smartphone.
- the positioning device 73 is configured to measure the current position.
- the positioning device 73 is a GNSS receiver, detects the position of the upper swing body 3, and outputs the detected value to the controller 30.
- the positioning device 73 may be a GNSS compass. In this case, the positioning device 73 can detect the position and orientation of the upper swing body 3.
- the machine body inclination sensor S4 detects the inclination of the upper swing body 3 with respect to a predetermined plane.
- the body inclination sensor S4 is an acceleration sensor that detects an inclination angle around the front-rear axis and an inclination angle around the left-right axis of the upper swing body 3 with respect to the horizontal plane.
- the front and rear axes and the left and right axes of the upper swing body 3 pass through a shovel center point that is one point on the swing axis of the shovel 100 and orthogonal to each other.
- the turning angular velocity sensor S5 detects the turning angular velocity of the upper turning body 3. In this embodiment, it is a gyro sensor. A resolver, a rotary encoder, or the like may be used. The turning angular velocity sensor S5 may detect the turning speed. The turning speed may be calculated from the turning angular speed.
- At least one of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body tilt sensor S4, and the turning angular velocity sensor S5 is also referred to as an attitude detection device.
- the attitude of the excavation attachment AT is detected based on outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3, for example.
- the display device D1 is a device that displays information.
- the display device D1 is a liquid crystal display installed in the cabin 10.
- the display device D1 may be a display of a communication terminal such as a smartphone.
- the audio output device D2 is a device that outputs audio.
- the sound output device D2 includes at least one of a device that outputs sound toward an operator in the cabin 10 and a device that outputs sound toward an operator outside the cabin 10.
- a speaker attached to the communication terminal may be used.
- the operating device 26 is a device used by an operator for operating the actuator.
- the controller 30 is a control device for controlling the excavator 100.
- the controller 30 is configured by a computer including a CPU, RAM, NVRAM, ROM, and the like. Then, the controller 30 reads a program corresponding to each function from the ROM, loads it into the RAM, and causes the CPU to execute a corresponding process.
- Each function includes, for example, a machine guidance function for guiding the manual operation of the shovel 100 by the operator, and assisting the manual operation of the shovel 100 by the operator, or causing the shovel 100 to operate automatically or autonomously. Including machine control functions.
- FIG. 3 is a diagram illustrating a configuration example of a hydraulic system mounted on the excavator 100.
- FIG. 3 shows a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electric control system by a double line, a solid line, a broken line, and a dotted 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 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, and the like.
- the hydraulic system is configured to circulate the hydraulic oil from the main pump 14 driven by the engine 11 to the hydraulic oil tank via the center bypass pipeline 40 or the parallel pipeline 42.
- the engine 11 is a drive source of the excavator 100.
- the engine 11 is, for example, a diesel engine that operates so as to maintain a predetermined rotational speed.
- the output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.
- the main pump 14 is configured to be able to supply hydraulic oil to the control valve 17 via the hydraulic oil line.
- the main pump 14 is a swash plate type variable displacement hydraulic pump.
- the regulator 13 is configured to control the discharge amount of the main pump 14.
- the regulator 13 controls the discharge amount of the main pump 14 by adjusting the swash plate tilt angle of the main pump 14 in accordance with a control command from the controller 30.
- the pilot pump 15 is configured to be able to supply hydraulic oil to a hydraulic control device including the operation device 26 via a pilot line.
- the pilot pump 15 is a fixed displacement hydraulic pump.
- the control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100.
- the control valve 17 includes control valves 171 to 176.
- the control valve 175 includes a control valve 175L and a control valve 175R
- the control valve 176 includes a control valve 176L and a control valve 1756.
- the control valve 17 is configured to selectively supply hydraulic oil discharged from the main pump 14 to one or a plurality of hydraulic actuators through the control valves 171 to 176.
- the control valves 171 to 176 control, for example, the flow rate of hydraulic fluid that flows from the main pump 14 to the hydraulic actuator, and the flow rate of hydraulic fluid that flows 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 used by an operator for operating the actuator.
- the operation device 26 includes, for example, an operation lever and an operation pedal.
- the actuator includes at least one of a hydraulic actuator and an electric actuator.
- the operating device 26 is configured to be able to supply the hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via the pilot line.
- the hydraulic oil pressure (pilot pressure) supplied to each pilot port is a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator.
- the operating device 26 may be an electric control type instead of the pilot pressure type as described above.
- the control valve in the control valve 17 may be an electromagnetic solenoid type spool valve.
- the discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the present embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.
- the operation pressure sensor 29 is configured to detect the content of operation of the operation device 26 by the operator.
- the operation pressure sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each of the actuators in the form of pressure (operation pressure), and outputs the detected value to the controller 30.
- the content of the operation of the operation device 26 may be detected using a sensor 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 circulates the hydraulic oil to the hydraulic oil tank via the left center bypass pipe 40L or the left parallel pipe 42L, and the right main pump 14R has the right center bypass pipe 40R or the right parallel pipe 42R.
- the hydraulic oil is circulated to the hydraulic oil tank via
- the left center bypass conduit 40L is a hydraulic oil line that passes through the control valves 171, 173, 175L, and 176L disposed in the control valve 17.
- the right center bypass conduit 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R disposed in the control valve 17.
- the control valve 171 supplies the hydraulic oil discharged from the left main pump 14L to the left traveling hydraulic motor 2ML, and discharges the hydraulic oil discharged from the left traveling hydraulic motor 2ML to the hydraulic oil tank.
- This is a spool valve for switching.
- the control valve 172 supplies the hydraulic oil discharged from the right main pump 14R to the right traveling hydraulic motor 2MR, and discharges the hydraulic oil discharged from the right traveling hydraulic motor 2MR to the hydraulic oil tank.
- This is a spool valve for switching.
- the control valve 173 is a spool that supplies the hydraulic oil discharged from the left main pump 14L to the swing hydraulic motor 2A and switches the flow of the hydraulic oil to discharge the hydraulic oil discharged from the swing hydraulic motor 2A to the hydraulic oil tank. It is a valve.
- the control valve 174 is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the bucket cylinder 9 and switches the flow of the hydraulic oil in order to 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 in order to supply the hydraulic oil discharged from the left main pump 14L to the boom cylinder 7.
- the control valve 175R is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the boom cylinder 7 and switches the flow of the hydraulic oil in order to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank. .
- the control valve 176L is a spool valve that supplies the hydraulic oil discharged from the left main pump 14L to the arm cylinder 8 and switches the flow of the hydraulic oil in order to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. .
- the control valve 176R is a spool valve that supplies the hydraulic oil discharged from the right main pump 14R to the arm cylinder 8 and switches the flow of the hydraulic oil in order to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. .
- the left parallel pipeline 42L is a hydraulic oil line parallel to the left center bypass pipeline 40L.
- the left parallel pipe line 42L can supply hydraulic oil to the control valve further downstream when the flow of the hydraulic oil passing through the left center bypass pipe line 40L is restricted or blocked by any of the control valves 171, 173, 175L.
- the right parallel pipeline 42R is a hydraulic oil line parallel to the right center bypass pipeline 40R.
- the right parallel pipe line 42R can supply hydraulic oil to the control valve downstream when the flow of the hydraulic oil passing through the right center bypass pipe line 40R is restricted or cut off by any of the control valves 172, 174, 175R. .
- the regulator 13 includes a left regulator 13L and a right regulator 13R.
- the left regulator 13L controls the discharge amount of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L according to the discharge pressure of the left main pump 14L.
- the left regulator 13L for example, adjusts the swash plate tilt angle of the left main pump 14L according to an increase in the discharge pressure of the left main pump 14L, and decreases the discharge amount.
- the operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a traveling lever 26D.
- the travel lever 26D includes a left travel lever 26DL and a right travel lever 26DR.
- the left operation lever 26L is used for turning operation and arm 5 operation.
- the hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 176.
- hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 173.
- the left operating lever 26L introduces hydraulic oil into the right pilot port of the control valve 176L and introduces hydraulic oil into the left pilot port of the control valve 176R when operated in the arm closing direction. . Further, when operated in the arm opening direction, the left operating lever 26L introduces hydraulic oil into the left pilot port of the control valve 176L and introduces hydraulic oil into the right pilot port of the control valve 176R. Further, the left operating lever 26L introduces hydraulic oil into the left pilot port of the control valve 173 when operated in the left turning direction, and the right pilot port of the control valve 173 when operated in the right turning direction. To introduce hydraulic oil.
- the right operation lever 26R is used for the operation of the boom 4 and the operation of the bucket 6.
- the hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 175.
- the hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 174.
- hydraulic oil is introduced into the left pilot port of the control valve 175R.
- the right operating lever 26R when operated in the boom raising direction, introduces hydraulic oil into the right pilot port of the control valve 175L and introduces hydraulic oil into the left pilot port of the control valve 175R.
- the right operating lever 26R introduces hydraulic oil into the right pilot port of the control valve 174 when operated in the bucket closing direction, and enters the left pilot port of the control valve 174 when operated in the bucket opening direction. Introduce hydraulic fluid.
- the traveling lever 26D is used for the operation of the crawler 1C.
- the left travel lever 26DL is used to operate the left crawler 1CL. You may be comprised so that it may interlock
- the hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 171.
- the right travel lever 26DR is used to operate the right crawler 1CR. You may be comprised so that it may interlock
- the hydraulic oil discharged from the pilot pump 15 is used to introduce a control pressure corresponding to the lever operation amount into the pilot port of the control valve 172.
- the discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R.
- the discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.
- the operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.
- the operation pressure sensor 29LA detects the content of the operation of the left operation lever 26L by the operator in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
- the contents of the operation include, for example, a lever operation direction, a lever operation amount (lever operation angle), and the like.
- the operation pressure sensor 29LB detects the content of the operation of the left operation lever 26L by the operator 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 operation of the right operation lever 26R by the operator 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 operation of the right operation lever 26R by the operator 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 content of the operation of the left travel lever 26DL by the operator 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 content of the operation in the front-rear direction on the right travel lever 26DR by the operator in the form of pressure, and outputs the detected value to the controller 30.
- the controller 30 receives the output of the operation pressure sensor 29, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14. Further, the controller 30 receives the output of the control pressure sensor 19 provided upstream of the throttle 18, outputs a control command to the regulator 13 as necessary, and changes the discharge amount of the main pump 14.
- the diaphragm 18 includes a left diaphragm 18L and a right diaphragm 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.
- a left throttle 18L is disposed between the control valve 176L located at the most downstream side and the hydraulic oil tank. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is limited by the left throttle 18L.
- the left diaphragm 18L generates a control pressure for controlling the left regulator 13L.
- the left control pressure sensor 19L is a sensor for detecting this 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 tilt angle of the left main pump 14L according to the control pressure.
- the controller 30 decreases the discharge amount of the left main pump 14L as the control pressure increases, and increases the discharge amount of the left main pump 14L as the control pressure decreases.
- the discharge amount of the right main pump 14R is similarly controlled.
- the hydraulic oil discharged from the left main pump 14L passes through the left center bypass conduit 40L to the left.
- the diaphragm reaches 18L.
- the flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L.
- the controller 30 reduces the discharge amount of the left main pump 14L to the allowable minimum discharge amount, and suppresses the pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass conduit 40L.
- the hydraulic oil discharged from the left main pump 14L flows into the operation target hydraulic actuator via the control valve corresponding to the operation target hydraulic actuator.
- the flow of the hydraulic oil discharged from the left main pump 14L reduces or disappears the amount reaching the left throttle 18L, and lowers the control pressure generated upstream of the left throttle 18L.
- the controller 30 increases the discharge amount of the left main pump 14L, circulates sufficient hydraulic oil to the operation target hydraulic actuator, and ensures the operation of the operation target hydraulic actuator.
- the controller 30 similarly controls the discharge amount of the right main pump 14R.
- the hydraulic system of FIG. 3 can suppress wasteful energy consumption in the main pump 14 in the standby state.
- the wasteful energy consumption includes a pumping loss generated by the hydraulic oil discharged from the main pump 14 in the center bypass conduit 40. 3 can reliably supply necessary and sufficient hydraulic fluid from the main pump 14 to the hydraulic actuator to be operated when the hydraulic actuator is operated.
- FIGS. 4A to 4D, 5A, and 5B are views of a portion of the hydraulic system.
- FIG. 4A is a partial view of the hydraulic system related to the operation of the arm cylinder 8
- FIG. 4B is a partial view of the hydraulic system related to the operation of the boom cylinder 7.
- 4C is a diagram of a part of the hydraulic system related to the operation of the bucket cylinder 9
- FIG. 4D is a diagram of a part of the hydraulic system related to the operation of the swing hydraulic motor 2A.
- FIG. 5A is a diagram of a part of the hydraulic system related to the operation of the left travel hydraulic motor 2ML
- FIG. 5B is a diagram of a part of the hydraulic system related to the operation of the right travel hydraulic motor 2MR.
- the hydraulic system includes a proportional valve 31, a shuttle valve 32, and a proportional valve 33.
- the proportional valve 31 includes proportional valves 31AL to 31FL and 31AR to 31FR
- the shuttle valve 32 includes shuttle valves 32AL to 32FL and 32AR to 32FR
- the proportional valve 33 includes proportional valves 33AL to 33FL and 33AR to 33FR.
- the proportional valve 31 functions as a control valve for machine control.
- the proportional valve 31 is arranged in a pipe line connecting the pilot pump 15 and the shuttle valve 32, and is configured so that the flow path area of the pipe line can be changed.
- the proportional valve 31 operates according to a control command output from the controller 30. Therefore, the controller 30 controls the pilot oil of the corresponding control valve in the control valve 17 through the proportional valve 31 and the shuttle valve 32 via the proportional valve 31 and the shuttle valve 32, regardless of the operation of the operating device 26 by the operator. Can be supplied to the port.
- the shuttle valve 32 has two inlet ports and one outlet port. One of the two inlet ports is connected to the operating device 26 and the other is connected to the proportional valve 31. The outlet port is connected to the pilot port of the corresponding control valve in the control valve 17. Therefore, the shuttle valve 32 can cause the higher one of the pilot pressure generated by the operating device 26 and the pilot pressure generated by the proportional valve 31 to act on the pilot port of the corresponding control valve.
- the proportional valve 33 functions as a machine control valve.
- the proportional valve 33 is arranged in a pipe line connecting the operating device 26 and the shuttle valve 32, and is configured so that the flow path area of the pipe line can be changed.
- the proportional valve 33 operates according to a control command output from the controller 30. Therefore, the controller 30 reduces the pressure of the hydraulic oil discharged from the operating device 26 regardless of the operation of the operating device 26 by the operator, and then controls the corresponding control valve in the control valve 17 via the shuttle valve 32. Can be supplied to the pilot port.
- the controller 30 can operate the hydraulic actuator corresponding to the specific operation device 26 even when the operation to the specific operation device 26 is not performed. Further, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to the specific operation device 26 even when an operation is performed on the specific operation device 26.
- the left operation lever 26L is used to operate the arm 5.
- the left operation lever 26L uses the hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 176.
- the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R.
- the pilot pressure corresponding to the operation amount is applied to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.
- the left operation lever 26L is provided with a switch NS.
- the switch NS is a push button switch. The operator can operate the left operation lever 26L while pressing the switch NS.
- the switch NS may be provided on the right operation lever 26 ⁇ / b> R, or may be provided at another position in the cabin 10.
- the operation pressure sensor 29LA detects the content of the operation of the left operation lever 26L by the operator in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
- the proportional valve 31AL operates according to the current command output from the controller 30. Then, the pilot pressure by the hydraulic 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 is adjusted through the proportional valve 31AL and the shuttle valve 32AL.
- the proportional valve 31AR operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic 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 through the proportional valve 31AR and the shuttle valve 32AR is adjusted.
- the proportional valves 31AL and 31AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at arbitrary valve positions.
- the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to flow through the proportional valve 31AL and the shuttle valve 32AL, regardless of the arm closing operation by the operator, and to the right pilot port and the control valve 176R of the control valve 176L. Can be supplied to the left pilot port. That is, the arm 5 can be closed. Further, the controller 30 supplies the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right side of the control valve 176R via the proportional valve 31AR and the shuttle valve 32AR regardless of the arm opening operation by the operator. Can be supplied to the pilot port. That is, the arm 5 can be opened.
- the proportional valve 33AL operates according to a control command (current command) output from the controller 30. Then, the pilot pressure by the hydraulic 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 is reduced through the left operation lever 26L, the proportional valve 33AL, and the shuttle valve 32AL.
- the proportional valve 33AR operates in accordance with a control command (current command) output from the controller 30. Then, the pilot pressure by the hydraulic 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 is reduced through the left operation lever 26L, the proportional valve 33AR, and the shuttle valve 32AR.
- the proportional valves 33AL and 33AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at arbitrary valve positions.
- the controller 30 allows the pilot port on the closing side of the control valve 176 (the left pilot port and the control valve of the control valve 176L) as necessary even when the arm closing operation is performed by the operator.
- the pilot pressure acting on the right pilot port of 176R can be reduced, and the closing operation of the arm 5 can be forcibly stopped.
- the opening operation of the arm 5 is forcibly stopped when an arm opening operation is performed by the operator.
- the controller 30 controls the proportional valve 31AR as necessary even when the arm closing operation is performed by the operator, and is on the opposite side of the pilot port on the closing side of the control valve 176.
- the closing operation 5 may be forcibly stopped.
- the proportional valve 33AL may be omitted. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator performs an arm opening operation.
- the right operation lever 26R is used to operate the boom 4. Specifically, the right operation lever 26R uses the hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 175. More specifically, when the right operation lever 26R is operated in the boom raising direction (rearward direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. Make it work. Further, when the right operation lever 26R is operated in the boom lowering direction (forward direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 175R.
- the operation pressure sensor 29RA detects the content of the operation of the right operation lever 26R by the operator in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
- the proportional valve 31BL operates according to a current command output from the controller 30. Then, the pilot pressure by the hydraulic 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 is adjusted via the proportional valve 31BL and the shuttle valve 32BL.
- the proportional valve 31BR operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 175L and the right pilot port of the control valve 175R via the proportional valve 31BR and the shuttle valve 32BR is adjusted.
- the proportional valves 31BL and 31BR can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at arbitrary valve positions.
- the controller 30 allows the hydraulic oil discharged from the pilot pump 15 to flow through the proportional valve 31BL and the shuttle valve 32BL, regardless of the boom raising operation by the operator, and to the right pilot port and the control valve 175R of the control valve 175L. Can be supplied to the left pilot port. That is, the boom 4 can be raised. Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR and the shuttle valve 32BR regardless of the boom lowering operation by the operator. That is, the boom 4 can be lowered.
- the right operation lever 26R is also used to operate the bucket 6. Specifically, the right operation lever 26R uses the hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 174. More specifically, the right operation lever 26R applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 174 when operated in the bucket closing direction (left direction). Further, when the right operation lever 26R is operated in the bucket opening direction (right direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 174.
- the operation pressure sensor 29RB detects the content of the operation of the right operation lever 26R by the operator in the left-right direction in the form of pressure, and outputs the detected value to the controller 30.
- the proportional valve 31CL operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 through the proportional valve 31CL and the shuttle valve 32CL is adjusted.
- the proportional valve 31CR operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 through the proportional valve 31CR and the shuttle valve 32CR is adjusted.
- the proportional valves 31CL and 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at an arbitrary valve position.
- 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 and the shuttle valve 32CL regardless of the bucket closing operation by the operator. That is, the bucket 6 can be closed. Further, 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 and the shuttle valve 32CR regardless of the bucket opening operation by the operator. That is, the bucket 6 can be opened.
- the left operation lever 26L is also used to operate the turning mechanism 2. Specifically, the left operation lever 26L uses the hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the left-right direction to the pilot port of the control valve 173. More specifically, the left operation lever 26L causes a pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve 173 when operated in the left turning direction (left direction). Further, when the left operation lever 26L is operated in the right turning direction (right direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 173.
- the operation pressure sensor 29LB detects the content of the operation of the left operation lever 26L by the operator in the left-right direction in the form of pressure, and outputs the detected value to the controller 30.
- the proportional valve 31DL operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL is adjusted.
- the proportional valve 31DR operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR is adjusted.
- the proportional valves 31DL and 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at an arbitrary valve position.
- the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL and the shuttle valve 32DL regardless of the left turning operation by the operator. That is, the turning mechanism 2 can be turned left. Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR and the shuttle valve 32DR regardless of the right turning operation by the operator. That is, the turning mechanism 2 can be turned right.
- controller 30 controls at least one of the proportional valve 31DL, the proportional valve 31DR, the proportional valve 33DL, and the proportional valve 33DR according to the current command, so that the upper swing body 3 faces the target construction surface.
- the swing hydraulic motor 2A which is an example of an actuator, may be automatically rotated or braked.
- the tip of the attachment (for example, the toe or the back of the bucket 6 as the work site) is the target construction surface.
- This is a state in which it can be moved along the inclination direction (for example, ascending slope).
- the state where the upper swing body 3 of the excavator 100 is directly facing the target construction surface is that the attachment working surface (the center line of the attachment is perpendicular to the swing plane of the excavator 100 (virtual plane perpendicular to the swing axis).
- the virtual plane to include is a state including the normal line of the target construction surface (in other words, a state along the normal line of the target construction surface).
- the controller 30 can automatically rotate the swing hydraulic motor 2 ⁇ / b> A so that the upper swing body 3 faces the target construction surface. Therefore, the excavator 100 can appropriately form the target construction surface.
- the controller 30 performs, for example, a vertical distance between the left end of the toe of the bucket 6 and the target construction surface (hereinafter referred to as “left end vertical distance”) and a toe of the bucket 6.
- left end vertical distance When the vertical distance between the right end and the target construction surface (hereinafter referred to as “right end vertical distance”) becomes equal, it is determined that the excavator 100 faces the target construction surface.
- the controller 30 is not when the left end vertical distance and the right end vertical distance are equal (that is, when the difference between the left end vertical distance and the right end vertical distance becomes zero), but the difference is equal to or less than a predetermined value. In this case, it may be determined that the excavator 100 faces the target construction surface. Thereafter, when the difference becomes a predetermined value or less or zero, the controller 30 decelerates and stops the swing hydraulic motor 2A by braking control of the swing hydraulic motor 2A.
- the facing control may be executed during a scooping operation for loading temporary earth and sand on a dump truck.
- the controller 30 sets a target excavation trajectory that is a trajectory that the toe of the bucket 6 should follow in order to take in a desired volume (target excavation volume) of earth and sand into the bucket 6 in one excavation operation.
- the controller 30 may cause the upper swing body 3 to face the virtual plane perpendicular to the attachment operation surface when moving the toe of the bucket 6 along the target excavation trajectory.
- the target excavation trajectory is changed every time the scooping operation is performed.
- the excavator 100 removes the earth and sand from the loading platform of the dump truck and then moves the upper swivel to a virtual plane perpendicular to the attachment operating surface when moving the toe of the bucket 6 along the newly set target excavation trajectory. Make 3 face up.
- the left travel lever 26DL is used to operate the left crawler 1CL. Specifically, the left travel lever 26DL uses the hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 171. More specifically, the left travel lever 26DL applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 171 when operated in the forward direction (forward direction). Further, when the left travel lever 26DL is operated in the reverse direction (rearward direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 171.
- the operation pressure sensor 29DL detects the content of the operation of the left traveling lever 26DL by the operator in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
- the proportional valve 31EL operates according to the current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 171 through the proportional valve 31EL and the shuttle valve 32EL is adjusted.
- the proportional valve 31ER operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 171 through the proportional valve 31ER and the shuttle valve 32ER is adjusted.
- the proportional valves 31EL and 31ER can adjust the pilot pressure so that the control valve 171 can be stopped at an arbitrary valve position.
- the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 171 via the proportional valve 31EL and the shuttle valve 32EL, regardless of the left forward operation by the operator. That is, the left crawler 1CL can be moved forward. Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 171 via the proportional valve 31ER and the shuttle valve 32ER, regardless of the left reverse operation by the operator. That is, the left crawler 1CL can be moved backward.
- the right travel lever 26DR is used to operate the right crawler 1CR. Specifically, the right travel lever 26DR uses the hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to the operation in the front-rear direction to the pilot port of the control valve 172. More specifically, when the right travel lever 26DR is operated in the forward direction (forward direction), the pilot pressure corresponding to the operation amount is applied to the right pilot port of the control valve 172. Further, when the right travel lever 26DR is operated in the reverse direction (rearward direction), the pilot pressure corresponding to the operation amount is applied to the left pilot port of the control valve 172.
- the operation pressure sensor 29DR detects the content of the operation of the right travel lever 26DR by the operator in the front-rear direction in the form of pressure, and outputs the detected value to the controller 30.
- the proportional valve 31FL operates according to a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FL and the shuttle valve 32FL is adjusted.
- the proportional valve 31FR operates in accordance with a current command output from the controller 30. Then, the pilot pressure by the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FR and the shuttle valve 32FR is adjusted.
- the proportional valves 31FL and 31FR can adjust the pilot pressure so that the control valve 172 can be stopped at an arbitrary valve position.
- the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 172 via the proportional valve 31FL and the shuttle valve 32FL regardless of the right forward operation by the operator. That is, the right crawler 1CR can be advanced. Further, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 172 via the proportional valve 31FR and the shuttle valve 32FR regardless of the right reverse operation by the operator. That is, the right crawler 1CR can be moved backward.
- FIG. 6 is a functional block diagram of the controller 30.
- the controller 30 receives signals output from at least one of the information acquisition device E1 and the switch NS, performs various calculations, and at least includes the proportional valve 31, the display device D1, the audio output device D2, and the like.
- One control command can be output.
- the information acquisition device E1 detects information related to the excavator 100.
- the information acquisition device E1 includes the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body tilt sensor S4, the turning angular velocity sensor S5, the boom rod pressure sensor, the boom bottom pressure sensor, and the arm rod pressure sensor.
- the information acquisition device E1 includes, as information on the excavator 100, a boom angle, an arm angle, a bucket angle, a machine body tilt angle, a turning angular velocity, a boom rod pressure, a boom bottom pressure, an arm rod pressure, an arm bottom pressure, a bucket rod pressure, Bucket bottom pressure, boom stroke amount, arm stroke amount, bucket stroke amount, discharge pressure of the main pump 14, operation pressure of the operation device 26, information on the object existing in the three-dimensional space around the excavator 100, At least one of information related to the relative relationship between the direction and the direction of the lower traveling body 1, information input to the controller 30, and information related to the current position is acquired. Further, the information acquisition device E1 may obtain information from other machines (such as a construction machine or a vehicle for acquiring site information).
- the controller 30 includes a setting unit 30A and an autonomous control unit 30B as functional elements. Each functional element may be configured by hardware or may be configured by software.
- the setting unit 30A is configured to support the setting of various information by the operator.
- the setting unit 30A is configured to support setting by an operator of information necessary when the excavator 100 travels autonomously.
- the setting unit 30A is configured to support the setting of the destination by the operator.
- the destination is a destination when the excavator 100 travels autonomously. That is, the destination is set as the final target position.
- the setting unit 30A is configured to display a setting screen on the display device D1 provided with a touch panel when a predetermined switch constituting the information input device 72 is operated.
- the setting screen is a map image including the current position of the excavator 100, for example.
- the map image may be an image captured by a camera.
- the operator may set the destination by tapping a point on the map image corresponding to the desired destination.
- the setting unit 30A may display the map image used on the setting screen by using API (Application Programming Interface) related to route search or a map published on an external website. Then, the setting unit 30A may derive the construction status based on the information acquired by the information acquisition device E1, and reflect the derived construction status in the map image. For example, the setting unit 30A may simultaneously display the place where the embankment is performed and the place where the rolling operation is performed on the map image. Then, the operator may set a traveling route in consideration of the derived construction situation. Furthermore, the setting unit 30A may divide the current position to the destination into a plurality of sections and set the target position for each section.
- API Application Programming Interface
- the target position used in the travel control of the excavator 100 is changed (reset) to the end (end point) of the next section when the excavator 100 reaches the end (end point) of the first section.
- the controller 30 is configured to continuously execute the traveling control in each section. Note that when the excavator 100 reaches the end (end point) of the first section and the travel route is changed according to the situation, the course and target position of the next section are also changed.
- the setting unit 30A is configured to support the setting of the travel route by the operator.
- the travel route is a path from the current position of the excavator 100 to a desired destination.
- the excavator 100 travels autonomously so that the trajectory drawn by a predetermined part of the excavator 100 matches the travel route.
- the predetermined part is, for example, the center point of the excavator 100.
- the center point of the shovel 100 is, for example, a point on the pivot axis of the shovel 100 located at a predetermined height from the ground contact surface of the shovel 100.
- the operator drags a finger on the setting screen so as to connect a point on the map image corresponding to the current position of the excavator 100 and a point on the map image corresponding to the desired destination.
- the setting unit 30A may set a point corresponding to a point where the operator's finger is away from the touch panel as a destination. In this case, the operator can set the travel route and the destination at the same time without setting the destination in advance.
- the operator may set a destination and a travel route while moving the cursor using a button or the like on the switch panel.
- the setting unit 30A may automatically set a travel route based on the current position of the excavator 100, the destination, and map information when the destination is set.
- map information contains the information regarding the unevenness
- the setting unit 30A for example, based on the information acquired by the information acquisition device E1 including the communication device or the space recognition device 70 or the like, obstacles such as holes, embankments, materials, and earth and sand (for example, earth and sand dropped from a dump truck or the like) You may set the driving
- the materials include sandbags, tetrapots (registered trademark), concrete blocks, sheet piles, and the like. In this way, the setting unit 30A can set the travel route in consideration of the latest construction status.
- the setting unit 30A may set a travel route based on a past travel locus.
- the controller 30 may be configured to store the travel locus of the excavator 100 in a nonvolatile storage medium for a predetermined time.
- the autonomous control unit 30B is configured to operate the excavator 100 autonomously.
- the autonomous control unit 30B is configured to autonomously travel the excavator 100 along the travel route set by the setting unit 30A.
- the autonomous control unit 30B may start the autonomous traveling of the excavator 100 when, for example, an autonomous traveling switch on a switch panel installed close to the display unit of the display device D1 is pressed.
- the autonomous travel switch may be a software button displayed on the display device D1 including a touch panel.
- the autonomous control unit 30B may start the autonomous traveling of the excavator 100 when the traveling lever 26D is tilted while a switch provided at the tip of the traveling lever 26D is pressed.
- the autonomous control unit 30 ⁇ / b> B may start the autonomous traveling of the excavator 100 when a predetermined operation is performed on the communication terminal carried by the operator outside the cabin 10.
- the operator of the excavator 100 can, for example, press the autonomous travel switch at the time of refueling or at the end of the work to start the autonomous travel of the excavator 100 and autonomously travel the excavator 100 located at the work site to a predetermined position. it can.
- the autonomous control unit 30B determines how to move the actuator based on the set travel route, for example. For example, when the excavator 100 travels, an appropriate travel method is selected from spin turn, pivot turn, slow turn, or straight travel to determine how to move the travel hydraulic motor 2M. At that time, the autonomous control unit 30B may determine not only how to move the travel actuator such as the travel hydraulic motor 2M but also whether or not the swing mechanism 2 needs to be operated. This is because the excavator 100 is caused to travel in an appropriate posture while preventing contact between the excavator 100 and an external object. Further, it may be determined whether or not the excavation attachment AT needs to be operated by determining whether or not there is a possibility that the excavation attachment AT may be in contact with peripheral equipment or other construction machines.
- the autonomous control unit 30B can operate each actuator autonomously by giving a current command to the proportional valve 31 and individually adjusting the pilot pressure acting on the control valve corresponding to each actuator.
- the left traveling hydraulic motor 2ML can be operated regardless of whether the left traveling lever 26DL is tilted, and the right traveling hydraulic motor 2MR is operated regardless of whether the right traveling lever 26DR is tilted. be able to.
- the left traveling hydraulic motor 2ML can be operated regardless of whether or not the left traveling pedal is depressed, and the right traveling hydraulic motor 2MR is operated regardless of whether or not the right traveling pedal is tilted. Can do.
- the autonomous control unit 30B is configured to output a current command to the proportional valve 31EL and to adjust the pilot pressure acting on the left pilot port of the control valve 171.
- the autonomous control unit 30B is configured to output a current command to the proportional valve 31EL and to adjust the pilot pressure acting on the left pilot port of the control valve 171.
- the autonomous control unit 30 ⁇ / b> B may be configured to repeatedly acquire information related to the position of the excavator 100 at a predetermined control cycle based on the output of the positioning device 73. Further, the information on the relative relationship between the direction of the upper swing body 3 and the direction of the lower traveling body 1 based on the output of the direction detection device 71 may be repeatedly acquired at a predetermined control cycle. Then, the autonomous control unit 30B may be configured to feed back the acquired information so that the excavator 100 can continue traveling along a desired route in a desired posture.
- the autonomous control unit 30B can cause the lower traveling body 1 to travel in a state where, for example, the orientation of the upper swing body 3 and the orientation of the lower traveling body 1 are aligned. Therefore, for example, when the excavator 100 travels autonomously over a relatively long distance, the traveling posture of the excavator 100 can be stabilized.
- the autonomous control unit 30B can cause the lower traveling body 1 to travel in a state where the direction of the upper revolving body 3 and the direction of the lower traveling body 1 are different. Therefore, for example, when excavator 100 travels autonomously for a relatively short distance, such as when excavator 100 is moved intermittently along a slope, excavator 100 can be moved in a short time. This is because the time required to align the direction of the upper swing body 3 and the direction of the lower traveling body 1 can be omitted.
- FIG. 7 shows a display example of the setting screen GS displayed on the display device D1.
- the setting screen GS includes an excavator graphic G1, a landfill map G2, a sandbag graphic G3, a river graphic G4, a waterway graphic G5, a dike graphic G6, a paved road graphic G7, an unpaved road graphic G8, an office graphic G9, and a parking lot graphic G10.
- the destination map figure G11 and the travel route figure G12 are included.
- the landfill map form G2 and the sandbag figure G3 may be updated as needed according to the progress of the work.
- the actual road corresponding to the paved road graphic G7 on the setting screen GS is a search target by the API related to route search or the like published on an external website.
- the work site of the excavator 100 often has no road nearby.
- the controller 30 may not be able to set a travel route for moving the excavator 100 from the current position to the destination only by using an externally disclosed API route search function.
- a configuration in which the travel route can be set even at the work site of the excavator 100 and the excavator 100 can be moved based on the set route will be described.
- the excavator figure G1 is a figure indicating the position of the excavator 100.
- the excavator 100 includes an excavator 100A as an own machine in which the display device D1 is installed, and an excavator 100B as an other machine working around the excavator 100A.
- the setting screen GS includes an excavator graphic G1A corresponding to the excavator 100A and an excavator graphic G1B corresponding to the excavator 100B.
- the shovel figure G1A indicates the position of the shovel 100A.
- the shovel figure G1B indicates the position of the shovel 100B.
- the controller 30 determines the display position of the shovel figure G1A based on the output of the positioning device 73 mounted on the shovel 100A. The same applies to the shovel figure G1B.
- the landfill map shape G2 and sandbag figure G3 are examples of figures generated based on information updated at relatively short intervals. In the example of FIG. 7, it is generated based on information output from the space recognition device 70 attached to the excavator 100A.
- River figure G4, irrigation figure G5, embankment figure G6, paved road figure G7, unpaved road figure G8, office figure G9, and parking lot figure G10 are generated based on information updated at relatively long intervals. It is an example. In the example of FIG. 7, it is a figure produced
- the destination map shape G11 is a graphic displayed when the setting unit 30A sets the destination. For example, it is displayed when the inside of the parking lot figure G10 which is a broken line frame is tapped by the operator.
- the target map shape G11 is a circular mark, but may be a mark having another shape such as a triangle, a quadrangle, or an ellipse.
- the travel route graphic G12 is a linear graphic displayed when the setting unit 30A sets a travel route. For example, when a drag operation is performed from the position where the excavator figure G1A is displayed, it is displayed along the trajectory of the drag operation. And it terminates at the point where the finger is removed from the touch panel. In the example of FIG. 7, it is displayed as a dashed arrow heading toward the target map shape G11.
- the work site of the excavator 100 may have uneven ground stability, unlike places where roads are laid. For this reason, it is desirable to use a travel route that has been used once in the past. Therefore, the setting unit 30A may set a travel route such as the shortest route based on the travel locus in the past work.
- the setting unit 30A determines that the trajectory of the drag operation is inappropriate, the setting unit 30A displays on the setting screen GS that the trajectory of the drag operation is inappropriate without displaying the travel route graphic G12. You may let them. This is to prompt the operator to set an appropriate travel route. For example, when the drag operation is performed so as to cross the river figure G4, the setting unit 30A determines that the trajectory of the drag operation is inappropriate.
- the autonomous control unit 30B autonomously travels the excavator 100A along the set travel route.
- the excavator 100A determines the positions of materials, sandbags, steps, fills, holes, etc. based on the information acquired by the information acquisition device E1, and travels while autonomously avoiding materials, sandbags, steps, fills, holes, etc. And travel to a point corresponding to the target map shape G11.
- the operator of the excavator 100 ⁇ / b> A is seated in the driver's seat in the cabin 10, but may be outside the cabin 10. That is, the excavator 100A may perform unmanned operation.
- the setting screen GS may be continuously displayed while the excavator 100A is autonomously traveling. This is because the operator can grasp the movement status of the excavator 100A.
- the plane figure G10 may be an image captured by a flying body such as a quadcopter.
- This configuration allows the operator of the excavator 100A to autonomously travel the excavator 100A to the destination simply by setting the travel route to the destination. For example, when the operator comes to the work site by car, if the operator sets a predetermined position of the parking lot as a destination by the portable terminal device, the excavator 100A autonomously reaches the set destination from the parking lot. Run. At this time, the controller 30 may perform the traveling control so that the set destination (target position) corresponds to the center of the excavator 100A, or perform the traveling control so that the lifting door of the cabin 10 corresponds. Also good. Thereby, the operator can board the excavator 100A without moving from the parking lot of the car to the parking lot of the excavator 100A. Therefore, when the operator gets on the excavator 100A, it is not necessary to pass through the muddy work site, and the inside of the cabin 10 can be prevented from being contaminated by mud or the like.
- FIG. 8 shows another display example of the setting screen GS displayed on the display device D1.
- the autonomous control unit 30B is configured to autonomously travel the shovel 100A by causing the shovel 100A to follow the shovel 100B as the preceding object without using the travel route. Therefore, the travel route is not set, and the travel route graphic G12 is not displayed.
- the setting unit 30A is configured to support the setting of the preceding object by the operator.
- a preceding object as a target is a target to be followed by the excavator 100A when the excavator 100A travels autonomously.
- the preceding object may be a person or another self-propelled body such as a vehicle.
- the operator sets the destination by, for example, tapping a point on the map image corresponding to the desired destination. Then, the shovel 100B is set as the preceding shovel by performing a tap operation on the shovel figure G1B corresponding to the shovel 100B.
- the setting unit 30A may highlight the shovel figure G1B so that the operator can recognize that the shovel 100B is set as the preceding shovel. The highlighting includes, for example, blinking display.
- FIG. 8 shows a state where the excavator figure G1B is blinked. Then, the operator of the excavator 100A presses the autonomous travel switch when refueling or at the end of work, for example, and starts the autonomous travel of the excavator 100A.
- the excavator 100A located at the work site travels autonomously following the excavator 100B and stops when it reaches the destination.
- the setting of the destination may be omitted.
- the autonomous control unit 30B derives the traveling locus of the preceding excavator 100B based on information acquired by the information acquisition device E1 including the communication device or the space recognition device 70, for example. And autonomous control part 30B makes excavator 100A run autonomously so that the run locus may be followed. That is, the autonomous control unit 30B executes the traveling control of the excavator 100 so that the excavator 100 follows the preceding excavator 100B.
- the excavator 100A may be configured to travel to a point corresponding to the target map shape G11 along the travel locus of the excavator 100B while autonomously avoiding sandbags, steps, holes, and the like.
- the setting screen GS may be continuously displayed while the excavator 100A is autonomously traveling. This is because the operator can grasp the movement status of the excavator 100A.
- This configuration allows the operator of the excavator 100A to autonomously travel the excavator 100A to the destination simply by setting the preceding object.
- FIG. 9 is a top view of the excavator 100 that performs the slope work.
- the figure 100X drawn with a dotted line in FIG. 9 shows the state of the excavator 100 at a position away from the slope, and the figure 100Y drawn with a broken line shows the state of the shovel 100 when facing the slope.
- the figure 100Z drawn with a solid line shows the current state of the excavator 100 after moving a short distance along the slope.
- the dot pattern area FS represents a slope after the finishing work is performed
- the cross hatch pattern area US represents a slope before the finishing work is performed.
- the setting unit 30 ⁇ / b> A is configured to support setting of a construction target by the operator.
- the construction target is, for example, a slope that is a target of slope work, a ground that is a target of horizontal drawing work, a hole that is a target of deep digging work, or the like.
- the operator constructs a slope to be sloped by specifying an image portion corresponding to a desired slope on the setting screen GS by a tap operation, a pinch operation, a drag operation, or the like.
- Set as target When the construction target is set, the setting unit 30A automatically sets a travel route from the current position to the construction target based on the current position of the excavator 100, the position of the construction target, and map information. For example, the setting unit 30A avoids an obstacle after recognizing the latest construction status including the position of the obstacle based on information acquired by the information acquisition device E1 including the communication device or the space recognition device 70 and the like. A travel route may be set.
- the autonomous control unit 30B autonomously travels the excavator 100 along the set travel route.
- the excavator 100 travels from the position of the graphic 100X drawn by the dotted line in FIG. 9 to the position of the graphic 100Y drawn by the broken line along the travel route indicated by the arrow AR1.
- the destination is, for example, the start position of the slope work.
- the excavator 100 travels along the travel route to the construction target (the slope to be sloped) along the travel route while autonomously avoiding materials, sandbags, steps, banking, holes, and the like.
- the excavator 100 stops when it faces the slope to be sloped.
- the excavator 100 stops the lower traveling body 1 in a direction parallel to the X axis so that the excavator 100 can move along the slope.
- the excavator 100 can perform a finishing operation using the excavation attachment AT.
- the operator of the excavator 100 is seated in the driver's seat in the cabin 10, but may be outside the cabin 10. That is, the excavator 100 may perform unmanned operation.
- This configuration allows the operator of the excavator 100 to autonomously travel the excavator 100 to the position of the construction target simply by setting the construction target.
- the position of the construction target is set as a target position used in the travel control of the excavator 100.
- the operator simply sets the position of the slope to be sloped, makes the excavator 100 travel autonomously to the position of the slope, and uses the above-described facing control.
- the excavator 100 can be stopped in a state of facing the slope.
- the autonomous control unit 30B may be configured to allow the excavator 100 to travel autonomously during predetermined work such as slope work. For example, when the operator of the excavator 100 presses the autonomous travel switch at the time when the finishing work is completed on a part of the slope to be sloped, the autonomous control unit 30B sets the movement direction and the movement distance set in advance. The excavator 100 may travel autonomously based on the above. In the example of FIG. 9, each time the autonomous travel switch is pressed, the autonomous control unit 30B has an objective set at a predetermined distance in the slope extension direction (+ X direction) as indicated by an arrow AR2. The excavator 100 is moved to the ground (target position). In this case, the destination (target position) may be updated sequentially.
- predetermined work such as slope work.
- the operator of the excavator 100 can move the excavator 100 by a predetermined distance toward the next destination (target position) in the extension direction of the slope only by pressing the autonomous travel switch.
- the efficiency of finishing work can be improved.
- FIG. 10 is a functional block diagram illustrating another configuration example of the controller 30.
- the controller 30 receives signals output from at least one of the posture detection device, the space recognition device 70, the information input device 72, the positioning device 73, the abnormality detection sensor 74, and the like, and executes various calculations.
- the control command can be output to the proportional valve 31 and the proportional valve 33.
- the attitude detection device includes a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body tilt sensor S4, and a turning angular velocity sensor S5.
- the controller 30 shown in FIG. 10 mainly includes a point connected to the abnormality detection sensor 74, a target setting unit F1, an abnormality monitoring unit F2, a stop determination unit F3, an intermediate target setting unit F4, a position calculation unit F5, 6 is different from the controller 30 shown in FIG. 6 in that it includes an object detection unit F6, a speed command generation unit F7, a speed calculation unit F8, a speed limit unit F9, and a flow rate command generation unit F10. Therefore, below, description of a common part is abbreviate
- the posture detection unit 30C is configured to detect information related to the posture of the excavator 100.
- the posture detection unit 30 ⁇ / b> C determines whether the posture of the excavator 100 is the traveling posture.
- position detection part 30C is comprised so that execution of the autonomous driving of the shovel 100 may be permitted, when it determines with the attitude
- position is comprised so that execution of the autonomous driving of the shovel 100 may be permitted, when it determines with the attitude
- the target setting unit F1 is configured to set a target related to the autonomous traveling of the excavator 100.
- the target setting unit F ⁇ b> 1 is a destination (target position) that is a destination when the excavator 100 travels autonomously based on the output of the information input device 72, and the destination (target position).
- the target route is the route to reach.
- the target setting unit F1 uses a touch panel to select a destination selected by the operator of the excavator 100 (see, for example, the destination map G11 in FIG.
- an automatically derived destination (for example, 9) is set as the target position, and the travel route selected by the operator of the excavator 100 using the touch panel (for example, refer to the travel route graphic G12 in FIG. 7) or automatically. Is set as the target route (see, for example, the travel route indicated by the arrow AR1 in FIG. 9).
- the operator not only sets a destination (target position) using the display device D1 of the excavator 100, but also uses a remote operation from outside the excavator 100 using at least one of the support device 200 and the management device 300 described later.
- the ground (target position) may be set.
- the abnormality monitoring unit F2 is configured to monitor the abnormality of the excavator 100.
- the abnormality monitoring unit F ⁇ b> 2 determines the degree of abnormality of the excavator 100 based on the output of the abnormality detection sensor 74.
- the abnormality detection sensor 74 is, for example, at least one of a sensor that detects an abnormality of the engine 11, a sensor that detects an abnormality related to the temperature of the hydraulic oil, a sensor that detects an abnormality of the controller 30, and the like.
- the stop determination unit F3 is configured to determine whether or not the excavator 100 needs to be stopped based on various information. In the example of FIG. 10, the stop determination unit F3 determines whether it is necessary to stop the excavator 100 during autonomous traveling based on the output of the abnormality monitoring unit F2. Specifically, the stop determination unit F3 determines that it is necessary to stop the excavator 100 during autonomous traveling, for example, when the degree of abnormality of the excavator 100 determined by the abnormality monitoring unit F2 exceeds a predetermined degree. To do. In this case, for example, the controller 30 performs braking control on the traveling hydraulic motor 2M as the traveling actuator, and decelerates or stops the rotation of the traveling hydraulic motor 2M.
- the stop determination unit F3 does not need to stop the excavator 100 during autonomous traveling. It is determined that autonomous running can be continued. When an operator is on the excavator 100, the stop determination unit F3 may determine whether to cancel the autonomous traveling in addition to whether the excavator 100 needs to be stopped. .
- the intermediate target setting unit F4 is configured to set an intermediate target related to the autonomous traveling of the excavator 100.
- the intermediate target setting unit F4 determines that the posture of the excavator 100 is in the traveling posture by the posture detection unit 30C and determines that the excavator 100 does not need to be stopped by the stop determination unit F3.
- the target route set by the target setting unit F1 is divided into a plurality of sections, and the end point of each section is set as an intermediate target position.
- the position calculation unit F5 is configured to calculate the current position of the excavator 100.
- the position calculation unit F ⁇ b> 5 calculates the current position of the excavator 100 based on the output of the positioning device 73.
- the target setting unit F1 may set the end position of the slope work as the final target position.
- the intermediate target setting unit F4 may divide the slope work from the start position to the end position into a plurality of sections, and set the end point of each section as the intermediate target position.
- the calculation unit C1 is configured to calculate a difference between the intermediate target position set by the intermediate target setting unit F4 and the current position of the excavator 100 calculated by the position calculation unit F5.
- the object detection unit F6 is configured to detect an object existing around the excavator 100.
- the object detection unit F ⁇ b> 6 detects an object present around the excavator 100 based on the output of the space recognition device 70.
- the object detection part F6 produces
- the speed command generation unit F7 is configured to generate a command related to travel speed. In the example of FIG. 10, the speed command generation unit F7 generates a speed command based on the difference calculated by the calculation unit C1. Basically, the speed command generation unit F7 is configured to generate a speed command that increases as the difference increases. Further, the speed command generation unit F7 is configured to generate a speed command that brings the difference calculated by the calculation unit C1 close to zero.
- the speed command generation unit F7 may change the value of the speed command when it is determined that the excavator 100 is present on the sloping ground based on the information on the terrain input in advance and the detection value of the positioning device 73. For example, when it is determined that the excavator 100 is on a downhill, the speed command generation unit F7 may generate a speed command corresponding to a speed that is decelerated from the normal speed.
- the speed command generation unit F ⁇ b> 7 may acquire information related to landform such as the inclination of the ground by the space recognition device 70.
- the speed command generation unit F7 is A speed command corresponding to a speed decelerated from the speed may be generated. As described above, the speed command generation unit F7 may change the value of the speed command based on the information regarding the road surface on the travel route. For example, when the excavator 100 moves from a sandy land to a gravel road at a riverbed, the speed command generation unit F7 may automatically change the value of the speed command. Thereby, the speed command generation part F7 can change a travel speed corresponding to a road surface condition.
- the speed command generation unit F7 may generate a speed command corresponding to the operation of the attachment.
- the intermediate target setting unit F4 includes the bucket 6
- the end (end point) of the next section is set as the target position.
- the speed command generation unit F7 generates a speed command up to the target position in the next section.
- the intermediate target setting unit F4 sets the end (end point) of the next section as the target position.
- the speed command generation unit F7 may generate a speed command up to the next target position. In this way, the speed command generation unit F7 may set the target position corresponding to the operation of the attachment.
- the controller 30 may have a mode setting unit that sets the operation mode of the excavator 100.
- the speed command generation unit F7 when the crane mode is set as the operation mode of the excavator 100, or when a low speed mode such as a low speed high torque mode is set, the speed command generation unit F7 outputs a speed command corresponding to the low speed mode. Generate. In this manner, the speed command generation unit F7 can change the traveling speed according to the state of the excavator 100.
- the speed calculation unit F8 is configured to calculate the current traveling speed of the excavator 100.
- the speed calculation unit F8 calculates the current traveling speed of the excavator 100 based on the transition of the current position of the excavator 100 calculated by the position calculation unit F5.
- the calculation unit C2 is configured to calculate a speed difference between the travel speed corresponding to the speed command generated by the speed command generation unit F7 and the current travel speed of the excavator 100 calculated by the speed calculation unit F8.
- the speed limiting unit F9 is configured to limit the traveling speed of the excavator 100.
- the speed limit unit F9 when the speed difference calculated by the calculation unit C2 exceeds the limit value, the speed limit unit F9 outputs a limit value instead of the speed difference, and the speed difference calculated by the calculation unit C2 is limited. When the value is less than the value, the speed difference is output as it is.
- the limit value may be a value registered in advance or a value calculated dynamically.
- the flow rate command generation unit F10 is configured to generate a command related to the flow rate of the hydraulic oil supplied from the main pump 14 to the traveling hydraulic motor 2M.
- the flow rate command generation unit F10 generates a flow rate command based on the speed difference output from the speed limiting unit F9.
- the flow rate command generation unit F10 is configured to generate a larger flow rate command as the speed difference increases.
- the flow rate command generation unit F10 is configured to generate a flow rate command that brings the speed difference calculated by the calculation unit C2 close to zero.
- the flow rate command generated by the flow rate command generation unit F10 is a current command for each of the proportional valves 31EL, 31ER, 31FL, 31FR, 33EL, 33ER, 33FL, and 33FR (see FIGS. 5A and 5B).
- the proportional valves 31EL and 33EL operate according to the current command and change the pilot pressure acting on the left pilot port of the control valve 171. Therefore, the flow rate of the hydraulic oil flowing into the left traveling hydraulic motor 2ML is adjusted to be a flow rate corresponding to the flow rate command generated by the flow rate command generation unit F10.
- the proportional valves 31ER and 33ER operate in the same manner.
- the proportional valves 31FR and 33FR operate according to the current command, and change the pilot pressure acting on the right pilot port of the control valve 172.
- the flow rate of the hydraulic oil flowing into the right traveling hydraulic motor 2MR is adjusted to be a flow rate corresponding to the flow rate command generated by the flow rate command generation unit F10.
- the proportional valves 31FL and 33FL operate similarly.
- the traveling speed of the excavator 100 is adjusted to be a traveling speed corresponding to the speed command generated by the speed command generation unit F7.
- the traveling speed of the excavator 100 is a concept including the traveling direction. This is because the traveling direction of the excavator 100 is determined based on the rotational speed and rotational direction of the left traveling hydraulic motor 2ML and the rotational speed and rotational direction of the right traveling hydraulic motor 2MR.
- the controller 30 is not limited to this configuration. Normally, during the traveling operation, the actuators other than the traveling hydraulic motor 2M such as the boom cylinder 7 are not operated. For this reason, the flow rate command generated by the flow rate command generation unit F ⁇ b> 10 may be output to the regulator 13 of the main pump 14.
- the controller 30 can control the traveling operation of the excavator 100 by controlling the discharge amount of the main pump 14.
- the controller 30 controls the steering of the excavator 100 by controlling each of the left regulator 13L and the right regulator 13R, that is, by controlling the discharge amounts of the left main pump 14L and the right main pump 14R. May be. Further, the controller 30 controls the steering of the traveling operation by controlling the amount of hydraulic oil supplied to each of the left traveling hydraulic motor 2ML and the right traveling hydraulic motor 2MR by the proportional valve 31, and the regulator 13 controls the traveling. The speed may be controlled.
- the controller 30 can realize the autonomous traveling of the excavator 100 from the current position to the target position.
- the excavator 100 includes the lower traveling body 1, the upper revolving body 3 that is turnably mounted on the lower traveling body 1, the traveling actuator that drives the lower traveling body 1, and the upper And a controller 30 as a control device provided in the revolving structure 3. And the controller 30 is comprised so that a driving
- the travel actuator is, for example, a travel hydraulic motor 2M. A traveling electric motor may be used.
- the excavator 100 can reduce troublesomeness for the traveling operation. This is because the excavator 100 can be driven without continuously operating at least one of the travel lever 26D and the travel pedal.
- the excavator 100 may include a positioning device 73 that measures the current position, and a direction detection device 71 that detects information related to the relative relationship between the direction of the upper swing body 3 and the direction of the lower traveling body 1. Good.
- the controller 30 can operate the control valve related to the travel actuator based on the output of the positioning device 73 and the output of the direction detection device 71. For example, even when neither the travel lever 26D nor the travel pedal is operated, at least one of the control valve 171 related to the left travel hydraulic motor 2ML and the control valve 172 related to the right travel hydraulic motor 2MR is displaced. Can do. With this configuration, the controller 30 can autonomously travel the excavator 100 while feedback controlling the position and orientation of the excavator 100.
- the excavator 100 may have an information acquisition device E1 that acquires information on the construction status.
- the controller 30 may set a travel route based on the information on the target position and the information on the construction status, and may cause the lower traveling body 1 to travel along the travel route.
- the controller 30 may set a travel route based on the past travel locus, and cause the lower traveling body 1 to travel along the travel route.
- the excavator 100 may be configured to travel autonomously along travel routes set by various methods. With this configuration, the excavator 100 can reduce the burden on the operator regarding the traveling operation.
- the controller 30 may cause the lower traveling body 1 to travel in a state where the orientation of the upper revolving body 3 and the orientation of the lower traveling body 1 are aligned, and the orientation of the upper revolving body 3 and the orientation of the lower traveling body 1 are different.
- the lower traveling body 1 may be driven in the state.
- the controller 30 can cause the excavator 100 to travel in an appropriate posture according to the distance at which the excavator 100 travels autonomously, the state of the travel route, and the like.
- a hydraulic operation system including a hydraulic pilot circuit is disclosed.
- the opening degree of the remote control valve that is opened and closed when the hydraulic oil supplied from the pilot pump 15 to the left operation lever 26L is tilted in the arm opening direction of the left operation lever 26L.
- the opening degree of the remote control valve that is opened and closed when the hydraulic oil supplied from the pilot pump 15 to the right operation lever 26R is tilted in the boom raising direction of the right operation lever 26R.
- an electric operation system having an electric pilot circuit may be adopted instead of the hydraulic operation system having such a hydraulic pilot circuit.
- the lever operation amount of the electric operation lever in the electric operation system is input to the controller 30 as an electric signal, for example.
- An electromagnetic valve is disposed between the pilot pump 15 and the pilot port of each control valve.
- the solenoid valve is configured to operate in response to an electrical signal from the controller 30.
- the controller 30 moves each control valve by controlling the electromagnetic valve with an electric signal corresponding to the lever operation amount to increase or decrease the pilot pressure. be able to.
- Each control valve may be constituted by an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in accordance with an electric signal from the controller 30 corresponding to the lever operation amount of the electric operation lever.
- FIG. 11 shows a configuration example of an electric operation system.
- the electric operation system of FIG. 11 is an example of a left traveling operation system for rotating the left traveling hydraulic motor 2ML, and mainly includes a pilot pressure operated control valve 17 and an electric operation lever.
- a left travel lever 26DL As a left travel lever 26DL, a controller 30, a left forward operation solenoid valve 60, and a left reverse operation solenoid valve 62.
- the electric operation system of FIG. 11 is a turning operation system for turning the upper turning body 3, a boom operation system for moving the boom 4 up and down, an arm operation system for opening and closing the arm 5, and opening and closing the bucket 6.
- the present invention can be similarly applied to a bucket operation system or the like.
- the pilot pressure actuated control valve 17 includes a control valve 171 (see FIG. 3) related to the left traveling hydraulic motor 2ML, a control valve 172 (refer to FIG. 3) related to the right traveling hydraulic motor 2MR, and a control valve 173 related to the swing hydraulic motor 2A. (See FIG. 3), a control valve 175 (see FIG. 3) for the boom cylinder 7, a control valve 176 (see FIG. 3) for the arm cylinder 8, and a control valve 174 (see FIG. 3) for the bucket cylinder 9. Etc.
- the electromagnetic valve 60 is configured to be able to adjust the pressure of hydraulic oil in a pipe line connecting the pilot pump 15 and the forward pilot port of the control valve 171.
- the electromagnetic valve 62 is configured to be able to adjust the pressure of hydraulic oil in a pipe line connecting the pilot pump 15 and the reverse pilot port of the control valve 171.
- the controller 30 When a manual operation is performed, the controller 30 generates a forward operation signal (electric signal) or a reverse operation signal (electric signal) according to an operation signal (electric signal) output from the operation signal generation unit of the left travel lever 26DL.
- the operation signal output by the operation signal generator of the left travel lever 26DL is an electrical signal that changes according to the operation amount and the operation direction of the left travel lever 26DL.
- the controller 30 when the left travel lever 26DL is operated in the forward direction, the controller 30 outputs a forward operation signal (electric signal) corresponding to the lever operation amount to the electromagnetic valve 60.
- the electromagnetic valve 60 operates in accordance with the forward operation signal (electrical signal), and controls the pilot pressure as the forward operation signal (pressure signal) that acts on the forward pilot port of the control valve 171.
- the controller 30 when the left travel lever 26DL is operated in the reverse direction, the controller 30 outputs a reverse operation signal (electric signal) corresponding to the lever operation amount to the electromagnetic valve 62.
- the solenoid valve 62 operates in response to a reverse operation signal (electric signal) and controls a pilot pressure as a reverse operation signal (pressure signal) that acts on the reverse pilot port of the control valve 171.
- the controller 30 When executing autonomous control, for example, the controller 30 does not respond to the operation signal (electric signal) output from the operation signal generation unit of the left travel lever 26DL, but instead operates the forward operation signal (electric signal) according to the correction operation signal (electric signal). Electric signal) or reverse operation signal (electric signal) is generated.
- the correction operation signal may be an electric signal generated by the controller 30, or an electric signal generated by a control device other than the controller 30.
- FIG. 12 is a schematic diagram illustrating a configuration example of the excavator management system SYS.
- the management system SYS is a system that manages one or a plurality of excavators 100.
- the management system SYS is mainly composed of an excavator 100, a support device 200, and a management device 300.
- Each of the excavator 100, the support device 200, and the management device 300 configuring the management system SYS may be one or more.
- the management system SYS includes one excavator 100, one support device 200, and one management device 300.
- the support device 200 is typically a mobile terminal device, for example, a notebook PC, a tablet PC, a smartphone, or the like carried by an operator or the like at a construction site.
- the support device 200 may be a mobile terminal device carried by the operator of the excavator 100.
- the support device 200 may be a fixed terminal device.
- the management device 300 is typically a fixed terminal device, for example, a server computer installed in a management center or the like outside the construction site.
- the management device 300 may be a portable computer (for example, a portable terminal device such as a notebook PC, a tablet PC, or a smartphone).
- At least one of the support device 200 and the management device 300 may include a monitor and a remote operation device.
- the operator may operate the excavator 100 while using an operation device for remote operation.
- the remote control operation device is connected to the controller 30 mounted on the excavator 100 through a wireless communication network such as a short-range wireless communication network, a mobile phone communication network, or a satellite communication network.
- the setting screen GS shown in FIGS. 7 and 8 is typically displayed on the display device D1 installed in the cabin 10, but is connected to at least one of the support device 200 and the management device 300. It may be displayed on the device. This is because an operator who uses the support apparatus 200 or an administrator who uses the management apparatus 300 can set a target position or a target route.
- the controller 30 of the excavator 100 is used for the time and place when the autonomous travel switch is pressed, and when the excavator 100 is moved autonomously (during autonomous travel).
- the information regarding at least one of the target route and the trajectory actually followed by the predetermined part during autonomous traveling may be transmitted to at least one of the support device 200 and the management device 300.
- the controller 30 may transmit at least one of the output of the space recognition device 70 and the image captured by the monocular camera to at least one of the support device 200 and the management device 300.
- the images may be a plurality of images captured during autonomous running.
- the controller 30 receives at least one of the information regarding at least one of the data regarding the operation content of the excavator 100 during autonomous traveling, the data regarding the attitude of the excavator 100, the data regarding the attitude of the excavation attachment, and the like. May be sent to. This is because an operator who uses the support device 200 or an administrator who uses the management device 300 can obtain information on the excavator 100 during autonomous traveling.
- the management system SYS of the excavator 100 enables information regarding the excavator 100 acquired during autonomous traveling to be shared with the administrator, operators of other excavators, and the like.
- Right operation lever 28 Discharge pressure sensor 29, 29DL, 29DR, 29LA, 29LB, 29RA, 29RB ... Operation pressure sensor 30 ... Controller 30A ... Setting part 30B ... Autonomous Control unit 30C: Attitude detection unit 31, 31AL-31FL, 31AR-31FR ... Proportional valve 32, 32AL-32FL, 32AR-32FR ... Shuttle valve 33, 33AL-33FL, 33AR-33FR ... Proportional Valve 40 ... Center bypass pipeline 42 ... Parallel pipeline 60, 62 ... Solenoid valve 70 ... Space recognition device 70F ... Front sensor 70B ... Rear sensor 70L ... Left sensor 70R ... Right sensor 100 ... Excavator 71 ...
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
Description
Claims (13)
- 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記下部走行体を駆動する走行アクチュエータと、
前記上部旋回体に設けられた制御装置と、を有し、
前記制御装置は、目標位置に関する情報に基づいて前記走行アクチュエータを動作させる、
ショベル。 - 現在位置を測定する測位装置と、
前記上部旋回体の向きと前記下部走行体の向きとの相対的な関係に関する情報を検出する向き検出装置と、を有し、
前記制御装置は、前記測位装置の出力と前記向き検出装置の出力とに基づいて前記走行アクチュエータに関する制御弁を動作させる、
請求項1に記載のショベル。 - 施工状況に関する情報を取得する情報取得装置を有し、
前記制御装置は、目標位置に関する情報と施工状況に関する情報とに基づいて走行ルートを設定し、該走行ルートに沿って前記下部走行体を走行させる、
請求項1に記載のショベル。 - 前記制御装置は、過去の走行軌跡に基づいて走行ルートを設定し、該走行ルートに沿って前記下部走行体を走行させる、
請求項1に記載のショベル。 - 前記制御装置は、前記上部旋回体の向きと前記下部走行体の向きとが揃った状態で前記下部走行体を走行させる、
請求項1に記載のショベル。 - 前記制御装置は、前記上部旋回体の向きと前記下部走行体の向きとが異なる状態で前記下部走行体を走行させる、
請求項1に記載のショベル。 - 前記目標位置は最終目標位置を含み、
前記最終目標位置までを複数の区間に分け、分けられた複数の区間毎に複数の目標位置が設定される、
請求項1に記載のショベル。 - 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記下部走行体を駆動する走行アクチュエータと、
前記上部旋回体に設けられた制御装置と、を有し、
前記制御装置は、
前記走行アクチュエータを動作させる速度指令生成部と、
生成した速度指令を制限する速度制限部と、を有する、
ショベル。 - モード設定部を有し、
前記制御装置は、前記モード設定部で設定されたモードに対応して前記速度指令を生成する、
請求項8に記載のショベル。 - モード設定部を有し、
前記制御装置は、路面情報に基づいて前記速度指令を変更する、
請求項8に記載のショベル。 - 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記下部走行体を駆動する走行アクチュエータと、
前記上部旋回体に設けられた制御装置と、
異常検知センサと、を有し、
前記制御装置は、前記異常検知センサの出力に基づいて、前記走行アクチュエータを制動制御する、
ショベル。 - 下部走行体と、
前記下部走行体に旋回可能に搭載された上部旋回体と、
前記上部旋回体に搭載されたアタッチメントと、
前記下部走行体を駆動する走行アクチュエータと、
前記上部旋回体に設けられた制御装置と、を有し、
前記制御装置は、前記アタッチメントの動作に対応して前記走行アクチュエータの目標位置を設定する、
ショベル。 - 前記目標位置は最終目標位置を含み、
前記最終目標位置までを複数の区間に分け、分けられた複数の区間毎に複数の目標位置が設定される、
請求項12に記載のショベル。
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KR102608801B1 (ko) | 2023-11-30 |
EP3779059A4 (en) | 2021-11-10 |
US12018461B2 (en) | 2024-06-25 |
CN112368449A (zh) | 2021-02-12 |
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