JP2019173467A - Construction machine - Google Patents

Abstract

To provide a construction machine with a controller capable of outputting safety information that is based on the traveling direction of a lower traveling body regardless of the revolving angle of a revolving superstructure.SOLUTION: A hydraulic shovel 1 includes a lower traveling body 2, a revolving superstructure 3 attached to the lower traveling body 2 rotatably about a revolving axis C, distance sensors 14A to 14D attached to the revolving superstructure 3 so as to be able to detect a distance to a detected object that is located on the periphery of the lower traveling body 2 about the revolving axis C, a revolving angle sensor 15 detecting the revolving angle of the revolving superstructure 3 with respect to the lower traveling body 2, and a controller 16. The controller 16 specifies an off-limits region EH that the lower traveling body 2 should not be allowed to enter based on distances detected by the distance sensors 14A to 14D; generates safety information for which the traveling direction of the lower traveling body 2 is used as a reference, based on the off-limits region EH and the revolving angle detected by the revolving angle sensor 15; and outputs the information.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a construction machine capable of detecting an entry prohibition region in a traveling direction.

  Conventionally, for example, a loading work machine described in Patent Document 1 is known as the construction machine.

  The loading work machine includes a loading work machine main body, a traveling unit for running the loading work machine main body, and a loader bucket provided in the loading work machine main body.

  In addition, the loading work machine includes a multi-lens camera attached to a position where the traveling direction of the loading work machine body can be seen. The multi-lens camera has a plurality of cameras arranged at predetermined intervals, and can simultaneously image the same subject.

  Furthermore, the loading work machine includes a distance image generation unit that generates a distance image including distance information from the multi-view camera to the subject based on an image captured by the multi-view camera and parallax between the cameras, and based on the distance image. A shore recognition unit for recognizing the shore, and a control unit for stopping the loading work machine when the distance from the multi-lens camera to the shore approaches a predetermined value or more.

JP-A-11-222882

  In the loading work machine described in Patent Document 1, the traveling direction of the traveling unit coincides with the direction detected by the multi-lens camera.

  However, when a multi-view camera is employed in another construction machine including a lower traveling body and an upper swing body provided on the lower traveling body so as to be able to swivel, attaching the multi-view camera to the lower traveling body is as follows. It is difficult for the reason.

  First, the lower traveling body is likely to be covered with water and earth and sand, and when a multi-view camera is disposed on the lower traveling body, the multi-view camera is rapidly deteriorated.

  Secondly, since the lower traveling body is pivotably attached to the upper revolving structure, when a multi-view camera is arranged on the lower traveling structure, from the multi-view camera to the control unit provided on the upper revolving structure. It becomes necessary to provide an electrical connection means (for example, a slip ring) between them, and the construction of the construction machine becomes complicated.

  Thus, it is conceivable to provide a multi-view camera on the upper swing body. In this case, however, the detection direction of the multi-view camera and the travel direction of the lower travel body are inconsistent depending on the swing angle of the upper swing body.

  Therefore, the control unit cannot accurately specify the entry prohibition region (the cliff in Patent Document 1) in the traveling direction of the lower traveling body, and accurately outputs a command for stopping the traveling of the loading work machine. I can't.

  An object of the present invention is to provide a construction machine having a controller capable of outputting information on safety based on the traveling direction of the lower traveling body regardless of the turning angle of the upper rotating body.

  In order to solve the above problems, the present invention is a construction machine, comprising a lower traveling body, an upper revolving body attached to the lower traveling body so as to be pivotable about a swivel axis, and the swivel axis. Distance detecting means attached to the upper swing body so as to be able to detect a distance to the object located around the lower travel body as a center, and a swing angle of the upper swing body with respect to the lower travel body A turn angle detector that detects the entry of the lower traveling body to be prohibited based on the distance detected by the distance detection means, and the entry prohibition region and the turn angle detector A controller that generates safety-related information based on the direction of travel of the lower traveling body based on the detected turning angle, and outputs the safety-related information. To provide a machine.

  According to the present invention, the position information of the entry prohibition area can be acquired over the periphery of the lower traveling body around the turning axis by the distance detection means and the controller. Thereby, the controller can generate | occur | produce the information regarding the safety | security on the basis of the advancing direction of a lower traveling body further using the turning angle detected by the turning angle detector, and can output this.

  Therefore, for example, it is possible to notify the operator to stop the entry to the entry prohibited area using the information output from the controller, or to stop the traveling of the lower traveling body.

  In the present invention, the “detected object” includes the ground and an object placed on the ground. Further, the “entry prohibited area” means an area where there are steps (height of unevenness on the ground and the height of an object placed on the ground) that are higher than a preset height.

  In the construction machine, the controller includes a front detection range from a front portion of the lower traveling body to a position separated by a predetermined distance from a front side in a traveling direction and a predetermined distance from a rear portion of the lower traveling body to a backward direction in the traveling direction. When it is determined whether or not the entry prohibition area exists within at least one of the rear detection ranges up to a position separated by a distance, and it is determined that the entry prohibition area exists within the at least one range It is preferable to output information on the safety.

  According to this aspect, it is possible to output information on safety when the lower traveling body approaches the entry prohibition area to some extent. Therefore, for example, it is possible to urge the operator to suppress the entry of the lower traveling body into the entry prohibited area and to suppress the entry using this information.

  Specifically, the construction machine includes a forward side limiting device that restricts the traveling of the lower traveling body to the forward side by a command from the controller, and a traveling to the reverse side of the lower traveling body by a command from the controller. A reverse side restricting device for restricting the vehicle, and the controller outputs a command to the forward side restricting device when it is determined that the entry prohibition region exists within the front detection range, and the rear side When it is determined that the entry prohibition region exists within the detection range, it is preferable that a command is output to the reverse side restricting device.

  According to this aspect, when the lower traveling body approaches the entry prohibition area to some extent, it is possible to restrict traveling of the lower traveling body toward the entry prohibition area.

  The “restriction” in the aspect includes not only stopping the lower traveling body but also decelerating the lower traveling body.

  Here, when it is determined that there is an entry prohibition area within the front detection range or the rear detection range, both forward and reverse travel may be restricted, but in this case, avoid the entry prohibition area. Since traveling in the direction is also restricted, it cannot be avoided quickly.

  Therefore, in the construction machine, the controller prohibits the output of a command to the reverse limit device when it is determined that the entry prohibition region exists only in the front detection range, and the controller It is preferable to prohibit the output of a command to the forward limit device when it is determined that the entry prohibition region exists only in

  According to this aspect, since the restriction of traveling in the direction away from the entry prohibited area is allowed, it is possible to quickly avoid the entry prohibited area.

  Here, the controller may output a command for immediately stopping the lower traveling body to the forward limit device and the reverse limit device, but in this case, the entry prohibition area has entered the detection range. Sudden braking occurs at each stage, and the impact when stopping is large.

  Therefore, in the construction machine, it is preferable that the controller can output a command for gradually decelerating and stopping the lower traveling body to the forward limit device and the reverse limit device.

  According to this aspect, it is possible to reduce the impact during braking by gradually decelerating the lower traveling body from the stage where the entry prohibition area has entered the detection range.

  In addition, the construction machine further includes notification means for notifying an operator of predetermined information, and when the controller determines that the entry prohibition area exists within the at least one range, the operator notifies that fact. A command for informing the user may be output to the informing means.

  According to this aspect, by notifying the operator that the construction machine is approaching the entry prohibited area, the operator can be prompted to move away from the entry prohibited area.

  ADVANTAGE OF THE INVENTION According to this invention, the construction machine which has a controller which can output the information regarding the safety on the basis of the running direction of a lower traveling body irrespective of the turning angle of an upper turning body can be provided.

1 is a side view showing an overall configuration of a hydraulic excavator according to an embodiment of the present invention. FIG. 2 is a plan view schematically showing the hydraulic excavator in FIG. 1. FIG. 2 is a system configuration diagram illustrating a travel control device provided in the hydraulic excavator of FIG. 1 and a controller that controls the travel control device. It is a flowchart which shows the process performed by the controller of FIG. FIG. 2 is a combination of a plan view and a side view showing a state in which the excavator in FIG. 1 is moving away from an entry prohibition region. FIG. 2 is a combination of a plan view and a side view showing a state where the excavator of FIG. 1 is approaching an entry prohibition region. It is the schematic which shows the image displayed on the display part of FIG.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. The following embodiments are examples embodying the present invention, and are not of a nature that limits the technical scope of the present invention.

  FIG. 1 is a side view showing an overall configuration of a hydraulic excavator 1 as an example of a construction machine according to an embodiment of the present invention. FIG. 2 is a plan view schematically showing the excavator 1 of FIG.

  1 and 2, a hydraulic excavator 1 includes a lower traveling body 2 having a crawler 2a, an upper revolving body 3 attached to the lower traveling body 2 so as to be pivotable about a swivel axis C, And an attachment 4 attached to the upper swing body 3.

  The attachment 4 has a boom 5 having a base end portion rotatably attached to the upper swing body 3, and an arm 6 having a base end portion rotatably attached to the distal end portion of the boom 5. , And a bucket 7 that is rotatably attached to the tip of the arm 6.

  The attachment 4 also has a boom cylinder 8 that rotates the boom 5 relative to the upper swing body 3, an arm cylinder 9 that rotates the arm 6 relative to the boom 5, and a bucket 7 that rotates relative to the arm 6. A bucket cylinder 10 to be operated.

  The upper swing body 3 includes an upper frame 11 attached to the lower traveling body 2 so as to be swingable, and a cab 12 provided on the upper frame 11.

  Further, as shown in FIG. 3, the upper swing body 3 includes a travel control device 13 that controls the travel of the lower travel body 2 and the stop of the travel.

  The travel control device 13 controls driving of a travel motor 2 b provided on the crawler 2 a of the lower traveling body 2. Specifically, the traveling control device 13 includes a hydraulic pump 19 that supplies hydraulic oil to the traveling motor 2b, a control valve 20 that controls supply and discharge of hydraulic oil to and from the traveling motor 2b, and an operation for operating the control valve 20. The device 21 includes a forward side sensor 22F and a reverse side sensor 22R that detect the presence or absence of an operation of the controller device 21.

  The control valve 20 includes a neutral position (a central position in FIG. 3) for stopping the supply and discharge of hydraulic oil to and from the travel motor 2b, a forward position for operating the travel motor 2b in the forward direction (a right position in FIG. 3), and a travel motor. This is a pilot-type switching valve that can be switched between a reverse position (left side position in FIG. 3) that operates 2b in the reverse direction. The control valve 20 has two pilot ports on the forward side and the reverse side, and is biased to the neutral position in a state where pilot pressure is not supplied to both pilot ports.

  The operating device 21 is configured by combining an operating lever, a remote control valve, and a pilot pump (respectively omitted). When the operation lever is operated, the remote control valve opens at an opening degree corresponding to the operation amount, and hydraulic oil from the pilot pump is supplied to the pilot port on the forward or reverse side of the control valve 20.

  The forward side sensor 22F can detect the pilot pressure applied from the operating device 21 to the forward pilot port of the control valve 20, that is, the operation amount of the operating lever.

  The reverse side sensor 22R can detect the pilot pressure applied from the operating device 21 to the reverse side pilot port of the control valve 20, that is, the operation amount of the operation lever.

  The travel control device 13 is provided between the forward side proportional valve (forward limit device) 23F provided between the forward side sensor 22F and the operating device 21, and between the reverse side sensor 22R and the operating device 21. And a reverse-side proportional valve (reverse-side limiting device) 23R.

  The forward-side proportional valve 23F limits the traveling of the lower traveling body 2 to the forward side in response to a command from the controller 16 described later. Specifically, the forward-side proportional valve 23F is biased to a normal position in which the pilot pressure from the operating device 21 is supplied to the forward-side pilot port of the control valve 20 without receiving a command from the controller 16. . In a state where the forward side proportional valve 23F is biased to the normal position, a pilot pressure corresponding to the operation amount of the operating lever to the forward side is applied to the pilot port on the forward side of the control valve 20. On the other hand, the forward proportional valve 23 </ b> F is switched to a pressure reducing position for reducing the pilot pressure from the operating device 21 according to a command from the controller 16. Note that the forward-side proportional valve 23F is configured to be adjustable in accordance with a command value (current value) from the controller 16 so as to reduce the pressure (amount of hydraulic oil guided to the tank). Thus, when the forward proportional valve 23F is switched to the pressure reducing position, the pilot pressure applied from the operating device 21 to the pilot port on the forward side of the control valve 20 is reduced according to the opening degree of the forward proportional valve 23F. Thus, the forward drive of the traveling motor 2b is limited.

  The reverse side proportional valve 23 </ b> R limits the backward traveling of the lower traveling body 2 in accordance with a command from the controller 16. Since the configuration of the reverse side proportional valve 23R is the same as that of the forward side proportional valve 23F, description thereof is omitted.

  A plurality of distance sensors 14 </ b> A to 14 </ b> D are attached to the upper swing body 3.

  Hereinafter, the distance sensors 14A to 14D will be described with reference to FIG.

  Each of the distance sensors 14A to 14D has a detection unit, and the detection unit emits light. Each distance sensor 14A-14D detects the distance to a to-be-detected part based on the time after the detecting part emits light until the said detecting part receives the reflected light in a to-be-detected object.

  The distance sensor 14 </ b> A is disposed under the base end portion of the boom 5 that is pivotally supported by the upper frame 11 at a substantially central position in the left-right direction of the front edge portion of the upper frame 11. The direction related to the upper swing body 3 is based on the direction viewed from the operator seated on the driver seat (not shown) provided in the cab 12.

  The distance sensor 14A has a detection range EA that expands to the right and left as it goes forward from the distance sensor 14A. The detection range EA is set to be inclined downward from the upper frame 11 so that the distance sensor 14A can detect the ground in front of the lower traveling body 2 in the detection range EA.

  The distance sensor 14 </ b> B is disposed at a substantially central position in the front-rear direction of the upper frame 11 and behind the cab 12 at the left edge of the upper frame 11. Further, the distance sensor 14B has a detection range EB that spreads forward and backward as it goes to the left from the distance sensor 14B. The detection range EB is set to be inclined downward from the upper frame 11 so that the distance sensor 14B can detect the left ground of the lower traveling body 2 in the detection range EB. Further, the front part of the detection range EB and the left part of the detection range EA overlap each other in plan view.

  The distance sensor 14 </ b> C is disposed at a substantially central position in the left-right direction of the rear edge portion of the upper frame 11. The distance sensor 14C has a detection range EC that extends to the right and left as it goes rearward from the distance sensor 14C. The detection range EC is set to be inclined downward from the upper frame 11 so that the distance sensor 14C can detect the ground behind the lower traveling body 2 in the detection range EC. Further, the left part of the detection range EC and the rear part of the detection range EB overlap each other in plan view.

  The distance sensor 14 </ b> D is disposed at a substantially central position in the front-rear direction of the upper frame 11 and at the right edge of the upper frame 11. Further, the distance sensor 14D has a detection range ED that spreads forward and backward as it goes to the right from the distance sensor 14D. The detection range ED is set to be inclined downward from the upper frame 11 so that the distance sensor 14D can detect the right ground of the lower traveling body 2 in the detection range ED. The rear part of the detection range ED and the right part of the detection range EC, and the front part of the detection range ED and the right part of the detection range EA overlap each other in plan view.

  Thus, since the detection ranges EA to ED adjacent to each other of the distance sensors 14A to 14D overlap with each other in a plan view, the distance to the detected object located around the lower traveling body 2 with the turning axis C as the center. The distance can be detected. That is, the distance sensors 14A to 14D include distance detection means attached to the upper swing body 3 so as to be able to detect the distance to the detected object located around the lower traveling body 2 around the swing axis C. Constitute. Here, the detected objects include the ground and an object placed on the ground.

  Further, as shown in FIG. 3, the upper turning body 3 includes a turning angle sensor (turning angle detector) 15 that detects the turning angle of the upper turning body 3 with respect to the lower traveling body 2.

  As shown in FIG. 5, the turning angle sensor 15 is a turning body front direction D1 (inside the cab 12) of the upper turning body 3 with respect to a reference angle in the running direction of the lower running body 2 (in this embodiment, indicated as a forward direction: 0 deg). The angle of the forward direction of the operator seated in the driver's seat can be detected. The turning angle sensor 15 can employ, for example, a rotary encoder that detects a rotation angle of a turning shaft (not shown) for connecting the lower traveling body 2 and the upper turning body 3.

  Furthermore, as shown in FIG. 3, the upper-part turning body 3 includes an entry prohibition area EH (see FIG. 5) where entry of the lower traveling body 2 should be prohibited based on the distances detected by the distance sensors 14A to 14D described above. The controller 16 that generates the information related to the safety based on the traveling direction of the lower traveling body 2 based on the entry prohibition area EH and the turning angle detected by the turning angle sensor 15 and outputs the information is specified. I have. Here, the entry prohibition area EH means an area where there is a level difference (height of unevenness on the ground and the height of an object placed on the ground) that is equal to or higher than a preset height.

  Specifically, the controller 16 gives a predetermined command (safety) to the above-described travel control device 13 and the display unit 17 and the speaker 18 (an example of a notification unit) provided in the upper swing body 3 (in the cab 12). Information).

  Hereinafter, the controller 16 will be described with reference to FIGS. 2, 3, and 5.

  The controller 16 is configured by combining a CPU, a ROM, and a RAM, and implements the following functions by these configurations.

  The controller 16 includes a surrounding information creation unit 16a that creates surrounding information of the lower traveling body 2, a surrounding information correction unit 16b that corrects the surrounding information to information based on the traveling direction of the lower traveling body 2, and a traveling control device. 13, a restriction command unit 16 c that outputs a command to 13, and a notification command unit 16 d that outputs a command to the display unit 17 and the speaker 18.

  The surrounding information creation unit 16a has an area where there is a step more than a preset height over the entire circumference around the turning axis C based on the detection results of the distance sensors 14A to 14D, that is, an entry prohibition area EH. If it exists, the distance to the entry prohibition area EH is specified, and surrounding information in which the distance information is collected is created.

  The surrounding information created by the surrounding information creating unit 16a is based on the swiveling body forward direction D1 (see FIG. 5) of the upper turning body 3. Therefore, the surrounding information correction unit 16b corrects the surrounding information to information based on the reference angle (0 deg) of the traveling direction of the lower traveling body 2.

  Specifically, in the example shown in FIG. 5, the turning body front direction D <b> 1 of the upper turning body 3 is turned by an angle θ with respect to the reference angle (0 deg) of the lower traveling body 2. In this case, the surrounding information correction unit 16b rotates the reference coordinates of the surrounding information by the angle θ about the turning axis C. Thereby, surrounding information and the traveling direction of the lower traveling body 2 coincide.

  In addition, the surrounding information correction unit 16b is predetermined on the front side detection range EF from the front of the lower traveling body 2 to a position away from the front side in the traveling direction by a predetermined distance and on the rear side in the traveling direction from the rear part of the lower traveling body 2. The rear detection range ER up to a position separated by a distance is stored. In the example of FIG. 5, the detection ranges EF and ER set to the same width as the width direction of the lower traveling body 2 are illustrated, but the widths of the detection ranges EF and ER are more surely lower traveling body. 2 may be set wider than the width dimension of the lower traveling body 2 in order to prevent entry into the entry prohibition area EH. Further, the range in the width direction of the detection ranges EF and ER may not be set. Further, the boundary line between the detection ranges EF and ER is not necessarily set to a straight line. Further, the distance from the front side detection range EF to the front portion of the lower traveling body 2 is determined when a travel restriction process of the lower traveling body 2 described later is executed in a state where the lower traveling body 2 is traveling at the highest speed. The distance is set such that the lower traveling body 2 can surely stop on the front side of the entry prohibition area EH. The distance from the rear detection range ER to the rear part of the lower traveling body 2 is set in the same manner.

  Then, the surrounding information correction unit 16b determines whether or not the entry prohibition area EH exists in at least one of the front detection range EF and the rear detection range ER based on the corrected surrounding information.

  For example, in the example shown in FIG. 5, the entry prohibition area EH is located in front (outside) of the front detection range EF, and the entry prohibition area EH does not exist in the rear detection range ER. In this state, the surrounding information correction unit 16b determines that the entry prohibition area EH does not exist within the detection ranges EF and ER.

  On the other hand, in the example shown in FIG. 6, since the entry prohibition area EH is located in the front detection range EF, in this state, the surrounding information correction unit 16b prohibits entry into at least one of the detection ranges EF and ER. It is determined that the area EH exists.

  Thus, if it is determined that the entry prohibition area EH exists in at least one of the detection ranges EF and ER, the surrounding information correction unit 16b determines whether the entry prohibition area EH exists in the front detection range EF or It is determined whether it exists in the side detection range ER or in both detection ranges EF and ER.

  Referring to FIG. 3, the restriction command unit 16 c applies to at least one of the proportional valves 23 </ b> F and 23 </ b> R based on the detection ranges EF and ER in which the entry prohibition region EH specified by the surrounding information correction unit 16 b exists. Command (information on safety).

  In the example shown in FIG. 6, since the entry prohibition area EH exists in the front detection range EF, it is necessary to limit the forward travel of the lower traveling body 2. Therefore, in this case, the restriction command unit 16c outputs a command to the forward proportional valve 23F.

  The restriction command unit 16c gradually moves the lower traveling body 2 so that the lower traveling body 2 stops before the lower traveling body 2 approaches a preset distance (hereinafter referred to as a stop distance) with respect to the entry prohibition area EH. The proportional valves 23F and 23R are output as commands for decelerating the speed. Specifically, the restriction command unit 16c is a table set so that command values (current values) for the proportional valves 23F and 23R gradually increase as the distance from the lower traveling body 2 to the entry prohibition area EH decreases. Pre-stored. The stop distance always stops the lower traveling body 2 before reaching the position that is separated by the stop distance to the entry prohibition area EH when the output of the command is started in a state where the operation lever of the operation device 21 is fully operated. The distance that can be made is set.

  Instead of the above-described table, a command for gradually decelerating the lower traveling body 2 based on the pilot pressure detected by the sensors 22F and 22R and stopping the vehicle at the stop distance to the entry prohibition area EH is calculated. May be specified. In this case, the pilot pressure detected by both the sensors 22F and 22R needs to be input to the restriction command unit 16c as shown in FIG. On the other hand, when the table is used as described above, the two sensors 22F and 22R may not be connected to the restriction command unit 16c.

  The notification command unit 16d outputs a command (information on safety) to the display unit 17 and the speaker 18 based on the detection ranges RF and ER in which the entry prohibition area EH specified by the surrounding information correction unit 16b exists.

  Specifically, as shown in FIG. 7, the display unit 17 has an entry prohibition region EH on at least one of the forward side and the reverse side in the traveling direction of the lower traveling body 2 based on a command from the surrounding information correction unit 16 b. An image indicating that the image is displayed is displayed. In FIG. 7, it is displayed that there is a downward step (entrance prohibited area EH) at a position on the forward side of the lower traveling body 2.

  The speaker 18 notifies the operator by voice that there is an entry prohibition area EH on at least one of the forward side and the reverse side of the lower traveling body 2 in the traveling direction.

  Hereinafter, processing executed by the controller 16 will be described with reference to FIGS. 3 and 4.

  When the processing is started, the detection values of the distance sensors 14A to 14D are acquired (step S1), and the surroundings of the lower traveling body 2 around the turning axis C are based on the detection values of the distance sensors 14A to 14D. The surrounding information related to the entry prohibition area EH is created (step S2).

  Next, the detection value of the turning angle sensor 15 is acquired to identify the turning body front direction D1 (see FIG. 5) of the upper turning body 3 (step S3), and the surrounding information is traveled downward using the turning body front direction D1. The travel direction of the body 2 is corrected as a reference (step S4).

  Specifically, in the example of FIG. 5, the turning body front direction D1 is turned by an angle θ with respect to the reference angle (0 deg) of the traveling direction of the lower traveling body 2, and therefore the reference coordinates of the surrounding information are set to the turning axis C. Is rotated by an angle θ around the center. Thereby, the reference coordinates of the surrounding information and the traveling direction of the lower traveling body 2 coincide.

  Next, it is determined whether or not the entry prohibition area EH exists within at least one of the two detection ranges EF and ER (step S5). Here, as shown in FIG. If it is determined that the entry prohibition area EH does not exist, the process returns to step S1.

  On the other hand, referring to FIG. 4, if it is determined in step S5 that the entry prohibition area EH exists in at least one of the two detection ranges EF and ER, both detection ranges EF and ER are determined in next steps S6 and S7. The range in which the entry prohibition area EH exists is specified.

  Specifically, in step S6, it is determined whether or not the entry prohibition area EH exists in the front detection range EF. If it is determined YES in step S6, the entry prohibition area in the rear detection range ER is determined in step S7. It is determined whether or not EH exists.

  When it is determined NO in step S7, that is, when the entry prohibition region EH exists only within the front detection range EF as shown in FIG. 6, the controller 16 (restriction command unit 16c) performs only the forward proportional valve 23F. (Step S8) and prohibits the output of the command to the reverse proportional valve 23R. As a result, as shown in FIG. 6, when the entry prohibition area EH exists only in the front detection range EF, the forward travel of the lower traveling body 2 is restricted to prevent the approach to the entry prohibition area EH and the lower travel The backward movement of the body 2 can be allowed and the vehicle can leave (avoid) the entry prohibition area EH.

  Referring to FIG. 4, if YES is determined in step S7, that is, if entry prohibition region EH exists in both detection ranges EF and ER, controller 16 (restriction command unit 16c) uses both proportional valves 23F. , 23R (step S9). Thereby, traveling to the front side and the rear side where the entry prohibition area EH exists is restricted. In this case, the hydraulic excavator 1 travels after taking measures such as mitigating the level difference in at least one of the entry prohibition areas EH on the front side and the rear side (measures such as depositing earth and sand to fill the level difference). Can be made.

  On the other hand, if it is determined in step S6 that the entry prohibition area EH does not exist in the front detection range EF, that is, if the entry prohibition area EH exists only in the rear detection range ER, the controller 16 (restriction command unit 16c ) Outputs a command only to the reverse side proportional valve 23R (step S10), and prohibits the output of the command to the forward side proportional valve 23F. As a result, when the entry prohibition area EH exists only within the rear detection range ER, the backward traveling of the lower traveling body 2 is limited to prevent the lower traveling body 2 from approaching the entry prohibition area EH and to allow the lower traveling body 2 to advance. Thus, it is possible to leave (avoid) the entry prohibition area EH.

  Then, after steps S8 to S10, the controller 16 (notification command unit 16d) executes notification processing for outputting commands to the display unit 17 and the speaker 18 (step S11). Thereby, as shown in FIG. 7, the position of the entry prohibition area EH with respect to the excavator 1 is visually transmitted to the operator through the display unit 17, and the entry prohibition area EH is approaching the operator through the speaker 18. Can be heard audibly.

  As described above, the distance information 14A to 14D and the controller 16 can acquire the position information of the entry prohibition area EH around the lower traveling body 2 around the turning axis C. As a result, the controller 16 further utilizes the turning angle detected by the turning angle sensor 15 to provide information on safety based on the traveling direction of the lower traveling body 2 (commands for the proportional valves 23F and 23R, and the display unit). 17 and a command to the speaker 18) can be generated and output.

  Therefore, for example, it is possible to notify the operator to stop the entry of the entry prohibited area EH using the information output from the controller 16 or to stop the traveling of the lower traveling body 2.

  Moreover, according to the said embodiment, there can exist the following effects.

  When the lower traveling body 2 approaches the entry prohibition area EH to some extent, a command can be output to the proportional valves 23F and 23R, the display unit 17, and the speaker 18. Therefore, it is possible to urge the operator to suppress the entry of the lower traveling body 2 into the entry prohibition area EH and to suppress the entry using this command.

  When the lower traveling body 2 approaches the entry prohibition area EH to some extent, the traveling of the lower traveling body 2 toward the entry prohibition area EH can be restricted.

  Since travel restriction in a direction away from the entry prohibition area EH is allowed, it is possible to quickly avoid the entry prohibition area EH.

  Since the lower traveling body 2 is gradually decelerated and the lower traveling body 2 is stopped after the entry prohibited area EH has entered the detection ranges EF and ER, the impact during braking can be reduced.

  By notifying the operator that the excavator 1 is approaching the entry prohibition area EH, the operator can be urged to move away from the entry prohibition area EH.

  In addition, this invention is not limited to the said embodiment, For example, the following aspects can also be employ | adopted.

  Although the distance detection means comprised by several distance sensor 14A-14D arrange | positioned so that adjacent detection range EA-ED may mutually overlap was illustrated, the structure of a distance detection means is not limited to this. For example, the distance detecting means can be configured by a single distance sensor having a detection range that can rotate around the turning axis C.

  When it is determined that the entry prohibition area EH exists within one of the detection ranges EF and ER, only traveling (forward or reverse) on the side where the entry prohibition area EH exists is restricted. Both backward and reverse may be restricted.

  Moreover, although the above-mentioned embodiment illustrated stopping the lower traveling body 2 as the content of the restriction | limiting of the driving | running | working of the lower traveling body 2, it is not limited to stopping. The traveling speed of the lower traveling body 2 may be limited to a very low speed.

  Although the method using the proportional valves 23F and 23R has been described as the method for restricting the traveling of the lower traveling body 2, the traveling of the lower traveling body 2 can also be restricted by restricting the output of the engine (not shown). In this case, the controller 16 may output a command for reducing the output to the ECU that controls the driving of the engine.

  The example in which the lower traveling body 2 is stopped after being decelerated has been described. However, when it is determined that the entry prohibition area EH exists within at least one of the detection ranges EF and ER, the lower traveling body 2 is immediately It may be stopped.

  Although the display unit 17 and the speaker 18 are illustrated as the notification unit, the notification unit is not limited to these. For example, a buzzer or a lamp can be used as the notification means.

  The construction machine is not limited to a hydraulic excavator, and may be a crane and a dismantling machine, or may be a hybrid construction machine.

C Rotating axis EA to ED (Distance sensor) detection range EF Front detection range EH No entry area ER Rear detection range 1 Hydraulic excavator (an example of construction machinery)
2 Lower traveling body 3 Upper turning body 14A to 14D Distance sensor (an example of distance detecting means)
15 Turning angle sensor (an example of an angle detector)
16 controller 17 display part (an example of a notification means)
18 Speaker (an example of notification means)
23F Forward proportional valve (an example of forward limiter)
23R Reverse side proportional valve (an example of reverse side limiting device)

Claims (6)

A construction machine,
A lower traveling body,
An upper swing body attached to the lower traveling body so as to be pivotable about a pivot axis;
Distance detecting means attached to the upper swing body so as to be able to detect the distance to the detected object located around the lower traveling body around the swing axis;
A turning angle detector for detecting a turning angle of the upper turning body with respect to the lower traveling body;
Based on the distance detected by the distance detection means, an entry prohibition area where entry of the lower traveling body should be prohibited is specified, and based on the entry prohibition area and the turning angle detected by the turning angle detector. A construction machine comprising: a controller that generates information on safety based on a traveling direction of the lower traveling body and outputs the information on safety. The construction machine according to claim 1,
The controller includes a front detection range from a front part of the lower traveling body to a position separated by a predetermined distance on the forward side in the traveling direction, and a position separated from the rear part of the lower traveling body by the predetermined distance on the backward side in the traveling direction. It is determined whether or not the entry prohibition area exists in at least one range of the rear side detection range until, and if it is determined that the entry prohibition area exists in the at least one range, the safety-related Construction machinery that outputs information. The construction machine according to claim 2, wherein a forward side limiting device that restricts the traveling of the lower traveling body to the forward side by a command from the controller, and the backward traveling side of the lower traveling body by a command from the controller. A reverse side restricting device for restricting traveling, and
The controller outputs a command to the forward side restricting device when it is determined that the entry prohibition region exists within the front detection range, and is determined that the entry prohibition region exists within the rear detection range. A construction machine that outputs a command to the reverse side restricting device in the event of a failure. A construction machine according to claim 3,
The controller prohibits the output of a command to the backward limit device when it is determined that the entry prohibition region exists only within the front detection range, and the entry prohibition region exists only within the rear detection range. A construction machine that prohibits the output of a command to the forward limit device when it is determined that it exists. The construction machine according to claim 3 or 4,
The construction machine is capable of outputting a command for gradually decelerating and stopping the lower traveling body to the forward limit device and the reverse limit device. The construction machine according to any one of claims 1 to 5, further comprising notification means for notifying an operator of predetermined information,
When the controller determines that the entry prohibition area exists within the at least one range, the controller outputs a command for notifying the operator of the fact to the notification means.

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