Excavator with reduced body swing on rough ground, and support system of therefor
An excavator includes a traveling body, a traveling hydraulic motor configured to drive the traveling body, and a hardware processor. The hardware processor is configured to, during traveling of the excavator, automatically determine the roughness of a traveling surface on which the traveling body travels and control the traveling hydraulic motor according to the determined roughness.
1 . An excavator comprising:
a traveling body;
a traveling hydraulic motor configured to drive the traveling body; and
a hardware processor configured to, during traveling of the excavator, automatically
determine roughness of a traveling surface on which the traveling body travels, and
control the traveling hydraulic motor according to the determined roughness,
wherein the hardware processor is further configured to determine the roughness of the traveling surface in response to determining that unevenness of the traveling surface has a height difference smaller than a height of a crawler belt of the traveling body.
2 . The excavator as claimed in claim 1 , further comprising:
an acceleration sensor,
wherein the hardware processor is configured to determine the roughness of the traveling surface, based on an amplitude value of acceleration detected by the acceleration sensor.
3 . The excavator as claimed in claim 2 , wherein the hardware processor is configured to reduce a traveling speed in response to the amplitude value of acceleration becoming greater than or equal to a predetermined threshold.
4 . The excavator as claimed in claim 2 , wherein the hardware processor is configured to determine that the traveling surface is rough when the traveling hydraulic motor needs to be controlled by the hardware processor and that the traveling surface is smooth when the traveling hydraulic motor does not need to be controlled by the hardware processor.
5 . The excavator as claimed in claim 2 , wherein the hardware processor is configured to determine that the traveling surface is rough in response to determining that the amplitude value of acceleration is greater than or equal to a predetermined threshold.
6 . The excavator as claimed in claim 1 , wherein the hardware processor is configured to determine the roughness of the traveling surface, based on image data obtained by imaging the traveling surface and hardness of the traveling surface.
7 . The excavator as claimed in claim 6 , wherein the hardware processor is configured to reduce a traveling speed in response to determining that an image of the traveling surface indicated by the image data and the hardness of the traveling surface satisfy a predetermined condition.
8 . The excavator as claimed in claim 7 , wherein the hardware processor is configured to determine that the image of the traveling surface indicated by the image data and the hardness of the traveling surface satisfy the predetermined condition when unevenness of the traveling surface is detected from the image and the hardness is greater than or equal to a predetermined hardness.
9 . The excavator as claimed in claim 6 , wherein the hardware processor is configured to determine that the traveling surface is rough in response to determining that an image of the traveling surface indicated by the image data and the hardness of the traveling surface satisfy the predetermined condition.
10 . The excavator as claimed in claim 9 , wherein the hardware processor is configured to determine that the image of the traveling surface indicated by the image data and the hardness of the traveling surface satisfy the predetermined condition when unevenness of the traveling surface is detected from the image and the hardness is greater than or equal to a predetermined hardness.
11 . The excavator as claimed in claim 1 , further comprising:
a storage,
wherein the hardware processor is configured to
obtain positional information that represents a position of the excavator at which the hardware processor determines the roughness of the traveling surface,
generate traveling surface information in which the obtained positional information and information that represents the determined roughness are associated with each other, and
store the generated traveling surface information in the storage.
12 . The excavator as claimed in claim 11 , wherein the hardware processor is configured to control the traveling hydraulic motor based on information that represents the position of the excavator and the traveling surface information stored in the storage.
13 . The excavator as claimed in claim 11 , wherein the hardware processor is configured to generate the traveling surface information in which the obtained positional information, information that represents the determined roughness, and speed information that represents a traveling speed of the excavator after the traveling hydraulic motor is controlled are associated with each other.
14 . The excavator as claimed in claim 1 , wherein the hardware processor is configured to determine the roughness of the traveling surface according to sizes of stones present on a ground as the traveling surface.
15 . The excavator as claimed in claim 1 , wherein the hardware processor is configured to
determine whether the traveling surface is rough based on the determined roughness of the traveling surface, and
reduce a traveling speed of the excavator by controlling the traveling hydraulic motor, in response to determining that the traveling surface is rough.
16 . An excavator support system, comprising:
the excavator as set forth in claim 1 ; and
a management device of excavators, the management device including a hardware processor,
wherein the hardware processor of the excavator is further configured to transmit, to the management device, traveling surface information in which positional information that represents a position of the excavator at which the hardware processor of the excavator determines the roughness of the traveling surface is associated with information that represents the determined roughness, and
wherein the hardware processor of the management device is configured to, during traveling of another excavator, automatically
store the traveling surface information received from the excavator,
determine roughness of a traveling surface on which another excavator is travels, based on positional information received from said another excavator and the stored traveling surface information, and
transmit a control command for a traveling hydraulic motor of said another excavator to said another excavator according to the determined roughness of the traveling surface on which said another excavator travels.
17 . The excavator support system as claimed in claim 16 , wherein the hardware processor of the management device is configured to
generate first map information in which the traveling surface information received from the excavator is associated with second map information identified from the positional information included in the received traveling surface information, and
during traveling of said another excavator, automatically determine the roughness of the traveling surface on which said another excavator travels based on the positional information received from said another excavator and the generated first map information.
18 . An excavator comprising:
a traveling body;
a traveling hydraulic motor configured to drive the traveling body;
a revolving body installed on the traveling body and configured to revolve relative to the traveling body;
an attachment attached to the revolving body, the attachment including an arm and a bucket attached to the arm as an end attachment; and
a hardware processor configured to, during traveling of the excavator, automatically
determine roughness of a traveling surface on which the traveling body travels, and
control the traveling hydraulic motor according to the determined roughness,
wherein the hardware processor is configured to determine the roughness of the traveling surface, based on image data obtained by imaging the traveling surface and hardness of the traveling surface, and
wherein the hardware processor is configured to, before the excavator starts traveling, move the bucket to excavate the traveling surface and determine the hardness of the traveling surface according to lowering speed of a teeth end of the bucket when the bucket excavates the traveling surface.
19 . The excavator as claimed in claim 18 , further comprising:
a hydraulic cylinder configured to drive the arm;
an angle sensor configured to detect a rotation angle of the arm; and
a pressure sensor configured to detect a pressure of the hydraulic cylinder,
wherein the hardware processor is configured to determine the hardness of the traveling surface in stages based on the detected rotation angle, the detected pressure, and thresholds set for the detected rotation angle and the detected pressure.