JP2007023486A - Contact avoidance controller in working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To stop operation such as swiveling and backing of an upper part swiveling body 3 forcedly when detecting that an obstacle A is positioned in collision prevention regions X, Y set around the upper part swiveling body 3 when the upper part swiveling body 3 performs the operation such as swiveling and backing and to release the stop of the operation to approach the obstacle A up to point-blank range. <P>SOLUTION: The obstacle A is detected by a millimeter wave radar to detect it with high sensitivity. When it is detected that the obstacle A is positioned in the collision prevention regions X, Y and an operation device in the direction for approaching the obstacle A is operated, the operation is forcedly stopped. When the operation device is once operated to a neutral position and then is operated in the direction for approaching again in a forcedly stopped condition, control is performed in such a way that the operation for approaching the obstacle A at ultra-low speed is performed to stop the operation forcedly when reaching the point-blank range. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention belongs to the technical field of a contact avoidance control device in a work machine such as a hydraulic excavator.

2. Description of the Related Art In general, a working machine, particularly a swing type work machine such as a hydraulic excavator, has a main body and a lower traveling body that is provided with an upper revolving body that can turn freely. When driving such a fuselage main body, there are cases where the upper swing body turns and the aircraft main body reverses, and in such cases, there are places where it is difficult for an operator sitting in the driver's seat to perform the driving work. In this case, while driving while looking at the rearview mirror or looking at the back, there is a limit to such confirmation, and in some cases it is possible to touch obstacles around There is sex.
In view of this, there has been proposed one in which a surveillance camera is provided at the rear part of the upper swing body so that the surveillance camera can be turned, and the surveillance camera is turned following the operation of the operation lever for traveling (for example, Patent Document 1).
JP 2004-322979 A

  By the way, in the case where the surveillance camera is provided, the presence of an obstacle can be confirmed, but in order to do so, not only the operation of watching the monitor is forced, but also the distance to the obstacle depends on the operator's feeling. There is a problem that the actual situation is not obtained and it does not sufficiently function as contact avoidance, and there is a problem to be solved by the present invention.

SUMMARY OF THE INVENTION The present invention was created in view of the above circumstances and has been created for the purpose of solving these problems. The invention of claim 1 is an obstacle around the body of the machine that operates based on the operation tool operation. Obstacle detection means for detecting the presence of the obstacle, calculation means for calculating the distance and direction of the detected obstacle from the main body, and determining whether or not the operation tool operation is an operation in a direction approaching the obstacle Operating tool operation determining means for performing an obstacle, obstacle position determining means for determining whether or not an obstacle is located in a contact prevention area set in advance with respect to the aircraft body, and an obstacle in the contact prevention area And contact avoidance control means for stopping the operation based on the operation tool operation and avoiding the contact when the operation tool operation is determined to be an operation in a direction approaching the obstacle. Contact avoidance control in featured work machines It is the location.
A second aspect of the present invention is the contact avoidance control device for a work machine according to the first aspect, wherein the obstacle detecting means is a millimeter wave radar.
A third aspect of the present invention is the contact avoidance control apparatus for a work machine according to the first or second aspect, wherein the contact prevention area is set to a reverse travel range.
According to a fourth aspect of the present invention, in any one of the first to third aspects, the machine body is a swing type work machine in which an upper swing body is pivotably provided on a lower traveling body, and the contact prevention region is an upper swing body. It is a contact avoidance control apparatus in a work machine characterized by being a turning trajectory.
According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the operation stop by the contact avoidance control means is released, and the obstacle is approached at a very low speed to a preset distance by operating the operation tool. A contact avoidance control device in a work machine, characterized in that an ultra-low speed control means that enables operation is provided.
According to a sixth aspect of the present invention, in the fifth aspect, the ultra-low speed approach operation by the ultra-low speed control means is set by operating the operating tool returned to the neutral position in the direction of approaching the obstacle again. It is the contact avoidance control apparatus in the working machine characterized by having.
The invention according to claim 7 is the obstacle according to any one of claims 1 to 6, wherein the contact prevention area is set outside the contact prevention area, and the obstacle is determined to be located in the contact prevention area. The contact avoidance control device for a work machine is provided with contact prevention control means for controlling the operation speed to become lower as the distance from the body body approaches.

According to the invention of claim 1, when an obstacle is located in the contact prevention region and there is a possibility of contact, the operation based on the operation tool operation is automatically stopped, thereby avoiding contact. It will be possible.
According to the invention of claim 2, obstacle detection can be performed by a millimeter wave radar having high sensitivity and hardly affected by natural conditions such as the weather, so that the detection accuracy is improved.
According to the third aspect of the present invention, it is possible to perform contact prevention control in reverse traveling or the like that is difficult for the operator to see.
According to the invention of claim 4, in the turning work machine, it is possible to perform contact prevention control at the time of turning, etc., where it is difficult for the operator to see.
According to the invention of claim 5, when the obstacle is in the contact prevention area, the super-low speed control is executed so that the obstacle can be approached at a very low speed to the nearest distance, and the workable area It is possible to reduce the limit.
According to the invention of claim 6, it is possible to prevent a problem that the shift to the ultra-low speed control is performed by an operation conscious of the operator, that is, the operation tool operation, and is shifted unexpectedly.
According to the seventh aspect of the present invention, the operation speed is reduced at the stage of entering the contact prevention area before entering the contact prevention area so that the operator is conscious so that the obstacle does not enter the contact prevention area as much as possible. Aware operation can be promoted.

  Next, embodiments of the present invention will be described with reference to the drawings. In the figure, reference numeral 1 denotes a main body of a hydraulic excavator, and the main body 1 is configured such that an upper swing body 3 is provided on a lower traveling body 2 so as to be rotatable. Various member devices such as a cabin 4, a work attachment 5 with a bucket, and an engine hood 6 are attached to the upper swing body 3.

  Reference numeral 7 denotes a transmission / reception device of a millimeter wave radar (corresponding to the “obstacle detection means” of the present invention) provided on the upper swing body 3. The transmission / reception device 7 transmits a millimeter wave having a frequency of 76 GHz (gigahertz), for example. When there is an obstacle, the reflected wave can be received with high sensitivity. As the transmission / reception device 7, two for detecting the rear of the upper swing body 3 are 7LB, 7RB on the left and right sides, 7L for detecting the left side of the upper swing body 3, and 7R for detecting the right side of the upper swing body 3 These transmission / reception devices 7 can detect obstacles around the upper swing body 3. The transmitter / receiver 7 has a configuration in which, for example, three general-purpose millimeter wave radar transmitters / receivers having a viewing angle of approximately 60 degrees in the horizontal direction are internally provided, so that a field of view of approximately 180 degrees in the horizontal direction is provided. Obstacles can be detected at the corners, so that obstacles can be detected in almost the horizontal region except the front of the upper traveling body 3. The millimeter waves emitted from the respective transmitters / receivers generate overlapping regions. In this overlapping part, in this embodiment, the transmitter / receiver located closest to the obstacles is set to detect the obstacles. That is, the detection areas of the transmitting / receiving devices 7LB, 7RB, 7L, and 7R are as shown in FIG. First, in the transmitter / receiver 7L, the three transmitters / receivers respectively detect the detection region 7L-1, the detection region 7L-2, and the detection region 7L-3 on the left side of the upper swing body 3, and similarly configure the transmitter / receiver 7R. Three transmitters / receivers respectively detect the detection area 7R-1, detection area 7R-2, and detection area 7R-3 on the right side of the upper swing body 3, and the three transmitters / receivers constituting the transmitter / receiver 7LB are the upper swing body 3 The detection area 7BL-1, the detection area 7LB-2, and the detection area 7LB-3 on the left rear side are detected, and the three transmitters / receivers constituting the transmission / reception device 7RB are the detection area 7RB- on the right rear side of the revolving unit 3 1. Detection area 7RB-2 and detection area 7RB-3 are set to be detected. It should be noted that the built-in transmitter / receiver may receive a millimeter wave emitted from another transmitter / receiver as a reflected wave from an obstacle, and may interfere with each other. When a reflected wave that bounces off an obstacle is received, only the modulated radar wave is discriminated and extracted from the received reflected wave so as not to interfere with each other. ing.

  In the present embodiment, contact avoidance control is executed for the backward travel of the main body 1 and the left and right turning operation of the upper swing body 3. In this case, pressure oil is supplied to the left and right travel motors and the swing motor, respectively. An electromagnetic pressure reducing valve is provided in the pilot oil passage of the switching control valve, and contact avoidance control is executed by opening amount adjustment control from the fully open state to the fully closed state of the electromagnetic pressure reducing valve. Since this hydraulic circuit is the same for both the left and right traveling motors and the turning motor, the hydraulic circuit of the turning motor 8 will be described with reference to FIG. 3, and the description of the hydraulic circuit of the left and right traveling motor will be omitted. In the drawing, a swing motor 8 is connected to a hydraulic pump 9 via a pilot-type switching control valve 10, and hydraulic oil from the hydraulic pump 9 is supplied by switching the switching control valve 10 to drive forward and reverse. Thus, the upper swing body 3 turns left and right, and the switching control valve 10 includes a turning electromagnetic pressure reducing valve 12L for the left turning pilot oil passage 11L and a right turning pilot oil passage 11R. 12R is provided. When the electromagnetic pressure reducing valves 12L and 12R receive an opening / closing control command from the control unit 13 to be described later, the opening degree control is executed, whereby the hydraulic pressure of the pilot pressure oil is changed, and the acceleration / deceleration control of the turning speed is executed. It has become so.

  The control unit 13 is configured by using various electronic and electrical components such as a microcomputer. The control unit 13 includes a detection signal from the transmission / reception device 7, a left / right traveling operation tool (left / right traveling operation). Lever) Detection signals from the forward / backward traveling operation detection sensors 14 and 15 provided on the levers 14a and 15a, detection signals from the turning operation detection sensor 16 provided on the turning operation tool (turning operation lever) 16a of the upper swing body 3 and the like The various detection signals are input. Incidentally, the forward / backward running operation detection sensors 14 and 15 and the turning operation detection sensor 16 correspond to the operation tool operation determination means of the present invention. Further, various signals such as various switches and dials (not shown) are input to the control unit 13, and corresponding control signals are output based on the various signals that are input to control various operations of the machine body 1. The control procedure in the contact avoidance control routine for the obstacle in which the present invention is implemented will be described below with reference to the flowchart of FIG. Along with detection signals from the transmission / reception device 7 and the respective operation detection sensors 14, 15 and 16, the turning pilot pressure detection sensors 17L and 17R provided in the turning pilot oil passages 11L and 11R, the left and right traveling pilot oil passages (both shown) The detection signals from the left and right traveling pilot pressure detection sensors 18F and 18B and 19F and 19B are input. The control unit 13 controls the turning electromagnetic pressure reducing valves 12L and 12R and the left and right traveling electromagnetic pressure reducing valves 20F and 20B and 21F and 21B respectively provided in the left and right traveling pilot oil passages based on the input detection signals. A signal is output.

  The contact avoidance control is executed as a contact avoidance control routine after the engine is started and necessary initial settings are made in the control unit 13. First, in step C1, an obstacle is detected using the transmission / reception device 7, In the next process C2, it is determined whether or not an obstacle detection signal has been input from the transmitter / receiver 7. When it is determined that an obstacle detection signal has been input, the control unit 13 calculates the azimuth and position from the construction machine 1 to the obstacle in process C3 (corresponding to the calculation means of the present invention). To do.) In this case, the control unit 13 has the left and right turning trajectory range of the maximum turning radius of the upper turning body 3 as the contact prevention region X at the time of turning left and right, and rearward from the rear end of the upper turning body 3 in the left and right machine width range. A range up to a predetermined distance (for example, 1.5 m) is set in advance as a contact prevention area Y for backward travel, and a range up to a predetermined distance (for example, 2 m) is further set as a contact prevention area outside these contact prevention areas X and Y. Are respectively set in advance as a contact prevention region x for turning left and right and a contact prevention region y for reverse travel.

  In the control unit 13, the operation detection signals from the left and right traveling operation detection sensors 14 and 15 and the turning operation detection sensor 16 are sent to the obstacle A based on the position and direction of the obstacle calculated in the process C3 in the process C4. It is determined whether or not an operation in the approaching direction is performed. If it is determined that the operation is in the approaching direction, it is determined whether or not the obstacle A is located in the contact prevention area X or Y in process C6. When it is determined that the obstacle A is located in the contact prevention saddle region X or Y, it is determined whether or not an ultra-low speed control mode, which will be described later, is set in process C13, and the ultra-low speed control is performed. If the mode is not set, it is determined in step C18 that the mode is the contact avoidance mode. Thereafter, a timer is set in process C20, and a stop control command is output to the corresponding electromagnetic pressure reducing valves 12L, 12R, 20F, 20B, 21F, and 21B in process 12. For example, when it is determined that the obstacle A is in the contact prevention area X when turning left and right, the control unit 13 outputs a fully closed control command to the turning electromagnetic pressure reducing valves 12L and 12R, and the pilot pressure oil is supplied. Supply to the turning switching control valve 10 is prohibited, whereby the turning switching control valve 10 is returned to the neutral state, and the upper portion of the turning operation tool 16a is turned despite the turning operation. The turning of the turning body 3 is forcibly stopped. A similar contact avoidance control mode is also executed for reverse travel.

  On the other hand, the obstacle A is located in the contact prevention area X when turning left or right or the contact prevention area Y when moving backward, but the detection signals from the left and right traveling operation detection sensors 14, 15 or the turning operation detection sensor 16 are in the neutral position. If it is determined that the contact avoidance control mode is set, it is determined in process C22. If it is determined that the contact avoidance control mode is set, it is determined in process C23 whether or not it is within the timer time, and the left and right traveling operation detection sensors 14 and 15 or the turning operation detection sensor are detected within this timer time. If it is determined that the detection signal operated in the contact direction is input from 16, the contact avoidance control mode is reset in process C25, the ultra-low speed control mode is set in process C26, and the timer is reset in process C27. And reset the timer and set the ultra-low speed control mode. For example, as described above, the obstacle A is in the contact prevention area X when turning left and right, and the turning operation tool 16a is turned to forcibly stop turning. When the operation tool 16a is returned to the neutral position, if the operation in the direction in which the turning operation tool 16a contacts the obstacle A is performed during the preset timer time, the ultra-low speed control mode is set in the process C26. Is done. Then, when the ultra-low speed control mode is set in the process C26, the process moves toward the preset ultra-low speed state until the distance from the obstacle A is set in advance to the nearest set distance (for example, 20 cm) in the process C14. An opening degree control command is output to the corresponding electromagnetic pressure reducing valves 12L, 12R for turning, and when it is determined whether or not the set distance has been reached in the process C15, the control is stopped by the process C16, and the process C17 The ultra-low speed control mode is reset. The same ultra-low speed control mode is executed for the reverse.

  On the other hand, the obstacle A is located in the contact prevention area X when turning left or right or the contact prevention area Y when moving backward, but the detection signal from the left and right traveling operation detection sensors 14, 15 or the turning operation detection sensor 16 indicates the contact direction. If the contact avoidance control mode, ultra-low speed control mode, and timer are set, these are reset.

On the other hand, the obstacle C is positioned in the contact prevention area x at the time of turning left or right or the contact prevention area y at the time of reverse drive by the process C7, and the left and right traveling operation detection sensors 14, 15 or the turning operation detection sensor 16 are operated in the contact direction. Further, the operation speed based on the detected value of the left and right traveling operation detection sensors 14 and 15 or the turning operation detection sensor 16 is set based on the distance between the obstacle A and the body body 1 in advance. It is determined whether or not it is faster than (the distance is set to be lower as the distance gets closer). If it is determined that the speed is faster, the corresponding electromagnetic pressure reducing valves 12L, 12R, and 20F are set to the set speed in the process C9. , 20B, 21F, and 21B, a control command for adjusting the opening amount is output, and thereby speed control is performed so that the speed decreases as the distance from the obstacle A approaches. It is, so that the contact prevention is made.
In the present embodiment, the operation direction of the construction machine 1 is determined based on the detection signals of the operation detection sensors 14, 15, 16; however, the operation detection sensors 14, 15, 16 and the pilots It is possible to set so that the operation direction of the construction machine 1 is determined only when it is detected through an AND circuit with the pressure detection sensor, that is, when it is detected by any sensor. As a result, when the pilot circuit is shut off, it is possible to prevent a problem that unintended control is performed by operating the operation tool.

  In the embodiment of the present invention configured as described, during the operation using the hydraulic excavator, for example, when the upper swing body 3 is turned, it is detected that the obstacle A is positioned in the turning contact prevention area x. In addition, when it is determined that the operation amount of the operation tool 16a is faster than the set speed set according to the distance from the obstacle A, deceleration control is performed regardless of the operation amount of the turning operation tool 16a. Thus, the operator can recognize the proximity of the obstacle A. Moreover, in the range where the obstacle A is located in the contact prevention area x at the time of turning, the obstacle A is decelerated as it approaches the main body 1 and the proximity awareness to the obstacle A is increased, and the turning operation is executed carefully. Is encouraged to do.

  When the obstacle A approaches further and enters the contact prevention area X during turning, even if the turning operation tool 16a is turned, it is forcibly stopped, and contact with the obstacle A is avoided. The In addition, when this forced stop operation is executed, if the operating tool 16a is returned to the neutral position and then is operated to the turning position again, the ultra-low speed control mode is entered, and the upper-part turning body 3 is obstructed at an ultra-low speed. It approaches A and stops close to the set stop position. As a result, the upper-part turning body 3 can perform necessary work by turning to a position close to the obstacle A to the nearest distance. Such contact prevention control and contact prevention control are executed in the same way also in reverse travel.

  As described above, in the case where the present invention is implemented, when the obstacle A comes close to the body 1, the contact prevention control and the contact prevention control are automatically executed. This can be prevented and prevented even when the operator's field of vision does not reach. In addition, since the obstacle A is detected by the millimeter wave radar, it can be detected with high sensitivity.

It is a top view of a hydraulic excavator. It is a top view of the hydraulic shovel which shows an obstruction detection area. It is a hydraulic circuit diagram of a turning motor. It is a block circuit diagram of a control system. It is a flowchart figure of a control system. It is a graph which shows the relationship between the distance to an obstruction, and pilot pressure.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Airframe main body 2 Lower traveling body 3 Upper revolving body 7 Transmission / reception apparatus 8 Turning motor 12L, 12R Electromagnetic pressure reducing valve 13 Control part 14, 15 Traveling operation detection sensor 14a, 15a Traveling operation tool 16 Turning operation detection sensor 16a Turning operation 20F, 20R Left side traveling electromagnetic pressure reducing valve 21F, 21R Right side traveling electromagnetic pressure reducing valve

Claims (7)

Obstacle detection means for detecting the presence of an obstacle around the airframe body that operates based on the operation tool operation,
A computing means for computing the distance and azimuth of the detected obstacle from the main body,
Operation tool operation determining means for determining whether or not the operation tool operation is an operation in a direction approaching an obstacle;
Obstacle position determination means for determining whether the obstacle is located in a contact prevention region set in advance with respect to the aircraft body;
Contact avoidance control means for stopping the operation based on the operation tool operation and avoiding the contact when the obstacle is located in the contact prevention area and the operation tool operation is determined to be an operation in a direction approaching the obstacle. A contact avoidance control device for a work machine, comprising:   2. The contact avoidance control device for a work machine according to claim 1, wherein the obstacle detection means is a millimeter wave radar.   3. The contact avoidance control device for a work machine according to claim 1, wherein the contact prevention area is set to a reverse travel range.   4. The vehicle body according to claim 1, wherein the body body is a turning work machine in which an upper turning body is provided on a lower traveling body so as to be turnable, and the contact prevention area is a turning locus of the upper turning body. The contact avoidance control apparatus in the working machine characterized.   5. The ultra-low speed according to any one of claims 1 to 4, wherein the operation stop by the contact avoidance control means is canceled and an approach operation can be performed at an ultra-low speed up to a preset distance with respect to an obstacle by operating the operation tool. A contact avoidance control device for a work machine, characterized in that a control means is provided.   6. The operation according to claim 5, wherein the ultra-low speed approaching operation by the ultra-low speed control means is set by operating the operating tool returned to the neutral position in the direction of approaching the obstacle again. Contact avoidance control device for machines.   In any one of Claims 1 thru | or 6, a contact prevention area | region is set outside the contact prevention area | region, and when it is judged that an obstacle is located in a contact prevention area | region, an obstacle approaches so that an airframe main body. A contact avoidance control device for a work machine, comprising contact prevention control means for controlling the operation speed to be low.

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