Shovel
A shovel includes a lower traveling structure, an upper swing structure swingably mounted on the lower traveling structure, and a hardware processor provided on the upper swing structure. The hardware processor is configured to recognize the position of a dump truck and create a target trajectory for a dumping operation.
1. A shovel comprising:
a lower traveling structure;
an upper swing structure swingably mounted on the lower traveling structure; and
a hardware processor provided on the upper swing structure, and configured to recognize a position of a dump truck and create a target trajectory for a dumping operation, the target trajectory being a trajectory drawn by a predetermined part of the shovel during the dumping operation,
wherein the target trajectory is a virtual line segment connecting a dumping start point and a dumping end point over a bed of the dump truck, the dumping start point being a first predetermined interval apart from a rear gate of the dump truck, the dumping end point being a second predetermined interval apart from a front panel of the dump truck.
2. The shovel as claimed in claim 1 , wherein the target trajectory is set along a longitudinal direction of the dump truck.
3. The shovel as claimed in claim 1 , wherein the target trajectory is set at a predetermined height along a bottom surface of the bed of the dump truck.
4. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to set a bucket angle for each of points on the target trajectory.
5. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to control a bucket angle based on a shape of a load loaded onto the bed of the dump truck.
6. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to detect a distance between a back surface of a bucket and the dump truck.
7. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to cause the target trajectory to differ from dumping operation to dumping operation.
8. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to determine a height of a newly formed load each time the dumping operation is performed.
9. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to cause a bucket to operate to level an upper surface of a newly formed load with a back surface of the bucket, when a height of the load exceeds a predetermined height.
10. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to determine a width of a newly formed load each time the dumping operation is performed.
11. The shovel as claimed in claim 1 , wherein the hardware processor is further configured to set the dumping start point and the dumping end point.
12. A controller for a shovel, the shovel including a lower traveling structure and an upper swing structure swingably mounted on the lower traveling structure, the controller comprising:
a hardware processor configured to configured to recognize a position of a dump truck and create a target trajectory for a dumping operation, the target trajectory being a trajectory drawn by a predetermined part of the shovel during the dumping operation,
wherein the target trajectory is a virtual line segment connecting a dumping start point and a dumping end point over a bed of the dump truck, the dumping start point being a first predetermined interval apart from a rear gate of the dump truck, the dumping end point being a second predetermined interval apart from a front panel of the dump truck.
13. The controller as claimed in claim 12 , wherein the hardware processor is further configured to cause the target trajectory to differ from dumping operation to dumping operation.
14. The controller as claimed in claim 12 , wherein the hardware processor is further configured to determine a height of a newly formed load each time the dumping operation is performed.
15. The controller as claimed in claim 12 , wherein the hardware processor is further configured to cause a bucket to operate to level an upper surface of a newly formed load with a back surface of the bucket, when a height of the load exceeds a predetermined height.