KR20210129419A - Control System of Construction Equipment according to Slope of Road - Google Patents

Abstract

The present invention relates to construction equipment including a driving apparatus and a working apparatus and, more specifically, to construction equipment formed to control driving and work in accordance with various conditions such as an inclination angle of a slope and the like so as to prevent the construction equipment from overturning when moving into the slope while being driven. To achieve the purpose, in regard to the construction equipment including a boom and a bucket, when a measured road angle is no less than a set angle, a load in accordance with a heavy object loaded in the bucket is no less than a set load, and the boom is raised up to no less than horizontality, the operation of the boom is stopped and the driving is stopped, and, however, when the measured road angle is no less than the set angle, the load in accordance with the heavy object loaded in the bucket is no less than the set load, and the boom is dropped down to less than horizontality, the speed of the boom is reduced and the speed of driving is reduced.

Description

Control System of Construction Equipment according to Slope of Road

The present invention relates to construction equipment having a driving device and a working device, and in particular, according to various conditions such as the inclination angle of the slope, to prevent the risk of overturning that may occur when the construction equipment enters the slope while driving. It is configured to control driving and operation.

Construction equipment generally refers to machinery for construction and civil engineering, and each construction such as road, river, port, railway, plant, etc. has a mechanical structure and performance suitable for its characteristics. In other words, construction equipment can be divided into excavation equipment, loading equipment, transport equipment, unloading equipment, compaction equipment, foundation construction equipment, etc. due to the diversity of work performed at industrial sites,

Specifically, it includes many types of equipment such as bulldozers, excavators, wheel loaders, dump trucks, rollers, and the like.

Excavation is the most basic work performed in industrial sites. During industrial construction, various structures are installed by excavating the ground to a certain depth, or the work of burying pipes, etc. in the ground is mainly performed. In this case, an excavator is most used.

In addition to the excavator, the construction equipment has a front device including a boom and a bucket in front of the main body to load aggregates such as crushed rock and sand, or a wheel loader used for short-distance transport, and a forklift used to lift or transport heavy loads. can

The wheel loader can be divided into excavation work and lifting work according to working conditions. The double excavation operation refers to the operation of lifting the work piece while rolling back (the bucket rotates backward) through the operation of the bucket cylinder while the boom and bucket are placed flat on the ground. It refers to the operation of lifting the loaded workpiece upward.

Such construction equipment may be equipped with a camera on the front, side and/or rear of the construction equipment in order to prevent safety accidents.

Through cameras mounted on the front, side, and rear of the construction equipment, the driver understands the surrounding conditions of the construction equipment and prepares to prevent safety accidents.

However, there are also ambient conditions that are not easily recognized by the driver through such a camera, that is, image information.

One of them is the inclination angle of the road surface. The road surface inclination angle has a disadvantage in that it is difficult for the driver to easily recognize how much the road surface is tilted only with an image system that captures and outputs only a certain area.

In particular, in the case of construction equipment that has a heavy own weight and that transports or lifts the work weight away from it, the center of gravity is located high depending on the working conditions, so there is a problem that it is easily overturned depending on the working conditions even on a slope with a relatively small angle.

In particular, in the case of wheel loaders, the risk of overturning on a slope is relatively high compared to other construction equipment because the work load is heavy and heavy, and the mileage is long compared to other construction equipment.

Republic of Korea Patent Publication No. 10-2016-0117927 (2016.10.11.) Republic of Korea Patent Publication No. 10-2017-0129465 (2017.11.27.) Japanese Unexamined Patent Publication (Kokai) Hei 7-11674 ((1995.01.13.)

The present invention was invented to solve the problems of the prior art as described above, and is designed to prevent overturning by safely controlling the driving conditions of the driving device and the working conditions of the working device when entering a slope. An object of the present invention is to provide a control system for construction equipment according to the present invention.

The present invention for achieving the above object is a construction equipment having a boom and a bucket, when the measured road surface angle is greater than or equal to the set angle, the load according to the weight loaded in the bucket is greater than or equal to the set load, and the boom is raised above the horizontal , Stops the boom and stops driving, and if the measured road surface angle is over the set angle and the load according to the weight loaded in the bucket is over the set load and the boom goes down below the horizontal, the boom speed is lowered and the running speed is lowered. is a technical feature.

In addition, according to a preferred embodiment of the present invention, the road surface inclination sensor is located in the middle of the entire length of the construction equipment frame.

In addition, according to a preferred embodiment of the present invention, the road inclination sensor is a gyro sensor and is located on the side of the pivotally coupled part in the structure in which the front frame and the rear frame of the construction equipment are pivotally coupled.

In addition, according to a preferred embodiment of the present invention, the pressure sensor for detecting the load load of the heavy object loaded in the bucket senses the fluid pressure of the boom cylinder that operates the boom, but when the stroke of the boom cylinder is contracted, the Measure the pressure of the outflowing fluid.

In addition, according to a preferred embodiment of the present invention, the boom angle sensor is mounted on the frame of the construction equipment body, and the rod extending from the boom angle sensor is connected to the boom to measure the angle according to the turning of the boom.

In addition, according to a preferred embodiment of the present invention, the construction equipment is equipped with a transmission control unit (TCU), the road surface angle is greater than the set angle, the load according to the weight loaded in the bucket is greater than the set load, and the boom is If it rises above the horizontal level, the TCU changes the number of gear stages to neutral. If the measured road surface angle is above the set angle, the load according to the weight loaded in the bucket is above the set load, and the boom is below the level, the TCU shifts the gear. control at the bottom.

In addition, according to a preferred embodiment of the present invention, the construction equipment is equipped with an EPPR (Electronic Proportional Pressure Reducing) type brake, the measured road surface angle is equal to or greater than the set angle, and the load according to the weight loaded in the bucket is equal to or greater than the set load. If the boom is raised above the level, stop running.

As described above, the control system of the construction equipment according to the slope of the road according to the present invention controls the boom speed in case the construction equipment enters the slope, the risk of overturning depending on the working condition (loading load of heavy objects and boom angle) And through the driving control, there is an advantage that the overturning of the construction equipment can be prevented even when the driver is not aware of it.

1 is a flowchart showing a control system for construction equipment according to the present invention;
2 is a hydraulic circuit diagram showing a braking system of a construction equipment.
3 is a conceptual diagram illustrating a mounting relationship of a gyro sensor for detecting a road inclination;
Figure 4a is a conceptual diagram showing the boom cylinder of the wheel loader,
Figure 4b is a conceptual diagram showing a relationship of mounting a pressure sensor for measuring the load applied to the boom cylinder of the working device,
Figure 5 is a conceptual diagram showing the mounting relationship of the angle sensor for measuring the boom angle of the working device.

Hereinafter, a preferred embodiment of a control system for construction equipment according to a road surface slope according to the present invention will be described in detail with reference to the accompanying drawings.

In the drawings, FIG. 1 is a flowchart illustrating a control system for construction equipment according to the present invention, and FIG. 2 is a hydraulic circuit diagram illustrating a braking system for construction equipment. And Figure 3 is a conceptual diagram showing the mounting relationship of the gyro sensor for detecting the road inclination, Figure 4a is a conceptual diagram showing the boom cylinder of the wheel loader, Figure 4b is a pressure sensor for measuring the load applied to the boom cylinder of the working device It is a conceptual diagram showing the mounting relationship, Figure 5 is a conceptual diagram showing the mounting relationship of the angle sensor for measuring the boom angle of the working device.

The construction equipment according to the present invention corresponds to a bulldozer, an excavator, a wheel loader, a dump truck, a roller, and the like, and among them, the wheel loader is representatively described as construction equipment.

The wheel loader (100 in FIG. 4A) includes a road inclination sensor 120 for detecting the inclination angle of the road surface, a pressure sensor 130 for detecting the load of a heavy object contained in a bucket (101 in FIG. 4A), and a bucket 101. A boom angle sensor 140 that measures the angle of the boom (103 in FIG. 4A) supporting the It includes an EPPR (Electronic Proportional Pressure Reducing) valve 150 to control, and a control unit for controlling the operation of the boom cylinder (105 in FIG. 4), the control of the TCU and the EPPR valve 150 according to the electrical signal input from each sensor. includes

The wheel loader 100 configured as described above is controlled according to the flowchart shown in FIG. 1 .

Prior to the description of the flowchart shown in FIG. 1 , positions and sensing conditions of each sensor will be first described.

As shown in FIG. 3 , a gyro sensor, which is a road inclination sensor, is mounted on the rear frame 107 of the wheel loader 100 to detect inclination due to pitching of the wheel loader 100 . Here, the pitching inclination of the wheel loader 100 is equal to the inclination of the road surface of the driving wheel loader 100 .

The wheel loader 100 is configured such that the front frame and the rear frame 107 are pivotally connected to the rear frame 107 based on the front frame to yaw and rotate.

Therefore, in order to more accurately measure the inclination angle of the road surface, the road surface inclination sensor 120 must be installed in the middle of the entire length in which the front frame and the rear frame 107 are connected to more accurately measure the inclination angle of the road according to the inclination of the wheel loader 100 Measurable.

In the present invention, when the gyro sensor, which is the road inclination sensor 120, is mounted at the point where the front frame and the rear frame 107 are coupled to the pivot 108, it is shown in FIG. 3 as being mounted on the front end of the rear frame 107. However, a gyro sensor may be mounted at the rear end of the front frame.

This is because the purpose of measuring the inclination angle of the road surface can be sufficiently expressed when the road inclination sensor 120 is mounted in the middle of the entire length of the frame in which the front frame and the rear frame 107 are interconnected.

Meanwhile, as shown in FIGS. 4A and 4B , the pressure sensor 130 is a sensor for detecting how much weight is loaded in the bucket 101 of the wheel loader 100 .

As shown in FIG. 4A, the wheel loader 100 has a boom 103 hinged to the front of the body frame 102, and an end of the boom cylinder 105 is hinged to the body frame 102, and the boom cylinder ( The rod (105R) end of the 105 is hinged to the boom (103). And according to the expansion and contraction of the stroke of the boom cylinder 105, the boom 103 rotates based on the hinge coupling point coupled to the body frame 102 while moving the bucket 101 coupled to the end of the boom 103 in the vertical direction. .

Therefore, the higher the bucket 101 is positioned, the greater the load applied to the boom cylinder 105, and the greater the load applied to the boom cylinder 105 by the weight against which the weight of the bucket 101 is hostile.

In order to measure the load applied to the boom cylinder 105, a pressure sensor 130 is mounted on the boom cylinder 105 as shown in FIG. 4b to measure the pressure of the fluid flowing out when the stroke is contracted.

Here, it is also possible to measure the pressure of the fluid flowing into the boom cylinder 105 when the stroke is contracted, but for more accurate measurement, it is preferable to measure the pressure of the fluid flowing out when the stroke is contracted.

On the other hand, as shown in FIG. 5 to measure the angle of the boom 103, the boom angle sensor 140 is mounted on the body frame 102, and the rod 140R of the boom angle sensor 140 is connected to the boom 103. ) is connected to When the boom 103 turns in this state, the rod 140R also turns along the boom 103 and measures the inclination of the boom 103 .

Below, in the control system of construction equipment according to the road surface slope configured as described above, the road slope detection sensor 120, the pressure sensor 130, the boom angle sensor 140, the TCU and the EPPR valve 150 Control will be described with reference to FIG. 1 .

As shown in FIG. 1 , the control system is operated during normal operation of the wheel loader 100 working or traveling on the road surface.

Then, the road inclination sensor 120 mounted on the rear frame 107 of the wheel loader 100 detects the inclination of the rear frame 107 and determines whether the detected angle is equal to or greater than a set angle.

Here, the set angle may be different depending on the purpose and characteristics of the construction equipment. For example, in the case of the wheel loader 100, when the load is in a state in which a weight is accommodated in the bucket 101 and the boom 103 enters the ramp while maintaining the horizontal state, the uphill slope is less than 50 degrees and the downhill slope is 22 degrees. It is an angle that is set so that it can only be driven up to the bay.

In this way, when the road surface angle is formed more than the angle set in the wheel loader 100, the weight against the bucket 101 is checked. If the road surface angle is less than the set angle, the wheel loader 100 enters the slope and proceeds with continuous driving and work.

On the other hand, the pressure sensor 130 measures the pressure of the fluid flowing out from the boom cylinder 105 as a load by the weight loaded on the bucket 101 .

If the measured pressure of the boom cylinder 105 is smaller than the set pressure (for example, 100 bar), it means that the possibility of overturning with the heavy object loaded in the bucket 101 on the current road slope is low, so that continuous driving and work proceeds

On the other hand, when the measured pressure of the boom cylinder 105 is greater than or equal to the set pressure, the angle of the boom 103 is measured using the boom angle sensor 140 .

When the boom 103 is horizontal, the angle of the boom 103 is 0 degrees, and when the boom 103 is more than 0 degrees, the bucket 101 is horizontal or raised high, and when the boom 103 is less than 0 degrees It means the state in which the bucket 101 is lowered downward.

When the angle of the boom 103 is less than 0 degrees, even if the slope of the road surface is more than the set angle and the pressure of the boom 103 is more than the set pressure, the bucket 101 is located low, that is, the speed of the boom 103 is In order to lower the working speed of the working device and keep the running speed at a low speed, the number of gears is kept below 1 gear through the TCU. Here, the working speed is kept below 50% of the maximum working speed.

On the other hand, when the boom 103 is 0 degrees or more, the bucket 101 is raised higher than the horizontal, and since the angle of the boom 103 is less than 0 degrees, it is an unstable state, so the working speed of the boom 103 is lowered. 0, that is, the operation is stopped, and the EPPR valve 150 is controlled to control the brake to operate.

In the state where driving is stopped by controlling the brake, the gear is additionally maintained in neutral through the TCU.

As such, to keep the driving speed at a low speed, the current wheel loader is in an unsafe state where the wheel loader can overturn when the number of gears is maintained below 1 through the TCU or when driving is stopped. The current condition can be generated or displayed on a monitor in the cabin where the driver is located to induce the driver to drive safely.

100: wheel loader
101 : Bucket
102: body frame
103. : Boom
105: boom cylinder
105R : Rod
107: rear frame
108: pivot
120: road slope detection sensor
130: pressure sensor
140: boom angle sensor
150: EPPR (Electronic Proportional Pressure Reducing) valve

Claims (7)

As a construction equipment equipped with a boom and a bucket,
If the measured road surface angle is more than the set angle, the load according to the weight loaded in the bucket is more than the set load, and the boom is raised above the level, the boom stops and the driving is stopped,
When the measured road surface angle is more than the set angle, the load according to the weight loaded in the bucket is more than the set load, and the boom is below the horizontal, the speed of the boom is lowered and the running speed is lowered. control system.
According to claim 1,
The road slope detection sensor is a control system for construction equipment according to the road surface slope, characterized in that it is located in the middle of the entire length of the construction equipment frame.
3. The method of claim 2,
The road inclination sensor is a gyro sensor, and the control system of construction equipment according to road inclination, characterized in that it is located on the side of the pivotally coupled part in a structure in which the front frame and the rear frame of the construction equipment are pivotally coupled.
According to claim 1,
The pressure sensor for detecting the load load of the heavy object loaded in the bucket detects the fluid pressure of the boom cylinder that operates the boom, and measures the pressure of the fluid flowing out from the boom cylinder when the stroke of the boom cylinder is contracted. A control system for construction equipment according to the slope of the road.
According to claim 1,
The boom angle sensor is mounted on the frame of the construction equipment body, and a rod extending from the boom angle sensor is connected to the boom to measure the angle according to the turning of the boom.
According to claim 1,
Construction equipment is equipped with a Transmission Control Unit (TCU), and when the road surface angle is greater than the set angle, the load according to the weight loaded in the bucket is greater than the set load, and the boom is raised above the horizontal, the TCU determines the number of gear stages. change to neutral
Control of construction equipment according to road slope, characterized in that when the measured road surface angle is greater than the set angle, the load according to the weight loaded in the bucket is greater than the set load, and the boom is below the horizontal, the TCU controls the gear to the lower stage system.
According to claim 1,
Construction equipment is equipped with EPPR (Electronic Proportional Pressure Reducing) brakes, and when the measured road surface angle is greater than the set angle, the load according to the weight loaded in the bucket is more than the set load, and the boom is raised above the horizontal, driving stops Control system of construction equipment according to the road surface slope, characterized in that.

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