Shovel

Patent metadata

Field	Value
Publication number	US-2018305902-A1
Application number	US-201816020110-A
Country	US
Kind code	A1
Filing date	Jun 27, 2018
Priority date	Dec 28, 2015
Publication date	Oct 25, 2018
Grant date	—

Abstract

A shovel includes a traveling undercarriage, an upper turning structure, an attachment, an end attachment position detecting device, an object detecting device, and a processor. The upper turning structure is turnably mounted on the traveling undercarriage. The attachment is attached to the upper turning structure, and includes an end attachment at an end thereof. The end attachment position detecting device is configured to detect the position of the end attachment. The object detecting device is configured to detect the position of an object. The processor is configured to control the movement of at least one of the attachment and the upper turning structure, based on the relative positional relationship between the excavation completion position of the end attachment and the position of the object.

First claim

What is claimed is:

1 . A shovel comprising:
a traveling undercarriage; an upper turning structure turnably mounted on the traveling undercarriage; an attachment attached to the upper turning structure, the attachment including an end attachment at an end thereof; an end attachment position detecting device configured to detect a position of the end attachment; an object detecting device configured to detect a position of an object; and a processor configured to control a movement of at least one of the attachment and the upper turning structure, based on a relative positional relationship between an excavation completion position of the end attachment and the position of the object.

2 . The shovel as claimed in claim 1 , wherein the processor is configured to calculate a target line serving as a target along which the end attachment moves, based on the relative positional relationship, and to control the movement of the at least one of the attachment and the upper turning structure along the calculated target line.

3 . The shovel as claimed in claim 2 , wherein the processor is configured to slow movements of the attachment and the upper turning structure within a final position range of the target line.

4 . The shovel as claimed in claim 2 , wherein the target line is a trajectory line along which the end attachment travels a shortest distance to a target position while avoiding a contact with the object.

5 . The shovel as claimed in claim 2 , wherein the target line is generated between the object and a movement trajectory line in a case of independently performing a turning operation to a loading position after independently performing a boom raising operation from the excavation completion position.

6 . The shovel as claimed in claim 1 , wherein the processor is configured to slow the movement of the at least one of the attachment and the upper turning structure, the movement being responsive to a lever operation, when a height position of the end attachment reaches a threshold.

7 . The shovel as claimed in claim 1 , wherein the relative positional relationship includes height information, and the object detecting device is configured to detect a height of the object.

8 . The shovel as claimed in claim 1 , wherein the processor is configured to control a control pressure to a flow control valve, the control pressure being generated by a lever operation.

9 . The shovel as claimed in claim 1 , wherein the object detecting device includes at least one of a camera and a millimeter wave radar.

Assignees

• Sumitomo Shi Constr Mach Co

Inventors

• Tsukamoto Hiroyuki

Classifications

• E02F9/123

  Drives or control devices specially adapted therefor (E02F9/125 and E02F9/128 take precedence) · CPC title

• E02F9/22

  Hydraulic or pneumatic drives {(for dipper or bucket arm position control E02F3/43, for blade position control for graders E02F3/844; for turntables E02F9/121; for fork-lift trucks B66F9/22)} · CPC title

• E02F3/435 Primary

  for dipper-arms, backhoes or the like · CPC title

• E02F9/265

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F3/32

  working downwardly and towards the machine, e.g. with backhoes · CPC title