A shovel includes a hydraulic actuator, an operating apparatus used to operate the hydraulic actuator, an obtaining device configured to obtain information concerning the vibration of the body of a shovel, and a hardware processor. The hardware processor is configured to perform such control as to reduce the responsiveness of the hydraulic actuator to the operation of the operating apparatus when the body of the shovel is vibrating or the vibration is likely to occur in the body of the shovel, based on the output of the obtaining device.
1. A shovel comprising:
a hydraulic actuator;
an operating apparatus used to operate the hydraulic actuator;
a hydraulic pump configured to supply hydraulic oil to, the hydraulic actuator;
an engine configured to drive the hydraulic pump;
an obtaining device configured to obtain information concerning a vibration of a body of the shovel; and
a hardware processor configured to detect an occurrence of the vibration of the body of the shovel based on an output of the obtaining device and perform such control as to reduce responsiveness of the hydraulic actuator to an operation of the operating apparatus in response to detecting the occurrence of the vibration of the body of the shovel,
wherein the hardware processor is configured to perform at least one of: such control as to lower an acceleration and deceleration characteristic of the hydraulic actuator with respect to the operation of the operating apparatus; reducing a rotational speed of the engine to reduce a pump flow rate of the hydraulic pump; and controlling a tilt angle of the hydraulic actuator to reduce the pump flow rate of the hydraulic pump, in response to detecting the occurrence of the vibration of the body of the shovel.
2. The shovel as claimed in claim 1 , wherein the hardware processor is configured to sense the vibration of the body of the shovel based on information on a change in an attitude of the shovel obtained by the obtaining device.
3. The shovel as claimed in claim 2 , wherein the information on the change in the attitude of the shovel is obtained with at least one of a tilt sensor, a gyroscope, an inertial measurement unit sensor, a global positioning system device, and an image capturing device.
4. The shovel as claimed in claim 1 , wherein the hardware processor is configured to sense the vibration based on information on at least one of, a slip of the shovel, a lift of the shovel, and a position of a center of gravity of the shovel, the information being computed from the output of the obtaining device.
5. The shovel as claimed in claim 1 , further comprising:
a lower traveling body;
an upper turning body turnably mounted on the lower traveling body;
and
a control valve configured to control a flow of the hydraulic oil from the hydraulic pump to the hydraulic actuator,
wherein the hardware processor is configured to control the responsiveness by changing a pilot pressure acting on the control valve in a case of performing such control as to lower an acceleration and deceleration characteristic of the hydraulic actuator with respect to the operation of the operating apparatus.
6. The shovel as claimed in claim 5 , wherein
the operating apparatus is an electric lever, and
the hardware processor is configured to change the pilot pressure according to a direction of operation and an amount of operation of the electric lever.
7. A shovel comprising:
a hydraulic actuator;
an operating apparatus used to operate the hydraulic actuator;
an obtaining device configured to obtain information concerning a vibration of a body of the shovel; and
a hardware processor configured to
detect an occurrence of the vibration of the body of the shovel based on an output of the obtaining device and perform such control as to reduce responsiveness of the hydraulic actuator to an operation of the operating apparatus in response to detecting the occurrence of the vibration of the body of the shovel, and
select the responsiveness of the hydraulic actuator to the operation of the operating apparatus from among multiple levels according to a degree of an occurring vibration in response to detecting the occurrence of the vibration of the body of the shovel.
8. A shovel comprising:
a hydraulic actuator;
an operating apparatus used to operate the hydraulic actuator;
an obtaining device configured to obtain information concerning a vibration of a body of the shovel;
a hardware processor configured to perform such control as to reduce responsiveness of the hydraulic actuator to an operation of the operating apparatus when the body of the shovel is vibrating or the vibration is likely to occur in the body of the shovel, based on an output of the obtaining device;
a lower traveling body;
an upper turning body turnably mounted on the lower traveling body;
a hydraulic pump mounted on the upper turning body; and
a bleed valve configured to control a flow rate of a portion of hydraulic oil discharged by the hydraulic pump, the portion flowing to a hydraulic oil tank without going through the hydraulic actuator,
wherein the hardware processor is configured to control the responsiveness by changing an opening area of the bleed valve.
9. The shovel as claimed in claim 8 , wherein the hardware processor is configured to determine that the vibration is likely to occur in the body of the shovel when such a predetermined condition as to decrease stability of the body of the shovel is satisfied.
10. The shovel as claimed in claim 8 , further comprising:
an engine configured to drive the hydraulic pump,
wherein the hydraulic pump is configured to supply the hydraulic oil to the hydraulic actuator; and
the hardware processor is further configured to perform at least one of reducing a rotational speed of the engine to reduce a pump flow rate of the hydraulic pump and controlling a tilt angle of the hydraulic actuator to reduce the pump flow rate of the hydraulic pump, when the body of the shovel is vibrating or the vibration is likely to occur in the body of the shovel.
11. The shovel as claimed in claim 8 , wherein the hardware processor is configured to select the responsiveness of the hydraulic actuator to the operation of the operating apparatus from among multiple levels according to a degree of an occurring vibration or the vibration that is likely to occur, when the body of the shovel is vibrating or the vibration is likely to occur in the body of the shovel.
12. The shovel as claimed in claim 8 , wherein the hardware processor is configured to sense the vibration of the body of the shovel based on information on a change in an attitude of the shovel obtained by the obtaining device.
13. The shovel as claimed in claim 12 , wherein the information on the change in the attitude of the shovel is obtained with at least one of a tilt sensor, a gyroscope, an inertial measurement unit sensor, a global positioning system device, and an image capturing device.
14. The shovel as claimed in claim 8 , wherein the hardware processor is configured to sense the vibration based on information on at least one of stability of the shovel, a slip of the shovel, a lift of the shovel, and a position of a center of gravity of the shovel, the information being computed from the output of the obtaining device.
15. The shovel as claimed in claim 8 , wherein
the operating apparatus is an electric lever, and
the hardware processor is configured to change the opening area of the bleed valve according to a direction of operation and an amount of operation of the electric lever.
16. The shovel as claimed in claim 8 , wherein the hardware processor is configured to determine whether a work condition is such that the vibration is likely to occur in the body of the shovel, based on a value of a position, a velocity, an acceleration, or a variation thereof at a reference position or in a reference plane on the shovel obtained by the obtaining device, and to reduce the responsiveness of the hydraulic actuator to the operation of the operating apparatus in advance in response to determining that the work, condition is such that the vibration is likely to occur in the body of the shovel.
17. The shovel as claimed in claim 16 , wherein the hardware processor is configured to determine that the work condition is such that the vibration is likely to occur in the body of the shovel when the value of the position, the velocity, the acceleration, or the variation thereof at the reference position or in the reference plane on the shovel reaches a threshold a predetermined number of times during a predetermined period.
18. The shovel as claimed in claim 16 , wherein the hardware processor is configured to determine that the work condition is such that the vibration is likely to occur in the body of the shovel in response to sensing, a first predetermined number of times during a first predetermined period, that the value of the position, the velocity, the acceleration, or the variation thereof at the reference position or in the reference plane on the shovel reaches a threshold a second predetermined number of times during a second predetermined period shorter than the first predetermined period.