Excavator and control device for excavator

Abstract

A control device for an excavator includes circuitry configured to control the excavator; and a sensor configured to detect information about a ground raised by excavation. The circuitry estimates presence or absence of a buried object based on at least one of an excavation reaction force calculated during excavation by an excavation attachment of the excavator or information detected by the sensor.

What is claimed is: 
     
         1 . A control device for an excavator, the control device comprising:
 circuitry configured to control the excavator; and   a sensor configured to detect information about a ground raised by excavation,   wherein the circuitry estimates presence or absence of a buried object based on at least one of an excavation reaction force calculated during excavation by an excavation attachment of the excavator or information detected by the sensor.   
     
     
         2 . The control device according to  claim 1 , wherein the circuitry controls a movement of the excavation attachment so as to avoid contact between the buried object and the excavation attachment when the presence of the buried object is estimated. 
     
     
         3 . The control device according to  claim 1 , wherein the circuitry notifies an outside of the presence of the buried object when the presence of the buried object is estimated. 
     
     
         4 . The control device according to  claim 1 , wherein the circuitry estimates the presence or absence of the buried object based on at least one of an excavation reaction force calculated when the excavation attachment is moved along a predetermined trajectory to perform excavation or the information about the ground raised by excavation. 
     
     
         5 . The control device according to  claim 1 , wherein the circuitry estimates the presence or absence of the buried object based on at least one of an excavation reaction force generated when a bucket that is a part of the excavation attachment is moved in a direction approaching a body of the excavator to perform excavation or the information about the ground raised by excavation. 
     
     
         6 . A control device for an excavator, the control device comprising:
 circuitry configured to control the excavator; and   a sensor configured to detect information about a ground raised by excavation, wherein the circuitry estimates an arrangement of a buried object based on at least one of an excavation reaction force during excavation by an excavation attachment of the excavator or information detected by the sensor.   
     
     
         7 . The control device according to  claim 6 , wherein the information about the ground raised by excavation includes information about a range of a portion of an earth pile formed by the ground raised by excavation, the portion being located on a left side of a center plane of the excavation attachment extending in a front-rear direction, and information about a range of another portion of the earth pile formed by the ground raised by excavation, the another portion being located on a right side of the center plane. 
     
     
         8 . The control device according to  claim 6 , wherein the excavation reaction force during excavation by the excavation attachment includes an excavation reaction force acting in a slewing direction. 
     
     
         9 . An excavator, comprising:
 the control device according to  claim 1 ;   a lower traveling body;   an upper slewing body mounted on the lower traveling body; and   an excavation attachment attached to the upper slewing body.