SHOVEL

A shovel may include a lower traveling body; an upper turning body turnably mounted on the lower traveling body; and a control device disposed in the upper turning body, wherein the control device includes a processor, and a memory storing a computer-readable program, which when executed, causes the processor to execute a process including recognizing a position subject to a backfilling operation, and generating a target position relating to the backfilling operation.

BACKGROUND

Technical Field

The present disclosure relates to a shovel.

Description of Related Art

Hydraulic excavators known in the related art are typically equipped with a semi-autonomous excavation control system. The excavation control system is configured to perform an autonomous boom-raising turning operation when a predetermined condition is met.

SUMMARY

According to an aspect of the present disclosure, a shovel includes a lower traveling body; an upper turning body turnably mounted on the lower traveling body; and a control device disposed in the upper turning body, wherein the control device includes a processor, and a memory storing a computer-readable program, which when executed, causes the processor to execute a process including recognizing a position subject to a backfilling operation, and generating a target position relating to the backfilling operation.

EMBODIMENT OF THE INVENTION

According to an embodiment of the present disclosure, a technique capable of enhancing the efficiency of the backfilling operation can be provided.

First, a shovel100as an excavator according to an embodiment of the present disclosure will be described with reference toFIGS.1A and1B.FIG.1Ais a side view illustrating the shovel100, andFIG.1Bis a top view illustrating the shovel100.

In the present embodiment, a lower traveling body1of the shovel100includes a crawler1C. The crawler1C is driven by a traveling hydraulic motor2M mounted on the lower traveling body1. Specifically, the crawler1C includes a left crawler1CL and a right crawler1CR. The left crawler1CL is driven by a left traveling hydraulic motor2ML, and the right crawler1CR is driven by a right traveling hydraulic motor2MR.

An upper turning body3is mounted on the lower traveling body1so as to be able to turn through a turning mechanism2. The turning mechanism2is driven by a turning hydraulic motor2A mounted on the upper turning body3. However, the turning hydraulic motor2A may be a turning electric generator as an electric actuator.

A boom4is attached to the upper turning body3. An arm5is attached to the tip of the boom4, and a bucket6as an end attachment is attached to the tip of the arm5. The boom4, the arm5, and the bucket6constitute an excavation attachment AT which is an example of an attachment. The boom4is driven by a boom cylinder7, the arm5is driven by an arm cylinder8, and the bucket6is driven by a bucket cylinder9.

The boom4is supported in a vertically rotatable manner with respect to the upper turning body3. A boom angle sensor S1is attached to the boom4. The boom angle sensor S1can detect a boom angle β1which is a rotation angle of the boom4. The boom angle β1is, for example, a rising angle from a state in which the boom4is lowered most. Therefore, the boom angle β1is maximum when the boom4is raised most.

The arm5is rotatably supported with respect to the boom4. An arm angle sensor S2is attached to the arm5. The arm angle sensor S2can detect an arm angle β2which is a rotation angle of the arm5. The arm angle β2is, for example, an opening angle from the state where the arm5is most closed. Therefore, the arm angle β2is maximum when the arm5is most opened.

The bucket6is rotatably supported with respect to the arm5. A bucket angle sensor S3is attached to the bucket6. The bucket angle sensor S3can detect a bucket angle β3which is a rotation angle of the bucket6. The bucket angle β3is an opening angle from the state where the bucket6is closed most. Therefore, the bucket angle β3is maximum when the bucket6is opened most.

In the embodiment illustrated inFIGS.1A and1B, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3each include a combination of an acceleration sensor and a gyro sensor. However, the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3may each be configured to include an acceleration sensor alone. The boom angle sensor S1may be a stroke sensor attached to the boom cylinder7, or may be a rotary encoder, a potentiometer, or an inertial measurement device. The same applies to the arm angle sensor S2and the bucket angle sensor S3.

The upper turning body3is provided with a cabin as a driver's compartment, and one or a plurality of power sources are mounted on the upper turning body3. In the present embodiment, the upper turning body3is mounted with an engine11as a power source. The upper turning body3is mounted with an object detection device70, an imaging device a body inclination sensor S4, a turning angular velocity sensor S5, and the like. An operation device26, a controller a display device D1, and a sound output device D2are provided inside the cabin10. In this specification, for convenience, the side to which the excavation attachment AT is attached is designated as a front side, and the side to which a counterweight is attached is designated as a back side.

The object detection device70is configured to detect an object existing around the shovel100. The object may be, for example, a person, an animal, a vehicle, a construction machine, a structure, a wall, a fence, or a hole. The object detection device70may be, for example, an ultrasonic sensor, a millimeter-wave radar, a stereo camera, a LIDAR, a range image sensor, or an infrared sensor. In the present embodiment, the object detection device70includes a front sensor70F attached to a front end of an upper surface of the cabin10, a rear sensor70B attached to a rear end of an upper surface of the upper turning body3, a left sensor attached to a left end of the upper surface of the upper turning body3, and a right sensor70R attached to a right end of the upper surface of the upper turning body3. Each sensor includes a LIDAR.

The object detection device70may be independent of the shovel100. In this case, the controller30may acquire an image of a work site around the shovel output by the object detection device70through a communication device. Specifically, the object detection device70may be attached to a multicopter for aerial photography, or may be attached to a steel tower, an electric pole, or the like installed at the work site. Then, the controller30may acquire information on the work site based on the captured image viewed from above.

The object detection device70may be configured to detect a predetermined object within a predetermined area set around the shovel100. That is, the object detection device70may be configured to identify the type of object. For example, the object detection device70may be configured to distinguish between a person and an object other than the person (dump trucks, utility poles, fences, holes, or landforms such as sediment piles, etc.). The object detection device70may be configured to calculate a distance from the object detection device70or the shovel100to a recognized object. Thus, when the object to be recognized is a landform, the object detection device70can recognize a distance from the object detection device70or the shovel100to each measuring position of the landform to be measured, and can also recognize an uneven shape of the landform to be measured. When a hole exists in the landform to be measured, the object detection device70can also recognize a shape (area, depth, etc.) and a position of the hole.

The imaging device80is configured to image an area around the shovel100. In the present embodiment, the imaging device80includes a rear camera80B attached to the upper rear end of the upper turning body3, a front camera80F attached to the upper front end of the cabin10, a left camera80L attached to the upper left end of the upper turning body3, and a right camera80R attached to the upper right end of the upper turning body3.

The rear camera80B is disposed adjacent to the rear sensor70B, the front camera80F is disposed adjacent to the front sensor70F, the left camera80L is disposed adjacent to the left sensor70L, and the right camera80R is disposed adjacent to the right sensor70R.

The image captured by the imaging device80is displayed on the display device D1. The imaging device80may be configured to display a viewpoint conversion image such as an overhead view image on the display device D1. The overhead view image is generated by combining images output by the rear camera80B, the left camera80L, and the right camera80R, for example.

The imaging device80may be used as the object detection device70. In this case, the object detection device70may be omitted.

The body inclination sensor S4is configured to detect an inclination of the upper turning body3with respect to a predetermined plane. In the present embodiment, the body inclination sensor S4is an acceleration sensor configured to detect an inclination angle of the upper turning body3around the longitudinal axis and an inclination angle around the lateral axis, with respect to a virtual horizontal plane. The longitudinal (front-back) axis and the lateral (left-right) axis of the upper turning body3are, for example, orthogonal to each other, and pass through the center point of the shovel, which is one point on the turning axis of the shovel100.

The turning angular velocity sensor S5is configured to detect the turning angular velocity of the upper turning body3. In the present embodiment, the turning angular velocity sensor S5is a gyro sensor. The turning angular velocity sensor S5may be a resolver or a rotary encoder. The turning angular velocity sensor S5may detect rotational velocity. The rotational velocity may be calculated from the turning angular velocity.

Hereinafter, the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the body inclination sensor S4, and the turning angular velocity sensor S5are each also referred to as an attitude detection device.

The display device D1is a device for displaying information. The sound output device D2is a device for outputting sound. The operation device26is a device used by an operator for operating an actuator.

The controller30is a control device configured to control the shovel100. In the present embodiment, the controller30includes a computer having a CPU, a volatile storage device, a nonvolatile storage device, and the like. The controller30reads a program corresponding to each function from the nonvolatile storage device, loads the program into the volatile storage device, and causes the CPU to execute a corresponding process. Each function includes, for example, a machine guidance function that guides a manual operation of the shovel100by the operator, and a machine control function that automatically supports the manual operation of the shovel100by the operator.

Next, an example of a configuration of a hydraulic system mounted on the shovel100will be described with reference toFIG.2.FIG.2is a diagram illustrating the example of the configuration of a hydraulic system mounted on the shovel100.FIG.2illustrates a mechanical power transmission line, a hydraulic fluid line, a pilot line, and an electrical control line by double, solid, dashed, and dotted lines, respectively.

The hydraulic system of the shovel100mainly includes an engine11, a regulator13, a main pump14, a pilot pump15, a control valve unit17, an operation device26, a discharge pressure sensor28, an operation pressure sensor29, a controller30, and the like.

InFIG.2, the hydraulic system circulates hydraulic fluid from the main pump14driven by the engine11through a center bypass conduit line40or a parallel conduit line42to a hydraulic fluid tank.

The engine11is a driving source for the shovel100. In the present embodiment, the engine11is, for example, a diesel engine that operates to maintain a predetermined speed. An output shaft of the engine11is coupled to respective input shafts of the main pump14and the pilot pump15.

The main pump14is configured to supply hydraulic fluid to the control valve unit17via the hydraulic fluid line. In the present embodiment, the main pump14is a swashplate type variable displacement hydraulic pump.

The regulator13is configured to control a discharge amount (push-off volume volume) of the main pump14. In the present embodiment, the regulator13controls the discharge amount (push-off volume volume) of the main pump14by adjusting a swash plate tilt angle of the main pump14in response to a control instruction from the controller30.

The pilot pump15is configured to supply hydraulic fluid to hydraulic control device including the operation device26via a pilot line. In the present embodiment, the pilot pump15is a fixed displacement hydraulic pump. However, the pilot pump15may be omitted. In this case, the function of the pilot pump15may be implemented by the main pump14. That is, the main pump14may have, apart from a function of supplying hydraulic fluid to the control valve unit17, a function of supplying hydraulic fluid to the operation device26or the like after lowering the pressure of the hydraulic fluid by a restrictor, or the like.

The control valve unit17is configured to control a flow of hydraulic fluid in the hydraulic system. In the present embodiment, the control valve unit17includes control valves171to176. The control valve175includes a control valve175L and a control valve175R, and the control valve176includes a control valve176L and a control valve176R. The control valve unit17can selectively supply hydraulic fluid discharged by the main pump14to one or more hydraulic actuators through the control valves171to176. The control valves171to176control flow rates of hydraulic fluid flowing from the main pump14to the hydraulic actuators and flow rates of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder7, an arm cylinder8, a bucket cylinder9, a left traveling hydraulic motor2ML, a right traveling hydraulic motor2MR, and a turning hydraulic motor2A.

The operation device26is a device used by an operator for operating an actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In the present embodiment, the operation device26supplies hydraulic fluid delivered by the pilot pump15to a pilot port of the corresponding control valve in the control valve unit17via the pilot line. The pressure of the hydraulic fluid supplied to each of the pilot ports (pilot pressure) is a pressure corresponding to an operating direction and an operating amount of a lever or a pedal (not illustrated) of the operation device26with respect to a corresponding one of the hydraulic actuators; however, the operation device26may be an electric operation device rather than the hydraulic operation device as described above. In this case, the control valve in the control valve unit17may be an electromagnetic spool valve.

The discharge pressure sensor28is configured to detect a discharge pressure of the main pump14. In the present embodiment, the discharge pressure sensor28outputs a detected value to the controller30.

The operation pressure sensor29is configured to detect an operation of the operation device26performed by the operator. In the present embodiment, the operation pressure sensor29detects the operation direction and the operation amount of the operation device26corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller30as operation data. The operation content of the operation device26may be detected using other sensors other than the operation pressure sensor.

The main pump14includes a left main pump14L and a right main pump14R. The left main pump14L is configured to circulate hydraulic fluid to the hydraulic fluid tank via a left center bypass conduit line40L or a left parallel conduit line42L. The right main pump14R is configured to circulate hydraulic fluid to the hydraulic fluid tank via a right center bypass conduit line40R or a right parallel conduit line42R.

The left center bypass conduit line40L is a hydraulic fluid line passing through the control valves171,173,175L, and176L located within the control valve unit17. The right center bypass conduit line40R is a hydraulic fluid line passing through the control valves172,174,175R, and176R located within the control valve unit17.

The control valve171is a spool valve that supplies hydraulic fluid discharged by the left main pump14L to the left traveling hydraulic motor2ML, and switches a flow of hydraulic fluid to discharge the hydraulic fluid discharged by the left traveling hydraulic motor2ML to the hydraulic fluid tank.

The control valve172is a spool valve that supplies the hydraulic fluid discharged by the right main pump14R to the right traveling hydraulic motor2MR, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the right traveling hydraulic motor2MR to the hydraulic fluid tank.

The control valve173is a spool valve that supplies the hydraulic fluid discharged by the left main pump14L to the turning hydraulic motor2A, and switches the flow of hydraulic fluid to discharge the hydraulic fluid discharged by the turning hydraulic motor2A to the hydraulic fluid tank.

The control valve174is a spool valve that supplies the hydraulic fluid discharged by the right main pump14R to the bucket cylinder9, and switches the flow of hydraulic fluid to discharge the hydraulic fluid in the bucket cylinder9to the hydraulic fluid tank.

The control valve175L is a spool valve that switches the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the left main pump14L to the boom cylinder7. The control valve175R is a spool valve that switches the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the right main pump14R to the boom cylinder7, and discharges the hydraulic fluid in the boom cylinder7to the hydraulic fluid tank.

The control valve176L is a spool valve that switches the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the left main pump14L to the arm cylinder8, and discharges the hydraulic fluid in the arm cylinder8to the hydraulic fluid tank.

The control valve176R is a spool valve that switches the flow of the hydraulic fluid to supply the hydraulic fluid discharged from the right main pump14R to the arm cylinder8, and discharges the hydraulic fluid in the arm cylinder8to the hydraulic fluid tank.

The left parallel conduit line42L is a hydraulic fluid line parallel to the left center bypass conduit line40L. The left parallel conduit line42L may supply hydraulic fluid to a further downstream control valve when hydraulic fluid flowing through the left center bypass conduit line is restricted or blocked by either the control valves171,173, or175L. The right parallel conduit line42R is a hydraulic fluid line parallel to the right center bypass conduit line40R. The right parallel conduit line42R may supply hydraulic fluid to a further downstream control valve when hydraulic fluid flowing through the right center bypass conduit line40R is restricted or blocked by either the control valves172,174, or175R.

The regulator13includes a left regulator13L and a right regulator13R. The left regulator13L controls the discharge amount of the left main pump14L by adjusting a swash plate inclination angle of the left main pump14L according to the discharge pressure of the left main pump14L. Specifically, the left regulator13L reduces the discharge amount by adjusting the swash plate inclination angle of the left main pump14L according to an increase in the discharge pressure of the left main pump14L, for example. The same applies to the right regulator13R. This is because the absorbed power (e.g., absorbed horsepower) of the main pump14, which is represented by the product of the discharge pressure and the discharge amount, does not exceed the output power (e.g., output horsepower) of the engine11.

The operation device26includes a left operation lever26L, a right operation lever26R, and a traveling lever26D. The traveling lever26D includes a left traveling lever26DL and a right traveling lever26DR.

The left operation lever26L is one of the operation levers, and is used for turning operation and operation of the arm5. When the left operation lever26L is operated in the front-back direction, the hydraulic fluid discharged from the pilot pump15is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve176. When the left operation lever26L is operated in the left-right direction, the hydraulic fluid discharged from the pilot pump is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve173.

Specifically, when the left operation lever26L is operated in the arm closing direction, the hydraulic fluid is introduced into the right pilot port of the control valve176L, and the hydraulic fluid is introduced into the left pilot port of the control valve176R. When the left operation lever26L is operated in an arm opening direction, the hydraulic fluid is introduced into the left pilot port of the control valve176L, and the hydraulic fluid is introduced into the right pilot port of the control valve176R. When the left operation lever26L is operated in a left turning direction, the hydraulic fluid is introduced into the left pilot port of the control valve173, and when the left operation lever26L is operated in a right turning direction, the hydraulic fluid is introduced into the right pilot port of the control valve173.

The right operation lever26R is one of the operation levers, and is used for operation of the boom4and operation of the bucket6. When the right operation lever26R is operated in the front-back direction, the hydraulic fluid discharged from the pilot pump15is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve175. When the right operation lever26R is operated in the left-right direction, the hydraulic fluid discharged from the pilot pump is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve174.

Specifically, when the right operation lever26R is operated in the boom lowering direction, the hydraulic fluid is introduced into the right pilot port of the control valve175R. When the right operation lever26R is operated in the boom raising direction, the hydraulic fluid is introduced into the right pilot port of the control valve175L, and the hydraulic fluid is introduced into the left pilot port of the control valve175R. When the right operation lever26R is operated in the bucket closing direction, the hydraulic fluid is introduced into the left pilot port of the control valve174, and when the right operation lever26R is operated in the bucket opening direction, the hydraulic fluid is introduced into the right pilot port of the control valve174.

The traveling lever26D is used to operate the crawler1C. Specifically, the left traveling lever26DL is used to operate the left crawler1CL. The left traveling lever26DL may be configured to be interlocked with the left traveling pedal. When the left traveling lever26DL is operated in the front-back direction, the hydraulic fluid discharged from the pilot pump15is utilized to operate the control pressure corresponding to the lever operation amount on the pilot port of the control valve171. The right traveling lever26DR is used to operate the right crawler1CR. The right traveling lever26DR may be configured to be interlocked with the right traveling pedal. When operated in the front-back direction, the right traveling lever26DR utilizes hydraulic fluid discharged from the pilot pump15to exert a control pressure corresponding to the lever operation amount on the pilot port of the control valve172.

The discharge pressure sensor28includes a discharge pressure sensor28L and a discharge pressure sensor28R. The discharge pressure sensor28L detects the discharge pressure of the left main pump14L and outputs the detected value to the controller30. The same applies to the discharge pressure sensor28R.

The operation pressure sensor29includes operation pressure sensors29LA,29LB,29RA,29RB,29DL, and29DR. The operation pressure sensor29LA detects the contents of the operator's operation of the left operation lever26L in the front-back direction in the form of pressure, and outputs the detected value to the controller30. The contents of the operation are, for example, the lever operation direction and the lever operation amount (lever operation angle).

Similarly, the operation pressure sensor29LB detects the contents of the operator's operation in the left-right direction with respect to the left operation lever26L in the form of pressure, and outputs the detected value to the controller30. The operation pressure sensor29RA detects the contents of the operator's operation in the front-back direction with respect to the right operation lever26R in the form of pressure, and outputs the detected value to the controller30. The operation pressure sensor29RB detects the contents of the operator's operation in the left-right direction with respect to the right operation lever26R in the form of pressure, and outputs the detected value to the controller30. The operation pressure sensor29DL detects the contents of the operator's operation in the front-back direction with respect to the left traveling lever26DL in the form of pressure, and outputs the detected value to the controller30. The operation pressure sensor29DR detects the contents of the operator's operation in the front-back direction with respect to the right traveling lever26DR in the form of pressure, and outputs the detected value to the controller30.

The controller30receives the output of the operation pressure sensor29and, if necessary, outputs a control instruction to the regulator13to change the discharge amount of the main pump14. The controller30receives the output of the control pressure sensor19provided upstream of the restrictor18and, if necessary, outputs a control instruction to the regulator13to change the discharge amount of the main pump14. The restrictor18includes a left restrictor18L and a right restrictor18R, and the control pressure sensor19includes a left control pressure sensor19L and a right control pressure sensor19R. In the left center bypass conduit line40L, a left restrictor18L is disposed between the control valve176L located at the most downstream and the hydraulic fluid tank. Therefore, the flow of hydraulic fluid discharged from the left main pump14L is restricted by the left restrictor18L. The left restrictor18L generates a control pressure for controlling the left regulator13L. The left control pressure sensor19L is a sensor configured to detect the control pressure and output the detected value to the controller30. The controller30controls the discharge amount of the left main pump14L by adjusting the swash plate inclination angle of the left main pump14L according to the control pressure. The controller30decreases the discharge amount of the left main pump14L as the control pressure is larger, and increases the discharge amount of the left main pump14L as the control pressure is smaller. The discharge amount of the right main pump14R is similarly controlled.

Specifically, as illustrated inFIG.2, when the hydraulic actuators in the shovel100are in a standby state in which none of the hydraulic actuators are operated, the hydraulic fluid discharged from the left main pump14L passes through the left center bypass conduit line40L to the left restrictor18L. The flow of hydraulic fluid discharged from the left main pump14L increases the control pressure generated upstream of the left restrictor18L. As a result, the controller30reduces the discharge amount of the left main pump14L to the minimum allowable discharge amount, and prevents the pressure loss (pumping loss) when the hydraulic fluid discharged from the left main pump14L passes through the left center bypass conduit line40L. On the other hand, when any hydraulic actuator is operated, the hydraulic fluid discharged from the left main pump14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. Thus, the amount reaching the left restrictor18L of the flow of the hydraulic fluid discharged from the left main pump14L is reduced or eliminated, which reduces the control pressure generated upstream of the left restrictor18L. As a result, the controller30increases the discharge amount of the left main pump14L, allows sufficient hydraulic fluid to flow into the hydraulic actuator to be operated, and ensures the operation of the hydraulic actuator to be operated. The controller30also controls the discharge amount of the right main pump14R in the same manner.

With the above-described configuration, the hydraulic system ofFIG.2can prevent wasteful energy consumption with respect to the main pump14in the standby state. The wasteful energy consumption includes pumping losses caused by hydraulic fluid discharged by the main pump14in the center bypass conduit line40. In addition, the hydraulic system ofFIG.2can reliably supply necessary and sufficient hydraulic fluid from the main pump14to the hydraulic actuator to be operated when the hydraulic actuator is operated.

Next, with reference toFIGS.3A to3D, a configuration for operating the actuator by the machine control function of the controller30will be described.FIGS.3A to3Dare views in which a part of the hydraulic system is extracted. Specifically,FIG.3Ais a view in which a part of the hydraulic system relating to the operation of the arm cylinder8is extracted, andFIG.3Bis a view in which a part of the hydraulic system relating to the operation of the boom cylinder7is extracted.FIG.3Cis a view in which a part of the hydraulic system relating to the operation of the bucket cylinder9is extracted, andFIG.3Dis a view in which a part of the hydraulic system relating to the operation of the turning hydraulic motor2A is extracted.

As illustrated inFIGS.3A to3D, the hydraulic system includes a proportional valve31. The proportional valve31includes proportional valves31AL to31DL, and proportional valves31AR to31DR.

The proportional valve31functions as a control valve for machine control. The proportional valve31is disposed in a conduit line connecting the pilot pump15and a pilot port of a corresponding control valve in the control valve unit17, and is configured to change the flow path area of that conduit line. In the present embodiment, the proportional valve31operates in response to a control instruction output by the controller30. Therefore, the controller30can supply hydraulic fluid delivered by the pilot pump15to the pilot port of the corresponding control valve in the control valve unit17via the proportional valve31, independent of the operator's operation of the operation device26. The controller30can then apply the pilot pressure generated by the proportional valve31to the pilot port of the corresponding control valve.

With this configuration, the controller30can operate the hydraulic actuator corresponding to the specific operation device26even when no operation is performed on the specific operation device26. The controller30can forcibly stop operation of hydraulic actuators corresponding to the specific operation device26even when an operation is performed on the specific operation device26.

For example, as illustrated inFIG.3A, the left operation lever26L is used to operate the arm5. Specifically, the left operation lever26L uses hydraulic fluid discharged from the pilot pump15to act on the pilot port of the control valve176with pilot pressure corresponding to the operation in the front-back direction. More specifically, the left operation lever26L acts on the right pilot port of the control valve176L and the left pilot port of the control valve176R with pilot pressures corresponding to the operation amounts when operated in the arm closing direction (backward direction). Further, the left operation lever26L acts on the left pilot port of the control valve176L and the right pilot port of the control valve176R with pilot pressures corresponding to the operation amounts when operated in the arm opening direction (forward direction).

The left operation lever26L is provided with a switch NS. In the present embodiment, the switch NS is a push button switch provided at the tip of the left operation lever26L. The operator can operate the left operation lever26L while pressing the switch NS. The switch NS may be disposed on the right operation lever26R or at another position in the cabin10.

The operation pressure sensor29LA detects the contents of the operation in the front-back direction with respect to the left operation lever26L by the operator, and outputs the detected value to the controller30.

A proportional valve31AL operates in response to a control instruction (current instruction) output by the controller30. The pilot pressure of the hydraulic fluid introduced from the pilot pump15to the right pilot port of the control valve176L and the left pilot port of the control valve176R is adjusted via the proportional valve31AL. A proportional valve31AR operates in response to a control instruction (current instruction) output by the controller30. Then, the pilot pressure of the hydraulic fluid introduced into the left pilot port of the control valve176L and the right pilot port of the control valve176R is adjusted from the pilot pump15via the proportional valve31AR. The proportional valve31AL can adjust the pilot pressure so that the control valve176L and the control valve176R can be stopped at any valve position. Similarly, the proportional valve31AR can adjust the pilot pressure so that the control valve176L and the control valve176R can be stopped at any valve position.

With this configuration, the controller30can supply the hydraulic fluid discharged from the pilot pump15to the right pilot port of the control valve176L and the left pilot port of the control valve176R via the proportional valve31AL in response to the operator's arm closing operation. The controller30can also supply the hydraulic fluid discharged from the pilot pump15to the right pilot port of the control valve176L and the left pilot port of the control valve176R via the proportional valve31AL, independently of the operator's arm closing operation. That is, the controller30can close the arm5in response to the operator's arm closing operation or independently of the operator's arm closing operation.

In response to the operator's arm opening operation, the controller30can supply the hydraulic fluid discharged from the pilot pump15to the left pilot port of the control valve176L and the right pilot port of the control valve176R via the proportional valve31AR. Regardless of the operator's arm opening operation, the controller30can supply the hydraulic fluid discharged from the pilot pump15to the left pilot port of the control valve176L and the right pilot port of the control valve176R via the proportional valve31AR. That is, the controller30can open the arm5in response to the operator's arm opening operation or independently of the operator's arm opening operation.

With this configuration, the controller30can reduce the pilot pressure acting on the closed pilot port of the control valve176(the left pilot port of the control valve176L and the right pilot port of the control valve176R), and forcibly stop the closing operation of the arm5, if necessary, even when the operator is performing the arm closing operation. The same applies to the case of forcibly stopping the opening operation of the arm5when the operator is performing the arm opening operation.

Alternatively, the controller30may, if necessary, control the proportional valve31AR, increase the pilot pressure acting on the open pilot port of the control valve176(the right pilot port of the control valve176L and the left pilot port of the control valve176R) opposite the closed pilot port of the control valve176, and forcibly return the control valve176to the neutral position to forcibly stop the closing operation of the arm5, even when an operator is performing an arm closing operation. The same applies to a case of forcibly stopping the opening operation of the arm5when an operator is performing an arm opening operation.

The same applies to a case of forcibly stopping the operation of the boom4when a boom raising operation or a boom lowering operation is performed by the operator, a case of forcibly stopping the operation of the bucket6when a bucket closing operation or a bucket opening operation is performed by the operator, and a case of forcibly stopping the turning operation of the upper turning body3when the turning operation is performed by the operator, although the illustration with reference toFIGS.3B to3Dbelow is omitted. The same applies to a case of forcibly stopping a traveling operation of the lower traveling body1when the traveling operation is performed by the operator.

As illustrated inFIG.3B, the right operation lever26R is used to operate the boom4. Specifically, the right operation lever26R utilizes the hydraulic fluid discharged from the pilot pump15, and causes the pilot pressure corresponding to the operation in the front-back direction to act on the pilot port of the control valve175. More specifically, the right operation lever26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve175L and the left pilot port of the control valve175R when operated in the boom raising direction (backward direction). When the right operation lever26R is operated in the boom lowering direction (forward direction), the pilot pressure corresponding to the operation amount acts on the right pilot port of the control valve175R.

The operation pressure sensor29RA detects the contents of the operation in the front-back direction of the right operation lever26R by the operator, and outputs the detected value to the controller30.

A proportional valve31BL operates in response to a control instruction (current instruction) output by the controller30. Then, the pilot pressure by the hydraulic fluid introduced into the right pilot port of the control valve175L and the left pilot port of the control valve175R is adjusted from the pilot pump15via the proportional valve31BL. A proportional valve31BR operates in response to a control instruction (current instruction) output by the controller30. Then, the pilot pressure due to hydraulic fluid introduced from the pilot pump15to the right pilot port of the control valve175R via the proportional valve31BR is adjusted. The proportional valve31BL can adjust the pilot pressure so that the control valve175L and the control valve175R can be stopped at any valve position. The proportional valve31BR can adjust the pilot pressure so that the control valve175R can be stopped at any valve position.

With this configuration, the controller30can supply the hydraulic fluid discharged from the pilot pump15to the right pilot port of the control valve175L and the left pilot port of the control valve175R via the proportional valve31BL in response to the boom raising operation by the operator. The controller30can also supply the hydraulic fluid discharged from the pilot pump15to the right pilot port of the control valve175L and the left pilot port of the control valve175R via the proportional valve31BL independently of the boom raising operation by the operator. That is, the controller30can raise the boom4in response to the boom raising operation by the operator or independently of the boom raising operation by the operator.

In addition, the controller30can supply the hydraulic fluid discharged from the pilot pump15to the right pilot port of the control valve175R via the proportional valve31BR in response to the operator's boom lowering operation. In addition, the controller30can supply the hydraulic fluid discharged from the pilot pump15to the right pilot port of the control valve175R via the proportional valve31BR independently of the operator's boom lowering operation. That is, the controller30can lower the boom4in response to the operator's boom lowering operation or independently of the operator's boom lowering operation.

As illustrated inFIG.3C, the right operation lever26R is also used to operate the bucket6. Specifically, the right operation lever26R utilizes the hydraulic fluid discharged from the pilot pump15to cause the pilot pressure corresponding to the operation in the left-right direction to act on the pilot port of the control valve174. More specifically, when operated in the bucket closing direction (left direction), the right operation lever26R causes the pilot pressure corresponding to the operation amount to act on the left pilot port of the control valve174. When operated in the bucket opening direction (right direction), the right operation lever26R causes the pilot pressure corresponding to the operation amount to act on the right pilot port of the control valve174.

The operation pressure sensor29RB detects the contents of the operation by the operator in the right-left direction with respect to the right operation lever26R, and outputs the detected value to the controller30.

A proportional valve31CL operates in response to a control instruction (current instruction) output by the controller30. Then, the pilot pressure by the hydraulic fluid introduced from the pilot pump15to the left pilot port of the control valve174via the proportional valve31CL is adjusted. A proportional valve31CR operates in response to a control instruction (current instruction) output by the controller30. The pilot pressure due to hydraulic fluid introduced from the pilot pump15to the right pilot port of the control valve174via the proportional valve31CR is adjusted. The proportional valve31CL can adjust the pilot pressure to stop the control valve174at any valve position. Similarly, the proportional valve31CR can adjust the pilot pressure to stop the control valve174at any valve position.

With this configuration, the controller30can supply the hydraulic fluid discharged by the pilot pump15to the left pilot port of the control valve174via the proportional valve31CL in response to the operator's bucket closing operation. The controller30can also supply the hydraulic fluid discharged by the pilot pump15to the left pilot port of the control valve174via the proportional valve31CL independently of the operator's bucket closing operation. That is, the controller30can close the bucket6in response to the operator's bucket closing operation or independently of the operator's bucket closing operation.

The controller30can also supply the hydraulic fluid discharged by the pilot pump15to the right pilot port of the control valve174via the proportional valve31CR in response to the operator's bucket opening operation. The controller30can also supply the hydraulic fluid discharged by the pilot pump15to the right pilot port of the control valve174via the proportional valve31CR independently of the operator's bucket opening operation. That is, the controller30can open the bucket6in response to the operator's bucket opening operation or independently of the operator's bucket opening operation.

As illustrated inFIG.3D, the left operation lever26L is also used to operate the turning mechanism2. Specifically, the left operation lever26L uses hydraulic fluid discharged from the pilot pump15to act on the pilot port of the control valve173with pilot pressure corresponding to operation in the left-right direction. More specifically, when operated in the left turning direction (left direction), the left operation lever26L acts on the left pilot port of the control valve173with pilot pressure corresponding to the operation amount. When operated in the right turning direction (right direction), the left operation lever26L acts on the right pilot port of the control valve173with pilot pressure corresponding to the operation amount.

The operation pressure sensor29LB detects the contents of the operation in the left-right direction with respect to the left operation lever26L by the operator, and outputs the detected value to the controller30.

A proportional valve31DL operates in response to a control instruction (current instruction) output by the controller30. Then, the pilot pressure by the hydraulic fluid introduced from the pilot pump15to the left pilot port of the control valve173via the proportional valve31DL is adjusted. A proportional valve31DR operates in response to a control instruction (current instruction) output by the controller30. The pilot pressure due to hydraulic fluid introduced from the pilot pump15to the right pilot port of the control valve173via the proportional valve31DR is adjusted. The proportional valve31DL can adjust the pilot pressure so that the control valve173can be stopped at any valve position. Similarly, the proportional valve31DR can adjust the pilot pressure so that the control valve173can be stopped at any valve position.

With this configuration, the controller30can supply the hydraulic fluid discharged by the pilot pump15to the left pilot port of the control valve173via the proportional valve31DL in response to the operator's left turning operation. The controller30can also supply the hydraulic fluid discharged by the pilot pump15to the left pilot port of the control valve173via the proportional valve31DL independently of the operator's left turning operation. That is, the controller30can make the turning mechanism2turn left in response to the operator's left turning operation or independently of the operator's left turning operation.

In addition, the controller30can supply the hydraulic fluid discharged from the pilot pump15to the right pilot port of the control valve173via the proportional valve31DR in response to the operator's right turning operation. Also, the controller30can supply the hydraulic fluid discharged by the pilot pump15to the right pilot port of the control valve173via the proportional valve31DR independently of the operator's right turning operation. That is, the controller30can make the turning mechanism2turn right in response to the operator's right turning operation or independently of the operator's right turning operation.

The shovel100may be configured to automatically move the lower traveling body1forward and backward. In this case, the hydraulic system portion relating to the operation of the left traveling hydraulic motor2ML and the hydraulic system portion relating to the operation of the right traveling hydraulic motor2MR may be configured in the same manner as the hydraulic system portion relating to the operation of the boom cylinder7.

Although the description of the electric operation lever has been described as a form of the operation device26, a hydraulic operation lever may be used instead of the electric operation lever. In such a case, the lever operation amount of the hydraulic operation lever may be detected in the form of pressure by a pressure sensor and input to the controller30. A solenoid valve may be disposed between the operation device26as the hydraulic operation lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller30. With this configuration, when a manual operation using the operation device26as a hydraulic operation lever is performed, the operation device26can move each control valve by increasing or decreasing the pilot pressure according to the lever operation amount. Further, each control valve may be composed of a solenoid spool valve. In this case, the solenoid spool valve operates in response to an electric signal from the controller30corresponding to the lever operation amount of the electric operation lever. Next, the functions of the controller30will be described with reference toFIG.4.FIG.4is a functional block diagram of the controller30. In the example ofFIG.4, the controller30is configured to receive signals output from an attitude detection device, the operation device26, the object detection device70, the imaging device80, the switch NS, etc., perform various operations, and output control instructions to the proportional valve31, the display device D1, the sound output device D2, etc. The attitude detection device includes, for example, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a body inclination sensor S4, and a turning angular velocity sensor S5. The controller30has a trajectory generation part and an autonomous control part30B as functional blocks. Each functional block may be composed of hardware or software.

The trajectory generation part30A is configured to generate a target trajectory which is a trajectory plotted by a predetermined part of the shovel100when the shovel100is operated autonomously. The predetermined part is, for example, a claw end of the bucket6or a predetermined point on the back surface of the bucket6. In the present embodiment, the trajectory generation part30A generates a target trajectory that the autonomous control part30B uses to autonomously operate the shovel100. Specifically, the trajectory generation part30A generates a target trajectory based on an output of at least one of the object detection device70and the imaging device80.

The autonomous control part30B is configured to operate the shovel100autonomously. In the present embodiment, the autonomous control part30B is configured to move a predetermined part of the shovel100along a target trajectory generated by the trajectory generation part30A when a predetermined start condition is satisfied. Specifically, the autonomous control part30B autonomously operates the shovel100so that the predetermined part of the shovel100moves along the target trajectory when the operation device26is operated while the switch NS is pressed. For example, the autonomous control part30B autonomously operates the excavation attachment AT so that the claw end of the bucket6moves along the target trajectory when the left operation lever26L is operated in the arm opening direction while the switch NS is pressed. The autonomous control part30B may operate the shovel100autonomously so that the predetermined part of the shovel100moves along the target trajectory when the switch NS is pressed, regardless of whether the operation device26is operated.

Next, with reference toFIGS.5and6, an example of a function (hereinafter referred to as “autonomous control function”) in which the controller30autonomously controls the movement of the attachment will be described.FIGS.5and6are block diagrams illustrating the autonomous control function.

First, as illustrated inFIG.5, the controller30determines the target movement speed and the target movement direction based on the operation inclination. The operation inclination is determined based on, for example, the lever operation amount. A target moving velocity is a target value of the moving velocity of a control reference point, and a target moving direction is a target value of a moving direction of the control reference point. The control reference point is, for example, a claw end of the bucket6or a predetermined point on the back surface of the bucket6. The control reference point is calculated based on, for example, the boom angle β1, the arm angle the bucket angle β3, and the turning angle α1.

Thereafter, the controller30calculates three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after the unit time has elapsed, based on the target moving velocity, the target moving direction, and three-dimensional coordinates (Xe, Ye, Ze) of the control reference point. The three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after the unit time has elapsed are, for example, coordinates on the target trajectory. The unit time is, for example, the time equivalent to an integer multiple of the control period. The target trajectory may be, for example, target trajectory relating to a backfilling operation performed for a backfilling work, which is a work for backfilling a hole. The backfilling operation includes an operation of releasing a sediment as an example of a mass of earth and sand put in the bucket6into the hole, and an operation of pushing a sediment placed around the hole with the bucket6into the hole. Typically, the backfilling operation is a combined operation including the bucket opening operation and the arm opening operation. In this case, the target trajectory may be calculated based on at least one of, for example, the shape of the hole opening, the depth of the hole, the volume of the sediment already released into the hole, and the volume of the sediment put into the bucket6. The shape of the hole, the depth of the hole, the volume of sediment already released into the hole, and the volume of the sediment put into the bucket6may be derived based on, for example, an output of at least one of the object detection device70and the imaging device80. For example, the target trajectory may be set so that the variation in depth of each part of the hole is not significantly large. That is, the target trajectory may be set so that only a part of the hole is not intensively backfilled. Conversely, the target trajectory may be set so that only a part of the hole is intensively backfilled.

The target trajectory is typically calculated before the backfilling operation starts, and is not changed until the backfilling operation ends. However, the target trajectory may be changed during the execution of the backfilling operation. That is, a content of the backfilling operation may be changed.

Thereafter, the controller30generates instruction values β1r, β2r, and β3rrelating to the rotations of the boom4, the arm5, and the bucket6, and an instruction value air relating to the turning of the upper turning body3, based on the calculated three-dimensional coordinates (Xer, Yer, Zer). The instruction value β1rrepresents, for example, the boom angle β1when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer). Similarly, the instruction value β2rrepresents an arm angle β2when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer), the instruction value β3rrepresents a bucket angle β3when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer), and the instruction value air represents a turning angle α1when the control reference point can be adjusted to the three-dimensional coordinates (Xer, Yer, Zer).

The instruction value β3rfor the rotation of the bucket6may be changed during the execution of the backfilling operation. For example, the instruction value β3rmay be adjusted smaller when the depth of the hole in the backfilled portion becomes shallower than the desired depth. That is, the instruction value β3ris typically controlled by open-loop control, but may be feedback controlled according to the depth of the hole in the backfilled portion. Thereafter, as illustrated inFIG.6, the controller30operates the boom cylinder7, the arm cylinder8, the bucket cylinder9, and the turning hydraulic motor2A so that the boom angle β1, the arm angle β2, the bucket angle β3, and the turning angle α1have the generated instruction values β1r, β2r, β3r, and α1r, respectively. The turning angle α1is calculated based on an output of the turning angular velocity sensor S5, for example.

Specifically, the controller30generates a boom cylinder pilot pressure instruction corresponding to the difference Δβ1between a current value and the instruction value β1rof the boom angle β1. A control current corresponding to the boom cylinder pilot pressure instruction is output to a boom control mechanism31B. The boom control mechanism31B is configured so that a pilot pressure in response to a control current corresponding to the boom cylinder pilot pressure instruction can be applied to the control valve175as a boom control valve. The boom control mechanism31B may be, for example, the proportional valve31BL and the proportional valve31BR inFIG.3B.

Thereafter, the control valve175that has received the pilot pressure generated by the boom control mechanism31B causes the hydraulic fluid discharged from the main pump14to flow into the boom cylinder7in the flow direction and flow rate corresponding to the pilot pressure.

At this time, the controller30may generate a boom spool control instruction based on a displacement amount of the spool of the control valve175detected by the boom spool displacement sensor S7. The boom spool displacement sensor S7is a sensor configured to detect the displacement amount of a spool constituting the control valve175. The controller30may output a control current corresponding to the boom spool control instruction to the boom control mechanism31B. In this case, the boom control mechanism31B applies a pilot pressure in response to the control current corresponding to the boom spool control instruction to the control valve175.

The boom cylinder7extends and retracts by hydraulic fluid supplied via the control valve175. The boom angle sensor S1detects the boom angle β1of the boom4moved by extending and retracting the boom cylinder7.

Thereafter, the controller30feeds back the boom angle β1detected by the boom angle sensor S1as a current value of the boom angle β1used in generating the boom cylinder pilot pressure instruction.

Although the above description relates to the operation of the boom4based on the instruction value β1r, the same applies to the operation of the arm5based on the instruction value β2r, the operation of the bucket6based on the instruction value β3r, and the turning operation of the upper turning body3based on the instruction value air. An arm control mechanism31A is configured so that a pilot pressure in response to a control current corresponding to an arm cylinder pilot pressure instruction can be applied to the control valve176as an arm control valve. The arm control mechanism31A may be, for example, the proportional valve31AL and the proportional valve31AR inFIG.3A. A bucket control mechanism31C is configured so that a pilot pressure in response to a control current corresponding to a bucket cylinder pilot pressure instruction can be applied to the control valve174as a bucket control valve. The bucket control mechanism31C may be, for example, the proportional valve31CL and the proportional valve31CR inFIG.3C. A turning control mechanism31D is configured so that a pilot pressure in response to a control current corresponding to a turning hydraulic motor pilot pressure instruction can be applied to the control valve173as a turning control valve. The turning control mechanism31D may be, for example, the proportional valve31DL and the proportional valve31DR inFIG.3D. An arm spool displacement sensor S8is a sensor configured to detect the displacement amount of a spool constituting the control valve176, a bucket spool displacement sensor S9is a sensor configured to detect a displacement amount of a spool constituting the control valve174, and a turning spool displacement sensor S6is a sensor configured to detect a displacement amount of a spool constituting the control valve173.

As illustrated inFIG.5, the controller30may derive pump discharge amounts from the instruction values β1r, β2r, β3r, and air using the pump discharge amount deriving parts CP1, CP2, CP3, and CP4. In the present embodiment, the pump discharge amount deriving parts CP1, CP2, CP3, and CP4derive the pump discharge amounts from the instruction values β1r, β2r, β3r, and air using a pre-registered reference table or the like. The pump discharge amounts derived by the pump discharge amount deriving parts CP1, CP2, CP3, and CP4are summed and input to a pump flow calculation part as a total pump discharge amount. The pump flow calculation part controls the discharge amount of the main pump14based on the input total pump discharge amount. In the present embodiment, the pump flow calculation part controls the discharge amount of the main pump14by changing a swash plate inclination angle of the main pump14according to the total pump discharge amount.

Thus, the controller30can perform control of respective openings of the control valve175as the boom control valve, the control valve176as the arm control valve, the control valve174as the bucket control valve, and the control valve173as the turning control valve, simultaneously with performing control of the discharge amount of the main pump14. Therefore, the controller30can supply an appropriate amount of hydraulic fluid to each of the boom cylinder7, the arm cylinder8, the bucket cylinder9, and the turning hydraulic motor2A.

The controller30calculates three-dimensional coordinates (Xer, Yer, Zer), generates instruction values β1r, β2r, β3r, and α1r, and determines a discharge amount of the main pump14as one control cycle, and repeats this control cycle to execute autonomous control. The controller can improve the accuracy of autonomous control by feedback controlling the control reference point based on the respective outputs of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the turning angular velocity sensor S5. Specifically, the controller30can improve the accuracy of autonomous control by feedback controlling the flow rates of hydraulic fluid flowing into the boom cylinder7, the arm cylinder8, the bucket cylinder9, and the turning hydraulic motor2A.

Further, the controller30may be configured to monitor the distance between the bucket6and the surrounding obstacles so that the bucket6does not come into contact with the surrounding obstacles when performing autonomous control for the backfilling operation. For example, the controller30may stop the movement of the excavation attachment AT when determining that the distance between one or each of a plurality of predetermined points in the bucket6and the surrounding obstacles falls below a predetermined value based on the outputs of the attitude detection device and the object detection device70.

Next, with reference toFIGS.7A to7CandFIGS.8A to8C, an example of autonomous control for the backfilling operation will be described.FIGS.7A to7Care top views illustrating the shovel100performing the backfilling operation and a hole HL subject to the backfilling operation.FIGS.8A to8Care cross-sectional views illustrating the hole HL. The controller30recognizes a position of the hole HL as an object subject to the backfilling operation (the position to be backfilled) and generates a target trajectory from the sediment pile (an excavation completion position) to the hole HL.

The excavation completion position may be set to the position of the bucket6when the sediment is put into the bucket6. Alternatively, the excavation completion position may be set to the position of the bucket6when the bucket6is lifted by a predetermined height from the position of the bucket6when the sediment is put into the bucket6.

The controller30may recognize the shape (opening area, depth, etc.) of the hole HL or a position of the hole HL based on the output of the object detection device70, and set a target position relating to the backfilling operation. The controller30may recognize the uneven shape of a landform based on the output of the object detection device70, and display the recognized uneven shape on the display device D1. In this case, the controller30may display a frame or marker or the like on the image of the hole HL or the uneven shape or the like (hereinafter referred to as “hole HL or the like”) displayed on the display device D1so that the operator of the shovel100can recognize the hole HL or the like. The image of the hole HL or the like is included in the captured image output from the imaging device (object detection device70). Then, the controller30can set a target position for the hole HL or the like by setting input (selection) of the hole HL or the like to be recognized by the operator. The operator may select an image of the hole HL or the like to be backfilled from the captured image displayed on the display device D1, and set the selected image as a target position. In this case, the actual position in a landform region displayed on the display device D1is associated with the position of the image in a display region of the display device D1. Therefore, by the operator selecting a predetermined position in the display region of the display device D1, the controller30can recognize the actual position of the hole HL relative to the shovel100and set the target position for backfilling.

In this manner, the controller30generates a trajectory up to the set target position as the target trajectory. Typically, the target position is set above the bottom of the hole HL. The target position is also typically set inside the contour of the hole HL.

Specifically,FIGS.7A and8Aillustrate a state when a first backfilling operation by autonomous control is completed. A shovel figure represented by the broken line inFIG.7Aillustrates a state of the shovel100after the first excavation operation by manual operation is completed and before the first backfilling operation is started. A sediment R1represents a sediment released into the hole HL by the first backfilling operation. The sediment R1is released into a portion of the hole HL farthest from the shovel100, for example. In the state illustrated inFIGS.7A and8A, the controller30generates a target trajectory between the positions of the sediment pile and the farthest portion of the hole HL. The controller30may change the target position at each backfilling operation. As a result, the target position and the target trajectory at the second or third backfilling operation are changed. The target position and the timing for the change of the target trajectory may be changed according to the shape (size or depth, etc.) of the hole HL.

FIGS.7B and8Billustrate a state when a second backfilling operation by autonomous control is completed. The shovel figure represented by the broken line inFIG.7Brepresents a state of the shovel100after the second excavation operation by manual operation is completed and before the second backfilling operation is started. A sediment R2represents a sediment released into the hole HL by the second backfilling operation. The sediment R2is released into a portion of the hole HL closer to the shovel100than the sediment R1, for example, so as to be adjacent to the sediment R1. In the state illustrated inFIGS.7B and8B, the controller30updates the target trajectory generated in the state illustrated inFIGS.7A and8A.

FIGS.7C and8Cillustrate the state when a third backfilling operation by autonomous control is completed. The shovel figure represented by the broken line inFIG.7Crepresents a state of the shovel100after a third excavation operation by manual operation is completed and before the third backfilling operation is started. A sediment R3represents a sediment released into the hole HL by the third backfilling operation. The sediment R3is, for example, released to a portion of the hole HL closer to the shovel100than the sediment R2so as to be adjacent to the sediment R2. In the state illustrated inFIGS.7C and8C, the controller30updates the target trajectory that has been updated in the state illustrated inFIGS.7B and8B. Note that the controller30may recognize the shape of the sediment dropped into the hole HL based on the output from the imaging device80(object detection device70). For example, the controller30may estimate the shape of the sediment dropped into the hole HL based on the shape of the hole HL, the sediment characteristics, the dropped position, and the like. Thus, the controller30can change the target position in the next backfilling operation by identifying the shape of the sediment dropped into the hole HL.

The operator of the shovel100executes the first backfilling operation by autonomous control by pressing the switch NS at the time before starting the first backfilling operation, i.e., when the state of the shovel100is set to the state indicated by the broken line inFIG.7A. In the example illustrated inFIGS.7A to7CandFIGS.8A to8C, the shovel100is configured to execute the backfilling operation when the switch NS is pressed, but the shovel100may be configured to execute the backfilling operation when the left operation lever26L is operated in the right turning direction while the switch NS is pressed.

In the example illustrated inFIG.7A, the target trajectory for the first backfilling operation is generated based on a current claw end position AP1of the bucket6and a claw end position BP1of the bucket6when the first backfilling operation is completed. The position BP1is set such that, for example, the claw end of the bucket6is positioned directly above the center point of the sediment R1. The sediment R1is a sediment to be put into the hole HL by the first backfilling operation.

Thereafter, the controller30executes the first backfilling operation by autonomous control using the calculated target trajectory. Specifically, the controller automatically turns the upper turning body3to the right to automatically expand and contract the excavation attachment AT so that the trajectory plotted by the claw end of the bucket6follows the target trajectory.

After the first backfilling operation by autonomous control is completed, the operator of the shovel100performs an intermediate operation including a manually operated left-turning operation to bring the bucket6closer to a sediment pile F1illustrated inFIG.7A. This intermediate operation for moving the claw end of the bucket6from the position when the backfilling operation is completed to the position when the next excavation operation is started may be performed autonomously without the operator's manual operation and may be performed semi-autonomously to assist the operator's manual operation. When this intermediate operation is performed autonomously, a target trajectory for this intermediate operation is generated based on a current claw end position BP1of the bucket6and a claw end position DP1of the bucket6at the start of the second excavation operation. For example, the position DP1is set to be located directly above the center point of the sediment pile F1. The semi-autonomous operation differs from the autonomous operation in that the semi-autonomous operation is executed in response to the manual operation of the operation lever by the operator, but the semi-autonomous operation is common to the autonomous operation in that the claw end of the bucket6is moved along the target trajectory.

Thereafter, the operator puts the sediment constituting the sediment pile F1into the bucket6by a manually operated excavation operation. Thereafter, the operator executes the second backfilling operation by autonomous control by pressing the switch NS at a time after the excavation operation is finished, that is, when the state of the shovel100is set to the state indicated by the broken line inFIG.7B.

In the example illustrated inFIG.7B, the target trajectory for the second backfilling operation is generated based on a current claw end position AP2of the bucket6and a claw end position BP2of the bucket6when the second backfilling operation is completed. The position BP2is set such that, for example, the claw end of the bucket6is positioned directly above the center point of the sediment R2. The sediment R2is a sediment to be put into the hole HL by the second backfilling operation.

Thereafter, the controller30executes the second backfilling operation by autonomous control using the calculated target trajectory. Specifically, the controller automatically right-turns the upper turning body3and automatically extends and retracts the excavation attachment AT so that the trajectory plotted by the claw end of the bucket6follows the target trajectory.

After the second backfilling operation by autonomous control is completed, the operator of the shovel100performs an intermediate operation including a manually operated left-turning operation to bring the bucket6closer to a sediment pile F2illustrated inFIG.7B. This intermediate operation may be performed autonomously without the operator's manual operation and may be performed semi-autonomously to assist the operator's manual operation. When this intermediate operation is performed autonomously, a target trajectory for this intermediate operation is generated based on a current claw end position BP2of the bucket6and a claw end position DP2of the bucket6at the start of the third excavation operation. The position DP2is set to be located directly above the center point of the sediment pile F2, for example.

Then, the operator puts a sediment constituting the sediment pile F2into the bucket6by manually operated excavation operation. Then, the operator executes the third backfilling operation by autonomous control by pressing the switch NS at a time after the excavation operation is finished, that is, when the state of the shovel100is set to the state indicated by the broken line inFIG.7C.

In this manner, the controller30can reduce the operator's burden on the manual backfilling operation by executing the backfilling operation autonomously. In the above-described embodiment, the intermediate operation and the excavation operation are executed in response to the operator's manual operation; however, at least one of the intermediate operation and the excavation operation may be executed autonomously or semi-autonomously by the controller in the same manner as the backfilling operation.

Referring toFIGS.9A and9B, an example of a leveling operation performed after the hole HL is backfilled will be described.FIGS.9A and9Bare cross-sectional views illustrating the backfilled hole HL, which correspond toFIGS.8A to8C. Specifically,FIGS.9A and9Billustrate a state of the sediment backfilled into the hole HL by a plurality of backfilling operations. More specifically,FIG.9Aillustrates a state of the sediment in the hole HL before the leveling operation is performed, andFIG.9Billustrates a state of the sediment in the hole HL after the leveling operation is performed. InFIGS.9A and9B, for clarity, the ground around the hole HL is marked with a shaded pattern, and the sediment backfilled in the hole HL is marked with a dot pattern.

In the present embodiment, the controller30is configured to set the height of a target surface TS before the backfilling operation is performed. The target surface TS is a virtual surface corresponding to the ground formed when a hole HL to be backfilled is backfilled with a sediment, and is typically a virtual horizontal plane. The controller detects, for example, the hole HL and a surrounding surface CS, which is the ground around the hole HL, based on the output of the object detection device70. The controller sets a height of the target surface TS based on a height of the detected surrounding surface CS. The height of the target surface TS is typically set to be the same as the height of the surrounding surface CS. Respective dashed one-dotted lines illustrated inFIGS.9A and9Brepresent the target surface TS.

The controller30then determines, for example, whether the hole HL has been backfilled with the sediment based on the output of the object detection device70. In the example illustrated inFIGS.9A and9B, the controller determines that the hole HL has been backfilled with the sediment when the entire target surface TS has been backfilled with the sediment. The controller30then executes an autonomous leveling operation when determining that the hole HL has been backfilled with the sediment. The backfilling operation executed prior to the leveling operation is executed so that the height of the sediment backfilled in the hole HL is slightly higher than the height of the target surface TS.

When determining that the hole HL has been backfilled with the sediment, the controller30generates a target trajectory along the target surface TS, and performs a leveling operation by automatically moving the claw end of the bucket6in a direction away from the shovel100along the target trajectory. In this case, the leveling operation is a combined operation including an arm opening operation.FIG.9Aillustrates a position of the bucket6when the leveling operation is started, andFIG.9Billustrates a position of the bucket6when the leveling operation is completed. The controller30may set the target surface TS based on the height of the landform adjacent to the hole HL. Alternatively, the controller30may set the target surface TS based on the height of the sediment backfilled in the hole HL or the sediment shape. Alternatively, the controller may set the target surface TS based on the construction plan (design data).

This configuration enables the controller30to level a surface of the sediment backfilled in the hole HL so that the surface of the sediment backfilled in the hole HL has no irregularities. Also, this configuration enables the controller30to make the height of the surface of the sediment backfilled in the hole HL and the height of the surrounding surface CS substantially the same.

Next, referring now toFIGS.10A and10B, another example of autonomous control for the backfilling operation will be described.FIG.10Ais a top view illustrating the shovel100when the backfilling operation is performed and the hole HL subject to the backfilling operation, which corresponds toFIGS.7A to7C.FIG.10Bis a cross-sectional view illustrating the hole HL, which corresponds toFIGS.8A to8C.

In the example illustrated inFIGS.10A and10B, the controller30is configured to push a sediment into the hole HL by pushing it off with the bucket6without lifting the sediment with the bucket6when the sediment to be backfilled into the hole HL is within a predetermined distance range from the hole HL. In the example illustrated inFIGS.10A and10B, the controller30uses a back face BF of the bucket6to autonomously perform a push-off operation to push off a sediment constituting a sediment pile F10within the predetermined distance range from the hole HL into the hole HL. InFIG.10A, the predetermined distance range is a range Z1surrounded by a broken line.

Specifically, as illustrated inFIG.10B, the controller30autonomously operates the excavation attachment AT so as to push the sediment constituting the sediment pile F10into the hole HL by two backfilling operations (push-off operations).

For example, the controller30recognizes a position and a shape of the sediment pile F10based on the output of the object detection device70. Based on the recognized position and shape of the sediment pile F10, the controller30generates a target trajectory TL for pushing the sediment constituting the sediment pile F10into the hole HL. At this time, the controller30may calculate the volume or weight of the sediment constituting the sediment pile F10. There is a limit on the volume or weight of the sediment that can be pushed off by a single push-off operation, so that the target trajectory can be generated so as not to exceed this limit.

FIG.10Billustrates a target trajectory TL1, which is a part of the target trajectory TL for the first push-off operation, as a dashed one-dotted line, and a target trajectory TL2, which is a part of the target trajectory TL for the second push-off operation, as a dashed-two dotted line.FIGS.10A and10Billustrate a state of the bucket6when the first push-off operation is completed as a solid line, and a state of the bucket6when the first push-off operation is started as a bucketFIG.6Aplotted with a broken line. Further,FIG.10Billustrates a sediment F10T pushed into the hole HL by the first push-off operation out of the sediment pile F10as a solid line, and a portion F10T1corresponding to the sediment F10T of the sediment pile F10before the first push-off operation is started as a broken line.

A sediment F10B, which remains even after the first push-off operation among the sediments constituting the sediment pile F10, is pushed into the hole HL by the second push-off operation, that is, by moving the claw end of the bucket6from the side close to the shovel100to the far side along the target trajectory TL2.

By executing the push-off operation as described above, the controller30can push the sediment relatively close to the hole HL into the hole HL. In the example described above, the controller30is configured to execute the push-off operation for dropping a sediment into the hole HL using the back face BF of the bucket6, but may be configured to execute a push-off operation for dropping a sediment into the hole HL using a front face or a side face of the bucket6. For example, the controller30may be configured to execute the push-off operation for dropping a sediment into the hole HL using the front face of the bucket6when dropping the sediment constituting a sediment pile F11on the +X side (side far from the shovel100) of the hole HL in the range Z1.

The controller30may also be configured to release a sediment, which has been put into the bucket6and lifted by the excavation operation, into the hole HL as described with reference toFIGS.7A to7CandFIGS.8A to8Cwhen the sediment to be backfilled into the hole HL is outside the predetermined distance range from the hole HL. Specifically, with respect to a sediment pile F12outside the range Z1, the controller30may be configured to release a sediment constituting the sediment pile F12, which has been put into the bucket6and lifted by the excavation operation, into the hole HL by an autonomous backfilling operation.

In the example illustrated inFIGS.10A and10B, the controller30may be configured to perform the push-off operation when the switch NS is pressed, but may be configured to perform the push-off operation when the left operation lever26L is operated in the arm opening direction while the switch NS is pressed.

Next, with reference toFIG.11, a backfilling operation (push-off operation) for dropping the sediment into the hole HL using the side face of the bucket6will be described.FIG.11is a top view illustrating the shovel100when the backfilling operation (push-off operation) is performed and the hole HL subject to the backfilling operation (push-off operation), which corresponds to FIG.

In the example illustrated inFIG.11, the controller30is configured to push the sediment into the hole HL by pushing off the sediment with the bucket6, without lifting the sediment with the bucket6, when the sediment to be backfilled in the hole HL is within a predetermined distance range from the hole HL, as in the example illustrated inFIGS.10A and10B. When the sediment to be backfilled in the hole HL is outside the predetermined distance range from the hole HL, the controller30is configured to put the sediment into the bucket6and lift the sediment in the bucket6by the excavation operation, and then release the sediment put in the bucket6into the hole HL, as described with reference toFIGS.7A to7CandFIGS.8A to8C.

In the example illustrated inFIG.11, the controller30uses a side face SF (left-side face LSF) of the bucket6to autonomously execute a push-off operation to push a sediment constituting a sediment pile F13within a predetermined distance range from the hole HL into the hole HL. InFIG.11, the predetermined distance range is a range Z1surrounded by a broken line.

Specifically, as illustrated inFIG.11, the controller30is configured to autonomously turn the upper turning body3to the left so as to push the sediment constituting the sediment pile F13into the hole HL by two backfilling operations (push-off operations).

For example, the controller30recognizes a position and a shape of the sediment pile F13based on the output of the object detection device70. Then, the controller30generates a target trajectory TL for pushing the sediment constituting the sediment pile F13into the hole HL based on the recognized position and shape of the sediment pile F13. At this time, the controller30may calculate the volume or weight of the sediment constituting the sediment pile F13. There is a limit on the volume or weight of the sediment that can be pushed off by a single push-off operation, so that the target trajectory TL can be generated so as not to exceed this limit.

FIG.11illustrates a target trajectory TL3, which is a part of the target trajectory TL for the first push-off operation, as a dashed one-dotted line.FIG.11illustrates a state of the bucket6when the first push-off operation is completed as a solid line, and the position of the bucket6when the first push-off operation is started as a bucketFIG.6Bplotted as a broken line. Further,FIG.11illustrates a sediment F13T which has been pushed into the hole HL by the first push-off operation among the sediment constituting the sediment pile F13, and a sediment F13B which remains after the first push-off operation among the sediment constituting the sediment pile F10with solid lines.

The sediment F13T is pushed into the hole HL by the first push-off operation, that is, by moving the claw end of the bucket6from right to left along the target trajectory TL3.

The sediment F13B is pushed into the hole HL by the second push-off operation, that is, by moving the claw end of the bucket6from right to left along a target trajectory (not illustrated) for the second push-off operation.

By performing the push-off operation including the turning operation described above, the controller30can push the sediment relatively close to the hole HL into the hole HL. In the example described above, the controller30is configured to perform the push-off operation for dropping the sediment into the hole HL using the left-side face LSF of the bucket6, but the controller30may be configured to perform the push-off operation for dropping the sediment into the hole HL using a right-side face of the bucket6. For example, the controller30may be configured to perform the push-off operation for dropping the sediment into the hole HL using the right-side face of the bucket6when the sediment constituting the sediment pile on the +Y side of the hole HL in the range Z1is dropped into the hole HL.

Next, referring toFIGS.12A to12C, yet another example of autonomous control for the backfilling operation will be described.FIGS.12A to12Care cross-sectional views illustrating the hole HL, which correspond toFIGS.9A and9B. Specifically,FIGS.12A to12Cillustrate states of a sediment GR backfilled in the hole HL by a plurality of backfilling operations. More specifically,FIG.12Aillustrates a state of the sediment GR in the hole HL before a second-to-last backfilling operation (push-off operation) is performed,FIG.12Billustrates a state of the sediment in the hole HL after the second-to-last backfilling operation (push-off operation) is performed, andFIG.12Cillustrates a state of the sediment in the hole HL after the last backfilling operation (push-off operation) is performed.

In the example illustrated inFIGS.12A to12C, the controller30is configured to set the height of the target surface TS before the backfilling operation is performed. The target surface TS is a virtual surface, typically a virtual horizontal plane, which corresponds to the ground formed when the hole HL to be backfilled is backfilled with sediment. The controller30detects, for example, the hole HL and the surrounding surface CS, which is the ground around the hole HL, based on the output of the object detection device70. The controller30sets the height of the target surface TS based on the height of the detected surrounding surface CS. The height of the target surface TS is typically set to be the same as the height of the surrounding surface CS. The lower dashed one-dotted line illustrated inFIG.12Arepresents the target surface TS.

The controller30determines, for example, based on the output of the object detection device70, whether or not a sediment pile exists within a predetermined distance range from the hole HL. When the sediment pile exists within the predetermined distance range from the hole HL, the controller30calculates a volume of a sediment constituting the sediment pile, for example, based on the output of the object detection device70. The sediment pile that exists within the predetermined distance range from the hole HL is a pile of sediment to be pushed into the hole HL by a push-off operation, and is hereinafter referred to as an “adjacent sediment pile”. In the example illustrated inFIGS.12A to12C, the controller30recognizes that a sediment pile F14exists as an adjacent sediment pile on the −X side of the hole HL (the side close to the shovel100). Therefore, the controller30calculates the volume of the sediment constituting the sediment pile F14.

For example, every time the backfilling operation is completed, the controller30calculates a volume (required volume) of the sediment required to completely backfill the hole HL based on the output of the object detection device70. The required volume corresponds to a volume (excluding the volume of the part already backfilled with the sediment) of the space located below the target surface TS in the hole HL. Then, the controller30determines whether the volume of the sediment constituting the adjacent sediment pile (sediment pile F14) is equal to or greater than the required volume. It should be noted that the controller30is typically configured to adjust the volume of the sediment to be backfilled into the hole HL by the preceding backfilling operation so that the required volume is approximately equal to the volume of the adjacent sediment pile.

When determining that the volume of sediment constituting the adjacent sediment pile (sediment pile F14) is equal to or greater than the required volume, the controller30executes an autonomous push-off operation as an autonomous backfilling operation.

Specifically, the controller30generates a target trajectory TL for pushing the sediment constituting the sediment pile F14into the hole HL based on the position and shape of the sediment pile F14. In this case, the controller may set a target position with respect to the hole HL, and generate a target trajectory TL.

FIGS.12A and12Billustrate a target trajectory TL4, which is a part of the target trajectory TL for a second-to-final push-off operation, as a dashed one-dotted line.FIGS.12B and12Cillustrate a target trajectory TL5, which is a part of the target trajectory TL for a final push-off operation, as a dashed two-dotted line.

FIG.12Aillustrates a state of the bucket6as a solid line when the second-to-final push-off operation is started.FIG.12Billustrates a state of the bucket6as a solid line when the final push-off operation is started, and illustrates the sediment F14T pushed into the hole HL by the second-to-final push-off operation from among the sediments constituting the sediment pile F14as a coarse dot pattern.FIG.12Cillustrates a state of the bucket6as a solid line when the final push-off operation is completed. InFIGS.12A to12C, for clarity, a fine dot pattern is attached to the sediment GR and the sediment pile F14(excluding sediment F14T), and a shaded pattern is attached to the ground around the hole HL.

As illustrated inFIG.12B, a sediment F14B, which has remained after the second-to-final push-off operation of the sediment pile F14, is pushed into the hole HL by the final push-off operation, that is, by moving the claw end of the bucket6along the target trajectory TL5from the side close to the shovel100to the side away from the shovel, as illustrated inFIG.12C.

By executing the push-off operation as described above, the controller30is able to push the sediment relatively close to the hole HL into the hole HL at the same time as leveling the surface of the sediment backfilled into the hole HL, so that the surface of the sediment backfilled into the hole HL has no irregularities. In addition, the controller30can make the height of the surface of the sediment backfilled into the hole HL and the height of the surrounding surface CS substantially the same. Note that, in the example illustrated inFIGS.12A to12C, the controller is configured to perform the push-off operation for dropping the sediment into the hole HL and the leveling operation simultaneously by using the back face BF of the bucket6, but may be configured to perform the push-off operation for dropping the sediment into the hole HL and the leveling operation simultaneously by using the front face or the side face of the bucket6.

Thus, the controller30autonomously and simultaneously performs the backfilling operation and the leveling operation, thereby reducing the operator's burden on the backfilling operation and the leveling operation by manual operation. In addition, the controller30can enhance the efficiency of the backfilling operation compared with the case where the backfilling operation and the leveling operation are performed separately.

As described above, the shovel100according to the embodiment of the present disclosure includes a lower traveling body1, an upper turning body3turnably mounted on the lower traveling body1, and the controller30as a control device disposed in the upper turning body3. The controller30is configured to start an autonomous backfilling operation by the shovel100when a predetermined condition is met.

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

The predetermined switch is, for example, a switch NS disposed on the operation lever. The predetermined operation mode is, for example, a backfilling mode. The operator of the shovel100can switch an operation mode of the shovel100between a normal mode and the backfilling mode by, for example, operating the switch NS. When the operation mode of the shovel100is the backfilling mode, the operator can perform an autonomous backfilling operation as illustrated inFIGS.7A to7Cby, for example, operating the left operation lever26L in the left turning direction, or can perform an autonomous backfilling operation (push-off operation) as illustrated inFIGS.10A and10Bby operating the left operation lever26L in the arm opening direction.

This configuration can enhance the efficiency of the backfilling operation compared with the backfilling operation performed in response to the manual operation of the operation lever. In addition, this configuration can reduce the burden on the operator of the shovel100for the backfilling operation.

The backfilling operation may include at least one of an operation of the excavation attachment AT attached to the upper turning body3and a turning operation of the upper turning body3. Specifically, the backfilling operation may include at least one of the boom raising operation, the boom lowering operation, the arm opening operation, the arm closing operation, the bucket opening operation, the bucket closing operation, the left turning operation, and the right turning operation, as illustrated inFIGS.7A to7C. Alternatively, the backfilling operation may not include the turning operation, as illustrated inFIGS.10A and10B. Alternatively, the backfilling operation may not include the operation of the excavation attachment AT. In addition, the backfilling operation may include at least one of an operation of pushing a sediment with the front face of the bucket6, an operation of pushing a sediment with the side face SF of the bucket6, and an operation of pushing a sediment with the back face BF of the bucket6.

This configuration can further enhance the efficiency of the backfilling operation, for example, by enabling the autonomous execution of an appropriate backfilling operation according to a positional relationship between a hole subject to a backfilling work and a sediment pile subject to the backfilling work.

The controller30may be configured to specify a position of a landscape feature subject to backfilling based on an output of the object detection device70. The landscape feature subject to backfilling may be, for example, a hole subject to backfilling and a sediment pile subject to backfilling. For example, the controller30may be configured to specify a position of a landscape feature subject to backfilling based on an image captured by the imaging device80. Alternatively, the controller30may be configured to specify a position of a landscape feature subject to backfilling based on distance information measured by LIDAR. In this case, the controller30may be configured to recognize at least one of a shape, a depth, and a volume of the hole subject to backfilling; a shape, a height, and a volume of the sediment pile subject to backfilling; and a progress of the backfilling work based on an output of the object detection device70.

The preferred embodiment of the present disclosure has been described in detail. However, the present invention is not limited to the embodiment described above, nor is it limited to what is exemplified below. The embodiment described above may be subject to various modifications, substitutions, and the like without departing from the scope of the present invention In addition, the features described separately may be combined, provided that no technical inconsistencies arise.

For example, according to the embodiment described above, the controller30is configured to perform the backfilling operation or the like autonomously or semi-autonomously, thereby reducing the burden on the operator sitting on a driver's seat inside the cabin10. However, the autonomous or semi-autonomous operation by the controller30may be applied to a remotely operated shovel. In this case, the controller30can perform the backfilling operation or the like autonomously or semi-autonomously, thereby reducing the burden on a remote operator sitting on a driver's seat inside a remotely controlled room connected to the shovel100via wireless communication.

The controller30may also be configured to recognize a positional relationship between the shovel100and the hole HL based on the output of the object detection device70. In this case, the controller30may specify the position of the hole HL based on the output of a positioning device (such as GNSS) mounted on the shovel100. The controller30may be configured to recognize the positional relationship between the shovel100and a sediment pile based on the output of the object detection device70. In this case, the controller30may specify the position of the sediment pile based on the output of the positioning device mounted on the shovel100.

In addition, the controller30may be configured to recognize the position of the hole HL based on the construction plan inputted by communication, etc., when the position or shape of the hole subject to the backfilling operation is set in advance in the construction plan (design data). Similarly, the controller30may be configured to recognize the position of the sediment pile based on the construction plan inputted by communication, etc., when the position or the like of the sediment pile subject to the backfilling operation is set in advance in the construction plan (design data). Thus, the controller30can control the position of the bucket6by comparing the control reference point calculated based on the output of the positioning device (GNSS, etc.) or the attitude sensor, etc. mounted on the shovel100with the position (target position) of the sediment pile, the hole HL, or the like on the construction plan.