WO2020166241A1 - Dispositif de surveillance et engin de chantier - Google Patents

Dispositif de surveillance et engin de chantier Download PDF

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Publication number
WO2020166241A1
WO2020166241A1 PCT/JP2020/000570 JP2020000570W WO2020166241A1 WO 2020166241 A1 WO2020166241 A1 WO 2020166241A1 JP 2020000570 W JP2020000570 W JP 2020000570W WO 2020166241 A1 WO2020166241 A1 WO 2020166241A1
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WO
WIPO (PCT)
Prior art keywords
angle
slope
respect
lower traveling
traveling body
Prior art date
Application number
PCT/JP2020/000570
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English (en)
Japanese (ja)
Inventor
土井　隆行
山▲崎▼　洋一郎
Original Assignee
コベルコ建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by コベルコ建機株式会社 filed Critical コベルコ建機株式会社
Priority to US17/428,708 priority Critical patent/US20220112693A1/en
Priority to EP20755521.0A priority patent/EP3907336A4/fr
Priority to CN202080013052.6A priority patent/CN113439144A/zh
Publication of WO2020166241A1 publication Critical patent/WO2020166241A1/fr

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    • 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
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • 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
    • E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes

Definitions

  • the present invention relates to a monitoring device for monitoring the state of a construction machine and a construction machine.
  • construction machines such as hydraulic excavators are known to have a function of detecting the shape of the surrounding ground, determining the stability of the construction machine from the detected shape, and preventing the fall.
  • Patent Document 1 information about the current position and direction of the shovel, the current posture of the excavation attachment, information about the current shape of the work target ground, and the content of the operation by the operator, after a predetermined time
  • a shovel that predicts a shovel attitude and calculates shovel stability is disclosed.
  • the slope Since the slope is unstable, when the construction machine is working on the shoulder of the slope, the slope may collapse and the construction machine may fall down if the construction machine performs an operation such as a traveling turn. In particular, when the road shoulder is inclined on a steep slope, the road shoulder is more likely to collapse and the construction machine is more likely to fall. Therefore, when the construction machine works on the road shoulder, it is necessary to monitor the stable state of the construction machine and prevent the fall.
  • Patent Document 1 since it is not assumed that the construction machine works on a road shoulder having an inclined slope, the above-mentioned problem does not occur.
  • the present invention has been made to solve such problems, and a monitoring device and a construction machine capable of accurately determining whether or not a construction machine working on a road shoulder having an inclined slope is in an unstable state.
  • the purpose is to provide.
  • the present inventors have studied the stability of construction machines that work on slopes, and have obtained the following findings.
  • the construction machine working on the road shoulder becomes unstable as the angle between the slope direction of the slope and the longitudinal direction of the lower traveling body approaches 90 degrees. This is because the edge of the crawler that constitutes the lower traveling body serves as a fulcrum and the load applied to the ground becomes excessive, which increases the possibility that the slope will collapse.
  • the shape data detected by the shape sensor attached to the construction machine is not the horizontal plane reference but the data measured based on the ground plane of the construction machine. .. Therefore, the inclination angle of the slope indicated by the shape data detected by the shape sensor shows a gentle inclination angle. However, this cannot correctly determine the unstable state of the construction machine.
  • the present inventors have paid attention to these findings and arrived at the present invention.
  • a monitoring device has a lower traveling body having a longitudinal direction and traveling forward along the longitudinal direction, an upper revolving structure configured to be rotatable with respect to the lower traveling body,
  • a monitoring device for monitoring a state of a construction machine comprising: a work device installed on an upper swing body; and an acquisition unit that acquires shape data indicating a shape of a terrain around the construction machine, and based on the shape data.
  • a slope sensor for detecting a slope angle of the slope with respect to a horizontal plane, and a slope sensor for calculating a slope angle of the slope with respect to a horizontal plane.
  • a second slope angle calculating unit that adds the first slope angle to the ground contact surface angle to calculate a second slope angle that is the slope angle of the slope with respect to the horizontal plane, and the slope of the slope.
  • a relative angle calculation unit that calculates a relative angle in the longitudinal direction of the lower traveling body with respect to the direction, and the second slope angle is larger than a first threshold value, and the relative angle is larger than a second threshold value, the construction is performed.
  • a state determination unit that determines that the machine is in an unstable state and outputs a determination signal indicating the determination result.
  • FIG. 1 is a diagram showing a hydraulic excavator 1 which is an example of a construction machine in which a monitoring device according to an embodiment of the present invention is mounted.
  • the hydraulic excavator 1 includes a lower traveling body 10 capable of traveling on the ground G, an upper revolving structure 12 mounted on the lower traveling structure 10, and a work device 14 mounted on the upper revolving structure 12.
  • a configuration in which the monitoring device is applied to the hydraulic excavator 1 is illustrated, but the present invention is not limited to this.
  • the monitoring device may be applied to any construction machine as long as it is a construction machine including a lower traveling body such as a hydraulic crane, an upper swing body, and a working device.
  • the upper direction orthogonal to the ground G is referred to as the upper direction
  • the lower direction is referred to as the lower direction
  • the upper direction and the lower direction are collectively referred to as the vertical direction.
  • the direction in which the lower traveling body 10 moves forward is referred to as the front
  • the direction in which the lower traveling body 10 moves backward is referred to as the rear
  • the front and the rear are collectively referred to as the front-back direction.
  • the direction orthogonal to each of the up-down direction and the front-back direction is called the left-right direction.
  • the left side in the left-right direction is called the left side
  • the right side is called the right side.
  • the length of the lower traveling body 10 in the front-rear direction is longer than the length in the left-right direction. Therefore, the longitudinal direction of the lower traveling body 10 faces the front-back direction.
  • the lower traveling structure 10 and the upper revolving structure 12 form a machine body that supports the work device 14.
  • the upper swing body 12 has a swing frame 16 and a plurality of elements mounted thereon.
  • the plurality of elements include an engine room 17 that houses an engine and a cab 18 that is a driver's cab.
  • the lower traveling body 10 has a longitudinal direction and travels in the longitudinal direction.
  • the lower traveling body 10 is composed of a pair of crawlers.
  • the upper swing body 12 is attached so as to be rotatable with respect to the lower traveling body.
  • the work device 14 can perform an operation for performing excavation work and other necessary work.
  • the work device 14 includes a boom 21, an arm 22, and a bucket 23.
  • the boom 21 has a base end portion and a tip end portion on the opposite side thereof.
  • the base end portion of the boom 21 is supported by the front end of the revolving frame 16 so as to be able to rise and fall. That is, the base end portion of the boom 21 is supported rotatably around the horizontal axis with respect to the front end of the revolving frame 16.
  • the arm 22 has a base end portion and a tip end portion on the opposite side thereof.
  • the base end of the arm 22 is attached to the tip of the boom 21 so as to be rotatable about a horizontal axis.
  • the bucket 23 is rotatably attached to the tip of the arm 22.
  • a boom cylinder C1, an arm cylinder C2, and a bucket cylinder C3 are attached to each of the boom 21, the arm 22, and the bucket 23.
  • Each of the boom cylinder C1, the arm cylinder C2, and the bucket cylinder C3 is composed of a plurality of expandable and contractible hydraulic cylinders.
  • the boom cylinder C1 is interposed between the upper swing body 12 and the boom 21.
  • the boom cylinder C1 causes the boom 21 to perform a hoisting motion by expanding and contracting.
  • the arm cylinder C2 is interposed between the boom 21 and the arm 22.
  • the arm cylinder C2 causes the arm 22 to rotate by expanding and contracting.
  • the bucket cylinder C3 is interposed between the arm 22 and the bucket 23. The bucket cylinder C3 expands and contracts to cause the bucket 23 to rotate.
  • FIG. 2 is a block diagram of the hydraulic excavator 1 shown in FIG.
  • the hydraulic excavator 1 includes a controller 100, a shape sensor 101, a tilt sensor 102, an attitude sensor 103, a turning sensor 104, a boom operating device 105, an arm operating device 106, a bucket operating device 107, a turning operating device 108, a traveling operating device 109, and an alarm.
  • a device 130 and a hydraulic circuit 200 are provided.
  • the hydraulic circuit 200 includes, in addition to the boom cylinder C1, the arm cylinder C2, and the bucket cylinder C3 shown in FIG. 1, a swing motor M1, a pair of left and right traveling motors M2L and M2R, a pair of boom solenoid valves V1, a pair of arm solenoid valves V2, A pair of bucket solenoid valves V3, a pair of swing solenoid valves V4, a pair of left traveling solenoid valves V5L, a right pair of traveling solenoid valves V5R, a boom control valve V6, an arm control valve V7, a bucket control valve V8, a swing control valve V9 and a pair of left and right traveling control valves V10L and V10R are included. Further, hydraulic circuit 200 includes a hydraulic pump that is driven by the power of an engine (not shown) and supplies hydraulic oil to each actuator, and a pilot pump that sends a pilot pressure to a pilot port of each switching valve via a pilot line.
  • the boom cylinder C1 expands and contracts by receiving the hydraulic oil supplied from the hydraulic pump, which causes the boom 21 to perform a boom raising operation and a boom lowering operation.
  • the arm cylinder C2 expands and contracts by receiving the supply of hydraulic oil from the hydraulic pump, which causes the arm 22 to perform an arm pulling operation and an arm pushing operation.
  • the bucket cylinder C3 expands and contracts by receiving the supply of hydraulic oil from the hydraulic pump, which causes the bucket 23 to perform a bucket scooping operation and a bucket opening operation.
  • the arm control valve V7 is composed of a hydraulic pilot switching valve having a pair of arm pilot ports.
  • the arm pilot pressure is input to one of the pair of arm pilot ports of the arm control valve V7.
  • the arm control valve V7 opens in a stroke corresponding to the magnitude of the arm pilot pressure input in the direction corresponding to the arm pilot port to which the arm pilot pressure is input. As a result, the arm control valve V7 changes the direction and flow rate of the hydraulic oil supplied to the arm cylinder C2.
  • the bucket control valve V8 is composed of a hydraulic pilot switching valve having a pair of bucket pilot ports.
  • the bucket pilot pressure is input to one of the pair of bucket pilot ports.
  • Bucket control valve V8 opens with a stroke corresponding to the magnitude of the bucket pilot pressure input in the direction corresponding to the bucket pilot port to which the bucket pilot pressure was input. As a result, the bucket control valve V8 changes the supply direction and flow rate of the hydraulic oil to the bucket cylinder C3.
  • the swing control valve V9 is composed of a hydraulic pilot switching valve having a pair of swing pilot ports.
  • the swing pilot pressure is input to one of the pair of swing pilot ports.
  • the swing control valve V9 opens with a stroke corresponding to the magnitude of the swing pilot pressure input in the direction corresponding to the swing pilot port to which the swing pilot pressure has been input. As a result, the swing control valve V9 changes the direction and flow rate of the hydraulic oil supplied to the swing motor M1.
  • Each of the travel control valves V10L and V10R is composed of a hydraulic pilot switching valve having a pair of travel pilot ports. Each of the travel control valves V10L and V10R has a travel pilot pressure input to one of the pair of travel pilot ports. Each of the travel control valves V10L and V10R opens with a stroke corresponding to the magnitude of the traveling pilot pressure input in the direction corresponding to the traveling pilot port to which the traveling pilot pressure has been input. As a result, each of the travel control valves V10L and V10R changes the direction and flow rate of the supply of hydraulic oil to the travel motors M2L and M2R.
  • the pair of boom solenoid valves V1 is composed of solenoid valves respectively interposed between the pilot pump and the pair of boom pilot ports of the boom control valve V6.
  • the pair of boom solenoid valves V1 receives the input of a boom command signal, which is an electric signal, and opens and closes.
  • the pair of boom solenoid valves V1 receiving the boom command signal adjusts the boom pilot pressure to a degree according to the boom command signal.
  • the pair of arm solenoid valves V2 is composed of solenoid valves that are respectively interposed between the pilot pump and the pair of arm pilot ports of the arm control valve V7.
  • the pair of arm solenoid valves V2 perform an opening/closing operation upon receiving an input of an arm command signal which is an electric signal.
  • the pair of arm solenoid valves V2 receiving the input of the arm command signal adjusts the arm pilot pressure to a degree according to the arm command signal.
  • the pair of bucket solenoid valves V3 are composed of solenoid valves that are respectively interposed between the pilot pump and the pair of arm pilot ports of the bucket control valve V8.
  • the pair of bucket solenoid valves V3 receive the input of the bucket command signal which is an electric signal and perform the opening/closing operation.
  • the pair of bucket solenoid valves V3 that receive the input of the bucket command signal adjusts the bucket pilot pressure to a degree according to the bucket command signal.
  • the pair of swing solenoid valves V4 are composed of solenoid valves respectively interposed between the pilot pump and the pair of swing pilot ports of the swing control valve V9.
  • the pair of turning electromagnetic valves V4 perform opening/closing operations upon receiving a turning command signal which is an electric signal.
  • the turning electromagnetic valve V4 which receives the turning command signal, adjusts the turning pilot pressure to a degree according to the turning command signal.
  • the pair of traveling solenoid valves V5L is composed of solenoid valves that are respectively interposed between the pilot pump and the pair of traveling pilot ports of the traveling control valve V10L.
  • the pair of traveling solenoid valves V5L receives the input of the turning command signal which is an electric signal and performs the opening/closing operation.
  • the pair of traveling electromagnetic valves V5L that have received the traveling command signal adjust the traveling pilot pressure to a degree according to the traveling command signal.
  • the pair of traveling solenoid valves V5R is composed of solenoid valves that are respectively interposed between the pilot pump and the pair of traveling pilot ports of the traveling control valve V10R.
  • the pair of traveling solenoid valves V5R receives the turning command signal which is an electric signal and performs the opening/closing operation.
  • the pair of traveling solenoid valves V5R which have received the traveling command signal adjust the traveling pilot pressure to a degree according to the traveling command signal.
  • the shape sensor 101 detects shape data indicating the distance distribution of the terrain around the hydraulic excavator 1.
  • the shape sensor 101 includes, for example, a three-dimensional distance measuring sensor such as LIDAR (light detection and ranging).
  • LIDAR light detection and ranging
  • the shape sensor 101 may include any sensor as long as it can measure the distance distribution, such as a distance measuring sensor using infrared rays and a distance measuring sensor using ultrasonic waves.
  • the shape sensor 101 is attached, for example, on the upper swing body 12, the work device 14, or the lower traveling body 10 such that the center line of the angle of view is directed obliquely downward and forward. In the following description, it is assumed that the shape sensor 101 is attached to the lower surface of the work device 14 as shown in FIG.
  • the shape data is range image data in which depth data indicating the depth from the shape sensor 101 to the terrain is arranged in a matrix.
  • the tilt sensor 102 detects a contact surface angle which is an inclination angle of the contact surface of the lower traveling body 10 with respect to the horizontal plane.
  • the tilt sensor 102 includes, for example, an inertial sensor having the functions of an acceleration sensor and an angular velocity sensor.
  • the tilt sensor 102 detects the ground plane angle by a strapdown method or the like based on the detection signal of the inertial sensor.
  • the boom operation device 105 is composed of an electric lever device.
  • This electric lever device includes a boom operation lever that receives an operation from an operator for a boom raising operation or a boom lowering operation, and an operation signal generation unit that inputs the operation amount of the boom operation lever to the controller 100.
  • the command unit 120 includes a boom command unit 121, an arm command unit 122, a bucket command unit 123, a turning command unit 124, and a travel command unit 125.
  • the boom command unit 121 inputs a boom command signal having a value corresponding to the operation amount of the boom operation device 105 to the pair of boom solenoid valves V1. Accordingly, the opening degree of the boom solenoid valve V1 is set to the opening degree according to the operation amount of the boom operation device 105.
  • the travel command unit 125 inputs a travel command signal having a value corresponding to the operation amount of the travel operation device 109 to the pair of travel solenoid valves V5L and the pair of travel solenoid valves V5R. Thereby, the opening degree of each of the pair of traveling electromagnetic valves V5L and the pair of traveling electromagnetic valves V5R is set to the opening degree according to the operation amount of the traveling operation device 109.
  • the first slope angle calculation unit 111 calculates the position of the shape sensor 101 in the coordinate system 500 using the detection signal of the posture sensor 103 and the turning angle ⁇ detected by the turning sensor 104.
  • the first slope angle calculation unit 111 specifies a relative positional relationship between the coordinate system of the shape sensor 101 and the coordinate system 500 based on the calculated position of the shape sensor 101, and shapes the shape based on the specified relative positional relationship.
  • the shape data detected by the sensor 101 is converted into shape data of the coordinate system 500.
  • the first slope angle calculation unit 111 calculates the first slope angle ⁇ 1 from the shape data converted into the coordinate system 500.
  • the first slope angle calculation unit 111 detects the boundary line L3 of the ground contact surface SA of the lower traveling body 10 from the shape data, and defines a predetermined range region on the opposite side of the ground contact surface SA across the boundary line L3. It is extracted as a slope candidate area.
  • the first slope angle calculation unit 111 sets a direction orthogonal to the boundary line L3 as the slope direction L1 of the slope 301, and a data group of one line parallel to the slope direction L1 from the slope candidate region. And the regression line of the extracted data group is obtained.
  • the first slope angle calculation unit 111 calculates the angle of this regression line with respect to the XY plane, that is, the angle with respect to the ground contact surface SA, as the first slope angle ⁇ 1. At this time, if the coefficient of determination of the regression line is equal to or smaller than the predetermined value, the first slope angle calculation unit 111 determines that the slope 301 is not included in the shape data, and the coefficient of determination is larger than the predetermined value. For example, it may be determined that the slope 301 is included.
  • the first slope angle calculation unit 111 extracts a data group of a plurality of lines parallel to the slope direction L1 from the slope candidate region, obtains a regression line for each of the plurality of lines, and connects each of the plurality of regression lines. Calculate a plurality of angles with respect to the ground surface SA. Then, the first slope angle calculation unit 111 includes the slope 301 in the shape data when each angle is within a certain angle range and the coefficient of determination of each of the plurality of regression lines is larger than a predetermined threshold. You may judge that it is. Then, in this case, the first slope angle calculation unit 111 may calculate the average value of the angles of the respective regression lines with respect to the ground contact surface SA as the first slope angle ⁇ 1.
  • the state determination unit 113 determines whether the second slope angle ⁇ 2 is larger than the first threshold value and the relative angle ⁇ calculated by the relative angle calculation unit 114 is larger than the second threshold value. Then, when the second slope angle ⁇ 2 is larger than the first threshold value and the relative angle ⁇ is larger than the second threshold value, the state determination unit 113 determines that the hydraulic excavator 1 is in an unstable state, and the determination result Is output. On the other hand, when the second slope angle ⁇ 2 is less than or equal to the first threshold value or the relative angle ⁇ is less than or equal to the second threshold value, the state determination unit 113 determines that the hydraulic excavator 1 is in a stable state and indicates the determination result. Output a signal.
  • the state determination unit 113 refers to FIG. 5, and based on the turning angle ⁇ (an example of the first turning angle) and the relative angle ⁇ , the upper turning with respect to the inclination direction L1 of the slope 301.
  • a turning angle ⁇ (an example of a second turning angle) with respect to the longitudinal direction L2 of the body 12 is calculated. Then, the state determination unit 113 sets the at least one of the first threshold value and the second threshold value to be small because the hydraulic excavator 1 is more likely to tip over as the turning angle ⁇ is closer to 0 degree.
  • the state determination unit 113 may set at least one of the first threshold value and the second threshold value to be smaller as the tip position of the work device 14 moves away from the upper swing body 12.
  • the hydraulic excavator 1 approaches instability, and when the relative angle ⁇ is further increased, the hydraulic excavator 1 becomes more unstable. Therefore, when one of the first threshold and the second threshold is set relatively high, the other may be set relatively small.
  • the state determination unit 113 calculates the distance from the hydraulic excavator 1 to the slope 301 from the shape data, and determines whether or not the state is unstable only when the distance becomes equal to or less than the predetermined distance. May be carried out.
  • the limiting unit 115 specifies the direction in which the lower traveling body 10 moves toward the slope 301 as the direction in which the degree of the unstable state increases, and causes the traveling operation device 109 to move the lower traveling body 10 in that direction.
  • the limiting unit 115 may decelerate the operation of the lower traveling body 10 when the operation for moving the lower traveling body 10 is input to the traveling operation device 109 in the direction in which the degree of the unstable state is reduced. ..
  • the limiting unit 115 may decelerate the operation of the lower traveling body 10. ..
  • the limiting unit 115 prohibits the operation of the lower traveling body 10 by using a table in which an operation according to the relative angle ⁇ at which the lower traveling body 10 moves in a direction in which the degree of the unstable state is increased is stored. It may be determined whether or not.
  • the process in which the restriction unit 115 prohibits or restricts the operation of the lower traveling structure 10 is as follows, for example.
  • the restriction unit 115 inputs a prohibition request to the travel command unit 125 when an operation to increase the degree of the unstable state is input to the travel operation device 109.
  • the travel command unit 125 inputs a travel command to the travel command unit 125 to close the pair of travel electromagnetic valves V5L and the pair of travel electromagnetic valves V5R regardless of the operation amount of the travel operation device 109.
  • the restriction unit 115 inputs a deceleration request to the travel command unit 125 when an operation that does not increase the degree of instability is input to the travel operation device 109.
  • the 1st slope angle calculation part 111 determines whether the distance from the lower traveling body 10 to the slope 301, ie, the distance from the lower traveling body 10 to the boundary line L3, is below a predetermined distance. (S4). If the distance from the lower traveling body 10 to the slope 301 is less than or equal to the predetermined distance (YES in S4), the first slope angle calculation unit 111 calculates the first slope angle ⁇ 1 (S5). On the other hand, if the distance from the lower traveling body 10 to the slope 301 is larger than the predetermined distance (NO in S4), the process ends.
  • the second slope angle calculation unit 112 calculates the second slope angle ⁇ 2 by adding the first slope angle ⁇ 1 calculated in S6 to the contact surface angle ⁇ 0 detected in S1 (S6). ..
  • the relative angle calculation unit 114 calculates the relative angle ⁇ in the longitudinal direction L0 of the lower traveling body 10 with respect to the inclination direction L1 of the slope 301 (S7).
  • the alarm device 130 issues an alarm for notifying the operator that the hydraulic excavator 1 is in an unstable state (S11).
  • the second slope angle ⁇ 2 which is the inclination angle of the slope 301 when the horizontal surface 303 is used as a reference, not when the ground surface SA is used as a reference, is calculated, and the slope 301 is also calculated.
  • the relative angle ⁇ of the lower traveling body 10 with respect to the inclination direction of is calculated.
  • the state of the hydraulic excavator 1 is evaluated based on the second slope angle ⁇ 2 and the relative angle ⁇ . Therefore, in the present embodiment, it is possible to accurately determine whether or not the state of the hydraulic excavator 1 working on the inclined road shoulder 302 is in an unstable state, and it is possible to prevent the hydraulic excavator 1 from tipping over.
  • the slope 301 is detected using the shape data detected by the shape sensor 101, but the present invention is not limited to this.
  • the hydraulic excavator 1 may detect the slope 301 by acquiring preliminarily measured shape data from a memory or by acquiring shape data by communication from an external server.
  • the first slope angle calculation unit 111 acquires the current position of the hydraulic excavator 1 from a GPS sensor (not shown), and plots the current position of the hydraulic excavator 1 on the acquired shape data to obtain the hydraulic pressure from the shape data.
  • the slope 301 around the shovel 1 may be detected.
  • the electromagnetic switching valve inputs the pilot pressure from the traveling electromagnetic valve to the pilot port when the limiting signal is input from the limiting unit 115. At this time, the pilot pressure corresponding to the operation amount output from the hydraulic lever device is reduced by the electromagnetic switching valve and input to the pilot port. As a result, the traveling operation of the lower traveling body 10 is limited.
  • a second slope angle calculating unit that adds the first slope angle to the ground contact surface angle to calculate a second slope angle that is the slope angle of the slope with respect to the horizontal plane, and the slope of the slope.
  • a relative angle calculation unit that calculates a relative angle in the longitudinal direction of the lower traveling body with respect to the direction, and the second slope angle is larger than a first threshold value, and the relative angle is larger than a second threshold value, the construction is performed.
  • a state determination unit that determines that the machine is in an unstable state and outputs a determination signal indicating the determination result.
  • the shape data indicating the shape of the terrain around the construction machine is acquired, and the first slope angle, which is the inclination angle of the slope with respect to the ground contact surface of the construction machine, is calculated from the shape data.
  • the second slope angle which is the slope angle of the slope with respect to the horizontal plane, is calculated by adding the ground contact surface angle, which is the slope angle with respect to the horizontal plane of the construction machine, to one slope angle. Then, when the second slope angle is larger than the first threshold value and the relative angle in the longitudinal direction of the lower traveling body with respect to the slope direction of the slope surface is larger than the second threshold value, it is determined that the construction machine is in an unstable state. To be done.
  • the present configuration calculates the second slope angle that is the slope angle of the slope when the horizontal plane is used as a reference, not when the ground contact surface is used as a reference, and the lower traveling body with respect to the slope direction of the slope is used. Calculate the relative angle of. And this structure determines the presence or absence of the unstable state of a construction machine based on a 2nd slope angle and a relative angle. Therefore, this configuration can accurately determine whether or not the state of the construction machine working on the slope with the road shoulder inclined is unstable.
  • an alarm device that issues an alarm when the determination signal output from the state determination unit indicates the unstable state.
  • the determination signal output from the state determination unit indicates the unstable state
  • the traveling of the undercarriage is restricted when it is determined that the construction machine is unstable, so that the construction machine can be prevented from falling down.
  • a turning sensor that detects a first turning angle that is a turning angle of the upper swing body with respect to the lower traveling body may be further provided, and the state determination unit may include the state determination unit based on the relative angle and the first swing angle.
  • a second turning angle which is a turning angle in the longitudinal direction of the upper turning body with respect to the inclination direction of the slope, is calculated, and at least one of the first threshold value and the second threshold value is decreased as the second turning angle decreases. It is preferable.
  • the second turning angle which is the turning angle of the upper revolving superstructure part in the longitudinal direction with respect to the slope direction of the slope
  • the moment that tries to tip the construction machine to the slope side increases.
  • at least one of the first threshold value and the second threshold value is reduced as the second turning angle becomes smaller, and thus it is more accurate to determine whether or not the construction machine is in an unstable state by taking the second turning angle into consideration. Can be determined.
  • the restriction unit prohibits the operation of the lower traveling body in a direction in which the degree of the unstable state increases, and It is preferable to allow the movement of the lower traveling body in a direction in which the degree of the state decreases.
  • the state determination unit determines that the lower traveling body is in an unstable state
  • the operation of the lower traveling body in the direction of increasing the instability is prohibited, and the lower traveling body is in the direction of decreasing the instability. Movement is permitted. Therefore, it is possible to prevent the construction machine from tipping over, and at the same time, perform an avoidance operation of moving the construction machine to a place where the stability is enhanced.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

La présente invention concerne un dispositif de surveillance permettant de calculer, sur la base de données de forme, d'un premier angle de pente qui est l'angle d'inclinaison d'une pente par rapport à une surface de contact avec le sol d'un engin de chantier, détecte un angle de contact de surface avec le sol qui est l'angle d'inclinaison de la surface de contact avec le sol par rapport à une surface horizontale, ajoute le premier angle de pente à l'angle de surface de contact avec le sol de façon à calculer un second angle de pente qui est l'angle d'inclinaison de la pente par rapport à la surface horizontale, calcule un angle relatif, par rapport à la direction d'inclinaison de la pente, dans la direction longitudinale d'un corps de déplacement de partie inférieure, et détermine que l'engin de chantier est dans un état instable lorsque le second angle de pente est supérieur à une première valeur de seuil et que l'angle relatif est supérieur à une seconde valeur de seuil.
PCT/JP2020/000570 2019-02-14 2020-01-10 Dispositif de surveillance et engin de chantier WO2020166241A1 (fr)

Priority Applications (3)

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US17/428,708 US20220112693A1 (en) 2019-02-14 2020-01-10 Monitoring device and construction machine
EP20755521.0A EP3907336A4 (fr) 2019-02-14 2020-01-10 Dispositif de surveillance et engin de chantier
CN202080013052.6A CN113439144A (zh) 2019-02-14 2020-01-10 监控装置以及工程机械

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JP2019024436A JP2020133143A (ja) 2019-02-14 2019-02-14 監視装置及び建設機械
JP2019-024436 2019-02-14

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EP (1) EP3907336A4 (fr)
JP (1) JP2020133143A (fr)
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WO (1) WO2020166241A1 (fr)

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JP7530805B2 (ja) 2020-11-05 2024-08-08 株式会社日立製作所 作業機械の動作検証装置
JP7191183B1 (ja) * 2021-11-05 2022-12-16 日立建機株式会社 作業機械
WO2023105944A1 (fr) * 2021-12-10 2023-06-15 日立建機株式会社 Engin de chantier
JP2023169512A (ja) * 2022-05-17 2023-11-30 キヤノン株式会社 監視システム、監視システムの制御方法およびプログラム

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EP3907336A1 (fr) 2021-11-10
EP3907336A4 (fr) 2022-03-23
JP2020133143A (ja) 2020-08-31
CN113439144A (zh) 2021-09-24
US20220112693A1 (en) 2022-04-14

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