JP2000045318A - Working area limiting device of construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a working area limiting device of a construction machine capable of being instantaneously recognized as to what extent a working machine approaches a stop area. SOLUTION: An arithmetic unit 14 calculates a specific position of a working machine 8 such as an arm front end position based on a relative angle signal detected from angle sensors 15, 16 and 17, a relative distance between the arm front end position and stop area set around a driving room 2a is made to perform operations, and as a result of the operations, it is outputted to a monitor device 19 as a control signal. The monitor device 19 is provided inside the driving room 2a, and a plurality of indication segments 20 are arranged on a straight line to the indication surface. Each of the indication segments 20 is turned on and off by the control signal from the arithmetic unit 14, for example, in the case it is decided that a bucket is separated more than 2m from the stop area, the arithmetic unit 14 outputs the control signal for putting out the lights of the whole indication segment 20, and in the case it is decided that the bucket approaches within 2m from the stop area, the arithmetic unit 14 outputs the control signal for successively making the lights of the indication segments 20 turn on in accordance with the distance from the stop area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a range limiting device for a construction machine for controlling an operating range of a working machine, and more particularly to a monitor for displaying a state of proximity of the working machine to a set stop area.

[0002]

2. Description of the Related Art In construction machines such as hydraulic excavators,
2. Description of the Related Art There is known a device provided with a range limiting device for avoiding interference between a work machine and a driver's cab when approaching the cab.
For example, as described in Japanese Patent Application Laid-Open No. 7-71051, in order to carry out excavation operation of a working machine and then dump the soil on a dump truck or the like, when performing a combined operation such as turning, boom raising and arm pulling, A range limiting device has been proposed which automatically stops boom raising and arm pulling when a bucket enters a preset stop area around the cab.

[0003] In addition, an ultra-small turning hydraulic excavator having an offset mechanism is known which has a function of setting a stop area at an arbitrary position on the ground or underground, in addition to the above-mentioned stop area set around the cab. Have been. This mechanism limits the range of the working machine in the height direction and the depth direction. In this case, the working machine is automatically stopped in a stop area, so that the working machine can be prevented from coming into contact with obstacles above and below the ground.

Conventionally, in a hydraulic shovel equipped with such a range limiting device, a technique for displaying a relative distance between a work machine and a stop area on a monitor device is disclosed in Japanese Patent Laid-Open No. 5-287.
No. 782. In this apparatus, the relative distance between the work equipment and the stop area is calculated, and the calculation result is numerically displayed on a monitor device. You can recognize how close you are to

[0005]

According to the above-mentioned prior art, although the state of proximity of the working machine to the stop area can be grasped by the numerical value displayed on the monitor device, the position of the working machine can be determined from the numerical value that changes every moment for the operator. It is difficult to recognize instantaneously, and there is room for improvement in order to further improve work efficiency.

[0006]

According to the present invention, a plurality of display segments are arranged on a monitor device provided in a driver's cab, and these display segments are made to blink according to the relative distance between the work implement and the stop area. . With this configuration, the operator can instantly recognize how close the work machine is to the stop area by visually observing the blinking state in the display segment group, thereby improving work efficiency.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In a range limiting device for a construction machine according to the present invention, a main body having an operator's cab, an articulated work machine rotatably provided on the main body, and a position of the work machine are detected. And a calculating means for storing a set stop area and calculating a relative distance between the work implement and the stop area based on a position signal from the position detecting means. In a range limiting device for a construction machine that controls the work machine not to operate beyond the stop area based on a calculation result, a plurality of display segments are arranged on a monitor device provided inside the cab, and the display segments are arranged. The segment is configured to blink according to the relative distance between the work implement and the stop area.

With this configuration, the operator visually checks the blinking state in the display segment group,
It is possible to instantly recognize how close the work machine is to the stop area, and it is possible to enhance work efficiency.

Further, when the stop area and the distance from the stop area are displayed at both ends of the display segment group, the moving direction of the work machine with respect to the stop area and the approximate distance between the work equipment and the stop area are instantaneous. Can be recognized.

The display segment is a light emitting diode (L
ED) and lamps are suitable, and the shape thereof is not particularly limited. However, when the bucket-like display segment group is configured to blink, the visual recognition effect can be enhanced.

The stop area can be set at an arbitrary position. For example, when the stop area is set around the cab, the range of the working machine can be limited in the approaching direction of the cab, and the stop area can be set on the ground. Or any location underground,
The range of the working machine can be limited in the height direction and the depth direction.

In the case of the ultra-small turning hydraulic excavator having the offset mechanism, when the stop regions are set respectively in front of and in the side of the operator's cab, display segments may be arranged in the stop regions in these two directions. However, if the common display segment group is also used as a stop area in two directions and one of the stop areas is selected by the switching means, the display area of the monitor device can be effectively used.

When the stop area is set at an arbitrary position in the height direction and the depth direction of the work machine, the first display segment group and the second display segment group for these two stop areas are separately arranged. However, by arranging the first and second display segment groups continuously, it is possible to recognize at a glance how close the work machine is to obstacles above and below the ground. In this case, the first display segment group and the second display segment group may be lit in the same display color. However, if both display segment groups are lit in different display colors, the work machine can be placed on the ground or underground. Whether the vehicle is approaching the set stop area can be instantaneously determined based on a difference in display color.

[0014]

Embodiments will be described with reference to the drawings.
FIG. 1 is a block diagram of a range limiting device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of a monitor device provided in the range limiting device, FIG. 3 is a flowchart showing processing contents of the range limiting device, FIG. Is a side view of a hydraulic shovel provided with the range limiting device, and FIG. 5 is a plan view of the hydraulic shovel.

4 and 5, reference numeral 1 denotes a traveling unit, 2 denotes a revolving unit having an operator's cab 2a and arranged above the traveling unit 1, and the traveling unit 1 and the revolving unit 2 serve as hydraulic excavators. Make up the body. 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 top boom 6 is an arm rotatably connected to the tip of the top boom 5, and 7 is a bucket rotatably connected to the tip of the arm 6. The booms 3, 4, 5, the arm 6 and the bucket 7 The work machine 8 is configured. 9 is a boom cylinder for driving the lower boom 3, 10 is an offset cylinder for driving the upper boom 4, 11 is an arm cylinder for driving the arm 6, 12 is a bucket cylinder for driving the bucket 7, and includes an upper boom 4 and a top boom 5. The arm 6 and the bucket 7 are moved in parallel to the lower boom 3 in the lateral direction. A stop area 13 indicated by hatching is set around the cab 2a, and the stop area 13 is stored in the arithmetic unit 14 of the controller shown in FIG.

In FIG. 1, reference numeral 15 denotes a boom angle sensor provided at a fulcrum of the lower boom 3, which detects a relative angle between the swing body 2 and the lower boom 3. Reference numeral 16 denotes an offset angle sensor 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 17 denotes an arm angle sensor provided at a fulcrum of the arm 6, and detects a relative angle between the top boom 5 and the arm 6. The relative angle signals between the members of the working machine 8 detected by the angle sensors 15, 16 and 17 are input to an arithmetic unit 14 built in the controller. A / D converter 14a for converting a relative angle signal (analog signal) from the digital camera into a digital signal, ROM 14b for storing the processing contents (program) of the arithmetic unit 14, data after A / D conversion and data in the middle of arithmetic operation RAM1 for temporarily storing
4c and a CPU 14d for executing the operation of the arithmetic unit 14
And an interface unit 14e that outputs a control signal to the hydraulic drive circuit 18 and the monitor device 19 based on the calculation result of the CPU 14d. Although not shown, the hydraulic drive circuit 18 receives an instruction signal from an operation lever or an operation pedal disposed in the operator's cab 2a, in addition to the control signal from the arithmetic unit 14, and inputs the signals to these signals. The supply amount of the hydraulic oil to each of the cylinders 9 to 11 and the like is controlled based on this.
Further, the monitor device 19 is disposed in the cab 2a.

As shown in FIG. 2, a plurality of display segments 20 are arranged on a display surface of the monitor device 19 in a straight line.
0a to 20t are used as one set. Each display segment 20 includes a light emitting diode (LED) or a lamp, and is blinked by a control signal from the arithmetic unit 14.
In the vicinity of the right end of each display segment 20, the word "cab" is displayed as a first index 21 indicating the stop area 13 set around the cab 2a. In the vicinity of the left end of each display segment 20, a character “+2.0 m” is displayed as a second index 22 indicating the distance from the cab 2a. In this case, one display segment 20 is set to 0. .1 m.

Next, the operation of this embodiment will be described with reference to the flowchart shown in FIG. First, in step S1,
The relative angle signals from the angle sensors 15, 16, 17 are input to the arithmetic unit 14, and in step S2, the arithmetic unit 14
The CPU 14d calculates a predetermined position of the work implement 8, for example, a tip position of the arm 6, based on the relative angle signal. Next, in step S3, the stop area 13 stored in the ROM 14b is read, and in step S4, the relative distance between the distal end position of the arm 6 and the stop area 13 is calculated. Next, in step S5, a control signal is output from the interface unit 14e of the arithmetic unit 14 to each of the display segments 20a to 20t of the monitor device 19 based on the calculation result in step S4.
Lights a to 20t. For example, based on the calculation result of step S4, when the bucket 7 is at least 2 m away from the stop area 13, all the display segments 20a to 20t are turned off, and when the bucket 7 approaches within 2m from the stop area 13. Lights the display segments 20a to 20t sequentially from the left side, such as the display segment 20a at the left end in FIG. 2, the second display segment 20b, and the third display segment 20c according to the distance. In consideration of the actual work, the relative distance between the end position of the arm 6 and the stop area 13 changes every moment, so that each display segment 20a
The flashing state of the buckets 7 to 20 t changes in the same manner, but the operator who operates the work implement 8 in the operator's cab 2 a visually checks the flashing states of the display segments 20 a to 20 t of the monitor device 19, and Is the stop area 1
3 can be instantly recognized. Note that each of the display segments 20a to 20t may be flickered in a mode other than the above. For example, when the bucket 7 approaches a position 1 m from the stop area 13, FIG.
Display segments 20a to 20 from the left end of the
j is turned on and the eleventh display segment 20
k blinks, and the display segments 20a to 20
It is also possible to turn off the light source 20j, which further enhances the visual effect.

If it is determined based on the calculation result of step S4 that the bucket 7 has entered the stop area 13, all the display segments 20a to 20j are turned on and the interface section 14e of the calculation device 14 is turned on. Outputs a stop signal to the hydraulic drive circuit 18, regardless of the instruction signal from the operation lever or the operation pedal.
The hydraulic oil is no longer supplied to the Therefore, bucket 7
Stops in the stop area 13 and collision with the cab 2a is avoided.

FIGS. 6 to 8 respectively show modified examples of the display segment group displayed on the monitor device 19. In the embodiment shown in FIG. 6, the first display segment group 23 and the second display segment group are displayed on the display surface of the monitor device 19. 2 display segment group 24 and upper and lower 2
It is parallel to the stage. The first display segment group 23 is turned on when the bucket 7 is operated in the reach direction (the direction of the arrow A in FIG. 5) in which the bucket 7 approaches the stop area 13 from the front of the cab 2a, and the second display segment group. Reference numeral 24 is turned on when the bucket 7 is moved in the offset direction (the direction of the arrow B in FIG. 5) in which the bucket 7 approaches the stop area 13 from the right side of the cab 2a. With this configuration, it is possible to instantly recognize whether the bucket 7 is approaching the stop area 13 set around the operator's cab 2a from the reach direction or the offset direction. It will be even higher.

In the embodiment shown in FIG. 7, a set of display segment groups 25 is arranged on the display surface of the monitor device 19, and the changeover switch 26 is used to arrange the display segment group 25 in FIG.
Has both functions of the first display segment group 23 and the second display segment group 24. Two lamps 26a and 26b are provided near the changeover switch 26. When the reach direction is selected by the changeover switch 26, the lamp 26a is turned on to notify the operator of the reach direction. The display segment group 25 is turned on when the bucket 7 approaches the stop area 13 from the front of the cab 2a. When the changeover switch 26 is pressed, the switch is switched in the offset direction. In this case, the lamp 26b is turned on to notify the operator of the offset direction, and the display segment group 2 is displayed.
5 indicates that the bucket 7 has a stop area 13 from the right side of the cab 2a.
Lights when approaching. With such a configuration, one display segment group 25 can be used for both the display in the reach direction and the display in the offset direction, so that the display area of the monitor device 19 can be effectively used.

In the embodiment shown in FIG. 8, a plurality of display segments 27 in which the bucket 7 is illustrated are arranged on the display surface of the monitor device 19, and a first index 28 is illustrated in the vicinity of the rightmost display segment 27. The body of the excavator is shown, and each display segment 27 is a bucket 7
Are sequentially lit when approaching the stop area 13. With this configuration, when the bucket 7 approaches the stop area 13, the display segment 2 having the illustrated bucket shape is used.
7 approaches the cab 2a of the illustrated first index 28, the operator can recognize the approach of the bucket 7 in a more realistic manner, and the visual recognition effect is enhanced.

FIG. 9 is a block diagram of a range limiting device according to another embodiment of the present invention, and FIG. 10 is an explanatory diagram of a monitor device provided in the range limiting device. Parts corresponding to FIG. Is attached.

As shown in FIG. 9, in this embodiment, a switch input unit 14f is added to the arithmetic unit 14, and instruction signals from the depth limit setting switch 29 and the height limit setting switch 30 are supplied to the switch input unit 14f. It is configured to be input. The depth limit setting switch 29 and the height limit setting switch 30 are pressed by the operator, and the predetermined position of the working machine 8 at the time when the depth limit setting switch 29 is pressed, for example, the tip position of the arm 6 is determined by the operation device 14. RAM
14c, and the stop area 31 is located at an arbitrary position underground.
(See FIG. 4) is set. Similarly, a predetermined position of the work implement 8 at the time when the height limit setting switch 30 is pressed, for example, a tip position of the arm 6, is written in the RAM 14c, and a stop area 32 (see FIG. 4) is set at an arbitrary position on the ground. You.

On the other hand, as shown in FIG.
A first display segment group 33 and a second display segment group 34 are vertically arranged continuously on the display surface 9. The first display segment group 33 is sequentially turned on when the work machine 8 approaches the stop area 31 set underground from above, and the second display segment group 34 is turned on with respect to the stop area 32 set above ground. When the work machine 8 approaches from below, the lights are sequentially turned on. In addition, the first display segment group 33
Is displayed near the lower end of the display segment as an index 35 indicating the stop area 31, and the second display segment group 3 is displayed.
In the vicinity of the upper end of the display segment 4, “Height setting” is displayed as an index 36 indicating the stop area 32.
The characters “+1.0 m” are displayed as a common index 37 indicating the distance from the stop area 31 and the stop area 32 in a continuous portion of 3 and 34.

In the embodiment configured as described above,
In addition to the stop area 13 around the cab 2a stored in the ROM 14b in advance, the operation range of the work implement 8 is also limited to a stop area 31 and a stop area 32 that can be set at an arbitrary position underground or above the ground. be able to. For example, when the stop area 31 is set at an arbitrary position underground, when the lowest point of the work implement 8 approaches within 1.0 m above the stop area 31, the first display segment group 33 is moved from the index 37 side. Lights are sequentially turned on toward the lower index 35, and the work machine 8 automatically stops at the position where it has entered the stop area 31. Similarly, when the stop area 32 is set at an arbitrary position on the ground, when the uppermost point of the working machine 8 approaches within 1.0 m below the stop area 32, the second
The display segment group 34 of the index 3
The working machine 8 automatically stops at the position where it has entered the stop area 32. Therefore, the operator visually observes the blinking states of the first and second display segment groups 33 and 34 to confirm that the working machine 8 is approaching the stop areas 31 and 32 set underground or above the ground. Can be instantaneously recognized. In this case, both display segment groups 33 and 34 may be lit in the same display color.
For example, when the first display segment group 33 is illuminated in red and the second display segment group 34 is illuminated in green, the display color indicates whether the working machine 8 is approaching the stop areas 31, 32 set underground or above ground. Can be instantly determined by the difference between

In the above embodiment, the stop area 13 is set around the cab 2a, and the stop areas 31 and 32 can be set at arbitrary positions in the depth direction and the height direction of the working machine 8. By arranging three sets of display segments corresponding to the stop areas 13, 31, 32 on the display surface of the monitor device 19, the operator can determine that the work machine 8 has approached any of the stop areas 13, 31, 32. It can be recognized by the blinking state of the display segment group. In this case, if a changeover switch that can select any one of the stop areas 13, 31, 32 is used, the proximity state of the work implement 8 to all the stop areas 13, 31, 32 by one set of display segment groups. The display area can be displayed, and the display area of the monitor device 19 can be effectively used.

[0028]

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

In a construction machine range limiting device for controlling a working machine not to operate beyond a stop area set at a predetermined position, a plurality of display segments are arranged on a monitor device arranged in a cab, and these display segments are arranged. Is configured to blink in accordance with the relative distance between the work implement and the stop area, the operator can visually check the blink state in the display segment group to instantly determine how close the work implement is to the stop area. It can be recognized and work efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram of a range limiting device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a monitor device provided in the range limiting device.

FIG. 3 is a flowchart showing processing contents of the range limiting device.

FIG. 4 is a side view of a hydraulic shovel provided with the range limiting device.

FIG. 5 is a plan view of the excavator.

FIG. 6 is a modified example of a display segment group.

FIG. 7 is a modified example of a display segment group.

FIG. 8 is a modified example of a display segment group.

FIG. 9 is a block diagram of a range limiting device according to another embodiment of the present invention.

FIG. 10 is an explanatory diagram of a monitor device provided in the range limiting device.

[Explanation of symbols]

2 Revolving superstructure 2a Operator's cab 6 Arm 7 Bucket 8 Work implement 13,31,32 Stop area 14 Arithmetic unit 14a A / D converter 14b ROM 14c RAM 14d CPU 14e Interface unit 14f Switch input unit 15,16,17 Angle sensor 18 Hydraulic drive circuit 19 Monitor device 20, 23, 24, 25, 27, 33, 34 Display segment group 21, 22, 28, 35, 36, 37 Index 26 Changeover switch 26a, 26b Lamp 29 Depth limit setting switch 30 Height Limit setting switch

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Yusuke Kajita 650 Kandate-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. (72) Inventor Shigeto Takahashi 650, Kandate-cho, Tsuchiura-shi, Ibaraki Prefecture Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant F-term (reference)

Claims (6)

[Claims] 1. A main body having an operator's cab, a multi-joint type working machine rotatably provided on the main body, position detecting means for detecting a position of the working machine, and a set stop area are stored. Calculating means for calculating a relative distance between the work implement and the stop area based on a position signal from the position detection means, wherein the work implement determines the stop area based on a calculation result of the calculation means. In a range limiting device for a construction machine controlled not to operate beyond, a plurality of display segments are arranged on a monitor device provided inside the operator's cab, and these display segments are a relative distance between the working machine and the stop area. A range limiting device for a construction machine characterized by blinking in accordance with a range. 2. The range limiting device for a construction machine according to claim 1, wherein the stop region and a distance from the stop region are displayed at both ends of the display segment group. 3. The range limiting device for a construction machine according to claim 1, wherein the display segment is formed in a shape of a bucket that is a constituent member of the work machine. 4. The vehicle according to claim 1, wherein the stop areas are set in front of and in a side of the cab, respectively.
A range limiting device for a construction machine, wherein one of the stop regions is selected by a switching unit, and the display segment blinks according to a relative distance between the selected stop region and the work machine. 5. The display device according to claim 1, wherein a first display segment group for a stop area set in a height direction of the work machine and a second display segment group for a stop area set in a depth direction of the work machine. And a display segment group, wherein the first and second display segment groups are continuously arranged. 6. The range limiting device for a construction machine according to claim 5, wherein a display color of the first display segment group is different from a display color of the second display segment group.