WO2021049409A1

WO2021049409A1 - Construction machine

Info

Publication number: WO2021049409A1
Application number: PCT/JP2020/033427
Authority: WO
Inventors: 未路来山本; 寺島　淳; 辰雄山崎
Original assignee: ヤンマーパワーテクノロジー株式会社
Priority date: 2019-09-09
Filing date: 2020-09-03
Publication date: 2021-03-18
Also published as: JP2021042548A; KR20220056156A

Abstract

A construction machine comprising: hydraulic pumps (61, 62) that pressure feed pressurized oil to a plurality of actuators (60) including a prescribed actuator; an engine (30) that drives the hydraulic pumps (61, 62); an obstacle detection device (8) that detects obstacles in a monitored area including a first area set around the machine body and a second area set on the outside of the first area; a proportional solenoid valve (67) as a prohibition device that prohibits driving the prescribed actuator when an obstacle is detected in the first area by the obstacle detection device (8); and an integrated ECU (7) as a control device that performs speed reduction control for decreasing the speed of the prescribed actuator when an obstacle is detected in the second area by the obstacle detection device (8).

Description

Construction machinery

This disclosure relates to construction machinery.

Patent Document 1 includes an obstacle detection device that detects an obstacle in a monitoring area set around the machine body, and is configured to stop operation when an obstacle is detected by the obstacle detection device. A hydraulic excavator as a construction machine has been described. Patent Document 2 also describes a hydraulic excavator having a similar function.

According to the above construction machine, when an obstacle (including a person) invades the monitoring area, contact with the obstacle can be avoided. However, if an obstacle suddenly enters the monitoring area, such as when a worker working near the boundary of the monitoring area enters, the construction machine will suddenly stop, which will have a strong impact on the operating operator. Will be given.

Japanese Unexamined Patent Publication No. 2019-19522 Japanese Unexamined Patent Publication No. 2018-91135

The present disclosure has focused on the above issues, and an object of the present disclosure is to provide a construction machine capable of reducing the impact given to an operator due to a stoppage due to an intrusion of an obstacle.

The construction machine of the present disclosure includes a lower traveling body, an upper swivel body rotatably supported with respect to the lower traveling body, a working machine attached to the upper swivel body, the lower traveling body, and the upper swivel body. A predetermined actuator provided on the body or the work machine, an engine for driving a hydraulic pump for pumping pressure oil to a plurality of actuators including the predetermined actuator, a first region set around the machine body, and the above. When an obstacle detection device that detects an obstacle in the monitoring area including the second area set outside the first area and an obstacle in the first area are detected by the obstacle detection device. , A prohibition device for prohibiting the driving of the predetermined actuator, and a control for reducing the speed of the predetermined actuator when an obstacle in the second region is detected by the obstacle detection device. It is equipped with a device.

According to the above configuration, the impact given to the operator due to the stoppage due to the intrusion of an obstacle can be reduced.

It is a left side view of a hydraulic excavator which is an example of a construction machine. It is a top view of the hydraulic excavator. It is a perspective view which shows the periphery of a driver's seat. It is a figure which shows an example of the hydraulic circuit mounted on the hydraulic excavator. It is a top view which shows typically the monitoring area by an obstacle detection apparatus. It is a top view which shows roughly the monitoring area whose size changes according to the reach of a work machine. It is a flowchart which shows an example of the process which concerns on the detection of an obstacle. It is a block diagram which shows an example of the process which concerns on speed-down control. It is a block diagram which shows an example of the process which concerns on driving prohibition of an actuator. It is a flowchart which shows an example of the process of canceling the speed reduction control. It is a block diagram which shows an example of the process which releases the speed reduction control. It is a flowchart which shows an example of the process which releases the prohibition of driving of an actuator. It is a block diagram which shows an example of the process which releases the prohibition of driving of an actuator.

An embodiment of the present invention will be described with reference to the drawings. In the present disclosure, a hydraulic excavator (backhoe) is illustrated as an example of a construction machine, but the present invention is not limited to this.

As shown in FIGS. 1 and 2, the hydraulic excavator 1 includes a lower traveling body 2, an upper rotating body 3 rotatably supported by the lower traveling body 2, and a working machine attached to the upper rotating body 3. 4 and. In the present embodiment, the hydraulic excavator 1 has a so-called boom swing function of swinging the work machine 4 left and right with respect to the upper swing body 3, but is not limited to this. Generally, the boom swing function is installed in a mini excavator (small hydraulic excavator) used for construction in a narrow space.

The lower traveling body 2 is driven by receiving power from the engine 30 to drive the hydraulic excavator 1. The lower traveling body 2 includes a pair of left and

right crawlers

21L and 21R, and traveling

motors

22L and 22R for driving them. The

traveling motors

22L and 22R are traveling actuators for driving the lower traveling body 2, and are each composed of a hydraulic motor. Further, the lower traveling body 2 is provided with a pair of

blade arms

23, 23, a blade 24 as a soil removal plate extending in the left-right direction between the tips thereof, and an actuator for rotating the blade 24 up and down. A certain blade cylinder 25 is provided. The blade cylinder 25 is composed of a hydraulic cylinder.

The upper swivel body 3 includes a swivel frame 31 in which a cabin 50 or the like is installed, and a swivel motor 32 that swivels and drives the swivel frame 31. The swivel motor 32 is a swivel actuator that drives the upper swivel body 3, and is composed of a hydraulic motor. The upper swivel body 3 is formed in a substantially disk shape in a plan view that can swivel within the lateral width of the lower traveling body 2 (the distance between the outer edge of the crawler 21L on the left side and the outer edge of the crawler 21R on the right side). .. An engine 30, a hydraulic pump (variable-capacity pump 61 and fixed-capacity pump 62, which will be described later), a counterweight 33, and the like are arranged at the rear of the upper swing body 3.

The work machine 4 is driven by receiving power from the engine 30, and excavates earth and sand according to the operation of the control unit 5. The work machine 4 has a boom 41, an arm 42, a bucket 43 which is an attachment for excavation, and a work actuator for driving the work machine 4. Specifically, the working actuators are a boom cylinder 41c, an arm cylinder 42c, a bucket cylinder 43c and a swing cylinder 45, which will be described later, and these are composed of a hydraulic cylinder. The work machine 4 swings in conjunction with the horizontal rotation of the boom bracket 41b, and moves horizontally relative to the upper swing body 3.

The boom 41 extends in the vertical direction from the base end portion supported by the boom bracket 41b, and is bent in a boomerang shape in a side view. The boom 41 is attached to the boom bracket 41b so that it can rotate up and down (rotate back and forth). The base end portion of the boom 41 is supported so as to be rotatable up and down around the pivot pin 41a. A boom cylinder 41c that can be expanded and contracted is provided between the boom bracket 41b and the middle portion of the boom 41. The vertical rotation of the boom 41 with respect to the boom bracket 41b operates according to the expansion and contraction of the boom cylinder 41c.

The boom bracket 41b is attached to the front end of the upper swing body 3 so as to be horizontally rotatable (swing) via the boom bracket mounting portion 34. The boom bracket 41b is supported so as to be horizontally rotatable about a pivot pin 34a provided on the boom bracket mounting portion 34. A swing cylinder 45 that expands and contracts in the front-rear direction is provided between the upper swing body 3 and the boom bracket 41b. The horizontal rotation of the boom bracket 41b operates according to the expansion and contraction of the swing cylinder 45.

The arm 42 is attached to the boom 41 so that it can rotate up and down (rotate back and forth). The base end portion of the arm 42 is supported so as to be rotatable up and down around the pivot pin 42a. An arm cylinder 42c that can be expanded and contracted is provided between the middle portion of the boom 41 and the base end portion of the arm 42. The vertical rotation of the arm 42 with respect to the boom 41 operates according to the expansion and contraction of the arm cylinder 42c.

The bucket 43 is attached to the arm 42 so as to be vertically rotatable. The base end portion of the bucket 43 is supported so as to be freely rotated up and down (rotated back and forth) about the pivot pin 43a. A bucket link 44 that transmits a driving force to the bucket 43 is interposed between the tip of the arm 42 and the bucket 43. A bucket cylinder 43c that can be expanded and contracted is provided between the bucket link 44 and the base end portion of the arm 42. The vertical rotation of the bucket 43 with respect to the arm 42 operates according to the expansion and contraction of the bucket cylinder 43c.

The control unit 5 is provided above the upper swivel body 3. In the present embodiment, the control unit 5 is surrounded by the cabin 50, but the present invention is not limited to this. As shown in FIG. 3, the control unit 5 has a driver's seat 51 for the operator to sit on, a traveling lever 52 located in front of the driver's seat 51 (see FIG. 1), and a position on the side of the driver's seat 51. A work operation lever 53 is installed. The operator can control the engine 30 and each actuator by operating the traveling lever 52, the working operation lever 53, and the like while sitting in the driver's seat 51, and can perform traveling, turning, and operating the work machine 4.

The work operation lever 53 is attached to the upper part of a pair of console boxes 54 arranged on the left and right sides of the driver's seat 51. A cut-off lever 55 that rotates up and down is provided in the lower front portion of the console box 54. The work operation lever 53 and the cutoff lever 55 are arranged so as to extend forward and prevent the operator from leaving the driver's seat 51. When the cutoff lever 55 is pulled up, the console box 54 rotates rearward in conjunction with the pulling up, so that the operator can get on and off from the driver's seat 51 without any problem.

Inside the console box 54, there is a link mechanism (not shown) that rotates the console box 54 in conjunction with the pulling operation of the cutoff lever 55, and a cutoff switch 56 that detects the rotation position of the cutoff lever 55. And are provided. The cutoff switch 56 is turned on when the cutoff lever 55 is pushed down (rotated downward), and turned off when the cutoff lever 55 is pulled up (rotated upward). Become in a state.

When the cutoff switch 56 is turned on by pushing down the cutoff lever 55, the electromagnetic proportional valve 67, which will be described later, is energized and a predetermined actuator can be driven. On the other hand, when the cutoff switch 56 is turned off by the pulling operation of the cutoff lever 55, the electromagnetic proportional valve 67 is de-energized and the pilot oil passage is shut off. As a result, the operation of the predetermined actuator is restricted, and even if the traveling lever 52 or the like is operated, the operation becomes inoperable. The operator pulls up the cutoff lever 55 to make the actuator inoperable, and then leaves the driver's seat 51.

FIG. 4 shows a hydraulic circuit 6 mounted on the hydraulic excavator 1 of the present embodiment. The hydraulic excavator 1 includes a plurality of actuators 60 including predetermined actuators, and an engine 30 for driving a variable displacement pump 61 and a fixed capacitance pump 62, which are hydraulic pumps that pump pressure oil to the plurality of actuators 60. The variable displacement pump 61 pumps pressure oil to the traveling

motors

22L and 22R, the boom cylinder 41c, the arm cylinder 42c and the bucket cylinder 43c. The fixed-capacity pump 62 pumps pressure oil to the blade cylinder 25, the swivel motor 32, and the swing cylinder 45.

The plurality of actuators 60 are a traveling motor 22L and a traveling motor 22R which are driving hydraulic actuators for driving the lower traveling body 2, a blade cylinder 25 which is a hydraulic actuator for rotating the blade 24 up and down, and a turning for driving the upper rotating body 3. It includes a swivel motor 32 which is a flood control actuator for work, and a boom cylinder 41c, an arm cylinder 42c, a bucket cylinder 43c and a swing cylinder 45 which are hydraulic actuators for work that drive a work machine 4.

Each of the plurality of actuators 60 is provided with a corresponding direction switching valve. This directional control valve is a pilot-type directional control valve capable of switching the direction and flow rate of the pressure oil pumped from the variable displacement pump 61 or the fixed capacitance pump 62. In the present embodiment, the

directional switching valves

64a and 64b corresponding to the traveling

motors

22L and 22R, the directional switching valve 64c corresponding to the boom cylinder 41c, the directional switching valve 64d corresponding to the arm cylinder 42c, and the directional switching corresponding to the bucket cylinder 43c. A valve 64e, a directional switching valve 64f corresponding to the blade cylinder 25, a directional switching valve 64g corresponding to the swivel motor 32, and a directional switching valve 64h corresponding to the swing cylinder 45 are provided. These direction switching valves 64a to 64h are collectively referred to as a control valve 64.

The pilot pump 63 discharges pilot oil, which is an input command to the control valve 64. The pilot pump 63 driven by the engine 30 generates pilot pressure in the pilot oil passage by discharging pressure oil. In FIG. 4, a part of the oil passage from the pilot pump 63 to the control valve 64 is omitted, and in reality, an oil passage from the pilot pump 63 to each of the direction switching valves 64a to 64h is provided.

The traveling operation device 65 has a remote control valve 650 for switching the direction and pressure of the pressure oil supplied to the direction switching valve 64a corresponding to the traveling motor 22L. The pressure oil discharged from the pilot pump 63 is supplied to the remote control valve 650. The remote control valve 650 generates a pilot pressure according to the operation direction and the operation amount of the traveling operation device 65. The traveling operation device 65 is composed of a traveling lever 52.

The boom operating device 66 has a remote control valve 660 for switching the direction and pressure of the pressure oil supplied to the direction switching valve 64c corresponding to the boom cylinder 41c. The pressure oil discharged from the pilot pump 63 is supplied to the remote control valve 660. The remote control valve 660 generates a pilot pressure according to the operation direction and the operation amount of the boom operation device 66. The boom operation device 66 is composed of a work operation lever 53.

The oil passage (not shown) between the pilot pump 63 and the control valve 64 has the same configuration as the above, and a pilot pressure is generated according to the operation of each operating device. An electromagnetic proportional valve 67 as a prohibition device is provided in the oil passage between the pilot pump 63 and each remote control valve. The electromagnetic proportional valve 67 regulates the pilot pressure in response to a control command from the integrated ECU 7. By adjusting the pilot pressure from the pilot pump 63, the driving of the plurality of hydraulic actuators 60 can be stopped all at once, and their speeds can be uniformly controlled.

As shown in FIG. 4, the hydraulic excavator 1 has an integrated ECU (Electronic Control Unit) 7 as a control device and an engine ECU 300 that controls the drive of the engine 30 based on a command from the integrated ECU 7. The integrated ECU 7 controls the control system of the hydraulic excavator 1 and outputs a control instruction to the hydraulic pump and a control instruction to the engine ECU 300 described above. The obstacle detection signal output from the obstacle detection device 8 is input to the integrated ECU 7. The obstacle detection device 8 detects obstacles (including people) in the monitoring area set around the hydraulic excavator 1.

The obstacle detection device 8 is composed of one or more obstacle sensors 80 (see FIGS. 1 and 2) installed on the hydraulic excavator 1. In this embodiment, four obstacle sensors 80 are installed, but FIG. 2 shows only three obstacle sensors 80. As long as obstacles can be detected within the required range, the number of obstacle sensors, the installation location, and the installation method are not particularly limited. A known distance measuring device capable of acquiring distance information of an obstacle can be applied to the obstacle sensor 80. For example, a millimeter-wave radar that uses radio waves in the millimeter-wave band, a LIDER that measures scattered light from laser irradiation to determine the distance, and multiple camera functions that are integrated into the camera to determine the distance from the captured image to the object. A stereo camera or the like for measurement is used as the obstacle sensor 80.

The hydraulic excavator 1 of the present embodiment includes a reach detection device 9 that detects the reach of the work machine 4 that changes according to the operation. The reach of the working machine 4 is determined as, for example, a horizontal distance from the turning center of the upper turning body 3 to the tip of the bucket 43 (or the arm 42 or the boom 41). The reach can be detected by using a plurality of position sensors (not shown) installed in the work machine 4. An inertial sensor such as an acceleration sensor is used as the position sensor, but the position sensor is not limited to this, and for example, a gyro sensor, an angle sensor (tilt sensor), and a cylinder sensor (stroke sensor) can also be used. The reach detection signal output from the reach detection device 9 is input to the integrated ECU 7.

FIG. 5 schematically shows the monitoring area Am by the obstacle detection device 8, and the hydraulic excavator 1 is in a state where the reach of the work machine 4 is maximized. The monitoring area Am includes a first area A1 set around the aircraft and a second area A2 set outside the first area A1. In the present embodiment, the second region A2 is set to a ring shape having the turning locus of the tip of the working machine 4 having the maximum reach as the outer edge. The first region A1 has a circular shape having an outer edge separated from the outer edge of the second region A2 by a certain distance D (for example, 2 m) inward. The first region A1 is set to a size including the upper swivel body 3.

The outer edges of the first region A1 and the second region A2 are not limited to a circular shape, but may be a rectangular shape or the like. The size of the first region A1 and the second region A2 (size in a plan view) is not particularly limited, and can be appropriately set according to the model of the construction machine, the type of the construction site, and the like. .. Therefore, for example, in order to further enhance safety, the second region A2 shown in FIG. 5 may be set as the first region, and the second region may be set outside the second region A2.

Further, the size of one or both of the first region A1 and the second region A2 may be changed according to the reach of the working machine 4. For example, as shown in FIG. 6, the size of the second region A2 may be changed according to the expansion and contraction of the working machine 4. In this case, if the reach of the working machine 4 is shortened, the second region A2 becomes smaller accordingly, which is convenient for the worker to work in the surrounding area. It is also possible to change the size of the first region A1 in place of or in addition to the second region A2. Such resizing of each region is performed by the integrated ECU 7 based on the reach detection signal from the reach detection device 9.

The hydraulic excavator 1 is provided by an electromagnetic proportional valve 67 as a prohibition device for prohibiting the driving of a predetermined actuator when an obstacle in the first region A1 is detected by the obstacle detection device 8, and an obstacle detection device 8. It includes an integrated ECU 7 as a control device that performs speed reduction control for reducing the speed of a predetermined actuator when an obstacle in the second region A2 is detected. Therefore, the first region A1 is set as a stop region for stopping the predetermined actuator, and the second region A2 is set as the speed reduction region for slowing down the predetermined actuator.

A predetermined actuator that is subject to drive prohibition or speed reduction is provided in the lower traveling body 2, the upper turning body 3, or the working machine 4. In the present embodiment, the predetermined actuators include traveling

motors

22L and 22R, a swivel motor 32, a boom cylinder 41c, an arm cylinder 42c, and a bucket cylinder 43c. Some of these may not be included, but from the viewpoint of enhancing safety, it is preferable that the traveling

motors

22L and 22R are included as predetermined actuators, and in addition, the swivel motor 32 is more likely to be included. Preferably, in addition to them, a boom cylinder 41c, an arm cylinder 42c and a bucket cylinder 43c are more preferably included.

FIG. 7 is a flowchart showing an example of processing related to obstacle detection. When a worker working in the vicinity of the hydraulic excavator 1 invades the monitoring area Am, it is detected as an obstacle, and an obstacle detection signal including the distance information of the obstacle is input to the integrated ECU 7. .. Then, when the worker invades the second region A2, the integrated ECU 7 performs speed reduction control (steps S1 and S2). Further, when the worker invades the first region A1, the predetermined actuator whose drive is prohibited by the electromagnetic proportional valve 67 is stopped (steps S3 and S4).

As described above, when a worker as an obstacle invades the first area A1, the operation by the predetermined actuator is stopped, so that contact with the worker is avoided. Moreover, since the speed of the predetermined actuator is reduced when the operator enters the second region A2, the sudden stop can be suppressed and the actuator can be stopped quickly. Therefore, it is possible to reduce the impact given to the operator due to the stoppage due to the intrusion of an obstacle. Of course, the obstacle detected by the obstacle detection device 8 is not limited to the operator.

When an obstacle exists in the second region A2, the integrated ECU 7 sends a command to lower the target rotation speed of the engine 30 to the engine ECU 300 as shown in FIG. As a result, the pump flow rate of the hydraulic pump can be reduced and the speed of a predetermined actuator can be reduced. In this way, the integrated ECU 7 controls the speed reduction by lowering the target rotation speed of the engine 30. As a more preferable embodiment, the integrated ECU 7 controls the speed reduction by setting the target rotation speed of the engine 30 to a value lower than the rated rotation speed. As a result, the operator and surrounding workers can intuitively recognize the danger of contact by the sound of the change in engine speed.

As described above, in the present embodiment, the speed reduction system is performed by lowering the target rotation speed of the engine 30, but the speed is not limited to this. For example, a signal for lowering the pump flow rate may be transmitted from the integrated ECU 7 to the swash plate control unit of the variable displacement pump 61 constituting the hydraulic pump, thereby lowering the driving speed of a predetermined actuator. Alternatively, the drive speed of the predetermined actuator may be reduced by sending a command to reduce the pilot pressure from the integrated ECU 7 to the electromagnetic proportional valve 67.

When an obstacle exists in the first region A1, the integrated ECU 7 sends a command to shut off the current of the electromagnetic proportional valve 67 as shown in FIG. The electromagnetic proportional valve 67 shuts off the pilot pressure input to the directional control valve corresponding to the predetermined actuator based on the command. As a result, the driving of the predetermined actuator is prohibited, and even if the traveling lever 52 or the work operation lever 53 is operated, the operation is not performed. In the present embodiment, the solenoid proportional valve 67 is used as the prohibition device, but a solenoid valve can be used instead.

If the worker invades the second area A2 and then exits from the second area A2 without invading the first area A1, the speed reduction control is performed even though there are no obstacles. In such a case, it is necessary to release the speed reduction control in order to operate the hydraulic excavator 1 at a normal speed. FIG. 10 is a flowchart showing an example of the process of canceling the speed reduction control, and FIG. 11 is a block diagram showing the process. As described above, the hydraulic excavator 1 is provided with a cut-off lever 55 that limits the operation of a predetermined actuator, and in this release process, the cut-off lever 55 is used to enhance safety.

In FIG. 10, first, the operation of the predetermined actuator is not restricted, and the cutoff lever 55 is pushed down (step S11). Then, when an obstacle in the second region A2 is detected, the integrated ECU 7 performs speed reduction control (steps S12 and S13). Further, when an obstacle in the first region A1 is detected, the electromagnetic proportional valve 67 prohibits the driving of predetermined actuators, and their operation is stopped (steps S16 and S17). These processes have already been described with reference to FIG.

When the operator pulls up the cutoff lever 55 after the speed reduction control is performed (that is, after step S13), the cutoff switch 56 is turned off as shown in FIG. 11, and the target rotation speed of the engine 30 is restored. A command is sent from the integrated ECU 7 to the engine ECU 300, and the speed reduction control is released (steps S14 and S15). That is, the speed reduction control can be released on condition that the operation of the predetermined actuator is restricted by the pulling operation of the cutoff lever 55. As a result, when the speed reduction control is released, the operation of the predetermined actuator is temporarily stopped, so that the operator can be urged to confirm the safety of the surroundings.

FIG. 12 is a flowchart showing an example of the process of releasing the drive prohibition of the actuator, and FIG. 13 is a block diagram showing the process. Since the process of FIG. 12 is substantially the same as the process of FIG. 10 except for steps S24 and S29 to S31, duplicate description will be omitted. In FIG. 12, when the operator pulls up the cutoff lever 55 after the predetermined actuator is stopped (that is, after step S28) and no obstacles in the first region A1 and the second region A2 are detected, FIG. 13 As described above, the cutoff switch 56 is turned off, a command for returning the target rotation speed of the engine 30 is sent from the integrated ECU 7 to the engine ECU 300, and the actuator stop is released (steps S29 to S31).

As described above, in this hydraulic excavator 1, the operation of a predetermined actuator is restricted by the pulling operation of the cutoff lever 55, and the obstacle detection device 8 causes obstacles in the first region A1 and the second region A2. It is configured so that the prohibition of driving a predetermined actuator can be lifted on condition that it is not detected. As a result, when the prohibition of driving the predetermined actuator is released and the speed of the actuator is restored, the operation of the predetermined actuator is temporarily stopped and the safety is confirmed by the obstacle detection device 8, so that the safety is improved. It can be further enhanced.

As described above, the construction machine of the present disclosure includes a lower traveling body, an upper swivel body rotatably supported with respect to the lower traveling body, a working machine attached to the upper swivel body, and the lower traveling body. A predetermined actuator provided on the body, the upper swing body or the working machine, an engine for driving a hydraulic pump for pumping pressure oil to a plurality of actuators including the predetermined actuator, and a third set around the machine body. An obstacle detection device that detects an obstacle in a monitoring area including one area and a second area set outside the first area, and an obstacle detection device that detects an obstacle in the first area. A prohibition device that prohibits the driving of the predetermined actuator when detected, and a low speed that reduces the speed of the predetermined actuator when an obstacle in the second region is detected by the obstacle detection device. It is provided with a control device for performing chemical control.

In this construction machine, when an obstacle in the first area set around the machine body is detected, the driving of a predetermined actuator is prohibited and the operation by the actuator is stopped. Further, even if an obstacle in the first region is not detected, if an obstacle in the second region set outside the obstacle is detected, a control for reducing the speed of a predetermined actuator (speed reduction control) is performed. Will be done. Therefore, it is possible to reduce the impact given to the operator due to the stoppage due to the intrusion of an obstacle.

It is preferable that the control device performs the speed reduction control by setting the target rotation speed of the engine to a value lower than the rated rotation speed. According to this configuration, the operator and surrounding workers can intuitively recognize the danger of contact by the sound of the change in engine speed.

The construction machine of the present disclosure includes a cut-off lever that limits the operation of the predetermined actuator, and the speed reduction control is provided on the condition that the operation of the predetermined actuator is restricted by the pulling operation of the cut-off lever. It is preferable that the configuration is such that the above can be released. As a result, when the speed reduction control is released and the speed of the actuator is restored, the operation of the predetermined actuator is temporarily stopped, so that the operator can be urged to confirm the safety of the surroundings.

The construction machine of the present disclosure includes a cut-off lever that limits the operation of the predetermined actuator, the operation of the predetermined actuator is restricted by the pulling operation of the cut-off lever, and the obstacle detection device causes the first. It is preferable that the structure is such that the prohibition of driving the predetermined actuator can be released on condition that no obstacle is detected in the first region and the second region. As a result, when the prohibition of driving the predetermined actuator is released and the speed of the actuator is restored, the operation of the predetermined actuator is temporarily stopped and the safety is confirmed by the obstacle detection device, so that the safety is further improved. Can be enhanced.

It may be configured so that the size of one or both of the first region and the second region changes according to the reach of the working machine. Thereby, the size of the first region and / or the second region can be easily changed according to the work situation and the like.

Although the embodiments of the present disclosure have been described above based on the drawings, it should be considered that the specific configuration is not limited to these embodiments. The scope of the present disclosure is shown not only by the description of the above-described embodiment but also by the scope of claims, and further includes all modifications within the meaning and scope equivalent to the scope of claims.

It is possible to adopt the structure adopted in each of the above embodiments in any other embodiment. The specific configuration of each part is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present disclosure.

The present invention can be used for construction machines such as hydraulic excavators.

1 Hydraulic excavator 2 Lower traveling body 3 Upper swivel body 4 Working machine 7 Integrated ECU (an example of control device)
22L traveling motor (example of actuator)
22R traveling motor (an example of actuator)
30 engine 32 swivel motor (example of actuator)
41c boom cylinder (an example of actuator)
42c arm cylinder (an example of actuator)
43c bucket cylinder (an example of actuator)
55 Cut-off lever 60 Multiple actuators 61 Variable displacement pump (example of hydraulic pump)
62 Fixed-capacity pump (example of hydraulic pump)
67 Electromagnetic proportional valve (example of prohibited device)

Claims

With the lower running body,
An upper swivel body that is rotatably supported with respect to the lower traveling body,
The work machine attached to the upper swing body and
A predetermined actuator provided in the lower traveling body, the upper rotating body, or the working machine,
An engine that drives a hydraulic pump that pumps pressure oil to a plurality of actuators including the predetermined actuator.
An obstacle detection device that detects an obstacle in a monitoring area including a first area set around the aircraft and a second area set outside the first area.
When an obstacle in the first region is detected by the obstacle detection device, a prohibition device that prohibits driving of the predetermined actuator and a prohibition device.
A construction machine including a control device that performs speed reduction control for reducing the speed of the predetermined actuator when an obstacle in the second region is detected by the obstacle detection device.
The construction machine according to claim 1, wherein the control device controls the speed reduction by setting the target rotation speed of the engine to a value lower than the rated rotation speed.
A cut-off lever that limits the operation of the predetermined actuator is provided.
The construction machine according to claim 1 or 2, wherein the speed reduction control can be released on condition that the operation of the predetermined actuator is restricted by the pulling operation of the cutoff lever.
A cut-off lever that limits the operation of the predetermined actuator is provided.
The predetermined condition is that the operation of the predetermined actuator is restricted by the pulling operation of the cutoff lever, and the obstacle detection device does not detect the obstacles in the first region and the second region. The construction machine according to any one of claims 1 to 3, which is configured so that the prohibition of driving the actuator can be lifted.
The construction machine according to any one of claims 1 to 4, which is configured so that the size of one or both of the first region and the second region changes according to the reach of the working machine.