Shovel

Abstract

A shovel (100) according to an embodiment of the present invention includes a lower-part traveling body (1), an upper-part swing body (3) that is turnably mounted on the lower-part traveling body (1), a hydraulic traveling motor (2M) as a traveling actuator that drives the lower-part traveling body (1), a space recognition device (70) that is provided in the upper-part swinging body (3), an orientation detection device (71) that detects information related to a relative relation between an orientation of the upper-part swing body (3) and an orientation of the lower-part traveling body (1), and a controller (30) as a control device that is provided in the upper-part swing body (3).

What is claimed is: 
     
         1 . A shovel comprising:
 a lower-part traveling body;   an upper-part swing body that is turnably mounted on the lower-part traveling body;   a traveling actuator that drives the lower-part traveling body;   a space recognition device that is provided in the upper-part swing body;   an orientation detection device that detects information related to a relative relation between an orientation of the upper-part swing body and an orientation of the lower-part traveling body; and   a control device that is provided in the upper-part swing body,   wherein the control device operates the traveling actuator based on an output of the space recognition device and an output of the orientation detection device.   
     
     
         2 . The shovel according to  claim 1 ,
 wherein the control device is configured to move the shovel to an input specified space.   
     
     
         3 . The shovel according to  claim 1 , comprising:
 an attachment actuator that drives an attachment attached to the upper-part swing body; and   a posture detection device that detects a posture of the attachment,   wherein the control device is configured to operate the attachment actuator based on an output of the posture detection device and an output of the space recognition device, and to change a posture of the attachment in such a way that the attachment does not touch an object that is recognized by the space recognition device.   
     
     
         4 . The shovel according to  claim 1 , comprising:
 A swing actuator that swings the upper-part swing body,   wherein the control device is configured to operate the swing actuator based on an output of the space recognition device and an output of the orientation detection device, and to cause the upper-part swing body to turn in such a way that the shovel does not touch an object recognized by the space recognition device.   
     
     
         5 . The shovel according to  claim 1 , comprising:
 an information input device,   wherein the information input device is configured to allow an input of a direction of a specified space viewed from the upper-part swing body, and   the space recognition device is configured to recognize the specified space in the direction input through the information input device.   
     
     
         6 . The shovel according to  claim 1 , comprising:
 an information input device,   wherein the information input device is configured to allow an input of a location of a specified space, and   the space recognition device is configured to recognize the specified space in the location input through the information input device.   
     
     
         7 . The shovel according to  claim 1 , comprising:
 wherein the control device is configured to move the shovel based on arrangement information.   
     
     
         8 . The shovel according to  claim 1 ,
 wherein the control device determines whether there exists a space through which a body of the shovel can pass.   
     
     
         9 . The shovel according to  claim 1 ,
 wherein the control device determines how to operate the traveling actuator based on a target trajectory.   
     
     
         10 . The shovel according to  claim 9 ,
 wherein the control device controls the traveling actuator and an attachment actuator that drives an attachment based on location information with respect to the target trajectory.   
     
     
         11 . The shovel according to  claim 9 ,
 wherein the control device performs a change of an orientation of a crawler based on the target trajectory by a spin turn.   
     
     
         12 . The shovel according to  claim 11 ,
 wherein the control device performs the spin turn and a swing operation simultaneously.   
     
     
         13 . The shovel according to  claim 1 ,
 wherein the control device sets a parking space as a target.   
     
     
         14 . The shovel according to  claim 13 ,
 wherein the control device sets a target trajectory based on the parking space.   
     
     
         15 . The shovel according to  claim 1 ,
 wherein the control device causes a bucket to touch a ground surface after stopping the traveling actuator of the shovel that has entered a parking space.