US 12,467,238 B2
Shovel and shovel control device
Masaru Onodera, Kanagawa (JP); Yusuke Sano, Kanagawa (JP); and Keiji Honda, Kanagawa (JP)
Assigned to SUMITOMO HEAVY INDUSTRIES, LTD., Tokyo (JP)
Filed by SUMITOMO HEAVY INDUSTRIES, LTD., Tokyo (JP)
Filed on Sep. 25, 2023, as Appl. No. 18/473,556.
Application 18/473,556 is a continuation of application No. PCT/JP2022/015207, filed on Mar. 28, 2022.
Claims priority of application No. 2021-057821 (JP), filed on Mar. 30, 2021; and application No. 2021-057895 (JP), filed on Mar. 30, 2021.
Prior Publication US 2024/0011252 A1, Jan. 11, 2024
Int. Cl. E02F 9/26 (2006.01); E02F 3/32 (2006.01); E02F 3/43 (2006.01); E02F 9/22 (2006.01)
CPC E02F 9/262 (2013.01) [E02F 3/435 (2013.01); E02F 3/32 (2013.01); E02F 9/2203 (2013.01); E02F 9/2285 (2013.01); E02F 9/2292 (2013.01); E02F 9/2296 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A shovel comprising:
a lower traveling body;
an upper turning body turnably mounted on the lower traveling body;
an attachment attached to the upper turning body, the attachment including a bucket; and
a hardware processor configured to change a working angle formed by a plane or a line determined based on a shape of the bucket and a target surface,
wherein the hardware processor is configured to change the working angle in accordance with a positional relationship between the bucket and the target surface during execution of a machine control function, and
wherein the hardware processor is configured to change a target angle relating to the working angle in accordance with a change in a distance between the bucket and the target surface and a change in an operation speed of the bucket, and to control the working angle to follow the changed target angle.