JP2000027228A - Working machine interference preventing device for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure attention to an operator without giving an uncomfortable feeling when a working machine is moved into an interference avoidance area. SOLUTION: This device includes a coordinate computation part 34a for computing a relative distance between a working machine 7 and a revolving structure 2 in accordance with input signals from angle detectors 18, 19, 20, a comparison and computation part 34b for judging whether the working machine 7 is moved into an interference avoidance area 35 set around the revolving structure 2 or not in accordance with the computation result of the coordinate computation part 34a, a moving direction judgement part 34c for judging whether the working machine 7 is moved to the direction of interference with the revolving structure or not and an alarm judgement part 34d for outputting a start signal or a stop signal to a buzzer 33 in accordance with the result of the comparison and computation part 34b and the moving direction judgement part 34c. Only when the working machine 7 is moved to the direction of approaching to the revolving structure 2 in the interference avoidance area 35 the buzzer 33 is started, and in other cases when the working machine 7 is moved to the direction of separating from the revolving structure and when the working machine 7 is stopped the buzzer 33 is stopped not to give an uncomfortable feeling to an operator.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine interference preventing device for a construction machine which automatically controls the operation of the work machine when the work machine approaches a main body having a driver's cab to avoid collision between the two. In particular, the present invention relates to alarm means for allowing an operator to perceive that the working machine has approached the main body.

[0002]

2. Description of the Related Art Hitherto, in construction machines such as hydraulic shovels, various types of work machine interference preventing devices for preventing collision between a work machine and a main body have been proposed.
228929.

The work implement interference prevention device disclosed in the above publication calculates the position of the work implement based on the position signal from the position detecting means, thereby preventing the work implement from interfering with an interference avoidance area set around the cab of the main body. Judge whether the work machine has entered or not,
When the work implement enters the interference avoidance area, the operation of the work implement is stopped, and the buzzer is sounded for a predetermined time. As a result, a collision between the work implement and the cab can be avoided, and the operator can confirm the stop processing of the work implement by sounding a buzzer.

[0004]

In the above-mentioned prior art, when the work implement enters the interference avoidance area and is stopped, the buzzer sounds for a certain period of time to alert the operator. Although the safety of the working machine in the inside can be improved, the buzzer stops sounding for a certain period of time, so that the operator may miss the buzzer sound. As another conventional technique, there has been proposed an apparatus in which the buzzer continues to sound when the work machine enters the interference avoidance area. In this case, the sound of the buzzer may give an uncomfortable feeling to the operator. Further, according to the above-described related art, when the work implement enters the interference avoidance area, the buzzer sounds for a certain time even when the work implement is operated in a direction away from the cab, so that the buzzer sounds. Frequently, the operator may feel uncomfortable also from this point.

[0005]

According to the present invention, the alarm generating means is activated only when the working machine moves in the direction of approaching the main body in the interference avoidance area, and otherwise, the activation of the alarm generating means is stopped. It shall be. By providing such an alarm generating means, when the working machine is operated in a direction approaching the main body in the interference avoidance area, the alarm generating means is activated, and the operator can be surely notified of the danger notice. If there is no danger of the work machine colliding with the machine, such as when the machine is operated away from the machine or when the machine is stopped in the interference avoidance area, the activation of the alarm generation means is stopped. Thus, it is possible to prevent the operator from feeling uncomfortable.

[0006]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an apparatus for preventing interference of a working machine of a construction machine according to the present invention. A detecting means, and an arithmetic means for storing an interference avoidance area set around the main body and determining whether or not the work machine has entered the interference avoidance area based on a position signal from the position detecting means. When the work machine enters the interference avoidance area, in the work machine interference prevention device of a construction machine that is configured to control the operation of the work machine in a direction to interfere with the main body, the work machine is the An alarm generating means that can be activated when entering the interference avoidance area and a movement direction determining means for determining a movement direction of the work implement are provided, and the work implement moves in the interference avoidance area in a direction approaching the main body. When said Activating the broadcast generating unit, said activation of alarm means configured to stop at other times.

With this configuration, when the work machine is operated in the direction of approaching the main body in the interference avoidance area, the alarm generating means is activated, and the operator can be surely notified of the danger notice. When there is no danger of the work implement colliding with the main body, such as when the work implement is moved away from the main body or when the work implement is stopped in the interference avoidance area, stop the activation of the alarm generation means. To give the operator no discomfort.

As the alarm generating means, sound, light or vibration can be used. For example, in the case of a sound, a buzzer (horn) may be sounded / stopped, and in the case of a light, a lamp (warning lamp) is turned on. / Turn off the light.

As a moving direction judging means for judging a moving direction of the work machine, a position signal of the work machine detected by the position detecting means, and an electric signal outputted from an operation lever or an operation pedal for operating an actuator of the work machine. A signal or an output signal from a pressure detecting device provided on a pilot line connecting the operation lever or the operation pedal to the pilot valve can be used.

In addition, speed detecting means for detecting the moving speed of the working machine is provided, and when a start signal to the alarm generating means is changed in accordance with the moving speed of the working machine, the working machine moves in a direction approaching the main body. When operated at a high speed, the alarm generating means is activated more vigorously than when operated at a low speed, so that the danger notice can be reliably recognized by the operator. Here, violently activating the alarm generating means means, for example, that when the alarm generating means is a buzzer, increasing the sound of the buzzer or reducing the intermittent interval of the sound of the buzzer,
When the alarm generating means is a lamp, it means increasing the illuminance of the lamp or shortening the blinking interval of the lamp.

In the case where the alarm generating means comprises a buzzer, a lamp is provided separately from the buzzer, and if the lamp continues to be lit when the work machine enters the interference avoidance area, the buzzer sounds to ensure the operator. Not only can the danger notice be recognized by the operator, but also the illuminated lamp allows the operator to visually recognize that the work implement is within the interference avoidance area, further enhancing safety.

[0012]

Embodiments will be described with reference to the drawings.
FIG. 1 is a circuit diagram showing a work machine interference prevention device according to a first embodiment of the present invention, FIG. 2 is a side view of a hydraulic shovel provided with the work machine interference prevention device, and FIG. FIG. 4 is a block diagram and FIG. 4 is a flowchart showing the processing contents of a control device provided in the work implement interference prevention device.

In FIG. 2, 1 is a traveling body, 2 is a cab 2
This is a revolving superstructure having a and arranged above the traveling body 1, and the traveling body 1 and the revolving body 2 constitute a main body of the hydraulic shovel. Reference numeral 3 denotes a lower boom rotatably connected to the revolving superstructure 2 on the right side of the cab 2a. Reference numeral 4 denotes an upper boom rotatably connected to the tip of the lower boom 3. Reference numeral 5 denotes a rotatably connected tip of the upper boom 4. The arm 6 is a bucket rotatably connected to the tip of the arm 5. The booms 3, 4, the arm 5 and the bucket 6 constitute a working machine 7. 8 is a boom cylinder for driving the lower boom 3, 9 is an offset cylinder for driving the upper boom 4, 10 is an arm cylinder for driving the arm 5, 11 is a bucket cylinder for driving the bucket 6, and the arm 5 and the bucket are driven by the upper boom 9. 6 for lower boom 3
In the horizontal direction.

In FIG. 1, reference numeral 12 denotes a boom operation lever, 13 denotes an arm operation lever, and 14 denotes an offset operation pedal. These operation levers 12, 13 and the operation pedal 14 and the bucket operation pedal (not shown) are provided. It is arranged in the cab 2a. 15 is a control valve for a boom, 16 is a control valve for an arm, 17
Reference numeral denotes an offset control valve. When an operator operates the boom operation lever 12, pressure oil is supplied to the boom control valve 15, and the boom cylinder 8 is controlled. Similarly, when the operator operates the arm operation lever 13, the offset operation pedal 14, and the bucket operation pedal (not shown), the arm control valve 16, the offset control valve 17, and the bucket control valve (not shown). ) Is supplied with hydraulic pressure, and the cylinders 9, 10, 11 are controlled. Reference numeral 18 denotes a boom angle detection device provided at a fulcrum of the lower boom 3,
And the relative angle between the lower arm 3 and the lower boom 3 are detected. Reference numeral 19 denotes an offset angle detection device provided at a fulcrum of the upper boom 4 and detects a relative angle between the lower boom 3 and the upper boom 4. Reference numeral 20 denotes an arm angle detection device provided at a fulcrum of the arm 5, and includes an upper boom 4 and an arm 5
Detect the relative angle with.

Reference numeral 21 denotes a solenoid valve provided on a boom raising pilot line 22 that connects the boom operation lever 12 to a chamber on the left side of the boom control valve 15. Reference numeral 23 denotes a boom operation lever 12 and a boom control valve 1.
Pilot line 2 for lowering the boom connecting the right side room of 5
4, the electromagnetic valves 21 and 23 are provided.
Adjusts the amount of pressure oil supplied to the boom control valve 15. 25 is a boom raising pilot line 22
, Which detects the operation amount of the boom raising. 26 is a boom lowering pilot line 24
, Which detects the operation amount of the boom lowering. Reference numeral 27 denotes an electromagnetic valve provided on an arm cloud pilot line 28 that connects the arm operation lever 13 and a chamber on the right side of the arm control valve 16. The solenoid valve 27 controls the amount of pressure oil supplied to the arm control valve 16. adjust. Reference numeral 29 denotes a pressure detection device connected to the arm cloud pilot line 28, and detects an operation amount of the arm cloud. Further, reference numeral 30 denotes an offset operation pedal 14 and an offset control valve 1.
7 is an electromagnetic valve provided on the offset left pilot line 31 connecting the right side chamber 7 and adjusts the amount of pressure oil supplied to the offset control valve 17. Reference numeral 32 denotes a pressure detection device connected to the offset left pilot line 31 for detecting the offset left operation amount. Three
Reference numeral 3 denotes a buzzer (horn) as alarm generation means, which is arranged in the cab 2a.

Reference numeral 34 denotes a signal input from each of the angle detecting devices 18, 19, 20 and each of the pressure detecting devices 25, 26, 29, 32, and an output signal to each of the solenoid valves 21, 23, 27, 30 and the buzzer 33. Is a control device for controlling As shown in FIG. 3, the control device 34 includes a coordinate calculation unit 34a,
It is composed of a comparison operation section 34b, a movement direction determination section 34c, an alarm determination section 34d, and an electromagnetic valve control section 34e. The coordinate calculator 34a calculates the relative distance between the work implement 7 and the revolving superstructure 2 based on the input signals from the angle detectors 18, 19, 20. In the comparison calculation unit 34b, an interference avoidance area 35 set in advance around the revolving unit 2 including the cab 2a
(Hatched portion in FIG. 1) is stored and the coordinate calculation unit 34a
It is determined whether or not the work implement 7 has entered the interference avoidance area 35 based on the relative distance calculated in the above. In the moving direction determination unit 34c, the pressure detection devices 25, 26, 29,
Based on the input signal from the control unit 32, it is determined in which direction the operator is operating the operation levers 12, 13 and the operation pedal 14, that is, whether the work implement 7 is moving in a direction that interferes with the revolving unit 2. I do. In the alarm determination unit 34d,
A start signal or a stop signal is output to the buzzer 33 according to the results of the comparison operation unit 34b and the movement direction determination unit 34c. The solenoid valve control unit 34e outputs a control signal to the solenoid valves 21, 23, 27, and 30 according to the determination result of the comparison calculation unit 34b, and adjusts the amount of pressure oil supplied to the control valves 15, 16, and 17. I do.

Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. First, in step 1, the relative distance between the working machine 7 and the revolving unit 2 is calculated by the coordinate calculation unit 34a, and based on the calculation result, the working machine 7 enters the interference avoidance area 35 by the comparison calculation unit 34b. It is determined whether or not. If it is determined in step 1 that the work implement 7 has not entered the interference avoidance area 35, that is, if there is no danger of the work implement 7 colliding with the revolving unit 2, the alarm determination unit 34d sends a stop signal to the buzzer 33. Then, in step 2, an alarm stop process in which the buzzer 33 does not sound is performed. in this case,
The solenoid valve control unit 34e outputs a level 0 control signal to the solenoid valves 21, 23, 27, and 30, and the solenoid valves 21, 23, 2
7 and 30 are fully opened, so that the control valve 1
Pressure oils corresponding to the operation amounts of the operation levers 12, 13 and the operation pedal 14 are supplied to 5, 16, 17 respectively.

On the other hand, in step 1, the work machine 7 is
5, the moving direction determining unit 34c determines in step 3 that the moving direction determining unit 34c has
The moving direction of the work machine 7 is determined based on the input signals from 29 and 32. If it is determined in step 3 that the work implement 7 is moving in a direction that interferes with the revolving superstructure 2, the alarm determination unit 34
d outputs an activation signal to the buzzer 33, and in step 4, an alarm activation process of sounding the buzzer 33 is performed. Therefore, the operator can recognize the danger notice by listening to the buzzing sound of the buzzer 33. When the work machine 7 is further operated in a direction approaching the revolving unit 2, the electromagnetic valve 2
1, 2, 23, 27, and 30 are fully closed by a control signal output from the solenoid valve control unit 34e, so that the control valves 15, 16, and 17 are pressed regardless of the operation of the operation levers 12, 13 and the operation pedal 14. No oil is supplied, and the work machine 7 stops just before colliding with the revolving unit 2.

If it is determined in step 3 that the work implement 7 is moving in a direction away from the revolving unit 2, or if the work implement 7 is determined to be stopped, the alarm determination unit 34d outputs a buzzer. 33, a stop signal is output, and the alarm stop processing of the procedure 2 described above is performed. As described above, when there is no danger that the work implement 7 collides with the revolving superstructure 2, the activation of the buzzer 33 is stopped, so that the operator does not feel uncomfortable.

FIG. 5 is a circuit diagram showing a work machine interference prevention device according to a second embodiment of the present invention, FIG. 6 is a block diagram of the work machine interference prevention device, and FIG. 7 is provided in the work machine interference prevention device. 5 is a flowchart illustrating processing contents of the control device, and portions corresponding to FIGS. 1 to 4 are denoted by the same reference numerals.

This embodiment is different from the first embodiment in that a lamp (warning lamp) 36 is arranged in the driver's cab 2a in addition to a buzzer 33 serving as an alarm generating means, and a comparison operation unit 34 is provided.
The activation determination signal is output from the alarm determination unit 34d to the lamp 36 according to the result of b, and the other configuration is basically the same.

In the embodiment constructed as described above,
If it is determined in step 1 that the work implement 7 has not entered the interference avoidance area 35, alarm stop processing is performed in step 2. On the other hand, when it is determined in step 1 that the work implement 7 has entered the interference avoidance area 35, the lamp 36 is turned on by the start signal from the alarm determination unit 34d in step 3, and then the first execution is performed in step 4. The same processing as the procedure 3 in the example is performed. That is, if it is determined in step 4 that the work implement 7 is moving in a direction that interferes with the revolving unit 2, an alarm activation process of sounding the buzzer 33 is performed in step 5, and the work implement 7 is turned in step 4. When it is determined that the moving unit is moving away from the body 2, or when it is determined that the work machine 7 is stopped, the alarm stop process of the procedure 2 is performed. Accordingly, similarly to the first embodiment, when there is no danger of the work implement 7 colliding with the revolving unit 2, the start of the buzzer 33 can be stopped to eliminate the discomfort given to the operator, and further, the work implement 7 may interfere The lamp 36, which remains lit when the vehicle enters the avoidance area 35, allows the operator to visually recognize that the work implement 7 is in the interference avoidance area 35, thereby further improving safety. .

FIG. 8 is a block diagram of a work machine interference prevention device according to a third embodiment of the present invention, and portions corresponding to FIG. 3 are denoted by the same reference numerals.

This embodiment differs from the first embodiment in that a speed detector 34f for detecting the moving speed of the work machine 7 is added to the control device 34, and a buzzer 33 output from an alarm determiner 34d. Is changed in accordance with the results of the comparison operation unit 34b, the movement direction determination unit 34c, and the speed detection unit 34f, and the other configuration is basically the same. The speed detection unit 34f detects the operation amounts of the operation levers 12, 13 and the operation pedal 14, that is, the moving speed of the work implement 7, based on input signals from the pressure detection devices 25, 26, 29, and 32.

In the embodiment configured as described above,
When the work machine 7 has entered the interference avoidance area 35,
When the work machine 7 is operated at a high speed in a direction approaching the revolving unit 2, the alarm determination unit 34 d outputs a high-level start signal to the buzzer 33, and increases the volume of the buzzer 33, for example.
On the other hand, if the work implement 7 is operated at a low speed in the direction approaching the revolving unit 2 while the work implement 7 is intruding into the interference avoidance area 35, the alarm determination unit 34 d sends the buzzer 33 a low-level signal. An activation signal is output, and the volume of the buzzer 33 is reduced. Therefore, the operator can instantly recognize the level of danger by listening to the volume of the buzzer 33.

In each of the above embodiments, the case where the buzzer 33 is used as the alarm generating means has been described. However, a lamp (warning lamp) or a vibrating device can be used instead.

Further, in each of the above embodiments, the case where the moving direction judging section 34 judges the moving direction of the working machine 7 based on the input signals from the pressure detecting devices 25, 26, 29, 32 has been described. The position signal of the working machine 7 detected from the angle detectors 18, 19, 20 or the operation lever 1
It is also possible to determine the moving direction of the work implement 7 using electric signals output according to the operation amounts of the operation pedals 2 and 13 and the operation pedal 14. Similarly, the moving speed of the work implement 7 can be detected using position signals from the angle detection devices 18, 19, and 20 or electric signals from the operation levers 12 and 13 and the operation pedal 14.

[0028]

The present invention is embodied in the form described above and has the following effects.

When the alarm generating means is activated only when the work machine moves in the direction approaching the main body in the interference avoidance area, and otherwise the activation of the alarm generation means is stopped, the work equipment moves in the interference avoidance area. When operated in the direction approaching the main unit, the alarm generation means is activated and the operator can be surely notified of the danger notice, and when the work machine is operated in the direction away from the main unit or the work machine is prevented from interfering When there is no danger of the work implement colliding with the main body, such as when stopping in an area, the activation of the alarm generating means can be stopped to prevent the operator from feeling uncomfortable.

Further, speed detecting means for detecting the moving speed of the working machine is provided, and when the start signal to the alarm generating means is changed according to the moving speed of the working machine, the operating machine can be operated at a high speed in a direction approaching the main body. When the alarm is issued, the alarm generating means is activated more vigorously than when the operation is performed at a low speed, and the danger notice can be surely recognized by the operator.

Further, a buzzer is used as an alarm generating means,
If the lamp provided separately from the buzzer is kept lit when the work machine enters the interference avoidance area, the buzzer sounds not only to make it possible for the operator to recognize the danger notice, but also to turn on the lamp with the lit lamp. The operator can visually recognize that the aircraft is in the interference avoidance area, and the safety is further improved.

[Brief description of the drawings]

FIG. 1 is a circuit diagram showing a work implement interference prevention device according to a first embodiment of the present invention.

FIG. 2 is a side view of a hydraulic excavator provided with the work implement interference prevention device.

FIG. 3 is a block diagram of the work machine interference prevention device.

FIG. 4 is a flowchart showing processing contents of a control device provided in the work machine interference prevention device.

FIG. 5 is a circuit diagram showing a work implement interference prevention device according to a second embodiment of the present invention.

FIG. 6 is a block diagram of the work machine interference prevention device.

FIG. 7 is a flowchart showing processing contents of a control device provided in the work machine interference prevention device.

FIG. 8 is a block diagram of a work implement interference prevention device according to a third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 2 Revolving structure 2a Operator's cab 7 Work implement 12 Operating lever for boom 13 Operating lever for arm 14 Operating pedal for offset 15 Control valve for boom 16 Control valve for arm 17 Control valve for offset 18 Boom angle detector 19 Offset angle Detecting device 20 Arm angle detecting device 21, 23, 27, 30 Solenoid valve 22 Boom raising pilot line 24 Boom lowering pilot line 25, 26, 29, 32 Pressure detecting device 28 Arm cloud pilot line 31 Offset left pilot line 33 Buzzer (alarm generation means) 34 Control device 34a Coordinate calculation unit 34b Comparison calculation unit 34c Moving direction determination unit 34d Alarm determination unit 34e Solenoid valve control unit 34f Speed detection unit 35 Interference avoidance area 36 Run

Continued on the front page (72) Inventor Toshiaki Nishida 650 Kandate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. In-plant (72) Inventor Shigeto Takahashi 650, Kandamachi, Tsuchiura-shi, Ibaraki F-term in Tsuchiura Plant, Hitachi Construction Machinery Co., Ltd.

Claims (3)

[Claims] 1. A main body having an operator's cab, a working machine rotatably provided on the main body, position detecting means for detecting a position of the working machine, and an interference avoidance area set around the main body. And computing means for determining whether or not the work implement has entered the interference avoidance area based on the position signal from the position detection means, when the work implement has entered the interference avoidance area. A work machine interference prevention device for a construction machine, wherein the work machine controls an operation in a direction in which the work machine interferes with the main body; and an alarm generating means that can be activated when the work machine enters the interference avoidance area. Moving direction determining means for determining a moving direction of the working machine, and activating the alarm generating means when the working machine moves in a direction approaching the main body in the interference avoidance area; The alarm is generated Working machine interference preventing system for a construction machine, characterized in that to stop the start of the stage. 2. The apparatus according to claim 1, further comprising speed detecting means for detecting a moving speed of the work implement, wherein a start signal to the alarm generating means is changed according to the moving speed of the work implement. Work machine interference prevention device for construction machinery. 3. A construction machine according to claim 1, wherein said alarm generating means comprises a buzzer, and a lamp which is lit when said work machine enters said interference avoidance area. Work equipment interference prevention device.