Shovel and control method thereof

Abstract

A shovel may include a lower traveling body, an upper swinging body mounted on the lower traveling body, an attachment attached to the upper swinging body, an orientation detector configured to detect the orientation of the attachment, and a hardware processor. The hardware processor may be configured to obtain information relating to the shape of a ground surface around the shovel based on first information output by an imaging device before excavation and obtain the information relating to the shape of the ground surface around the shovel based on second information output by the imaging device after the excavation.

What is claimed is: 
     
         1 . A shovel comprising:
 a lower traveling body;   an upper swinging body mounted on the lower traveling body;   an attachment attached to the upper swinging body;   an orientation detector configured to detect an orientation of the attachment; and   a hardware processor configured to obtain information relating to a shape of a ground surface around the shovel based on first information output by an imaging device before excavation and obtain the information relating to the shape of the ground surface around the shovel based on second information output by the imaging device after the excavation.   
     
     
         2 . The shovel as claimed in  claim 1 , wherein the first output information and the second output information of the imaging device obtained by the hardware processor are information for updating terrain information. 
     
     
         3 . The shovel as claimed in  claim 1 , wherein the first output information and the second output information of the imaging device obtained by the hardware processor are information based on a world geodetic system. 
     
     
         4 . The shovel as claimed in  claim 1 , wherein terrain information in which a target plane is set is updated based on the first output information and the second output information of the imaging device obtained by the hardware processor. 
     
     
         5 . A shovel comprising:
 a lower traveling body;   an upper swinging body mounted on the lower traveling body;   an attachment attached to the upper swinging body;   an orientation detector configured to detect an orientation of the attachment; and   a hardware processor configured to obtain information relating to a shape of a ground surface around the shovel based on information output by an imaging device and to control the attachment based on the obtained information relating to the shape of the ground surface around the shovel and on the orientation of the attachment detected by the orientation detector.   
     
     
         6 . The shovel as claimed in  claim 5 , wherein the hardware processor is configured to obtain the output information of the imaging device before a start of work. 
     
     
         7 . The shovel as claimed in  claim 5 , wherein the hardware processor is configured to obtain position information of the upper swinging body. 
     
     
         8 . The shovel as claimed in  claim 5 , wherein the hardware processor is configured to obtain the information relating to the shape of the ground surface from the imaging device attached to a multicopter. 
     
     
         9 . The shovel as claimed in  claim 8 , further comprising:
 an electric power feeder configured to feed electric power to the multicopter.   
     
     
         10 . The shovel as claimed in  claim 5 , wherein the hardware processor is configured to obtain the information relating to the shape of the ground surface before excavation from the imaging device attached to a steel tower at a work place. 
     
     
         11 . A shovel comprising:
 a lower traveling body;   an upper swinging body mounted on the lower traveling body;   a plurality of hydraulic actuators;   an object of control configured to control the plurality of hydraulic actuators; and   a hardware processor configured to obtain information relating to a shape of a ground surface around the shovel based on information output by an imaging device before a start of work, and to control the object of control based on the obtained information relating to the shape of the ground surface around the shovel.   
     
     
         12 . The shovel as claimed in  claim 11 , wherein
 the object of control is a control valve, and   the plurality of hydraulic actuators include a boom cylinder, an arm cylinder, a bucket cylinder, and a hydraulic swing motor.   
     
     
         13 . The shovel as claimed in  claim 11 , wherein the hardware processor is configured to automatically control the object of control. 
     
     
         14 . The shovel as claimed in  claim 11 , wherein the hardware processor is configured to control a first hydraulic actuator according to a second hydraulic actuator among the plurality of hydraulic actuators. 
     
     
         15 . The shovel as claimed in  claim 11 , wherein the hardware processor has a plurality of modes. 
     
     
         16 . The shovel as claimed in  claim 11 , wherein the hardware processor is configured to control the object of control in a predetermined moving pattern. 
     
     
         17 . A method of controlling a shovel, the shovel including a lower traveling body, an upper swinging body mounted on the lower traveling body, and an attachment attached to the upper swinging body, the method comprising:
 obtaining information relating to a shape of a ground surface around the shovel based on information output by an imaging device;   detecting an orientation of the attachment; and   controlling the attachment based on the obtained information relating to the shape of the ground surface around the shovel and on the detected orientation of the attachment.   
     
     
         18 . The method as claimed in  claim 17 , wherein said obtaining includes obtaining the output information of the imaging device before a start of work.