Shovel and control device for shovel

1 . A control device for a shovel, the shovel including: a lower traveling body; an upper swiveling body rotatably mounted on the lower traveling body; an attachment attached to the upper swiveling body, the attachment including a bucket; a traveling actuator configured to drive the lower traveling body; and an attachment actuator configured to move the attachment, the control device comprising:

processing circuitry configured to, while the shovel is approaching an ascending slope,

autonomously determine whether a horizontal distance between the bucket and a lower end of the ascending slope is less than a predetermined distance, the horizontal distance being measured perpendicular to a direction of gravity, and

autonomously operate the attachment actuator to maintain a height of the bucket at a predetermined value in response to determining that the horizontal distance is less than the predetermined distance.

2 . A shovel comprising:

a lower traveling body;

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

an attachment attached to the upper swiveling body, the attachment including a bucket;

a traveling actuator configured to drive the lower traveling body;

an attachment actuator configured to move the attachment; and

the control device as set forth in claim 1 .

3 . The control device for the shovel as claimed in claim 1 , wherein the processing circuitry is further configured to

autonomously determine that the shovel has passed the lower end of the ascending slope in response to determining that the horizontal distance is zero, and

autonomously operate the attachment actuator to raise the bucket in response to determining that the shovel has passed the lower end of the ascending slope.

4 . A control device for a shovel, the shovel including: a lower traveling body; an upper swiveling body rotatably mounted on the lower traveling body; an attachment attached to the upper swiveling body, the attachment including a bucket; a traveling actuator configured to drive the lower traveling body; and an attachment actuator configured to move the attachment, the control device comprising:

processing circuitry configured to, while the shovel is ascending a slope,

autonomously determine whether the bucket has passed an upper end of the slope based on a horizontal distance between the bucket and the upper end of the slope, the horizontal distance being measured perpendicular to a direction of gravity,

autonomously operate the attachment actuator to lower the bucket in response to determining that the bucket has passed the upper end of the slope,

autonomously determine, after lowering the bucket, whether a counterweight of the shovel is lifted as a front end of the lower traveling body protruding in air is lowered, and

autonomously operate the attachment actuator to raise the bucket in response to determining that the counterweight is lifted.

5 . The control device for the shovel as claimed in claim 4 , wherein the processing circuitry is further configured to, while the shovel is ascending the slope,

autonomously operate the attachment actuator so as to prevent the bucket from contacting a ground of the slope, based on a vertical distance between the bucket and the ground, the vertical distance being measured along the direction of gravity, and

autonomously compare the vertical distance with a lower limit value and an upper limit value and operate the attachment actuator based on a result of said comparing so as to maintain the vertical distance within a range between the lower limit value and the upper limit value.

6 . The control device for the shovel as claimed in claim 5 , wherein the processing circuitry is further configured to, while the shovel is ascending the slope,

autonomously determine whether the vertical distance is less than the lower limit value and whether the vertical distance is more than the upper limit value, and

autonomously operate the attachment actuator to raise the bucket in response to determining that the vertical distance is less than the lower limit value and autonomously operate the attachment actuator to lower the bucket in response to determining that the vertical distance is more than the upper limit value.

7 . A shovel comprising:

a lower traveling body;

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

an attachment attached to the upper swiveling body, the attachment including a bucket;

a traveling actuator configured to drive the lower traveling body;

an attachment actuator configured to move the attachment; and

the control device as set forth in claim 4 .