US 12,345,022 B2
Excavator and management apparatus for excavator
Masato Koga, Kanagawa (JP)
Assigned to SUMITOMO HEAVY INDUSTRIES, LTD., Tokyo (JP)
Filed by SUMITOMO HEAVY INDUSTRIES, LTD., Tokyo (JP)
Filed on Mar. 15, 2022, as Appl. No. 17/654,876.
Application 17/654,876 is a continuation of application No. PCT/JP2020/035363, filed on Sep. 17, 2020.
Claims priority of application No. 2019-170200 (JP), filed on Sep. 19, 2019.
Prior Publication US 2022/0205224 A1, Jun. 30, 2022
Int. Cl. G06T 7/246 (2017.01); E02F 3/32 (2006.01); E02F 9/22 (2006.01); E02F 9/26 (2006.01); G06T 7/00 (2017.01); G06T 11/00 (2006.01); G06V 20/58 (2022.01)
CPC E02F 9/264 (2013.01) [E02F 9/261 (2013.01); G06T 7/0008 (2013.01); G06T 7/248 (2017.01); G06T 11/00 (2013.01); G06V 20/58 (2022.01); E02F 3/32 (2013.01); E02F 9/2221 (2013.01); E02F 9/2285 (2013.01); E02F 9/2292 (2013.01); E02F 9/2296 (2013.01); G06T 2207/30164 (2013.01); G06T 2207/30252 (2013.01)] 14 Claims
OG exemplary drawing
 
1. An excavator comprising:
a processor configured to:
compare first image data obtained by extracting, from first moving image data of an immediately preceding specified motion, the first image data of a bucket at a first timing when the excavator is in a predetermined orientation, with second image data obtained by extracting, from second moving image data of a past specified motion, the second image data of the bucket at a second timing when the excavator is in the same specified orientation, the second timing being temporally preceding the first timing;
obtain information indicating degree of rattle of the bucket and information indicating amount of wear of the bucket based on a comparison between the first image data and the second image data;
output a comparison result obtained by the processor, said comparison result including the information indicating degree of rattle of the bucket and the information indicating amount of wear of the bucket,
update a positional relationship between a position of a claw tip of the bucket and a boom foot pin position based on the comparison result;
update a bucket angle with respect to an arm based on the comparison result, said bucket angle varying due to the amount of wear of the bucket; and
change the bucket angle by hydraulic drive using a bucket cylinder.