WO2020204240A1

WO2020204240A1 - Construction equipment

Info

Publication number: WO2020204240A1
Application number: PCT/KR2019/004110
Authority: WO
Inventors: 김동수; 김미옥
Original assignee: 볼보 컨스트럭션 이큅먼트 에이비; 김동수
Priority date: 2019-04-05
Filing date: 2019-04-05
Publication date: 2020-10-08
Also published as: EP3951071A1; EP3951071A4; KR20220037405A; US20220178113A1; CN113795633A

Abstract

One embodiment of the present invention provides 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 means of the upper swing body; a control valve for controlling the hydraulic cylinders; 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.

Description

Construction machinery

The present invention relates to a construction machine, and more particularly, improves working speed and work efficiency by controlling the speed of the bucket in consideration of the distance from the bucket end to the working area in the direction in which the bucket end moves (the speed direction of the bucket end). It relates to a construction machine having a function of limiting the work area to be made.

In general, excavators are various types of work such as excavation work for digging the ground at construction sites, loading work to transport soil, digging work to make a foundation, crushing work to dismantle buildings, grading work to clear the ground, and even work to select the ground. It is a construction machine that performs.

Referring to FIG. 1, a construction machine (1) such as an excavator includes a lower vehicle (2), an upper swing body (3), which is pivotably installed on the lower vehicle (2), and an upper swing body (3). It is provided with a working device (4) that is operably installed on the top and bottom direction.

In addition, the working device 4 is formed of a multi-joint, and the rear end is rotatably supported by the upper pivot 3, and the rear end is rotatably supported by the front end of the boom 4a. (4b) and a bucket 4c rotatably provided on the distal end side of the arm 4b. And hydraulic oil is supplied according to the user's operation of the lever, and the boom cylinder (5, actuator for work), arm cylinder (6, actuator for work), and bucket cylinder (7, actuator for work) are respectively connected to the boom (4a), the arm (4b) and Operate the bucket 4c.

Such a construction machine 1 operates the working devices 4 such as the boom 4a, the arm 4b, and the bucket 4c through respective manual control levers, but these working devices 4 are Since it is connected by means of a rotational motion, it requires considerable effort from the driver to operate each of the working devices 4 to work in a predetermined area.

Therefore, in order to facilitate such an operation, a device for controlling a working area of an excavator is proposed in Japanese Patent No. 7-94735. The work area control device controls the movement of the bucket according to the distance between the end of the bucket and the boundary line of the intrusion-proof area. Therefore, even if the driver accidentally tries to move the tip of the bucket to the intrusion-proof area, the bucket automatically stops at the boundary of the intrusion-proof area. In addition, the driver can return the tip of the bucket by recognizing that the working device is approaching the impenetrable area because the speed of the working device is decreasing during work.

FIG. 2 shows that in a situation in which the driver sets the work area and then removes the work material accumulated in the work area, the posture of the bucket 13c is different, but the distance between the bucket end P1 and the work area is the same (a). To (c) shows the situation.

At this time, operation of the bucket 13c is required to remove the work material accumulated in the work area set by the driver. According to the prior art, the speed of the bucket 13c is limited only by the shortest distance d between the bucket end P1 and the working area. However, even if the shortest distance (d) between the end of the bucket (P1) and the work area is the same, depending on the attitude of the bucket (13c), the bucket (13c) does not invade the work area or there may be a situation where there is a lot of time to invade . Even in this case, according to the prior art, the speed of the bucket 13c is uniformly limited.

In other words, (c), unlike situations (a) and (b), even if the driver manipulates the bucket 13c, the bucket 13c does not invade the working area, but the bucket end P1 and the work The shortest distance d between the regions is recognized as the same, and the speed of the bucket 13c is limited in the same manner as in the situations (a) and (b). Accordingly, there is a problem in that the working speed and efficiency are deteriorated during the excavation operation using the bucket 13c.

The present invention is to solve the problems of the prior art described above, and an object of the present invention is to control the speed of the bucket in consideration of the distance from the bucket end to the working area in the direction in which the bucket end moves (the speed direction of the bucket end). It is to provide a construction machine with a work area limitation function that improves work speed and work efficiency.

In order to achieve the above object, an aspect of the present invention includes a lower running body, an upper rotating body supported so as to be rotatable on the lower running body, a boom, an arm and a bucket operated by respective hydraulic cylinders. A working device supported by an upper pivot, a control valve for controlling the hydraulic cylinder, an operation lever for outputting an operation signal corresponding to an operation amount of a driver, a work setting unit capable of setting and/or selecting a working area of the working device, According to a signal input from at least one of the operation lever, the operation setting unit, and the position information providing unit and a position information providing unit for collecting and/or calculating the position information of the work device and/or the position information of the work area. Including an electronic control unit for outputting a control signal for the control valve, wherein the electronic control unit is configured to calculate a distance between the work area and the work device, and to control the speed of the work device based on the calculated distance, Provide construction machinery.

In one embodiment of the present invention, the electronic control unit determines whether the working device is close to or farther from the working area when the manipulation signal of the manipulation lever is input, and when the working device is close to the working area It can only be a construction machine, which is configured to limit the speed of the work tool.

In one embodiment of the present invention, the electronic control unit may be a construction machine, configured to control the speed of the working device based on the distance from the bucket end to the work area in the speed direction of the bucket end.

In an embodiment of the present invention, the direction in which the end of the bucket moves may be a construction machine, which is a line connecting the end of the bucket and the bucket pin and a direction perpendicular to the end of the bucket.

In one embodiment of the present invention, the direction in which the end of the bucket moves may be a construction machine, which is a line connecting the end of the bucket and the arm pin and a direction perpendicular to the end of the bucket.

In one embodiment of the present invention, the electronic control unit compares the distance between the bucket end and the work area in the direction in which the bucket end moves with a preset reference value, and compares the distance between the bucket end and the work area in the direction in which the bucket end moves. When the distance is less than a preset reference value, it may be a construction machine that is configured to be determined as a speed limit section.

In one embodiment of the present invention, the electronic control unit may be a construction machine, configured to set a deceleration rate of the working device in the speed limit section and limit the speed of the working device based on the set deceleration rate.

In one embodiment of the present invention, the electronic control unit is configured to set a speed limit section and/or a deceleration rate based on the shortest distance between the bucket end and the work area at the position of the bucket pin as a reference Can be

In one embodiment of the present invention, the electronic control unit may be a construction machine, configured to control the speed of the working device based on the deceleration rate when the working device enters the speed limit section.

In one embodiment of the present invention, the electronic control unit, when the position of the bucket pin is raised above the position of the reference bucket pin, to reduce the speed limit of the working device in proportion to the increased distance of the bucket pin. Constructed, it may be a construction machine.

In an embodiment of the present invention, the location information providing unit includes: a location measurement unit for measuring location information of construction machines, a posture measurement unit for measuring posture information of construction machines and positions of each work device, and the position measurement unit And it may be a construction machine configured to include at least one of a coordinate calculation unit that calculates coordinates based on the position information measured from the posture measurement unit.

In one embodiment of the present invention, the operation lever may be a construction machine, which is an electric joystick and is configured to generate an electric signal in proportion to a driver's operation amount and provide it to the electronic control unit.

In one embodiment of the present invention, the work setting unit includes a plurality of work mode setting functions that can be set according to the needs of the driver, and terrain information and location provided from the location information providing unit according to the work mode setting It may be a construction machine, configured to display at least one of information and posture information of a construction machine on a display screen.

According to an aspect of the present invention, a decrease in work efficiency can be prevented by controlling the speed of the working device based on the distance between the bucket end and the work area in the direction in which the bucket end moves.

In addition, the driver can easily operate the work device regardless of the driving experience.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a perspective view showing the basic configuration of a construction machine according to the prior art.

2 is a schematic diagram showing a speed control method of a working device according to the prior art.

3 is a schematic diagram of a work area limitation function of a construction machine according to an embodiment of the present invention.

4 is a schematic diagram showing a method for controlling a speed of a working device during a bucket-in operation according to an embodiment of the present invention.

5 is a schematic diagram showing a speed control method of a working device when operating an arm of a construction machine according to another embodiment of the present invention.

6 is a schematic diagram showing a speed control method of a working device during a bucket-in operation of a construction machine according to another embodiment of the present invention.

Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6.

The construction machine 10 according to the embodiment of the present invention is supported by the lower running body 11, the upper rotating body 12 supported so as to be rotatable on the lower running body 11, and the upper rotating body 12 It is provided with a working device (13). The working device 13 includes a boom 13a, an arm 13b and a bucket 13c actuated by respective hydraulic cylinders.

In addition, in the construction machine 10 according to the embodiment of the present invention, the work device 13 is operated by limiting the amount of operation required by the operator to operate the work device 13 based on the distance between the bucket end and the work surface. It has a work area limitation function that controls to prevent invasion of the surface.

3 is a schematic diagram of a work area limitation function of a construction machine according to an embodiment of the present invention, and FIG. 4 is a schematic diagram showing a speed control method of a working device during bucket-in operation according to an embodiment of the present invention.

3 and 4, the construction machine 10 having a work area limiting function according to an embodiment of the present invention is a lower running body 11, an upper turning supported so as to be rotatable on the lower running body 11 A working device 13 including a sieve 12, a boom 13a, an arm 13b and a bucket 13c operated by each hydraulic cylinder, and supported by the upper pivot 12, and a hydraulic cylinder. A control valve 100 to control, an operation lever 200 that outputs an operation signal corresponding to an operation amount of a driver, a work setting unit 400 capable of setting and/or selecting a work area of the work device, The location information providing unit 300 and the operation lever 200, the job setting unit 400, and the location information providing unit for collecting and/or calculating the location information of the work device and/or the location information of the work area ( 300) and an electronic control unit 500 for outputting a control signal for the control valve 100 according to a signal input from at least one.

At this time, the electronic control unit 500 according to an embodiment of the present invention is configured to calculate a distance between the work area and the work device, and to control the speed of the work device based on the calculated distance.

The control valve 100 is a member that opens and closes a flow path by a spool moving in the axial direction by receiving pressure. That is, the control valve 100 serves to convert the supply direction of hydraulic oil supplied by the hydraulic pump, which is a hydraulic source, to the hydraulic cylinder side. The control valve 100 is connected to the hydraulic pump through a hydraulic pipe, and induces 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 may preferably be an electric joystick that generates an electric signal in proportion to a driver's operation amount and provides it to the electronic control unit 500.

Whether the working device 13 approaches or moves away from the set working area is determined by the current position of the working device 13 and the operating direction of the operation lever 200.

When the working device 13 is away from the working area, the speed of the working device 13 may not be limited.

The location information providing unit 300 receives a signal transmitted from a GPS (Global Positioning System) satellite and measures the location information of the construction machine 10, the posture information of the construction machine 10 and the boom 13a , An attitude measuring unit that measures the position of at least one of the arm (13b) and the bucket (13c), and a coordinate calculation that calculates the coordinates of the construction machine 10 based on the position information measured from the position measuring unit and the attitude measuring unit It may include at least one of the parts.

The location measurement unit 310 may include a receiver capable of receiving a signal transmitted from a GPS satellite, and measures location information of the construction machine 10 from the received signal.

The posture measurement unit 320 uses a plurality of inertial measurement units (IMU), angle sensors, etc. to position at least one of the boom 13a, the arm 20, and the bucket 13c, and / Or the posture, and the tilt of the body of the construction machine (10) is measured.

The coordinate calculation unit 330 uses the position information measured from the position measurement unit 310 and the posture measurement unit 320 to use at least one of the boom 13a, the arm 20, and the bucket 13c ( x, y, z) is calculated.

In addition, the location information providing unit 300 may further include a mapping unit that maps topographic information around the work location and construction information on the work location to the calculated coordinates. The mapping unit adjusts and maps the position and/or posture of each working device 13 measured by the posture measuring unit and the tilt of the body of the construction machine 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. In addition, a work area limit mode, a swing position control mode, etc. may be provided with a work mode function that can be variously set and/or selected according to the driver's needs.

The work setting unit 400 is among the topographic information, location information, and attitude information of the construction machine 10 provided from the location information providing unit 300 according to the setting and/or selection of the work area and/or the work mode. At least one is displayed on the screen of the display 410. That is, the driver can set and/or select a work area and/or a work mode on the screen of the display 410, and can easily work using the displayed information. In this case, the work area refers to a design surface that the driver has as a work target.

When the operation signal of the operation lever 200 is input, the electronic control unit 500 determines whether the current work device 13 is close to or away from the set work area. When it is determined that the work device 13 is close to the 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 preset reference value to determine the speed limit amount of the working device 13. Finally, a control signal is output to the control valve 100 for controlling the hydraulic cylinder based on the speed limit.

That is, when the work area limitation function according to the present invention is activated, a manipulation signal of the manipulation lever 200 and/or various location information of the location information providing unit 300 are input to the electronic control unit 500. Further, the electronic control unit 500 determines the speed limit amount of the working device 13 based on the collected information, and controls the movement of the working device 13 accordingly.

3 and 4, an operation method of a construction machine having a work area limitation function according to an embodiment of the present invention is as follows.

First, the driver selects an active control mode on the work setting unit 400 and sets a target work area. Then, a bucket in operation lever 200 is operated to perform a bucket excavation operation for the work area.

At this time, whether the work device 13 is close to or away from the set work area is determined by the current position of the work device 13 and the operating direction of the operation lever 200, and the work device 13 is in the work area. The speed of the working device 13 can be limited only when it gets closer.

Then, the location information providing 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 it to the electronic control unit 500.

The electronic control unit 500 is based on the location information of the work device 13 provided from the location information providing unit 300 and/or the location information of the set work area, from the bucket end P1 to the bucket end P1. Calculate the distance (d _s ) to the working area in the moving direction (the direction of the speed of the end of the bucket).

Here, the direction in which the bucket end P1 moves may be a direction perpendicular to an imaginary line (Line 1) connecting the bucket end P1 and the bucket pin P2 at the bucket end P1. That is, in a circle having a diameter of an imaginary line connecting the bucket end P1 and the bucket pin P2 as a diameter, it may be a direction in which the tangent line at the bucket end P1 faces.

Then, the electronic control unit 500 compares the calculated distance (d _s ) from the bucket end (P1) to the working area in the speed direction of the bucket end (P1) with a preset reference value (d _t ).

The electronic control unit 500 does not limit the speed of the bucket 13c when the distance (d _s ) from the bucket end (P1) to the working area in the speed direction of the bucket end (P1) is greater than the set reference value (d _t ). It is judged to be. That is, at this time, the electronic control unit 500 does not limit the speed of the bucket 13c.

However, when the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1 is less than the reference value d _t , the electronic control unit 500 determines the speed limit section.

Further, the electronic control unit 500 sets the deceleration rate of the bucket 13c in the speed limit section. At this time, the deceleration rate of the bucket 13c may be set linearly according to the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1, but is not limited thereto. .

Accordingly, the speed of the bucket 13c is controlled based on the deceleration rate in the speed limit section.

That is, the electronic control unit 500 outputs a control signal to the control valve 100 based on a deceleration rate according to the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1. , The control valve 100 controls the hydraulic cylinder based on the control signal.

With continued reference to FIG. 4, a control method according to the attitude of the bucket during bucket excavation will be described as follows.

The shortest distance (d) between the end of the bucket (P1) and the work area is the same in the postures (a), (b) and (c), but the time taken to invade the work area when the bucket 13c is manipulated is all different.

Nevertheless, if the speed of the bucket 13c is limited based on the shortest distance d between the end of the bucket P1 and the working area, the speeds of the buckets 13c are all the same in the postures (a) to (c). Limited. Accordingly, the working speed and efficiency may decrease during the excavation operation using the bucket 13c.

Accordingly, the speed of the bucket 13c needs to be controlled based on the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1.

In this case, the distance (d _s ) from the bucket end (P1) to the working area in the speed direction of the bucket end (P1) in the posture (a) is the smallest as d ₁ , and in the posture (b) at the bucket end (P1) The distance (d _s ) to the working area in the speed direction of the bucket end (P1) is the second smallest with d ₂ , and (c) in the posture, from the bucket end (P1) to the working area in the speed direction of the bucket end (P1). The distance (d _s ) of is the largest as d ₃ .

That is, according to the present invention, (a) the speed of the bucket 13c is decelerated the most in the posture, (b) the speed of the bucket 13c is the second most decelerated in the posture, and (c) the bucket 13c in the posture ) Speed is reduced to the smallest.

In this way, if the electronic control unit 500 controls the speed of the bucket 13c based on the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1, the bucket Depending on the posture of (13c), the bucket 13c does not invade the work area or in a situation where there is a lot of time to invade the bucket 13c, it is possible to operate the bucket 13c more efficiently.

3 and 5, an operation method of a working machine having a work area limitation function according to another embodiment of the present invention is as follows.

First, the driver selects an active control mode on the work setting unit 400 and sets a target work area. Then, the arm in operation lever 200 is operated for excavation work on the work area. At this time, the operation lever 200 of the bucket 13c may not be operated.

The electronic control unit 500 is based on the location information of the work device 13 provided from the location information providing unit 300 and/or the location information of the set work area, from the end of the bucket P1 to the end of the bucket P1. Calculate the distance (d _s ) to the work area in the speed direction.

Here, the direction in which the bucket end P1 moves may be a direction perpendicular to an imaginary line (Line 2) connecting the bucket end P1 and the arm pin P3 at the bucket end P1. That is, in a circle having a diameter of an imaginary line connecting the bucket end P1 and the arm pin P3 as a diameter, it may be a direction in which the tangent line at the bucket end P1 faces.

Further, the electronic control unit 500 sets the deceleration rate of the arm 13b in the speed limit section. At this time, the deceleration rate of the arm 13b may be set linearly according to the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1, but is not limited thereto. .

Accordingly, the speed of the arm 13b is controlled based on the deceleration rate in the speed limit section.

With continued reference to FIG. 5, a control method according to the posture of the arm 13b during excavation will be described as follows.

The shortest distance (d) between the end of the bucket (P1) and the working area is the same in the postures (a), (b) and (c), but the time it takes to invade the working area when operating the arm 13b is all different.

Nevertheless, if the speed of the arm 13b is limited based on the shortest distance (d) between the bucket end (P1) and the working area, the speed of the arm (13b) in the (a) to (c) postures is the same. Limited. Accordingly, the working speed and efficiency may decrease during the excavation operation using the arm 13b.

Therefore, the speed of the arm 13b needs to be controlled based on the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1.

In other words, (a) the speed of the arm 13b decreases the most in the posture, (b) the speed of the arm 13b decreases the second most in the posture, and (c) the speed of the arm 13b is the most in the posture. It slows down small.

As described above, when the electronic control unit 500 controls the speed of the arm 13b based on the distance d _s from the bucket end P1 to the working area in the speed direction of the bucket end P1, the arm ( Depending on the posture of 13b), the bucket 13c does not invade the work area or in a situation where there is a lot of time to invade the arm 13b more efficiently.

3 and 6, an operation method of a construction machine having a work area limitation function according to another embodiment of the present invention is as follows.

At this time, whether the working device 13 is close to or away from the set working area is determined by the current position of the working device 13 and the operating direction of the operation lever 200, and the working device 13 is The speed of the working device 13 can be limited only when it gets closer.

The electronic control unit 500 sets the position of the reference bucket pin P2 based on the location information of the work device 13 provided from the location information providing unit 300 and/or the location information of the set work area. do. In addition, the speed limit section and/or the deceleration rate are set based on the shortest distance d between the bucket end P1 and the working area at the position of the bucket pin P2 as a reference.

The electronic control unit 500 controls the speed of the bucket 13c according to the deceleration rate set based on the shortest distance d between the bucket end P1 and the work area when the bucket end P1 enters the speed limit section. do.

Here, when the position of the bucket pin P2 changes from the position of the reference bucket pin P2, the electronic control unit 500 raises the position of the bucket pin P2 above the position of the reference bucket pin P2. Or, it is determined whether it is a case of descending.

If it is determined that the position of the bucket pin P2 is higher than the position of the reference bucket pin P2, the electronic control unit 500 limits the speed of the bucket 13c in proportion to the increased distance of the bucket pin P2. The amount can be reduced.

If it is determined that the position of the bucket pin P2 is lower than the position of the reference bucket pin P2, the electronic control unit 500 determines the speed of the bucket 13c in proportion to the distance that the bucket pin P2 fell. The limit can be increased.

That is, the electronic control unit 500 sets the speed limit section and deceleration rate at the position of the bucket pin P2 as a reference, and reflects the amount of change in the position of the bucket pin P2 in the height direction of the bucket 13c. You can control the speed.

With continued reference to FIG. 6, a control method according to the position of the bucket pin P2 during bucket excavation will be described as follows.

The shortest distance (d) between the bucket end (P1) and the working area is the same in both the postures (a) and (b), but the time taken to invade the working area when operating the bucket 13c is all different.

Nevertheless, if the speed of the bucket 13c is limited based on the shortest distance (d) between the end of the bucket (P1) and the working area, the speed of the bucket (13c) in the (a) and (b) postures is the same. Limited. Accordingly, the working speed and efficiency may decrease during the excavation operation using the bucket 13c.

Therefore, the electronic control unit 500 needs to control the speed of the bucket 13c by reflecting the amount of change in the position of the bucket pin P2 in the height direction, even if the shortest distance d between the bucket end P1 and the working area is the same. There is.

For example, when describing the case where the electronic control unit 500 recognizes the position of the bucket pin P2 in the (a) posture as a reference position, the electronic control unit 500 is (a) the bucket end P1 in the posture. Set the speed limit section and/or deceleration rate based on the shortest distance (d) between) and the work area.

And, when the posture of the bucket 13c is changed from (a) posture to (b) posture, (b) posture is a situation where there is more time to invade the work area than (a) posture, or a situation where the work area is not invaded. Represents. That is, although the distance between the bucket end P1 and the working area is the same, the position of the bucket pin P2 is raised by da from the reference position.

In this case, the electronic control unit 500 decreases the speed limit amount of the bucket 13c in proportion to the distance da that the position of the bucket pin P2 is raised from the reference position. That is, in Fig. 6, (a) the deceleration graph of the bucket 13c in the posture is the deceleration graph of the bucket 13c in the posture (b) by the distance da where the position of the bucket pin P2 is raised from the reference position. It moves in parallel with.

Accordingly, in (a) posture and (b) posture, although the shortest distance (d) between the bucket end (P1) and the working area is the same, the speed limit of the bucket (13c) in (b) posture is the reference position. It decreases more in the phosphorus (a) posture. In addition, the speed limit section of the bucket 13c in the posture (b) decreases from the posture (a) which is the reference position.

In this way, when the electronic control unit 500 sets the position of the bucket pin P2 as a reference and controls the speed of the bucket 13c by reflecting the amount of change in the position of the bucket pin P2 in the height direction with respect to the reference position, During bucket excavation, a more efficient operation of the bucket 13c is possible in a situation where the bucket 13c does not invade the working area or there is a lot of time to invade the working area according to the attitude of the bucket 13c.

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that other specific forms can be easily modified without changing the technical spirit or essential features of the present invention will be.

The scope of the present invention is indicated by the claims to be described later, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

부호의 설명Explanation of sign

10: Construction machinery

11: lower traveling body

12: upper swing body

13: working device

13a: boom

13b: arm

13c: bucket

14: boom cylinder (actuator for work)

15: arm cylinder (actuator for work)

16: bucket cylinder (actuator for work)

100: control valve

200: operation lever

300: location information provider

310: position measuring unit

320: posture measurement unit

330: coordinate calculation unit

400: job setting unit

410: display

500: electronic control unit

P1: Bucket end

P2: Bucket pin

P3: arm pin

d: the shortest distance between the end of the bucket and the working area

d _s : Distance from the bucket end to the working area in the direction the bucket end moves (the speed direction of the bucket end)

Claims

Lower vehicle;

An upper turning body rotatably supported on the lower running body;

A working device including a boom, an arm and a bucket actuated by respective hydraulic cylinders, and supported by the upper pivot;

A control valve for controlling the hydraulic cylinder;

An operation lever for outputting an operation signal corresponding to an operation amount of a driver;

A work setting unit capable of setting and/or selecting a work area of the work device;

A location information providing 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 input from at least one of the operation lever, the operation setting unit and the position information providing unit,

The electronic control unit is configured to calculate a distance between the work area and the work device, and to control the speed of the work device based on the calculated distance.
The method of claim 1,

The electronic control unit is configured to determine whether the working device is close to or farther from the working area when the operation signal of the operation lever is input, and to limit the speed of the working device only when the working device is close to the working area. To be, construction machinery.
The method of claim 1,

The electronic control unit is configured to control the speed of the working device based on the distance from the bucket end to the working area in the speed direction of the bucket end.
The method of claim 3,

The direction in which the bucket end moves is a line connecting the bucket end and the bucket pin and a direction perpendicular to the bucket end.
The method of claim 3,

The direction in which the bucket end moves is a line connecting the bucket end and the arm pin and a direction perpendicular to the bucket end.
The method of claim 3,

The electronic control unit compares the distance from the bucket end to the work area in the speed direction of the bucket end with a preset reference value, and when the distance from the bucket end to the work area in the speed direction of the bucket end is less than a preset reference value, the speed limit section Constructed to judge as, construction machinery.
The method of claim 6,

The electronic control unit is configured to set a deceleration rate of the working device in the speed limit section and limit the speed of the working device based on the set deceleration rate.
The method of claim 1,

The electronic control unit is configured to set a speed limit section and/or a deceleration rate based on a shortest distance between an end of a bucket and a work area at a position of a reference bucket pin.
The method of claim 8,

The electronic control unit is configured to control the speed of the working device based on the deceleration rate when the working device enters the speed limit section.
The method of claim 9,

The electronic control unit is configured to decrease the speed limit amount of the working device in proportion to the increased distance of the bucket pin when the position of the bucket pin rises above the position of the bucket pin serving as the reference.
The method of claim 1,

The position information providing unit includes a position measuring unit for measuring position information of construction equipment, a position measuring unit for measuring position information of construction machinery and positions of each working device, and a position measured from the position measuring unit and the position measuring unit A construction machine configured to include at least one of a coordinate calculation unit that calculates coordinates based on information.
The method of claim 1,

The operation lever, as an electric joystick, is configured to generate an electric signal in proportion to an operation amount of a driver and provide it to the electronic control unit.
The method of claim 1,

The work setting unit includes a plurality of work mode setting functions that can be set according to the needs of the driver, and at least one of topographic information, location information, and attitude information of construction equipment provided from the location information providing unit according to the work mode setting. Construction machinery, configured to display one on a display screen.