阅读说明：本技术 挖土机 (Excavator ) 是由 黑川朋纪 塚本浩之 于 2018-08-22 设计创作，主要内容包括：本发明的实施方式所涉及的挖土机具有：下部行走体(1)；上部回转体(3),可回转地搭载于下部行走体(1)；驾驶室(10),搭载于上部回转体(3)；操作装置(26),设置于驾驶室(10)内；致动器,由操作装置(26)驱动；及控制器(30),能够限制致动器的动作。控制器(30)根据操作装置(26)是否由操作者的手操作来判断是否需要与致动器的动作相关的限制。(An excavator according to an embodiment of the present invention includes: a lower traveling body (1); an upper revolving body (3) which is rotatably mounted on the lower traveling body (1); a cab (10) mounted on the upper slewing body (3); an operation device (26) provided in the cab (10); an actuator driven by an operating device (26); and a controller (30) capable of restricting the operation of the actuator. The controller (30) determines whether a restriction relating to the action of the actuator is required, depending on whether the operation device (26) is operated by the hand of the operator.)

1. An excavator, having:

a lower traveling body;

an upper revolving body which is rotatably mounted on the lower traveling body;

a cab mounted on the upper slewing body;

an operation device provided in the cab;

an actuator driven by the operating device; and

a control device capable of restricting the operation of the actuator,

the control device determines whether a restriction relating to an action of the actuator is required, depending on whether the operation device is operated by a hand of an operator.

2. The shovel of claim 1,

the control device determines whether the operation device is operated by the hand of the operator, based on the output of 1 or more cameras installed in the cab.

3. The shovel of claim 1,

the control device limits the operation of the actuator by reducing a pilot pressure generated according to the operation of the operation device.

4. The shovel of claim 3,

reducing the pilot pressure is achieved by a latch valve.

5. The shovel of claim 3,

reducing the pilot pressure is achieved by a valve other than a latch valve.

6. The shovel of claim 1,

the control device determines whether restriction of the action of the actuator based on a travel pedal is required according to whether the travel pedal is operated by the foot of the operator.

7. The shovel of claim 1 having:

a switching valve disposed between the pilot pressure generating device and the control valve,

the pilot pressure generated according to the operation of the operation device is controlled by the switching valve.

8. The shovel of claim 1 having:

a proportional pressure reducing valve disposed between the pilot pressure generating device and the control valve,

the control device controls the proportional pressure reducing valve to limit the action of the actuator.

9. The shovel of claim 1,

the control device is configured to restrict the operation of the actuator until it is determined that the operation device is operated by the hand of the operator.

10. The shovel of claim 1,

the control device is configured not to restrict the operation of the actuator until it is determined that the operation device is not operated by the hand of the operator.

Technical Field

The present invention relates to an excavator.

Background

Conventionally, a shovel capable of suppressing a malfunction of a construction machine (attachment fitting) is known (see patent document 1). The excavator prohibits the execution of the operation of the attachment accessory based on the operation lever in a case where the operator does not wear the safety belt. Further, even when the operator wears the seat belt, if it is determined that the seat posture is inappropriate such that the attachment fitting cannot be visually recognized, the operation of the attachment fitting by the operation lever is prohibited.

Prior art documents

Patent document

Patent document 1 Japanese patent laid-open No. 2012-21362

Disclosure of Invention

Technical problem to be solved by the invention

However, when the operator wears the seat belt in an appropriate sitting posture, that is, when the operator can perform an operation of the attachment by the operation lever, for example, when the elbow of the operator touches the operation lever, the excavator cannot prevent malfunction of the attachment.

In view of the above, it is desirable to provide a shovel capable of more reliably preventing an operator from erroneously operating an actuator.

Means for solving the technical problem

An excavator according to an embodiment of the present invention includes: a lower traveling body; an upper revolving body which is rotatably mounted on the lower traveling body; a cab mounted on the upper slewing body; an operation device provided in the cab; an actuator driven by the operating device; and a control device capable of restricting the operation of the actuator, the control device determining whether or not restriction relating to the operation of the actuator is required, based on whether or not the operation device is operated by the hand of the operator.

Effects of the invention

With the above configuration, the excavator capable of more reliably preventing the operator from erroneously operating the actuator is provided.

Drawings

Fig. 1 is a side view of a shovel according to an embodiment of the present invention.

Fig. 2 is a side view of the cab mounted on the excavator of fig. 1.

Fig. 3 is a top view of the interior of the cab of fig. 2.

Fig. 4 is a diagram showing a configuration example of a control system mounted on the shovel of fig. 1.

Fig. 5 is a flowchart of the restriction release process.

Fig. 6 is a plan view of the interior of the cab of fig. 2.

Fig. 7 is a diagram showing another configuration example of a control system mounted on the shovel of fig. 1.

Fig. 8 is a diagram showing a configuration example of the operating system.

Fig. 9 is a diagram showing another configuration example of the operating system.

Detailed Description

First, a shovel (excavator) according to an embodiment of the present invention will be described with reference to fig. 1. Fig. 1 is a side view of an excavator. An upper revolving body 3 is rotatably mounted on a lower traveling body 1 of the excavator shown in fig. 1 via a revolving mechanism 2. A boom 4 as a work element is attached to the upper slewing body 3. An arm 5 as a work element is attached to a tip end of the boom 4, and a bucket 6 as a work element and a terminal attachment is attached to a tip end of the arm 5. The boom 4 is driven by a boom cylinder 7. The arm 5 is driven by an arm cylinder 8. The bucket 6 is driven by a bucket cylinder 9. The lower traveling body 1 is driven by a left traveling hydraulic motor 1L and a right traveling hydraulic motor 1R. The turning mechanism 2 is driven by a turning hydraulic motor 2A. The slewing gear 2 may be driven by an electric motor. The upper slewing body 3 is provided with a cab 10 and a power source such as an engine 11. The upper slewing body 3 is mounted with a controller 30 and the like.

Next, the internal structure of the cab 10 will be described with reference to fig. 2 and 3. Fig. 2 is a left side view of the interior of the cab 10, and fig. 3 is a plan view of the interior of the cab 10. In fig. 3, only a part of the hand is illustrated with respect to the operator for clarity.

A driver seat DS is provided in a central portion of the interior of the cab 10. The operator seat DS is provided with an operation device 26, a door lock lever D1, a display device D2, and the like on the front side. An imaging device D3 is mounted on the ceiling of the cab 10. A range R1 indicated by a broken line in fig. 2 indicates an imaging range of the imaging device D3.

The operating device 26 is a device for an operator to operate the actuator. In the present embodiment, the actuators include hydraulic actuators such as the left traveling hydraulic motor 1L, the right traveling hydraulic motor 1R, the turning hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. The turning hydraulic motor 2A may be an electric motor. The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left travel pedal 26PL, a right travel pedal 26PR, a left travel lever 26DL, and a right travel lever 26 DR.

The left operating lever 26L is used to operate the turning hydraulic motor 2A and the arm cylinder 8, for example. When the left operating lever 26L is tilted to the right (-Y direction), the hydraulic motor for swiveling 2A swivels the upper swivel body 3 in the clockwise direction in plan view. Conversely, when the left operating lever 26L is tilted leftward (+ Y direction), the turning hydraulic motor 2A turns the upper turning body 3 counterclockwise in a plan view. When left control lever 26L is tilted forward (in the + X direction), arm cylinder 8 contracts and opens arm 5. Conversely, when left control lever 26L is tilted rearward (in the X direction), arm cylinder 8 extends to retract arm 5.

The right control lever 26R is used to operate the boom cylinder 7 and the bucket cylinder 9, for example. When the right operation lever 26R is tilted forward (in the + X direction), the boom cylinder 7 contracts and lowers the boom 4. Conversely, when the right operating lever 26R is tilted rearward (in the (-X direction), the boom cylinder 7 extends to raise the boom 4. When the right operation lever 26R is tilted to the left (+ Y direction), the bucket cylinder 9 extends to retract the bucket 6. Conversely, when the right operating lever 26R is tilted to the right (in the (-Y direction), the bucket cylinder 9 contracts to open the bucket 6.

The left travel lever 26DL and the left travel pedal 26PL are used to operate the left travel hydraulic motor 1L. In the present embodiment, the left travel pedal 26PL is directly coupled to the left travel lever 26 DL. When the left travel lever 26DL is tilted forward (+ X direction), or when the toe side of the left travel pedal 26PL is depressed, the left travel hydraulic motor 1L rotates in the forward direction. Conversely, when the left travel lever 26DL is tilted rearward (in the X direction), or when the heel side of the left travel pedal 26PL is depressed, the reverse rotation occurs.

The right travel lever 26DR and the right travel pedal 26PR are used to operate the right travel hydraulic motor 1R. In the present embodiment, the right travel pedal 26PR is directly coupled to the right travel lever 26 DR. When the right travel lever 26DR is tilted forward (in the + X direction), or when the toe side of the right travel pedal 26PR is depressed, the right travel hydraulic motor 1R rotates in the forward direction. Conversely, when the right travel lever 26DR is tilted rearward (-X direction), or when the heel side of the right travel pedal 26PR is depressed, the rotation is reversed.

The door lock lever D1 switches the restricted state and the ineffective state of the operating device 26. The invalid state of the operating device 26 represents the following state: even if the operator operates the operation device 26, the corresponding actuator does not operate. The restricted state of the operating device 26 represents the following state: when the predetermined restriction cancellation condition is satisfied, the corresponding actuator operates when the operator operates the operation device 26, and when the predetermined restriction cancellation condition is not satisfied, the operation of the corresponding actuator is restricted even when the operator operates the operation device 26. That is, when a predetermined restriction cancellation condition is satisfied, the restricted state of the operation device 26 corresponds to the enabled state of the operation device 26. The active state of the operating device 26 represents the following state: when the operator operates the operation device 26, the corresponding actuator operates. The predetermined restriction cancellation condition is satisfied when the operation device 26 is operated by the hand of the operator, for example. The "case where the operation device 26 is operated by the hand of the operator" includes, for example, a case where the left operation lever 26L is tilted by the left hand in a state where the left operation lever 26L is held by the left hand and the right operation lever 26R is held by the right hand. For example, when the operator operates the operation device 26 with his or her hand, the predetermined restriction cancellation condition is maintained in a satisfied state until the operation of the operation device 26 is terminated. The actuator corresponding to the operating device 26 in the restricted state is controlled not to operate even if the operating device 26 is operated, or not to operate in the same manner as in the effective state. "not acting in the same manner as when in the active state" includes, for example, the following cases: the corresponding actuator is operated slowly or slightly as compared to when the operation device 26 is in the active state.

In the present embodiment, the door lock lever D1 is provided at the left front end portion of the driver's seat DS. The operator pulls up the door lock lever D1 to set the door lock lever to the unlocked state (the state shown by the solid line in fig. 2), thereby setting the operation device 26 to the restricted state. Then, the operator presses the door lock lever D1 to set the door lock state (the state shown by the dotted line in fig. 2), thereby turning the operation device 26 to the disabled state.

The display device D2 displays various information. In the present embodiment, the display device D2 is a liquid crystal display, and is disposed at the front right of the driver seat DS. The display device D2 may be a mobile terminal such as a smartphone.

The imaging device D3 is an example of a detection device for detecting whether the operation device 26 is operated by the hand of the operator. In the present embodiment, the image pickup device D3 as the non-contact detection device is a camera for picking up an image of an operator sitting in the driver's seat DS, and is attached to the ceiling of the cab 10 to pick up images of the monitoring areas Al to A3 shown in fig. 3. The imaging device D3 may be constituted by 1 camera or a plurality of cameras. That is, it is possible to configure to simultaneously photograph a plurality of monitoring areas by 1 camera. Alternatively, a plurality of cameras may be configured to capture 1 monitoring area.

The camera can be a monocular camera or a stereo camera. The non-contact detection device may be a space recognition device such as an optical radar or a millimeter wave radar, or may be a combination of a camera and a space recognition device, or may be a combination of a monocular camera and a stereo camera.

The monitor area a1 is an area that is monitored by the detection device so that the controller 30 can determine whether the left operating lever 26L is operated by the hand (e.g., left hand) of the operator based on the output of the detection device, and corresponds to, for example, the active area of the left operating lever 26L.

The monitor area a2 is an area that is monitored by the detection means so that the controller 30 can determine whether the right operating lever 26R is operated by the hand of the operator (e.g., the right hand) based on the output of the detection means, and corresponds to, for example, the active area of the right operating lever 26R.

The monitoring area a3 is an area that is monitored by the detection device so that the controller 30 can determine whether the walking levers (the left walking lever 26DL and the right walking lever 26DR) are operated by the hands (e.g., the right hand, the left hand, or both hands) of the operator based on the output of the detection device, and corresponds to, for example, an active area of the walking levers.

At least 1 of a seat seating switch, a seat belt switch, and the like may be attached to the driver seat DS. The seat seating switch outputs a signal indicating the seating state of the operator to the controller 30. For example, when the operator sits on the driver seat DS, the seat-seating switch outputs a seating signal. At this time, when the operator is not seated in the driver seat DS, the seat seating switch does not output the seating signal. The seat belt switch outputs a signal indicating the wearing state of the seat belt to the controller 30. For example, when an operator sitting in the driver seat DS wears a seat belt, the seat belt switch outputs a seat belt wearing signal. At this time, when the operator does not wear the seat belt, the seat belt switch does not output the seat belt wearing signal.

Next, a control system 100 mounted on the shovel of fig. 1 will be described with reference to fig. 4. Fig. 4 is a schematic diagram showing a configuration example of the control system 100, and a mechanical power transmission line, a hydraulic oil line, a pilot line, and an electric control line are shown by a double line, a solid line, a broken line, and a one-dot chain line, respectively.

The control system 100 mainly includes an engine 11, a main pump 14, a pilot pump 15, a control valve body 17, an operation device 26, an operation pressure sensor 29, a controller 30, a door lock valve 50, a door lock lever D1, a display device D2, an imaging device D3, and the like.

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

The main pump 14 supplies the working oil to the control valve body 17 via a working oil line. In the present embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump, and includes main pumps 14L and 14R.

The pilot pump 15 is an example of a pilot pressure generating device, and supplies the hydraulic oil to various hydraulic control apparatuses including the operation device 26 via a pilot line. In the present embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating means may be implemented by main pump 14. That is, in addition to the function of supplying the hydraulic oil to the control valve body 17 via the hydraulic oil line, the main pump 14 may also have the function of supplying the hydraulic oil to various hydraulic control devices including the operation device 26 via a pilot line. In this case, the pilot pump 15 may be omitted.

The control valve 17 is a hydraulic control device that controls a hydraulic system mounted on the shovel. In the present embodiment, the control valve body 17 includes control valves 171 to 178 that control the flow of the hydraulic oil discharged from the main pump 14. The control valve body 17 selectively supplies the hydraulic oil discharged from the main pump 14 to 1 or more hydraulic actuators via the control valves 171 to 178. The control valves 171 to 178 control the flow rate of the hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of the hydraulic oil flowing from the hydraulic actuators to the hydraulic oil tank. The hydraulic actuator includes a left traveling hydraulic motor 1L, a right traveling hydraulic motor 1R, a turning hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

In fig. 4, the control system 100 circulates hydraulic oil from the main pumps 14L, 14R driven by the engine 11 to the hydraulic oil tank via the intermediate bypass lines 40L, 40R, the parallel lines 42L, 42R, and the throttles 18L, 18R.

The intermediate bypass line 40L is a hydraulic oil line passing through the control valves 171, 173, 175, and 177 disposed in the control valve body 17. The intermediate bypass line 40R is a hydraulic oil line passing through control valves 172, 174, 176, and 178 disposed in the control valve body 17.

The control valve 171 is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the main pump 14L to the left traveling hydraulic motor 1L and discharge the hydraulic oil discharged from the left traveling hydraulic motor 1L to the hydraulic oil tank. When the left travel lever 26DL or the left travel pedal 26PL is tilted forward (in the + X direction), the control valve 171 receives pilot pressure from the right pilot port 171R and moves leftward, and rotates the left travel hydraulic motor 1L in the forward direction. When the left travel lever 26DL or the left travel pedal 26PL tilts rearward (-X direction), the control valve 171 receives pilot pressure from the left pilot port 171L, moves rightward, and rotates the left travel hydraulic motor 1L in the reverse direction.

The control valve 172 is a spool valve for switching the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the main pump 14R to the right travel hydraulic motor 1R and discharge the hydraulic oil discharged from the right travel hydraulic motor 1R to the hydraulic oil tank. When the right travel lever 26DR or the right travel pedal 26PR tilts forward (+ X direction), the control valve 172 receives pilot pressure from the right pilot port 172R and moves leftward, and the right travel hydraulic motor 1R rotates in the forward direction. When the right travel lever 26DR or the right travel pedal 26PR tilts rearward (-X direction), the control valve 172 receives pilot pressure from the left pilot port 172L, moves rightward, and rotates the right travel hydraulic motor 1R in the reverse direction.

The control valve 173 is a spool valve that switches the flow of the hydraulic oil in order to supply the hydraulic oil discharged from the main pump 14L to the hydraulic motor 2A for turning and discharge the hydraulic oil discharged from the hydraulic motor 2A for turning to a hydraulic oil tank. When the left control lever 26L is tilted to the right (-Y direction), the control valve 173 receives the pilot pressure from the right pilot port 173R and moves to the left, and the turning hydraulic motor 2A is rotated in the forward direction. That is, upper revolving unit 3 is rotated rightward. When the left control lever 26L is tilted leftward (+ Y direction), the control valve 173 receives the pilot pressure from the left pilot port 173L and moves rightward, thereby reversely rotating the turning hydraulic motor 2A. That is, upper revolving unit 3 is rotated leftward.

The control valve 174 is a spool valve for supplying the hydraulic oil discharged from the main pump 14R to the bucket cylinder 9 and discharging the hydraulic oil in the bucket cylinder 9 to a hydraulic oil tank. When the right control lever 26R is tilted leftward (+ Y direction), the control valve 174 receives pilot pressure from the left pilot port 174L and moves rightward, and extends the bucket cylinder 9 to retract the bucket 6. When the right control lever 26R is tilted to the right (-Y direction), the control valve 174 receives the pilot pressure from the right pilot port 174R and moves to the left, and the bucket cylinder 9 is contracted to open the bucket 6.

The control valves 175 and 176 are spool valves that switch the flow of the hydraulic oil in order to supply the hydraulic oil discharged by the main pumps 14L and 14R to the boom cylinder 7 and discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank. When the right control lever 26R is tilted backward (-X direction), the control valve 175 receives pilot pressure from the right pilot port 175R and moves leftward, and extends the boom cylinder 7 and raises the boom 4. When the right control lever 26R is tilted forward (in the + X direction), the control valve 176 receives pilot pressure from the right pilot port 176R and moves leftward, and contracts the boom cylinder 7 and lowers the boom 4. When the right control lever 26R is tilted backward (-X direction), the control valve 176 receives the pilot pressure from the left pilot port 176L and moves rightward, and the boom cylinder 7 is extended and the boom 4 is raised.

The control valves 177 and 178 are spool valves for switching the flow of the hydraulic oil in order to supply the hydraulic oil discharged by the main pumps 14L and 14R to the arm cylinder 8 and discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank. When left control lever 26L is tilted forward (in the + X direction), control valve 177 receives pilot pressure from left pilot port 177L and moves rightward, and causes arm cylinder 8 to contract and open arm 5. When left control lever 26L is tilted backward (in the (-X direction), control valve 177 receives the pilot pressure from right pilot port 177R and moves leftward, and extends arm cylinder 8 and retracts arm 5. When the left control lever 26L is tilted forward (in the + X direction), the control valve 178 receives the pilot pressure from the right pilot port 178R and moves leftward, and the arm cylinder 8 contracts and opens the arm 5. When the left control lever 26L is tilted backward (in the (-X direction), the control valve 178 receives the pilot pressure from the left pilot port 178L and moves rightward, and the arm cylinder 8 is extended to retract the arm 5.

The operation device 26 supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the control valves corresponding to the respective hydraulic actuators via the pilot lines. The pilot pressure, which is the pressure of the hydraulic oil supplied to each pilot port, is a pressure corresponding to the operation content of the operation device 26 corresponding to each hydraulic actuator. The operation content includes, for example, an operation direction and an operation amount.

The operation pressure sensor 29 detects the operation content of the operator using the operation device 26 as pressure. However, the operation content of the operation device 26 may be detected as a physical quantity other than the pressure. In the present embodiment, the operation pressure sensor 29 detects the operation content of the operation device 26 corresponding to each hydraulic actuator, for example, in the form of pressure, and outputs the detected value to the controller 30. The operation pressure sensor 29 includes a left operation pressure sensor 29L, a right operation pressure sensor 29R, a left travel pressure sensor 29DL, and a right travel pressure sensor 29 DR.

The left operation pressure sensor 29L detects the operation content of the left operation lever 26L. The right operation pressure sensor 29R detects the operation content of the right operation lever 26R. Left travel pressure sensor 29DL detects the operation contents of left travel lever 26DL and left travel pedal 26 PL. Right travel pressure sensor 29DR detects the operation contents of right travel lever 26DR and right travel pedal 26 PR.

The controller 30 is a control device for controlling the shovel. In the present embodiment, the controller 30 is configured by a computer including a CPU, a volatile memory device, a nonvolatile memory device, and the like. The controller 30 executes programs corresponding to the various functions to realize the various functions.

The door lock valve 50 is an electromagnetic valve that switches between connection and disconnection of the connection operation device 26 and the line L1 of the pilot pump 15. In the present embodiment, the line L1 is connected when the unlock signal is received, and the line L1 is disconnected when the unlock signal is not received. The line L1 may be shut off when the lock signal is received. The latch valve 50 may also be formed by a proportional pressure reducing valve.

For example, when the door lock lever D1 is in the unlocked state and the door lock valve 50 is in the shut state, if it is determined that the operating device 26 is operated by the hand of the operator, the controller 30 outputs an unlock signal to the door lock valve 50. That is, if it is determined that the operation device 26 is operated by the hand of the operator when the unlock signal is not output to the door lock valve 50 or when the lock signal is output to the door lock valve 50, the controller 30 outputs the unlock signal to the door lock valve 50. In the case where the door lock lever D1 is in the locked state, the controller 30 does not output the unlock signal toward the door lock valve 50 even if it is determined that the operating device 26 is operated by the hand of the operator. This is to prevent the operation device 26 switched to the inactive state by the door lock lever D1 from being switched to the restricted state (active state). At this time, the controller 30 may also output a lock signal toward the door lock valve 50. The controller 30 may be configured not to output the unlock signal when the seat signal is not received from the seat switch or when the seatbelt wearing signal is not received from the seatbelt switch.

The controller 30 determines whether the operation device 26 is operated by the hand of the operator, for example, based on the output of the imaging device D3 as a detection device. For example, in a state where the left operation lever 26L is held by the left hand of the operator and the right operation lever 26R is held by the right hand of the operator, it is determined whether or not at least one of the left operation lever 26L and the right operation lever 26R is operated. Whether or not the controller 30 makes this determination may be arbitrarily set according to the work site, the work status, and the like.

In the present embodiment, the controller 30 determines whether or not the operator has manually operated the operation device 26 from the image captured by the image capturing device D3 using an image recognition technique. When it is determined that the operator has operated the operation device 26 with the hand, it is determined that the operation device 26 is operated with the hand of the operator. When the hand of the operator is recognized within a predetermined range near the operation device 26, the controller 30 may determine that the operation device 26 is operated by the hand of the operator even before the hand of the operator touches the operation device 26. Alternatively, when it is detected that the operator is seated based on the output of the seat seating switch, the controller 30 may determine that the operation device 26 is operated by the hand of the operator when the operator photographs the situation in which the operator operates the operation device 26 by the hand. That is, when it is not detected that the operator is seated, even when the operator has operated the operation device 26 with the hand, it may not be determined that the operation device 26 is operated with the hand of the operator. When the operator touches the hand of the operator 26 with the hand open, the controller 30 may not determine that the operator 26 is operated by the hand of the operator. The controller 30 may determine whether or not the operator is standing for operation based on the output of the imaging device D3.

Even when the hand of the operator is recognized within a predetermined range near the operation device 26, the controller 30 may not determine that the operation device 26 is operated by the hand of the operator when the posture of the hand is not suitable for the operation. For example, when the operator holds a fist or brings the hand close to the operation device 26 with the palm facing upward, the controller 30 may not determine that the operation device 26 is operated by the hand of the operator. Further, when the operator brings the hand close to the operation device 26 in a state of holding another object, the controller 30 may not determine that the operation device 26 is operated by the hand of the operator.

The grasping method of the operation lever, the positional relationship of the hand and the operation lever, and the like as shown in the monitoring areas a1, a2 of fig. 3 may be stored in advance in a nonvolatile storage device or the like as images for reference. The controller 30 may determine whether the operation device 26 is operated by the hand of the operator based on a plurality of reference images stored in advance. Specifically, the controller 30 compares an image of the grip method of the operation lever included in the image captured by the image capturing device D3 with an image of the grip method of the operation lever included in each of 1 or more images for reference stored in advance. This is to determine whether or not there is a reference image including an image of the same grasping method as the grasping method of the operation lever included in the image captured by the image capturing device D3. If such a reference image is present, the controller 30 may determine that the operation device 26 is operated by the hand of the operator, and if such a reference image is not present, may determine that the operation device 26 is not operated by the hand of the operator.

In addition, for example, when the hand of the operator is recognized from the image captured by the image capturing device D3 using an image recognition technique, the controller 30 may recognize a portion from the wrist to the fingertip as the hand and recognize a portion from the wrist to the torso side as a portion other than the hand.

Then, the controller 30 controls the state of the operating device 26 according to the determination result. For example, when the excavator is in the standby state and the door lock lever D1 is in the unlocked state, if it is determined that the operation device 26 is operated by the hand of the operator, the controller 30 switches the operation device 26 to the active state. The standby state indicates, for example, a state in which at least the controller 30 is in a starting state, the engine 11 is in an operating state, and the operating device 26 is not operated.

Next, an example of a process (hereinafter, referred to as "restriction release process") for releasing the restriction state of the operation device 26 by the controller 30 will be described with reference to fig. 5. Fig. 5 is a flowchart of an example of the restriction cancellation process. For example, when the shovel is in a standby state, the controller 30 repeatedly executes the limitation lifting process at a predetermined control cycle.

First, the controller 30 determines whether the operating device 26 is operated (step ST 1). In the present embodiment, the controller 30 determines whether the operation device 26 is operated based on the output of the operation pressure sensor 29. For example, the controller 30 determines whether the left operation lever 26L is operated or not based on the output of the left operation pressure sensor 29L.

If it is determined that the operation device 26 has not been operated (no at step STl), the controller 30 ends this restriction cancellation process without canceling the restricted state of the operation device 26.

If it is determined that the operating device 26 has been operated (yes at step ST1), the controller 30 determines whether or not a predetermined restriction cancellation condition is satisfied (step ST 2). In the present embodiment, the controller 30 determines whether the operation device 26 is operated by the hand of the operator based on the image captured by the imaging device D3. For example, in a case where it is determined that the left operation lever 26L is operated, the controller 30 determines whether the left operation lever 26L is operated by the left hand of the operator from the image captured by the image capturing device D3.

If it is determined that the predetermined restriction cancellation condition is not satisfied (no at step ST2), the controller 30 restricts the operation of the actuator (step ST 3). In the present embodiment, when it is determined that the operation device 26 is not operated by the hand of the operator, the controller 30 maintains the operation device 26 in the restricted state. The controller 30 ends this restriction cancellation process without outputting an unlock signal to the door lock valve 50, that is, without canceling the restriction state of the operation device 26. Therefore, the line L1 remains in a cut state. In this case, the hydraulic actuator does not operate even when the operating device 26 is inadvertently operated by being touched by the elbow of the operator or when the operating device 26 is inadvertently operated by being caught by the sleeve of the coat of the operator. In the case where it is determined from the image captured by the imaging device D3 that the left operation lever 26L is operated by the right hand of the operator, the controller 30 may determine that the operation device 26 is not operated by the hand of the operator. The same applies to the case where it is determined that the right operation lever 26R is operated by the left hand of the operator.

The controller 30 may use means other than the latch valve 50 to limit the action of the actuator. For example, when it is determined that the operation device 26 is not operated by the hand of the operator, the controller 30 may reduce the output of the pilot pump 15 as the pilot pressure generating device to reduce the pilot pressure acting on the control valve, thereby restricting the operation of the actuator. Alternatively, in the case where it is determined that the operating device 26 is not operated by the hand of the operator, the controller 30 may reduce the output of the main pump 14 to reduce the flow rate of the hydraulic oil supplied to the hydraulic actuator, thereby restricting the operation of the actuator. In these cases, the function of maintaining or releasing the restricted state of the operating device 26 using the door lock valve 50 may be omitted.

When it is determined that the predetermined restriction cancellation condition is satisfied (yes at step ST2), the controller 30 cancels the operation restriction of the actuator (step ST 4). In the present embodiment, when it is determined that the operation device 26 is operated by the hand of the operator, the controller 30 switches the operation device 26 to the active state. Specifically, the controller 30 outputs an unlock signal to the latch valve 50 to communicate the line L1. At this time, the hydraulic actuator operates in accordance with the operation of the operation device 26 by the operator.

Through the above processing, the controller 30 can prevent the hydraulic actuator from being activated in the event that the operation device 26 is erroneously operated.

Next, another configuration example of the control system 100 will be described with reference to fig. 6 and 7. Fig. 6 is a plan view of the interior of the cab 10, and fig. 7 is a schematic view showing another configuration example of the control system 100 corresponding to fig. 3, and corresponds to fig. 4. The control system 100 of fig. 7 differs from the control system 100 of fig. 4 in that it does not monitor the monitored area a3 shown in fig. 3. That is, the control system 100 of fig. 4 differs in that it does not detect whether the left and right walking levers 26DL and 26DR are operated by the hands of the operator. The control system 100 shown in fig. 4 is different from the control system including the switching valve 51. But is otherwise identical to the control system 100 of fig. 4. Therefore, the description of the same parts will be omitted, and different parts will be described in detail.

In the control system 100 of fig. 7, the door lock valve 50 is an electromagnetic valve that switches between communication and disconnection of the conduit L1A connecting the left travel lever 26DL, the right travel lever 26DR, the left travel pedal 26PL, and the right travel pedal 26PR to the pilot pump 15. In the present embodiment, the line L1A is connected when the unlock signal is received, and the line L1A is disconnected when the unlock signal is not received. The line L1A may be cut off when the lock signal is received.

The switching valve 51 is an electromagnetic valve that switches communication/disconnection of the line L1B connecting the left operating lever 26L and the line L1A and the right operating lever 26R and the line L1A. In the present embodiment, the line L1B is connected when the unlock signal is received, and the line L1B is disconnected when the unlock signal is not received. The line L1B may be cut off when the lock signal is received. The switching valve 51 may be a proportional pressure reducing valve.

With this configuration, controller 30 can individually control the state of operation device 26 related to lower traveling unit 1 and the state of operation device 26 related to upper revolving unit 3. For example, when operation device 26 related to lower traveling unit 1 is in the enabled state, operation device 26 related to upper revolving unit 3 can be in the restricted state.

For example, the controller 30 outputs the unlock signal to the door lock valve 50 and does not output the unlock signal to the switching valve 51, thereby enabling the travel lever and the travel pedal to be in the enabled state and enabling the left and right levers 26L and 26R to be in the restricted state.

With this configuration, controller 30 can prevent upper revolving unit 3 from revolving leftward when the elbow of the left wrist touches left operating lever 26L when the operator operates left travel lever 26DL and right travel lever 26DR with the right hand, for example. Further, the operation of the lower traveling unit 1 can be prevented from being suddenly stopped.

Therefore, the controller 30 can prevent the operator from erroneously activating the actuator related to the upper revolving unit 3 during the travel of the excavator and also prevent the operation of the lower traveling unit 1 from being suddenly stopped. Further, the actuators related to the upper slewing body 3 include a slewing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

Next, another configuration example of an operation system for operating a control valve in accordance with an operation of the operation device 26 will be described with reference to fig. 8 and 9.

Fig. 8 shows an example of an operation system for operating the control valve 176 related to the boom cylinder 7 in accordance with the operation of the right operation lever 26R. The operating system of fig. 8 differs from the operating systems of each of fig. 4 and 7 in that the operating content of the operator is detected in the form of pressure in electrically detecting the operating content of the operator using the right operating lever 26R. The description about the operation system of fig. 8 is also applied to other operation systems such as an operation system that operates control valve 177 related to arm cylinder 8 in response to the operation of left control lever 26L and an operation system that operates control valve 174 related to bucket cylinder 9 in response to the operation of right control lever 26R.

In the example of fig. 8, when the right control lever 26R is operated in the boom raising direction, the lever operation signal generating unit 29ER generates a lever operation signal which is an electric signal corresponding to the operation amount. Then, a lever operation signal is output to the controller 30. The controller 30 generates a current command corresponding to the lever operation signal, and outputs the current command to the electromagnetic proportional valve 52L. The electromagnetic proportional valve 52L generates a secondary pressure (pilot pressure) corresponding to the current command by using the pressure (primary pressure) of the hydraulic oil discharged from the pilot pump 15, and acts on the left pilot port 176L of the control valve 176. The control valve 176 that receives the pilot pressure from the left pilot port 176L moves rightward, and the hydraulic oil discharged from the main pump 14R flows into the cylinder bottom oil chamber of the boom cylinder 7. When the hydraulic oil flows into the cylinder bottom oil chamber, the boom cylinder 7 extends and the boom 4 is raised.

When the right control lever 26R is operated in the boom-down direction, the lever operation signal generating unit 29ER generates a lever operation signal corresponding to the operation amount. Then, a lever operation signal is output to the controller 30. The controller 30 generates a current command corresponding to the lever operation signal, and outputs the current command to the electromagnetic proportional valve 52R. The electromagnetic proportional valve 52R generates a secondary pressure (pilot pressure) corresponding to the current command by using the pressure (primary pressure) of the hydraulic oil discharged from the pilot pump 15, and causes the secondary pressure to act on the right pilot port 176R of the control valve 176. The control valve 176 that receives the pilot pressure from the right pilot port 176R moves leftward, and causes the hydraulic oil discharged from the main pump 14R to flow into the rod-side oil chamber of the boom cylinder 7. When the hydraulic oil flows into the rod-side oil chamber, the boom cylinder 7 contracts and the boom 4 is lowered.

In the example of fig. 8, the controller 30 outputs a current command corresponding to the lever operation signal to the electromagnetic proportional valve 52 when it is determined that the right operation lever 26R is operated by the hand of the operator, but does not output a current command to the electromagnetic proportional valve 52 when it is determined that it is not operated by the hand of the operator. This is to prevent the boom cylinder 7 from being activated when the right operation lever 26R is erroneously operated. In the operation system of fig. 8, the operation of the control valve 176 can be restricted by the electromagnetic proportional valve 52. In this case, the operation system of fig. 8 having the electromagnetic proportional valve 52 may include a gate lock valve 50 (see fig. 4), a switching valve 51 (see fig. 7), and the like. Alternatively, in the operation system of fig. 8, the latch valve 50, the switching valve 51, and the like may be omitted.

Fig. 9 shows an example of an operation system for operating the electromagnetic spool 176E related to the boom cylinder 7 in accordance with the operation of the right operation lever 26R. The operating system of fig. 9 differs from the operating systems of each of fig. 4 and 7 in that the operating content of the operator is detected in the form of pressure in electrically detecting the operating content of the operator using the right operating lever 26R. The use of the electromagnetic spool 176E is different from the operation system in each of fig. 4 and 7 that uses the control valve 176 that is a hydraulic spool. The description about the operation system of fig. 9 is also applied to other operation systems such as an operation system that operates the control valve 177 related to the arm cylinder 8 in response to the operation of the left operation lever 26L and an operation system that operates the control valve 174 related to the bucket cylinder 9 in response to the operation of the right operation lever 26R.

In the example of fig. 9, when the right control lever 26R is operated in the boom raising direction, the lever operation signal generating unit 29ER generates a lever operation signal which is an electric signal corresponding to the operation amount. Then, a lever operation signal is output to the controller 30. The controller 30 generates a current command corresponding to the lever operation signal, and outputs the current command to the left solenoid 176EL of the electromagnetic spool 176E. The electromagnetic spool 176E, which receives a current command from the left solenoid 176EL, moves rightward, and the hydraulic oil discharged from the main pump 14R flows into the bottom oil chamber of the boom cylinder 7. When the hydraulic oil flows into the cylinder bottom oil chamber, the boom cylinder 7 extends and the boom 4 is raised.

When the right control lever 26R is operated in the boom-down direction, the lever operation signal generating unit 29ER generates a lever operation signal corresponding to the operation amount. Then, a lever operation signal is output to the controller 30. The controller 30 generates a current command corresponding to the lever operation signal, and outputs the current command to the right solenoid 176ER of the electromagnetic spool 176E. The electromagnetic spool 176E, which receives a current command from the right solenoid 176ER, moves leftward, and causes the hydraulic oil discharged from the main pump 14R to flow into the rod-side oil chamber of the boom cylinder 7. When the hydraulic oil flows into the rod-side oil chamber, the boom cylinder 7 contracts and the boom 4 is lowered.

In this manner, in the example of fig. 9, the controller 30 can operate the electromagnetic spool 176E without using the pressure of the hydraulic oil discharged from the pilot pump 15.

In the example of fig. 9, the controller 30 outputs a current command corresponding to the lever operation signal to the electromagnetic spool 176E when it is determined that the right operation lever 26R is operated by the hand of the operator, but does not output a current command to the electromagnetic spool 176E when it is determined that it is not operated by the hand of the operator. This is to prevent the boom cylinder 7 from being activated when the right operation lever 26R is erroneously operated. In the operating system of fig. 9, the controller 30 can directly restrict the operation of the electromagnetic spool 176E. In this case, the operating system of fig. 9 having the electromagnetic spool 176E may include mechanisms corresponding to the door lock valve 50 (see fig. 4), the switching valve 51 (see fig. 7), and the like. Alternatively, in the operation system of fig. 9, the lock valve 50, the switching valve 51, and the like, or mechanisms corresponding thereto may be omitted.

As described above, the shovel according to the embodiment of the present invention includes: a lower traveling body 1; an upper revolving structure 3 which is rotatably mounted on the lower traveling structure 1; a cab 10 mounted on the upper revolving structure 3; an operation device 26 provided in the cab 10; an actuator driven by the operating device 26; and a controller 30 as a control device capable of restricting the operation of the actuator. Further, the controller 30 determines whether or not the restriction relating to the action of the actuator is required, depending on whether or not the operation device 26 is operated by the hand of the operator. For example, the controller 30 releases the restriction on the operation of the actuator when it is determined that the operation device 26 is operated by the hand of the operator, and restricts the operation of the actuator when it is not determined that the operation device 26 is operated by the hand of the operator. That is, the controller 30 restricts the operation of the actuator until it is determined that the operation device 26 is operated by the hand of the operator. However, the controller 30 may limit the operation of the actuator when it is determined that the operation device 26 is not operated by the hand of the operator. That is, the operation of the actuator may not be restricted until it is determined that the operation device 26 is not operated by the hand of the operator.

The controller 30 may also determine whether the operation device 26 is operated by the hand of the operator, for example, based on an output of a detection device that detects whether the operation device is operated by the hand of the operator.

The detection device is, for example, an imaging device D3. However, the detection device may be a contact-type detection device such as an electrostatic sensor or a pressure sensor attached to the surface of the operation device 26, or may be a non-contact-type detection device other than the imaging device D3, such as a pyroelectric sensor, a thermopile sensor, a thermal imaging camera, or a space recognition device attached to the interior of the cab 10. The space recognition device includes, for example, a three-dimensional distance measurement device, a light radar, a millimeter wave radar, or the like.

The imaging device D3 is, for example, 1 or more cameras installed in the cab 10. The camera is, for example, a monocular camera, a stereo camera, a range image camera, an infrared camera, or the like.

The controller 30 may limit the action of the actuator by reducing the pilot pressure generated according to the operation of the operation device 26. The controller 30 reduces the pressure of the hydraulic oil in the line L1, for example, by controlling the latch valve 50, thereby reducing the pilot pressure generated in accordance with the operation of the operation device 26. As a result, the stroke amounts of the control valves 171 to 178 operated by the pilot pressure can be reduced or eliminated, and the operations of the left travel hydraulic motor 1L, the right travel hydraulic motor 1R, the turning hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 can be retarded or stopped.

The controller 30 may also reduce the pilot pressure generated by the operation of each of the left and right levers 26L and 26R by controlling the switching valve 51 (see fig. 7) to reduce the pressure of the hydraulic oil in the line L1B. As a result, the stroke amounts of the control valves 173 to 178 operated by the pilot pressure can be reduced or eliminated, and the operations of the turning hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 can be retarded or stopped. At this time, the operations of the left and right traveling hydraulic motors 1L and 1R are not limited.

The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. The above-described embodiment can be applied to various modifications, replacements, and the like without departing from the scope of the present invention. Further, the features described with reference to the above embodiments may be combined as appropriate as long as technical contradictions do not occur.

For example, the controller 30 may be configured to restrict the operation of the actuator when it is determined that the operation lever is not operated by the hand of the operator, that is, when the operation lever is operated by contact with a part or an object other than the hand of the operator. Further, the operation restriction of the actuator may be released when it is determined that the operation lever is operated by the hand of the operator. The same is true for the walking stick. However, the controller 30 may be configured to determine whether or not the operation of the actuator by the travel pedal needs to be restricted, depending on whether or not the travel pedal is operated by the foot of the operator. Specifically, the operation of the hydraulic motor for traveling may be restricted when it is determined that the travel pedal is not operated by the foot of the operator, that is, when it is determined that the travel pedal is operated by contact with a part or an object other than the foot of the operator. Further, when it is determined that the travel pedal is operated by the foot of the operator, the operation restriction of the hydraulic motor for traveling may be released.

When it is determined that the operation lever is not operated by the hand of the operator, that is, operated via contact with a part or an object other than the hand of the operator, the controller 30 may notify the operator of the operation lever by at least 1 of screen display, warning sound, vibration, and the like.

In the above embodiment, the switching valve 51 is configured by 1 switching valve capable of simultaneously switching the states of the left and right levers 26L and 26R. However, the switching valve 51 may be configured by 2 or more switching valves as a combination of the switching valve related to the left operation lever 26L and the switching valve related to the right operation lever 26R. At this time, the switching valve 51 can individually switch the state of the left operation lever 26L and the state of the right operation lever 26R.

In the above embodiment, the switching valve 51 is configured by 1 switching valve disposed on the line L1B connecting the pilot pump 15 and the operation levers (the left operation lever 26L and the right operation lever 26R). However, the switching valve 51 may be configured by a plurality of switching valves disposed on a pipe line connecting the control lever and the pilot port of the control valve. At this time, the switching valves 51 can individually control the validity/invalidity of the operation related to each hydraulic actuator.

The present application claims priority to japanese patent application No. 2017-160251, which was filed on 8/23/2017, and the entire contents of which are incorporated herein by reference.

Description of the symbols

1-lower traveling body, 1L-hydraulic motor for left traveling, 1R-hydraulic motor for right traveling, 2-turning mechanism, 2A-hydraulic motor for turning, 3-upper turning body, 4-boom, 5-arm, 6-bucket, 7-boom cylinder, 8-arm cylinder, 9-bucket cylinder, 10-cab, 11-engine, 14-main pump, 15-pilot pump, 17-control valve body, 26-operating device, 26L-left operating lever, 26R-right operating lever, 26 DL-left traveling lever, 26 DR-right traveling lever, 26 PL-left traveling pedal, 26 PR-right traveling pedal, 29-operating pressure sensor, 29L-left operating pressure sensor, 29R-right operating pressure sensor, 29 DL-left walking pressure sensor, 29 DR-right walking pressure sensor, 30-controller, 50-door lock valve, 51-switching valve, 100-control system, 171-178-control valve, D1-door lock rod, D2-display device, D3-camera device, DS-driver seat.