JP7278851B2 - Travel control device for construction machinery and construction machinery - Google Patents

Description

TECHNICAL FIELD The present invention relates to a travel control device for a construction machine and a construction machine.

Patent Document 1 discloses a vehicle travel control device. In this running control device, the immobilizer (controller) does not permit the engine to start unless the key ID (data) transmitted from the transponder of the key is authenticated. Also, if the key ID is not authenticated, the immobilizer does not unlock the shift lever (shift member) and maintains the shift lever in a state in which it is impossible to shift from the P range (parking range). Therefore, if the key ID is not authenticated, the transmission cannot be switched to the drivable state. If the key ID is not authenticated, the vehicle is effectively prevented from being stolen by not permitting the engine to be started and not permitting the transmission to be switched to a drivable state.

JP-A-10-194087

In a construction machine provided with a lower traveling body and an upper revolving body capable of turning with respect to the lower traveling body, the lower traveling body is provided with an engine and a transmission, and the upper revolving body is provided with a shift member. Then, data used for collation such as key ID is inputted in the upper revolving body. Even in such a construction machine (construction vehicle), when the input data such as the key ID is not authenticated, the starting of the engine is not permitted, and the switching of the transmission to a drivable state is also not permitted. Achieving control is required. That is, there is a demand for a construction machine to be equipped with a travel control device that effectively prevents theft of the construction machine. Moreover, in construction machines, it is required that the number of communication paths (communication lines) connecting between the upper rotating body and the lower traveling body is not increased.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to prevent theft of construction machinery without increasing the number of communication paths connecting between the upper revolving structure and the lower traveling structure. It is an object of the present invention to provide a travel control device that effectively prevents such accidents, and a construction machine equipped with the travel control device.

In order to achieve the above object, one aspect of the present invention is a travel control device provided in a construction machine capable of rotating an upper revolving body with respect to a lower travel body, wherein the upper revolving body is provided with an OFF state, A starter switch that can be switched between an ACCESSORY state, an ON state, and a START state, and an entry system controller that is provided on the upper swing structure and is supplied with electric power regardless of the state of the starter switch, an entry system controller capable of collating data input by the upper revolving structure regardless of the state of the starter switch ; and a first controller to which electric power is supplied only in the START state ; a second controller provided in the lower traveling body and to which electric power is supplied only in the ON state and the START state of the starter switch; connecting between the first controller and the second controller, and enabling serial communication between the first controller and the second controller only when the starter switch is in the ON state and the START state; and a serial communication path, wherein the first controller is configured at least based on the fact that the data input in the START state of the starter switch and at the upper rotating body has been authenticated by the entry system controller. to allow the starting of the engine of the lower traveling body, and transmit information regarding the operation of the transmission of the lower traveling body input by the shift member of the upper revolving body to the second controller through the serial communication path. based at least on the fact that the starter switch is in either the ON state or the START state, and that the data input at the upper swing structure has been authenticated by the entry system controller ; A command to switch the transmission to a run-ready state is permitted to be output to the second controller via the serial communication path.

According to the present invention, a travel control device that effectively prevents theft of construction machinery without increasing the number of communication paths connecting between an upper revolving structure and a lower travel structure, and a construction system equipped with the travel control device machine can be provided.

FIG. 1 is a schematic diagram showing a crane, which is an example of a construction machine provided with a travel control device according to a first embodiment. 2 is a block diagram showing an example of a control system in the crane of FIG. 1. FIG. FIG. 3 is a schematic diagram showing the circuit configuration of the portion formed in the upper revolving body in the control system of FIG. FIG. 4 is a flow chart showing processing performed by a controller (running controller) provided in the upper swing body in the control system of FIG.

Hereinafter, embodiments will be described with reference to the drawings.

(First embodiment)
FIG. 1 shows a crane 1 as an example of a construction machine (construction vehicle) provided with a travel control device 10 according to the first embodiment. As shown in FIG. 1 , the crane 1 includes a lower traveling structure 2 and an upper revolving structure 3 that is connected to the vertically upper side of the lower traveling structure 2 . The upper revolving body 3 can revolve with respect to the lower traveling body 2 about a revolving shaft that is parallel or substantially parallel to the vertical direction. Further, the lower traveling body 2 is provided with a pair of outriggers 5A at the front portion thereof and a pair of outriggers 5B at the rear portion thereof. During work with the crane 1, each of the outriggers 5A and 5B is grounded on the ground.

The upper swing structure 3 includes a swivel base 6 , an operator's cab 7 and a boom 8 . The swivel base 6 , cab 7 and boom 8 swivel together with respect to the undercarriage 2 . In the driver's cab 7, the operator operates the crane 1 and the like. The boom 8 can be raised and lowered with respect to the swivel base 6, and the rear end of the boom 8 is connected to the swivel base 6. FIG. As shown in FIGS. 1 and 2, the crane 1 is equipped with a travel control device 10 . The traveling control device 10 includes a controller (first controller) 11 provided on the upper swing body 3 , a controller (second controller) 12 provided on the lower traveling body 2 , and controllers (travel controllers) 11 and 12 . and a serial communication path (serial communication line) 13 for connecting the . Each of controllers 11 and 12 includes a processor and a storage medium. The processor is an integrated circuit or circuitry including a CPU (Central Processing Unit), ASIC (Application specific integrated circuit), FPGA (Field Programmable Gate Array), or the like. Only one processor may be provided, or a plurality of processors may be provided. Processing by the processor is performed according to a program stored in the processor or a storage medium. The storage medium also stores a processing program used by the processor, parameters, functions, tables, and the like used in calculations by the processor.

Serial communication such as CAN (Controller Area Network) communication is performed between the controllers 11 and 12 via a serial communication path 13 . Information and commands are transmitted between the controllers 11 and 12 by serial communication. In addition, in the crane 1, a rotary brush 15 is arranged as a rotating connector at the connecting portion between the upper rotating body 3 and the lower traveling body 2. As shown in FIG. The serial communication path 13 has a portion 13A extending from the upper revolving body 3 and a portion 13B extending from the lower traveling body 2 . In the serial communication path 13, the portions 13A and 13B are electrically connected by a rotary brush 15. FIG. When CAN communication is performed between the controllers 11 and 12, three paths, ie, two high and low communication paths and one shield path, are formed as the serial communication path 13 between the controllers 11 and 12. be done.

FIG. 3 shows the circuit configuration of the portion formed in the upper revolving body 3 in the control system of FIG. As shown in FIGS. 2 and 3 , a shift switch 17 as a shift member is installed in, for example, the driver's cab 7 of the upper swing structure 3 , and a transmission 18 is provided in the lower traveling structure 2 . The shift switch 17 can shift from the N state (neutral state) to a state other than the N state, such as the D state (drive state) and the R state (reverse state), in response to the operator's operation or the like. The shift switch 17 is operated by the operator to operate the transmission 18 . Information regarding the operation of the shift switch 17 is transmitted to the controller 11 by serial communication such as CAN communication.

The controller (first controller) 11 can transmit information about the operation of the transmission 18 that is input by the shift switch 17 to the controller (second controller) 12 via the serial communication path 13 . The controller 12 then controls the operation of the transmission 18 based on the information transmitted from the controller 11 . For example, when the operator switches the shift switch 17 from the N state to a state other than the N state, an operation is input to the shift switch 17 to switch the transmission 18 to a state in which the vehicle can travel. In this case, the controller 11 outputs to the controller 12 via the serial communication path 13 a command to switch the transmission 18 to a state in which it is possible to run, based on the satisfaction of a predetermined condition, which will be described later. Then, the controller 12 switches the transmission 18 to a state in which the vehicle can run based on the command transmitted by serial communication.

Note that in one example, transmission 18 is provided with one or more solenoids (not shown). The controller 12 controls the supply of electric power to each of the solenoids based on information and instructions from the controller 11, thereby changing the operating state of the transmission 18 between a state in which it is possible to travel and a state in which it is not possible to travel. switch.

Information other than the information regarding the operation of the transmission 18 is also transmitted between the controllers 11 and 12 by serial communication via the serial communication path 13 . For example, in the undercarriage 2, a speed sensor (not shown) is attached to the transmission 18 and the like. The speed sensor detects the travel speed of the crane 1 during travel or the like. The controller 12 of the undercarriage 2 acquires information about the travel speed of the crane 1 detected by the speed sensor. The controller 12 then transmits information about the travel speed of the crane 1 to the controller 11 of the upper swing structure 3 via the serial communication path 13 . Then, the controller 11 displays the travel speed of the crane 1 on a cluster meter or the like in the cab 7 based on the information transmitted from the controller 12 by serial communication.

Further, in the operator's cab 7 of the crane 1, operation switches (not shown) for inputting operations related to the respective operations of the outriggers 5A and 5B are installed as operation members. The controller 11 transmits to the controller 12 via the serial communication path 13 information regarding the operation of the operating member, that is, information regarding the actuation of each of the outriggers 5A and 5B. Controller 12 controls the operation of each of outriggers 5A and 5B based on information transmitted from controller 11 by serial communication.

In addition, a starter switch 21 is installed in, for example, the driver's cab 7 of the upper rotating body 3 . Starter switch 21 is connected to rotary brush 15 via electrical path 22 (see FIG. 3). Electric power is supplied to the starter switch 21 through an electric path 22 from a power supply 23 (see FIG. 3) provided in the lower traveling body 2 (arrow B1 in FIG. 3).

The starter switch 21 can be switched between an OFF state, an ACCESSORY state, an ON state, and a START state in response to the operator's operation. Further, in the crane 1 , a battery relay 25 is provided in the undercarriage 2 , and the starter switch 21 is connected to the battery relay 25 through a signal path 26 . The signal path 26 has a portion 26A extending from the upper rotating body 3 and a portion 26B extending from the lower traveling body 2 . In signal path 26, portions 26A and 26B are electrically connected by rotary brush 15, which is a rotary connector.

By switching the starter switch 21 between the ON state and the START state, an electrical signal is input from the starter switch 21 to the battery relay 25 via the signal path 26 (arrow B2 in FIG. 3). As a result, the battery relay 25 is energized, and the battery relay 25 is switched to a state in which power is supplied from the power source (battery) 23 to the controllers 11 and 12 and the shift switch 17 . Therefore, in one example such as FIGS. 2 and 3, power is supplied to each of the controllers 11 and 12 only when the starter switch 21 is in either the ON state or the START state. When the starter switch 21 is in either the OFF state or the ACCESSORY state, power is not supplied to the controllers 11 and 12, respectively.

Since power is supplied to each of the controllers 11 and 12 as described above, serial communication between the controllers 11 and 12 is possible only when the starter switch 21 is in either the ON state or the START state. That is, when the starter switch 21 is in either the OFF state or the ACCESSORY state, the controllers 11 and 12 are not activated and communication between the controllers 11 and 12 is disabled. Although FIG. 3 shows the configuration of the portion of the control system formed in the upper rotating body 3, for convenience of explanation, the power source 23 and the battery relay 25 provided in the lower traveling body 2 are also shown.

Further, a tag reader 27 is provided in the operator's cab 7 of the upper revolving body 3 of the crane 1, for example. In addition, the upper rotating body 3 is provided with a controller (entry system controller) 28 that is separate from the controller 11 . The tag reader 27 reads an ID code stored in a storage medium such as a tag (not shown). In this embodiment, the ID code read by the tag reader 27 is the data input to the upper rotating body 3 . Controller 28, like controllers 11 and 12, includes a processor and a storage medium. A processor is an integrated circuit or circuit configuration that includes a CPU, an ASIC, an FPGA, or the like. The controller 28 collates the ID code read by the tag reader 27 . That is, the controller 28 collates the data input in the upper swing body 3 .

Power is supplied to the tag reader 27 and the controller 28 from the power source 23 regardless of whether the starter switch 21 is in the ON state, START state, OFF state or ACCESSORY state. Therefore, regardless of whether the battery relay 25 is energized or not, the controller 28 can verify the ID code read by the tag reader 27 .

A shift relay 31 is provided on the upper swing body 3 . Shift relay 31 is connected to controller 28 via signal path 32 and to controller 11 via signal path 33 . The shift relay 31 has a coil 35 and a switch 36, and the switch 36 has contacts A1, A2 and A3. When the coil 35 is not energized, the shift relay 31 is not energized. When the shift relay 31 is not energized, the switch 36 connects the contact A1 to the contact A2 and the contact A3 to neither the contacts A1 nor A2.

If the controller 28 successfully matches the ID code, that is, if the ID code read by the tag reader 27 is authenticated, the controller 28 outputs an electric signal to the shift relay 31 via the signal path 32 (see FIG. 3 arrow B3). As a result, a current flows through the coil 35 and the shift relay 31 is excited. By energizing the shift relay 31, the contact A1 is connected to the contact A3 in the switch 36, and the contact A2 is not connected to either of the contacts A1 and A3. By connecting the contact A1 to the contact A3, an electrical signal is input from the shift relay 31 to the controller 11 via the signal path 33 (arrow B4 in FIG. 3).

In addition, a neutral relay 40 is provided on the upper swing body 3 . Neutral relay 40 is connected to controller 11 via signal path 41 and to controller 28 via signal path 42 . Neutral relay 40 is also connected to starter switch 21 via signal path 43 . The undercarriage 2 is provided with an engine 45 , a starter motor 46 and an engine controller (ECU: Engine Control Unit) 47 . The engine controller 47, like the controllers 11, 12, 28, has a processor and a storage medium. A processor is an integrated circuit or circuit configuration that includes a CPU, an ASIC, an FPGA, or the like. The engine controller 47 controls driving of the starter motor 46 and the engine 45 .

Neutral relay 40 is connected to engine controller 47 via signal path 48 . Further, the signal path 48 has a portion 48A extending from the upper revolving body 3 and a portion 48B extending from the lower traveling body 2 . In signal path 48, portions 48A and 48B are electrically connected by rotary brush 15, which is a rotary connector. The neutral relay 40 comprises a coil 44 and a switch 49, the switch 49 having contacts A4, A5 and A6. With no current flowing through the coil 44, the neutral relay 40 is not energized. With neutral relay 40 not energized, switch 49 connects contact A4 to contact A5 and contact A6 to neither contact A4 nor A5.

Here, as described above, when an electric signal is input from the shift relay 31 to the controller 28 via the signal path 33 (arrow B4 in FIG. 3), the controller 11 determines whether the shift switch 17 is in the N state. determine whether Then, when the shift switch 17 is in the N state, the controller 11 outputs an electrical signal to the neutral relay 40 via the signal path 41 (arrow B5 in FIG. 3). As a result, a current flows through the coil 44 and the neutral relay 40 is excited. When current flows through the coil 44, a sink current is output as an electrical signal from the neutral relay 40 to the controller 28 via the signal path 42 (arrow B6 in FIG. 3). When the neutral relay 40 is energized, the contact A4 is connected to the contact A6 in the switch 49, and the contact A5 is not connected to either of the contacts A4 and A6.

When the neutral relay 40 is energized and the contact A4 of the switch 49 is connected to the contact A6 of the switch 49, the starter switch 21 is switched to the START state. An electric signal is input to (arrow B7 in FIG. 3). The engine controller 47 operates the starter motor 46 and starts the engine 45 based on the electric signal input from the starter switch 21 .

2 and 3, the ID code read by the tag reader 27 is authenticated by the controller 28, and the shift switch 17 is in the N state. 40 is excited to make the engine 45 ready to start. That is, the controller (first controller) 11 permits starting of the engine 45 at least based on the authentication of the read ID code.

Further, when an electric signal is input from the shift relay 31 to the controller 11 through the signal path 33 by authentication of the ID code, the controller 11 switches the shift switch 17 from the N state to a state other than the N state such as the D state. determine whether or not the When the shift switch 17 is switched to a state other than the N state, the controller 11 outputs to the controller 12 via the serial communication path 13 a command to switch the transmission 18 to a state in which the vehicle can travel ( Arrow B8 in FIG. 3). Then, the controller 12 switches the transmission 18 to a state in which the vehicle can run based on the command transmitted by serial communication. If the controller 28 does not verify the ID code and the electric signal is not input from the shift relay 31 to the controller 11, the controller 11 can run even if the shift switch 17 is switched to a state other than the N state. A command to switch the transmission 18 to the normal state is not output to the controller 12. For this reason, the transmission 18 cannot be switched to a state in which the vehicle can run.

2 and 3, after the ID code read by the tag reader 27 is authenticated by the controller 28, the shift switch 17 is switched from the N state to a state other than the N state. Based on this, the controller 11 outputs to the controller 12 a command to switch the transmission 18 to a state in which the vehicle can run. Therefore, the controller (first controller) 11 issues a command to switch the transmission 18 to a state in which it is possible to run, at least based on the authentication of the read ID code, via the serial communication path 13. second controller) 12.

FIG. 4 shows the processing performed by the controller (first controller) 11 of the upper rotating body 3 in one example of FIGS. The process shown in FIG. 4 is performed when the starter switch 21 is in either the ON state or the START state and power is supplied to the controllers 11 and 12, respectively. As shown in FIG. 4, the controller 11 determines whether or not the read ID code has been authenticated, that is, whether or not ID code matching has been established (S101). In the example of FIGS. 2 and 3, the controller 11 determines whether the ID code has been authenticated based on whether an electric signal has been input from the shift relay 31 to the controller 11 .

If the ID code is not authenticated (S101-NO), the controller 11 disallows starting of the engine 45 (S102), and outputs a command to the controller 12 to switch the transmission 18 to a state in which the vehicle can run. is not permitted (S103). When the start of the engine 45 is not permitted, the engine 45 is not started even if the starter switch 21 is switched to the START state. Further, when the output of the command to the controller 12 is not permitted, even if the shift switch 17 is switched from the N state to a state other than the N state, the command to switch the transmission 18 to the travelable state is transmitted to the controller 12. Therefore, the transmission 18 cannot be switched to a state in which the vehicle can travel.

If the ID code is authenticated (S101-YES), the controller 11 permits the output of a command to the controller 12 to switch the transmission 18 to a drivable state (S104). When the command output to the controller 12 is permitted, the shift switch 17 is switched from the N state to a state other than the N state, thereby transmitting a command to the controller 12 to switch the transmission 18 to a state in which the vehicle can run. Then, the controller 12 switches the transmission 18 to a state in which the vehicle can run based on the transmitted command.

If the ID code is authenticated (S101-YES), the controller 11 determines whether the shift switch 17 is in the N state (S105). If the shift switch 17 is in the N state (S105-YES), the controller 11 permits starting of the engine 45 (S106). In one example of FIGS. 2 and 3 , controller 11 enables engine 45 to start by energizing neutral relay 40 . When the start of the engine 45 is permitted, the engine 45 is started by switching the starter switch 21 to the START state. If the shift switch 17 is not in the N state in S105 (S105-NO), that is, if the shift switch 17 is in a state other than the N state, the controller 11 disallows starting the engine 45 (S107).

In addition, in one example such as FIG. 2 , one or more cameras 52 are provided in the lower traveling body 2 . A controller (third controller) 51 is provided on the lower traveling body 2 separately from the controller 12 . In addition, a controller (fourth controller) 53 is provided in the upper swing body 3 separately from the controllers 11 and 28 . Each of the controllers (image controllers) 51 and 53, like the controllers 11, 12 and 28, includes a processor and a storage medium. A processor (image processor) is an integrated circuit or circuit configuration including a CPU, ASIC, FPGA, or the like. Controller 51 acquires images captured by one or more cameras 52 . Then, the controller 51 generates image data by performing image processing based on the acquired photographed image. In one example, the controller 51 uses image processing to generate a bird's-eye view image of the undercarriage 2 (crane 1) and its surroundings viewed vertically from above.

Controllers (image controllers) 51 and 53 are connected via a signal path 56 . The signal path 56 has a portion 56A extending from the upper revolving body 3 and a portion 56B extending from the lower traveling body 2 . In signal path 56, portions 56A and 56B are electrically connected by rotary brush 15, which is a rotary connector. Controller 51 transmits information regarding the generated image data to controller 53 via signal path 56 . A monitor 55 is provided as a display device in, for example, the driver's cab 7 of the upper swing body 3 . The controller 53 displays the image data transmitted from the controller 51 on the monitor 55 .

In this embodiment, the controller 11 permits the start of the engine 45 to allow the vehicle to travel, at least based on the fact that the ID code read by the tag reader 27, which is the data input by the upper rotating body 3, is authenticated. output to the controller 12 of a command to switch the transmission 18 to . Therefore, unless the read ID code is authenticated, starting of the engine 45 is not permitted, and switching of the transmission 18 to the state in which the vehicle can run is not permitted. Therefore, even if the engine 45 is illegally started, the transmission 18 cannot be switched to a state in which the vehicle can run unless the ID code is authenticated. This effectively prevents the crane 1, which is a construction machine (construction vehicle), from being stolen.

Further, in a construction machine (construction vehicle) such as the crane 1, as described above, information related to the travel speed of the crane 1 is transmitted from the controller 12 of the lower traveling structure 2 to the controller 11 of the upper rotating structure 3 via the serial communication path 13. transmitted through Information about the operation of each of the outriggers 5A and 5B is transmitted from the controller 11 of the upper rotating body 3 to the controller 12 of the lower traveling body 2 via the serial communication path 13. FIG. In the crane 1 according to the present embodiment, information regarding the operation of the transmission 18, such as a command to switch the transmission 18 to a travelable state, is also transmitted from the controller 11 to the controller 12 via the serial communication path 13. . Therefore, it is not necessary to separately provide a communication path for transmitting information regarding the operation of the transmission 18 in addition to the communication path for transmitting information regarding the running speed. As a result, in the crane 1, the number of communication paths (signal paths) connecting between the upper rotating body 3 and the lower traveling body 2 does not increase.

For example, in one example, such as FIG. 3, the shift switch 17 can be shifted to six states including an N state, a D state and an R state. In such a configuration, if a transmission path for information relating to the operation of the transmission 18 is provided separately from the serial communication path 13, it is necessary to newly add at least six transmission paths (communication paths). In this embodiment, since information about the operation of the transmission 18 is transmitted from the controller 11 to the controller 12 via the serial communication path 13, a transmission path for information about the operation of the transmission 18 is provided separately from the serial communication path 13. Six or more transmission paths are reduced compared to the case.

In addition, by reducing the number of communication paths connecting between the upper rotating body 3 and the lower traveling body 2, it is possible to reduce the number of ports in the rotary brush 15, which is a rotary connector. As a result, the size of the rotary brush 15 in the height direction of the crane 1 can be reduced, and the miniaturization of the rotary brush 15 can be realized. By miniaturizing the rotary brush 15, the center of gravity of the upper swing body 3 in the crane 1 is lowered. This improves the stability of the crane 1 and improves the safety during work.

Further, in the present embodiment, information regarding the operation of the shift switch 17, which is a shift member, is transmitted to the controller 11 by serial communication. The controller 11 then transmits information regarding the operation of the transmission 18 corresponding to the operation of the shift switch 17 to the controller 12 . In the configuration in which the information regarding the operation of the transmission 18 is transmitted as described above, instead of the shift switch 17, a shift lever, a shift dial, or the like can also be used as a shift member. For this reason, there are many options for the type of shift member to be used.

Further, in this embodiment, in addition to the information on the running speed and the information on the operation of each of the outriggers 5A and 5B, the information on the operation of the transmission 18 is transmitted between the controllers 11 and 12 by serial communication. transmitted. Therefore, in addition to the information about the running speed and the like, the information about the operation of the transmission 18 can also be centrally managed by the cruise control device 10 having the controllers 11 and 12 . As a result, a large amount of information is centrally managed by the travel control device 10, thereby improving maintainability of the control system of the crane 1. FIG.

Further, in the present embodiment, as described above, there is no need to separately provide a communication path for transmitting information regarding the operation of the transmission 18 in addition to the serial communication path 13 . Therefore, even if a signal path (communication path) 56 for transmitting information about image data from the controller 51 to the controller 53 is provided, the communication path (signal path) connecting between the upper rotating body 3 and the lower traveling body 2, etc. is not increased, and the rotary brush 15 is not enlarged. Therefore, it becomes possible to add a function of displaying on the monitor 55 a bird's-eye view image of the undercarriage 2 (crane 1) and its surroundings viewed from the vertical upper side, without enlarging the rotary brush 15 . In particular, a function of displaying a bird's-eye view image of the undercarriage 2 and its surroundings on the monitor 55 in the driver's cab 7 is required from the viewpoint of improving safety.

(Modification)
In the above-described embodiment, the ID code (data input by the upper rotating body 3) is collated by the controller 28, but the present invention is not limited to this. In a modification, the controller 28 is not provided in the upper rotating body 3 and the controller 11 verifies the ID code read by the tag reader 27 . Also in this modified example, the controller 11 permits starting of the engine 45 at least based on authentication of the ID code. In addition, the controller 11 permits the output of a command to switch the transmission 18 to a state in which the vehicle can run to the controller 12 via the serial communication path 13 at least based on the success of the ID code collation.

In the above-described embodiment, the ID code read by the tag reader 27 is input to the upper rotating body 3 as data used for verification, but the present invention is not limited to this. In one modification, a barcode read by a barcode reader or the like is input in the upper rotating body 3 as data used for verification. In another variation, the key ID transmitted from the transponder of the key is used for verification. In another modification, an operating device such as a touch panel is provided inside the driver's cab 7 or the like, and data input by the operator through the operating device is used for verification.

Further, the traveling control device 10 having the controllers 11 and 12 and the serial communication path 13 can be mounted on construction machines other than the crane 1 . Also in this case, the construction machine has a lower running body and an upper rotating body. A controller 11 and a shift member are provided on the upper revolving structure, and a controller 12, an engine and a transmission are provided on the lower traveling structure. Then, processing by the controllers 11, 12 and the like is performed in the same manner as in the above-described embodiments and the like. Construction machines other than the crane 1 include, for example, power shovels.

In the above-described embodiments and the like, the serial communication path connects between the first controller of the upper rotating body and the second controller of the lower traveling body. The first controller permits starting of the engine of the undercarriage, at least based on the data input at the upper revolving body being authenticated, and shifts the gear of the undercarriage input at the shift member of the upper revolving body. Information regarding the operation of the machine can be transmitted to the second controller via the serial communication path. The first controller also sends a command to the second controller via the serial communication path to switch the transmission to a drivable state at least based on the data input at the upper rotating body being authenticated. to allow the output of As a result, it is possible to provide a traveling control device that effectively prevents the construction machine from being stolen without increasing the number of communication paths connecting between the upper rotating body and the lower traveling body.

It should be noted that the present invention is not limited to the above-described embodiments, and can be variously modified in the implementation stage without departing from the gist of the invention. Moreover, each embodiment may be implemented in combination as much as possible, and in that case, the combined effect can be obtained. Furthermore, the above-described embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements.

DESCRIPTION OF SYMBOLS 1... Crane 2... Lower traveling body 3... Upper rotating body 10... Travel control device 11, 12... Controller (travel controller) 13... Serial communication path 15... Rotary brush 17... Shift switch 18... Transmission 27 Tag reader 45 Engine 47 Engine controller (ECU) 51, 53 Controller (image controller) 52 Camera 55 Monitor 56 Signal path.

Claims (4)

A travel control device provided in a construction machine capable of rotating an upper rotating body with respect to a lower traveling body,
a starter switch provided on the upper revolving structure and capable of switching between an OFF state, an ACCESSORY state, an ON state and a START state;
An entry system controller provided on the upper swing structure to which power is supplied regardless of the state of the starter switch, wherein data input at the upper swing structure is provided regardless of the state of the starter switch. an entry system controller capable of matching the

a first controller provided separately from the entry system controller in the upper rotating body and supplied with electric power only when the starter switch is in the ON state and the START state ;
a second controller provided in the undercarriage and supplied with electric power only when the starter switch is in the ON state and the START state ;
The first controller and the second controller are connected, and serial communication is possible between the first controller and the second controller only in the ON state and the START state of the starter switch. a serial communication path to
and
The first controller is
permitting starting of the engine of the undercarriage in the START state of the starter switch and at least based on the fact that the data input by the upper swing structure is authenticated by the entry system controller ;
information about the operation of the transmission of the lower traveling body input by the shift member of the upper rotating body can be transmitted to the second controller via the serial communication path;
At least based on the fact that the starter switch is in either the ON state or the START state, and that the data input by the upper swing structure is authenticated by the entry system controller , the vehicle is brought into a travelable state. permitting the output of a transmission switching command to the second controller via the serial communication path;
Travel control device for construction machinery. The serial communication path is arranged in a connecting portion between the upper revolving body and the lower traveling body, and electrically connects the part extending to the upper revolving body and the part extending to the lower traveling body in the serial communication path. 2. The cruise control system of claim 1, further comprising a connecting rotary connector. A travel control device according to claim 1 or 2;
the undercarriage comprising the engine and the transmission;
the upper rotating body having the shift member and capable of rotating with respect to the lower traveling body;
construction equipment. The undercarriage comprises a camera and a third controller that generates image data based on the image taken by the camera,
the upper rotating body comprises a fourth controller;
The construction machine further comprises a signal path connecting between the third controller and the fourth controller,
the third controller transmits information about the generated image data to the fourth controller via the signal path;
The construction machine of Claim 3.

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