Excavator
An excavator according to an embodiment of the present invention includes a lower traveling body, an upper turning body with an attachment mounted on the lower traveling body, and a controller installed in the upper turning body. The controller is configured to restrict movement of the lower traveling body based on information about terrain around the upper traveling body.
1. An excavator comprising:
a lower traveling body;
an upper turning body equipped with an attachment, the upper turning body being mounted on the lower traveling body; and
a controller installed in the upper turning body, the controller being configured to
determine whether a predetermined article exists in a moving direction of the lower traveling body with respect to each of a forward direction and a backward direction of the lower traveling body based on information about terrain around the upper turning body, the predetermined article having a depth relative to a level of a ground at which the excavator is positioned,
set a restricted range for the predetermined article in response to determining that the predetermined article exists, and
restrict movement of the lower traveling body with respect to the restricted range set for the predetermined article.
2. The excavator according to claim 1 , wherein the controller is configured to determine whether the predetermined article exists in the moving direction of the lower traveling body with respect to each of the forward direction and the backward direction of the lower traveling body based on information about a change in the terrain around the upper turning body.
3. The excavator according to claim 1 , wherein the controller is configured to determine whether the predetermined article exists in the moving direction of the lower traveling body with respect to each of the forward direction and the backward direction of the lower traveling body based on information about a change in the terrain caused by excavation work.
4. The excavator according to claim 3 , wherein the controller is configured to acquire the information about the change in the terrain caused by excavation work, based on an operation history of the attachment, the operation history including a detected value of an orientation detecting device.
5. The excavator according to claim 1 , wherein the controller is configured to acquire information about a change in the terrain around the upper turning body, based on an output of a device configured to acquire a surface condition of an article or an output of a device configured to acquire a path of movement of the attachment.
6. The excavator according to claim 5 , wherein the device configured to acquire the surface condition of the article or the device configured to acquire the path of movement of the attachment is attached to the attachment.
7. The excavator according to claim 1 , wherein
the lower traveling body is driven by a variable displacement hydraulic motor; and
the controller is configured to restrict the movement of the lower traveling body, by fixing a driving mode of the variable displacement hydraulic motor to a low-speed driving mode.
8. The excavator according to claim 1 , wherein the controller is configured to restrict the moving direction of the lower traveling body or moving speed of the lower traveling body.
9. The excavator according to claim 1 , wherein the controller is configured to set a range from the predetermined article to a predetermined distance, as the restricted range.
10. The excavator according to claim 1 , wherein
the controller is configured to acquire the information about terrain around the upper turning body from an imaging device external to the excavator.
11. The excavator according to claim 1 , wherein the controller is configured
to recognize a distance to the predetermined article,
to determine whether the predetermined article exists within a predetermined distance in the moving direction of the lower traveling body with respect to each of the forward direction and the backward direction of the lower traveling body, and
to restrict forward movement of the lower traveling body in response to determining that the predetermined article exists within the predetermined distance in the forward direction of the lower traveling body, and to restrict backward movement of the lower traveling body in response to determining that the predetermined article exists within the predetermined distance in the backward direction of the lower traveling body.
12. The excavator according to claim 1 , wherein the controller is configured to set the restricted range based on information acquired from an imaging device.
13. The excavator according to claim 1 , wherein the controller is configured to set the restricted range based on information about coordinates representing a current position of the excavator.
14. The excavator according to claim 1 , wherein the controller is configured to set a range of a predetermined distance from the predetermined article as the restricted range for the predetermined article.
15. The excavator according to claim 1 , wherein the predetermined article is a hole in the ground.
16. The excavator according to claim 1 , wherein the predetermined article is a hole, the hole having a depth greater than a predetermined depth; a side surface whose tilt angle relative to the level of the ground at which the excavator is positioned is greater than a predetermined angle; or a combination thereof.
17. The excavator according to claim 1 , wherein
the controller is configured to set a range of a predetermined distance from the predetermined article as the restricted range for the predetermined article, and
the predetermined article is a hole in the ground.
18. An excavator comprising:
a lower traveling body;
an upper turning body equipped with an attachment, the upper turning body being mounted on the lower traveling body; and
a controller installed in the upper turning body, the controller being configured to
determine whether a predetermined article exists in a moving direction of the lower traveling body with respect to each of a forward direction and a backward direction of the lower traveling body based on information about coordinates representing a current position of the excavator, the predetermined article having a depth relative to a level of a ground at which the excavator is positioned,
set a restricted range for the predetermined article in response to determining that the predetermined article exists, and
restrict movement of the lower traveling body with respect to the restricted range set for the predetermined article.
19. The excavator according to claim 18 , wherein the controller is configured to acquire information about a change in terrain around the upper turning body, based on an output of a device configured to acquire a surface condition of an article or an output of a device configured to acquire a path of movement of the attachment.
20. The excavator according to claim 18 , wherein the controller is configured to acquire information about a change in terrain caused by excavation work, based on an operation history of the attachment, the operation history including a detected value of an orientation detecting device.