JP6752548B2 - Construction machinery - Google Patents

Description

The present invention relates to a construction machine comprising an attachment including a boom and an arm.

There is known a construction machine that determines whether an operator has invaded the work area based on an image acquired by a camera and outputs an alarm when it is determined that the operator has invaded the work area (see Patent Document 1).

JP-A-2009-193494

However, in the above-mentioned construction machine, a cylindrical space centered on the swivel axis, that is, a space within the maximum swivel radius is set as a work area. Therefore, even when the distance between the bucket and the worker is sufficiently large, such as when the worker is working behind the construction machine, the contact between the bucket and the worker when the turning operation is performed is maintained. In order to prevent it, an alarm is output as in the case where the distance between the bucket and the operator is small. As a result, work efficiency may be deteriorated due to excessive alarm output.

In view of the above, it is desired to provide a construction machine capable of more efficiently preventing contact between the attachment and the worker.

The construction machine according to the embodiment of the present invention includes an attachment including a traveling body, an upper swing body mounted on the traveling body, a boom attached to the upper swing body, and an arm attached to the boom. An operation device for operating the attachment, the upper swing body, a control device, a detection device provided on the upper swing body for detecting obstacles in the vicinity, and a posture detection device for detecting the posture of the attachment. The control device comprises the attachment or the attachment when the distance between the obstacle and the predetermined position on the attachment is equal to or less than a predetermined value when the predetermined position on the attachment is within a predetermined range. If the movement of the upper swing body is restricted and the predetermined position on the attachment is not within the predetermined range, the movement of the attachment or the upper swing body is not restricted even if the distance becomes equal to or less than the predetermined value. ..
Similarly, the construction machine according to the embodiment of the present invention includes a traveling body, an upper swing body mounted on the traveling body, a boom attached to the upper swing body, and an arm attached to the boom. An attachment, an operation device for operating the attachment, the upper swing body, a control device, a detection device provided on the upper swing body to detect an obstacle in the vicinity, and a posture for detecting the posture of the attachment. The control device includes a detection device, when the distance between the obstacle and a predetermined position on the attachment is equal to or less than a predetermined value during the combined operation of the arm and the boom or bucket. While limiting the movement of the arm, it does not limit the movement of other elements other than the arm during the combined operation.

By the means described above, a construction machine capable of more efficiently preventing contact between the attachment and the worker is provided.

It is a side view of the excavator which concerns on embodiment of this invention. It is a functional block diagram which shows the structural example of the control device mounted on the excavator of FIG. It is a side view of the excavator which shows the configuration example of the posture detection device mounted on the excavator of FIG. It is a top view of the excavator which shows an example of the detection area of the person detection apparatus mounted on the excavator of FIG. It is a flowchart which shows the flow of an example of the restriction / release determination process. It is a figure which shows the time transition of various physical quantities when the restriction / release determination process is executed. It is a flowchart which shows the flow of another example of the restriction / release determination process. It is a figure which shows an example of the relationship between the restriction execution area and the restriction release area. It is a flowchart which shows the flow of still another example of the restriction / release determination process.

First, the overall configuration of the excavator as a construction machine according to the embodiment of the present invention will be described. FIG. 1 is a side view showing a configuration example of a shovel according to an embodiment of the present invention.

The excavator of FIG. 1 includes a lower traveling body 1, a swivel mechanism 2, an upper swivel body 3, a boom 4, an arm 5, a bucket 6, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a cab (cockpit) 10, and an operating device. 26, a control device 30, and the like.

The upper swivel body 3 is mounted on the lower traveling body 1 of the excavator via the swivel mechanism 2. A boom 4 as a working body is attached to the upper swing body 3. An arm 5 as a working body is attached to the tip of the boom 4, and a bucket 6 as a working body is attached to the tip of the arm 5. The boom 4, arm 5, and bucket 6 form an excavation attachment, which is an example of the attachment, and are hydraulically driven by the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, respectively. Further, the upper swing body 3 is provided with a cab 10.

The operating device 26 is a device used by the operator to operate the hydraulic actuator. The operating device 26 supplies the hydraulic oil discharged by the pilot pump to the pilot port of the flow control valve corresponding to each of the hydraulic actuators through the pilot line. However, the control method of the hydraulic actuator may be configured to be driven according to the operation amount of the operating device 26, and is configured by appropriately using any control method including the hydraulic control method and the electronic control method.

The control device 30 is a device that controls the drive of the excavator. In this embodiment, the control device 30 is an arithmetic processing device including a CPU and an internal memory. Specifically, the control device 30 realizes various functions by causing the CPU to execute a control program stored in the internal memory.

Next, the details of the control device 30 will be described with reference to FIG. Note that FIG. 2 is a functional block diagram showing a configuration example of the control device 30. In this embodiment, the control device 30 receives the outputs of the posture detection device 40, the person detection device 41, etc., executes various calculations, and outputs various information to the control valve 43, the display device 44, the voice output device 45, and the like. Output. For example, the control device 30 has a predetermined position on the attachment (for example, the tip position of the arm 5) with a person around the excavator (for example, a worker working around the excavator) based on the outputs of the posture detection device 40 and the person detection device 41. And the distance (hereinafter referred to as "target distance") is calculated. Then, when the target distance is equal to or less than the predetermined limit start distance, the movement of the excavator is restricted. For example, the movement of the arm 5 may be restricted. Limiting the movement of the arm 5, which results in a relatively large horizontal movement of the bucket 6, prevents contact between the attachment and the operator as compared to limiting the movement of other workpieces, such as the boom 4. This is because the effect is high. Further, the control device 30 may limit the movement of the boom 4, or may limit the movement of the turning mechanism 2. As the limiting method, any method such as a method of controlling the pilot pressure and a method of limiting the discharge amount of the hydraulic pump may be adopted.

The control device 30 slows down or stops only the movement of the arm 5 by reducing the pilot pressure corresponding to the operation amount of the arm operation device (arm operation lever) as the operation device 26. However, the movements of the swivel mechanism 2, the boom 4, the bucket 6 and the like may be slowed down or stopped at the same time. Further, the control device 30 may operate a mechanism for adjusting the discharge amount of the hydraulic pump to limit the movement of the arm 5. Specifically, the movement of the arm 5 may be restricted by reducing the discharge amount of the hydraulic pump that supplies the hydraulic oil to the arm cylinder 8. In this case, the movements of the swivel mechanism 2, the boom 4, the bucket 6 and the like are also restricted at the same time. Further, when the target distance is equal to or less than the limit start distance, information indicating that fact may be displayed on the display device 44, or the voice output device 45 may output voice.

The posture detection device 40 is a device that detects the posture of the attachment. In this embodiment, the posture detection device 40 detects the posture of the excavation attachment. This is so that the control device 30 can acquire a predetermined position on the attachment such as the tip position of the arm 5 and the toe position of the bucket 6. Further, the control device 30 can calculate the distance between the predetermined position on the attachment and the person detected by the person detection device 41. The following is an example of a method for detecting the posture of the excavation attachment.

FIG. 3 is a side view of the excavator showing an example of the output contents of various sensors constituting the posture detection device 40 mounted on the excavator of FIG. Specifically, the posture detection device 40 includes a boom angle sensor 40a, an arm angle sensor 40b, a bucket angle sensor 40c, and a vehicle body inclination sensor 40d.

The boom angle sensor 40a is a sensor that acquires the boom angle θ1, for example, a rotation angle sensor that detects the rotation angle of the boom foot pin, a stroke sensor that detects the stroke amount of the boom cylinder 7, and a tilt angle of the boom 4. Includes tilt (acceleration) sensors and the like. The boom angle θ1 is an angle with respect to the horizontal line of the line segment connecting the boom foot pin position P1 and the arm connecting pin position P2 in the XZ plane.

The arm angle sensor 40b is a sensor that acquires the arm angle θ2. For example, a rotation angle sensor that detects the rotation angle of the arm connecting pin, a stroke sensor that detects the stroke amount of the arm cylinder 8, and an inclination angle of the arm 5 are detected. Includes tilt (acceleration) sensors and the like. The arm angle θ2 is an angle with respect to the horizontal line of the line segment connecting the arm connecting pin position P2 and the bucket connecting pin position (arm tip position) P3 in the XZ plane.

The bucket angle sensor 40c is a sensor that acquires the bucket angle θ3. For example, a rotation angle sensor that detects the rotation angle of the bucket connecting pin, a stroke sensor that detects the stroke amount of the bucket cylinder 9, and an inclination angle of the bucket 6 are detected. Includes tilt (acceleration) sensors and the like. The bucket angle θ3 is an angle with respect to the horizontal line of the line segment connecting the bucket connecting pin position P3 and the bucket toe position P4 in the XZ plane.

The vehicle body tilt sensor 40d is a sensor that acquires the tilt angle θ4 around the Y axis of the excavator and the tilt angle θ5 (not shown) around the X axis of the excavator. For example, a biaxial tilt (acceleration) sensor or the like. Including. The XY plane in FIG. 3 is a horizontal plane.

The posture detection device 40 derives the coordinates of each point on the attachment based on the acquired various angles and the information stored in advance. This is so that the control device 30 can calculate the distance between the predetermined point on the attachment and the worker, not the distance between the turning shaft at the center of the work area and the worker. Further, the coordinates of each point on the attachment are derived as coordinates on the XYZ Cartesian coordinate system with the reference point P0 as the origin. The reference point P0 is, for example, an intersection of a horizontal installation surface (XY plane), which is the ground on which the excavator is located, and a swivel axis (Z axis). However, the reference point P0 may be set as any other point. For example, the posture detection device 40 includes the coordinates of the boom foot pin position P1, the distance between the boom foot pin position P1 and the arm connecting pin position P2, the arm connecting pin position P2 and the bucket connecting pin position (arm tip position) P3. The coordinates of the arm tip position P3 are derived based on the distance between them, the boom angle θ1, and the arm angle θ2. Further, the posture detecting device 40 derives the coordinates of the bucket toe position P4 by additionally considering the distance between the bucket connecting pin position (arm tip position) P3 and the bucket toe position P4 and the bucket angle θ3.

The person detection device 41 is a device that detects the position of a person (including an object, an obstacle, etc. that may be a person) around the excavator. In this embodiment, the person detection device 41 is a device mounted on the shovel or installed outside the excavator, and detects the distance and direction of the person as seen from the reference point P0. For example, the person detection device 41 is a scanning distance sensor mounted on an excavator, and has coordinates of a sensor mounting position stored in advance and detection values (distance from the sensor to a person and the direction of the person as seen from the sensor). Based on this, the coordinates of the person's position P5 as seen from the reference point P0 are derived. Then, the person detection device 41 outputs the derived coordinate values to the control device 30. The control device 30 may derive the coordinates of the person's position P5 as seen from the reference point P0 based on the detection value of the person detection device 41. Further, the human detection device 41 includes an area Ra (see FIG. 4) behind the excavation attachment, which is a blind spot when viewed from the operator in the cab 10, and an area visible to the operator in the cab 10 (for example, the cab 10). It is configured to be able to detect a person in any area such as the front area). Further, the person detection device 41 may be a sensor other than the distance sensor, such as an image sensor and a distance image sensor.

The control valve 43 is a valve that controls the pilot pressure acting on the pilot port of the flow rate control valve corresponding to each of the hydraulic actuators. In this embodiment, the control valve 43 is an electromagnetic pressure reducing valve that operates in response to a current command from the control device 30.

The display device 44 is a device that displays various types of information. In this embodiment, the display device 44 is a liquid crystal display installed in the cab 10. When the target distance is equal to or less than the limit start distance, the display device 44 may display a text message, an icon, or the like to that effect.

The voice output device 45 is a device that outputs various information by voice. In this embodiment, the audio output device 45 is an in-vehicle speaker installed in the cab 10. The voice output device 45 may output an alarm, a warning message, or the like by voice when the target distance is equal to or less than the limit start distance.

Next, various functional elements included in the control device 30 will be described. In this embodiment, the control device 30 includes a distance calculation unit 31 and an operation restriction unit 32 as functional elements.

The distance calculation unit 31 is a functional element that calculates the distance between two points. In this embodiment, the distance calculation unit 31 determines the arm tip position P3 and the person position based on the coordinates of the arm tip position P3 acquired by the posture detection device 40 and the coordinates of the person position P5 derived by the person detection device 41. The target distance D (see FIG. 4) to and from P5 is calculated.

The movement limiting unit 32 is a functional element that limits the movement of the working body. In this embodiment, the movement limiting unit 32 limits the movement of the arm 5 when the target distance D is equal to or less than a predetermined limiting start distance when the arm 5 is operated. Specifically, when the target distance D calculated by the distance calculation unit 31 is equal to or less than the limit start distance, the output of a predetermined current command to the control valve 43 is limited. For example, the movement of the arm 5 is performed by outputting a current command having a current value smaller than the current value of the predetermined current command to the control valve 43 to reduce the pilot pressure acting on the flow control valve corresponding to the arm cylinder 8. Slow down. Alternatively, the movement of the arm 5 may be stopped by prohibiting the output of the current command to the control valve 43 and eliminating the pilot pressure acting on the flow control valve corresponding to the arm cylinder 8. Further, any other restriction method may be adopted, such as restricting the movement of the arm 5 by invalidating the operation input itself for the arm operation lever or changing the interpretation of the operation content.

Further, when the target distance D exceeds a predetermined limit release distance (> limit start distance) after limiting the movement of the arm 5, the movement restriction unit 32 releases the restriction on the movement of the arm 5. In addition, the operation limiting unit 32 may stop the display of warning messages or the execution of voice outputs such as alarms and warning messages when they are being executed.

Alternatively, when the movement limiting unit 32 detects the movement of the arm 5 in the direction in which the target distance D increases after limiting the movement of the arm 5 (hereinafter, referred to as “target distance increasing operation”), the arm The restriction on the movement of 5 may be lifted. In this case, the operation limiting unit 32 determines whether or not the target distance increasing operation of the arm 5 has been executed based on the position of the person detected by the person detecting device 41 and the operation content of the arm operating lever, and increases the target distance. When it is determined that the operation has been executed, the restriction on the movement of the arm 5 is released.

Alternatively, the motion limiting unit 32 may release the restriction on the movement of the arm 5 when it is determined that the arm tip position P3 is within the predetermined restriction release region after limiting the movement of the arm 5. The state in which the arm tip position P3 is within the restriction release region means a state in which it is presumed that the excavation attachment (for example, the bucket 6) does not come into contact with a person (for example, a worker around the shovel) even if the arm 5 is moved. Specifically, the restriction release region is, for example, a region where the arm tip position P3 can reach when the boom 4 is most raised, and an arm tip position P3 can be reached when the boom 4 is most lowered. Includes area.

Further, the movement limiting unit 32 may change the operating speed of the arm 5 according to the target distance D, and may determine whether to slow down or stop the movement of the arm 5. For example, the operation limiting unit 32 may slow down the operation speed of the arm 5 as the target distance D becomes smaller.

Next, with reference to FIG. 5, a process of determining whether the control device 30 limits the movement of the arm 5 or releases the restriction when the arm operating lever is operated (hereinafter, “restriction / release determination process”). ”). Note that FIG. 5 is a flowchart showing the flow of the restriction / release determination process, and the control device 30 repeatedly executes the restriction / release determination process in a predetermined control cycle while the arm operation lever is being operated.

First, the control device 30 determines whether or not a person has been detected (step S1). In this embodiment, the control device 30 determines whether or not a person has been detected in the area Ra (see FIG. 4) based on the output of the person detection device 41.

When it is determined that a person has been detected (YES in step S1), the control device 30 acquires the position P5 of the person, acquires the arm tip position P3, and calculates the target distance on it (step S2). ). In this embodiment, the distance calculation unit 31 of the control device 30 calculates the target distance D. Specifically, the coordinates of the arm tip position P3 are derived based on the output of the posture detection device 40, and the coordinates of the person position P5 are derived based on the output of the person detection device 41. Then, the target distance D is derived based on the coordinates of the arm tip position P3 and the coordinates of the person position P5.

Then, the control device 30 determines whether the target distance D is equal to or less than the limited start distance D1 (for example, 2 meters) (step S3).

When it is determined that the target distance D is equal to or less than the limit start distance D1 (YES in step S3), the control device 30 limits the movement of the arm 5 (step S4), and then ends the current restriction / release determination process. Let me. In this embodiment, the operation limiting unit 32 of the control device 30 outputs a current command having a current value smaller than the current value of the predetermined current command to the control valve 43 to the flow rate control valve corresponding to the arm cylinder 8. The movement of the arm 5 is slowed down by reducing the acting pilot pressure.

When it is determined that the target distance D is larger than the limit start distance D1 (NO in step S3), the operation limiting unit 32 determines whether the target distance D is equal to or less than the limit release distance D2 (> D1, for example, 3 meters). Determine (step S5).

Then, when it is determined that the target distance D is equal to or less than the restriction release distance D2 (YES in step S5), the operation restriction unit 32 does not release the restriction this time when the movement of the arm 5 is restricted. The restriction / cancellation determination process of is terminated. If the movement of the arm 5 is not restricted, the restriction / release determination process is terminated without restricting the movement.

Further, when it is determined that the target distance D is larger than the restriction release distance D2 (NO in step S5), the operation restriction unit 32 releases the restriction on the movement of the arm 5 when the movement of the arm 5 is restricted. In the above (step S6), and when the movement of the arm 5 is not restricted, the restriction / release determination process of this time is terminated without executing any process.

Further, even when it is determined that no person is detected (NO in step S1), the control device 30 releases the restriction on the movement of the arm 5 when the movement of the arm 5 is restricted (NO in step S1). In step S6), if the movement of the arm 5 is not restricted, the restriction / release determination process this time is terminated without executing any process.

In this embodiment, the control device 30 acquires the arm tip position P3 only when it is determined that a person has been detected. Therefore, the calculation load can be reduced. However, the control device 30 may acquire the arm tip position P3 regardless of whether or not a person is detected. For example, the control device 30 may acquire the arm tip position P3 before determining whether or not a person has been detected.

Next, with reference to FIG. 6, the temporal transition of various physical quantities when the restriction / release determination process is executed will be described. Specifically, FIG. 6A shows a temporal transition of the lever operation amount (hereinafter, referred to as “arm opening operation amount”) when the arm operation lever is operated in the arm opening direction. Further, FIG. 6B shows a temporal transition of the target distance D, and FIG. 6C shows a temporal transition of the arm opening speed. In this embodiment, the arm opening speed corresponds to the opening area of the PC port of the flow control valve corresponding to the arm cylinder 8.

As shown in FIG. 6A, when the arm operating lever is fully operated in the arm opening direction at time t1, the arm opening speed also starts to increase at time t1 and reaches the maximum speed Amax at time t2. The full lever operation refers to a state in which the arm operating lever is operated with an operating amount of 80% or more when the neutral state of the arm operating lever is set to 0% and the maximum operating state is set to 100%.

As shown in FIG. 6B, the target distance D gradually decreases from the time t0. This is because the worker who is the person detected by the person detection device 41 is approaching the shovel while moving in the area Ra. Further, at time t1, the arm 5 was moved in the direction in which the bucket 6 approaches the worker.

After that, when the target distance D becomes equal to or less than the limited start distance D1 at time t3, the operation limiting unit 32 of the control device 30 starts limiting the movement of the arm 5. Therefore, as shown in FIG. 6C, the arm opening speed starts to decrease at time t3 and reaches a predetermined time-limited opening speed A1 at time t4.

As a result, as shown in FIG. 6B, the degree of decrease (approach) of the target distance D weakens at time t3, and becomes substantially constant (approach stop) at time t4. Further, it starts to increase after the time t4. This is because the worker has moved away from the excavator.

After that, when the target distance D becomes larger than the restriction release distance D2 at the time t5, the operation restriction unit 32 releases the restriction on the movement of the arm 5. Therefore, as shown in FIG. 6C, the arm opening speed starts to increase at time t5 and reaches the maximum speed Amax at time t6.

As shown in FIG. 6B, the target distance D does not start to decrease again in this example. This is because the worker has moved away from the excavator.

In this way, the control device 30 limits the movement of the arm 5 when the target distance D between the attachment and the operator when the arm 5 is operated is equal to or less than the limit start distance D1. Therefore, contact between the attachment and the operator can be prevented more efficiently than in the case where all movements of the excavator are restricted when the operator enters the turning radius (working radius) of the excavator. Also, limiting the movement of the arm 5 in preventing contact between the attachment and the operator is more efficient than limiting the movement of the boom 4. This is because the movement of the arm 5 results in a greater horizontal movement of the bucket 6 at the tip of the excavation attachment than the movement of the boom 4.

Next, another example of the restriction / release determination process will be described with reference to FIGS. 7 and 8. Note that FIG. 7 is a flowchart showing a flow of another example of the restriction / release determination process, and FIG. 8 is a diagram showing an example of the relationship between the restriction execution area and the restriction release area. Further, the flow of FIG. 7 is different from the flow of FIG. 5 in that the bucket toe position P4 is acquired instead of the arm tip position P3 in step S2 and that the flow has step S2A, but is common to other parts. Therefore, the description of the common part will be omitted, and the difference part will be described in detail.

In step S2, the distance calculation unit 31 of the control device 30 calculates the target distance D. Specifically, the coordinates of the bucket toe position P4 are derived based on the output of the posture detection device 40, and the coordinates of the person position P5 are derived based on the output of the person detection device 41. Then, the target distance D is derived based on the coordinates of the bucket toe position P4 and the coordinates of the person's position P5.

After that, in step S2A, the control device 30 determines whether or not the bucket toe position P4 is within the restricted execution area R1.

As shown in FIG. 8, the restricted execution area R1 is a space area between the installation surface of the shovel and a plane having a predetermined height, and when the arm 5 is moved within this space area, the bucket 6 and the installation surface This is the area where it is estimated that there is a risk of contact with the person above.

Further, the restriction release area R2 indicated by diagonal hatching is a space area above the restriction execution area R1 where the bucket toe position P4 can reach, and even if the arm 5 is moved within this space area, it is installed with the bucket 6. This is the area where it is estimated that there is no contact with people on the surface.

Further, the restriction release area R3 indicated by diagonal hatching is a space area below the restriction execution area R1 where the bucket toe position P4 can reach, and even if the arm 5 is moved within this space area, it is installed with the bucket 6. This is the area where it is estimated that there is no contact with people on the surface.

When it is determined that the bucket toe position P4 is in the restricted execution area R1 (YES in step S2A), the operation limiting unit 32 of the control device 30 executes the processes after step S3 in the same manner as the flow of FIG. Further, when it is determined that the bucket toe position P4 is not in the restriction execution area R1 (NO in step S2A), that is, when it is determined that the bucket toe position P4 is in the restriction release area R2 or R3, the operation restriction unit 32 When the movement of the arm 5 is restricted, the restriction on the movement of the arm 5 is released (step S6), and when the movement of the arm 5 is not restricted, any processing is executed. No, the restriction / cancellation judgment process this time is terminated.

In this way, the control device 30 limits the movement of the arm 5 when the target distance D between the bucket 6 and the operator is equal to or less than the limit start distance D1 when the arm 5 is operated. Therefore, contact between the bucket 6 and the operator can be prevented more efficiently than in the case where all movements of the excavator are restricted when the operator enters the turning radius (working radius) of the excavator.

Further, when the bucket toe position P4 is within the restriction release region R2 or R3, the control device 30 does not restrict the movement of the arm 5 even if the target distance D is equal to or less than the restriction start distance D1. Therefore, the work efficiency can be further improved while preventing the bucket 6 from coming into contact with the operator.

Next, with reference to FIG. 9, another example of the restriction / cancellation determination process will be described. Note that FIG. 9 is a flowchart showing a flow of still another example of the restriction / release determination process. Further, the flow of FIG. 9 is different from the flow of FIG. 5 in that it has step S2B, but is common to other parts. Therefore, the description of the common part will be omitted, and the difference part will be described in detail.

In step S2B, the control device 30 determines whether or not the movement of the arm 5 in the direction in which the target distance D becomes smaller (hereinafter, referred to as “target distance reduction operation”) has been executed. Specifically, the operation limiting unit 32 executes the target distance increasing operation of the arm 5 or the target distance decreasing operation based on the position of the person detected by the person detecting device 41 and the operation content of the arm operating lever. Determine if it was done.

Then, when it is determined that the target distance reduction operation has been executed (YES in step S2B), the operation limiting unit 32 executes the processes after step S3 in the same manner as the flow of FIG. On the other hand, when it is determined that the target distance increasing operation has been executed (NO in step S2B), the operation limiting unit 32 releases the restriction on the movement of the arm 5 when the movement of the arm 5 is restricted. (Step S6) Further, when the movement of the arm 5 is not restricted, the restriction / release determination process of this time is terminated without executing any process.

As described above, when the target distance increasing operation is executed, the control device 30 does not limit the movement of the arm 5 even if the target distance D is equal to or less than the limited start distance D1. Therefore, it is possible to further improve work efficiency while preventing contact between the attachment and the operator.

Although the embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to such specific examples, and various aspects are within the scope of the gist of the present invention described in the claims. Can be transformed / changed.

For example, in the above-described embodiment, the movement limiting unit 32 limits the movement of the arm 5 when the target distance D is equal to or less than the limiting start distance D1 when the arm 5 is operated. However, the present invention is not limited to this configuration. For example, the movement limiting unit 32 may limit the movement of both the turning mechanism 2 and the arm 5 when the target distance D is equal to or less than the limiting start distance D1 when the turning mechanism 2 and the arm 5 are operated in combination. In this case, the degree of restriction on the movement of the arm 5 may be larger, smaller, or the same as the degree of restriction on the movement of the turning mechanism 2. Similarly, the movement limiting unit 32 may limit the movements of both the boom 4 and the arm 5 when the target distance D is equal to or less than the limiting start distance D1 when the boom 4 and the arm 5 are operated in combination. Further, the movement limiting unit 32 may limit the movement of both the arm 5 and the bucket 6 when the target distance D is equal to or less than the limiting start distance D1 when the arm 5 and the bucket 6 are operated in combination. Further, the operation limiting unit 32 may limit the movement of the turning mechanism 2 when the target distance D when operating the turning mechanism 2 is equal to or less than the limiting start distance D1.

1 ... Lower traveling body 2 ... Swivel mechanism 3 ... Upper swivel body 4 ... Boom 5 ... Arm 6 ... Bucket 7 ... Boom cylinder 8 ... Arm cylinder 9 ...・ Bucket cylinder 10 ・ ・ ・ Cab 26 ・ ・ ・ Operating device 30 ・ ・ ・ Control device 31 ・ ・ ・ Distance calculation unit 32 ・ ・ ・ Movement restriction unit 40 ・ ・ ・ Attitude detection device 40a ・ ・ ・ Boom angle sensor 40b ・・ ・ Arm angle sensor 40c ・ ・ ・ Bucket angle sensor 40d ・ ・ ・ Vehicle body tilt sensor 41 ・ ・ ・ Person detection device 43 ・ ・ ・ Control valve 44 ・ ・ ・ Display device 45 ・ ・ ・ Voice output device

Claims (3)

With the running body
The upper swivel body mounted on the traveling body and
An attachment including a boom attached to the upper swing body and an arm attached to the boom.
An operating device for operating the attachment, the upper swing body, and
Control device and
A detection device provided on the upper swing body to detect obstacles in the vicinity and
A posture detection device for detecting the posture of the attachment is provided.
The control device of the attachment or the upper swing body when the predetermined position on the attachment is within a predetermined range and the distance between the obstacle and the predetermined position on the attachment is equal to or less than a predetermined value. Restrict movement ,
If the predetermined position on the attachment is not within the predetermined range, the movement of the attachment or the upper swing body is not restricted even if the distance becomes equal to or less than the predetermined value.
Construction machinery. With the running body
The upper swivel body mounted on the traveling body and
An attachment including a boom attached to the upper swing body and an arm attached to the boom.
An operating device for operating the attachment, the upper swing body, and
Control device and
A detection device provided on the upper swing body to detect obstacles in the vicinity and
A posture detection device for detecting the posture of the attachment is provided.
The control device limits the movement of the arm when the distance between the obstacle and the predetermined position on the attachment is equal to or less than a predetermined value during the combined operation of the arm and the boom or bucket. On the other hand, the movement of elements other than the arm during the combined operation is not restricted .
Construction machinery. The predetermined position on the attachment is the arm tip position or the bucket toe position.
The detection device is a scanning distance sensor, an image sensor, or a distance image sensor mounted on the construction machine.
The construction machine according to claim 1 or 2 .

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