US 12,735,856 B2 · Shovel

Abstract

A shovel to move an object to predetermined place by repeating a series of operations including an excavation operation and a dumping operation, the shovel including: a lower traveling body; an upper swivel body pivotably mounted on the lower traveling body; an attachment attached to the upper swivel body; a sensor attached to the upper swivel body; and a control device configured to calculate, based on output of the sensor, an excavation reactive force generated by the excavation operation and an excavation weight, which is a weight of object taken into a bucket and moved to the predetermined place. The control device is configured to set a target value related to the excavation reactive force of a second excavation operation subsequently performed one or more times, based on a relationship between the excavation reactive force calculated during a first excavation operation performed one or more times and the excavation weight.

Claims19

Dependent claims

A shovel configured to move an object to a predetermined place by repeating a series of operations including an excavation operation and a dumping operation, the shovel comprising:

a lower traveling body;
an upper swivel body pivotably mounted on the lower traveling body;
an attachment attached to the upper swivel body;
a sensor attached to the upper swivel body;
and
a hardware processor configured to
calculate, based on an output of the sensor, an excavation reactive force generated by the excavation operation and an excavation weight, the excavation weight being a weight of an object taken into a bucket by the excavation operation and moved to the predetermined place,
obtain a relationship between the excavation reactive force and the excavation weight calculated during a first excavation operation performed one or more times,
derive a value of the excavation reactive force corresponding to a desired value of the excavation weight from the obtained relationship, and
set the derived value of the excavation reactive force as a target value for the excavation reactive force during a second excavation operation performed one or more times subsequent to the first excavation operation.

7 more elements

A shovel configured to operate such that a weight of an object moved to a predetermined place becomes a target weight by repeating a series of operations including an excavation operation and a dumping operation, the shovel comprising:

a lower traveling body;
an upper swivel body pivotably mounted on the lower traveling body;
an attachment attached to the upper swivel body;
a sensor attached to the upper swivel body;
and
a hardware processor configured to
calculate, based on an output of the sensor, an excavation reactive force generated by the excavation operation and an excavation weight, the excavation weight being a weight of an object taken into a bucket by the excavation operation and moved to the predetermined place,
obtain a relationship between the excavation reactive force and the excavation weight calculated during a first excavation operation performed one or more times,
derive a value of the excavation reactive force corresponding to a desired value of the excavation weight from the obtained relationship and the target weight, and
set the derived value of the excavation reactive force as a target value for the excavation reactive force during a second excavation operation performed one or more times subsequent to the first excavation operation.

7 more elements

Dependencies are inferred from the claim text.

Shovel

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Shovel

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Abstract

Claims19