Shovel

Patent metadata

Field	Value
Publication number	US-2021002851-A1
Application number	US-202017023552-A
Country	US
Kind code	A1
Filing date	Sep 17, 2020
Priority date	Mar 20, 2018
Publication date	Jan 7, 2021
Grant date	—

Abstract

A shovel (100) according to embodiments of the present invention includes a lower travelling body (1), an upper pivot body (3) pivotably mounted to the lower travelling body (1), an excavation attachment (AT) rotatably mounted to the upper pivot body, and a controller (30) provided to the upper pivot body (3). The controller (30) is configured to autonomously perform a compound operation including an operation of the excavation attachment (AT) and a pivot operation. The controller (30) may be configured to, in response to an automatic switch (NS2) provided in a cabin (10) mounted to the upper pivot body (3) being operated, autonomously perform the compound operation.

First claim

What is claimed is:

1 . A shovel comprising:
a lower travelling body; an upper pivot body pivotably mounted to the lower travelling body; an attachment attached to the upper pivot body; and a controller provided to the upper pivot body, wherein the controller is configured to autonomously perform a compound operation including an operation of the attachment and a pivot operation.

2 . The shovel as claimed in claim 1 , further comprising:
an operation lever provided in a cabin mounted to the upper pivot body, wherein the controller performs the compound operation for one of the operation lever.

3 . The shovel as claimed in claim 1 , wherein the controller is configured to, in response to a first switch provided in a cabin mounted to the upper pivot body being operated, autonomously perform the compound operation.

4 . The shovel as claimed in claim 1 , further comprising:
a posture detection device that obtains information regarding a posture of the attachment, wherein the controller is configured to calculate a target trajectory drawn by a predetermined point in the attachment based on the information obtained by the posture detection device and autonomously perform the compound operation so that the predetermined point moves along the target trajectory.

5 . The shovel as claimed in claim 4 , wherein the controller is configured to perform the compound operation repeatedly and is configured to change the target trajectory for each execution of the compound operation.

6 . The shovel as claimed in claim 4 , further comprising:
a second switch provided in a cabin mounted to the upper pivot body, wherein the controller is configured to, in response to the second switch being operated, obtain the information regarding the posture of the attachment.

7 . The shovel as claimed in claim 1 , wherein the controller is configured to autonomously perform the compound operation during an operation of a first switch provided in a cabin mounted to the upper pivot body or during a pivot operation in a state where the first switch is operated.

8 . The shovel as claimed in claim 1 , further comprising:
a display device, wherein the display device is configured to display a relative positional relationship between the shovel and a dump truck.

9 . The shovel as claimed in claim 1 , wherein the compound operation is a boom up pivot operation for loading a to-be-loaded object onto a platform of a dump truck, and the controller is configured to autonomously perform the compound operation such that the to-be-loaded objects are loaded in an order from an inner side to an front side of the dump truck.

10 . The shovel as claimed in claim 4 , further comprising:
a display device, wherein the display device is configured to display the target trajectory.

11 . The shovel as claimed in claim 1 , further comprising:
a display device, wherein the compound operation is a boom up pivot operation for loading a to-be-loaded object onto a platform of a dump truck, and the display device is configured to display information regarding an excavation completion position that is a start position of the compound operation.

12 . The shovel as claimed in claim 1 , further comprising:
a display device, wherein the compound operation is a boom up pivot operation for loading a to-be-loaded object onto a platform of a dump truck, and the display device is configured to display information regarding an earth removal start position that is a completion position of the compound operation.

13 . The shovel as claimed in claim 4 , wherein the controller is configured to determine whether a deviation between the predetermined point and the target trajectory is within an allowable range.

14 . The shovel as claimed in claim 1 , wherein if a distance between a control reference point and a dump truck is less than a predetermined value, the controller limits velocity of a work portion with a predetermined upper limit value.

15 . The shovel as claimed in claim 1 , wherein if a distance between a control reference point and a dump truck is less than a predetermined value, the controller decreases velocity of a work portion.

16 . The shovel as claimed in claim 1 , wherein the controller composes a feedback loop for a position of a control reference point with respect to a target trajectory and composes a feedback loop regarding a rotation angle of the upper pivot body based on a detected value of the rotation angle of the upper pivot body.

17 . The shovel as claimed in claim 1 , wherein the controller sets a target trajectory in a boom down pivot operation.

Assignees

• Sumitomo Heavy Industries

Inventors

• Morita Junichi

Classifications

• E02F9/265

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

• E02F9/262

  with follow-up actions to control the work tool, e.g. controller · CPC title

• E02F9/2285

  Pilot-operated systems · CPC title

• E02F9/2282

  Systems using center bypass type changeover valves · CPC title

• E02F9/2242

  including an electronic controller · CPC title