Excavator

Abstract

An excavator includes: a lower traveling body; an upper rotating body that is rotatably mounted on the lower traveling body; an attachment that is attached to the upper rotating body, and includes a boom, an arm, and a bucket; and a controller that is configured to set a target surface, the target surface being set differently depending on a current angle of the bucket serving as a reference angle in setting the target surface.

What is claimed is: 
     
         1 . An excavator comprising:
 a lower traveling body;   an upper rotating body that is rotatably mounted on the lower traveling body;   an attachment that is attached to the upper rotating body, and includes a boom, an arm, and a bucket; and   a controller that is configured to set a target surface, the target surface being set differently depending on a current angle of the bucket serving as a reference angle in setting the target surface.   
     
     
         2 . The excavator according to  claim 1 ,
 wherein the controller is configured to:
 generate a primary command value for moving a primary element among the boom, the arm, and the bucket included in the attachment, in accordance with an operation by an operator; and 
 generate a secondary command value for moving a secondary element among the boom, the arm, and the bucket included in the attachment, in accordance with movement of the primary element, such that a working part of the bucket moves along the target surface. 
   
     
     
         3 . The excavator according to  claim 1 ,
 wherein the target surface is a plane having a certain angle relative to a back surface of the bucket that serves as a reference plane.   
     
     
         4 . The excavator according to  claim 3 ,
 wherein the controller sets the target surface based on the certain angle and the angle of the bucket that is observed when an operation that commands setting of the target surface is received.   
     
     
         5 . The excavator according to  claim 3 ,
 wherein, when an angle of the bucket changes during control by the controller, the target surface is changed in accordance with a change of the angle of the bucket.   
     
     
         6 . The excavator according to  claim 3 ,
 wherein the controller causes a display device to display a screen for entering the certain angle.   
     
     
         7 . The excavator according to  claim 1 ,
 wherein, when the controller senses that a target working surface that is different from the target surface is set, and that a working part of the bucket is within a certain distance from the target working surface, the controller causes the working part of the bucket to move along the target working surface.