US20220178113A1 - Construction equipment - Google Patents

Construction equipment Download PDF

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Publication number
US20220178113A1
US20220178113A1 US17/601,167 US201917601167A US2022178113A1 US 20220178113 A1 US20220178113 A1 US 20220178113A1 US 201917601167 A US201917601167 A US 201917601167A US 2022178113 A1 US2022178113 A1 US 2022178113A1
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United States
Prior art keywords
bucket
work
speed
construction equipment
work area
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Pending
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US17/601,167
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English (en)
Inventor
Dongsoo Kim
Miok Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Construction Equipment AB
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Volvo Construction Equipment AB
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Publication date
Application filed by Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Assigned to VOLVO CONSTRUCTION EQUIPMENT AB reassignment VOLVO CONSTRUCTION EQUIPMENT AB ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KIM, DONGSOO, KIM, MIOK
Publication of US20220178113A1 publication Critical patent/US20220178113A1/en
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function

Definitions

  • the present invention relates to a construction equipment. More specifically, the present invention relates to a construction equipment having a work area limit function capable of improving work speed and work efficiency by controlling the speed of the bucket in consideration of the distance from the bucket end to the work area in the direction in which the bucket end moves (the speed direction of the bucket end).
  • an excavator is a construction equipment performing various tasks such as digging for digging up the ground at construction sites, etc., loading for carrying soil, excavating for making a foundation, crushing for dismantling buildings, grading for cleaning the ground, and leveling for leveling the ground.
  • a construction equipment 1 such as an excavator comprises a lower traveling body 2 , an upper swing body 3 rotatably supported on the lower traveling body 2 , and a work device 4 installed to operate vertically on the upper swing body 3 .
  • the work device 4 is formed of multi-joints, and comprises a boom 4 a which has a rear end thereof rotatably supported on the upper swing body 3 , an arm 4 b which has a rear end thereof rotatably supported on a tip of the boom 4 a , and a bucket 4 c rotatably installed on the tip side of the arm 4 b .
  • hydraulic oil is provided as the user operates the lever, and a boom cylinder 5 (working actuator), an arm cylinder 6 (working actuator), and a bucket cylinder 7 (working actuator) operate the boom 4 a , arm 4 b , and bucket 4 c , respectively.
  • Such construction equipment 1 operates a work device 4 such as a boom 4 a , an arm 4 b , a bucket 4 c , etc. by its respective manual operation lever.
  • a work device 4 such as a boom 4 a , an arm 4 b , a bucket 4 c , etc. by its respective manual operation lever.
  • the work device 4 since the work device 4 carries out a rotational movement by being connected to each joint part, it requires considerable effort for the driver to operate each work device 4 separately and work in a predetermined area.
  • Japanese Patent No. Heil-94735 discloses an apparatus for controlling work area of an excavator.
  • the apparatus for controlling work area of an excavator controls the movement of the bucket along the distance between the bucket end and the border line of a non-intrusive area. Therefore, even if the driver accidentally moves the bucket end to the non-intrusive area, the bucket will automatically stop at the border line of the non-intrusive area. Also, the driver may realize that the work device is approaching the non-intrusive area from the fact that the speed of the work device is decreasing during work, and send back the tip of the bucket.
  • FIG. 2 illustrates situations (a) to (c) in which the posture of the bucket 13 c is different, but the distance between the bucket end P 1 and the work area is the same in a situation in which a driver sets a work area and then removes the work material piled up in the work area.
  • the speed of the bucket 13 c is limited only by the shortest distance d between the bucket end P 1 and the work area. Even when the shortest distance d between the bucket end P 1 and the work area is the same, there may be many cases where the bucket 13 c does not invade the work area or has extra time to invade the work area depending on the posture of the bucket 13 c . Even in such cases, according to prior art, the speed of the bucket 13 c is limited all the same.
  • situation (c) is a situation in which the bucket 13 c does not invade the work area when the driver operates the bucket 13 c
  • the shortest distance d between the bucket end P 1 and the work area is recognized to be the same, and thus the speed of the bucket 13 c is limited in the same manner as in situations (a) and (b). Accordingly, there is a problem that the work speed and efficiency may decrease during the digging work using a bucket 13 c.
  • the present invention aims at solving the above problems of the prior art. It is an object of the present invention to provide a construction equipment having a work area limit function capable of improving work speed and work efficiency by controlling the speed of the bucket in consideration of the distance from the bucket end to the work area in the direction in which the bucket end moves (the speed direction of the bucket end).
  • the present invention provides a construction equipment comprising: a lower traveling body; an upper swing body rotatably supported on the lower traveling body; a work device comprising a boom, an arm, and a bucket moved by means of respective hydraulic cylinders and supported by the upper swing body; a control valve for controlling the hydraulic cylinder; an operation lever for outputting an operation signal corresponding to the operation amount of a driver; a work setting unit capable of setting and/or selecting the work area of the work device; a location information provision unit for collecting and/or calculating location information of the work device and/or location information of the work area; and an electronic control unit for outputting a control signal for the control valve according to a signal inputted from at least one from among the control lever, the work setting unit, and the location information provision unit, wherein the electronic control unit is configured to calculate the distance between the work area and the work device and to control the speed of the work device on the basis of the calculated distance.
  • the electronic control unit may determine whether the work device approaches or moves away from the work area when an operation signal of the operation lever is input, and limit the speed of the work device only when the work device approaches the work area.
  • the electronic control unit may control the speed of the work device on the basis of the distance from the bucket end to the work area in the speed direction of the bucket end.
  • the direction in which the bucket end moves may be a direction in which the line connecting the bucket end and the bucket pin is perpendicular to the bucket end.
  • the direction in which the bucket end moves may be a direction in which the line connecting the bucket end and the arm pin is perpendicular to the bucket end.
  • the electronic control unit may compare the distance from the bucket end to the work area in the speed direction of the bucket end with the predetermined reference value and determine to be in the speed limit range when the distance from the bucket end to the work area in the speed direction of the bucket end is smaller than the predetermined reference value.
  • the electronic control unit may set the speed reducing rate of the work device in the speed limit range and limit the speed of the work device on the basis of the set speed reducing rate.
  • the electronic control unit may set the speed limit range and/or speed reducing rate on the basis of the shortest distance between the bucket end and the work area in a reference bucket pin location.
  • the electronic control unit may control the speed of the work device on the basis of the speed reducing rate when the work device enters the speed limit range.
  • the electronic control unit may reduce the speed limit amount of the work device in proportion to the raised distance of the bucket pin when the location of the bucket pin is raised to be higher than the location of the reference bucket pin.
  • the location information provision unit may comprise at least one of a location measuring unit for measuring the location information of the construction equipment, a posture measuring unit for measuring the posture information of the construction equipment and the location of the respective work device, and a coordinate calculating unit for calculating the coordinate on the basis of the location information measured from the location measuring unit and the posture measuring unit.
  • the operation lever may generate an electric signal in proportion to the operation amount of a driver and provide the same to the electronic control unit as an electric joystick.
  • the work setting unit may provide a plurality of work mode setting functions that can be set according to the driver's need, and display, on a display screen, at least one of the geographic information, location information and posture information of the construction equipment provided from the location information provision unit according to the work mode setting.
  • the work efficiency may be improved by controlling the speed of the work device on the basis of the distance from the bucket end to work area in the direction in which the bucket end moves.
  • the driver may easily operate the work device regardless of driving experience.
  • FIG. 1 is a perspective view illustrating a basic configuration of the construction equipment according to prior art
  • FIG. 2 is a schematic diagram illustrating a method for controlling the speed of the work device according to prior art
  • FIG. 3 is a schematic diagram illustrating the work area limit function of the construction equipment according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram illustrating a method for controlling the speed of the work device during arm-in operation of the construction equipment according to another embodiment of the present invention.
  • FIG. 6 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation of the construction equipment according to yet another embodiment of the present invention.
  • the construction equipment 10 comprises a lower traveling body 11 , an upper swing body 12 rotatably supported on the lower traveling body 11 , and a work device 13 supported by the upper swing body 12 .
  • the work device 13 comprises a boom 13 a , an arm 13 b , and a bucket 13 c which operate by means of respective hydraulic cylinders.
  • the construction equipment 10 has a work area limit function which controls the work device 13 not to invade the work surface by limiting the operation required amount of the driver's work device 13 on the basis of the distance between the bucket end and the work surface.
  • FIG. 3 is a schematic diagram illustrating the work area limit function of the construction equipment according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation according to an embodiment of the present invention.
  • the construction equipment 10 having a work area limit function comprises a lower traveling body 11 , an upper swing body 12 rotatably supported on the lower traveling body 11 , a work device 13 comprising a boom 13 a , an arm 13 b , and a bucket 13 c moved by means of respective hydraulic cylinders and supported by the upper swing body 12 , a control valve 100 for controlling the hydraulic cylinder, an operation lever 200 for outputting an operation signal corresponding to the operation amount of a driver, a work setting unit 400 capable of setting and/or selecting the work area of the work device, a location information provision unit 300 for collecting and/or calculating location information of the work device and/or location information of the work area, and an electronic control unit 500 for outputting a control signal for the control valve 100 according to a signal inputted from at least one from among the operation lever 200 , the work setting unit 400 , and the location information provision unit 300 .
  • the electronic control unit 500 is configured to calculate the distance between the work area and the work device and to control the speed of the work device on the basis of the calculated distance.
  • the control valve 100 is a member for opening and closing the flow path by a spool moving in the axial direction under pressure.
  • the control valve 100 serves to switch the supply direction of the hydraulic oil supplied by the hydraulic pump which is the hydraulic pressure source to the hydraulic cylinder side.
  • the control valve 100 is connected to the hydraulic pump through a hydraulic pipe, and induces the supply of hydraulic oil from the hydraulic pump to the hydraulic cylinder.
  • the operation lever 200 may be a hydraulic joystick or an electric joystick, and preferably may be an electric joystick which generates an electric signal in proportion to the operation amount of a driver and provides the same to the electronic control unit 500 .
  • the speed of the work device 13 may not be limited when the work device 13 moves away from the work area.
  • the location information provision unit 300 may comprise at least one of a location measuring unit for measuring the location information of a construction equipment 10 by receiving a signal transmitted by a global positioning system (GPS) satellite, a posture measuring unit for measuring the posture information of the construction equipment 10 and the location of at least one of the boom 13 a , the arm 13 b and the bucket 13 c , and a coordinate calculating unit for calculating the coordinates of the construction equipment 10 on the basis of the location information measured from the location measuring unit and the posture measuring unit.
  • GPS global positioning system
  • the location measuring unit 310 may comprise a receiver capable of receiving a signal transmitted by a GPS satellite, and measure location information of the construction equipment 10 from the received signal.
  • the posture measuring unit 320 measures the location and/or posture of at least one of the boom 13 a , arm 13 b and bucket 13 c and slope of the body of the construction equipment 100 using a plurality of inertial measurement units (IMUs) and angle sensors, etc.
  • IMUs inertial measurement units
  • the coordinate calculating unit 330 calculates the coordinates (x, y, z) of at least one of the boom 13 a , arm 13 b , and bucket 13 c using the location information measured from the location measuring unit 310 and the posture measuring unit 320 .
  • the location information providing unit 300 may further comprise a mapping unit for mapping the geographic information around the work location and the construction information on the work location to the calculated coordinates.
  • the mapping unit maps by adjusting the location and/or posture of the respective work device 13 measured by the posture measuring unit and the slope of the body of the construction equipment 10 according to each axis calculated by the coordinate calculating unit.
  • the work setting unit 400 may set and/or select a work area of the work device 13 .
  • the work setting unit 400 may provide a work mode function that may be set and/or selected in various ways according to the driver's needs, such as work area limit mode, swing position control mode.
  • the work setting unit 400 displays at least one of the geographic information, location information and posture information of the construction equipment 10 provided from the location information provision unit 300 on a display 410 screen according to the setting and/or selection of the work area and/or the work mode.
  • the driver may set and/or select a work area and/or a work mode on the screen of the display 410 , and work easily using the displayed information accordingly.
  • the work area refers to a design surface targeted by the driver.
  • the electronic control unit 500 determines whether the current work device 13 approaches or moves away from a set work area when an operation signal is input from the operation lever 200 . When it is determined that the work device 13 is approaching a set work area, the distance between the work device 13 and the set work area is calculated. Then, the calculated distance is compared with a predetermined reference value to determine the speed limit of the work device 13 . Finally, a control signal is output to the control valve 100 for controlling the hydraulic cylinder on the basis of the speed limit.
  • the operation signal of the operation lever 200 and/or various location information of the location information provision unit 300 are input to the electronic control unit 500 .
  • the electronic control unit 500 determines the speed limit amount of the work device 13 on the basis of the collected information, and controls the movement of the work device 13 accordingly.
  • the construction equipment having a work area limit function operates as shown below.
  • the driver selects an active control mode on the work setting unit 400 , and sets a target work area.
  • the driver operates the bucket-in operation lever 200 for bucket digging work on the work area.
  • whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200 .
  • the speed of the work device 13 may be limited only when the work device 13 approaches the work area.
  • the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500 .
  • the electronic control unit 500 calculates the distance d s from the bucket end P 1 to the work area in the direction in which the bucket end P 1 moves (the speed direction of the bucket end) on the basis of the location information of the work device 13 and/or location information of the set work area provided from the location information provision unit 300 .
  • the direction in which the bucket end P 1 moves may be a direction in which a virtual line (line 1) connecting the bucket end P 1 and the bucket pin is perpendicular to the bucket end P 1 .
  • it may be a direction facing a tangential line at the bucket end P 1 from a circle having a virtual line connecting the bucket end P 1 and the bucket pin P 2 as a diameter.
  • the electronic control unit 500 compares the calculated distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 with a predetermined reference value d t .
  • the electronic control unit 500 determines that the speed of the bucket 13 c does not have to be limited when the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is greater than the predetermined reference value d t . In other words, the electronic control unit 500 does not limit the speed of the bucket 13 c at this time.
  • the electronic control unit 500 determines it to be in a speed limit range.
  • the electronic control unit 500 sets the speed reducing rate of the bucket 13 c in the speed limit range.
  • the speed reducing rate of the bucket 13 c may be linearly set according to the distance cl, from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 , but is not limited thereto.
  • the speed of the bucket 13 c is controlled on the basis of the speed reducing rate in the speed limit range.
  • the electronic control unit 500 outputs a control signal to the control valve 100 on the basis of the speed reducing rate according to the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 , and the control valve 100 controls the hydraulic cylinder on the basis of the control signal.
  • the shortest distance d between the bucket end P 1 and the work area is all the same in postures (a), (b) and (c), but the time it takes for each posture to invade the work area while operating the bucket 13 c is different.
  • the speed of the bucket 13 c is limited on the basis of the shortest distance d between the bucket end P 1 and the work area, the speed of the bucket 13 c is limited all the same in postures (a) to (c). Accordingly, the work speed and efficiency may decrease during the digging work using the bucket 13 c.
  • the speed of the bucket 13 c needs to be controlled on the basis of the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 .
  • posture (a) the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is d 1 , which is the smallest
  • posture (b) the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is d 2 , which is the second smallest
  • posture (c) the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is d 3 , which is the largest.
  • the electronic control unit 500 controls the speed of the bucket 13 c on the basis of the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 , it becomes possible to operate the bucket 13 c more efficiently than when the bucket 13 c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the bucket 13 c during bucket digging.
  • FIG. 5 is a schematic diagram illustrating a method for controlling the speed of the work device during arm-in operation of the construction equipment according to another embodiment of the present invention.
  • a driver selects an active control mode on the work setting unit 400 and sets a target work area.
  • the driver operates the arm-in operation lever 200 for digging work on the work area.
  • the operation lever 200 of the bucket 13 c may not be operated.
  • whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200 .
  • the speed of the work device 13 may be limited only when the work device 13 approaches the work area.
  • the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500 .
  • the electronic control unit 500 calculates the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 on the basis of the location information of the work area 13 and/or the location information of the set work area provided from the location information provision unit 300 .
  • the direction in which the bucket end P 1 moves may be a direction in which a virtual line (line 2) connecting the bucket end P 1 and the arm pin P 3 is perpendicular to the bucket end P 1 .
  • it may be a direction facing a tangential line at the bucket end P 1 from a circle having a virtual line connecting the bucket end P 1 and the arm pin P 3 as a diameter.
  • the electronic control unit 500 compares the calculated distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 with a predetermined reference value d t .
  • the electronic control unit 500 determines that the speed of the bucket 13 c does not have to be limited when the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is greater than the predetermined reference value d t . In other words, the electronic control unit 500 does not limit the speed of the bucket 13 c at this time.
  • the electronic control unit 500 determines it to be in a speed limit range.
  • the electronic control unit 500 sets the speed reducing rate of the arm 13 b in the speed limit range.
  • the speed reducing rate of the arm 13 b may be linearly set according to the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 , but is not limited thereto.
  • the speed of the arm 13 b is controlled on the basis of the speed reducing rate in the speed limit range.
  • the electronic control unit 500 outputs a control signal to the control valve 100 on the basis of the speed reducing rate according to the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 , and the control valve 100 controls the hydraulic cylinder on the basis of the control signal.
  • the shortest distance d between the bucket end P 1 and the work area is all the same in postures (a), (b) and (c), but the time it takes for each posture to invade the work area while operating the arm 13 b is different.
  • the speed of the arm 13 b is limited on the basis of the shortest distance d between the bucket end P 1 and the work area, the speed of the arm 13 b is limited all the same in postures (a) to (c). Accordingly, the work speed and efficiency may decrease during the digging work using the arm 13 b.
  • the speed of the arm 13 b needs to be controlled on the basis of the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 .
  • posture (a) the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is d 1 , which is the smallest
  • posture (b) the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is d 2 , which is the second smallest
  • posture (c) the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 is d 3 , which is the largest.
  • the electronic control unit 500 controls the speed of the arm 13 b on the basis of the distance d s from the bucket end P 1 to the work area in the speed direction of the bucket end P 1 , it becomes possible to operate the arm 13 b more efficiently than when the bucket 13 c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the arm 13 b during bucket digging.
  • FIG. 6 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation of the construction equipment according to yet another embodiment of the present invention.
  • a driver selects an active control mode on the work setting unit 400 and sets a target work area.
  • the driver operates the bucket-in operation lever 200 for digging work on the work area.
  • whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200 .
  • the speed of the work device 13 may be limited only when the work device 13 approaches the work area.
  • the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500 .
  • the electronic control unit 500 sets the location of the reference bucket pin P 2 on the basis of the location information of the work device 13 and/or location information of the predetermined work area provided from the location information provision unit 300 .
  • the speed limit range and/or the speed reducing rate are set on the basis of the shortest distance d between the bucket end P 1 and the work area at the location of the reference bucket pin P 2 .
  • the electronic control unit 500 controls the speed of the bucket 13 c according to a set speed reducing rate on the basis of the shortest distance d between the bucket end P 1 and the work area when the bucket end P 1 enters the speed limit range.
  • the electronic control unit 500 determines whether the location of the bucket pin P 2 is raised or lowered than the location of the reference bucket pin P 2 .
  • the electronic control unit 500 may reduce the speed limit of the bucket 13 c in proportion to the distance the bucket pin P 2 is raised.
  • the electronic control unit 500 may increase the speed limit of the bucket 13 c in proportion to the distance the bucket pin P 2 is lowered.
  • the electronic control unit 500 may set the speed limit range and the speed reducing rate at the location of the reference bucket pin P 2 , and control the speed of the bucket 13 c by reflecting the location change amount in the height direction of the bucket pin P 2 thereto.
  • the shortest distance d between the bucket end P 1 and the work area is the all the same in postures (a) and (b), but the time it takes for each posture to invade the work area while operating the bucket 13 c is different.
  • the speed of the bucket 13 c is limited on the basis of the shortest distance d between the bucket end P 1 and the work area, the speed of the bucket 13 c is limited all the same in postures (a) and (b). Accordingly, the work speed and efficiency may decrease during the digging work using the bucket 13 c.
  • the speed of the bucket 13 c needs to be controlled by reflecting the location change amount in the height direction of the bucket pin P 2 even if the shortest distance d between the bucket end P 1 and the work area is the same.
  • the electronic control unit 500 when explaining the case in which the electronic control unit 500 recognizes the location of the bucket pin P 2 in posture (a) as a reference location, the electronic control unit 500 sets the speed limit range and/or speed reducing rate on the basis of the shortest distance d between the bucket end P 1 and the work area in posture (a).
  • posture (b) refers to a situation when there is a lot of time to invade the work area or when the bucket does not invade the work area as compared with posture (a). In other words, it refers to a case where the distance between the bucket end P 1 and the work area is the same, but the location of the bucket pin P 2 is raised to be higher than the reference location as much as da.
  • the electronic control unit 500 reduces the speed limit amount of the bucket 13 c in proportion to the distance da raised to be higher than the reference location.
  • the speed reducing graph of the bucket 13 c in posture (a) moves in parallel to the speed reducing graph of the bucket 13 c in posture (b) as much as the distance da raised to be higher than the reference location.
  • the speed limit amount of the bucket 13 c in posture (b) is reduced even more as compared with the reference location, posture (a).
  • the speed limit range of the bucket 13 c in posture (b) is reduced even more as compared with the reference location, posture (a).
  • the electronic control unit 500 sets the location of the reference bucket pin P 2 , and controls the speed of the bucket 13 c by reflecting the location change amount in the height direction of the reference bucket pin P 2 , it becomes possible to operate the bucket 13 c more efficiently than when the bucket 13 c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the bucket 13 c during bucket digging.
  • the driver may easily operate the work device regardless of driving experience.

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  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
US17/601,167 2019-04-05 2019-04-05 Construction equipment Pending US20220178113A1 (en)

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US20180266083A1 (en) * 2015-10-08 2018-09-20 Hitachi Construction Machinery Co., Ltd. Construction machine

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WO2014167718A1 (fr) * 2013-04-12 2014-10-16 株式会社小松製作所 Système de commande et procédé de commande pour machine de construction
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US10196796B2 (en) * 2016-05-31 2019-02-05 Komatsu Ltd. Construction machine control system, construction machine, and construction machine control method
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EP3535458B1 (fr) * 2016-11-02 2023-07-12 Clark Equipment Company Système et procédé pour définir une zone de fonctionnement pour un bras de levage
KR101766846B1 (ko) * 2016-11-28 2017-08-10 (주)영신디엔씨 고정밀 ｇｐｓ 측량이 가능한 굴삭작업 가이드 및 컨트롤 시스템
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US5752333A (en) * 1995-08-11 1998-05-19 Hitachi Construction Machinery Co., Ltd. Area limiting excavation control system for construction machines
US20160281331A1 (en) * 2014-06-04 2016-09-29 Komatsu Ltd. Construction machine control system, construction machine, and construction machine control method
US20180266083A1 (en) * 2015-10-08 2018-09-20 Hitachi Construction Machinery Co., Ltd. Construction machine

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EP3951071A4 (fr) 2022-12-14
KR20220037405A (ko) 2022-03-24
CN113795633A (zh) 2021-12-14
WO2020204240A1 (fr) 2020-10-08
EP3951071A1 (fr) 2022-02-09

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