Shovel control device and shovel

Abstract

A shovel control device includes processing circuitry that is configured to receive an input of a shape of a bucket provided at a tip of an attachment attached to a shovel, and calculate a weight of an object in the bucket, based on the input shape of the bucket and an output of a sensor whose detection result changes according to the weight of the object in the bucket.

What is claimed is: 
     
         1 . A shovel control device comprising:
 processing circuitry configured to receive an input of a shape of a bucket provided at a tip of an attachment attached to a shovel, and calculate a weight of an object in the bucket, based on the input shape of the bucket and an output of a sensor whose detection result changes according to the weight of the object in the bucket.   
     
     
         2 . The shovel control device according to  claim 1 , further comprising:
 a storage device configured to store table information in which the weight of the object and a position of a center of gravity of the object are associated with each other according to the shape of the bucket, and   wherein in response to the weight of the object in the bucket being calculated, the processing circuitry is configured to refer to the table information to specify the position of the center of gravity of the object based on the calculated weight of the object, and recalculates a weight of the object in the bucket, based on the specified position of the center of gravity of the object and the output of the sensor.   
     
     
         3 . The shovel control device according to  claim 2 , wherein the processing circuitry is configured to alternately perform
 calculation of the weight of the object based on the specified position of the center of gravity of the object and the output of the sensor, and   specification of the position of the center of gravity of the object based on the calculated weight of the object.   
     
     
         4 . 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;   a bucket provided at a tip of the attachment; and   processing circuitry configured to receive an input of a shape of the bucket, and calculate a weight of an object in the bucket, based on the input shape of the bucket and an output of a sensor whose detection result changes according to the weight of the object in the bucket.   
     
     
         5 . The shovel according to  claim 4 , further comprising:
 a storage device configured to store table information in which the weight of the object and a position of a center of gravity of the object are associated with each other according to the shape of the bucket,   wherein in response to the weight of the object in the bucket being calculated, the processing circuitry is configured to refer to the table information to specify the position of the center of gravity of the object based on the calculated weight of the object, and recalculate a weight of the object in the bucket, based on the specified position of the center of gravity of the object and the output of the sensor.   
     
     
         6 . The shovel according to  claim 5 , wherein the processing circuitry is configured to alternately perform
 calculation of the weight of the object based on the specified position of the center of gravity of the object and the output of the sensor, and   specification of the position of the center of gravity of the object based on the calculated weight of the object.   
     
     
         7 . The shovel according to  claim 6 , wherein the processing circuitry is configured to calculate the weight of the object in the bucket based on the position of the center of gravity of the object set in advance and the output of the sensor when the lifting of the bucket is started. 
     
     
         8 . The shovel according to  claim 6 , wherein the processing circuitry is configured to terminate the calculation of the weight of the object and the specification of the position of the center of gravity of the object in response to a predetermined condition being satisfied while the bucket is being lifted. 
     
     
         9 . The shovel according to  claim 4 , wherein the processing circuitry is configured to receive an input from an operation device, an input from an external device, or an input from an imaging device, as the input of the shape of the bucket.