Shovel and construction system
View Patent ↗A shovel includes a traveling lower body; a revolving upper body installed on the traveling lower body, to be capable of revolving; an attachment attached to the revolving upper body; an end attachment constituting the attachment; an actuator; and a control device including a memory and a processor configured to cause the actuator to operate autonomously. The control device calculates a control value of the actuator for each of a plurality of predetermined points on the end attachment, and based on the calculated control values, causes the actuator to operate autonomously.
1. A shovel comprising:
a traveling lower body;
a revolving upper body installed on the traveling lower body, to be capable of revolving;
an attachment attached to the revolving upper body;
an end attachment constituting the attachment;
an actuator; and
a control device including a memory and a processor configured to cause the actuator to operate autonomously,
wherein the control device calculates a control value of the actuator for each of a plurality of predetermined points on the end attachment, and based on the calculated control values, causes the actuator to operate autonomously,
wherein the end attachment is a bucket, and
wherein the plurality of predetermined points include a left end point and a right end point of a teeth end of the bucket.
2. The shovel as claimed in claim 1 , wherein the end attachment is a bucket, and
wherein the plurality of predetermined points include a left rear end point and a right rear end point of a back face of the bucket.
3. The shovel as claimed in claim 1 , wherein the control device synthesizes control values to calculate a synthesized control value, and based on the synthesized control value, causes the actuator to operate autonomously.
4. The shovel as claimed in claim 1 , wherein the control device calculates the control value of the actuator for said each of the plurality of predetermined points, based on change in distance between said each of the plurality of predetermined points and a target surface set in advance.
5. The shovel as claimed in claim 1 , wherein the control device predicts respective positions of the plurality of predetermined points after a predetermined time, and based on the positions after the predetermined time, calculates the control value of the actuator for said each of the plurality of predetermined points.
6. The shovel as claimed in claim 1 , wherein the control device uses at least one control value selected from among the control values based on a predetermined condition, to cause the actuator to operate autonomously.
7. A construction system that assists construction work using a shovel including
a traveling lower body,
a revolving upper body installed on the traveling lower body, to be capable of revolving,
an attachment attached to the revolving upper body,
an end attachment constituting the attachment, and
an actuator,
the construction system comprising:
a communication device configured to communicate with the shovel; and
a control device including a memory and a processor,
wherein the control device calculates a control value of the actuator for each of a plurality of predetermined points on the end attachment, and based on the calculated control values, outputs a command to cause the actuator to operate autonomously, to the shovel via the communication device,
wherein the end attachment is a bucket, and
wherein the plurality of predetermined points include a left end point and a right end point of a teeth end of the bucket.
8. The construction system as claimed in claim 7 , wherein the end attachment is a bucket, and
wherein the plurality of predetermined points include a left end point and a right end point of a teeth end of the bucket, and a left rear end point and a right rear end point of a back face of the bucket.
9. The construction system as claimed in claim 7 , wherein the control device synthesizes control values to calculate a synthesized control value, and based on the synthesized control value, causes the actuator to operate autonomously.
10. The construction system as claimed in claim 7 , wherein the control device calculates the control value of the actuator for said each of the plurality of predetermined points, based on change in distance between said each of the plurality of predetermined points and a target surface set in advance.
11. The construction system as claimed in claim 7 , wherein the control device predicts respective positions of the plurality of predetermined points after a predetermined time, and based on the positions after the predetermined time, calculates the control value of the actuator for said each of the plurality of predetermined points.
12. The construction system as claimed in claim 7 , wherein the control device uses at least one control value selected from among the control values based on a predetermined condition, to cause the actuator to operate autonomously.
13. The shovel as claimed in claim 2 , wherein the control device calculates a first control value of the actuator based on at least one of the left end point and the right end point of the teeth end of the bucket, and a second control value of the actuator based on at least one of the left rear end point and the right rear end point of the back face of the bucket, and
wherein the control device synthesizes the first control value and the second control value to calculate a synthesized control value, and based on the synthesized control value, causes the actuator to operate autonomously.