EXCAVATOR AND REMOTE OPERATION SUPPORT SYSTEM

Abstract

An excavator includes a lower traveling body having a pair of left and right crawlers, the pair of left and right crawlers including first and second crawlers; an upper swing body on the lower traveling body; a cabin; first and second actuators to drive the first and second crawlers; an operator’s seat; a pedal device including first and second pedals operable by feet of an operator; and a processor and memory. The processor executes a process including selectively switching an operation mode of the lower traveling body including a first operation mode and a second operation mode. In the first operation mode, the first and second actuators are independently driven according to operations of the first and the second pedals, respectively. In the second operation mode, both the first and second actuators are driven according to operation of either one of the first pedal or the second pedal.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims priority to Japanese Patent Application No. 2024-232342, filed on December 27, 2024, and Japanese Patent Application No. 2025-269983, filed on December 19, 2025, the entire contents of which are incorporated herein by reference.

BACKGROUND

1. Technical Field

The present disclosure relates to an excavator or the like.

2. Description of Related Art

For example, with respect to an excavator, it has been disclosed that, in addition to a pair of left and right pedal devices for individually operating the respective left and right crawlers, a dedicated straight-travel pedal device is installed.

SUMMARY

An embodiment of the present disclosure provides an excavator that includes:

a lower traveling body including a pair of left and right crawlers, the pair of left and right crawlers including a first crawler and a second crawler;

an upper swing body rotatably mounted on the lower traveling body;

a cabin disposed on the upper swing body;

a first actuator configured to drive the first crawler;

a second actuator configured to drive the second crawler;

a seat disposed in the cabin and configured to accommodate an operator;

a pedal device including a first pedal and a second pedal and operable by feet of the operator seated on the seat; and

a processor; and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the processor to execute a process including:

selectively switching an operation mode of the lower traveling body including a first operation mode and a second operation mode,

wherein, in the first operation mode, the first actuator is driven in accordance with operation of the first pedal and the second actuator is driven in accordance with operation of the second pedal, and

wherein, in the second operation mode, both the first actuator and the second actuator are driven in accordance with operation of either one of the first pedal or the second pedal.

In addition, another embodiment of the present disclosure provides a remote operation support system for supporting remote operation of an excavator, where the excavator includes a lower traveling body including a pair of left and right crawlers, the pair of left and right crawlers including a first crawler and a second crawler, an upper swing body rotatably mounted on the lower traveling body, a cabin disposed on the upper swing body, a first actuator configured to drive the first crawler, and a second actuator configured to drive the second crawler. The remote operation support system includes:

an operator’s seat disposed outside the excavator and on which an operator can sit;

a pedal device including a first pedal and a second pedal and operable by feet of the operator seated on the seat; and

a processor; and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the processor to execute a process including:

selectively switching an operation mode of the lower traveling body including a first operation mode and a second operation mode,

wherein, in the first operation mode, the first actuator is driven in accordance with operation of the first pedal and the second actuator is driven in accordance with operation of the second pedal, and

wherein, in the second operation mode, both the first actuator and the second actuator are driven in accordance with operation of either one of the first pedal or the second pedal.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view illustrating an example of an excavator.

FIG. 2 is a diagram illustrating an example of the configuration of the excavator

FIG. 3 is a top view illustrating an example of the interior of a cabin.

FIG. 4 is a diagram illustrating a first example of a functional configuration related to travel operation of a lower traveling body.

FIGS. 5A and 5B are diagrams illustrating specific examples of output characteristics of a travel hydraulic motor with respect to an operation amount of a pedal device.

FIG. 6 is a diagram illustrating a first example of a screen of a display device.

FIG. 7 is a diagram illustrating a second example of a screen of the display device.

FIG. 8 is a diagram illustrating a third example of a screen of the display device.

FIG. 9 is a diagram illustrating a fourth example of a screen of the display device.

FIG. 10 is a diagram illustrating a fifth example of a screen of the display device.

FIG. 11 is a diagram illustrating a sixth example of a screen of the display device.

FIG. 12 is a flowchart schematically illustrating a first example of processing related to travel operation of the lower traveling body.

FIG. 13 is a flowchart schematically illustrating a second example of processing related to travel operation of the lower traveling body.

FIG. 14 is a diagram illustrating a seventh example of a screen of the display device.

FIG. 15 is a flowchart schematically illustrating a third example of processing related to travel operation of the lower traveling body.

FIG. 16 is a diagram illustrating an eighth example of a screen of the display device.

FIG. 17 is a flowchart schematically illustrating an example of processing for switching an operation mode of the lower traveling body.

FIG. 18 is a diagram illustrating a second example of a functional configuration related to travel operation of the lower traveling body.

FIG. 19 is a diagram illustrating a ninth example of a screen of the display device.

FIG. 20 is a flowchart schematically illustrating an example of processing for determining a user who uses the excavator as an operator.

FIG. 21 is a diagram illustrating another example of the configuration of the excavator.

FIG. 22 is a diagram illustrating a third example of a functional configuration related to travel operation of the lower traveling body.

FIGS. 23A and 23B are flowcharts schematically illustrating examples of processing related to an auto-cruise function.

FIG. 24 is a diagram illustrating a tenth example of a screen of the display device.

FIG. 25 is a diagram illustrating an example of a remote operation support system.

DETAILED DESCRIPTION

However, in the related art, the number of operation parts (pedal devices) for operating a pair of left and right crawlers increases, which may complicate the configuration.

An object of the present disclosure is to provide a technique for an excavator that is capable of improving convenience of travel operations with a simple configuration.

According to the embodiments described above, the convenience of travel operations of an excavator can be improved by a simple configuration.

Hereinafter, an embodiment will be described with reference to the drawings.

Overview of Excavator

An outline of an excavator 100 according to this embodiment will be described with reference to FIG. 1.

FIG. 1 is a side view illustrating an example of the excavator 100. In the following description, the direction in which the attachment AT extends from an upper swing body 3, as viewed from above the excavator 100, is defined as the “front.” Based on this definition, directions in the excavator 100 or directions as seen from the excavator 100 may be described.

As illustrated in FIG. 1, the excavator 100 includes a lower traveling body 1, an upper swing body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10.

The lower traveling body 1 travels the excavator 100 by using a pair of left and right crawlers 1C. The left crawler 1C and the right crawler 1C are hydraulically driven by travel hydraulic motors 1M, respectively. Thus, the lower traveling body 1 can be self-driven. Hereinafter, the travel hydraulic motor 1M for driving the left crawler 1C may be referred to as a travel hydraulic motor 1ML (see FIG. 2), and the travel hydraulic motor 1M for driving the right crawler 1C may be referred to as a travel hydraulic motor 1MR (see FIG. 2).

The upper swing body 3 is rotatably mounted on the lower traveling body 1 via a swing mechanism 2. For example, the upper swing body 3 can rotate relative to the lower traveling body 1 by hydraulically driving the swing mechanism 2 with a swing hydraulic motor 2M (see FIG. 2).

The boom 4 is attached to a front central portion of the upper swing body 3 so as to be tiltable about a rotation axis extending in the left-right direction. The arm 5 is attached to a distal end of the boom 4 so as to be rotatable about a rotation axis extending in the left-right direction. The bucket 6 is attached to a distal end of the arm 5 so as to be rotatable about a rotation axis extending in the left-right direction.

The bucket 6 is an example of an end attachment, and is used, for example, for excavation work, slope finishing work, leveling work, and the like.

The bucket 6 is attached to the distal end of the arm 5 in a manner allowing it to be appropriately replaced depending on the work content of the excavator 100. That is, in place of the bucket 6, a bucket of a type different from the bucket 6, for example, a large bucket larger than the bucket 6, a slope-finishing bucket, or a dredging bucket, may be attached to the distal end of the arm 5. Furthermore, an end attachment other than a bucket, such as an agitator, a breaker, a crusher, or a lifting magnet, may be attached to the distal end of the arm 5. In addition, an auxiliary attachment, such as a quick coupler or a tilt rotator, may be provided between the arm 5 and the end attachment.

The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

The cabin 10 is an operator’s compartment (also referred to as a “driver’s cab”) that accommodates an operator who operates the excavator 100. The cabin 10 is mounted, for example, on a front left portion of the upper swing body 3.

For example, the excavator 100 operates driven elements such as the lower traveling body 1 (i.e., a pair of left and right crawlers 1C), the upper swing body 3, the boom 4, the arm 5, and the bucket 6, in accordance with operations performed by an operator operating in the cabin 10.

The excavator 100 may also operate the driven elements through remote operation performed by an operator located outside the cabin 10. In the following description, unless otherwise specified, “operations by the operator” include both operations performed by an operator operating in the cabin 10 and remote operations performed by an operator outside the excavator 100.

For example, the remote operation support system SYS includes the excavator 100 and the remote operation support device 150 (see FIG. 25 described below).

The remote operation support system SYS supports the remote operation of the excavator 100 using the remote operation support device 150.

The remote operation support device 150 is communicatively connected to the excavator 100 via a communication line and is used by an operator who remotely operates the excavator 100.

The remote operation support device 150 is provided, for example, in a remote control room RC outside the excavator 100, and includes a remote operation control device 42 similar to the operation device 26 inside the cabin 10. Thus, an operator can remotely operate the excavator 100 from a remote location where the excavator 100 cannot be directly monitored, by sitting on a driving seat DS installed in the remote control room RC and operating the remote operation control device 42. Further, the remote operation support device 150 may be a portable operation device. This allows the operator to remotely operate the excavator 100 while directly confirming its working condition from the vicinity of the excavator 100.

The excavator 100, for example, transmits, via the communication device 60, to the remote operation support device 150 an image representing surroundings including a front side of the excavator 100 (a surrounding image), the image being based on captured images output from an imaging device 45 mounted on the excavator 100. Alternatively, the excavator 100 may transmit, via the communication device 60, the captured images output from the imaging device 45 to the remote operation support device 150, and the remote operation support device 150 may process the captured images received from the excavator 100 to generate a surrounding image. The remote operation support device 150 includes a display device for remote operation (e.g., a display device D1E described later), and causes the display device for remote operation to display the surrounding image representing the surroundings including the front side of the excavator 100. Further, the remote operation support device 150 may cause the display device for remote operation to display information screens similar to various information screens displayed on a display device 50 inside a cabin 10 of the excavator 100. Accordingly, an operator using the remote operation support device 150 can remotely operate the excavator 100, for example, while checking display contents such as the surrounding image representing the surroundings around the excavator 100 and the information screens displayed on the display device for remote operation. The excavator 100 operates driven elements in accordance with signals representing contents of remote operation (hereinafter referred to as “remote operation signals”) received from the remote operation support device 150 via the communication device 60. Thus, the remote operation support system SYS can realize remote operation of the excavator 100 using the remote operation support device 150.

Further, the excavator 100 may automatically operate the actuators regardless of the operator’s input. Thus, the excavator 100 can perform a function of automatically operating at least a part of the driven elements, such as the lower traveling body 1, the upper swing body 3, and the attachment AT; that is, a so-called “automatic operation function” or a “machine control (MC) function.”

The automatic operation function includes, for example, a semi-automatic operation function (operation support type MC function). The semi-automatic operation function is a function of automatically operating the driven elements (actuators) other than the target driven elements (actuators) in accordance with operation by the operator. The automatic operation function may also include a fully automatic operation function (fully automatic type MC function). The fully automatic operation function is a function of automatically operating at least a part of a plurality of driven elements (actuators), assuming no operation by the operator. In the excavator 100, when the fully automatic operation function is enabled, the interior of the cabin 10 may be unmanned. The semi-automatic operation function and the fully automatic operation function include, for example, a rule-based automatic operation function. The rule-based automatic operation function is an automatic operation function in which the operation of driven elements (actuators) subject to automatic operation is automatically determined according to predetermined rules. The semi-automatic operation function and the fully automatic operation function may also include an autonomous operation function. The autonomous operation function is an automatic operation function in which the excavator 100 autonomously makes various determinations, and the operation of driven elements (actuators) subject to automatic operation is determined according to the results of these determinations.

The operation of the excavator 100 may be monitored externally. For example, when the excavator 100 is automatically operated, the operation of the excavator 100 is monitored from outside the excavator 100. In this case, a remote monitoring support device similar to the remote operation support device 150 is provided to support external monitoring of the operation of the excavator 100.

The remote monitoring support device includes, for example, a display device for remote monitoring, and displays a surrounding image, information screens, or the like representing the surroundings around the excavator 100, as in the case of the remote operation display device. Thus, the observer can monitor the work of the excavator 100 by confirming the surrounding image, information screens, and other displays on the remote monitoring support device.

Further, the observer may be able to intervene with the excavator 100 using the remote operation support device. For example, the remote monitoring support device includes an intervention operation device, and transmits a remote operation signal representing the operation of the intervention operation device to the excavator 100. Thus, for example, when the work of the excavator 100 is inappropriate or a safety issue occurs, the observer can urgently stop the excavator 100 or perform a safety retreat operation to a safe position or posture by operating the intervention operation device.

Example of Configuration of Excavator

With reference to FIGS. 2 and 3, in addition to FIG. 1, an example of the configuration of an excavator 100 will be described.

FIG. 2 is a diagram illustrating an example of the configuration of the excavator 100. FIG. 3 is a top view illustrating an example of the interior of the cabin 10.

The excavator 100 includes respective components of a hydraulic drive system, an operation system, a user interface system, and a control system.

Hydraulic Drive System

The hydraulic drive system of the excavator 100 is a group of components for hydraulically driving the driven elements of the excavator 100.

As illustrated in FIG. 2, the hydraulic drive system of the excavator 100 includes a plurality of hydraulic actuators HA for hydraulically driving each of the plurality of driven elements. The plurality of driven elements include the left and right crawlers 1C of the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and others. The plurality of hydraulic actuators HA include the travel hydraulic motors 1ML and 1MR, the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and others. In this embodiment, the hydraulic drive system of the excavator 100 includes an engine 11, a regulator 13, a main pump 14, and a control valve 17.

In the following description, the hydraulic actuators HA are used as components that collectively or individually represent the travel hydraulic motors 1ML and 1MR, the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and others.

In the excavator 100, part or all of the hydraulic actuators HA may be replaced with electric actuators. That is, the excavator 100 may be a hybrid excavator or an electric excavator.

The engine 11 is a prime mover of the excavator 100 and a main power source in the hydraulic drive system. The engine 11 is, for example, a diesel engine using light oil as fuel. The engine 11 is mounted, for example, at the rear of the upper swing body 3. The engine 11 rotates at a predetermined target rotational speed under direct or indirect control by a controller 30 described later, for example, to drive the main pump 14 and the pilot pump 15.

In place of or in addition to the engine 11, another type of prime mover (For example, an electric motor) or the like may be mounted on the excavator 100.

The regulator 13 adjusts the discharge amount of the main pump 14 under the control of the controller 30. For example, the regulator 13 adjusts the angle (hereinafter referred to as "tilt angle") of the swash plate of the main pump 14 in accordance with a control command from the controller 30.

The main pump 14 supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is mounted, for example, at the rear of the upper swing body 3 in the same manner as the engine 11. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump. As described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, whereby the stroke length of the pistons is adjusted to control the discharge flow rate and discharge pressure.

The control valve 17 drives the hydraulic actuators HA in accordance with an operator's operation or an automatic operation command corresponding to the automatic operation function (hereinafter referred to as "automatic operation command"). The control valve 17 is mounted, for example, at the center of the upper swing body 3. The control valve 17 is connected to the main pump 14 through a hydraulic line and selectively supplies the hydraulic oil from the main pump 14 to the respective hydraulic actuators HA in accordance with the operator's operation or the automatic operation command. For example, the control valve 17 is a valve part including a plurality of control valves (i.e., directional switching valves) for controlling the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to the respective hydraulic actuators HA, and includes control valves 17A and 17B.

The control valve 17A controls the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to the travel hydraulic motor 1ML. Thus, the control valve 17A can control the output (driving force) and rotational direction of the travel hydraulic motor 1ML. The control valve 17B controls the flow rate and flow direction of the hydraulic oil supplied from the main pump 14 to the travel hydraulic motor 1MR. Thus, the control valve 17B can control the output (driving force) and rotational direction of the travel hydraulic motor 1MR.

Operation System

The operation system of the excavator 100 is a group of components related to the operation of the hydraulic actuator HA.

As illustrated in FIG. 2, the operation system of the excavator 100 includes a pilot pump 15, a gate lever 23, a gate lock valve 25v, a limit switch 25s, an operation device 26, and a hydraulic control valve 31.

The pilot pump 15 supplies pilot pressure to various hydraulic devices (i.e., the hydraulic control valve 31) via a pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper swing body 3 in the same manner as the engine 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump, and is driven by the engine 11 as described above.

The pilot pump 15 may be omitted. In this case, hydraulic oil discharged from the main pump 14 and reduced to a predetermined pilot pressure via a pressure reducing valve or the like may be supplied to various hydraulic devices, such as the operation device 26.

The gate lock valve 25v is provided in the pilot line 25 upstream of all the hydraulic devices supplied with hydraulic oil from the pilot pump 15. The gate lock valve 25v is switched between communication and interruption (non-communication) of the pilot line 25 according to the ON/OFF of a limit switch 25S linked to the operating state of the gate lever 23 provided inside the cabin 10.

The gate lever 23 is a mechanical input device for switching between a state in which the excavator 100 can be operated by the operation device 26 for starting the excavator 100 and a state in which the excavator 100 cannot be started or operated. For example, the gate lever 23 is disposed on the upper surface of a console 72L on the left side of an operator’s seat 70. For example, the controller 30 controls whether starting of the excavator 100 including starting of the engine 11 is permitted or not in accordance with the operation state of the gate lever 23. Further, as described above, the gate lever 23 is capable of switching the communication and non-communication of the pilot line 25 in accordance with the operation state thereof, and as a result, a state in which the hydraulic actuator HA of the excavator 100 is operable and a state in which it is not operable can be switched. For example, as illustrated in FIG. 2, the limit switch 25s is turned ON or OFF in accordance with the operation state of the gate lever 23, and an output (electric signal) corresponding to the ON/OFF state of the limit switch 25s is input to the controller 30. Then, the controller 30 outputs a control signal to the gate lock valve 25v according to the content of the electric signal of the limit switch 25s. Further, the output (electric signal) of the limit switch 25s may be input to the gate lock valve 25v, such that the gate lock valve 25v is operable to switch the communication and non-communication in accordance with the operation state of the gate lever 23.

Further, a gate bar 24 interlocking with the operation state of the gate lever 23 is disposed in front of the console 72L on the left side of the operator’s seat 70. When the gate lever 23 is in a state in which the excavator 100 can be operated, the gate bar 24 is in a forward raised state (see FIG. 3) so as to block lateral movement between the operator’s seat 70 and an entrance of the cabin 10. On the other hand, when the gate lever 23 is in a state in which the excavator 100 cannot be operated, the gate bar 24 is housed in the console 72L in a downward lowered state so as to allow lateral movement between the operator’s seat 70 and the entrance of the cabin 10. Thus, unless the gate bar 24 is in the forward raised state in accordance with the operation of the gate lever 23, the operator cannot operate the excavator 100, thereby improving the safety of the excavator 100.

The operation device 26 is provided within reach of the operator at the operator’s seat 70 in the cabin 10, and is used by the operator to control the respective driven elements, that is, the left and right crawlers of the lower traveling body 1, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and the like. Specifically, the operation device 26 is used by the operator to control the hydraulic actuators HA that drive the respective driven elements.

The operation device 26 is, for example, an electrically operated type. Specifically, the operation device 26 outputs an electric signal (hereinafter, "operation signal") corresponding to the operation performed by the operator, and the operation signal is input to the controller 30. Then, the controller 30 outputs a control command (operation command) corresponding to the contents of the operation signal, that is, an operation command corresponding to the operator’s input to the operation device 26, to the hydraulic control valve 31. Thus, a pilot pressure corresponding to the operation performed on the operation device 26 is input from the hydraulic control valve 31 to the control valve 17 through a pilot line 27, and the control valve 17 can drive the respective hydraulic actuators HA in accordance with the operation performed on the operation device 26.

As illustrated in FIG. 3, the operation device 26 includes a lever device 26A, a lever device 26B, and a pedal device 26C.

The lever device 26A is disposed, for example, at a front portion of an upper surface of the console 72L on the left side of the operator’s seat 70 inside the cabin 10, and its base portion is covered with a lever cover CVA. The lever device 26A is used by the operator to control any two of the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. Thus, the operator seated in the operator’s seat 70 can operate two of these hydraulic actuators HA with the left hand using the lever device 26A. For example, when the actuators to be operated by the lever device 26A are the swing hydraulic motor 2M and the arm cylinder 8, the swing hydraulic motor 2M is controlled by a lateral operation of the lever device 26A, and the arm cylinder 8 is controlled by a longitudinal operation of the lever device 26A. The longitudinal and lateral directions of the lever device 26A correspond to the fore-aft and left-right directions of the excavator 100, respectively, and the same applies to the longitudinal and lateral directions of the lever device 26B described later.

The lever device 26B is disposed, for example, at a front portion of an upper surface of the console 72R on the right side of the operator’s seat 70 inside the cabin 10, and a base portion thereof is covered with a lever cover CVB. The lever device 26B is used by the operator to control the remaining two of the swing hydraulic motor 2M, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 that are not controlled by the lever device 26A. Thus, the operator seated in the operator’s seat 70 can operate these remaining two hydraulic actuators HA with the right hand using the lever device 26B. For example, when the actuators to be operated by the lever device 26B are the boom cylinder 7 and the bucket cylinder 9, the boom cylinder 7 is controlled by a longitudinal (fore-aft) operation of the lever device 26B, and the bucket cylinder 9 is controlled by a lateral (left-right) operation of the lever device 26B.

The pedal device 26C is disposed on the floor in front of the operator’s seat inside the cabin 10. The pedal device 26C is used by the operator to control the travel hydraulic motors 1ML and 1MR. The pedal device 26C includes pedals 26C1 and 26C2, and left and right levers 26C3 and 26C4.

The pedal 26C1 is used by the operator to control the travel hydraulic motor 1ML that drives the left crawler 1C. Thus, the operator seated in the operator’s seat 70 can operate the travel hydraulic motor 1ML using the left foot.

The pedal 26C2 is used by the operator to control the travel hydraulic motor 1MR that drives the right crawler 1C. Thus, the operator seated in the operator’s seat 70 can operate the travel hydraulic motor 1MR using the right foot.

The left lever 26C3 is used by the operator to control the travel hydraulic motor 1ML that drives the left crawler 1C. Thus, the operator seated in the operator’s seat 70 can operate the travel hydraulic motor 1ML using the left hand.

The right lever 26C4 is used by the operator to control the travel hydraulic motor 1MR that drives the right crawler 1C. Thus, the operator seated in the operator’s seat 70 can operate the travel hydraulic motor 1MR using the right hand.

For example, the operation device 26 includes an operation sensor 26s capable of detecting the operator’s input to the operation device 26. The input includes an amount and direction of operation with reference to a neutral position. The operation sensor 26s may be, for example, an inclination sensor detecting the tilt angle of a lever or pedal, or an angle sensor detecting the swing angle of a lever or pedal around a swing shaft. The operation sensor 26s may also include other types of sensors, such as a pressure sensor, current sensor, or distance sensor. The operation sensor 26s is provided, for example, for each actuator to be operated, and outputs an electric signal (operation signal) representing the input to the respective actuator through the operation device 26. The operation signal is then taken into the controller 30 as described above.

The operation device 26 may be of a hydraulic pilot type, in which a pilot pressure corresponding to the operator’s input is output using the pilot pressure supplied from the pilot pump 15 as the source pressure. Thus, the operation device 26 can supply the pilot pressure corresponding to the operator’s input to the control valve 17. Therefore, the control valve 17 can drive the respective hydraulic actuators HA in accordance with the operator’s input to the operation device 26.

Further, the control valves incorporated in the control valve 17 for driving the respective hydraulic actuators HA may be of the electromagnetic solenoid type. In this case, the operation signal output from the operation device 26 may be directly input to the electromagnetic solenoid type control valves incorporated in the control valve 17.

Further, as described above, part or all of the hydraulic actuators HA may be replaced with electric actuators. In this case, for example, the controller 30 outputs control commands corresponding to the contents of the operator's operation or the contents of a remote operation defined by a remote operation signal to the electric actuators or to drivers for driving the electric actuators.

The hydraulic control valve 31 is provided for each hydraulic actuator HA and for each driving direction (i.e., the extension and contraction directions of the boom cylinder 7). For example, a pair of hydraulic control valves 31 is provided for each double-acting hydraulic actuator HA for driving the left and right crawlers 1C, the upper swing body 3, the boom 4, the arm 5, the bucket 6, and the like. The hydraulic control valve 31 is provided, for example, in a pilot line between the pilot pump 15 and the control valve 17, and may be configured such that its flow path area, that is, the cross-sectional area through which hydraulic fluid can flow, can be varied. Thus, the hydraulic control valve 31 can output a predetermined pilot pressure to the secondary-side pilot line 27 by utilizing the hydraulic oil supplied from the pilot pump 15 through the pilot line 25. Therefore, the hydraulic control valve 31 can apply a predetermined pilot pressure to the control valve 17 through the pilot line 27 in accordance with a control command (operation command) from the controller 30. For example, the controller 30 can apply a pilot pressure corresponding to an automatic operation command from the hydraulic control valve 31 to the control valve 17, thereby enabling the operation of the excavator 100 according to the automatic operation function. Similarly, the controller 30 can apply a pilot pressure corresponding to a remote operation command from the hydraulic control valve 31 to the control valve 17, thereby enabling operation of the excavator 100 by remote control.

User Interface System

The user interface system of the excavator 100 is a set of components for exchanging information between a user and the excavator 100.

As illustrated in FIG. 5A and FIG. 5B, the user interface system includes the operation device 26, the display device 50, and the input device 52.

The display device 50 visually conveys various information to the operator inside the cabin 10. The display device 50 is, for example, a liquid crystal display or an organic EL (electroluminescence) display. For example, as illustrated in FIG. 3, the display device 50 is provided at a right front portion inside the cabin 10 and outputs various information to the operator.

In addition to the display device 50, a lighting device for visually transmitting various information to the operator may be provided inside the cabin 10. The lighting device is, for example, various warning lamps (also referred to as “indicator lamps”). In addition to the display device 50, an external display device for transmitting various information to workers outside the cabin 10 or supervisors at the site may be provided. In addition to the display device 50 and the lighting device inside the cabin 10, an external lighting device outside the cabin 10 for transmitting various information to workers outside the cabin 10 or supervisors at the site may be provided. Furthermore, the excavator 100 may be provided with a sound output device for transmitting various information audibly to the operator inside the cabin 10, to workers outside the cabin, and to supervisors at the site. The sound output device includes, for example, a buzzer or a speaker. Furthermore, the excavator 100 may be provided with a device for transmitting various information by a tactile method, such as vibration of the operator’s seat where the operator sits.

The input device 52 receives various inputs from the user of the excavator 100, and signals corresponding to the received inputs are taken into the controller 30. The inputs received by the input device 52 are of a different type from the inputs received by the operation device 26 for operating the hydraulic actuators HA. For example, the input device 52 is provided inside the cabin 10 and receives inputs from an operator or the like inside the cabin 10. The input device 52 may also be provided, for example, on a side surface of the house portion of the upper swing body 3 and receive inputs from workers or the like around the excavator 100.

For example, the input device 52 includes a mechanical input device for receiving inputs via mechanical operations performed by a user. The mechanical input device includes, for example, a touch panel, a touchpad, a button switch, a lever, a toggle, a knob switch, and the like. For example, mechanical input devices provided inside the cabin 10 include a touch panel, levers, switches, and dials provided on the display device 50, as well as various levers, switches, and dials installed on the consoles 72L, 72R, 74, and the like. The gate lever 23 is an example of the input device 52.

The input device 52 may include a voice input device for receiving voice inputs from a user. The voice input device includes, for example, a microphone.

The input device 52 may further include a gesture input device that receives gesture input from a user. The gesture input device includes, for example, an imaging device that captures images of gestures or hand signs performed by the user.

The input device 52 may include a biometric input device for receiving biometric inputs from a user. Biometric inputs include, for example, information such as a user’s fingerprint or iris.

Communication System

The communication system of the excavator 100 is a group of components that allow the excavator 100 to communicate with external devices.

As illustrated in FIG. 2, the communication system of the excavator 100 according to this embodiment includes a communication device 60.

The communication device 60 connects to an external communication line to communicate with devices provided separately from the excavator 100. The devices provided separately from the excavator 100 may include, in addition to devices outside the excavator 100, portable terminals brought into the cabin 10 by an operator of the excavator 100. The communication device 60 may include, for example, a mobile communication module conforming to standards such as 4G (4th Generation) or 5G (5th Generation). The communication device 60 may also include, for example, a satellite communication module, a Wi-Fi communication module, or a Bluetooth® communication module. When multiple connectable communication lines NW exist, the communication device 60 may include multiple communication devices corresponding to the types of communication lines NW.

The excavator 100 may operate in a stand-alone mode without communicating with external devices. In this case, the communication system of the excavator 100, including the communication device 60, may be omitted.

Control System

The control system of the excavator 100 is a group of components related to various controls of the excavator 100.

As illustrated in FIG. 2, the control system of the excavator 100 includes the controller 30. The control system of the excavator 100 also includes an imaging device 45. Furthermore, the control system of the excavator 100 includes, for example, a limit switch 25s, an operation sensor 26s, and various sensors and switches for acquiring primary data for the various types of control performed by the controller 30.

The controller 30 performs various controls related to the excavator 100.

The functions of the controller 30 can be realized by any hardware or any combination of hardware and software. For example, the controller 30 includes an auxiliary storage device 30A, a memory device 30B, a processor 30C, and an interface device 30D, all communicatively connected via a bus BS1.

The auxiliary storage device 30A is nonvolatile storage and stores a program to be installed in the controller 30, as well as files, data, and the like necessary for processing in the controller 30. The auxiliary storage device 30A is, for example, an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory. The memory device 30B loads, for example, a program from the auxiliary storage device 30A such that the processor 30C can read and execute the program when an instruction to start the program is given. The memory device 30B is, for example, SRAM (Static Random Access Memory). The processor 30C executes the program loaded in the memory device 30B to perform various processes according to the instructions of the program. The processor 30C includes, for example, a CPU (Central Processing Unit) and may also include a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or the like. The interface device 30D functions as a communication interface for connecting to, for example, a communication line in the excavator 100. The interface device 30D may include multiple types of communication interfaces corresponding to the types of connected communication lines. The interface device 30D also functions as an external interface for reading data from or writing data to a recording medium. The recording medium is, for example, a dedicated tool connected to a connector installed in the cabin 10 via a detachable cable. The recording medium may also be a general-purpose medium such as an SD memory card or a USB (Universal Serial Bus) memory. Thus, a program for realizing various functions of the controller 30 may be provided by, for example, a portable recording medium and installed in the auxiliary storage device 30A of the controller 30. Alternatively, the program may be downloaded from another computer outside the excavator 100 via the communication device 60 and installed in the auxiliary storage device 30A.

Some of the functions of the controller 30 may be realized by other devices. That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of devices. For example, the functions of the storage area included in the controller 30 may be realized by an external storage device mounted on the excavator 100 in a manner communicatively connected to the controller 30. Further, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers mounted on the excavator 100.

The imaging device 45 captures the surroundings around the excavator 100.

The imaging device 45 is, for example, a monocular camera. Further, the imaging device 45 may be a three-dimensional camera (3D camera), such as a stereo camera, a ToF (Time of Flight) camera, or a depth camera, capable of acquiring not only two-dimensional image information but also three-dimensional information including information about the distance to an object in the image and the depth of the image.

For example, the imaging device 45 includes a front camera, a rear camera, a left camera, and a right camera. The front camera captures the front of the upper swing body 3. The rear camera captures the rear of the upper swing body 3. The left camera captures the left of the upper swing body 3. The right camera captures the right of the upper swing body 3. Thus, in a top view of the excavator 100, the imaging device 45 can capture the entire circumference around the excavator 100, that is, a 360-degree range. Hereinafter, the front camera, the rear camera, the left camera, and the right camera may be collectively or individually referred to as “camera 45X.”

The output data of the imaging device 45 (camera 45X) is taken into the controller 30 through a one-to-one communication line or an on-vehicle network. Thus, for example, the controller 30 can determine the surroundings around the excavator 100 based on the output data of the camera 45X.

Some or all of the cameras 45X may be omitted. Further, the excavator 100 may be provided with a ranging sensor (also referred to as a “range sensor”) capable of acquiring information indicating the distance to an object around the excavator 100 instead of or in addition to the imaging device 45. The ranging sensor may be, for example, a LIDAR (Light Detecting and Ranging), a millimeter-wave radar, an ultrasonic sensor, or the like.

First Example of Functional Configuration Related to Traveling Operation of Lower Traveling Body

With reference to FIG. 4 and FIGS. 5A and 5B, a first example of a functional configuration related to travel operation of the lower traveling body 1 will be described.

FIG. 4 is a diagram illustrating a first example of the functional configuration relating to the travel operation of the lower traveling body 1. FIGS. 5A and 5B are diagrams illustrating specific examples of output characteristics of the travel hydraulic motor 1M corresponding to an operation amount of the pedal device 26C. FIG. 5A illustrates one example of an output characteristic of the travel hydraulic motor 1M corresponding to an operation amount of the pedal device, and FIG. 5B illustrates another example of an output characteristic corresponding to an operation amount of the pedal device.

In this example, the description proceeds on the assumption that a plurality of operation modes exist for the lower traveling body 1. For example, the excavator 100 has a normal travel mode and a single pedal mode (SPM) as operation modes of the lower traveling body 1.

In the normal travel mode, the excavator 100 drives the travel hydraulic motor 1ML in accordance with the operation of pedal 26C1, and drives the travel hydraulic motor 1MR in accordance with the operation of pedal 26C2. Thus, in the normal travel mode, the operator can operate the travel hydraulic motor 1ML by operating pedal 26C1 and can operate the travel hydraulic motor 1MR by operating pedal 26C2. Therefore, the operator can individually operate the travel hydraulic motors 1ML and 1MR using pedals 26C1 and 26C2 to move the lower traveling body 1 in the normal travel mode.

In the single pedal mode, the excavator 100 drives both of the travel hydraulic motors 1ML and 1MR in the same rotational direction by the operation of either one of the pedals 26C1 and 26C2 (hereinafter, for convenience, referred to as the “main pedal”). Thus, the operator can operate both of the travel hydraulic motors 1ML and 1MR by operating the main pedal among the pedals 26C1 and 26C2. Therefore, in the single pedal mode, the operator can travel the lower traveling body 1 by operating only the main pedal. This improves the convenience of operation relating to the travel operation of the lower traveling body 1.

In the single pedal mode, the main pedal is, for example, predetermined as one of the pedals 26C1 and 26C2. The predetermined main pedal may be changeable in accordance with a predetermined input (i.e., an input on a main-pedal setting screen displayed on the display device 50) from a user such as an operator through the input device 52. Further, in the single pedal mode, the main pedal may be variably set as whichever pedal is first operated when the operator begins operating either one of the pedals 26C1 and 26C2 from a state in which neither pedal is being operated. Hereinafter, the description will mainly focus on a case in which the main pedal is the right pedal 26C2 among the pedals 26C1 and 26C2 in the single pedal mode.

As illustrated in FIG. 4, the excavator 100 includes, as components related to a traveling action of the lower traveling body 1, control valves 17A and 17B, pedals 26C1 and 26C2, operation sensors 26C1s and 26C2s, a controller 30, hydraulic control valves 31A and 31B, a display device 50, and an input device 52A. The excavator 100 may further include an input device 52B.

The operation sensor 26C1s is a specific example of the operation sensor 26s. The operation sensor 26C1s detects an operation performed on the pedal 26C1 and outputs an operation signal corresponding to the detected operation.

The operation sensor 26C2s is a specific example of the operation sensor 26s. The operation sensor 26C2s detects the operator’s input to the pedal 26C2 and outputs an operation signal corresponding to the operator’s input.

The operation signals from the operation sensors 26C1s and 26C2s are taken into the controller 30 through a one-to-one communication line or an in-vehicle network.

The controller 30 includes, as functional parts, an operation mode switching part 301, a travel command output part 302, and a notification part 303. These functions are implemented, for example, by loading a program installed in the auxiliary storage device 30A into the memory device 30B and executing the program by the processor 30C.

The hydraulic control valve 31A is a specific example of the hydraulic control valve 31. The hydraulic control valve 31A uses the primary pilot pressure supplied from the pilot pump 15 to apply pilot pressure corresponding to the travel command output from the travel command output part 302 to the pilot port of the control valve 17A. In FIG. 4, a single hydraulic control valve 31A is illustrated for convenience; however, specifically, a pair of hydraulic control valves 31A is provided to apply pilot pressure to the pilot ports corresponding to each driving direction of the double-acting travel hydraulic motor 1ML. Thus, the control valve 17A can control the output (driving force) and the driving direction of the travel hydraulic motor 1ML in accordance with the pilot pressure supplied from the pair of hydraulic control valves 31A.

The hydraulic control valve 31B is a specific example of the hydraulic control valve 31. The hydraulic control valve 31B uses the secondary pilot pressure supplied from the pilot pump 15 to apply pilot pressure corresponding to the travel command output from the travel command output part 302 to the pilot port of the control valve 17B. In FIG. 4, a single hydraulic control valve 31B is illustrated for convenience; however, specifically, a pair of hydraulic control valves 31B is provided to apply pilot pressure to the pilot ports corresponding to each driving direction of the double-acting travel hydraulic motor 1MR. Thus, the control valve 17B can control the output (driving force) and the driving direction of the travel hydraulic motor 1MR in accordance with the pilot pressure supplied from the pair of hydraulic control valves 31B.

The input device 52A is a specific example of the input device 52 provided inside the cabin 10. The input device 52A receives, from a user of the excavator 100 such as an operator, an input for switching an operation mode of the lower traveling body 1, in other words, an input requesting switching of the operation mode (i.e., changing settings) of the lower traveling body 1.The input device 52A may be a dedicated input device 52 for receiving an input for switching the operation mode of the lower traveling body 1, or may be a general-purpose input device 52 capable of receiving another type of input. The input device 52A is, for example, a knob switch provided at the distal end (upper end) of the lever device 26B (or the lever device 26A). The knob switch may be an alternate switch or a momentary switch. In the former case, for example, each time the knob switch is operated (pressed), the normal travel mode and the single pedal mode are alternatively switched. In the latter case, for example, when the knob switch is not operated (pressed), the normal travel mode is set, and based on this state, the mode is switched to the single pedal mode only while the knob switch is operated (pressed). The input device 52A may be another type of switch, lever, or the like, or a touch panel capable of operating a setting screen of the operation mode of the lower traveling body 1 displayed on the display device 50. The input device 52A may also be the above-described voice input device, gesture input device, or the like.

The input device 52B is a specific example of the input device 52 provided inside the cabin 10. The input device 52B receives an input for adjusting the traveling direction of the lower traveling body 1 in the single pedal mode, that is, an input requesting adjustment of the traveling direction of the lower traveling body 1 from a user of the excavator 100, such as an operator. When the travel hydraulic motors 1ML and 1MR operate exactly the same (specifically, when their rotational speeds and rotational directions are exactly the same), the lower traveling body 1 moves straight. On the other hand, when the travel hydraulic motors 1ML and 1MR differ from each other in their rotational operation, the traveling direction of the lower traveling body 1 changes according to the nature of the difference between the travel hydraulic motors 1ML and 1MR. Specifically, when the travel hydraulic motors 1ML and 1MR rotate in the same direction but at different speeds, the lower traveling body 1 gently turns. When either one of the travel hydraulic motors 1ML and 1MR stops and the other rotates, the lower traveling body 1 performs a pivot turn. When the travel hydraulic motors 1ML and 1MR rotate in opposite directions, the lower traveling body 1 performs a pivot turn. Therefore, an input for adjusting the traveling direction corresponds to an input that adjusts at least one of the rotational speeds or rotational directions of the travel hydraulic motors 1ML and 1MR. For example, a user of the excavator 100, such as an operator, can create a difference in driving speed between the left and right crawlers 1C while keeping the driving directions of the left and right crawlers 1C the same through the input device 52B. As a result, the user can cause the lower traveling body 1 to gently turn toward the crawler 1C driven by the travel hydraulic motor having a lower driving speed than the other, thereby changing the traveling direction of the lower traveling body 1. Further, for example, the user can stop one of the left and right crawlers 1C or drive it in the opposite direction relative to the other crawler 1C through the input device 52B. As a result, the user can cause the lower traveling body 1 to perform a pivot turn or a super pivot turn (spin turn). The input device 52B is, for example, an alternate-type slide lever provided at the distal end (upper end) of the lever device 26B (or the lever device 26A). The input device 52B may also be another type of switch or lever, or a touch panel that is capable of operating a setting screen displayed on the display device 50 for adjusting the relative magnitude relationship between the outputs of the travel hydraulic motors 1ML and 1MR. The function of the input device 52B may alternatively be performed by the pedal other than the main pedal among the pedals 26C1 and 26C2 (hereinafter referred to as a “sub-pedal”) in the single pedal mode. In this case, the operator can adjust the absolute value of the overall output of the travel hydraulic motors 1ML and 1MR by operating the main pedal among the pedals 26C1 and 26C2, and adjust at least one of a difference in rotational speed or a difference in rotational direction between the travel hydraulic motors 1ML and 1MR by operating the sub-pedal.

In the single pedal mode, the outputs (driving forces) of the travel hydraulic motors 1ML and 1MR are basically the same, responding only to the input from the operation sensor corresponding to the main pedal among the operation sensors 26C1s and 26C2s. Therefore, in the single pedal mode, the travel hydraulic motors 1ML and 1MR basically rotate in the same direction and at the same speed, and as a result, the lower traveling body 1 moves straight. On the other hand, in the single pedal mode, the excavator 100 can realize a state in which at least one of the rotational speeds or directions of the travel hydraulic motors 1ML and 1MR differs in accordance with the input from the input device 52B. Thus, the operator can adjust the traveling direction of the lower traveling body 1 by the input to the input device 52B (or by operating the sub-pedal) while traveling the lower traveling body 1 by operating only one of the pedals 26C1 and 26C2 (the main pedal).

The operation mode switching part 301 switches an operation mode of the lower traveling body 1 to be actually used from among a plurality of operation modes of the lower traveling body 1. In this example, the operation mode switching part 301 switches (i.e., sets) the operation mode of the lower traveling body 1 by selecting either a normal travel mode or a single pedal mode.

For example, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 between the normal travel mode and the single pedal mode in accordance with an input from the input device 52A. Specifically, when an input requesting switching (i.e., changing settings) of the operation mode of the lower traveling body 1 is received by the input device 52, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 to the operation mode specified by the relevant input. For example, when the input device 52A is a voice input device, upon receiving (specifically, recognizing) a voice input of a specific phrase requesting switching of the operation mode of the lower traveling body 1 (e.g., “switch to SPM” or “return to the normal travel mode”) through the input device 52A, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 to the operation mode instructed by the voice input. Further, for example, when the input device 52A is a gesture input device, upon receiving (specifically, recognizing) a specific gesture or hand sign requesting switching (changing settings) of the operation mode of the lower traveling body 1 through the input device 52A, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 to the operation mode instructed by the gesture input.

Further, when an input requesting switching (i.e., changing settings) of the operation mode of the lower traveling body 1 is received by the input device 52A, the operation mode switching part 301 may request the operator to give consent (also referred to as “approval”) for switching the operation mode of the lower traveling body 1. Then, when an input indicating the consent to switch the operation mode of the lower traveling body 1 is received through the input device 52, the operation mode switching part 301 may switch the operation mode of the lower traveling body 1 to the operation mode specified by the relevant input. The input indicating the consent may be received by the input device 52A, or may be received by another input device 52 different from the input device 52A. In this case, unless the operator gives consent to the operation mode of the lower traveling body 1, the operation mode switching part 301 may prohibit travel operation of the lower traveling body 1. Specifically, for example, unless the operator gives consent, the operation mode switching part 301 sets the gate lock valve 25v to a shut-off state. In addition, the operation mode switching part 301 may prevent operation signals of the pedals 26C1 and 26C2 from being input to the travel command output part 302. Accordingly, no travel command is output to the hydraulic control valves 31A and 31B corresponding to the travel hydraulic motors 1ML and 1MR, respectively, and as a result, the controller 30 can prohibit travel operation of the lower traveling body 1.

Specifically, for example, when an input requesting switching (i.e., changing settings) of the operation mode of the lower traveling body 1 is received from the input device 52A, the operation mode switching part 301 causes the display device 50 to display a consent screen for confirming a change in the setting of the operation mode of the lower traveling body 1. The consent screen is a screen that can be operated by the operator through the input device 52 (e.g., a touch panel). Then, when an operation indicating consent to switching (changing settings) of the operation mode of the lower traveling body 1 is performed on the consent screen by the input device 52, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 to the operation mode specified by the initial input.

Further, for example, when a voice input requesting switching of the operation mode of the lower traveling body 1 is received through the input device 52A, the operation mode switching part 301 outputs, through a speaker or the like inside the cabin 10, a confirmation message requesting consent to switch the operation mode of the lower traveling body 1 (e.g., “The travel mode will be switched to SPM. Is that acceptable?” or “The travel mode will be returned to the normal mode. Is that acceptable?”). Then, when a voice input of a phrase indicating consent (e.g., “That is acceptable.”) is received through the input device 52A, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 to the operation mode specified by the initial voice input.

Further, for example, when an input of a gesture, hand sign, or the like requesting switching of the operation mode of the lower traveling body 1 is received through the input device 52A, the operation mode switching part 301 causes the display device 50 to display a message requesting consent to switch the operation mode of the lower traveling body 1 (e.g., “The travel mode will be switched to SPM. Is that acceptable?” or “The travel mode will be returned to the normal mode. Is that acceptable?”). The operation mode switching part 301 may also output the message requesting consent to switch the operation mode of the lower traveling body 1 from a speaker or the like inside the cabin 10. Then, when an input of a specific gesture or hand sign indicating consent is received through the input device 52A, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 to the operation mode specified by the initial input.

The travel command output part 302 outputs an operation command (travel command) for traveling the crawlers 1C to the hydraulic control valves 31A and 31B corresponding to the travel hydraulic motors 1ML and 1MR, respectively. The travel command output part 302 includes a travel command output part 3021 and a travel command output part 3022.

The travel command output part 3021 outputs a travel command to the hydraulic control valves 31A and 31B when the operation mode of the lower traveling body 1 is the normal travel mode. The travel command output part 3021 includes travel command output parts 3021A and 3021B.

The travel command output part 3021A generates a travel command corresponding to the right crawler 1C based on an operation signal received from the operation sensor 26C1s and outputs the travel command to the hydraulic control valve 31A. The travel command output part 3021B generates a travel command corresponding to the left crawler 1C based on an operation signal received from the operation sensor 26C2s and outputs the travel command to the hydraulic control valve 31B. Thus, the operator can travel the lower traveling body 1 by individually operating the pedals 26C1 and 26C2 in the normal travel mode.

The travel command output part 3022 outputs a travel command to the hydraulic control valves 31A and 31B when the operation mode of the lower traveling body 1 is the single pedal mode.

For example, the travel command output part 3022 generates a travel command with the same content and outputs it to the hydraulic control valves 31A and 31B in accordance with an operation signal received from the operation sensor corresponding to the main pedal among the operation sensors 26C1s and 26C2s. Thus, the controller 30 can make the lower traveling body 1 travel straight in accordance with the operation of either one of the pedals 26C1 and 26C2 by the operator.

The travel command output part 3022 generates a travel command and outputs it to the hydraulic control valves 31A and 31B in accordance with the user's input received by the input device 52B, in addition to the operation signal from the operation sensor corresponding to the main pedal. In this case, the travel command output to the hydraulic control valves 31A and 31B is generated such that the outputs of the travel hydraulic motors 1ML and 1MR differ according to the input received by the input device 52B. Thus, the controller 30 can make the lower traveling body 1 travel with a gentle turn in accordance with the operation of either one of the pedals 26C1 and 26C2 by the operator and the input from the input device 52B.

The notification part 303 provides notification regarding an operation mode of the lower traveling body 1 to a user of the excavator 100, such as an operator. The notification part 303 provides notification regarding the operation mode of the lower traveling body 1 by, for example, a visual method via the display device 50. Further, the notification part 303 may provide notification regarding the operation mode of the lower traveling body 1 by an auditory method via a sound output device (e.g., a speaker). Further, the notification part 303 may provide notification regarding the operation mode of the lower traveling body 1 by, for example, a tactile method via vibration of an operator’s seat.

The notification regarding the operation mode of the lower traveling body 1 includes, for example, a notification indicating a current operation mode of the lower traveling body 1 (see, e.g., an information display area 41t1 in FIG. 7 described later). The notification indicating the current operation mode of the lower traveling body 1 does not need to be provided for all operation modes, and may be provided only for a specific operation mode, such as a single pedal mode (see, for example, FIGS. 6 and 7 described later).

Further, the notification regarding the operation mode of the lower traveling body 1 may include, for example, a notification indicating specific details of a current operation mode. The notification indicating the specific details of the current operation mode includes, for example, a notification indicating an operation method of the lower traveling body 1 in a single pedal mode (see, e.g., an information display area 41t2 in FIG. 7 described later).

Further, the notification regarding the operation mode of the lower traveling body 1 may include, for example, a notification indicating a method for canceling a current operation mode (see, e.g., an information display area 41t3 in FIG. 7 described later).

Specific Example of Output Characteristics of the Travel Hydraulic Motor With Respect to the Pedal Device Operation

Next, with reference to FIG. 5A and 5B, specific examples of output characteristic of the travel hydraulic motor 1M corresponding to an operation amount of the pedal device 26C will be described.

FIG. 5A and 5B are diagrams illustrating specific examples of the output characteristic of the travel hydraulic motor 1M corresponding to the operation amount of the pedal device 26C.

Specifically, FIG. 5A is a diagram illustrating a first example of an output characteristic of the travel hydraulic motor 1M corresponding to an operation amount of the pedal device 26C, and FIG. 5B is a diagram illustrating a second example of an output characteristic of the travel hydraulic motor 1M corresponding to an operation amount of the pedal device 26C.

For example, as illustrated in FIG. 5A, in the single pedal mode, an increasing rate of an output (speed) corresponding to an increase in an operation amount of the pedal device is set to be smaller than that in the normal travel mode.

Thus, for example, the operator can easily make fine adjustments to the travel speed of the lower traveling body 1 in the single pedal mode. Therefore, the operability of the lower traveling body 1 by the operator can be improved.

Further, for example, as illustrated in in the diagram 5B of FIG. 5 (FIG. 5B), in the single pedal mode, an upper limit of an output corresponding to an increase in an operation amount of the pedal device may be set to be smaller than that in the normal travel mode.

Thus, for example, the operator can easily make fine adjustments to the positioning of the lower traveling body 1 in the single pedal mode. Therefore, the operability of the lower traveling body 1 by the operator can be improved.

Further, the above-described examples 1 and 2 may be combined.

Thus, in the present example, the travel command output part 302 suppresses the output characteristic with respect to the operation amount more in the single pedal mode than in the normal travel mode. Thus, the operability of the lower traveling body 1 by the operator in the single pedal mode can be improved.

First Example of Screen of Display Device

A first example of a screen (screen 41) of the display device 50 will be described with reference to FIG. 6.

A screen having the same contents as the screen 41 of this example (FIG. 6) may be displayed on a display device for remote operation of the remote operation support device 150, or on a display device for monitoring by the remote monitoring support device.

In this example, description will be made on the assumption that the controller 30 has four or more control modes including a normal mode, a payload mode, a lift mode, and an MC-MG mode. The same applies to the example illustrated in FIG. 7, which will be described later.

For example, a plurality of control modes such as the normal mode, the payload mode, the lift mode, and the MC-MG mode are selectively used by the controller 30.

The normal mode is a standard control mode of the controller 30.

The lift mode is a control mode in which the controller 30 controls the crane function of the excavator 100.

The crane function of the excavator 100 is a function for supporting an operator’s operation in crane work in which a load is suspended from a hook (not illustrated) provided at the distal end of the attachment AT of the excavator 100 and moved.

For example, in the lift mode, the controller 30 prohibits an opening operation of the bucket 6. Thus, the controller 30 can prevent a situation in which the bucket 6 is opened during crane work.

Further, for example, the controller 30 limits the operation speed of the hydraulic actuator HA in the lift mode. Specifically, the controller 30 sets the operation speed of the attachment in accordance with the operation of the hydraulic actuator HA lower than that in the normal mode (also referred to as the “standard mode”). The normal mode is a standard control mode of the controller 30. As a result, the controller 30 can suppress the occurrence of a large swing or drop of the suspended load during crane operations.

Further, for example, in the lift mode, the controller 30 calculates the load state of the excavator 100 caused by the suspended load and displays the calculation result on the display device 50 in the cabin 10. As a result, the operator in the cabin 10 can perform crane operations while monitoring the load state of the excavator 100 due to the suspended load.

The load state of the excavator 100 is divided into a plurality of stages, for example, and is defined by the load (weight) W of the suspended load. The load W of the suspended load is measured, for example, based on the output of cylinder pressure sensors that detect the pressure in the oil chambers of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9. Specifically, the load state of the excavator 100 may be defined, in order from the lowest to the highest, as a first stage, a second stage, and a third stage. The first stage represents a state in which the load W of the suspended load is smaller than the threshold Wth1. The threshold Wth1 is predetermined as a value smaller than a rated load Wlim. The second stage represents a state in which the load W of the suspended load is equal to or larger than the threshold Wth1 and smaller than the threshold Wth2. The threshold Wth2 is predetermined as a value larger than the threshold Wth1 and smaller than the rated load Wlim. The third stage represents a state in which the load W of the suspended load is equal to or larger than the threshold Wth2.

In addition, the load state of the excavator 100 may take into consideration not only the load of the suspended load but also the attitude state of the attachment AT. The attitude state of the attachment AT is measured, for example, based on the output of attitude sensors that detect the attitude states of the upper swing body 3, the boom 4, the arm 5, and the bucket 6. For example, the controller 30 may calculate the overturning moment of the excavator 100 based on the load of the suspended load and the attitude state of the attachment, and may calculate the load state of the excavator 100 caused by the suspended load based on the magnitude of the overturning moment.

Further, for example, in the lift mode, the controller 30 changes the color emitted by an external indicator lamp (not illustrated) in accordance with the load state of the excavator 100 due to a suspended load. For example, when the load state of the excavator 100 due to the suspended load is in a first stage, the controller 30 controls the external indicator lamp such that the lamp emits green or blue. When the load state is in a second stage, the controller 30 controls the external indicator lamp such that the lamp emits yellow or orange. When the load state is in a third stage, the controller 30 controls the external indicator lamp such that the lamp emits red. Accordingly, the controller 30 allows workers around the excavator 100, such as a worker performing slinging of the suspended load, to confirm the load state of the excavator 100 based on the color emitted by the external indicator lamp.

The MC-MG mode is a control mode in which the controller 30 performs control relating to a machine control function and a machine guidance function of the excavator 100.

The excavator 100 has, for example, a machine guidance function and a machine control function.

The machine guidance function and the machine control function of the excavator 100 are functions that assist the operator’s operation with respect to a target shape of a work target to be processed by the excavator 100. The target shape of the work target is, for example, a predetermined target work surface.

For example, in the machine guidance function, information regarding a relative position and a relative attitude of a working portion of the attachment AT with respect to the target shape of the work target is provided to the operator through the display device 50.

Further, for example, in the machine control function, the excavator 100 automatically or semi-automatically operates the attachment AT so as to achieve the target shape of the work target. In the machine control function, the lower traveling body 1 and the upper swing body 3 may also be automatically or semi-automatically operated in addition to the attachment AT.

The “semi-automatic” includes, for example, a mode in which, when the operator operates one hydraulic actuator HA, another hydraulic actuator HA operates in conjunction therewith, whereby the attachment AT operates so as to achieve the target shape of the work target. The “semi-automatic” may also include a mode in which, on the basis of assumption of the operator’s operation, the operation of the attachment AT is appropriately corrected from an operation corresponding to the operator’s operation, such that the attachment AT operates so as to achieve the target shape of the work target.

For example, in the MC-MG mode, the controller 30 continuously provides the machine guidance function. The controller 30 also provides the machine control function in the MC-MG mode when an input requesting activation of the machine control function from the operator is received through the input device 52.

In the MC-MG mode, the controller 30 measures the distance between the working portion of the attachment AT, that is, a reference point of the bucket 6, and the target work surface, and notifies the operator of the distance through the display device 50. The reference point of the bucket 6 is, for example, a point corresponding to a toe of the bucket 6. The reference point of the bucket 6 may be a predetermined point on a flat portion on a rear side of the bucket 6. The reference point of the bucket 6 may be changed according to the content of the work.

In the MC-MG mode, the controller 30 measures an attitude of the working portion (the bucket 6) of the attachment AT with respect to the target work surface, and notifies the operator of the attitude through the display device 50.

In the MC-MG mode, when the machine control function is enabled, the controller 30 operates the attachment AT or the like such that a reference point of the bucket 6 moves along a target trajectory, either according to the operator’s operation or automatically.

The target trajectory is defined, for example, so as to follow the target work surface. The target trajectory may also be defined based on a comparison between the target work surface and a ground shape of the current work object. The ground shape of the current work object is acquired, for example, based on an image captured by the imaging device 45. For example, when a difference between the target work surface and the ground shape of the current work object is equal to or greater than a predetermined threshold, a target trajectory for rough excavation is defined so as to reduce the difference between the ground of the work object and the target work surface. On the other hand, when the difference between the target work surface and the ground shape of the current work object is less than the predetermined threshold, the target trajectory is defined so as to follow the target work surface.

The number of control modes that the controller 30 can use may be two or three, or five or more.

FIG. 6 is a diagram illustrating a first example of a screen of the display device 50. Specifically, FIG. 6 illustrates a specific example of a screen (screen 41) when the normal mode is selected as the control mode of the controller 30 and a normal travel mode is selected as an operation mode of the lower traveling body 1.

The screen 41 includes display areas 41A to 41E.

The display areas 41A to 41E are arranged vertically in order from top to bottom.

The display area 41A is arranged at an upper portion of the screen 41. The display area 41A displays fixed contents regardless of the control mode selected by the controller 30.

The display area 41A includes information display areas 41a to 41e and 41g to 41k.

The information display area 41a displays the current date and time. The information display area 41b displays a currently selected travel mode of the excavator 100. The information display area 41c displays an image representing an end attachment currently mounted. The information display area 41d displays information related to a fuel consumption rate (fuel efficiency) of the excavator 100. The information display area 41d includes, for example, an information display area 41d1 for displaying a lifetime average fuel consumption or a segment average fuel consumption, and an information display area 41d2 for displaying an instantaneous fuel consumption. The information display area 41e displays information indicating a control state of the engine 11.

The information display area 41g displays a temperature condition of cooling water of the engine 11. The information display area 41h displays a remaining level of fuel stored in a fuel tank. The information display area 41i displays an operation mode corresponding to a rotational speed of the engine 11. The information display area 41j displays a remaining level of urea water stored in a urea water tank. The information display area 41k displays a temperature condition of hydraulic fluid in a hydraulic drive system.

The display areas 41B to 41D are arranged at the vertical center portion of the display screen 41. The display areas 41B to 41D display contents specific to the control mode selected by the controller 30. The display contents specific to each of the plurality of control modes may be fixed, or may be changeable in accordance with a request input from the user through the input device 52.

A surrounding image display area 41n is displayed in the display areas 41B and 41C.

The surrounding image display area 41n displays an image (hereinafter, “surrounding image”) representing a state of the surroundings around the excavator 100 based on an image captured by the imaging device 45. The surrounding image display area 41n includes surrounding image display areas 41n1 to 41n3.

The surrounding image display area 41n1 is displayed in the display area 41B so as to be adjacent to and below the information display area 41d included in the display area 41A.

In this example, the surrounding image display area 41n1 displays an overhead view image FV, generated based on an image captured by the imaging device 45, illustrating a top view of the surroundings around the excavator 100. Further, the surrounding image display area 41n1 displays an excavator image GE simulating the excavator 100 as seen from above. The excavator image GE and the overhead view image FV are arranged in the surrounding image display area 41n1 such that their positional relationship coincides with the positional relationship between the excavator 100 and the imaging range included in the overhead view image FV.

The surrounding image display areas 41n2 and 41n3 are displayed in the display area 41C so as to be adjacent below the surrounding image display area 41n1. The surrounding image display areas 41n2 and 41n3 are arranged adjacent to the left and right portions of the display area 41C with respect to its horizontal center.

In this example, the surrounding image display area 41n2 displays a rear image BM representing the rear side of the excavator 100, and the surrounding image display area 41n3 displays a right image RM representing the right side of the excavator 100. The rear image BM and the right image RM correspond to images captured by the rear camera and the right camera, respectively.

The display area 41D includes information display areas 41f and 41m.

The information display area 41f is disposed below and adjacent to the surrounding image display area 41n2. The accumulated operating time of the engine 11 is displayed in the information display area 41f.

The information display area 41m is disposed below and adjacent to the surrounding image display area 41n3 and to the right of the information display area 41f. The operating state of the air conditioner is displayed in the information display area 41m. The information display area 41m includes information display areas 41m1 to 41m4.

The information display area 41m1 displays the current position of the outlet used for blowing air from the air conditioner. The information display area 41m2 displays the current operating mode of the air conditioner. The information display area 41m3 displays the current set temperature of the air conditioner. The information display area 41m4 displays the current set air volume of the air conditioner.

The display area 41E is arranged at the bottom of the screen 41. Fixed display content is displayed in the display area 41E regardless of the control mode selected by the controller 30. Specifically, a tab group 41q serving as operation elements for selecting one control mode to be applied to the controller 30 from among a plurality of control modes is displayed in the display area 41E. For example, the operator can operate the tab group 41q by using the touch panel of the display device 50 as the input device 52. Further, the operator may operate the tab group 41q by using switches associated with the display device 50 as the input device 52.

Hereinafter, among the display areas 41A to 41E, the display areas 41A and 41E that do not depend on the control mode of the controller 30 may be referred to as “fixed display areas” for convenience, and the display areas 41B to 41D that depend on the control mode may be referred to as “variable display areas” for convenience.

The tab group 41q includes tabs 41q1 to 41q6. The tabs 41q1 to 41q6 are arranged side by side from left to right.

The tab 41q1 is an operation icon for performing settings related to the screen 41.

The settings related to the screen 41 include settings related to the tab group 41q. These settings include, for example, the order of the operation icons corresponding to the four control modes that are arranged on tabs 41q2 to 41q5. Thus, the operator can customize the order of the operation icons corresponding to the four control modes that are arranged on tabs 41q2 to 41q5. Further, the position of the operation icon corresponding to the normal mode may be fixed to tab 41q2. In this case, the operator can customize the order of the operation icons corresponding to the three control modes that are arranged on tabs 41q3 to 41q5. The settings related to the tab group 41q may also include settings related to the specification of a cursor (also referred to as a “pointer”) that represents the control mode selected for the controller 30. For example, as illustrated in FIG. 6, the cursor is realized by highlighting the operation icon corresponding to the selected control mode, but the cursor may alternatively be realized by a rectangular frame surrounding the operation icon or the like through a setting change. Hereinafter, for convenience, a state in which the operation icon of one of the operation tabs is highlighted may be described as a state in which the cursor is positioned. The settings related to the tab group 41q may further include settings for selecting, from among a plurality of control modes when four or more control modes exist, four control modes corresponding to the four operation icons arranged on tabs 41q2 to 41q5. For example, as illustrated in FIG. 6, operation icons corresponding to the payload mode, the lift mode, and the MC-MG mode are displayed on tabs 41q3 to 41q5, but a part or all of them may be changed to operation icons corresponding to other control modes. Further, the operation icon corresponding to the normal mode may be specified to be always included among tabs 41q2 to 41q5. In this case, the operator can customize the three control modes corresponding to the three operation icons other than the operation icon corresponding to the normal mode that are arranged on tabs 41q2 to 41q5.

Further, the settings relating to the screen 41 may include settings of specifications regarding the display contents of the variable display areas (i.e., display areas 41B to 41D) of the screen 41 for each control mode.

The settings related to the screen 41 may also include settings related to the operation mode of the lower traveling body 1.

For example, when the tab 41q1 is selected, a plurality of operation icons corresponding to a plurality of available settings are displayed so as to be adjacent to the tab group 41q. Thus, the operator can perform a desired setting operation by selecting one of the displayed operation icons using a touch panel or the like as the input device 52.

The tabs 41q2 to 41q5 are operation icons corresponding to four control modes among the plurality of control modes. Thus, the operator can select one control mode to be applied to the controller 30 from among the plurality of control modes by selecting and confirming one of the tabs 41q2 to 41q5 using a touch panel or the like as the input device 52.

In this example, an operation icon corresponding to the normal mode is displayed on the tab 41q2. The operator can select the normal mode, as the control mode to be applied to the controller 30, from among the plurality of control modes by operating the tab 41q2 using a touch panel serving as the input device 52.

In this example, an operation icon corresponding to the lift mode is displayed on the tab 41q3. Thus, the operator can select the lift mode, as the control mode applied to the controller 30, from among the plurality of control modes by operating the tab 41q3 using a touch panel or the like.

In this example, an operation icon corresponding to the MC-MG mode is displayed on the tab 41q4. Thus, the operator can select the MC-MG mode, as the control mode to be applied to the controller 30, from among the plurality of control modes by operating the tab 41q4 using a touch panel or the like.

In this example, an operation icon corresponding to the payload mode is displayed on the tab 41q5. Thus, the operator can select the payload mode, as the control mode to be applied to the controller 30, from among the plurality of control modes by operating the tab 41q5 using a touch panel or the like.

The tab 41q6 is an operation icon corresponding to another control mode different from the four control modes corresponding to the operation icons on tabs 41q2 to 41q5 when there are four or more control modes. Thus, the operator can select another control mode, different from the four control modes corresponding to the operation icons on tabs 41q2 to 41q5, from among the plurality of control modes by selecting the tab 41q6 using a touch panel or the like.

For example, when the tab 41q6 is selected, operation icons corresponding to control modes other than the four control modes corresponding to the operation icons on tabs 41q2 to 41q5 are deployed adjacent to the tab group 41q. Thus, the operator can select another control mode, different from the four control modes corresponding to the operation icons on tabs 41q2 to 41q5, by selecting one of the deployed operation icons using a touch panel or the like.

For example, when another control mode corresponding to tab 41q6 is selected as the control mode applied to the controller 30, the operation icon on tab 41q6 is changed to an operation icon corresponding to the selected control mode. The cursor is then positioned on tab 41q6. Thus, the user can confirm the control mode currently applied to the controller 30 through the operation icon on tab 41q6.

In this example, the normal mode is selected as a control mode applied to the controller 30 from among the plurality of control modes. Therefore, tab 41q2, on which an operation icon corresponding to the normal mode is displayed, is highlighted, thereby positioning the cursor on tab 41q2. Thus, the operator can confirm that the normal mode is selected.

The display contents of the variable display area corresponding to the normal mode, specifically the types and arrangement of information displayed, may be changed in accordance with predetermined input from the operator through the input device 52. Specifically, the controller 30 may change the display contents of the variable display area in accordance with an operation on tab 41q1 via the touch panel. For example, the display contents of the surrounding image display area 41n, specifically the types and arrangement of surrounding images included therein, may be freely set. Similarly, the display contents of variable display areas corresponding to other control modes may also be changed.

Second Example of Screen of Display Device

A second example of a screen (screen 41) of the display device 50 will be described with reference to FIG. 7

In this example, the same or corresponding components as those in the first example (FIG. 6) are denoted by the same reference numerals, and the description focuses on portions that differ from the first example. Descriptions of portions that are the same as or correspond to the first example (FIG. 6) may be omitted.

A screen having the same contents as the screen 41 of this example (FIG. 7) may be displayed on a display device for remote operation of the remote operation support device 150, or on a display device for monitoring by the remote monitoring support device.

FIG. 7 is a diagram illustrating a second example of a screen of the display device 50. Specifically, FIG. 7 illustrates a specific example of a screen (screen 41) when the normal mode is selected as the control mode of the controller 30 and the single pedal mode is selected as the operation mode of the lower traveling body 1.

As illustrated in FIG. 7, in this example, the screen 41 differs from the first example (FIG. 6) in that it includes a pop-up image 41t. In other respects, the screen 41 may be the same as in the first example.

In this example, the pop-up image 41t is arranged in the display area 41D so as to be below the information display areas 41f and 41m and adjacent to the display area 41E. The pop-up image 41t includes the information display areas 41t1, 41t2, and 41t3.

In the information display area 41t1, text information indicating that the single pedal mode, as the operation mode of the lower traveling body 1, is being executed is displayed. Thus, the operator can easily recognize that the current operation mode of the lower traveling body 1 is the single pedal mode.

In the information display area 41t2, text and graphic information indicating that the lower traveling body 1 can be operated using only the right pedal 26C2, out of the left and right pedals 26C1 and 26C2, is displayed.

Thus, the operator can easily understand that, in the single pedal mode, the lower traveling body 1 can be operated using only the right pedal 26C2.

The information display area 41t3 displays information explaining a method for cancelling the single pedal mode, that is, a method for switching from the single pedal mode to the normal operation mode. Specifically, the information display area 41t3 displays text information and graphic information indicating that the single pedal mode can be cancelled by operating a knob switch (input device 52A) provided at the distal end (upper end) of a lever held by an operator in the lever device 26B.

Thus, the operator can easily understand the method for cancelling the single pedal mode.

Third Example of Screen of Display Device

With reference to FIG. 8, a third example (screen 41) of a screen of the display device 50 will be described.

In this example, the same reference numerals are assigned to components that are the same as or correspond to those in the first example (FIG. 6) and the second example (FIG. 7) described above, and the description focuses on differences from the first and second examples. Descriptions of the same or corresponding components may be omitted.

A screen having the same content as the screen 41 of this example (FIG. 8) may also be displayed on a display device for remote operation of the remote operation support device 150 or on a display device for monitoring of a remote monitoring support device.

FIG. 8 is a diagram illustrating the third example of the screen of the display device 50. Specifically, FIG. 8 illustrates a specific example (screen 41) of a screen displayed when the normal mode is selected as a control mode of the controller 30 and the normal travel mode is selected as the operation mode of the lower traveling body 1.

As illustrated in FIG. 8, in this example, the screen 41 differs from the first example (FIG. 6) in that the screen 41 includes an icon image 41u. In other respects, the screen 41 may be the same as in the first example.

The icon image 41u is an image representing the currently selected operation mode of the lower traveling body 1.

In this example, the icon image 41u is disposed in the display area 41A below the information display area 41a and to the right of the information display area 41d so as to be adjacent to the display area 41B in a vertical direction. The icon image 41u includes an icon 41u1 and text information 41u2.

The icon 41u1 is an image simulating feet depressing the pedals 26C1 and 26C2. In this example, the icon 41u1 is drawn in white on a black background, representing that the operation mode of the lower traveling body 1 is the normal travel mode.

The text information 41u2 is text information representing the currently selected operation mode of the lower traveling body 1. Specifically, the text information 41u2 is disposed above the icon 41u1 and is drawn as “Normal” in white on a black background. Thus, the operator can recognize that the currently selected operation mode of the lower traveling body 1 is the normal travel mode.

As described above, in this example, the display device 50 can notify the operator, by means of the icon image 41u, that the normal traveling mode is selected as the selection state of the operation mode of the lower traveling body 1.

Fourth Example of Screen of Display Device

With reference to FIG. 9, a fourth example (screen 41) of a screen of the display device 50 will be described.

In this example, the same reference numerals are assigned to components that are the same as or correspond to those in the first example (FIG. 6) to the third example (FIG. 8) described above, and the description focuses on differences. Descriptions of the same or corresponding components may be omitted.

A screen having the same content as the screen 41 of this example (FIG. 9) may also be displayed on a display device for remote operation of the remote operation support device 150 or on a display device for monitoring of a remote monitoring support device.

FIG. 9 is a diagram illustrating the fourth example of the screen of the display device 50. Specifically, FIG. 9 illustrates a specific example (screen 41) of a screen displayed when the normal mode is selected as the control mode of the controller 30 and the single pedal mode is selected as the operation mode of the lower traveling body 1.

As illustrated in FIG. 9, in this example, the screen 41 differs from the second example (FIG. 7) in that the screen 41 includes the icon image 41u. In other respects, the screen 41 may be the same as in the second example.

The icon image 41u includes the icon 41u1 and the text information 41u2 as in the third example (FIG. 8).

As illustrated in FIG. 9, in this example, the icon 41u1 is drawn in a textured manner on a black background, unlike the third example, representing that the operation mode of the lower traveling body 1 is the single pedal mode.

In this example, the text information 41u2 is drawn as “SPM” in a textured manner on a black background, unlike the third example. Thus, the operator can recognize that the currently selected operation mode of the lower traveling body 1 is the single pedal mode.

As described above, in this example, the display device 50 can notify the operator, by means of the icon image 41u, that the normal traveling mode is selected as the selection state of the operation mode of the lower traveling body 1.

Setting Screen for Operation Mode of Lower Traveling Body

With reference to FIGS. 10 and 11, specific examples (screens 46 and 44) of setting screens for the operation mode of the lower traveling body 1 displayed on the display device 50 will be described.

Screens having the same content as the screens 46 and 44 of this example (FIGS. 10 and 11) may also be displayed on a display device for remote operation of the remote operation support device 150 or on a display device of a remote monitoring support device.

FIGS. 10 and 11 are diagrams illustrating a fifth example and a sixth example of screens of the display device 50. Specifically, FIG. 10 illustrates an example (screen 46) of a setting screen for the operation mode of the lower traveling body 1, and FIG. 11 illustrates an example (screen 44) of a consent screen for confirming the setting state of the operation mode of the lower traveling body 1.

For example, on the screen 41 of FIGS. 6 to 9 (hereinafter referred to as a “standard screen”), when the tab 41q1 is selected through the input device 52 and an operation icon for setting the operation mode of the lower traveling body 1 is selected from among a plurality of expanded operation icons, the screen 46 of FIG. 10 is displayed on the display device 50. Further, for example, the screen 46 of FIG. 10 may be displayed on the display device 50 in accordance with a predetermined input through the input device 52 on a screen 48 of FIG. 19 to be described later.

As illustrated in FIG. 10, the screen 46 includes selection images 46a and 46b, a confirmation icon 46c, and screen transition icons 46d and 46e.

The selection images 46a and 46b are images representing options for the operation mode of the lower traveling body 1.

The selection image 46a is an image representing the normal travel mode as an option for the operation mode of the lower traveling body 1. The selection image 46a displays an image for explaining the normal travel mode, and also displays a radio button for selecting the normal travel mode at an upper left corner. The explanatory image of the normal travel mode in the selection image 46a includes, for example, text information explaining a relationship between operations of the pedals 26C1 and 26C2 and operations of the lower traveling body 1, and schematic image information representing the relationship.

The selection image 46b is an image representing the single pedal mode as an option for the operation mode of the lower traveling body 1. The selection image 46b displays an image for explaining the single pedal mode, and also displays a radio button for selecting the single pedal mode at an upper left corner. The explanatory image of the single pedal mode in the selection image 46b includes, for example, text information explaining a relationship between operations of the pedals 26C1 and 26C2 and operations of the lower traveling body 1, and schematic image information representing the relationship.

The operator can select either the normal travel mode or the single pedal mode by selecting one of the radio buttons of the selection images 46a and 46b through the input device 52. In this example, the radio button of the selection image 46a is selected, and the normal travel mode is selected as the operation mode of the lower traveling body 1.

The confirmation icon 46c is an icon that is operable through the input device 52. Specifically, the confirmation icon 46c is an icon to be operated to confirm the operation mode of the lower traveling body 1 in accordance with the selection state of the radio buttons of the selection images 46a and 46b.

The screen transition icons 46d and 46e are icons operable through the input device 52. Specifically, under control of the controller 30, the screen transition icons 46d and 46e are icons to be operated to transition display contents of the display device 50 from the setting screen (screen 46) for the operation mode of the lower traveling body 1 to another screen.

The screen transition icon 46d is an icon to be operated to transition the display contents of the display device 50 from the setting screen (screen 46) for the operation mode of the lower traveling body 1 to a previously displayed screen.

The screen transition icon 46e is an icon to be operated to transition the display contents of the display device 50 from the setting screen (screen 46) for the operation mode of the lower traveling body 1 to the standard screen (e.g., screen 41).

For example, when the confirmation icon 46c on the screen 46 is operated through the input device 52, under control of the controller 30, the display contents of the display device 50 transition from the screen 46 to a consent screen (e.g., screen 44 of FIG. 11) for finally confirming the operation mode of the lower traveling body 1.

For example, as illustrated in FIG. 11, the screen 47 as the consent screen is configured such that the display contents of the screen 46 are displayed in a grayed-out manner, and a pop-up image 47a is displayed superimposed on the grayed-out display contents of the screen 46.

The pop-up image 47a includes text information 47a1, image information 47a2, a consent operation icon 47a3, and a screen transition icon 47a4.

The text information 47a1 is text information indicating that the operation mode of the lower traveling body 1 is set to the content of the image information 47a2. In this example, the text information 47a1 displays an explanatory message stating: “The operation method will be changed as follows.”

The image information 47a2 represents the operation mode of the lower traveling body 1 to be consented to through the screen 47. In this example, the image information 47a2 represents the normal travel mode that has been selected by the radio button of the selection image 46a on the screen 46. Specifically, for example, the image information 47a2 displays the name, common name, or abbreviation (in this example, “Normal”) of the operation mode of the lower traveling body 1 to be consented to, and also displays a schematic diagram representing a relationship between operations of the pedals 26C1 and 26C2 and operations of the lower traveling body 1 in the operation mode to be consented to.

The consent operation icon 47a3 is an icon operable through the input device 52. Specifically, the consent operation icon 47a3 is an icon to be operated to consent to the operation mode of the lower traveling body 1 represented by the image information 47a2 (in this example, the normal travel mode) under control of the controller 30. Specifically, when the consent operation icon 47a3 is operated through the input device 52, under control of the controller 30, changing the setting of the operation mode of the lower traveling body 1 to the operation mode represented by the image information 47a2 is completed, and the display contents of the display device 50 transition, for example, from the consent screen (screen 47) to the standard screen (e.g., screen 41).

The screen transition icon 47a4 is an icon operable through the input device 52. Specifically, the screen transition icon 47a4 is an icon to be operated to transition the display contents of the display device 50 from the consent screen (screen 47) for the operation mode of the lower traveling body 1 to the setting screen (i.e., to return thereto) under control of the controller 30. Thus, a person such as the operator can operate the screen transition icon 47a4 through the input device 52 to return to the setting screen (screen 46) again and reset the operation mode of the lower traveling body 1.

As described above, in this example, the display device 50 allows a person such as an operator to set an operation mode of the lower traveling body 1 through the screen 46. Further, in this example, the display device 50 allows the person, through the screen 47, to confirm a setting state of the operation mode of the lower traveling body 1 that has been set on the screen 46.

First Example of Control Processing Related to Travel Operation of Lower Traveling Body

With reference to FIG. 12, a first example of control processing related to a travel operation of the lower traveling body 1 will be described in detail.

FIG. 12 is a flowchart schematically illustrating a first example of control processing related to the travel operation of the lower traveling body 1.

This flowchart is repeatedly executed, for example, at each predetermined processing cycle while the excavator 100 is in operation.

As illustrated in FIG. 12, in step S102, the operation mode switching part 301 determines whether or not the current operation mode of the lower traveling body 1 is the single pedal mode. If the current operation mode of the lower traveling body 1 is not the single pedal mode (i.e., in the case of the normal travel mode), the operation mode switching part 301 proceeds to step S104, and if the current operation mode of the lower traveling body 1 is the single pedal mode, the operation mode switching part 301 proceeds to step S108.

In step S104, the travel command output parts 3021A and 3021B acquire the latest operation signals from the operation sensors 26C1s and 26C2s corresponding to the left and right pedals 26C1 and 26C2, respectively.

When the processing of step S104 is completed, the controller 30 proceeds to step S106.

In step S106, the travel command output parts 3021A and 3021B respectively generate travel commands for the left and right crawlers 1C, based on the operation signals corresponding to the left and right pedals 26C1 and 26C2.

When the processing of step S106 is completed, the controller 30 proceeds to step S112.

Meanwhile, in step S108, the travel command output part 3022 acquires an operation signal from the operation sensor 26C2s corresponding to the right pedal 26C2. In addition, when an input from the input device 52B, that is, an adjustment input for making at least one of the rotational speed and rotational direction of the travel hydraulic motors 1ML and 1MR differ, is received, the travel command output part 3022 may further acquire the adjustment input.

When the processing in step S108 is completed, the controller 30 proceeds to step S110.

In step S110, the travel command output part 3022 generates travel commands for the left and right crawlers 1C, based on the operation signal from the operation sensor 26C2s corresponding to the right pedal 26C2. When an input (adjustment input) from the input device 52B is acquired in step S108, the travel command output part 3022 generates travel commands for the left and right crawlers 1C, based on both the operation signal from the operation sensor 26C2s corresponding to the right pedal 26C2 and the adjustment input from the input device 52B.

When the processing of step S110 is completed, the controller 30 proceeds to step S112.

In step S112, the travel command output part 3022 outputs the travel commands for the left and right crawlers 1C generated in step S106 or step S110 to the hydraulic control valves 31A and 31B corresponding to the left and right crawlers 1C, respectively.

When the processing of step S112 is completed, the controller 30 ends the flowchart processing.

Second Example of Control Processing Related to Travel Operation of Lower Traveling Body

A second example of control processing related to the travel operation of the lower traveling body 1 will be described with reference to FIG. 13.

FIG. 13 is a flowchart schematically illustrating a second example of the control processing related to the travel operation of the lower traveling body 1.

This flowchart is repeatedly executed, for example, at each predetermined processing cycle while the excavator 100 is in operation.

As illustrated in FIG. 13, in step S202, the operation mode switching part 301 determines whether or not the current operation mode of the lower traveling body 1 is the single pedal mode. When the current operation mode of the lower traveling body 1 is not the single pedal mode (i.e., the normal travel mode), the operation mode switching part 301 proceeds to step S204, and when the current operation mode is the single pedal mode, the operation mode switching part 301 proceeds to step S212.

Since step S204 is the same as step S104 of FIG. 12, the description thereof is omitted.

When the processing of step S204 is completed, the controller 30 proceeds to step S206.

In step S206, the travel command output part 3021 determines whether or not the operator is operating only the right pedal 26C2 of the left and right pedals 26C1 and 26C2, based on the operation signal acquired in step S204. When the operator is operating only the right pedal 26C2, the travel command output part 3021 proceeds to step S208; otherwise (i.e., when both the left and right pedals 26C1 and 26C2 are operated), the process proceeds to step S210.

In step S208, the travel command output part 3021 determines whether an increase rate of the operation amount of the right-side pedal 26C2 during a most recent predetermined period is equal to or greater than a predetermined threshold Th1. The most recent predetermined period is, for example, the interval between the previous processing cycle and the current processing cycle. The threshold Th1 corresponds, for example, to a lower-limit value of the increase rate associated with a state in which the pedal 26C2 is depressed to a relatively large extent (e.g., fully depressed). When the increase rate in the operation amount of the pedal 26C2 during the most recent predetermined period is less than the predetermined threshold Th1, the travel command output part 3021 proceeds to step S210. When the rate is equal to or greater than the predetermined threshold Th1, the travel command output part 3021 ends the processing of the present flowchart without outputting a travel command.

For example, although the current operation mode of the lower traveling body 1 is the normal travel mode, there is a possibility that the operator misunderstands that it is in the single pedal mode and abruptly depresses the right pedal 26C2 as the main pedal. In this case, since the lower traveling body 1 is in the normal travel mode, only the right crawler 1C starts to travel abruptly, and as a result, there is a possibility that the excavator 100 makes a pivot turn against the intention of the operator.

According to the processing of steps S206 and S208, it is possible to prevent the lower traveling body 1 from traveling even when the right pedal 26C2 is abruptly depressed in the normal travel mode. Therefore, it is possible to suppress the occurrence of an unintended operation of the excavator 100 caused by the operator’s misunderstanding regarding the operation mode of the lower traveling body 1. Accordingly, it is possible to achieve both improved operability for the operator through the adoption of the single pedal mode and enhanced safety of the excavator 100.

Alternatively, in step S208, when the travel command output part 3021 determines that the increase rate in the operation amount of the right pedal 26C2 over the most recent predetermined time is equal to or greater than the threshold Th1, the processing may be changed such that, after generating a travel command for preventing the left and right crawlers 1C from operating, the process proceeds to step S216. Further, in step S208, when the increase rate in the operation amount of the right pedal 26C2 over the most recent predetermined time is equal to or greater than the threshold Th1, the controller 30 may, together with terminating the processing of the present flowchart, cause the display device 50 to display a notification screen indicating that the operation of the lower traveling body 1 is being restricted (see FIG. 14). Accordingly, a person such as the operator can recognize that the operation of the lower traveling body 1 is restricted due to an erroneous operation of the pedals 26C1 and 26C2.

The steps S210, S212, S214, and S216 are the same as the processing in steps S106, S108, S110, and S112, and therefore the description thereof is omitted.

Notification Screen for Operation Limitation of Lower Traveling Body in Normal Traveling Mode

With reference to FIG. 14, a notification screen (screen 41) for the operation limitation of the lower traveling body 1 in the normal traveling mode, which is displayed on the display device 50, will be described.

In the present example, the same reference numerals are assigned to components that are the same as or correspond to those of the first to fourth examples (FIGS. 6 to 9) of the screens of the display device 50 described above, and description will be mainly given of portions different from the first to fourth examples, while description of the same or corresponding portions may be omitted.

Note that a screen having the same content as screen 41 of the present example (FIG. 14) may be displayed on a display device for remote operation of the remote operation support device 150 or on a monitoring display device of a remote monitoring support device.

FIG. 14 is a diagram illustrating a seventh example of the screen of the display device 50. Specifically, FIG. 14 illustrates an example of a notification screen (screen 41) displayed on the display device 50 to notify a limitation of the operation of the lower traveling body 1 in the normal travel mode.

As illustrated in FIG. 14, in the present example, screen 41 differs from the screens of the first to fourth examples in that it includes a pop-up image 41v. In other respects, screen 41 of the present example may be the same as that of the third example (FIG. 8).

The pop-up image 41v indicates that the operation of the lower traveling body 1 is being limited. For example, when it is determined in step S208 of FIG. 13 that the increase rate of the operation amount of the pedal 26C2 over the most recent predetermined time is equal to or greater than the threshold Th1, the pop-up image 41v is displayed under the control of the controller 30 so as to be superimposed on other display contents in display areas 41D and 41E of screen 41 (e.g., screen 41 of FIG. 8).

The pop-up image 41v includes text information 41v1 and 41v2, image information 41v3, and a display end icon 41v4.

The text information 41v1 is text information indicating that the operation of the lower traveling body 1 in the normal travel mode is being limited. In the present example, the text information 41v1 includes an explanatory message stating: “Travel misoperation prevention lock is active”.

The text information 41v2 is text information describing the currently selected travel mode of the lower traveling body 1, that is, the normal travel mode. Specifically, for example, the text information 41v2 includes an explanatory sentence describing the relationship between the operations of the pedals 26C1 and 26C2 and the operation of the lower traveling body 1 in the normal travel mode. In the present example, the text information 41v2 displays “The current travel mode is Normal. The left and right crawlers can be independently operated by the left and right pedals.”

The image information 41v3 is image information describing the currently selected travel mode of the lower traveling body 1, that is, the normal travel mode. Specifically, for example, the image information 41v3 displays a schematic diagram representing the relationship between the operations of the pedals 26C1 and 26C2 and the operation of the lower traveling body 1 in the normal travel mode.

The display end icon 41v4 is an icon operable through the input device 52. Specifically, the display end icon 41v4 is an icon to be operated to end the display of the pop-up image 41v. Accordingly, after confirming the content of the pop-up image 41v, the operator can end the display of the pop-up image 41v by operating the display end icon 41v4 through the input device 52.

Note that, while the operation of the lower traveling body 1 continues to be limited (specifically, while the determination condition in step S208 of FIG. 13 continues to be satisfied), the pop-up image 41v may be continuously displayed unless the display end icon 41v4 is operated, or may be displayed only for a predetermined time (e.g., several seconds) after the operation limitation starts and then disappear.

As described above, in the present example, the controller 30 can notify a person such as the operator of the implementation of the limitation of the operation of the lower traveling body 1 in the normal travel mode through the display device 50 in association with the implementation of the operation limitation.

Third Example of Control Processing Related to Traveling Operation of Lower Traveling Body

With reference to FIG. 15, a third example of control processing related to the travel operation of the lower traveling body 1 will be described.

FIG. 15 is a flowchart schematically illustrating the third example of control processing related to the travel operation of the lower traveling body 1.

This flowchart is repeatedly executed, for example, at each predetermined processing cycle while the excavator 100 is in operation.

As illustrated in FIG. 15, in step S402, an operation mode switching part 301 determines whether or not the current operation mode of the lower traveling body 1 is a single pedal mode. When the current operation mode of the lower traveling body 1 is not the single pedal mode, the operation mode switching part 301 proceeds to step S404, and when the current operation mode is the single pedal mode, the operation mode switching part 301 proceeds to step S408.

Steps S404 and S406 are the same as the processing of steps S104 and S106 in FIG. 12, and therefore description thereof will be omitted.

When the processing of step S406 is completed, the controller 30 ends the processing of this flowchart.

Step S408 is the same as the processing of step S108 in FIG. 12, and therefore description thereof will be omitted.

When the processing of step S408 is completed, the controller 30 proceeds to step S410.

In step S410, a travel command output part 3021 determines whether or not both the pedal 26C1 and the pedal 26C2 are being operated. When both the pedal 26C1 and the pedal 26C2 are being operated, the travel command output part 3021 proceeds to step S412, and otherwise proceeds to step S414.

In step S412, the travel command output part 3021 determines whether or not an increase rate of the operation amounts of the pedals 26C1 and 26C2 during a most recent predetermined period is equal to or greater than a predetermined threshold Th2. The most recent predetermined period is, for example, a time period between the previous processing cycle and the current processing cycle. The threshold Th2 corresponds, for example, to a lower limit value of the increase rate corresponding to a state in which the pedals 26C1 and 26C2 are depressed relatively deeply (e.g., a fully-depressed state).

Specifically, for example, the travel command output part 3021 determines whether or not the increase rates of the operation amounts of both the pedals 26C1 and 26C2 during the most recent predetermined period are equal to or greater than the threshold Th2. The travel command output part 3021 may also determine whether or not the increase rate of the operation amount of at least one of the pedals 26C1 and 26C2 during the most recent predetermined period is equal to or greater than the threshold Th2. When the determination condition is not satisfied, the travel command output part 3021 proceeds to step S414, and when the determination condition is satisfied, the travel command output part 3021 ends the processing of this flowchart without outputting a travel command.

For example, even though the current operation mode of the lower traveling body 1 is the single pedal mode, an operator may mistakenly believe that the mode is the normal traveling mode and may rapidly depress both the pedals 26C1 and 26C2 while operating both pedals. In such a case, for example, in a single pedal mode in which the traveling direction of the lower traveling body 1 is adjusted by operating a sub-pedal among the pedals 26C1 and 26C2, the excavator 100 may largely change the traveling direction of the lower traveling body 1 in accordance with the operation of the sub-pedal, and as a result, may perform a pivot turn against the operator’s intention.

In contrast, according to the processing of steps S410 and S412, even when the pedals 26C1 and 26C2 are rapidly depressed in the single pedal mode, the lower traveling body 1 can be prevented from traveling. Therefore, it is possible to suppress occurrence of an unintended operation of the excavator 100 caused by the operator’s misunderstanding of the operation mode of the lower traveling body 1. Accordingly, it is possible to achieve both improvement of operability for the operator by adoption of the single pedal mode and improvement of safety of the excavator 100.

In step S412, when the increase rates of the operation amounts of the pedals 26C1 and 26C2 during the most recent predetermined period are equal to or greater than the threshold Th2, the travel command output part 3021 may generate a travel command for preventing the left and right crawlers 1C from operating and then proceed to step S414. Alternatively, in step S412, when the increase rates of the operation amounts of the pedals 26C1 and 26C2 during the most recent predetermined period are equal to or greater than the threshold Th2, the controller 30 may display, on the display device 50, a notification screen indicating that the operation of the lower traveling body 1 is being limited, in addition to terminating the processing of this flowchart (see FIG. 16). Accordingly, an operator or the like can recognize that the operation of the lower traveling body 1 is being limited due to erroneous operation of the pedals 26C1 and 26C2.

Steps S414 and S416 are the same as the processing of steps S110 and S112 in FIG. 12, and therefore description thereof will be omitted.

When the processing of step S416 is completed, the controller 30 ends the processing of this flowchart.

Notification Screen for Operation Limitation of Lower Traveling Body in Single pedal mode

With reference to FIG. 16, a notification screen (screen 41) for the operation limitation of the lower traveling body 1 in the single pedal mode, which is displayed on the display device 50, will be described.

In this example, the same reference signs are given to the same or corresponding components as those in the first to fourth examples (FIGS. 6 to 9) of the screen of the display device 50 described above, and description will be mainly given to parts different from those of the first to fourth examples, and description of the same or corresponding parts as those of the first to fourth examples may be omitted.

The same content as that of the screen 41 of this example (FIG. 16) may be displayed on a display device for remote operation of the remote operation support device 150 or on a display device for monitoring of a remote monitoring support device.

FIG. 16 is a diagram illustrating an eighth example of the screen of the display device 50. Specifically, FIG. 16 is a diagram illustrating an example of a notification screen (screen 41) for the operation limitation of the lower traveling body 1 in the single pedal mode displayed on the display device 50.

As illustrated in FIG. 16, in this example, the screen 41 differs from the screens of the first to fourth examples in that the screen 41 includes a pop-up image 41w. In this example, the screen 41 may be the same as the fourth example (FIG. 9) in other respects.

The pop-up image 41w indicates that the operation of the lower traveling body 1 is being limited. For example, when it is determined in step S412 of FIG. 15 that the increase rate of the operation amount of the pedal 26C2 during the most recent predetermined period is equal to or greater than the threshold Th2, the pop-up image 41w is displayed, under the control of the controller 30, in a manner superimposed on other display contents in the display areas 41D and 41E of the screen 41 (e.g., the screen 41 of FIG. 9 described above).

The pop-up image 41w includes text information 41w1 and 41w2, image information 41w3, and a display termination icon 41w4.

The text information 41w1 is text information indicating that the operation limitation of the lower traveling body 1 in the single pedal mode is being performed. In this example, the text information 41w1 includes a message “Travel misoperation prevention lock is active.”

The text information 41w2 is text information explaining the currently selected operation mode of the lower traveling body 1, that is, the single pedal mode. Specifically, for example, the text information 41w2 includes a description explaining a relationship between the operation of the pedals 26C1 and 26C2 and the operation of the lower traveling body 1 in the single pedal mode. In this example, the text information 41w2 displays “The current traveling mode is SPM. Straight travel is performed by operating the right pedal, and turning is performed by operating the left pedal.”

The image information 41w3 is image information explaining the currently selected operation mode of the lower traveling body 1, that is, the single pedal mode. Specifically, for example, the image information 41w3 displays a schematic diagram illustrating a relationship between the operation of the pedals 26C1 and 26C2 and the operation of the lower traveling body 1 in the single pedal mode.

The display termination icon 41w4 is an icon operable through the input device 52. Specifically, the display termination icon 41w4 is an icon for terminating the display of the pop-up image 41w. Accordingly, after confirming the content of the pop-up image 41w, the operator can terminate the display of the pop-up image 41w by operating the display termination icon 41w4 through the input device 52.

The pop-up image 41w may be continuously displayed as long as the operation limitation of the lower traveling body 1 is continued (specifically, as long as a state in which the determination condition of step S412 of FIG. 15 is satisfied continues) unless the display termination icon 41w4 is operated, or may be displayed only for a predetermined time (e.g., several seconds) after the operation limitation of the lower traveling body 1 is started and then terminated.

As described above, in this example, the controller 30 can notify an operator or the like, through the display device 50, that the operation limitation of the lower traveling body 1 in the single pedal mode is being performed, in conjunction with execution of the operation limitation of the lower traveling body 1 in the single pedal mode.

Other Examples of Processing Related to Traveling Operation of Lower Traveling Body

Other examples of processing related to the travel operation of the lower traveling body 1 will be described.

Appropriate modifications and changes may be made to the first to third examples of processing related to the travel operation of the lower traveling body 1.

For example, the second example (FIG. 12) and the third example (FIG. 13) of the processing related to the travel operation of the lower traveling body 1 described above may be combined. Specifically, for example, processing similar to that of steps S410 and S412 of FIG. 15 may be added between step S214 and step S216 of FIG. 13.

Operation Mode Switching Process of the Lower Traveling Body

The operation mode switching process of the lower traveling body 1 will be described with reference to FIG. 17.

FIG. 17 is a flowchart schematically illustrating an example of the operation mode switching process of the lower traveling body 1.

This flowchart is repeatedly executed, for example, at each predetermined processing cycle while the excavator 100 is in operation.

As illustrated in FIG. 17, in step S302, the operation mode switching part 301 determines whether or not an input for switching the operation mode (switching input) has been received through the input device 52A. If the switching input has been received, the operation mode switching part 301 proceeds to step S304, and if the switching input has not been received, the process of this flowchart is terminated.

In step S304, the operation mode switching part 301 acquires operation signals of the operation sensors 26C1s and 26C2s corresponding to the latest left and right pedals 26C1 and 26C2.

When the processing of step S304 is completed, the controller 30 proceeds to step S306.

In step S306, the operation mode switching part 301 determines whether or not the lower traveling body 1 is being operated. For example, when the current operation mode of the lower traveling body 1 is the normal travel mode, the operation mode switching part 301 determines whether or not the lower traveling body 1 is being operated based on operation signals of both the operation sensors 26C1s and 26C2s. Further, for example, when the current operation mode of the lower traveling body 1 is the single pedal mode, the operation mode switching part 301 determines whether or not the lower traveling body 1 is being operated based on operation signals of only the operation sensor 26C2s from among the operation sensors 26C1s and 26C2s. When the lower traveling body 1 is not being operated, the operation mode switching part 301 proceeds to step S308, and when the lower traveling body 1 is being operated, the process of the current flowchart is terminated without switching the operation mode of the lower traveling body 1.

Thus, the controller 30 can prevent the operation mode of the lower traveling body 1 from being changed while the lower traveling body 1 is being operated. Therefore, the controller 30 can secure the safety of the excavator 100 while improving the operability of the lower traveling body 1 by adding the single pedal mode, for example.

In step S306, the operation mode switching part 301 may determine whether or not the lower traveling body 1 is traveling, for example.

In step S308, the operation mode switching part 301 switches the operation mode of the lower traveling body 1 according to the input content received by the input device 52.

When the processing of step S308 is completed, the controller 30 ends the processing of the present flowchart.

Second Example of Functional Configuration Related to Travel Operation of Lower Traveling Body

With reference to FIG. 18, a second example of a functional configuration related to the travel operation of the lower traveling body 1 will be described.

Hereinafter, the same or corresponding components as those of the above-described first example (FIG. 4) are denoted by the same reference signs, and description will focus on portions different from the first example, while description of the same or corresponding portions may be omitted.

FIG. 18 is a diagram illustrating the second example of the functional configuration related to the travel operation of the lower traveling body 1.

As illustrated in FIG. 18, the excavator 100 according to this example differs from the above example in that, as functional parts related to the travel operation of the lower traveling body 1, the excavator 100 further includes a storage part 304, a user determination part 305, a notification part 306, and a setting part 307.

The storage part 304 stores information and data related to various setting items of the excavator 100, including the operation mode of the lower traveling body 1.

For example, the storage part 304 stores, in association with each other by record data or the like, users who are registered in advance as operators of the excavator 100 and unique setting information corresponding to each user. The unique setting information corresponding to each user includes, for example, an operation mode of the lower traveling body 1 that the user uses as an initial setting state among a plurality of operation modes of the lower traveling body 1.

The operation mode of the lower traveling body 1 that the user uses as the initial setting state is, for example, the operation mode of the lower traveling body 1 that was in use when the user last used the excavator 100 as an operator at the end of use of the excavator 100. The end of use of the excavator 100 includes, for example, when the excavator 100 is stopped. The end of use of the excavator 100 also includes, for example, when a predetermined time (e.g., several minutes) has elapsed after the operation state of the gate lever 23 has transitioned from an operable state of the excavator 100 to a non-operable state while the excavator 100 is not stopped. This is because, when the gate lever 23 remains in the non-operable state for a relatively long time, the operator may exit the excavator 100 from the cabin 10 and be replaced by another operator.

The stop of the excavator 100 means that the excavator 100 transitions from a state in which driven elements can be operated to a state in which the driven elements cannot be operated. The state in which the driven elements can be operated includes a state in which a prime mover serving as a driven element of the excavator 100 is stopped but the controller 30 for controlling the excavator 100 is activated. This is because the prime mover can be started under control of the controller 30. The stop of the excavator 100 is realized, for example, by turning off a key switch operable with a physical key inserted into a key cylinder, or by turning off a push-button key switch (also referred to as a “start button”) provided in the cabin 10 and operable on the premise of authentication through wireless communication with a predetermined terminal (e.g., a physical authentication key or a mobile terminal in which an authentication application is installed).

The user determination part 305 determines a user who uses the excavator 100 as an operator in accordance with a timing at which the operator starts an operation.

The timing at which the operation of the excavator 100 starts includes, for example, when the excavator 100 is activated. The timing at which the operation of the excavator 100 starts also includes, for example, when the operation state of the gate lever 23 returns to the operable state after a predetermined time (e.g., several minutes) has elapsed since the operation state transitioned from the operable state to the non-operable state while the excavator 100 is not stopped. This is because, when the gate lever 23 returns to the operable state after remaining in the non-operable state for a relatively long time, the operator in the cabin 10 may have been replaced by another user.

Activation of the excavator 100 means that the excavator 100 transitions from a state in which the driven elements cannot be operated to a state in which the driven elements can be operated. Activation of the excavator 100 is realized, for example, by turning on a key switch operable by inserting a physical key into a key cylinder, or by turning on a push-button key switch (start button) provided in the cabin 10 and operable on the premise of authentication through wireless communication with a predetermined terminal (e.g., a physical authentication key or a mobile terminal in which an authentication application is installed).

For example, the user determination part 305 causes the display device 50 to display a user determination screen (hereinafter, “user authentication screen”), and causes a user to operate the screen via the input device 52, thereby allowing the operator to select a user corresponding to an operator from among a plurality of users registered in advance.

The user determination part 305 may determine a user corresponding to the current operator from among the plurality of users registered in advance by applying known image recognition technology or the like based on captured images obtained by an imaging device installed inside the cabin 10 and having the operator’s seat 70 within its imaging range. based on images captured by an imaging device installed inside the cabin 10 that includes the operator’s seat 70 in its imaging range,

The user determination part 305 may also determine a user corresponding to the current operator from among the registered users by applying biometric authentication technology (e.g., fingerprint authentication, iris authentication).

In response to determination, by the user determination part 305, of a user who uses the excavator 100 as an operator, the notification part 306 notifies the operator of various pieces of initial setting information that are in an initial state and are pre-registered in association with a target user corresponding to the operator. Specifically, for example, in response to the determination by the user determination part 305, the notification part 306 causes the display device 50 to display a screen for confirming various pieces of initial setting information in the initial state that are pre-registered in association with the user corresponding to the operator (hereinafter, referred to as a “setting confirmation screen”) (see FIG. 19).

Accordingly, the operator can confirm the initial setting information and, when a change is necessary, can perform a setting change by operating a setting screen displayed on the display device 50 via the input device 52. The setting part 307 performs settings of various setting items related to the excavator 100 in the controller 30. The setting part 307 includes an operation mode switching part 301 for switching the operation mode of the lower traveling body 1.

Setting Confirmation Screen of Initial State at Start of Operator Operation

With reference to FIG. 19, an example of the setting confirmation screen displayed on the display device 50 in response to determination of the user who uses the excavator 100 as an operator by the user determination part 305 will be described.

FIG. 19 is a diagram illustrating a ninth example of a screen of the display device 50. Specifically, FIG. 19 is a diagram illustrating an example of the setting confirmation screen (screen 48) displayed on the display device 50.

For example, as illustrated in FIG. 19, the setting confirmation screen (screen 48) is configured by superimposing a pop-up image 48a on a standard screen (e.g., screen 41 illustrated in FIGS. 6 to 9). In this example, the pop-up image 48a is displayed so as to be superimposed over a vertical range extending across display areas 41B to 41D of screen 41 in FIG. 6, which serves as the standard screen.

The pop-up image 48a includes explanation information 48a1, user information 48a2, and setting information 48a3 to 48a6.

The explanation information 48a1 is information explaining the setting confirmation screen.

For example, the explanation information 48a1 includes explanatory text prompting the operator to confirm the setting information 48a3 to 48a6 (“Check settings”). The explanation information 48a1 also includes explanatory text indicating a procedure after confirmation of the setting information, for example, text prompting the operator to press the start button after confirmation (“then press the start button.”).

The user information 48a2 is an image representing a user determined by the user determination part 305 as an operator who uses the excavator 100 from among the plurality of users registered in advance.

For example, the user information 48a2 includes the name or a commonly used abbreviated name (account name) of the user determined as a user who uses the excavator 100.

The image corresponding to the user information 48a2 may be operable via the input device 52. For example, when the image corresponding to the user information 48a2 is operated via the input device 52, the controller 30 (specifically, the setting part 307) causes the content displayed on the display device 50 to transition from screen 48 to a screen for changing the operator who actually uses the excavator 100 from among the plurality of users and performing user authentication (e.g., the user authentication screen). Accordingly, the operator can change the user who uses the excavator 100 to a user corresponding to the operator by operating screen 48. In this case, when the user authentication is completed, the content displayed on the display device 50 returns to screen 48 under control of the controller 30 (specifically, the setting part 307), and the contents of the setting information 48a3 to 48a6 are changed to those corresponding to the changed user.

The setting information 48a3 includes information indicating a current setting state of driven elements or hydraulic actuators HA assigned to respective vertical and horizontal operations of the lever device 26A and respective vertical and horizontal operations of the lever device 26B. The setting information 48a3 also includes information indicating setting states of operation directions of the driven elements or the hydraulic actuators HA corresponding to respective operation directions in the vertical direction or the horizontal direction defined by two directions.

For example, the setting information 48a3 includes a name indicating that the information is setting information related to the lever devices 26A and 26B (in this example, “Lever”), a name indicating the current setting state (in this example, “Pattern A”), and image information indicating the current setting state. In this example, the image information indicating the current setting state includes cross-shaped arrows representing respective vertical and horizontal operations of the lever device 26A on the left side and cross-shaped arrows representing respective vertical and horizontal operations of the lever device 26B on the right side. In the image information indicating the current setting state, images simulating the driven elements to be operated are added to the left and right cross-shaped arrows, thereby illustrating the current setting state of the driven elements assigned to the respective vertical and horizontal operations of the lever device 26A and the respective vertical and horizontal operations of the lever device 26B. In addition, the image information indicating the current setting state illustrates the current setting state of operation directions of the driven elements or the hydraulic actuators HA corresponding to respective operation directions in the vertical direction or the horizontal direction defined by two directions.

The setting information 48a4 is information indicating the current setting state of the operation mode of the lower traveling body 1.

For example, the setting information 48a4 includes a name indicating that the information is setting information related to the operation mode of the lower traveling body 1 (in this example, “Travel”), a name, commonly used name, or abbreviated name of the current operation mode of the lower traveling body 1 (in this example, “Single Pedal Mode”), and image information and text information indicating a relationship between operations of the pedals 26C1 and 26C2 and operation contents of the lower traveling body 1.

The setting information 48a5 is information indicating a setting state of a type of a work tool (end attachment) currently attached to a distal end of the arm 5 of the attachment AT.

The setting information 48a5 includes a name indicating that the information is setting information related to the work tool (in this example, “Work Tool”) and information indicating a name, abbreviated name, commonly used name, model number, or the like of the work tool currently attached to the distal end of the arm 5.

The setting information 48a6 includes information indicating a setting state of a language used in various screens displayed on the display device 50.

For example, the setting information 48a6 includes a name indicating that the information is a setting related to a language used in various screens of the display device 50 (in this example, “Language”) and a type of a currently set language (in this example, “English”).

By screen 48 being displayed on the display device 50, the operator can confirm current setting states of various setting items, that is, initial setting states. The operator may be able to change the various setting items from the initial setting states via screen 48. For example, by selecting and operating (e.g., touching a touch panel) a display area of the setting information 48a4 in the pop-up image 48a of screen 48, the content displayed on the display device 50 transitions from screen 48 to the above-described setting screen (screen 46) of FIG. 10. Accordingly, the operator can change the operation mode of the lower traveling body 1 from the initial setting state. Similarly, the operator may be able to change the setting items corresponding to the setting information 48a3, 48a5, and 48a6 from the initial setting states in the same manner.

Example of Processing for Determining a User

With reference to FIG. 20, an example of processing for determining a user who uses the excavator 100 as an operator will be described.

FIG. 20 is a flowchart schematically illustrating an example of the processing for determining a user who uses the excavator 100 as an operator.

This flowchart is executed, for example, at a timing when an operator starts operating the excavator 100.

As illustrated in FIG. 20, in step S502, a user determination part 305 causes the display device 50 to display a predetermined user authentication screen.

When the processing of step S502 is completed, the controller 30 proceeds to step S504.

In step S504, the user determination part 305 executes user determination processing for determining a user who uses the excavator 100 as an operator, in accordance with operation inputs on the user authentication screen that are received from the operator through the input device 52.

For example, on the user authentication screen, under control of the controller 30, an account name of a previous user who used the excavator 100 as an operator, and a password input field are illustrated. When the current operator is the same user as the previous operator, the operator inputs a valid password into the password input field through the input device 52. Accordingly, the user determination part 305 can determine the user who uses the excavator 100 as an operator. On the other hand, when the current operator is a different user from the previous operator, the operator operates, through the input device 52, an operation target (icon) included in the user authentication screen for changing a user (account name) displayed on the authentication screen. Accordingly, a list or another screen for selecting another user (account name) is displayed on the display device 50 under control of the controller 30. Therefore, the current operator can change the account name displayed on the user authentication screen to one corresponding to the operator, and thereafter input a valid password into the password input field through the input device 52. Accordingly, the user determination part 305 can determine the user who uses the excavator 100 as an operator. Further, on the user authentication screen, a user may be determined by a method other than password authentication (e.g., biometric authentication) under control of the controller 30 (setting part 307).

When the processing of step S504 is completed, the controller 30 proceeds to step S506.

In step S506, a notification part 306 causes the display device 50 to display a setting confirmation screen (e.g., screen 48 in FIG. 19).

When the processing of step S506 is completed, the controller 30 proceeds to step S508.

In step S508, the setting part 307 executes setting determination processing for determining setting states of various setting items, in accordance with operation inputs received from the operator through the input device 52 on the setting confirmation screen and various setting screens to which the setting confirmation screen transitions.

When the processing of step S508 is completed, the controller 30 proceeds to step S510.

In step S510, the controller 30 causes the display device 50 to display a standard screen (e.g., screen 41 in FIGS. 6 to 9).

When the processing of step S510 is completed, the controller 30 ends the processing of this flowchart.

Another Example of Processing Related to Determination of User

Another example of processing related to determination of a user who uses the excavator 100 as an operator will be described.

In the above-described example (FIG. 20), modifications or changes may be made as appropriate.

For example, steps S502 and S504 in FIG. 20 may be omitted. This is because, for example, on the setting confirmation screen (screen 48) in FIG. 19, the operator can change the user by operating user information 48a2 via the input device 52.

Further, steps S502 and S504 in FIG. 20 may be omitted only in specific cases among assumed timings at which the operator starts an operation. For example, when the operation state of the gate lever 23 remains in a non-operable state of the excavator 100 for a relatively long time and then returns to an operable state, the processing of steps S502 and S504 in FIG. 20 is omitted. This is because there is a possibility that the operator has not changed. Accordingly, it is possible to eliminate the inconvenience felt by the operator due to repeated user authentication operations.

Another Example of Configuration of Excavator

Another example of the configuration of the excavator 100 will be described with reference to FIG. 21.

Hereinafter, components that are the same as or correspond to those in the above-described example of the configuration of the excavator 100 (FIG. 2) are denoted by the same reference numerals, and description will focus on differences from the above-described example, while description of the same or corresponding components may be omitted.

FIG. 21 is a diagram illustrating another example of the configuration of the excavator 100.

As illustrated in FIG. 21, the excavator 100 according to this example differs from the above-described example (FIG. 2) in that the excavator 100 includes a sound output device 54 and a lighting device 56 as components of a user interface system.

The sound output device 54 is capable of outputting sound toward the surroundings around the excavator 100. The sound output device 54 is provided, for example, outside the cabin 10 of the upper swing body 3. Alternatively, the sound output device 54 may be provided inside the cabin 10 as long as sound can be output toward the surroundings around the excavator 100.

For example, the sound output device 54 includes a travel alarm for outputting a predetermined sound toward the surroundings around the excavator 100 during travel operation by the lower traveling body 1 of the excavator 100. The sound output device 54 may also include a speaker for outputting sound toward the surroundings around the excavator 100.

The lighting device (also referred to as a “lamp device”) 56 is capable of illuminating the surroundings around the excavator 100.

For example, the lighting device 56 is provided outside the cabin 10 of the upper swing body 3. Specifically, for example, the lighting device 56 includes a work light that illuminates the front of the upper swing body 3. The lighting device 56 may also include lamps that illuminate the left side, right side, and rear of the upper swing body 3. Further, the lighting device 56 may be provided inside the cabin 10 as long as it is capable of illuminating the surroundings around the excavator 100.

Further Third Example of Functional Configuration Related to Travel Operation of Lower Traveling Body

With reference to FIG. 22, a third example of a functional configuration related to the travel operation of the lower traveling body 1 will be described.

Hereinafter, the same or corresponding components as those in the above-described first example (FIG. 4) and second example (FIG. 18) are denoted by the same reference numerals, and description will be focused mainly on differences from the first and second examples, and description of the same or corresponding parts may be omitted.

FIG. 22 illustrates a third example of the functional configuration related to the travel operation of the lower traveling body 1.

As illustrated in FIG. 22, the excavator 100 according to the present example differs from the above-described example in that, as functional parts related to the travel operation of the lower traveling body 1, it further includes an auto-cruise control part 308 and a notification part 309.

The auto-cruise control part 308 performs control related to an auto-cruise function (CC: Cruise Control) in a state where the operation mode of the lower traveling body 1 is set to the single pedal mode.

The auto-cruise function is a function for causing the lower traveling body 1 to travel regardless of the current operation of the pedals 26C1 and 26C2 when the operation mode of the lower traveling body 1 is set to the single pedal mode.

For example, the auto-cruise function may be a function for causing the lower traveling body 1 to travel in accordance with the operation state of the pedal 26C2 (i.e., the main pedal) at a predetermined past time, regardless of the current operation state of the pedals 26C1 and 26C2. Alternatively, the auto-cruise function may be a function for causing the lower traveling body 1 to travel so as to reproduce the travel state of the lower traveling body 1 at a predetermined past time, regardless of the current operation state of the pedals 26C1 and 26C2. The travel state of the lower traveling body 1 includes, for example, a travel speed and a travel direction state. Alternatively, the auto-cruise function may be a function for causing the lower traveling body 1 to travel in accordance with a preset operation state, regardless of the current operation state of the pedals 26C1 and 26C2. Alternatively, the auto-cruise function may be a function for causing the lower traveling body 1 to travel so as to reach a preset travel state, regardless of the current operation state of the pedals 26C1 and 26C2.

For example, when a predetermined condition for activating the auto-cruise function (hereinafter referred to as “CC-on condition”) is satisfied, the auto-cruise control part 308 maintains the lower traveling body 1 in a state of straight travel based on the operation state of the pedal 26C2 (i.e., the main pedal) at that time. Accordingly, by using the auto-cruise function, the operator can cause the lower traveling body 1 to travel straight in a desired state without operating the pedals 26C1 and 26C2. The auto-cruise control part 308 may also maintain the lower traveling body 1 in a travel state based on the operation state of the pedal 26C2 and the state of an adjustment input (e.g., the operation state of the pedal 26C1 serving as a sub-pedal) at the time when the CC-on condition is satisfied. Further, the auto-cruise control part 308 may maintain the lower traveling body 1 in the travel state of the lower traveling body 1 at the time when the CC-on condition is satisfied. Accordingly, by using the auto-cruise function, the operator can cause the lower traveling body 1 to travel straight or turn in a desired state without operating the pedals 26C1 and 26C2.

The CC-on condition is, for example, that a predetermined input for activating the auto-cruise function is received through the input device 52. The predetermined input for activating the auto-cruise function may be received through a dedicated mechanical input device such as a switch serving as the input device 52. The predetermined input may also be received through a knob switch serving as the input device 52 provided on the lever devices 26A and 26B. The predetermined input may also be an operation input through a touch panel on a setting screen displayed on the display device 50. The predetermined input may also be a voice input of a specific phrase, or an input of a specific gesture or hand sign. Further, the CC-on condition may be that the operation states of the pedals 26C1 and 26C2 remain within a predetermined small fluctuation range (i.e., a state that can be regarded as being substantially constant) for a predetermined time or longer, or continue beyond a predetermined time. When there are a plurality of CC-on conditions, the auto-cruise control part 308 may activate the auto-cruise function when at least one of the plurality of CC-on conditions is satisfied while the operation mode of the lower traveling body 1 is set to the single pedal mode.

Further, when predetermined conditions for canceling the auto-cruise function (hereinafter referred to as “CC-off conditions”) are satisfied while the auto-cruise function is in operation, the auto-cruise control part 308 cancels (i.e., turns off) the auto-cruise function.

The CC-off conditions include, for example, that the pedals 26C1 and 26C2 are operated while the auto-cruise function is in operation. Specifically, for example, when the operation states of the pedals 26C1 and 26C2 deviate relatively greatly from the operation states corresponding to the auto-cruise function (e.g., when a difference between an actual operation amount and an operation amount corresponding to the auto-cruise function is equal to or greater than a threshold or exceeds the threshold), the auto-cruise control part 308 cancels the auto-cruise function. The auto-cruise control part 308 may also cancel the auto-cruise function whenever the pedals 26C1 and 26C2 are operated, regardless of the content of the operation. Further, the CC-off conditions may include that an input requesting cancellation of the auto-cruise function is received through the input device 52 while the auto-cruise function is in operation. When there are a plurality of CC-off conditions, the auto-cruise control part 308 may cancel the auto-cruise function when at least one of the plurality of CC-off conditions is satisfied while the auto-cruise function is in operation.

The auto-cruise control part 308 may notify the operator, through the display device 50 or the like, that the auto-cruise function is in operation while the auto-cruise function is active (see FIG. 24). Accordingly, for example, the controller 30 can suppress occurrence of a situation in which the operator forgets that the auto-cruise function is in operation and operates the pedals 26C1 and 26C2, thereby unintentionally canceling the auto-cruise function.

The notification part 309 provides a notification (also referred to as “alert”) related to the operation mode of the lower traveling body 1 to the surroundings around the excavator 100. For example, the notification part 309 provides the notification in an auditory manner using the sound output device 54. The notification part 309 may alternatively or additionally provide the notification in a visual manner using the lighting device 56.

The notification related to the operation mode of the lower traveling body 1 includes, for example, information representing the operation mode of the lower traveling body 1 that is currently set (i.e., currently used).

For example, a worker around the excavator 100 can check the operation states of the pedals 26C1 and 26C2 by the operator through a front window of the cabin 10. Therefore, the worker can proceed with work while predicting a travel direction of the excavator 100 based on the operation states of the pedals 26C1 and 26C2. However, even when the operation states of the pedals 26C1 and 26C2 are the same, a travel manner of the lower traveling body 1 may differ between a case where the operation mode of the lower traveling body 1 is the normal travel mode and a case where the operation mode is the single pedal mode.

In contrast, in the present example, the controller 30 can notify workers around the excavator 100 of the operation mode of the lower traveling body 1 that is currently used. Accordingly, workers around the excavator 100 can appropriately predict the travel direction of the excavator 100 from the operation states of the pedals 26C1 and 26C2 while taking into consideration the operation mode of the lower traveling body 1 that is currently used.

For example, the notification part 309 notifies persons in the vicinity the excavator 100 of the operation mode of the lower traveling body 1 that is currently used by changing sounds output from the sound output device 54 for each operation mode of the lower traveling body 1. Specifically, for example, the notification part 309 changes, for each operation mode of the lower traveling body 1, a loudness, sound pressure, pitch, tone, timbre, turning on or off of sound output, and a sound output pattern of sounds output from the sound output device 54. For example, when the sound output device 54 is a speaker, the notification part 309 changes, for each operation mode of the lower traveling body 1, contents of voice output from the sound output device 54 (speaker).

For example, the notification part 309 notifies persons in the vicinity the excavator 100 of the operation mode of the lower traveling body 1 that is currently used by changing irradiation modes of light from the lighting device 56 for each operation mode of the lower traveling body 1. Specifically, for example, the notification part 309 changes, for each operation mode of the lower traveling body 1, illuminance, color, turning on or off of lighting, and a blinking output pattern of light irradiated from the lighting device 56.

The notification related to the operation mode of the lower traveling body 1 may include, for example, a notification indicating whether the auto-cruise function is used when the operation mode of the lower traveling body 1 is the single pedal mode.

In the auto-cruise function, the pedals 26C1 and 26C2 are highly likely not to be operated. Therefore, a worker around the excavator 100 who does not recognize that the auto-cruise function is in operation may be unable to appropriately predict the travel direction of the excavator 100.

In contrast, in the present example, the controller 30 can notify workers around the excavator 100, through at least one of the sound output device 54 and the lighting device 56, whether the auto-cruise function of the excavator 100 is in operation. Accordingly, workers around the excavator 100 can appropriately predict the travel direction of the excavator 100 from the operation states of the pedals 26C1 and 26C2 while taking into consideration whether the auto-cruise function is in operation.

For example, the notification part 309 changes sounds output from the sound output device 54 depending on whether the auto-cruise function is in operation in a state where the single pedal mode is used. Specifically, for example, the notification part 309 changes, for each operation mode of the lower traveling body 1, a loudness, sound pressure, pitch, tone, timbre, and a sound output pattern of sounds output from the sound output device 54. For example, when the sound output device 54 is a speaker, the notification part 309 changes, for each operation mode of the lower traveling body 1, contents of voice output from the sound output device 54 (speaker). In this case, voice explaining the auto-cruise function itself may be output from the sound output device 54 (speaker). Accordingly, even when workers around the excavator 100 are not familiar with the auto-cruise function itself, they can appropriately predict the travel direction of the excavator 100 from the operation states of the pedals 26C1 and 26C2 after recognizing the content of the auto-cruise function.

For example, the notification part 309 varies the irradiation mode of light emitted from the lighting device 56 depending on whether the auto-cruise function is operating while the single pedal mode is being used. Specifically, for example, the notification part 309 varies the illuminance, color, lighting and extinguishing output patterns, and the like of the light emitted from the lighting device 56 depending on whether the auto-cruise function is operating while the single pedal mode is being used.

When the sound from the sound output device 54 and/or the light from the lighting device 56 can be recognized by a person such as an operator inside the cabin 10, the notification part 309 may provide notification regarding the operation mode of the lower traveling body 1 toward the surroundings around the excavator 100 through at least one of the sound output device 54 and the lighting device 56, and at the same time provide notification regarding the operation mode of the lower traveling body 1 to the operator inside the cabin 10.

Processing Related to Auto-Cruise Function

Processing related to the auto-cruise function will be described with reference to FIGS. 23A and 23B.

FIG. 23 is a flowchart schematically illustrating an example of processing related to the auto-cruise function.

Specifically, FIG. 23 includes FIGS. 23A and 23B. FIG. 23A is a flowchart schematically illustrating an example of processing that is executed at each predetermined processing cycle when the operation mode of the lower traveling body 1 is set to the single pedal mode and the auto-cruise function is off. FIG. 23B is a flowchart schematically illustrating an example of processing that is executed when the operation mode of the lower traveling body 1 is set to the single pedal mode and the auto-cruise function is on.

For example, the flowcharts of FIGS. 23A and 23B are sub-flowcharts that are executed when the determination condition of step S102 of the flowchart of FIG. 12 or the determination condition of step S202 of the flowchart of FIG. 13 is satisfied (i.e., YES). In this case, the processes of steps S108, S110, and S112 in the flowchart of FIG. 12 when the determination condition of step S102 is satisfied are omitted. Similarly, in this case, the processes of steps S212, S214, and S216 in the flowchart of FIG. 13 when the determination condition of step S202 is satisfied are omitted.

When Auto-Cruise Function is Off

As illustrated in FIG. 23A, in step S602, the auto-cruise control part 308 determines whether a CC-on condition is satisfied. When the CC-on condition is not satisfied, the auto-cruise control part 308 proceeds to step S604, and when the CC-on condition is satisfied, the auto-cruise control part 308 proceeds to step S608.

Steps S604 and S606 are the same as the processes of steps S108 and S110 of FIG. 12, and therefore description thereof is omitted.

When the processing of step S606 is completed, the controller 30 proceeds to step S612.

In step S608, the auto-cruise control part 308 holds the latest operation signal acquired from the operation sensor 26C2s corresponding to the right pedal 26C2 (i.e., the main pedal) of the left and right pedals 26C1 and 26C2 (e.g., stores the signal in a predetermined storage area of the memory device 30B). Further, the auto-cruise control part 308 may acquire a detection value representing the latest travel state of the lower traveling body 1.

When the processing of step S608 is completed, the controller 30 proceeds to step S610.

In step S610, the auto-cruise control part 308 generates travel commands for traveling of the respective left and right crawlers 1C based on the operation signal or the detection value held in step S608.

When the processing of step S610 is completed, the controller 30 proceeds to step S612.

Step S612 is the same as the processing of step S112 of FIG. 12, and therefore description thereof is omitted.

When the processing of step S612 is completed, the controller 30 ends the processing of the present flowchart.

When Auto-Cruise Function is On

As illustrated in FIG. 23B, in step S702, the auto-cruise control part 308 determines whether a CC-off condition is satisfied. When the CC-off condition is not satisfied, the auto-cruise control part 308 proceeds to step S704, and when the CC-off condition is satisfied, the auto-cruise control part 308 proceeds to step S706.

In step S704, the auto-cruise control part 308 generates travel commands for traveling of the respective left and right crawlers 1C based on the operation signal or the detection values that are being held by the processing of step S608 of FIG. 23A.

When the processing of step S704 is completed, the controller 30 proceeds to step S710.

Steps S706 and S708 are the same as steps S108 and S110 of FIG. 12, and therefore description thereof is omitted.

When the processing of step S708 is completed, the controller 30 proceeds to step S710.

Step S710 is the same as the processing of step S112 of FIG. 12, and therefore description thereof is omitted.

Notification Screen Related to Auto-Cruise Function

With reference to FIG. 24, a notification screen related to the auto-cruise function displayed on the display device 50 will be described. Specifically, a specific example of a notification screen indicating that the auto-cruise function is in operation displayed on the display device 50 will be described.

FIG. 24 is a diagram illustrating a tenth example of a screen of the display device 50. Specifically, FIG. 24 illustrates a specific example of a notification screen (screen 41) indicating that the auto-cruise function is in operation displayed on the display device 50.

As illustrated in FIG. 24, in the present example, the screen 41 differs from the screens of the above-described first to fourth examples in that the screen 41 includes a pop-up image 41x. In the present example, the screen 41 may be the same as the above-described fourth example (FIG. 9) in other respects.

The pop-up image 41x indicates that the auto-cruise function is in operation. For example, when it is determined in step S602 of FIG. 23A that a CC-on condition is satisfied, the pop-up image 41x is displayed under control of the controller 30 so as to be superimposed on other display contents in the display areas 41D and 41E of the screen 41 (e.g., the screen 41 of FIG. 9 described above).

The pop-up image 41x includes text information 41x1 and 41x2, image information 41x3, and a display-end icon 41x4.

The text information 41x1 is text information indicating that the auto-cruise function is in operation. In the present example, the text information 41x1 includes an explanatory message stating: “Auto-cruise function in operation”.

The text information 41x2 includes text information describing a method for canceling the auto-cruise function, that is, a method for returning to a normal single pedal mode state. In this example, the text information 41x2 includes an explanatory message stating: “The auto-cruise function is canceled by pedal operation. The following operations can be resumed.”

The text information 41x2 also includes text information describing a method of operating the pedals 26C1 and 26C2 after cancellation of the auto-cruise function, that is, after returning to the normal single pedal mode. Specifically, for example, the text information 41x2 includes an explanatory sentence describing a relationship between the operation of the pedals 26C1 and 26C2 and the travel operation of the lower traveling body 1. In the present example, the text information 41x2 includes an explanatory message stating: “Straight travel is performed by operating the right pedal, and turning is performed by operating the left pedal.”

The image information 41x3 is image information describing a method of operating the pedals 26C1 and 26C2 after cancellation of the auto-cruise function. Specifically, for example, the image information 41x3 includes a schematic diagram illustrating a relationship between the operation of the pedals 26C1 and 26C2 and the travel operation of the lower traveling body 1.

The display-end icon 41x4 is an icon operable via the input device 52. Specifically, the display-end icon 41x4 is an icon to be operated to end display of the pop-up image 41x. Thus, the operator can end display of the pop-up image 41x by operating the display-end icon 41x4 via the input device 52.

Even if the display end icon 41x4 is operated and the display of the pop-up image 41x is ended, as long as the auto-cruise function is in operation, another image indicating that the auto-cruise function is in operation and occupying a relatively small area (i.e., an icon image additionally displayed in the display area 41A) may continue to be displayed on the display device 50.

Thus, the controller 30 can notify the operator, via the display device 50, that the auto-cruise function is in operation.

Another Example of Functional Configuration Related to Travel Operation of Lower Traveling Body

Another example of a functional configuration related to the travel operation of the lower traveling body 1 will be described.

Modifications and changes may be made, as appropriate, to the above-described first example (FIG. 4), second example (FIG. 18), and third example (FIG. 22). Hereinafter, examples in which modifications, changes, and the like are made to the above-described first to third examples will be referred to as “modified examples” for convenience.

For example, in the third example (FIG. 22) of the functional configuration related to the traveling operation of the lower traveling body 1 described above, either of the auto-cruise control part 308 and the notification part 309 may be omitted.

Further, the above-described second example and the third example or a modified example thereof may be combined. For example, at least one of the auto-cruise control part 308 and the notification part 309 of the third example may be added to the controller 30 of the second example (FIG. 18).

Remote Operation Support System

The configuration of the remote operation support system SYS according to the present embodiment will be described with reference to FIG. 25.

FIG. 25 is a diagram illustrating an example configuration of the remote operation support system SYS.

As illustrated in FIG. 25, the remote operation support system SYS includes an excavator 100, a remote control room RC, and a management center RMC.

In this example, the excavator 100 has the same configuration as that of FIGS. 1 and 2. Therefore, the detailed configuration of the excavator 100 is omitted in FIG. 25.

The excavator 100, the remote control room RC, and the management center RMC are connected to each other such that data can be sent and received via the communication line NW. The excavator 100, the remote control room RC, and the management center RMC may be connected to each other such that data can be sent and received directly without using the communication line NW. For example, the excavator 100 transmits information on the work site to the remote control room RC. Thus, the remote operator RO in the remote control room RC can grasp the situation of the work site based on the information from the excavator 100.

As described above, the excavator 100 is provided with an imaging device 45, a distance sensor, and the like that are capable of three-dimensionally recognizing the positions and shapes of objects present at the work site. Therefore, the excavator 100 can transmit the results of three-dimensional measurement of the work site to the remote control room RC.

The excavator 100 included in the remote operation support system SYS may be one or a plurality of excavators. When a plurality of excavators 100 are included, the remote operator RO of a specific excavator 100 can acquire information about the work site obtained by one or more other excavators 100 in addition to information about the work site acquired by the specific one excavator 100.

The remote control room RC is provided with a remote operation support device 150. The remote control room RC is provided with an operator’s seat DS on which a remote operator RO who remotely controls the excavator 100 sits.

The remote operation support device 150 includes a communication device T2, a remote controller 40, an operation device 42, an operation sensor 43, a display device D1E, and input devices D2EA and D2EB.

The communication device T2 is configured to communicate with a communication device 60 attached to the excavator 100 and a communication device provided in the management center RMC.

The remote controller 40 is a control device that executes control processing related to the remote control of the excavator 100. Similar to the controller 30 of the excavator 100, for example, the remote controller 40 is configured mainly by a computer including a processor, a memory device, an auxiliary storage device, and an interface device. In this case, various functions of the remote controller 40 are implemented by a program installed in the auxiliary storage device being loaded into the memory device and executed by the processor.

The operation sensor 43 is installed to detect the operator’s input to the operation device 42. The operation sensor 43 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor 43 may also be constituted by other sensors, such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs the detected information related to the operations of the operation device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal toward the excavator 100. The operation sensor 43 may be configured to generate an operation signal. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. With this configuration, the remote operator RO can remotely operate the excavator 100 from the remote control room RC.

The operation device 42 includes lever devices 42A and 42B, and a pedal device 42C. The operation sensor 43 includes operation sensors 43A to 43C corresponding respectively to the lever device 42A, the lever device 42B, and the pedal device 42C.

The lever devices 42A and 42B have the same functions as the lever devices 26A and 26B inside the cabin 10, except that they are used for remotely operating the excavator 100. The arrangement of the lever devices 42A and 42B with respect to an operator’s seat DS is, for example, the same as the arrangement of the lever devices 26A and 26B with respect to the operator’s seat 70 inside the cabin 10.

The pedal device 42C has the same functions as the pedal device 26C inside the cabin 10, except that it is used for remote operation. The arrangement of the pedal device 42C with respect to the operator’s seat DS may be, for example, the same as the arrangement of the pedal device 26C with respect to the operator’s seat 70 inside the cabin 10, and includes a pair of left and right pedals.

The display device D1E displays various information to the remote operator RO in the operator’s seat DS. The display device D1E is, for example, a liquid crystal display or an organic EL display. Further, the display device D1E may be a display or a projector for realizing naked-eye stereoscopic vision, or may be VR (Virtual Reality) goggles or the like. Specifically, the display device D1E displays an image similar to an image displayed to the operator by the display device 50 inside the cabin 10. The display device D1E displays a surrounding image based on information transmitted from the excavator 100 such that, for example, the remote operator RO in the remote control room RC can visually recognize the surroundings around the excavator 100. Specifically, the display device D1E displays, for example, an image captured by the imaging device 45 mounted on the excavator 100. The display device D1E also displays information related to the operation mode of the lower traveling body 1.

The input devices D2EA and D2EB receive inputs from the remote operator RO. A signal (input signal) representing the input received by the input devices D2EA and D2EB is taken into the remote controller 40.

The input devices D2EA and D2EB have the same functions as the input devices 52A and 52B in the cabin 10, respectively.

In the present embodiment, with the above-described configuration, remote operation of the lower traveling body 1 is performed in accordance with the operation of the pedal device 42C by the remote operator RO inside the remote control room.

Further, in the present embodiment, for remote operation of the lower traveling body 1, a plurality of operation modes of the lower traveling body 1 are realized in accordance with operation of the pedal device 26C by the remote operator RO, similarly to the case of travel operation of the lower traveling body 1 in accordance with operation of the pedal device 26C by the operator inside the cabin 10.

Specifically, for example, the normal travel mode and the single pedal mode, which are operation modes of the lower traveling body 1, are alternatively switched in accordance with an input from the input device D2EA. In the normal travel mode, each of the travel hydraulic motors 1ML and 1MR is remotely operated in accordance with the operation of the left and right pedals of the pedal device 42C. On the other hand, in the single pedal mode, each of the travel hydraulic motors 1ML and 1MR is remotely operated in accordance with the operation of either one of the left and right pedals serving as a master pedal in the pedal device 42C. Thus, in the single pedal mode, the remote operator RO can remotely operate and travel the lower traveling body 1 by operating only the master pedal of the left and right pedals of the pedal device 42C. In the single pedal mode, at least one of the rotational speed and the rotational direction between the travel hydraulic motors 1ML and 1MR may be adjusted to be different in accordance with an adjustment input from the input device D2EB. Thus, in the single pedal mode, the remote operator RO can change the traveling direction of the lower traveling body 1 by using the input device D2EB, on the basis of assumption that the lower traveling body 1 travels by operation of the master pedal of the left and right pedals of the pedal device 42C.

Further, when the excavator 100 is remotely operated, some or all of the functions of the functional parts of the controller 30 in the first to third examples or the modifications thereof of the functional configuration related to the travel operation of the lower traveling body 1 described above, specifically, the operation mode switching part 301, the travel command output part 302, the notification part 303, the storage part 304, the user determination part 305, the notification part 306, the setting part 307, the auto-cruise control part 308, and the notification part 309, may be transferred to the remote controller 40.

The management center RMC is a facility provided with various devices for managing the excavator 100 at the work site, or the remote operation of the excavator 100 by the remote operator RO in the remote control room RC. In this example, the management center RMC is installed at a location separate from both the work site of the excavator 100 and the remote control room RC.

The management device 200 is, for example, a server device. The server device may be a so-called on-premise server, a cloud server, or an edge server. The management device 200 may also be a terminal device. The terminal device may be a stationary terminal device (i.e., a desktop PC) or a portable terminal device, that is, a mobile terminal (i.e., a laptop PC, a tablet terminal, or a smartphone).

The manager at the management center RMC can listen to sounds generated at the work site by using, for example, a sound collecting device (e.g., a microphone) attached to the excavator 100 and a sound output device (e.g., a speaker) provided at the management center RMC. Therefore, the manager at the management center RMC can check, for example, the operator’s utterances inside the cabin 10 of the excavator 100 as well as sounds around the excavator 100. The manager at the management center RMC can also listen to sounds generated in the remote control room RC by using, for example, a sound collecting device (e.g., a microphone) provided in the remote control room RC and the sound output device at the management center RMC. Therefore, the manager at the management center RMC can check, for example, the utterances of the remote operator RO in the remote control room RC. Additionally, the manager at the management center RMC can transmit the manager’s own voice to the operator inside the cabin 10 of the excavator 100 or to workers around the excavator 100 by using, for example, a sound collecting device (e.g., a microphone) provided at the management center RMC and a sound output device (e.g., a speaker) attached to the excavator 100. Further, the manager at the management center RMC can transmit the manager’s voice to the remote operator RO in the remote control room RC by using, for example, a sound collecting device provided at the management center RMC and a sound output device (e.g., a speaker) provided in the remote control room RC.

Operation

Next, the operation of the excavator and the remote operation support system according to the present embodiment will be described.

In a first aspect of the present embodiment, an excavator is provided. The excavator includes: a lower traveling body, an upper swing body, a cabin, a first actuator, a second actuator, an operator’s seat, and a pedal device. The excavator is, for example, the excavator 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The upper swing body is, for example, the upper swing body 3 described above. The cabin is, for example, the cabin 10 described above. The first actuator and the second actuator are, for example, the travel hydraulic motor 1ML and the travel hydraulic motor 1MR described above. The operator’s seat is, for example, the operator’s seat 70 described above. The pedal device is, for example, the pedal device 26C described above. Specifically, the lower traveling body includes a pair of left and right first and second crawlers. The first and second crawlers are, for example, the left crawler 1C and the right crawler 1C described above. The upper swing body is rotatably mounted on the lower traveling body. The cabin is disposed on the upper swing body. The first actuator drives the first crawler. The second actuator drives the second crawler. The pedal device includes a first pedal and a second pedal, and the operator seated in the operator’s seat can operate the pedals with their feet. The first pedal and the second pedal are, for example, the pedal 26C1 and the pedal 26C2 described above. The excavator can selectively switch operation modes of the lower traveling body including a first operation mode and a second operation mode. The first operation mode is, for example, the normal travel mode described above. The second operation mode is, for example, the single pedal mode described above. In the first operation mode, the excavator drives the first actuator in accordance with the operation of the first pedal and drives the second actuator in accordance with the operation of the second pedal. In the second operation mode, the excavator drives both the first actuator and the second actuator in accordance with the operation of either the first pedal or the second pedal.

Thus, the operator seated in the operator’s seat of the cabin can drive the lower traveling body by operating only one of the left and right pedals when the operation mode of the lower traveling body is the second operation mode. Therefore, the excavator can improve convenience of travel operation with a simple configuration.

In a second aspect of the present embodiment, according to the first aspect, when the excavator is operated in the second operation mode, a notification may be provided to an operator so as to enable the operator to understand a difference from the first operation mode.

Thus, the excavator can allow the operator to grasp whether the current operation mode of the lower traveling body is the first operation mode or the second operation mode.

In a third aspect of the present embodiment, according to the first or second aspect, the excavator may include a first input part that receives an input from the operator. The first input part is, for example, the input device 52B described above. When the lower traveling body is operating in the second operation mode, the excavator may drive both the first actuator and the second actuator in accordance with an operation of either the first pedal or the second pedal, and may adjust at least one of an operation speed or an operation direction between the first actuator and the second actuator to be different in accordance with an input to the first input part.

Thus, the excavator can change a traveling direction of the lower traveling body 1 by adjusting at least one of the operation speed or the operation direction between the first actuator and the second actuator to be different in accordance with an input from the first input part. Therefore, an operator seated in the operator’s seat in the cabin can adjust the traveling direction of the lower traveling body 1 by using the first input part while traveling the lower traveling body by operating only either the first pedal or the second pedal.

In a fourth aspect of the present embodiment, according to any one of the first to third aspects, the excavator may include a second input part configured to receive an input for switching the operation mode of the lower traveling body. The second input part is, for example, the above-described input device 52A. The excavator may not switch the operation mode of the lower traveling body even when the input for switching the operation mode of the lower traveling body is received through the second input part in a state in which the pedal device is being operated or in a state in which the lower traveling body is traveling.

Thus, the excavator can prevent a situation where the operation mode of the lower traveling body is switched in a state where the lower traveling body is traveling or may be traveling. Therefore, the safety of the excavator can be secured while the convenience of the travel operation by the operator is improved by preparing a plurality of operation modes of the lower traveling body.

In a fifth aspect of the present embodiment, according to any one of the first to fourth aspects, output characteristics of the first actuator and the second actuator corresponding to an operation amount of the pedal device may differ between a case where the lower traveling body operates in the first operation mode and a case where the lower traveling body operates in the second operation mode.

Thus, the excavator can improve the operability of the travel operation by the operator in the second operation mode, for example, by appropriately adjusting the output characteristics of the first actuator and the second actuator corresponding to the second operation mode with respect to the operation amount of the pedal device.

Further, in a sixth aspect of the present embodiment, according to the fifth aspect described above, when the lower traveling body operates in the second operation mode, a degree of increase in outputs of the first actuator and the second actuator corresponding to an increase in an operation amount of the pedal device may be smaller than when the lower traveling body operates in the first operation mode.

Thus, the operability of the travel operation by the operator in the second operation mode can be improved.

Further, in a seventh aspect of the present embodiment, according to the fifth or sixth aspect described above, when the lower traveling body operates in the second operation mode, maximum outputs of the first actuator and the second actuator corresponding to an operation amount of the pedal device may be smaller than when the lower traveling body operates in the first operation mode.

Thus, the operability of the travel operation by the operator in the second operation mode can be improved.

Further, in an eighth aspect of the present embodiment, according to any one of the first to seventh aspects described above, the lower traveling body may not be caused to travel when only one of the first pedal or the second pedal is operated and an increase rate of an operation amount of the pedal device is equal to or greater than a predetermined first threshold in a state in which the lower traveling body is operating in the first operation mode. The first threshold is, for example, the above-described threshold Th1.

Thus, for example, even when the operator mistakenly considers that the operation mode of the lower traveling body is the second operation mode in spite of the fact that the operation mode of the lower traveling body is the first operation mode and strongly depresses one of the first pedal and the second pedal, the occurrence of a situation in which the lower traveling body performs a pivot turn contrary to the intention of the operator can be prevented. Therefore, by preparing a plurality of operation modes of the lower traveling body, the safety of the excavator can be secured while improving convenience of the travel operation by the operator.

In a ninth aspect of the present embodiment, according to any one of the first to eighth aspects described above, the lower traveling body may not be caused to travel when both the first pedal and the second pedal are operated and an increase rate of an operation amount of the pedal device is equal to or greater than a predetermined second threshold in a state in which the lower traveling body is operating in the second operation mode. The second threshold is, for example, the threshold Th2 described above.

Accordingly, for example, even when the operator mistakenly considers that the operation mode is the first operation mode despite the operation mode of the lower traveling body being the second operation mode, and strongly depresses both the first pedal and the second pedal, it is possible to suppress a situation in which the lower traveling body operates contrary to the operator’s intention. Therefore, by providing a plurality of operation modes for the lower traveling body, the excavator can ensure safety while improving the convenience of travel operations by the operator.

In a tenth aspect of the present embodiment, according to any one of the first to ninth aspects described above, the excavator may include a third input part configured to receive an input from the operator. The third input part is, for example, the above-described input device 52. When, in a state in which the lower traveling body is operating in the second operation mode, an input from the operator is received via the third input part, a function may be activated to maintain a state in which both the first actuator and the second actuator are driven in accordance with an operation state of either one of the first pedal or the second pedal at a time when the input is received via the third input part. The function is, for example, the above-described auto-cruise function.

Accordingly, the excavator can maintain a travel operation of the lower traveling body at an approximately constant level regardless of pedal operations by the operator. Therefore, the excavator can improve convenience for the operator.

In an eleventh aspect of the present embodiment, according to any one of the first to tenth aspects described above, a state in which the function is activated may be notified toward surroundings around the excavator.

Accordingly, the excavator can inform persons in the vicinity of the excavator that a function to maintain a travel operation of the lower traveling body at an approximately constant level regardless of pedal operations by the operator is in operation. Therefore, for example, the excavator can suppress a situation in which persons in the vicinity visually recognize that the operator inside the cabin is not performing pedal operations or lever operations and mistakenly predict that the excavator will stop.

Further, in a twelfth aspect of the present embodiment, according to any one of the first to eleventh aspects described above, the selection state of the operation mode of the lower traveling body may be notified toward the surroundings around the excavator.

Accordingly, the excavator can inform persons in the vicinity of the excavator of a setting state of the operation mode of the lower traveling body. Therefore, for example, the excavator can suppress a situation in which persons in the vicinity mistakenly predict and act based on a traveling direction of the excavator by relying on a pedal operation state of the operator inside the cabin.

In a thirteenth aspect of the present embodiment, according to any one of the first to twelfth aspects described above, in accordance with a timing of start of operation of the excavator, a current operator may be identified from among a plurality of users registered in advance, and switch the operation mode of the lower traveling body to an operation mode that is associated in advance with a user identified as the current operator.

Accordingly, the excavator can improve convenience for the operator.

In a fourteenth aspect of the present embodiment, according to any one of the first to thirteenth aspects described above, the excavator may include a second input part and a display part. The second input part is, for example, the above-described input device 52A. The display part is, for example, the above-described display device 50. Specifically, the second input part may receive an input for switching the operation mode of the lower traveling body. When the input for switching the operation mode of the lower traveling body is received via the second input part, the display part may display a screen for allowing the operator to approve switching of the operation mode of the lower traveling body. The screen is, for example, the above-described screen 44 of FIG. 11.

Accordingly, the excavator can suppress occurrence of a situation in which the operator erroneously sets an operation mode of the lower traveling body.

Further, according to a fifteenth aspect of the present embodiment, a remote operation support system for supporting remote operation of an excavator may be provided, where the excavator includes a lower traveling body including a pair of left and right first crawlers and a pair of left and right second crawlers, an upper swing body rotatably mounted on the lower traveling body, a cabin disposed in the upper swing body, a first actuator for driving the first crawler, and a second actuator for driving the second crawler. The remote operation support system is, for example, the remote operation support system SYS described above. The excavator is, for example, the excavator 100 described above. The lower traveling body is, for example, the lower traveling body 1 described above. The first crawler and the second crawler are, for example, the left crawler 1C and the right crawler 1C described above. The upper swing body is, for example, the upper swing body 3 described above. The cabin is, for example, the cabin 10 described above. The first actuator and the second actuator are, for example, the travel hydraulic motor 1ML and the travel hydraulic motor 1MR described above. Specifically, the remote operation support system includes an operator’s seat and a pedal device. The operator’s seat is, for example, the operator’s seat DS. The pedal device is, for example, the pedal device 42C. More specifically, the operator’s seat is disposed outside the excavator and an operator can sit on it. The outside of the excavator is, for example, the remote control room RC. The pedal device includes a first pedal and a second pedal, and the operator seated in the operator’s seat can operate each pedal with the foot. The first pedal and the second pedal are the left and right pedals of the pedal device 42C. The remote operation support system can selectively switch operation modes of the lower traveling body including a first operation mode and a second operation mode. The first operation mode is, for example, the normal travel mode described above. The second operation mode is, for example, the single pedal mode described above. In the first operation mode, the remote operation support system drives the first actuator in accordance with the operation of the first pedal and drives the second actuator in accordance with the operation of the second pedal. In the second operation mode, the remote operation support system drives both the first actuator and the second actuator in accordance with the operation of either the first pedal or the second pedal.

Thus, an operator who remotely controls the excavator from outside can drive the lower traveling body by operating only one of the left and right pedals when the operation mode of the lower traveling body is the second operation mode. Therefore, the convenience of the travel operation of the excavator can be improved with a simple configuration.

Further, in the remote operation support system, the same aspects as according to the second to fourteenth aspects of the excavator can be provided on the basis of according to the fifteenth aspect.

Thus, the same effects as those of according to the second to fourteenth aspects are achieved.

Although the embodiments have been described in detail above, the present disclosure is not limited to these particular embodiments, and various modifications and changes are possible within the scope of the claims.

Claims

1. An excavator comprising:

a lower traveling body including a pair of left and right crawlers, the pair of left and right crawlers including a first crawler and a second crawler;

an upper swing body rotatably mounted on the lower traveling body;

a cabin disposed on the upper swing body;

a first actuator configured to drive the first crawler;

a second actuator configured to drive the second crawler;

a seat disposed in the cabin and configured to accommodate an operator;

a pedal device including a first pedal and a second pedal and operable by feet of the operator seated on the seat; and

a processor; and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the processor to execute a process including: selectively switching an operation mode of the lower traveling body including a first operation mode and a second operation mode, wherein, in the first operation mode, the first actuator is driven in accordance with operation of the first pedal and the second actuator is driven in accordance with operation of the second pedal, and wherein, in the second operation mode, both the first actuator and the second actuator are driven in accordance with operation of either one of the first pedal or the second pedal.

2. The excavator according to claim 1, wherein the process further includes:

providing a notification to the operator so as to enable the operator to understand a difference from the first operation mode when the lower traveling body is operating in the second operation mode.

3. The excavator according to claim 2, wherein the process further includes:

causing a display device to display that the second operation mode is being executed when operating in the second operation mode,

wherein the display device displays, as information representing the difference from the first operation mode, information representing an operation method of the pedal device in the second operation mode.

4. The excavator according to claim 1, wherein the process further includes:

receiving, through a first input device, an input from the operator,

wherein, when the lower traveling body is operating in the second operation mode, both the first actuator and the second actuator are driven in accordance with operation of either one of the first pedal or the second pedal, and

wherein at least one of an operating speed or an operating direction between the first actuator and the second actuator is adjusted to be different in accordance with the input from the first input device.

5. The excavator according to claim 1, wherein the process further includes:

receiving, through a second input device, an input for switching the operation mode of the lower traveling body,

wherein the operation mode of the lower traveling body is not switched even when the input for switching the operation mode of the lower traveling body is received through the second input device in a state in which the pedal device is being operated or in a state in which the lower traveling body is traveling.

6. The excavator according to claim 1, wherein output characteristics of the first actuator and the second actuator corresponding to an operation amount of the pedal device differ between a case where the lower traveling body operates in the first operation mode and a case where the lower traveling body operates in the second operation mode.

7. The excavator according to claim 6, wherein, when the lower traveling body operates in the second operation mode, a degree of increase in outputs of the first actuator and the second actuator corresponding to an increase in an operation amount of the pedal device is smaller than when the lower traveling body operates in the first operation mode.

8. The excavator according to claim 6, wherein, when the lower traveling body operates in the second operation mode, maximum outputs of the first actuator and the second actuator corresponding to an operation amount of the pedal device are smaller than when the lower traveling body operates in the first operation mode.

9. The shovel according to claim 8, wherein, when the lower traveling body operates in the second operation mode, a degree of increase in outputs of the first actuator and the second actuator corresponding to an increase in an operation amount of the pedal device is a same as that when the lower traveling body operates in the first operation mode, and wherein maximum outputs of the first actuator and the second actuator corresponding to an operation amount of the pedal device are smaller than when the lower traveling body operates in the first operation mode.

10. The excavator according to claim 1, wherein the lower traveling body is not caused to travel when only one of the first pedal or the second pedal is operated and an increase rate of an operation amount of the pedal device is equal to or greater than a predetermined first threshold in a state in which the lower traveling body is operating in the first operation mode.

11. A remote operation support system for supporting remote operation of an excavator, the excavator including a lower traveling body including a pair of left and right crawlers, the pair of left and right crawlers including a first crawler and a second crawler, an upper swing body rotatably mounted on the lower traveling body, a cabin disposed on the upper swing body, a first actuator configured to drive the first crawler, and a second actuator configured to drive the second crawler, the remote operation support system comprising:

an operator’s seat disposed outside the excavator and on which an operator can sit;

a pedal device including a first pedal and a second pedal and operable by feet of the operator seated on the seat; and

a processor; and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the processor to execute a process including: selectively switching an operation mode of the lower traveling body including a first operation mode and a second operation mode, wherein, in the first operation mode, the first actuator is driven in accordance with operation of the first pedal and the second actuator is driven in accordance with operation of the second pedal, and wherein, in the second operation mode, both the first actuator and the second actuator are driven in accordance with operation of either one of the first pedal or the second pedal.