Shovel and remote operation support apparatus
A shovel includes a plurality of driven elements, a plurality of actuators configured to drive the plurality of driven elements, and a hardware processor configured to, in response to detecting that two or more actuators of the plurality of actuators are synchronously moved, prohibit a motion of another actuator of the plurality of actuators that is different from the two or more actuators of the plurality of actuators.
1. A shovel comprising:
a plurality of driven elements;
a plurality of actuators configured to drive the plurality of driven elements; and
a hardware processor configured to, in response to detecting that two or more actuators of the plurality of actuators are synchronously moved, prohibit a motion of another actuator of the plurality of actuators that is different from the two or more actuators of the plurality of actuators,
wherein the hardware processor is configured to determine whether there is a possibility that a motion in which the two or more actuators are synchronously moved proceeds to another motion, and to cancel the prohibition of the motion of the another actuator in response to determining that there is the possibility.
2. The shovel according to claim 1 , wherein the processor is configured to, in response to detecting that the two or more actuators of the plurality of actuators are synchronously moved, prohibit the motion of the another actuator of the plurality of actuators that is different from the two or more actuators of the plurality of actuators, according to a work content of the shovel.
3. The shovel according to claim 2 , wherein the plurality of driven elements include an upper turning body turnably mounted on a lower traveling body, a boom attached to the upper turning body, an arm attached to an end of the boom, and a bucket attached to an end of the arm,
wherein the plurality of actuators include a turning motor configured to drive the upper turning body, a boom cylinder configured to drive the boom, an arm cylinder configured to drive the arm, and a bucket cylinder configured to drive the bucket, and
wherein the processor is configured to prohibit the turning motor from operating, in response to detecting that two or more, or all, of the boom cylinder, the arm cylinder, and the bucket cylinder of the plurality of actuators are synchronously moved to perform finishing work of a ground.
4. The shovel according to claim 2 , wherein the plurality of driven elements include an upper turning body turnably mounted on a lower traveling body, a boom attached to the upper turning body, an arm attached to an end of the boom, and a bucket attached to an end of the arm,
wherein the plurality of actuators include a turning motor configured to drive the upper turning body, a boom cylinder configured to drive the boom, an arm cylinder configured to drive the arm, and a bucket cylinder configured to drive the bucket, and
wherein the processor is configured to prohibit the turning motor from operating, in response to detecting that two or more, or all, of the boom cylinder, the arm cylinder, and the bucket cylinder of the plurality of actuators are synchronously moved to perform construction work of a slope.
5. The shovel according to claim 2 , wherein the plurality of driven elements include an upper turning body turnably mounted on a lower traveling body, a boom attached to the upper turning body, an arm attached to an end of the boom, and a bucket attached to an end of the arm,
wherein the plurality of actuators include a turning motor configured to drive the upper turning body, a boom cylinder configured to drive the boom, an arm cylinder configured to drive the arm, and a bucket cylinder configured to drive the bucket, and
wherein the processor is configured to prohibit the turning motor from operating, in response to detecting that two or more, or all, of the boom cylinder, the arm cylinder, and the bucket cylinder of the plurality of actuators are synchronously moved to perform construction work of a trench.
6. The shovel according to claim 5 , wherein the processor is configured to, in response to detecting that the two or more, or all, of the boom cylinder, the arm cylinder, and the bucket cylinder of the plurality of actuators are synchronously moved to perform the construction work at one widthwise end of the trench, prohibit the turning motor from operating in a direction to move the bucket toward a wall surface of the one end portion of the trench.
7. The shovel according to claim 1 , wherein the plurality of driven elements include an upper turning body turnably mounted on a lower traveling body, a boom attached to the upper turning body, an arm attached to an end of the boom, and a bucket attached to an end of the arm,
wherein the plurality of actuators include a turning motor configured to drive the upper turning body, a boom cylinder configured to drive the boom, an arm cylinder configured to drive the arm, and a bucket cylinder configured to drive the bucket, and
wherein the processor is configured to, in response to detecting that the two or more of the plurality of actuators are automatically synchronously moved according to an operation related to one actuator of the two or more of the plurality of actuators, prohibit the motion of the another actuator.
8. The shovel according to claim 7 , wherein the processor is configured to prohibit the turning motor from operating, in response to detecting that two or more, or all, of the boom cylinder, the arm cylinder, and the bucket cylinder are automatically synchronously moved according to an operation related to the arm cylinder.
9. The shovel according to claim 7 , wherein in a case where the processor is configured to prohibit a motion of at least one of the arm cylinder and the bucket cylinder, in response to detecting that the turning motor and the boom cylinder of the plurality of actuators are automatically synchronously moved according to an operation related to the turning motor.
10. The shovel according to claim 7 , wherein the processor is configured to prohibit a motion of at least one of the boom cylinder and the turning motor, in response to detecting that the arm cylinder and the bucket cylinder of the plurality of actuators are automatically synchronously moved according to an operation related to the bucket cylinder.
11. The shovel according to claim 1 , further comprising:
a hydraulic pump; and
a plurality of spool valves associated with the plurality of actuators, wherein each of the plurality of spool valves is configured to, in response to an operation related to an associated actuator among the plurality of actuators, receive a signal corresponding to a content of the operation and move a spool in one of two opposite directions to supply hydraulic oil discharged from the hydraulic pump to one of two ports of the associated actuator and discharge the hydraulic oil from the other of the two ports of the the associated actuator,
wherein the processor is configured to, in response to detecting that the two or more of the plurality of actuators are synchronously moved and that an operation related to the another actuator is performed to move a spool valve associated with the another actuator among the plurality of spool valves in one of the two opposite directions, input, to the associates spool valve, a signal for moving the associated spool valve in the other of the two opposite directions.
12. The shovel according to claim 1 , wherein the processor is configured to send a notification to an operator, when the processor prohibits the motion of the another actuator.
13. The shovel according to claim 1 , wherein the another actuator whose motion is to be prohibited is determined with respect to each of motion contents of the shovel.
14. The shovel according to claim 1 , wherein a combination of the two or more actuators to be synchronously moved and the another actuator whose motion is to be prohibited is determined with respect to each of different motion contents of the shovel.
15. A remote operation support apparatus comprising:
a remote controller configured to remotely operate a plurality of actuators of a shovel that includes a plurality of driven elements and the plurality of actuators configured to drive the plurality of driven elements;
a transmitter configured to transmit an operation command related to the plurality of actuators to the shovel in response to an operation of the remote controller; and
a hardware processor configured to prohibit a motion of an actuator of the plurality of actuators that is different from two or more actuators of the plurality of actuators,
wherein the hardware processor is configured to determine whether there is a possibility that a motion in which the two or more actuators are synchronously moved proceeds to another motion, and to cancel the prohibition of the motion of the actuator in response to determining that there is the possibility.