JP2021055426A

JP2021055426A - Construction machine

Info

Publication number: JP2021055426A
Application number: JP2019180069A
Authority: JP
Inventors: 川口　浩; Hiroshi Kawaguchi; 浩川口; 弘湯川; Hiroshi Yukawa; 沢哉野村; Takuya Nomura; 湯上　誠之; Masayuki Yugami; 誠之湯上
Original assignee: Hitachi Construction Machinery Tierra Co Ltd
Current assignee: Hitachi Construction Machinery Tierra Co Ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-04-08
Anticipated expiration: 2039-09-30
Also published as: JP7079758B2

Abstract

To provide a construction machine in which a device for detecting a revolving angle of an upper structure with respect to a lower structure can be easily retrofitted.SOLUTION: A hydraulic shovel comprises: a lower structure 1; an upper structure 3 provided above the lower structure 1 so as to rotate; a work device 4 connected with the upper structure 3; a transmitter 28 attached to the lower structure 1 and transmitting a radio signal; a plurality of receivers 29 attached to the upper structure 3 so as to be separated from each other and receiving the radio signal from the transmitter 28; and a control device 27 calculating a revolving angle of the upper structure 3 based on reception strength information exhibiting reception strength of the radio signal received by each of the plurality of receivers 29 from the transmitter 28.SELECTED DRAWING: Figure 2

Description

本発明は、油圧ショベル等の建設機械に関する。 The present invention relates to construction machinery such as hydraulic excavators.

建設機械の一つである油圧ショベルは、下部走行体と、旋回輪を介して下部走行体の上側に旋回可能に設けられた上部旋回体と、上部旋回体に連結された作業装置とを備える。作業装置は、例えば、ブームと、ブームの先端側に回動可能に連結されたアームと、アームの先端側に回動可能に連結されたバケットとを備える。 A hydraulic excavator, which is one of construction machines, includes a lower traveling body, an upper swinging body provided so as to be swivel on the upper side of the lower traveling body via a swivel wheel, and a working device connected to the upper swivel body. .. The working device includes, for example, a boom, an arm rotatably connected to the tip end side of the boom, and a bucket rotatably connected to the tip end side of the arm.

特許文献１に記載の油圧ショベルは、下部走行体に対する上部旋回体の旋回角度を検出する旋回角度センサを備える。 The hydraulic excavator described in Patent Document 1 includes a swivel angle sensor that detects the swivel angle of the upper swivel body with respect to the lower traveling body.

特開平０８−２６９９９８号公報Japanese Unexamined Patent Publication No. 08-269998

上記特許文献１には記載されていないものの、旋回角度センサは、上部旋回体の旋回中心位置であって、旋回輪の内側や旋回モータ等の機器に組込んだ上で上部旋回体に取り付けられる。そのため、製造中の油圧ショベルに対しては、旋回角度センサを容易に取り付けることができるものの、完成後の油圧ショベルに対しては、旋回角度センサを容易に取り付けることができない。詳細には、例えば、上部旋回体と下部走行体を分離し、クレーンを用いて上部旋回体を吊り上げなければ、旋回角度センサを後付けすることができないということもありうる。 Although not described in Patent Document 1, the swivel angle sensor is the swivel center position of the upper swivel body, and is attached to the upper swivel body after being incorporated into a device such as a swivel wheel or a swivel motor. .. Therefore, although the swivel angle sensor can be easily attached to the hydraulic excavator being manufactured, the swivel angle sensor cannot be easily attached to the completed hydraulic excavator. In detail, for example, it may be possible that the turning angle sensor cannot be retrofitted unless the upper turning body and the lower traveling body are separated and the upper turning body is lifted by using a crane.

本発明は、上記事柄に鑑みてなされたものであり、下部走行体に対する上部旋回体の旋回角度を検出するための装置を容易に後付けすることができる建設機械を提供することにある。 The present invention has been made in view of the above matters, and an object of the present invention is to provide a construction machine capable of easily retrofitting a device for detecting a turning angle of an upper turning body with respect to a lower traveling body.

上記目的を達成するために、第１の発明は、下部走行体と、前記下部走行体の上側に旋回可能に設けられた上部旋回体と、前記上部旋回体に連結された作業装置とを備えた建設機械において、前記下部走行体に取り付けられ、電波信号を発信する発信器と、前記上部旋回体に互いに離間して取り付けられ、前記発信器からの電波信号を受信する複数の受信器と、前記発信器から前記複数の受信器のそれぞれが受信した電波信号の受信強度を示す受信強度情報に基づいて、前記上部旋回体の旋回角度を算出する制御装置とを備える。 In order to achieve the above object, the first invention includes a lower traveling body, an upper rotating body provided so as to be swivel on the upper side of the lower traveling body, and a working device connected to the upper rotating body. In the construction machine, a transmitter attached to the lower traveling body and transmitting a radio wave signal, and a plurality of receivers attached to the upper rotating body at a distance from each other and receiving a radio wave signal from the transmitter. It is provided with a control device that calculates the turning angle of the upper swinging body based on the receiving strength information indicating the receiving strength of the radio wave signal received from each of the plurality of receivers from the transmitter.

上記目的を達成するために、第２の発明は、下部走行体と、前記下部走行体の上側に旋回可能に設けられた上部旋回体と、前記上部旋回体に連結された作業装置とを備えた建設機械において、前記下部走行体に互いに離間して取り付けられ、電波信号をそれぞれ発信する複数の発信器と、前記上部旋回体に取り付けられ、前記複数の発信器からの電波信号を受信する受信器と、前記受信器が前記複数の発信器のそれぞれから受信した電波信号の受信強度を示す受信強度情報に基づいて、前記上部旋回体の旋回角度を算出する制御装置とを備える。 In order to achieve the above object, the second invention includes a lower traveling body, an upper rotating body provided so as to be swivel on the upper side of the lower traveling body, and a working device connected to the upper rotating body. In the construction machine, a plurality of transmitters attached to the lower traveling body apart from each other to transmit radio signals, and a receiver attached to the upper swing body to receive radio signals from the plurality of transmitters. The device includes a device and a control device that calculates a turning angle of the upper swivel body based on reception strength information indicating the receiving strength of radio signals received by the receiver from each of the plurality of transmitters.

本発明によれば、下部走行体に対する上部旋回体の旋回角度を検出するための装置を容易に後付けすることができる。 According to the present invention, a device for detecting the turning angle of the upper swinging body with respect to the lower traveling body can be easily retrofitted.

本発明の第１の実施形態における油圧ショベルの構造を表す側面図である。It is a side view which shows the structure of the hydraulic excavator in the 1st Embodiment of this invention. 本発明の第１の実施形態における送信器及び受信器の配置を油圧ショベルの構造と共に表す上面図である。It is a top view which shows the arrangement of the transmitter and the receiver in 1st Embodiment of this invention together with the structure of a hydraulic excavator. 本発明の第１の実施形態における送信器の配置をトラックフレームの構造と共に表す斜視図である。It is a perspective view which shows the arrangement of the transmitter in 1st Embodiment of this invention together with the structure of a track frame. 本発明の第１の実施形態における制御装置の機能的構成を発信器及び受信器と共に表すブロック図である。It is a block diagram which shows the functional structure of the control device in 1st Embodiment of this invention together with a transmitter and a receiver. 本発明の第２の実施形態における送信器及び受信器の配置を油圧ショベルの構造と共に表す上面図である。It is a top view which shows the arrangement of the transmitter and the receiver in the 2nd Embodiment of this invention together with the structure of a hydraulic excavator. 本発明の第２の実施形態における送信器の配置をトラックフレームの構造と共に表す斜視図である。It is a perspective view which shows the arrangement of the transmitter in the 2nd Embodiment of this invention together with the structure of a track frame. 本発明の第２の実施形態における制御装置の機能的構成を発信器及び受信器と共に表すブロック図である。It is a block diagram which shows the functional structure of the control device in 2nd Embodiment of this invention together with a transmitter and a receiver.

本発明の第１の実施形態を、図面を参照しつつ説明する。 The first embodiment of the present invention will be described with reference to the drawings.

図１は、本実施形態における油圧ショベルの構造を表す側面図である。図２は、本実施形態における送信器及び受信器の配置を油圧ショベルの構造と共に表す上面図である。図３は、本実施形態における送信器の配置をトラックフレームの構造と共に表す斜視図である。なお、以降、油圧ショベルが図１で示す状態にて運転者が運転席に着座した場合における運転者の前側（図１の右側）、後側（図１の左側）、右側（図１の紙面に対して手前側）、左側（図１の紙面に対して奥側）を、単に前側、後側、右側、左側と称する。 FIG. 1 is a side view showing the structure of the hydraulic excavator in the present embodiment. FIG. 2 is a top view showing the arrangement of the transmitter and the receiver in the present embodiment together with the structure of the hydraulic excavator. FIG. 3 is a perspective view showing the arrangement of the transmitters in the present embodiment together with the structure of the track frame. After that, when the driver sits in the driver's seat with the hydraulic excavator in the state shown in FIG. 1, the front side (right side in FIG. 1), the rear side (left side in FIG. 1), and the right side (paper surface in FIG. 1) of the driver. The front side) and the left side (the back side with respect to the paper surface of FIG. 1) are simply referred to as the front side, the rear side, the right side, and the left side.

本実施形態の油圧ショベルは、下部走行体１と、旋回輪２を介して下部走行体１の上側に旋回可能に設けられた上部旋回体３と、上部旋回体３に連結された作業装置４とを備える。 The hydraulic excavator of the present embodiment includes a lower traveling body 1, an upper swivel body 3 provided so as to be swivel above the lower traveling body 1 via a swivel wheel 2, and a working device 4 connected to the upper swivel body 3. And.

作業装置４は、上部旋回体３（詳細には、後述する旋回フレーム）の前側に左右方向に回動可能に連結されたスイングポスト５と、スイングポスト５に上下方向に回動可能に連結されたブーム６と、ブーム６に上下方向に回動可能に連結されたアーム７と、アーム７に上下方向に回動可能に連結されたバケット８とを備える。スイングポスト５、ブーム６、アーム７、及びバケット８は、スイングシリンダ（図示せず）、ブームシリンダ９、アームシリンダ１０、及びバケットシリンダ１１の駆動によってそれぞれ回動する。 The work device 4 is rotatably connected to a swing post 5 which is rotatably connected to the front side of the upper slewing body 3 (more specifically, a slewing frame which will be described later) in the left-right direction and to the swing post 5 in the up-down direction. A boom 6 is provided, an arm 7 rotatably connected to the boom 6 in the vertical direction, and a bucket 8 rotatably connected to the arm 7 in the vertical direction. The swing post 5, boom 6, arm 7, and bucket 8 are rotated by driving a swing cylinder (not shown), a boom cylinder 9, an arm cylinder 10, and a bucket cylinder 11, respectively.

下部走行体１は、上方から見てＨ字状のトラックフレーム１２を備える。トラックフレーム１２は、左右方向に延在するセンタフレーム１３と、センタフレーム１３の右側に設けられ、前後方向に延在する右サイドフレーム１４と、センタフレーム１３の左側に設けられ、前後方向に延在する左サイドフレーム１５とで構成されている。 The lower traveling body 1 includes an H-shaped track frame 12 when viewed from above. The track frame 12 is provided on the center frame 13 extending in the left-right direction, the right side frame 14 extending in the front-rear direction on the right side of the center frame 13, and the left side of the center frame 13 extending in the front-rear direction. It is composed of the existing left side frame 15.

右サイドフレーム１４の後端には駆動輪１６が設けられ、右サイドフレーム１４の前端には従動輪１７が設けられ、これら右側の駆動輪１６と従動輪１７の間で右側の履帯１８が掛けまわされている。右側の走行モータ１９の駆動によって右側の駆動輪１６が回転し、ひいては右側の履帯１８が回転する。 A drive wheel 16 is provided at the rear end of the right side frame 14, a driven wheel 17 is provided at the front end of the right side frame 14, and a right crawler belt 18 is hung between the right drive wheel 16 and the driven wheel 17. It is being turned. The drive wheel 16 on the right side is rotated by the drive of the traveling motor 19 on the right side, and the track 18 on the right side is rotated.

同様に、左サイドフレーム１５の後端には駆動輪（図示せず）が設けられ、左サイドフレーム１５の前端には従動輪（図示せず）が設けられ、これら左側の駆動輪と従動輪の間で左側の履帯（図示せず）が掛けまわされている。左側の走行モータ（図示せず）の駆動によって左側の駆動輪が回転し、ひいては左側の履帯が回転する。 Similarly, a drive wheel (not shown) is provided at the rear end of the left side frame 15, and a driven wheel (not shown) is provided at the front end of the left side frame 15, and the left drive wheel and the driven wheel are provided. A track on the left side (not shown) is hung between them. The drive of the left travel motor (not shown) rotates the left drive wheel, which in turn rotates the left track.

センタフレーム１３の前側には、排土用のブレード２０が上下動可能に設けられている。ブレード２０は、ブレードシリンダ（図示せず）の駆動によって上下動する。 A blade 20 for soil removal is provided on the front side of the center frame 13 so as to be movable up and down. The blade 20 moves up and down by driving a blade cylinder (not shown).

上部旋回体３は、基礎構造体をなす旋回フレーム２１と、旋回フレーム２１の左側に設けられた運転室２２と、旋回フレーム２１の後端に設けられたカウンタウエイト２３とを備える。旋回フレーム２１は、旋回輪２を介してトラックフレーム１２のセンタフレーム１３の上側に連結されている。上部旋回体３は、旋回モータ（図示せず）の駆動によって旋回中心点Ｃを中心として旋回する。 The upper swivel body 3 includes a swivel frame 21 forming a basic structure, an cab 22 provided on the left side of the swivel frame 21, and a counterweight 23 provided at the rear end of the swivel frame 21. The swivel frame 21 is connected to the upper side of the center frame 13 of the track frame 12 via a swivel wheel 2. The upper swivel body 3 swivels around a swivel center point C by driving a swivel motor (not shown).

上部旋回体３には、図示しないものの、エンジンと、エンジンによって駆動される油圧ポンプと、油圧ポンプから複数の油圧アクチュエータ（詳細には、上述したスイングシリンダ、ブームシリンダ９、アームシリンダ１０、バケットシリンダ１１、右側走行モータ１９、左側走行モータ、ブレードシリンダ、及び旋回モータ）への圧油の流れをそれぞれ制御する複数の制御弁とが搭載されている。 Although not shown, the upper swing body 3 includes an engine, a hydraulic pump driven by the engine, and a plurality of hydraulic actuators (specifically, the swing cylinder, boom cylinder 9, arm cylinder 10, and bucket cylinder described above). 11. A plurality of control valves for controlling the flow of pressure oil to the right-side traveling motor 19, the left-side traveling motor, the blade cylinder, and the swivel motor) are mounted.

上部旋回体３の運転室２２には、運転者が着座する運転席２４と、運転者が操作する複数の操作装置（詳細には、走行操作装置２５Ａ及び作業操作装置２５Ｂ等）と、表示装置２６（後述の図４参照）と、制御装置２７（後述の図４参照）とが設けられている。上述した制御弁は、対応する操作装置の操作に応じて切換えられる。これにより、制御弁を介して油圧ポンプから油圧アクチュエータへ圧油が供給されて、油圧アクチュエータが駆動する。 In the driver's cab 22 of the upper swivel body 3, a driver's seat 24 on which the driver sits, a plurality of operation devices operated by the driver (specifically, a traveling operation device 25A, a work operation device 25B, etc.), and a display device are provided. 26 (see FIG. 4 described later) and a control device 27 (see FIG. 4 described later) are provided. The control valve described above is switched according to the operation of the corresponding operating device. As a result, pressure oil is supplied from the hydraulic pump to the hydraulic actuator via the control valve to drive the hydraulic actuator.

本実施形態の特徴として、下部走行体１の上面には（詳細には、トラックフレーム１２のセンタフレーム１３の上面であって、旋回輪２の外側位置には）、１つの発信器２８が取り付けられている。上部旋回体３の下面には（詳細には、旋回フレーム２１の下面であって、旋回輪２の外側位置には）、上部旋回体３の旋回方向に互いに離間するように、複数の受信器２９が取り付けられている。発信器２８は、予め設定された周期で、特定パターンの電波信号を発信する。複数の受信器２９は、発信器２８からの電波信号を受信し、受信情報として受信強度情報（詳細には、発信器２８から複数の受信器２９のそれぞれが受信した電波信号の強度を示す情報）を制御装置２７へ出力する。 As a feature of this embodiment, one transmitter 28 is attached to the upper surface of the lower traveling body 1 (specifically, the upper surface of the center frame 13 of the track frame 12 and the outer position of the swivel wheel 2). Has been done. On the lower surface of the upper swivel body 3 (specifically, on the lower surface of the swivel frame 21 and at the outer position of the swivel wheel 2), a plurality of receivers are separated from each other in the swivel direction of the upper swivel body 3. 29 is attached. The transmitter 28 transmits a radio wave signal of a specific pattern at a preset cycle. The plurality of receivers 29 receive the radio wave signal from the transmitter 28, and receive strength information as reception information (specifically, information indicating the strength of the radio wave signal received by each of the plurality of receivers 29 from the transmitter 28). ) Is output to the control device 27.

なお、本実施形態では、電波信号が旋回輪２等で遮断されるか若しくは減衰されることを考慮して、旋回フレーム２１の４つのコーナー部（詳細には、前右コーナー部、前左コーナー部、後右コーナー部、及び後左コーナー部）にそれぞれ位置するように、４つの受信器２９が取り付けられている。 In the present embodiment, considering that the radio wave signal is blocked or attenuated by the swivel wheel 2 or the like, the four corners of the swivel frame 21 (specifically, the front right corner and the front left corner). Four receivers 29 are attached so as to be located at the rear right corner portion, the rear right corner portion, and the rear left corner portion, respectively.

制御装置２７は、４つの受信器２９からの受信強度情報に基づいて、下部走行体１に対する上部旋回体３の旋回角度（例えば、下部走行体１の任意の基準位置から上部旋回体３が何度旋回した所に位置するのかを示す状態量）を算出する機能を有する。この機能の詳細を、図４を用いて説明する。なお、制御装置２７は、プログラムに基づいて演算処理や制御処理を実行する演算制御部（例えばＣＰＵ）と、プログラムや演算処理の結果を記憶する記憶部（例えばＲＯＭ、ＲＡＭ）等を有するものである。 Based on the reception intensity information from the four receivers 29, the control device 27 determines the turning angle of the upper swivel body 3 with respect to the lower traveling body 1 (for example, what is the upper swivel body 3 from an arbitrary reference position of the lower traveling body 1). It has a function to calculate (a state quantity indicating whether or not it is located at a turned point). The details of this function will be described with reference to FIG. The control device 27 has an arithmetic control unit (for example, a CPU) that executes arithmetic processing and control processing based on a program, and a storage unit (for example, ROM, RAM) that stores the results of the program and arithmetic processing. is there.

図４は、本実施形態における制御装置の機能的構成を発信器及び受信器と共に表すブロック図である。 FIG. 4 is a block diagram showing the functional configuration of the control device according to the present embodiment together with the transmitter and the receiver.

本実施形態の制御装置２７は、機能的構成として、受信器選択部３０、伝播距離演算部３１、及び旋回角度演算部３２を有する。 The control device 27 of the present embodiment has a receiver selection unit 30, a propagation distance calculation unit 31, and a turning angle calculation unit 32 as functional configurations.

制御装置２７の受信器選択部３０は、予め設定された周期で、上述した受信強度情報に基づいて、４つの受信器２９のうち、受信強度が一番目及び二番目に大きな２つの受信器２９を選択する。制御装置２７の伝播距離演算部３１は、受信強度情報に基づいて（詳細には、例えば、電波信号の発信強度と受信強度との差分に基づいて）、受信器選択部３０で選択された２つの受信器２９のそれぞれと発信器２８の間における伝播距離を算出する。 The receiver selection unit 30 of the control device 27 has a preset cycle, and based on the reception strength information described above, the receiver 29 of the four receivers 29 has the first and second highest reception strength. Select. The propagation distance calculation unit 31 of the control device 27 is selected by the receiver selection unit 30 based on the reception intensity information (specifically, for example, based on the difference between the transmission intensity and the reception intensity of the radio wave signal). The propagation distance between each of the receivers 29 and the transmitter 28 is calculated.

制御装置２７の旋回角度演算部３２は、伝播距離演算部３１で算出された２つの伝播距離と、それらに対応する２つの受信器２９の搭載位置情報及び発信器２８の搭載位置情報に基づいて、上部旋回体３の旋回角度を算出する。なお、例えば、発信器２８及び受信器２９を取り付けたときに、それらの搭載位置を制御装置２７へ記憶させている。これにより、制御装置２７は、下部走行体１における発信器２８の搭載位置や上部旋回体３における４つの受信器２９の搭載位置を予め記憶している。 The turning angle calculation unit 32 of the control device 27 is based on the two propagation distances calculated by the propagation distance calculation unit 31, the mounting position information of the two receivers 29 corresponding to them, and the mounting position information of the transmitter 28. , Calculate the turning angle of the upper turning body 3. For example, when the transmitter 28 and the receiver 29 are attached, their mounting positions are stored in the control device 27. As a result, the control device 27 stores in advance the mounting positions of the transmitter 28 in the lower traveling body 1 and the mounting positions of the four receivers 29 in the upper rotating body 3.

表示装置２６は、制御装置２７で算出された上部旋回体３の旋回角度を表示する。 The display device 26 displays the turning angle of the upper turning body 3 calculated by the control device 27.

以上のように本実施形態では、下部走行体１の上面に発信器２８を取り付け、上部旋回体３の下面に受信器２９を取り付けている。そのため、組立完成後のショベルにおいても、容易に後付けすることができる。 As described above, in the present embodiment, the transmitter 28 is attached to the upper surface of the lower traveling body 1, and the receiver 29 is attached to the lower surface of the upper rotating body 3. Therefore, even the excavator after the assembly is completed can be easily retrofitted.

なお、第１の実施形態において、複数の受信器２９は、受信情報として受信強度情報を出力し、制御装置２７は、受信強度情報に基づいて、上部旋回体３の旋回角度を算出する場合を例にとって説明したが、これに限られない。複数の受信器２９は、受信情報として受信時間情報（詳細には、発信器２８から複数の受信器２９のそれぞれが受信した電波信号の受信時間を示す情報）を出力してもよい。この第１の変形例の詳細を説明する。 In the first embodiment, the plurality of receivers 29 output reception strength information as reception information, and the control device 27 calculates the turning angle of the upper swing body 3 based on the reception strength information. Explained for example, but not limited to this. The plurality of receivers 29 may output reception time information (specifically, information indicating the reception time of radio signals received by each of the plurality of receivers 29 from the transmitter 28) as reception information. The details of this first modification will be described.

本変形例では、制御装置２７の受信器選択部３０は、予め設定された周期で、上述した受信時間情報に基づいて、４つの受信器２９のうち、受信時間が一番目及び二番目に小さな２つの受信器２９を選択する。制御装置２７の伝播距離演算部３１は、受信時間情報に基づいて、受信器選択部３０で選択された２つの受信器２９のそれぞれと発信器２８の間における伝播距離を算出する。制御装置２７の旋回角度演算部３２は、伝播距離演算部３１で算出された２つの伝播距離と、それらに対応する２つの受信器２９の搭載位置情報及び発信器２８の搭載位置情報に基づいて、上部旋回体３の旋回角度を算出する。本変形例においても、第１の実施形態と同様の効果を得ることができる。 In this modification, the receiver selection unit 30 of the control device 27 has the first and second smallest reception time among the four receivers 29 based on the reception time information described above in a preset cycle. Select two receivers 29. The propagation distance calculation unit 31 of the control device 27 calculates the propagation distance between each of the two receivers 29 selected by the receiver selection unit 30 and the transmitter 28 based on the reception time information. The turning angle calculation unit 32 of the control device 27 is based on the two propagation distances calculated by the propagation distance calculation unit 31, the mounting position information of the two receivers 29 corresponding to them, and the mounting position information of the transmitter 28. , Calculate the turning angle of the upper turning body 3. Also in this modified example, the same effect as that of the first embodiment can be obtained.

また、第１の実施形態及び第１の変形例においては、４つの受信器２９を取り付けた場合を例にとって説明したが、これに限られない。例えば、３つの受信器、又は５つ以上の受信器を取り付けてもよい。あるいは、発信器が発信する電波信号の透過性が強ければ、例えば、２つの受信器を取り付けてもよい。 Further, in the first embodiment and the first modification, the case where four receivers 29 are attached has been described as an example, but the present invention is not limited to this. For example, three receivers, or five or more receivers may be attached. Alternatively, if the radio wave signal transmitted by the transmitter is highly transparent, for example, two receivers may be attached.

本発明の第２の実施形態を、図面を参照しつつ説明する。なお、本実施形態において、第１の実施形態と同等の部分は同一の符号を付し、適宜、説明を省略する。 A second embodiment of the present invention will be described with reference to the drawings. In the present embodiment, the same parts as those in the first embodiment are designated by the same reference numerals, and the description thereof will be omitted as appropriate.

図５は、本実施形態における送信器及び受信器の配置を油圧ショベルの構造と共に表す上面図である。図６は、本実施形態における送信器の配置をトラックフレームの構造と共に表す斜視図である。 FIG. 5 is a top view showing the arrangement of the transmitter and the receiver in the present embodiment together with the structure of the hydraulic excavator. FIG. 6 is a perspective view showing the arrangement of the transmitters in the present embodiment together with the structure of the track frame.

本実施形態では、下部走行体１の上面には（詳細には、トラックフレーム１２のセンタフレーム１３の上面であって、旋回輪２の外側位置には）、上部旋回体３の旋回方向に互いに離間するように、複数の発信器２８Ａが取り付けられている。上部旋回体３の下面には（詳細には、旋回フレーム２１の下面であって、旋回輪２の外側位置には）、１つの受信器２９Ａが取り付けられている。複数の発信器２８Ａは、予め設定された周期であって、例えば周波数帯域が互いに異なる電波信号をそれぞれ発信する。受信器２９Ａは、複数の発信器２８Ａからの電波信号を受信し、受信情報として受信強度情報（詳細には、受信器２９Ａが複数の発信器２８Ａのそれぞれから受信した電波信号の受信強度を示す情報）を制御装置２７Ａへ出力する。 In the present embodiment, on the upper surface of the lower traveling body 1 (specifically, on the upper surface of the center frame 13 of the track frame 12 and at the outer position of the turning wheel 2), each other in the turning direction of the upper turning body 3. A plurality of transmitters 28A are attached so as to be separated from each other. One receiver 29A is attached to the lower surface of the upper swivel body 3 (specifically, the lower surface of the swivel frame 21 and the outer position of the swivel wheel 2). The plurality of transmitters 28A emit radio signals having a preset period and having different frequency bands, for example. The receiver 29A receives radio signals from a plurality of transmitters 28A, and indicates reception strength information as reception information (specifically, the reception strength of radio signals received by the receiver 29A from each of the plurality of transmitters 28A). Information) is output to the control device 27A.

なお、本実施形態では、電波信号が旋回輪２等で遮断されるか若しくは減衰されることを考慮して、トラックフレーム１２のセンタフレーム１３の４つのコーナー部（詳細には、前右コーナー部、前左コーナー部、後右コーナー部、及び後左コーナー部）にそれぞれ位置するように、４つの発信器２８Ａが取り付けられている。 In the present embodiment, considering that the radio wave signal is blocked or attenuated by the swivel wheel 2 or the like, the four corner portions of the center frame 13 of the track frame 12 (specifically, the front right corner portion). , Front left corner, rear right corner, and rear left corner), four transmitters 28A are attached.

制御装置２７Ａは、１つの受信器２９Ａからの受信強度情報に基づいて、下部走行体１に対する上部旋回体３の旋回角度を算出する機能を有する。この機能の詳細を、図７を用いて説明する。 The control device 27A has a function of calculating the turning angle of the upper turning body 3 with respect to the lower traveling body 1 based on the reception intensity information from one receiver 29A. Details of this function will be described with reference to FIG.

図７は、本実施形態における制御装置の機能的構成を発信器及び受信器と共に表すブロック図である。 FIG. 7 is a block diagram showing the functional configuration of the control device according to the present embodiment together with the transmitter and the receiver.

本実施形態の制御装置２７Ａは、機能的構成として、発信器選択部３３、伝播距離演算部３１、及び旋回角度演算部３２を有する。 The control device 27A of the present embodiment has a transmitter selection unit 33, a propagation distance calculation unit 31, and a turning angle calculation unit 32 as functional configurations.

制御装置２７Ａの発信器選択部３３は、予め設定された周期で、上述した受信強度情報に基づいて、４つの発信器２８Ａのうち、受信強度が一番目及び二番目に大きな電波信号を発信した２つの発信器２８Ａを選択する。制御装置２７Ａの伝播距離演算部３１は、受信強度情報に基づいて（詳細には、例えば、電波信号の発信強度と受信強度との差分に基づいて）、発信器選択部３３で選択された２つの発信器２８Ａのそれぞれと受信器２９Ａの間における伝播距離を算出する。 The transmitter selection unit 33 of the control device 27A transmits a radio signal having the highest reception strength among the four transmitters 28A based on the reception strength information described above in a preset cycle. Select two transmitters 28A. The propagation distance calculation unit 31 of the control device 27A is selected by the transmitter selection unit 33 based on the reception intensity information (specifically, for example, based on the difference between the transmission intensity and the reception intensity of the radio wave signal). The propagation distance between each of the two transmitters 28A and the receiver 29A is calculated.

制御装置２７Ａの旋回角度演算部３２は、伝播距離演算部３１で算出された２つの伝播距離と、それらに対応する２つの発信器２８Ａの搭載位置情報及び受信器２９Ａの搭載位置情報に基づいて、上部旋回体３の旋回角度を算出する。なお、例えば、発信器２８Ａ及び受信器２９Ａを取り付けたときに、それらの搭載位置を制御装置２７Ａへ記憶させている。これにより、制御装置２７Ａは、下部走行体１における４つの発信器２８Ａの搭載位置や上部旋回体３における受信器２９Ａの搭載位置を予め記憶している。 The turning angle calculation unit 32 of the control device 27A is based on the two propagation distances calculated by the propagation distance calculation unit 31, the mounting position information of the two transmitters 28A corresponding to them, and the mounting position information of the receiver 29A. , Calculate the turning angle of the upper turning body 3. For example, when the transmitter 28A and the receiver 29A are attached, their mounting positions are stored in the control device 27A. As a result, the control device 27A stores in advance the mounting positions of the four transmitters 28A in the lower traveling body 1 and the mounting positions of the receiver 29A in the upper rotating body 3.

表示装置２６は、制御装置２７Ａで算出された上部旋回体３の旋回角度を表示する。 The display device 26 displays the turning angle of the upper turning body 3 calculated by the control device 27A.

以上のように本実施形態では、下部走行体１の上面に発信器２８Ａを取り付け、上部旋回体３の下面に受信器２９Ａを取り付けている。そのため、組立完成後のショベルにおいても、容易に後付けすることができる。 As described above, in the present embodiment, the transmitter 28A is attached to the upper surface of the lower traveling body 1, and the receiver 29A is attached to the lower surface of the upper rotating body 3. Therefore, even the excavator after the assembly is completed can be easily retrofitted.

なお、第２の実施形態において、受信器２９Ａは、受信情報として受信強度情報を出力し、制御装置２７Ａは、受信強度情報に基づいて、上部旋回体３の旋回角度を算出する場合を例にとって説明したが、これに限られない。受信器２９Ａは、受信情報として受信時間情報（詳細には、受信器２９Ａが複数の発信器２８Ａのそれぞれから受信した電波信号の受信時間を示す情報）を出力してもよい。この第２の変形例の詳細を説明する。 In the second embodiment, the receiver 29A outputs the reception strength information as the reception information, and the control device 27A calculates the turning angle of the upper swing body 3 based on the reception strength information as an example. I explained, but it is not limited to this. The receiver 29A may output reception time information (specifically, information indicating the reception time of a radio wave signal received by the receiver 29A from each of the plurality of transmitters 28A) as reception information. The details of this second modification will be described.

本変形例では、制御装置２７Ａの発信器選択部３３は、予め設定された周期で、上述した受信時間情報に基づいて、４つの発信器２８Ａのうち、受信時間が一番目及び二番目に小さな電波信号を発信した２つの発信器２８Ａを選択する。制御装置２７Ａの伝播距離演算部３１は、受信時間情報に基づいて、発信器選択部３３で選択された２つの発信器２８Ａのそれぞれと受信器２９Ａの間における伝播距離を算出する。制御装置２７Ａの旋回角度演算部３２は、伝播距離演算部３１で算出された２つの伝播距離と、それらに対応する２つの発信器２８Ａの搭載位置情報及び受信器２９Ａの搭載位置情報に基づいて、上部旋回体３の旋回角度を算出する。本変形例においても、第２の実施形態と同様の効果を得ることができる。 In this modification, the transmitter selection unit 33 of the control device 27A has the first and second smallest reception time among the four transmitters 28A based on the reception time information described above in a preset cycle. Select the two transmitters 28A that transmitted the radio signal. The propagation distance calculation unit 31 of the control device 27A calculates the propagation distance between each of the two transmitters 28A selected by the transmitter selection unit 33 and the receiver 29A based on the reception time information. The turning angle calculation unit 32 of the control device 27A is based on the two propagation distances calculated by the propagation distance calculation unit 31, the mounting position information of the two transmitters 28A corresponding to them, and the mounting position information of the receiver 29A. , Calculate the turning angle of the upper turning body 3. Also in this modified example, the same effect as that of the second embodiment can be obtained.

また、第２の実施形態及び第２の変形例においては、４つの発信器２８Ａを取り付けた場合を例にとって説明したが、これに限られない。例えば、３つの発信器、又は５つ以上の発信器を取り付けてもよい。あるいは、発信器が発信する電波信号の透過性が強ければ、例えば、２つの発信器を取り付けてもよい。 Further, in the second embodiment and the second modification, the case where four transmitters 28A are attached has been described as an example, but the present invention is not limited to this. For example, three transmitters or five or more transmitters may be attached. Alternatively, if the radio wave signal transmitted by the transmitter is highly transparent, for example, two transmitters may be attached.

また、第１及び第２の実施形態において、制御装置２７又は２７Ａは、上部旋回体３の旋回角度を表示装置２６に出力して表示させる場合を例にとって説明したが、これに限られない。制御装置は、例えば、上部旋回体３の旋回角度などを用いて作業装置の位置を算出し、作業装置が設定領域に侵入した場合に作業装置の動作を制限するが領域制限制御を行ってもよい。 Further, in the first and second embodiments, the control device 27 or 27A has been described by taking as an example a case where the turning angle of the upper turning body 3 is output to the display device 26 and displayed, but the present invention is not limited to this. The control device calculates the position of the work device using, for example, the turning angle of the upper swing body 3, and limits the operation of the work device when the work device enters the set area, but even if the area limit control is performed. Good.

なお、以上においては、本発明の適用対象として油圧ショベルを例にとって説明したが、これに限られない。すなわち、下部走行体と、下部走行体の上側に旋回可能に連結された上部旋回体と、上部旋回体に連結された作業装置とを備えていれば、油圧ショベル以外の他の建設機械（詳細には、例えば油圧クレーン等）であってもよい。 In the above description, the hydraulic excavator has been described as an example of application of the present invention, but the present invention is not limited to this. That is, if the lower traveling body, the upper rotating body rotatably connected to the upper side of the lower traveling body, and the working device connected to the upper rotating body are provided, the construction machine other than the hydraulic excavator (details). For example, a hydraulic crane or the like) may be used.

１下部走行体
２旋回輪
３上部旋回体
４作業装置
２７，２７Ａ制御装置
２８，２８Ａ発信器
２９，２９Ａ受信器 1 Lower traveling body 2 Swing wheel 3 Upper swivel body 4 Working device 27,27A Control device 28,28A Transmitter 29,29A Receiver

Claims

In a construction machine provided with a lower traveling body, an upper rotating body provided so as to be swivel on the upper side of the lower traveling body, and a working device connected to the upper rotating body.
A transmitter attached to the lower traveling body and transmitting a radio signal,
A plurality of receivers attached to the upper swing body apart from each other and receiving radio signals from the transmitter,
The construction is characterized by comprising a control device for calculating the turning angle of the upper swinging body based on the receiving strength information indicating the receiving strength of the radio wave signal received from each of the plurality of receivers from the transmitter. machine.

In a construction machine provided with a lower traveling body, an upper rotating body provided so as to be swivel on the upper side of the lower traveling body, and a working device connected to the upper rotating body.
A plurality of transmitters that are attached to the lower traveling body at a distance from each other and emit radio signals, respectively.
A receiver attached to the upper swing body and receiving radio signals from the plurality of transmitters,
The construction is characterized in that the receiver is provided with a control device that calculates a turning angle of the upper swinging body based on reception strength information indicating the receiving strength of radio wave signals received from each of the plurality of transmitters. machine.

In the construction machine according to claim 1 or 2.
The transmitter is attached to the upper surface of the lower traveling body.
The receiver is a construction machine mounted on the lower surface of the upper swing body.

In the construction machine according to claim 3,
The upper swivel body is provided so as to be swivelable on the upper side of the lower traveling body via a swivel wheel.
A construction machine characterized in that the transmitter and the receiver are located outside the swivel wheel.

In the construction machine according to claim 1,
The control device calculates the propagation distance between each of the plurality of receivers and the transmitter from the reception intensity information, and the calculated plurality of propagation distances, the plurality of receivers stored in advance, and the said. A construction machine characterized in that the turning angle of the upper turning body is calculated based on the mounting position information of the transmitter.

In the construction machine according to claim 5.
Based on the reception strength information, the control device selects two receivers having the first and second highest reception strength among the plurality of receivers, and each of the two selected receivers. A construction machine characterized by calculating the propagation distance between the transmitter and the transmitter, and calculating the turning angle of the upper swing body based on the calculated two propagation distances and the mounting position information.

In the construction machine according to claim 2.
The control device calculates the propagation distance between each of the plurality of transmitters and the receiver from the reception intensity information, and the calculated plurality of propagation distances, the plurality of transmitters stored in advance, and the said. A construction machine characterized in that the turning angle of the upper swinging body is calculated based on the mounting position information of the receiver.

In the construction machine according to claim 7.
Based on the reception strength information, the control device selects and selects two transmitters that emit radio signals having the first and second highest reception strength among the plurality of transmitters. The feature is that the propagation distance between each of the two transmitters and the receiver is calculated, and the turning angle of the upper swing body is calculated based on the calculated two propagation distances and the mounting position information. Construction machinery.