JP7114248B2 - construction machinery - Google Patents

Description

The present disclosure relates to construction equipment.

2. Description of the Related Art Conventionally, there have been accidents in which an upper revolving body of a construction machine collides with surrounding obstacles during operation of a construction machine such as a shovel, and an improvement in safety has been demanded. For example, in Patent Document 1, a detection sensor such as an ultrasonic sensor is arranged on the upper revolving body. Arrangements are disclosed for stopping or limiting turning speed.

Japanese Patent No. 2910335

However, conventional construction machines have room for further improvement in terms of both safety and workability.

An object of the present disclosure is to provide a construction machine capable of achieving both safety and workability.

A construction machine according to an aspect of an embodiment includes a lower traveling body, an upper revolving body rotatably mounted on the lower traveling body, and obstacle information relating to the position or shape of obstacles around the construction machine. and a controller for driving and controlling the upper rotating body and the lower traveling body, and when stopping the construction machine moving in the first direction, which is the direction to approach the obstacle. A first size of a first gap between a first portion of the outer shape of the upper rotating body and the obstacle, and a second direction different from the first direction, which is a direction in which the obstacle is approached. a second size of a second gap between the second part of the outer shape of the upper swing structure and the obstacle when stopping the construction machine moving to the above, and the controller comprises: , when the upper rotating body and the obstacle approach each other due to the rotation of the upper rotating body, the first size of the first gap or the second size of the second gap is set. The first portion is a portion of the upper rotating body that is closest to the obstacle when the construction machine moves in the first direction. wherein the second portion is a portion of the upper rotating body that is closest to the obstacle when the construction machine moves in the second direction, and the controller comprises the obstacle information; when the first gap moves in the first direction from a position larger than the first size and becomes the first size based on the information about the outer shape of the upper swing body ; or When the second gap moves in the second direction from a position larger than the second size to reach the second size, the upper rotating body stops operating.

According to the present disclosure, it is possible to provide a construction machine capable of achieving both safety and workability.

1 is a side view of a shovel that is an example of a construction machine according to an embodiment; FIG. 2 is a block diagram showing an example of a configuration centering on the drive system of the excavator of FIG. 1; FIG. FIG. 5 is a diagram showing an example of a technique for setting a turning range of an upper turning body according to the present embodiment; FIG. 7 is a diagram showing another example of a method of setting the turning range of the upper turning body according to the present embodiment; FIG. 10 is a diagram showing an example of a state in which the upper revolving body 3 is closest to an obstacle and stopped. FIG. 10 is a diagram showing an example of a technique for setting the turning range of the upper turning body when the obstacle is a vehicle; It is a figure which shows an example of the display monitor which combined the input part and the display apparatus.

Embodiments will be described below with reference to the accompanying drawings. In order to facilitate understanding of the description, the same constituent elements in each drawing are denoted by the same reference numerals as much as possible, and overlapping descriptions are omitted.

[Overview of Excavator]
First, with reference to Drawing 1, an outline of excavator 100 concerning an embodiment is explained. FIG. 1 is a side view of a shovel 100 that is an example of a construction machine according to an embodiment.

An excavator 100 according to this embodiment includes a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be able to turn via a turning mechanism 2, and a boom 4, an arm 5, and a bucket 6 as attachments. and a cabin 10 in which an operator boards.

The lower traveling body 1 includes, for example, a pair of left and right crawlers, and the respective crawlers are hydraulically driven by traveling hydraulic motors 1A and 1B (see FIG. 2, etc.) to cause the excavator 100 to travel.

The upper revolving structure 3 revolves with respect to the lower traveling structure 1 by being driven by a revolving hydraulic motor 21 (see FIG. 2) or the like, which will be described later.

The boom 4 is pivotally attached to the center of the front portion of the upper rotating body 3 so as to be able to be raised. An arm 5 is pivotally attached to the tip of the boom 4 so as to be vertically rotatable. rotatably pivoted; The boom 4, arm 5, and bucket 6 are hydraulically driven by boom cylinders 7, arm cylinders 8, and bucket cylinders 9 as hydraulic actuators, respectively.

The cabin 10 is a cockpit in which an operator boards, and is mounted on the front left side of the upper revolving structure 3 .

[Basic configuration of excavator]
Next, with reference to FIG. 2, the configuration of the excavator 100 of FIG. 1 will be described in detail. FIG. 2 is a block diagram showing an example of a configuration centering on the drive system of the excavator 100 of FIG. 1. As shown in FIG. In FIG. 2, a mechanical power system is indicated by a double line, a high-pressure hydraulic line is indicated by a thick solid line, a pilot line is indicated by a broken line, and an electric drive/control system is indicated by a thin solid line.

The hydraulic drive system of the excavator 100 according to this embodiment includes an engine 11 , a main pump 14 and a control valve 17 . As described above, the hydraulic drive system according to the present embodiment includes traveling hydraulic motors 1A and 1B for hydraulically driving the lower traveling body 1, upper revolving body 3, boom 4, arm 5, and bucket 6, respectively; Includes motor 21 , boom cylinder 7 , arm cylinder 8 and bucket cylinder 9 .

The engine 11 is a driving force source of the excavator 100 and is mounted on the rear portion of the upper revolving body 3, for example. The engine 11 is, for example, a diesel engine that uses light oil as fuel. A main pump 14 and a pilot pump 15 are connected to the output shaft of the engine 11 .

The main pump 14 is mounted, for example, on the rear part of the upper revolving body 3 and supplies hydraulic oil to the control valve 17 through the high-pressure hydraulic line 16 . The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and the regulator controls the angle (tilt angle) of the swash plate to adjust the stroke length of the piston and control the discharge flow rate (discharge pressure). be able to.

The control valve 17 is, for example, a hydraulic control device that is mounted at the center of the upper revolving body 3 and that controls the hydraulic drive system according to the operation of the operating device 26 by the operator. Traveling hydraulic motors 1A (for right) and 1B (for left), boom cylinder 7, arm cylinder 8, bucket cylinder 9, turning hydraulic motor 21, etc. are connected to control valve 17 via high-pressure hydraulic lines. The control valve 17 is provided between the main pump 14 and each hydraulic actuator, and includes a plurality of hydraulic control valves for controlling the flow rate and flow direction of hydraulic oil supplied from the main pump 14 to each hydraulic actuator. is a unit.

The operating system of the excavator 100 according to this embodiment includes a pilot pump 15, an operating device 26, a pressure sensor 29, and the like.

The pilot pump 15 is mounted, for example, on the rear portion of the upper swing body 3 and supplies pilot pressure to the mechanical brake 23 and the operation device 26 via the pilot line 25 . The pilot pump 15 is, for example, a fixed displacement hydraulic pump, and is driven by the engine 11 as described above.

The operating device 26 includes lever devices 26A, 26B and a pedal device 26C. The operation device 26 is provided near the cockpit of the cabin 10, and is an operation means for an operator to operate each operation element (lower traveling body 1, upper rotating body 3, boom 4, arm 5, bucket 6, etc.). In other words, the operating device 26 operates the hydraulic actuators (traveling hydraulic motors 1A, 1B, boom cylinder 7, arm cylinder 8, bucket cylinder 9, turning hydraulic motor 21) that drive each operating element. It is a means. The operating device 26 (lever devices 26A, 26B and pedal device 26C) is connected to the control valve 17 via a hydraulic line 27. As shown in FIG. As a result, a pilot signal (pilot pressure) is input to the control valve 17 according to the operation state of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, and the like in the operating device 26. Therefore, the control valve 17 can drive each hydraulic actuator according to the operating state of the operating device 26 . The operating device 26 is also connected to a pressure sensor 29 via a hydraulic line 28 .

The lever devices 26A and 26B are arranged on the left and right sides, respectively, when viewed from the operator seated in the cockpit in the cabin 10, and each operation lever is in a neutral state (a state in which there is no operation input by the operator). It is configured to be tiltable in the front-rear direction and the left-right direction. As a result, the upper revolving body 3 is prevented from tilting in the longitudinal direction and tilting in the lateral direction of the operating lever in the lever device 26A, and tilting in the longitudinal direction and tilting in the lateral direction of the operating lever in the lever device 26B. (swing hydraulic motor 21), boom 4 (boom cylinder 7), arm 5 (arm cylinder 8), and bucket 6 (bucket cylinder 9) can be arbitrarily set as an operation target.

The pedal device 26C operates on the lower traveling body 1 (traveling hydraulic motors 1A and 1B), and is arranged on the floor in front of the operator seated in the operator's seat in the cabin 10. It is constructed so that it can be stepped on by the operator.

The pressure sensor 29 is connected to the operating device 26 via the hydraulic line 28 as described above, and detects the pilot pressure on the secondary side of the operating device 26, that is, the pilot pressure corresponding to the operating state of each operating element in the operating device 26. to detect The pressure sensor 29 is connected to the controller 30, and a pressure signal (pressure detection value) according to the operation state of the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc. in the operating device 26 is sent to the controller. 30. Thereby, the controller 30 can grasp the operation states of the lower traveling body 1, the upper rotating body 3, and the attachment of the excavator.

A control system of the excavator 100 according to this embodiment includes a controller 30, a position sensor 31, an external server 34, an input unit 35, and the like.

The controller 30 is a main control device that controls the driving of the excavator 100 . Controller 30 may be implemented by any hardware, software, or combination thereof. The controller 30 is mainly composed of a microcomputer including, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an auxiliary storage device, an I/O (Input-Output interface), and the like. Various drive controls are realized by executing various programs stored in a ROM, an auxiliary storage device, or the like on the CPU.

In this embodiment, the controller 30 secures predetermined gaps df and dr between the upper rotating body 3 and the obstacle A when the upper rotating body 3 approaches the obstacle A around the excavator 100. The upper revolving body 3 is stopped. For example, when the upper rotating body 3 turns and approaches the obstacle A, the turning is stopped so as to secure predetermined gaps df and dr. More specifically, the controller 30 adjusts the swing range of the upper swing structure 3 so that the minimum gaps df and dr are created between the upper swing structure 3 and obstacles A around the excavator 100 (see FIG. 3). By setting, collision between the upper rotating body 3 and the obstacle A during the rotating operation is prevented.

The position sensor 31 is detection means for acquiring information about the current position of the excavator 100 . GPS (Global Positioning System), for example, can be applied to the position sensor 31 . GPS is a system in which radio waves transmitted from GPS satellites are received by a GPS receiver so that the receiver can know the current position of the receiver.

The various sensors 32 are known detecting means for detecting various states of the excavator 100 and various states around the excavator 100 . The various sensors 32 include the angle of the boom 4 with respect to the reference plane (boom angle) at the connection point between the upper rotating body 3 and the boom 4, the relative angle between the boom 4 and the arm 5 (arm angle), and An angle sensor may be included to detect the relative angle between arm 5 and bucket 6 (bucket angle). Further, the various sensors 32 may include a pressure sensor or the like that detects the hydraulic state in the hydraulic actuator, specifically, the pressure in the rod-side oil chamber and the bottom-side oil chamber of the hydraulic cylinder. Further, the various sensors 32 include sensors for detecting the operating states of the lower traveling body 1, the upper swing body 3, and the attachments, such as acceleration sensors, angular acceleration sensors, triaxial acceleration, and triaxial angular acceleration. An output-capable triaxial inertial sensor (IMU: Inertial Measurement Unit) or the like may be included. Further, the various sensors 32 may include a distance sensor, an image sensor, and the like that detect the relative positional relationship with the topography and obstacles around the shovel 100 .

The display device 33 is a device for displaying various kinds of information, and is, for example, a liquid crystal display installed in the cab of the excavator. The display device 33 displays various information according to control signals from the controller 30 . In the present embodiment, the display device 33 can inform the occupant of the turning range information of the upper turning body 3 when there is an obstacle A around.

The external server 34 is a server installed outside the excavator 100, such as an ICT server. The external server 34 outputs information to the excavator 100 through wireless communication or the like. In this embodiment, the external server 34 has a database, such as a map database, relating to the terrain and buildings in the work area of the excavator 100, and outputs obstacle information around the excavator 100. FIG.

The input unit 35 is an interface that receives operation input from an operator (passenger).

[Collision prevention control between upper revolving body 3 and obstacle A]
The controller 30 includes, for example, a turning center obtaining unit 301, an obstacle obtaining unit 302, and a turning range setting unit as functional units for realizing functions related to collision prevention control between the upper swing body 3 and the obstacle A. 303 and a turning control unit 304 .

The turning center acquisition unit 301 acquires position information of the turning center O of the upper turning body 3 . The turning center acquisition unit 301 can acquire, for example, the position information measured by the position sensor 31 as the position information of the turning center O. FIG. Note that the turning center acquisition unit 301 may acquire the position information of the turning center O using a technique other than the position sensor 31 . For example, the current position may be calculated by integrating the moving distance and moving direction from the reference position of the work area of the excavator 100 .

The obstacle acquisition unit 302 acquires obstacle information about an obstacle A around the excavator 100 . The obstacle information includes information such as the three-dimensional shape and position of the target obstacle A. The obstacle acquisition unit 302 can acquire obstacle information around the current position of the excavator 100 from, for example, a database of the external server 34 . Note that the obstacle acquisition unit 302 may measure the distance to the obstacle A using a laser finder or the like, or may acquire terrain information by a drone.

The turning range setting unit 303 sets the turning range of the upper turning body 3 based on the position information of the turning center O of the upper turning body 3 and the obstacle information about the obstacle A around the excavator 100 . The turning range setting unit 303 sets the turning range of the upper turning body 3 so as to secure the minimum gaps df and dr between the upper turning body 3 and the obstacle A when the upper turning body 3 turns. . Here, the clearance df represents the minimum clearance between the front end of the upper rotating body 3 and the obstacle A, and the clearance dr represents the minimum clearance between the rear end of the upper rotating body 3 and the obstacle A. represents the minimum clearance.

An example of a method for setting the turning range will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 is a diagram showing an example of a method for setting the turning range of the upper turning body according to this embodiment. In FIG. 3, an obstacle that is convex toward the shovel 100 side is illustrated as the obstacle A. As shown in FIG.

First, the turning radius R1 of the front end (two front corners) and the turning radius R2 of the rear end (two rear corners) of the upper turning body 3 are calculated. For example, from the position information of the turning center O acquired by the turning center acquiring unit 301, the model information of the excavator 100, and the like, the coordinates of the four ends of the upper rotating body 3 are calculated, and the coordinates of the calculated four ends are calculated. Turning radii R1 and R2 are obtained based on the coordinates. Alternatively, information on the turning radius predetermined for each model may be acquired, and the coordinates of the turning radii R1 and R2 may be calculated using the positional information of the turning center O.

The turning range setting unit 303 then compares the calculated coordinate data of the turning radii R1 and R2 of the upper turning body 3 with the information of the obstacle A acquired by the obstacle acquiring unit 302, and determines the minimum gap df. , dr. The turning range setting unit 303 grasps the positional relationship between the upper turning body 3 and the obstacle A, and when turning the front end of the upper turning body 3 to approach the obstacle A side (in the example of FIG. 3, counterclockwise), the turning position where the distance between the end position P1 and the obstacle A is the minimum gap df is defined as the contact limit L1 for preventing the front portion of the upper turning body 3 from contacting. Further, when the rear end of the upper swing body 3 is turned so as to approach the obstacle A side (clockwise in the example of FIG. 3), the distance between the end position P2 and the obstacle A becomes the minimum clearance dr. This turning position is defined as a contact limit L2 for preventing contact with the rear portion of the upper turning body 3 .

Then, an area on the side of the obstacle A divided by these contact limits L1 and L2 is set as a turn-impossible section X. As shown in FIG. As a result, the section excluding the section X that cannot be turned is set as the turning range of the upper turning body 3 .

FIG. 4 is a diagram showing another example of the method of setting the turning range of the upper turning body according to this embodiment. FIG. 4 exemplifies an obstacle A having a surface parallel to the traveling direction of the excavator 100 .

The turning range setting unit 303 first calculates a turning radius R1 at the front end of the upper turning body 3 and a turning radius R2 at the rear end. For example, from the position information of the turning center O acquired by the turning center acquiring unit 301, the model information of the excavator 100, and the like, the coordinates of the four ends of the upper rotating body 3 are calculated, and the coordinates of the calculated four ends are calculated. Turning radii R1 and R2 are obtained based on the coordinates. Alternatively, information on the turning radius predetermined for each model may be acquired, and the coordinates of the turning radii R1 and R2 may be calculated using the positional information of the turning center O.

The turning range setting unit 303 then compares the calculated coordinate data of the turning radii R1 and R2 of the upper turning body 3 with the information of the obstacle A acquired by the obstacle acquiring unit 302, and determines the minimum gap df. , dr. The turning range setting unit 303 grasps the positional relationship between the upper turning body 3 and the obstacle A, and when turning the front end of the upper turning body 3 to approach the obstacle A side (in the example of FIG. 4, counterclockwise), the turning position where the distance between the end position P1 and the obstacle A is the minimum gap df is defined as the contact limit L1 for preventing the front portion of the upper turning body 3 from contacting. Further, when the rear end portion of the upper swing body 3 is turned so as to approach the obstacle A side (clockwise in the example of FIG. 4), the distance between the end position P2 and the obstacle A becomes the minimum clearance dr. This turning position is defined as a contact limit L2 for preventing contact with the rear portion of the upper turning body 3 .

Then, an area on the side of the obstacle A divided by these contact limits L1 and L2 is set as a turn-impossible section X. As shown in FIG. As a result, the section excluding the section X that cannot be turned is set as the turning range of the upper turning body 3 .

3 and 4, when the obstacle A has a convex shape, the turning-impossible section X becomes smaller and the turning range of the upper turning body 3 becomes larger when the obstacle A has a convex shape than when it has a flat shape.

As shown in FIGS. 3 and 4, the turning range setting unit 303 may set a predetermined turning angle range from the turning prohibited section X as the speed limit sections V1 and V2. The speed limit section V1 is a range from the contact limit L1 to a predetermined angle on the side opposite to the obstacle A (clockwise direction in FIGS. 3 and 4). The speed limit section V2 is a range from the contact limit L2 to a predetermined angle on the side opposite to the obstacle A (counterclockwise direction in FIGS. 3 and 4).

The turning control section 304 controls the turning motion of the upper turning body 3 . When a turning range is set by the turning range setting unit 303, the turning control unit 304 controls the operation within this turning range. For example, when the turning operation input by the operating device 26 exceeds the turning range, the turning hydraulic motor 21 is stopped at the boundary of the turning range (that is, the contact limit L1 or L2), and the upper turning body 3 is moved. Stop the swivel motion. As a result, the upper rotating body 3 stops while ensuring the minimum gaps df and dr with respect to the obstacle A.

FIG. 5 is a diagram showing an example of a state in which the upper rotating body 3 is closest to the obstacle A and stopped. FIG. 5 illustrates a case where the front end of the upper rotating body 3 is swung so as to approach the obstacle A illustrated in FIG. 3 . As shown in FIG. 5, the upper revolving body 3 stops revolving so that the portion closest to the obstacle A (the front end in the example of FIG. 5) secures the minimum clearance df from the obstacle A. can be done.

Further, when the speed limit sections V1 and V2 are set by the turning range setting unit 303, the turning control unit 304 can limit the approach speed to the obstacle A in the speed limit sections V1 and V2. For example, when the speed limit sections V1 and V2 are entered, the swing hydraulic motor 21 is controlled to gradually lower the swing speed. can be restricted.

Further, when there is an obstacle A around the excavator 100 and the turning range setting unit 303 sets restrictions on the turning range of the upper turning body 3, the controller 30 outputs information about the obstacle A and , information on the turning range of the upper turning body 3 may be notified to the occupant.

FIG. 6 is a diagram showing an example of a technique for setting the turning range of the upper turning body when the obstacle A is a vehicle. In FIGS. 3 to 5, a wall such as a building is exemplified as the obstacle A, but the obstacle A also includes other objects. For example, as shown in FIG. 6, another vehicle such as a truck becomes an obstacle. In some cases. Thus, even when the obstacle A is a vehicle, the turning range of the upper turning body 3 can be set in the same manner as in the examples of FIGS. 3 to 5 by applying the method described with reference to FIGS.

Next, the effects of the excavator 100 according to this embodiment will be described. The excavator 100 of the present embodiment includes a lower traveling body 1, an upper revolving body 3 that is rotatably mounted on the lower traveling body 1, and an obstacle acquisition unit 302 that acquires obstacle information about obstacles around the excavator 100. , and when the upper rotating body 3 approaches the obstacle A, the upper rotating body 3 and the obstacle A are stopped by securing predetermined gaps df and dr. When the upper rotating body 3 and the obstacle A approach each other due to the turning of the upper rotating body 3, the turning is stopped so as to secure the predetermined gaps df and dr.

With this configuration, when the obstacle A is nearby and the worker must work around the excavator 100, collision between the obstacle A and the excavator 100 can be avoided, and the worker can avoid the obstacle A. and the shovel 100, safety can be improved. As a result, the worker can operate the excavator while continuing to work around the excavator, and the excavator 100 of the present embodiment can achieve both safety and workability.

The excavator 100 of this embodiment includes a lower traveling body 1, an upper revolving body 3 that is rotatably mounted on the lower traveling body 1, and a turning center acquisition unit 301 that acquires position information of a turning center O of the upper revolving body 3. , an obstacle acquisition unit 302 that acquires obstacle information about an obstacle A around the excavator 100, and based on the position information of the turning center O and the obstacle information of the obstacle A, when the upper rotating body 3 turns a turning range setting unit 303 for setting the turning range of the upper turning body 3 so as to secure minimum gaps df and dr between the upper turning body 3 and the obstacle A;

With this configuration, it is possible to rotate the upper rotating body 3 while securing the minimum gaps df and dr between the upper rotating body 3 and the obstacle A, and the collision between the upper rotating body 3 and the obstacle A becomes possible. can definitely be avoided. Also, if the gaps df and dr secured between the upper revolving body 3 and the obstacle A are set to a size sufficient for people and objects to fit therein, even if the upper revolving body 3 revolves up to the contact limits L1 and L2, the upper revolving body 3 will not move. A situation in which a person or an object is caught between the obstacle A and the obstacle A can be prevented. In addition, if sensors are used to cover all directions of the upper rotating body 3 for the purpose of preventing collision with the obstacle A, the configuration becomes complicated, such as the need for a plurality of sensors. The positional relationship between the upper revolving body 3 and the obstacle A can be calculated with high accuracy without installing a class. As a result, collision between the upper revolving body 3 and the obstacle A can be avoided with a simple configuration.

In addition, in the excavator 100 of the present embodiment, the turning range setting unit 303 is configured so that when the upper turning body 3 turns, the minimum gaps df and dr between the upper turning body 3 and the obstacle A cannot be ensured. A section X is set, and a predetermined turning angle range from the turning prohibited section X is set as speed limit sections V1 and V2. In other words, when the upper rotating body 3 approaches the obstacle A, the approach speed is limited in the section immediately before the upper rotating body 3 and the obstacle A reach the predetermined gaps df and dr.

With this configuration, when the upper rotating body 3 approaches the contact limit L1 or L2, it always passes through the speed limit section V1 or V2 and decelerates. You can definitely stop.

The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples by those skilled in the art are also included in the scope of the present disclosure as long as they have the features of the present disclosure. Each element included in each specific example described above and its arrangement, conditions, shape, etc. are not limited to those illustrated and can be changed as appropriate. As long as there is no technical contradiction, the combination of the elements included in the specific examples described above can be changed as appropriate.

In the above embodiments, an excavator was exemplified as an example of a construction machine. , a running body, or a work machine provided with a work attachment.

In the above embodiment, the minimum gaps df and dr between the upper rotating body 3 and the obstacle A are given fixed values. It is good also as a structure provided with an adjustment part. The adjustment section is provided in the input section 35, for example. The input unit 35 may constitute, for example, a part of the display device 33 or may be provided separately from the display device 33 . FIG. 7 shows an example of a display monitor in which the input section 35 and the display device 33 are combined. For example, as shown in FIG. 7, an arrow-shaped input section 35 may be provided on a part of the screen of the display device 33, and a level gauge 36 for the clearance setting value may be displayed on the screen. In this case, the level gauge 36 is increased or decreased, and the set values of the gaps df and dr are increased or decreased according to the operation input of increase or decrease by the input unit 35 .

Predetermined gaps df and dr between the upper rotating body 3 and the obstacle A can be set to 50 cm, 70 cm, 90 cm and 100 cm, for example. When an adjustment unit is provided, the setting value may be appropriately selected from among these multiple setting values.

In the above embodiment, as a case in which the upper revolving body 3 approaches the obstacle A, the revolving approach in which the upper revolving body 3 approaches the obstacle A due to the revolving of the upper revolving body 3 has been exemplified. can also be applied to other cases. For example, when the lower traveling body 1 travels and the upper revolving body 3 approaches the obstacle A, the traveling of the lower traveling body 1 may be stopped so as to secure the predetermined gaps df and dr. . Similarly, in the case of attachment approaching where the upper rotating body 3 and the obstacle A approach due to the operation of the attachment mounted on the upper rotating body 3, the attachment should be stopped so as to secure the predetermined gaps df and dr. good.

In the above-described embodiment, based on the position information of the turning center O of the upper turning body 3, the operation of the excavator 100 is stopped so as to secure the predetermined gaps df and dr. It is also possible to stop so that the gaps df and dr are ensured based on the position information of .

As a method of detecting an obstacle or obtaining the location and coordinates of an obstacle, a sensor for detecting the existence of an obstacle A or an object can be employed as the detection means provided in the revolving body 3 or attachment. . According to this configuration, communication for acquiring information about the obstacle A is not required, so safety can be improved even in remote areas where communication is inconvenient, such as deep in the mountains.

Further, as a condition for determining that a worker is working around the excavator 100, for example, a sensor is used to detect a worker (in other words, a person) provided on the revolving body 3 or the attachment. The controller 30 may determine that, etc. exist in the surroundings. According to this configuration, depending on whether a person exists or not, it is possible to select whether or not the control to secure the gaps df and dr between the obstacle A and the excavator 100 and stop the excavator 100 is executed or not. can do.

In addition, based on the outputs of unspecified sensors provided on the revolving body 3 and attachments, the controller 30 detects a three-dimensional object (an object having a predetermined height, etc.), and a three-dimensional object and a worker (person) are detected. may be distinguished. According to this configuration, in addition to the obstacle A, the worker can be detected so as to be distinguishable from the obstacle A.

Via the operator's input device (for example, an interface such as the input unit 35), for example, by setting a safety mode when workers are working in the surroundings, it is possible to stop through the predetermined gaps df and dr. This control may function and be deactivated via an input device as well. According to this configuration, since it is possible to determine whether or not to carry out the operation at the operator's will without depending on the apparatus for detecting people, the apparatus configuration can be simplified, and the predetermined gap between the obstacle A and the excavator 100 can be ensured. df and dr can be secured and stopped.

100 excavator (construction machine)
1 lower traveling body 3 upper rotating body 30 controller 301 turning center acquisition section 302 obstacle acquiring section 303 turning range setting section O turning center A obstacle df, dr minimum clearance between upper rotating body and obstacle X turning Impossible section V1, V2 Speed limit section

Claims (4)

construction machinery,
a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
an obstacle acquisition unit that acquires obstacle information relating to the position or shape of obstacles around the construction machine;
a controller that drives and controls the upper revolving body and the lower traveling body;
with
A first clearance of a first gap between a first portion of the outer shape of the upper rotating body and the obstacle when stopping the construction machine moving in a first direction that is a direction approaching the obstacle A second portion of the outer shape of the upper rotating body when stopping the construction machine moving in a second direction different from the first direction, which is a direction to approach the obstacle, and the obstacle. and a second size of a second gap between
The controller controls the first size of the first gap or the first size of the second gap when the upper swing body and the obstacle approach each other due to the swing of the upper swing body. configured to stop the rotation to ensure the magnitude of 2;
the first portion is a portion of the upper rotating body that is closest to the obstacle when the construction machine moves in the first direction;
the second portion is a portion of the upper rotating body that is closest to the obstacle when the construction machine moves in the second direction;
The controller moves in the first direction from a position where the first gap is larger than the first size based on the obstacle information and the information on the outer shape of the upper rotating body . or when the second gap moves in the second direction from a position larger than the second size to reach the second size . to stop the
construction machinery. An adjustment unit that can be adjusted by changing the first size of the first gap or the second size of the second gap,
The construction machine according to claim 1. based on the positional information of the center of rotation of the upper rotating body, the upper rotating body is stopped so that the first size of the first gap or the second size of the second gap is ensured;
The construction machine according to claim 1 or 2 . The controller determines that, when the upper rotating body approaches the obstacle, the distance between the upper rotating body and the obstacle is the first size of the first gap or the second gap. limiting approach velocity before reaching a second magnitude,
The construction machine according to any one of claims 1-3 .

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