US 12,305,356 B2
Shovel
Takeya Izumikawa, Chiba (JP)
Assigned to SUMITOMO CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
Filed by SUMITOMO CONSTRUCTION MACHINERY CO., LTD., Tokyo (JP)
Filed on Sep. 28, 2020, as Appl. No. 17/034,466.
Application 17/034,466 is a continuation of application No. PCT/JP2019/013713, filed on Mar. 28, 2019.
Claims priority of application No. 2018-068048 (JP), filed on Mar. 30, 2018.
Prior Publication US 2021/0010227 A1, Jan. 14, 2021
Int. Cl. E02F 3/43 (2006.01); E02F 3/32 (2006.01); E02F 9/20 (2006.01); E02F 9/22 (2006.01); E02F 9/24 (2006.01); E02F 9/26 (2006.01)
CPC E02F 3/435 (2013.01) [E02F 3/32 (2013.01); E02F 9/2004 (2013.01); E02F 9/2033 (2013.01); E02F 9/2203 (2013.01); E02F 9/2271 (2013.01); E02F 9/245 (2013.01); E02F 9/265 (2013.01); E02F 9/2228 (2013.01); E02F 9/2285 (2013.01); E02F 9/2292 (2013.01); E02F 9/2296 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A shovel, comprising:
a lower travelling body;
an upper pivot body pivotably mounted to the lower travelling body;
an attachment provided to the upper pivot body;
a plurality of actuators that operate the attachment;
an operation device provided to the upper pivot body; and
a hardware processor configured to, in response to an operation of the operation device in a predetermined direction, operate the plurality of actuators to move a predetermined portion of the attachment based on position information,
wherein the hardware processor is configured to operate the plurality of actuators in a first control mode and a second control mode by switching between the first control mode and the second control mode based on the position information while moving the predetermined portion of the attachment along a predetermined trajectory set in a target of excavation, and
the hardware processor is configured to operate the plurality of actuators in the first control mode when an angle of the predetermined trajectory with respect to a reference plane is less than a predetermined angle, and to operate the plurality of actuators in the second control mode when the angle of the predetermined trajectory with respect to the reference plane is greater than or equal to the predetermined angle.