Shovel and controller for shovel

1 . A shovel comprising:

an attachment including a boom, an arm, and a bucket; and

a hardware processor configured to move the attachment to move a back surface of the bucket along an intended construction plane,

wherein a plurality of regions between which a control command for a movement of the bucket generated by the hardware processor differs are set at a bend of the intended construction plane,

wherein the hardware processor is further configured to control movement of the back surface of the bucket at the bend,

wherein the hardware processor is configured to:

determine whether a leading end of the bucket along the target trajectory arrives at the bend;

determine whether a change between adjoining intended construction planes at the bend is less than 180°,

determine whether a trailing end of the bucket along the target trajectory passes an extended plane of the next target trajectory at the bend,

determine whether the change between adjoining intended construction planes at the bend is more than 180°,

wherein the hardware processor is configured to:

obtain shape data of the bucket from an internal memory, or a predetermined external storage, and

determine whether the leading end of the bucket along the target trajectory arrives at the bend based on the shape data of the bucket,

wherein the hardware processor is configured to

sequentially change a pose of the back surface of the bucket from being parallel to a first adjoining intended construction plane to being parallel to a second adjoining intended construction plane,

wherein the hardware processor is configured to switch a correspondence between a control reference and a target trajectory to a next target trajectory in response to determining that the leading end of the bucket along the target trajectory arriving at the bend upon the determination that the change between the first and second adjoining intended construction planes at the bend is less than 180°, and

wherein the hardware processor is configured to switch the correspondence between the control reference and the target trajectory to the next target trajectory in response to the trailing end of the bucket along the target trajectory passing the extended plane of the next target trajectory at the bend upon the determination that the change between the first and second adjoining intended construction planes at the bend is more than 180°.

2 . The shovel as claimed in claim 1 , wherein the hardware processor is configured to, upon determining that the bucket enters into a second region from a first region among the plurality of regions, generate the control command for the movement of the bucket corresponding to the second region.

3 . The shovel as claimed in claim 2 , wherein the hardware processor is configured to move the boom and the bucket to move the back surface of the bucket along the intended construction plane according to an operation of the arm, and to generate a control command for a movement of the boom based on the control command for the movement of the bucket.

4 . A controller for a shovel, the shovel including an attachment including a boom, an arm, and a bucket, the controller comprising:

a hardware processor configured to move the attachment to move a back surface of the bucket along an intended construction plane,

wherein a plurality of regions between which a control command for a movement of the bucket generated by the hardware processor differs are set at a bend of the intended construction plane,

wherein the hardware processor is further configured to control movement of the back surface of the bucket at the bend,

wherein the hardware processor is configured to:

determine whether a leading end of the bucket along the target trajectory arrives at the bend;

determine whether a change between adjoining intended construction planes at the bend is less than 180°,

determine whether a trailing end of the bucket along the target trajectory passes an extended plane of the next target trajectory at the bend,

determine whether the change between the adjoining intended construction planes at the bend is more than 180°,

wherein the hardware processor is configured to:

obtain shape data of the bucket from an internal memory, or a predetermined external storage, and

determine whether the leading end of the bucket along the target trajectory arrives at the bend based on the shape data of the bucket,

wherein the hardware processor is configured to

sequentially change a pose of the back surface of the bucket from being parallel to a first adjoining intended construction plane to being parallel to a second adjoining intended construction plane,

wherein the hardware processor is configured to switch a correspondence between a control reference and a target trajectory to a next target trajectory in response to the leading end of the bucket along the target trajectory arriving at the bend upon the determination that the change between adjoining intended construction planes at the bend is less than 180°, and

wherein the hardware processor is configured to switch the correspondence between the control reference and the target trajectory to the next target trajectory in response to the trailing end of the bucket along the target trajectory passing the extended plane of the next target trajectory at the bend upon the determination that the change between the first and second adjoining intended construction planes at the bend is more than 180°.

5 . The controller as claimed in claim 4 , wherein the hardware processor is configured to, upon determining that the bucket enters into a second region from a first region among the plurality of regions, generate the control command for the movement of the bucket corresponding to the second region.

6 . The controller as claimed in claim 5 , wherein the hardware processor is configured to move the boom and the bucket to move the back surface of the bucket along the intended construction plane according to an operation of the arm, and to generate a control command for a movement of the boom based on the control command for the movement of the bucket.

7 . The shovel as claimed in claim 1 , wherein the hardware processor is configured to continue to control the movement of the back surface of the bucket as the working part of the bucket approaches and moves away from the bend.

8 . The shovel as claimed in claim 7 , wherein the hardware processor is configured to continue to control the movement of the working part of the bucket so as to keep the back surface of the bucket to be parallel to the intended construction plane as the working part of the bucket approaches and moves away from the bend.

9 . The shovel as claimed in claim 1 , wherein the hardware processor is configured to switch the leading end between one end and an opposite end of the bucket as switching a moving direction of the bucket between a direction toward the shovel and a direction away from the shovel.

10 . The shovel as claimed in claim 1 , wherein the hardware processor is configured to

generate a bucket command value corresponding to a target bucket angle such that the hardware processor sequentially changes the pose of the back surface of the bucket from being parallel to the first adjoining intended construction plane to being parallel to the second adjoining intended construction plane, and

generate a boom command value based on the generated bucket command value and an arm operation.

11 . The shovel as claimed in claim 1 , wherein the hardware processor is configured to determine a transition region in the vicinity of the bend based on the shape data, and initiate the sequential change of the pose of the back surface of the bucket within the transition region such that the back surface is aligned with the second adjoining intended construction plane at a timing synchronized with the switch of the correspondence.