Shovel that operates within set boundaries
View Patent ↗A shovel includes a lower traveling body, an upper turning body turnably mounted on the lower traveling body, an actuator mounted on the lower traveling body or the upper turning body, and a controller configured to restrict movement of the actuator. The controller sets a virtual wall, and restricts the movement of the actuator based on a positional relationship between the virtual wall and the shovel.
1 . A shovel comprising:
a lower traveling body;
an upper turning body turnably mounted on the lower traveling body;
an actuator mounted on the lower traveling body or the upper turning body;
a sensor attached to the upper turning body; and a hardware processor configured to:
identify that a plurality of obstacles is arranged in a work environment;
determine that the plurality of obstacles is arranged continuously, linearly, symmetrically, or repeatably; and
generate a virtual wall in response to the determination that the plurality of obstacles is arranged continuously, linearly, symmetrically, or repeatably;
wherein the generated virtual wall defines a closed working space in which the shovel is located and may perform work; and
wherein the hardware processor is configured to restrict movement of the actuator based on a positional relationship between the generated virtual wall and the shovel; wherein the hardware processor is configured to detect the plurality of obstacles based on output of the sensor and generate the virtual wall based on the detected plurality of obstacles; and wherein the hardware processor is configured to derive, based on a feature extraction technique, a regularity of continuity, linearity, symmetry or repeatability of the plurality of obstacles based on the output of the sensor, and generate the virtual wall based on the derived regularity.
2 . The shovel according to claim 1 , wherein the plurality of obstacles is a plurality of road cones disposed in a vicinity of the shovel.
3 . The shovel according to claim 1 , wherein the hardware processor is configured to slow or stop the movement of the actuator in response to determining that a part of the shovel crosses the virtual wall.
4 . The shovel according to claim 1 , wherein the hardware processor is configured to slow or stop the movement of the actuator to prevent a part of the shovel from crossing the virtual wall.
5 . The shovel according to claim 1 , wherein the plurality of obstacles includes one or more pre-identified first obstacles and second obstacles whose positional relationship change depending on a construction situation,
data on the one or more pre-identified first obstacles are preliminarily input into a construction plan drawing that is electronic design data,
the hardware processor is configured to detect the second obstacles based on output of the sensor, and
the generation of the virtual wall is based on the detected second obstacles and the construction plan.
6 . The shovel according to claim 1 , wherein the sensor is attached to the upper turning body such that a virtual line representing a boundary of a monitoring range forms an angle of 90 degrees or more with respect to a virtual plane that is perpendicular to a turning axis.
7 . The shovel according to claim 1 ,
wherein the sensor includes a plurality of sensors, the plurality of sensors including a first sensor configured to monitor an area obliquely above the shovel and a second sensor configured to monitor an area obliquely below the shovel,
wherein a monitoring range of the first sensor partially overlaps with a monitoring range of the second sensor.
8 . The shovel according to claim 1 , wherein the generated virtual wall extends vertically with respect to a ground.
9 . The shovel according to claim 1 , further comprising:
an excavation attachment attached to the upper turning body,
wherein the hardware processor is configured to separately determine a positional relationship between the virtual wall and each of the lower traveling body, the upper turning body, and the excavation attachment.
10 . The shovel according to claim 1 , wherein the generated virtual wall defines a closed three-dimensional space surrounding the shovel as the closed working space.
11 . A shovel comprising:
a lower traveling body;
an upper turning body turnably mounted on the lower traveling body;
an actuator mounted on the lower traveling body or the upper turning body;
a sensor attached to the upper turning body and configured to detect an object in a vicinity of the shovel; and
a hardware processor configured to
identify that a plurality of obstacles is arranged in a work environment, based on an output of the sensor,
determine that the plurality of obstacles is arranged continuously, linearly, symmetrically, or repeatably; and
generate a virtual wall in response to the determination that the plurality of obstacles is arranged continuously, linearly, symmetrically, or repeatably;
wherein the generated virtual wall defines a closed working space in which the shovel is located and may perform work; and
wherein the hardware processor is configured to restrict movement of the actuator based on a positional relationship between the generated virtual wall and the shovel; wherein the hardware processor is configured to generate the virtual wall based on the identified plurality of obstacles; and wherein the hardware processor is configured to derive, based on a feature extraction technique, a regularity of continuity, linearity, symmetry or repeatability of the plurality of obstacles based on the output of the sensor, and generate the virtual wall based on the derived regularity.
12 . An assist device for a shovel, comprising a hardware processor configured to:
identify that a plurality of obstacles is arranged in a work environment;
determine that the plurality of obstacles is arranged continuously, linearly, symmetrically, or repeatably; and
generate a virtual wall in response to the determination that the plurality of obstacles is arranged continuously, linearly, symmetrically, or repeatably;
wherein the generated virtual wall defines a closed working space in which the shovel is to be located and in which the shovel may perform work; and
wherein the hardware processor is configured to restrict movement of an actuator of the shovel based on a positional relationship between the generated virtual wall and the shovel; wherein the hardware processor is configured to detect the plurality of obstacles based on output of a sensor attached to the shovel and generate the virtual wall based on the detected plurality of obstacles; and wherein the hardware processor is configured to derive, based on a feature extraction technique, a regularity of continuity, linearity, symmetry or repeatability of the plurality of obstacles based on the output of the sensor, and generate the virtual wall based on the derived regularity.