Shovel

Abstract

A shovel may include a lower traveling body; an upper turning body turnably mounted on the lower traveling body; and a control device disposed in the upper turning body, wherein the control device includes a processor, and a memory storing a computer-readable program, which when executed, causes the processor to execute a process including recognizing a position subject to a backfilling operation, and generating a target position relating to the backfilling operation.

What is claimed is: 
     
         1 . A shovel comprising:
 a lower traveling body;   an upper turning body turnably mounted on the lower traveling body; and   a control device disposed in the upper turning body, wherein the control device includes a processor, and a memory storing a computer-readable program, which when executed, causes the processor to execute a process including   recognizing a position subject to a backfilling operation, and   generating a target position relating to the backfilling operation.   
     
     
         2 . The shovel according to  claim 1 , wherein the process includes changing the target position according to a shape of a sediment at the position subject to the backfilling operation. 
     
     
         3 . The shovel according to  claim 1 , wherein the process includes changing an operation content according to a height of a sediment at the position subject to the backfilling operation. 
     
     
         4 . The shovel according to  claim 1 ,
 wherein the process includes starting an autonomous backfilling operation by the shovel when a predetermined condition is met, and   wherein the predetermined condition is a condition in which a predetermined switch has been operated, or a condition in which an operation lever has been operated in a predetermined direction in a predetermined operation mode.   
     
     
         5 . The shovel according to  claim 1 ,
 wherein the backfilling operation includes a push-off operation of pushing off a sediment with a bucket without lifting the sediment with the bucket, and   wherein the push-off operation includes at least one of a push-off operation of pushing off the sediment with a front face of the bucket, a push-off operation of pushing off the sediment with a side face of the bucket, and a push-off operation of pushing off the sediment with a back face of the bucket.   
     
     
         6 . The shovel according to  claim 1 , further comprising:
 an object detection device attached to the upper turning body, wherein   the process includes specifying a position of a landscape feature subject to the backfilling operation based on an output of the object detection device.   
     
     
         7 . The shovel according to  claim 1 , wherein the process includes performing a leveling operation to level a surface of a sediment when a hole has been backfilled. 
     
     
         8 . The shovel according to  claim 5 , wherein
 the process includes performing a leveling operation at a same time as performing the push-off operation.   
     
     
         9 . The shovel according to  claim 1 , wherein the process includes
 setting, as a target surface, a virtual surface corresponding to a ground formed when a hole is backfilled,   generating a target trajectory along the target surface, and   performing a leveling operation by moving a bucket along the target trajectory.   
     
     
         10 . The shovel according to  claim 9 , wherein a height of the target surface is set based on a height of the ground around the hole. 
     
     
         11 . The shovel according to  claim 5 , wherein the process includes
 performing the push-off operation when an object subject to the backfilling operation is within a predetermined distance range from a hole to be backfilled, and   performing the backfilling operation including an excavation operation when the object subject to the backfilling operation is outside the predetermined distance range from the hole to be backfilled.   
     
     
         12 . The shovel according to  claim 5 , wherein when an object subject to the backfilling operation is within a predetermined distance range from a hole to be backfilled, the process includes backfilling the object subject to the backfilling operation into the hole by a plurality of the push-off operations s, the plurality of push-off operations being the push-off operation of pushing off the sediment with the bucket. 
     
     
         13 . The shovel according to  claim 5 , wherein the process includes generating a target trajectory for the push-off operation based on a limit on a volume or a weight of the sediment that can be pushed off by a single push-off operation. 
     
     
         14 . The shovel according to  claim 5 , further comprising:
 an object detection device attached to the upper turning body, wherein the process includes   calculating, based on an output of the object detection device, a volume of an object subject to the backfilling operation within a predetermined distance range from a hole, and a volume of a sediment required to backfill the hole as a required volume,   performing the backfilling operation including an excavation operation when the volume of the object subject to the backfilling operation is less than the required volume, and   performing the push-off operation when the volume of the object subject to the backfilling operation is equal to or greater than the required volume.   
     
     
         15 . The shovel according to  claim 1 , further comprising:
 an object detection device attached to the upper turning body, wherein the process includes   recognizing an opening area or a depth of a hole to be backfilled based on an output of the object detection device, and   setting the target position based on the opening area or the depth.