WO2022224624A1 - Machine de travail - Google Patents

Machine de travail Download PDF

Info

Publication number
WO2022224624A1
WO2022224624A1 PCT/JP2022/011129 JP2022011129W WO2022224624A1 WO 2022224624 A1 WO2022224624 A1 WO 2022224624A1 JP 2022011129 W JP2022011129 W JP 2022011129W WO 2022224624 A1 WO2022224624 A1 WO 2022224624A1
Authority
WO
WIPO (PCT)
Prior art keywords
boundary line
center
coordinate system
rotation
revolving
Prior art date
Application number
PCT/JP2022/011129
Other languages
English (en)
Japanese (ja)
Inventor
悠介 鈴木
宏明 田中
寿身 中野
靖彦 金成
博史 坂本
昭広 楢▲崎▼
Original Assignee
日立建機株式会社
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 日立建機株式会社 filed Critical 日立建機株式会社
Priority to JP2023516332A priority Critical patent/JP7375260B2/ja
Publication of WO2022224624A1 publication Critical patent/WO2022224624A1/fr

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload

Definitions

  • the present invention relates to work machines used for road construction, construction work, civil engineering work, dredging work, and the like.
  • a revolving body is attached to the upper part of the traveling body that runs by the power system, and an articulated front working device is attached to the revolving body.
  • each front member constituting the front working device is mounted so as to be vertically swingable and driven by a cylinder.
  • An example of this is a so-called hydraulic excavator having a front working device composed of a boom, an arm, a bucket, and the like.
  • an operation restriction area (also called an intrusion prohibited area) for the front work equipment is set in a coordinate system (body coordinate system) based on the excavator body, and the front work equipment is set in the operation restriction area.
  • a device that displays the distance between the front work device and the restricted operation area on a monitor or the like to alert or warn the operator.
  • a system that restricts the operation of the front work device according to the distance between the front work device and the operation restricted area so that the front work device does not enter the operation restricted area.
  • Patent document 1 describes a vehicle body lower area (operation restriction area) that prohibits entry of the tip of the bucket, which is an area below the traveling body (crawler) set to prevent the collapse of the ground on which the hydraulic excavator is placed.
  • a technique for displaying on a monitor a boundary line between a range (workable range) that can be reached by a front working device More specifically, when the rotating structure (vehicle body) is horizontal, the boundary line between the lower body area and the workable area is set in the vertical direction in the global coordinate system. is set so that the boundary line is maintained in the vertical direction in the global coordinate system, and when the rotating body is tilted backward, the angle between the ground surface on which the rotating body is mounted and the boundary line is 90 degrees.
  • a controller is disclosed that corrects the boundary line as described above.
  • hydraulic excavators are sometimes operated so that part of the traveling body is lifted while the front work device is in contact with the ground in order to fully demonstrate its work capacity.
  • the rear part of the traveling body counterweight side
  • the front part of the traveling body front working device side
  • Operate the front working device operate so as to be in a so-called jack-up state.
  • you want to maximize the upward lift force of the front working device for example, when lifting a heavy load, operate the front working device so that the front part of the traveling body touches the ground and the rear part of the traveling body floats up.
  • the running body rotates around the contact point (rotation center) at the rear of the running body, and in the latter case, becomes a posture that rotates around the grounding point (rotation center) of the front part of the running body. That is, the center of rotation of the running body differs depending on whether the front part or the rear part of the running body is lifted.
  • the center of rotation of the running body differs depending on whether the front part or the rear part of the running body is lifted.
  • Patent Document 1 assumes that both the front and rear parts of the running body are in contact with the ground (that is, it does not assume that the running body is lifted), and the lower vehicle body region When correcting the boundary line of the workable range, only rotational movement based on the front end of the crawler belt is used. Therefore, if the front or rear portion of the traveling body is lifted as described above, it cannot be dealt with, and the limited operation region cannot be maintained accurately.
  • the present invention has been made in view of the above problems, and its purpose is to provide a work machine that can accurately maintain the restricted operation area even when the front or rear part of the traveling body is lifted.
  • the present application includes a plurality of means for solving the above problems.
  • a first attitude sensor for detecting the attitude of the revolving body; and a controller stored on a coordinate system, wherein the controller calculates a lift angle of the running body based on the output of the first attitude sensor, and lifts the running body based on the lift angle.
  • the actual center of rotation is calculated, and the position of the boundary line in the vehicle body coordinate system is corrected based on the lifting angle and the center of rotation.
  • the operation restricted area can be accurately maintained, and the workability of the operator can be maintained satisfactorily.
  • FIG. 1 is a side view of a hydraulic excavator that is a working machine to which an embodiment of the present invention is applied;
  • FIG. 1 is a configuration diagram of a control system according to an embodiment of the present invention;
  • FIG. 3 is a diagram showing the configuration (functional block diagram) of a main controller according to the embodiment of the present invention;
  • FIG. FIG. 3 is a diagram showing a state in which the hydraulic excavator (running body) is in surface contact with the horizontal ground;
  • Fig. 10 is a diagram showing a state in which the revolving body of the hydraulic excavator is tilted backward (a state in which the front part of the traveling body is lifted);
  • FIG. 1 is a side view of a hydraulic excavator that is a working machine to which an embodiment of the present invention is applied;
  • FIG. 1 is a configuration diagram of a control system according to an embodiment of the present invention;
  • FIG. 3 is a diagram showing the configuration (functional block diagram) of a main
  • FIG. 10 is a diagram showing a state in which the revolving body of the hydraulic excavator is tilted forward (a state in which the rear of the traveling body is lifted);
  • FIG. 5 is a diagram showing an example of a screen on a monitor showing the positional relationship between the boundary line of the restricted operation area and the hydraulic excavator.
  • FIG. 4 is a flow chart showing an example of the flow of calculation by each unit shown in the main controller in FIG. 3;
  • FIG. 1 is a top view of a hydraulic excavator 1 according to this embodiment;
  • FIG. 10 is a side view of the hydraulic excavator when the front working device side of the traveling body is lifted in the cases of A and B of FIG. 9;
  • FIG. 10 is a diagram for classifying based on the relative angle ⁇ which of the cases A and B in FIG. 9 corresponds.
  • 9 is a flowchart of processing executed by a main controller according to the second embodiment;
  • a hydraulic excavator (working machine) 1 includes a traveling body 4, a revolving body 3 attached to the top thereof, and a plurality of front members 20, 21, 22. and an articulated front working device 2 rotatably attached to a revolving body 3 .
  • the revolving body 3 is attached to the traveling body 4 so as to be able to revolve in the horizontal direction, and is driven to revolve by a revolving hydraulic motor (not shown).
  • the front working device 2 includes a boom 20 whose base end is rotatably connected to the revolving body 3, an arm 21 whose base end is rotatably connected to the tip of the boom 20, and a base end of the arm 21.
  • a bucket 22 rotatably connected to the tip side, a boom cylinder 20A having the tip side connected to the boom 20 and the base end side connected to the revolving body 3, and the tip side connected to the arm 21 and the base end side to the boom 20.
  • a first link member 22B whose tip side is rotatably connected to the bucket 22, and a second link whose tip side is rotatably connected to the base end side of the first link member 22B
  • a member 22C and a bucket cylinder 22A that spans between the connecting portion of the two link members 22B and 22C and the arm 21 are provided.
  • These hydraulic cylinders 20A, 21A, and 22A are configured so as to be vertically rotatable about their connecting portions.
  • the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A have a structure that can be expanded and contracted by supplying and discharging hydraulic oil discharged from the hydraulic pump 36b (see FIG. 2), and by expanding and contracting, the boom 20 , the arm 21 and the bucket 22 can be rotated (operated).
  • the bucket 22 can be arbitrarily replaced with an attachment (not shown) such as a grapple, breaker, ripper, magnet, or the like.
  • the boom cylinder 20A has a pressure sensor (boom bottom pressure sensor) 20BP for detecting the pressure on the bottom side of the boom cylinder 20A and a pressure sensor (boom rod pressure sensor) 20RP for detecting the pressure on the rod side of the boom cylinder 20A. installed. These two pressure sensors 20BP and 20RP can function as load detectors for the boom cylinder 20A.
  • An inertial measurement unit sensor (hereinafter referred to as an IMU sensor) (boom) 20S for detecting the attitude of the boom 20 is attached to the boom 20, and an IMU sensor for detecting the attitude of the arm 21 is attached to the arm 21. (Arm) 21S is attached.
  • An IMU sensor (bucket) 22S for detecting the posture of the bucket 22 is attached to the second link member 22C.
  • the IMU sensor (boom) 20S, the IMU sensor (arm) 21S, and the IMU sensor (bucket) 22S are each composed of an angular velocity sensor and an acceleration sensor, and detect the inclination angle, angular velocity, and acceleration of each front member 20, 21, 22. detection is possible.
  • these three IMU sensors 20S, 21S, 22S that respectively detect the attitudes of the three front members 20, 21, 22 are sometimes referred to as third attitude sensors.
  • the revolving body 3 has a main frame 31. On the main frame 31, there are an IMU sensor (revolving structure) 30S for detecting the tilt angle of the revolving structure 3, an operator's cab 32, and a plurality of hydraulic actuators in the hydraulic excavator 1.
  • a counterweight 37 positioned on the rear side of the revolving body 3 and a revolving motor 38 for revolving the revolving body 3 in either the left or right direction are mounted.
  • the IMU sensor (revolving body) 30S is composed of an acceleration sensor and an angular velocity sensor, and can detect the inclination (inclination angle) of the revolving body 3 with respect to the horizontal plane, as well as the angular velocity and acceleration.
  • the IMU sensor 30S that detects the attitude of the revolving body 3 may be referred to as a first attitude sensor.
  • the operator's cab 32 includes an operation input device 33 for inputting operations by the operator, and a device for storing in the main controller 34 the position of the boundary line of the restricted operation area into which the front work device 2 is prohibited from entering.
  • An operation restriction area setting device 100 and a monitor (display device) 110 for displaying various information about the hydraulic excavator 1 including the position of the boundary line of the operation restriction area are provided.
  • the boundary line of the restricted operation area can be set, for example, on a three-dimensional coordinate system (vehicle body coordinate system) set on the revolving superstructure 3 .
  • a coordinate system can be set in which the height direction, the front-rear direction, and the left-right direction of the revolving body 3 are used as coordinate axes.
  • a tablet terminal (tablet computer) having a touch panel is used as a device that doubles as the operation restriction area setting device 100 and the monitor 110.
  • two codes 100 are used for one symbol.
  • 110 are labeled.
  • a controller including an input device (a computer including a memory and a processor) may be used instead of the tablet terminal.
  • the operation input device 33 includes two operation levers 33a (illustrated) for instructing the rotation of the front work device 2 (boom 20, arm 21, bucket 22) and the rotation of the revolving body 3 according to the operator's operation. are combined into one), and two travel control levers 33c (illustrated are combined into one) for instructing the running operation of the left and right crawler belts 45 related to the traveling body 4 according to the operator's operation. , and a plurality of operation sensors 33b (collected as one sensor in the drawing) for detecting the amount (operation amount) of each operation lever 33a, 33c pushed down.
  • a plurality of operation sensors 33b detects the amount by which the operator pushes down each of the four operation levers 33a and 33c, thereby detecting the motions requested by the operator to the front members 20, 21, 22, the revolving body 3, and the traveling body 4.
  • the speed is converted into an electric signal (operation signal) and output to the main controller 34 .
  • the operation input device 33 (operating levers 33a and 33b) may be of a hydraulic pilot type that outputs hydraulic oil whose pressure is adjusted according to the amount of operation as an operation signal. In that case, a pressure sensor is used as the operation sensor 33b, and a signal detected by the pressure sensor is output to the main controller 34 to detect the amount of operation.
  • the hydraulic control device 35 includes a plurality of electromagnetic control valves 35a that generate hydraulic oil (pilot pressure) at a pressure corresponding to an operation command value (command current) output from the main controller 34, and output from the corresponding electromagnetic control valves 35a. It is driven by hydraulic oil (pilot pressure) applied to the hydraulic excavator 1, and is composed of a plurality of direction switching valves 35b for controlling the flow rate and flow direction of the hydraulic oil supplied to the plurality of hydraulic actuators mounted on the hydraulic excavator 1, respectively.
  • the operation command value output from the controller 34 is generated based on the operator's operation input to the operation levers 33a and 33b. Operation command values (including stop command values) for non-existent hydraulic actuators may also be generated.
  • Hydraulic actuators may include those that drive attachments and equipment not included above.
  • the prime mover 36 comprises an engine (prime mover) 36a and at least one hydraulic pump 36b driven by the engine 36a. 38 is supplied with pressure oil (hydraulic oil) necessary for driving the .
  • the driving device 36 is not limited to this configuration, and other power sources such as an electric pump may be used.
  • the turning angle sensor 40S is a sensor (second posture sensor) that detects the relative angle ⁇ between the turning body 3 and the traveling body 4, and is mounted on the hydraulic excavator 1 so as to detect the relative angle ⁇ .
  • a potentiometer can preferably be used as the turning angle sensor 40S.
  • the traveling body 4 includes a track frame 40 , left and right crawler belts 45 attached to the track frame 40 , and left and right traveling motors 41 for driving the left and right crawler belts 45 so as to rotate the track frame 40 .
  • the operator can make the hydraulic excavator 1 travel by adjusting the rotation speed of the left and right travel hydraulic motors (hydraulic actuators) 41 by appropriately operating the two travel control levers 33c.
  • the running body 4 is not limited to one having crawler belts 45, and may be one having running wheels or legs (outriggers).
  • FIG. 2 is a system configuration diagram of a hydraulic control system mounted on the hydraulic excavator 1 of this embodiment. It should be noted that the description of the parts that have already been described above may be omitted as appropriate.
  • the main controller 34 includes an operation restricted area setting device 100, a monitor 110, a plurality of operation sensors 33b, an IMU sensor 30S (first attitude sensor), a plurality of IMU sensors 20S, 21S, 22S (third attitude sensor), turning angle sensor 40S (second attitude sensor), multiple pressure sensors 20BP and 20RP (load detectors), and multiple electromagnetic control valves 35a are electrically connected, It is configured to be able to communicate with these.
  • the operation restricted area setting device 100 outputs the position data of the boundary of the operation restricted area set by the operator to the main controller 34 .
  • the boundary of the limited operation area can be set, for example, in the vehicle body coordinate system set in the revolving superstructure 3 .
  • the position data of the boundary of the restricted operation area may be directly input by the operator via the restricted operation area setting device 100, or the design data created in advance on the geographical coordinate system, the site coordinate system, etc. may be used. Via the restricted area setting device 100, coordinate transformation may be added as appropriate and input may be performed.
  • the restricted operation area 59 can be set at any position with respect to the excavator 1 .
  • the shape of the operation restriction area 59 may be a polygon or a curve.
  • the operation restriction area setting device 100 only needs to have a function of storing the position data of the boundary of the preset operation restriction area 59, and can be replaced by a storage device such as a semiconductor memory. Therefore, if the position data of the boundary of the restricted operation area 59 is stored in, for example, a storage device within the main controller 34 or a storage device mounted on the hydraulic excavator, it can be omitted.
  • the monitor 110 monitors the position of the boundary of the restricted operation area 59, the attitude of the hydraulic excavator 1 (including the attitudes of the front working device 2 and the bucket 22), the distance and positional relationship between the boundary of the restricted operation area 59 and the bucket 22, and the like. information to the operator.
  • the main controller 34 is a controller in charge of various controls related to the hydraulic excavator 1 . There are two characteristic controls that can be executed by the main controller 34 of this embodiment.
  • the main controller 34 controls the operation of the front work device 2 beyond the intersection line 60 (referred to as the boundary line 60) between the operation plane of the front work device 2 and the boundary of the operation restriction area 59 (see FIG. 4).
  • the target speed vector of the front work device 2 so as not to enter the area 59 (for example, the target speed vector is calculated so as to decrease as the distance between the front work device 2 and the boundary line 60 decreases, and when the distance is zero) , zero is calculated as the target speed vector), and the hydraulic pressure of at least one of the plurality of hydraulic cylinders 20A, 21A, 22A is adjusted so that the front working device 2 operates according to the calculated target speed vector.
  • Region limit control can be executed by calculating and outputting operation command values for controlling the cylinders.
  • this area restriction control for example, even if the operator inputs an arm cloud operation while the front work device 2 is positioned near the operation restriction area 59, the front work apparatus 2 continues outside the operation restriction area 59. Since the front working device 2 is semi-automatically controlled so as to be positioned at the front working device 2 (for example, the front working device 2 semi-automatically stops when it approaches the operation restriction area 59), the front working device 2 can be reliably prevented from entering the operation restricted area 59.
  • the main controller 34 calculates a lifting angle ⁇ (details will be described later) of the running body 4 based on the output of the IMU sensor 30S of the revolving body 3, and based on the lifting angle ⁇ , the moving body 4 rises.
  • a rotation center Cr (details will be described later) can be calculated, and the position data of the boundary line in the vehicle body coordinate system can be corrected based on the calculated lifting angle ⁇ and the rotation center Cr.
  • the operating plane of the front working device 2 is the plane on which the front members 20, 21, 22 operate, that is, the plane orthogonal to all the three front members 20, 21, 22.
  • a plane passing through the center in the width direction of the front working device 2 (the center in the axial direction of the boom pin serving as the rotation axis on the base end side of the boom 20) can be selected.
  • hydraulic excavators are set so that the larger the amount of tilting of the operating levers 33a and 33c (tilting amount), the faster the operating speed of each of the hydraulic actuators 20A, 21A, 22A, 38 and 41.
  • tilting amount the amount of tilting the levers 33a, 33c
  • the operating speed of each hydraulic actuator 20A, 21A, 22A, 38, 41 is changed to operate the hydraulic excavator 1.
  • the operation sensor 33b electrically detects the operation amount (tilt amount) of the operation lever 33a with respect to the boom 20, arm 21, bucket 22 (boom cylinder 20A, arm cylinder 21A, bucket cylinder 22A) and swing body 3 (swing motor 38).
  • the operation speed of the boom cylinder 20A, the arm cylinder 21A, the bucket cylinder 22A, and the swing body 3 requested by the operator can be detected based on the detection signal of the operation sensor 33b.
  • the operation sensor 33b includes a sensor that electrically detects the operation amount (tilt amount) of the operation lever 33c with respect to the traveling motor 41. Based on the detection signal of the operation sensor 33b, the operator makes a request. The operating speed of the running body 4 can be detected.
  • the operation sensor is not limited to the one that directly detects the amount by which the operation levers 33a and 33c are tilted, but it is a method that detects the hydraulic oil pressure (operation pilot pressure) output by the operation of the operation levers 33a and 33c. may
  • the IMU sensor (rotating body) 30S, IMU sensor (boom) 20S, IMU sensor (arm) 21S, and IMU sensor (bucket) 22S can function as an angular velocity sensor, an acceleration sensor, and an inclination angle sensor, respectively. Angular velocity, acceleration data, and tilt angle data at each installation position can be obtained from these IMU sensors.
  • the boom 20, the arm 21, the bucket 22, the boom cylinder 20A, the arm cylinder 21A, the bucket cylinder 22A, the first link member 22B, the second link member 22C, and the revolving body 3 are mounted so as to be able to rotate (revolve).
  • the attitudes and positions of the boom 20, the arm 21, the bucket 22, and the revolving body 3 in the vehicle body coordinate system can be calculated from the dimensions of each part and the mechanical link relationship.
  • the posture and position detection method shown here is just an example, and a method that directly measures the relative angle of each part of the front work device 2, or a method that detects the strokes of the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A.
  • the posture and position of each part of the hydraulic excavator 1 may be calculated.
  • the pressure sensors 20BP and 20RP which are load detection devices, may be directly attached to the boom cylinder 20A as described above, or may be attached on the oil passage from the hydraulic control device 35 to the boom cylinder 20A.
  • the load detection device is not limited to the pressure sensors 20BP and 20RP, but may be a load cell that directly detects the torque acting on the connecting portion between the boom 20 and the revolving structure 3, or detects the strain of the front working device 2 to detect the load.
  • An estimation method strain gauge may be used.
  • FIG. 3 is a configuration diagram of the main controller 34.
  • the main controller 34 includes, for example, a CPU (Central Processing Unit) (not shown), a storage device such as a ROM (Read Only Memory) or an HDD (Hard Disc Drive) that stores various programs for executing processing by the CPU, and the CPU. It is configured using hardware including a RAM (Random Access Memory) that serves as a work area when executing a program.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • HDD Hard Disc Drive
  • the attitude calculation unit 710 By executing the programs stored in the storage device in this manner, the attitude calculation unit 710, the operation restriction area calculation unit 720, the operation restriction area correction unit 730, the floating judgment unit 910, the floating angle computing unit 920, the floating center computing unit 930, functions as the operation command unit 310; Next, the details of the processing performed by each unit will be described.
  • the posture calculation unit 710 detects acceleration signals and angular velocity signals obtained from the IMU sensor (boom) 20S, IMU sensor (arm) 21S, IMU sensor (bucket) 22S, and IMU sensor (rotating body) 30S, 21, the bucket 22, and the revolving body 3 (inclination angle) are calculated. If the dimensions of the front members 20, 21, and 22 are added to the result of calculation of the posture, the position of the front working device 2 can also be calculated. The position of the front working device 2 in the vehicle body coordinate system can be calculated from the attitudes of the boom 20, arm 21 and bucket 22 that can be calculated from three IMU sensors 20S, 21S, 22S (third attitude sensors).
  • the operation restriction area calculation unit 720 calculates the position of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system based on the position data of the operation restriction area 59 input from the operation restriction area setting device 100 .
  • the position of the boundary line 60 calculated here is the position of the boundary line 60 when the revolving superstructure 3 is horizontal, and is hereinafter sometimes referred to as the "initial position".
  • a lift determination unit 910 determines whether or not a part of the traveling body 4 is lifted.
  • 4 shows a state in which the running body 4 is in surface contact with the horizontal ground
  • FIG. 5 shows a state in which the revolving body 3 is tilted backward (a state in which the front of the running body 4 is lifted)
  • FIG. indicates a state in which the revolving body 3 is tilted forward (a state in which the rear of the running body 4 is lifted).
  • the boundary line 60 of the operation restriction area 59 is corrected. is not corrected (that is, the position of the boundary line 60 is kept at its initial position). That is, whether or not the traveling body 4 is lifted coincides with whether or not the boundary line 60 of the operation restriction area 59 is corrected.
  • a method for judging whether the traveling body 4 has risen will be explained. If the hydraulic excavator 1 receives a large reaction force from the ground via the front work device 2 while the working machine 1 is stopped from traveling by the traveling body 4, the traveling body 4 may be lifted.
  • the lift determination unit 910 of the present embodiment monitors the presence or absence of an operation input to the travel control lever 33c (that is, the presence or absence of travel) by the output of the operation sensor 33b, and detects the presence or absence of the lift of the traveling body 4 by the IMU sensor (turning motion). body) Monitor the output of 30S.
  • the floating determination section 910 determines that the traveling body 4 is floating. On the other hand, if the travel control lever 33c is steered, or if the output of the IMU sensor (revolving body) 30S is constant, it is determined that the travel body 4 is not lifted.
  • the load of the front working device 2 is detected, and if the inclination angle of the traveling body 4 changes while the reaction force required for the traveling body 4 to float up is obtained, the traveling body 4 may be determined to be floating.
  • the thrust F1 of the boom cylinder 20A is calculated from outputs of two pressure sensors (rod side, bottom side) 20BP and 20RP related to the boom cylinder 20A. By comparing the calculated thrust force F1 of the boom cylinder 20A with the thrust force F2 of the boom cylinder 20A required to support the front working device 2, it is determined whether or not the reaction force necessary for lifting the traveling body 4 is obtained. and determine whether or not there is floating.
  • the traveling body 4 is determined to be floating.
  • the thrust force F1 of the boom cylinder 20A matches the thrust force F2 required to support the front working device 2, or when the output of the IMU sensor (rotating body) 30S is constant (more specifically, can be regarded as constant), it is determined that the running body 4 is not floating (the running body 4 is in surface contact with the ground).
  • the "thrust force F2 of the boom cylinder 20A required to support the front work device 2" used in the above comparison is the attitude of each front member 20, 21, 22 calculated by the attitude calculation unit 710, and the It can be calculated based on the weights of the front members 20, 21 and 22, and can be calculated by general dynamic calculation.
  • a lifting angle calculator 920 calculates a change ⁇ in the inclination angle of the revolving body 3 due to the lifting of the traveling body 4 based on the output of the IMU sensor (revolving body) 30S.
  • this angle ⁇ is referred to as a lift angle.
  • the rising angle ⁇ is defined by the angle between the ground surface with which the running body 4 is in contact and the bottom surface of the running body 4 . That is, by calculating the deviation between the tilt angle immediately before the running body 4 lifts up (the tilt angle of the ground that the running body 4 is in contact with) and the tilt angle after lifting, the following equation (1) is obtained. Angle ⁇ can be calculated.
  • the inclination of the traveling structure 4 can be detected by measuring the inclination angle of the revolving structure 3 with the IMU sensor (revolving structure) 30S. Angle can be estimated.
  • ⁇ Lifting center calculation unit 930 Based on the lifting angle ⁇ calculated by the lifting angle calculating unit 920, the lifting center calculation unit 930 determines the center of the moving object 4 at which the lifting occurs, and determines the center of rotation when the moving object 4 is lifted. Compute Cr(Crb, Crf).
  • FIG. Assuming that the angle in the forward tilting direction of the revolving structure 3 is positive (+) as indicated by an arrow 55 in FIG. When tilting (when the front working device 2 side of the traveling body 4 floats up), it becomes a positive value, and as shown in FIG. becomes a negative value. Therefore, it can be determined whether the front work device 2 side or the counterweight 37 side of the running body 4 is floating depending on whether the lifting angle is positive or negative.
  • the uplift angle ⁇ is a positive value
  • the front working device 2 side of the traveling body 4 is lifted as shown in FIG.
  • the contact line where 4 contacts the ground is defined as the rotation center Crb of the lift.
  • the lifting angle ⁇ is a negative value
  • the counterweight 37 side of the traveling body 4 is lifted as shown in FIG.
  • the line of contact where the traveling body 4 contacts the ground is defined as the center of rotation Crf of floating.
  • the origin O of the vehicle body coordinate system is set at the intersection of the rotation axis of the boom 20 (the axis of rotation of the boom pin) and the operation plane of the front work device 2.
  • the coordinates (a, c) of the positions of the rotation centers Crb and Crf with respect to the origin O on the operation plane of the front working device 2 are the relative angle ⁇ and the dimensions of the revolving body 3 and the traveling body 4 (which can be stored in advance in the controller 34).
  • the operation restriction area correction unit 730 provides the position data of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system and the position data of each of the front members 20, 21, 22 in the vehicle body coordinate system calculated by the posture calculation unit 710. , the shortest distance d between the boundary line 60 of the restricted operation area 59 and the front working device 2 is calculated.
  • ⁇ Operation command unit 310> Based on the shortest distance d between the boundary line 60 of the operation restriction area 59 and the front work device 2 and the output of the operation sensor 33b, the operation command unit 310 controls the electromagnetic waves related to the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A. An operation command value necessary for driving the control valve 35a is calculated.
  • the shortest distance d is calculated based on the position (initial position or corrected position) of the boundary line 60 output from the restricted operation area correction unit 730 . That is, when the running body 4 is floating, the calculation is based on the corrected position of the boundary line 60, and when the bottom surface of the running body 4 is in surface contact with the ground, the calculation is based on the initial position of the boundary line 60. be done.
  • the operation command unit 310 sets the shortest distance d between the boundary line 60 of the operation restriction area 59 and the front work device 2 to a predetermined value. It is determined whether or not it is smaller than (threshold). When the shortest distance d becomes smaller than the predetermined value, the operation command unit 310 controls the boom cylinder 20A, the arm cylinder 21A, and the bucket to stop the front working device 2 regardless of the output from the operation sensor 33b. Set the target operating speed of cylinder 22A to zero.
  • the operation command unit 310 generates an operation command value necessary for driving each electromagnetic control valve 35a according to the target operation speed, and outputs the generated operation command value to the corresponding electromagnetic control valve 35a, thereby The direction switching valve (control valve) 35b is driven.
  • the direction switching valve (control valve) 35b is driven.
  • the target speeds of the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A are calculated according to the output of the operation sensor 33b, and the front working device 2 is operated according to the operator's operation. Operate.
  • ⁇ Monitor 110> An example of a screen on the monitor 110 showing the positional relationship between the boundary line 60 of the restricted operation area 59 and the hydraulic excavator (working machine) 1 is shown in FIG.
  • FIG. 7 An image is displayed in which the bottom surface of the running body 4 and the ground are in full contact with each other, as shown in FIG.
  • the value of the shortest distance d of the work device 2 is displayed.
  • the shortest distances da (+0.5 m) and db (+1.2 m) between the vertical boundary line 60a located in front of the hydraulic excavator 1 and the horizontal boundary line 60b located below the hydraulic excavator 1 are displayed respectively.
  • the boundary line 60 of the operation restriction area 59 and the hydraulic excavator 1 may be displayed by changing the color or figure.
  • the image of the hydraulic excavator 1 is displayed, but instead of displaying this image, it is also possible to notify by a message or an alarm that the traveling body 4 is floating.
  • FIG. 8 is a flow chart of processing executed by the main controller 34, explaining an example of the flow of calculation by each unit shown in the main controller 34 in FIG.
  • each process steps S110 to S210
  • steps S110 to S210 may be described with each part in the main controller 34 shown in FIG. Further, detailed explanations of the processing of each part may be described in the description of each part.
  • the relative angle ⁇ between the traveling body 4 and the revolving body 3 is assumed to be zero degree.
  • the attitude calculation unit 710 refers to the data detected by the attitude sensors 30S, 20S, 21S, 22S, and 40S, and determines the attitudes of the boom 20, arm 21, bucket 22, traveling body 4, and revolving body 3. to calculate
  • step S120 the operation restriction area calculation unit 720 determines the position of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system (initial position ).
  • step S130 the floating determination unit 910 determines whether the running body 4 is in a floating state, based on whether there is an operation input to the travel control lever 33c and the output of the IMU sensor (rotating body) 30S. If it is determined that the traveling body 4 is floating, the process proceeds to step S140, and if it is determined that it is not floating, the process proceeds to step S200.
  • step S140 the lifting angle calculation unit 920 calculates a change in the inclination angle (lifting angle) .theta. move on.
  • step S160 the floating center calculation unit 930 determines in which direction the traveling object 4 is floating based on the floating angle ⁇ calculated in step S140. is negative, the revolving body 3 is tilted forward and the counterweight 37 side of the running body 4 is floating (that is, the state of FIG. 6), so the process proceeds to step S170. On the other hand, if the rising angle is positive, the revolving body 3 is tilted backward, and the front working device 2 side of the traveling body 4 is floating (that is, the state of FIG. 5), so the process proceeds to step S180.
  • step S170 the hydraulic excavator 1 is in the posture shown in FIG.
  • the center of rotation Crf is set on the side (that is, the front side of the traveling body 4).
  • step S180 the hydraulic excavator 1 is in the posture shown in FIG. (that is, the rear side of the traveling body 4) is set as the center of rotation Crb.
  • step S190 the operation restriction area correction unit 730 determines the operation restriction area 59 in the vehicle body coordinate system based on the positions of the rotation centers Crf and Crb set in step S170 or S180 and the lifting angle ⁇ calculated in step S140.
  • the position of the boundary line 60 is corrected to be the corrected position.
  • the lifting angle ⁇ is zero (when the traveling body 4 does not lift)
  • the initial position is held as the position of the boundary line 60 .
  • step S200 the boundary line 60 is displayed on the screen of the monitor 110 at the position corrected in step S190.
  • step S210 the operation restriction area correction unit 730 obtains the position data of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system calculated in step S190 (initial position if there is no lifting, and Corrected position) and the attitude data of the front members 20, 21, 22 calculated in step S110, the shortest distance d between the boundary line 60 of the operation restriction area 59 and the front working device 2 is calculated, and the operation is performed. Output to command unit 310 .
  • the operation command unit 310 sets the target operating speeds of the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A to zero. Then, an operation command value required for driving each electromagnetic control valve 35a is generated and output according to the target operation speed. As a result, when the front working device 2 approaches the boundary line 60, the front working device 2 is stopped. On the other hand, when the shortest distance d is equal to or greater than the predetermined value, the motion command unit 310 calculates the target speeds of the boom cylinder 20A, the arm cylinder 21A, and the bucket cylinder 22A according to the output of the operation sensor 33b. The front working device 2 operates accordingly.
  • a predetermined value threshold value
  • the area denoted by reference numeral 69 is the limited operation area 69 corrected by adding only rotation about the origin of the vehicle body coordinate system.
  • the main controller 34 calculates the lifting angle ⁇ of the traveling structure 4 based on the output of the IMU sensor (revolving structure) 30S, and the lifting angle ⁇ Based on this, the rotation center Cr (Crf, Crb) when the traveling body 4 is lifted is calculated, and the position of the boundary line 60 in the vehicle body coordinate system is corrected based on the lift angle ⁇ and the rotation center Cr.
  • the position of the boundary line 60 of the operation restriction area 59 in the vehicle body coordinate system is corrected according to the lifting angle ⁇ of the traveling body 4 and the position of the rotation center Cr. (Area limit control) malfunction can be prevented.
  • the operation state of the traveling body 4 and the IMU sensor (turning body) 30S output state apart from determining whether or not lifting of the traveling body 4 has occurred, whether or not the lifting angle ⁇ 0 is established, the operation state of the traveling body 4 and the IMU sensor (turning body) 30S output state. Specifically, A) when the output of the IMU sensor (swivel body) 30S changes while the running body 4 is stopped, it is determined that floating has occurred and the position of the boundary line 60 is corrected; is running, or when the output of the IMU sensor (slewing body) 30S is constant, it is determined that no lifting has occurred, and the initial position is maintained without correcting the position of the boundary line 60. did. As a result, it is possible to accurately determine whether or not the traveling body 4 is lifted, so that the correction accuracy of the boundary line 60 can be improved.
  • the main controller 34 calculates the thrust F1 of the boom cylinder 20A based on the outputs of the two pressure sensors 20BP and 20RP, When different and when the output of the IMU sensor (swivel body) 30S changes, correct the position of the boundary line 60 where it is determined that the lift has occurred, and B) when the calculated thrust force F1 matches the thrust force F2, or , when the output of the IMU sensor (revolving body) 30S is constant, it may be determined that no lifting has occurred, and the initial position may be maintained without correcting the position of the boundary line 60 .
  • This method can also improve the correction accuracy of the boundary line 60 .
  • this method is superior to the above-described method in that it can determine which of the two contact lines Crf and Crb is the center of rotation when the traveling body 4 floats. That is, if F1 ⁇ F2 is established when floating occurs, it can be determined that the revolving structure 3 tilts backward and the contact line Crb becomes the center of rotation (see FIG. 5). Conversely, if F1>F2 is established , the revolving body 3 tilts forward and the contact line Crf becomes the center of rotation (see FIG. 6).
  • FIG. 9 is a top view of the hydraulic excavator 1 according to this embodiment
  • FIG. 10 is a side view of the hydraulic excavator 1 when the front working device 2 side of the traveling body 4 is lifted up in the cases of A and B of FIG. show.
  • the running body 4 has different lengths in the front-rear direction (traveling direction of the running body 4) and in the left-right direction (perpendicular to the traveling direction). is longer in the front-rear direction than in the left-right direction. Therefore, the position of the rotation center Cr with respect to the origin O of the vehicle body coordinate system may vary depending on the relative angle ⁇ between the revolving body 3 and the traveling body 4 . For example, as shown in FIGS.
  • a pair of left and right crawler belts 45 constituting the running body 4 contact the ground in front of the running body 4 (advance direction) and a contact line Crf where the crawler belts 45 contact the ground behind the running body 4 (backward direction).
  • Either one of the two contact lines Crf and Crb with the contact line Crb that contacts the ground at can be the center of rotation.
  • Both of the contact lines Crf and Crb are straight lines extending in the lateral direction of the traveling body 4 (perpendicular to the traveling direction).
  • the left crawler belt 45L of the pair of left and right crawler belts 45 constituting the traveling body 4 has a contact line Crl that contacts the ground at the edge extending in the longitudinal direction (advancing direction), and the right crawler belt 45R.
  • Any one of the two contact lines Crl and Crr with the contact line Crr that contacts the ground at the edge extending in the front-rear direction can be the center of rotation.
  • Both of the contact lines Crl and Crr are straight lines extending in the left-right direction of the traveling body 4 (perpendicular to the traveling direction).
  • FIG. 11 is a diagram showing which of A and B in FIG. 9 corresponds based on the relative angle ⁇ .
  • a point Cs in the drawing indicates the turning center of the turning body 3 .
  • the relative angle ⁇ between the rotating body 3 and the traveling body 4 is assumed to be 0 degrees when the advancing direction of the traveling body 4 and the extending direction of the front working device 2 (the x-axis direction of the vehicle body coordinate system) are aligned.
  • the sign of the relative angle ⁇ is positive when the revolving body 3 turns to the right, and the sign is negative when it turns to the left.
  • a threshold value is provided for the relative angle ⁇ , and the position of the rotation center Cr of the traveling body 4 is classified based on the relationship between the threshold value and the relative angle ⁇ detected by the turning angle sensor 40S.
  • the thresholds for the relative angle ⁇ are +45 degrees (-315 degrees), +135 degrees (-225 degrees), +225 degrees (-135 degrees), +315 degrees (-45 degrees), and two adjacent thresholds differ by 90 degrees. .
  • a circle centered on the turning center Cs shown in FIG. 11 is divided into four areas A1, B1, A2, and B2 by these threshold values.
  • Area A1 (first area) has a range of relative angles ⁇ from 0 degrees ( ⁇ 360 degrees) to +45 degrees ( ⁇ 315 degrees) and a range of relative angles ⁇ from +315 degrees ( ⁇ 45 degrees) to +360 degrees (0 degree).
  • the region B1 (second region) has a relative angle ⁇ ranging from +45 degrees ( ⁇ 315 degrees) to +135 degrees ( ⁇ 225 degrees).
  • the relative angle ⁇ ranges from +135 degrees (-225 degrees) to +225 degrees (-135 degrees).
  • Region B2 (fourth region) has a relative angle ⁇ ranging from +225 degrees ( ⁇ 135 degrees) to +315 degrees ( ⁇ 45 degrees).
  • the floating center calculator 930 calculates one of the two contact lines Crf and Crb as the center of rotation.
  • the contact line Crf becomes the center of rotation when the revolving body 3 tilts forward
  • the contact line Crb becomes the center of rotation when the revolving body 3 tilts backward.
  • the contact line Crb is the center of rotation when the revolving body 3 tilts forward
  • the contact line Crf is the center of rotation when the revolving body 3 tilts backward.
  • the floating center calculation unit 930 calculates one of the two contact lines Crl and Crr as the center of rotation.
  • the contact line Crl is the center of rotation when the revolving body 3 tilts forward
  • the contact line Crr is the center of rotation when the revolving body 3 tilts backward.
  • the contact line Crr is the center of rotation when the revolving body 3 tilts forward
  • the contact line Crl is the center of rotation when the revolving body 3 tilts backward.
  • FIG. 12 is a flowchart of processing executed by the main controller 34 according to this embodiment.
  • the same reference numerals are assigned to the same processes as in FIG. 8, and the description thereof will be omitted, and the processes different from those in FIG. 8 will be described below.
  • the floating center calculation unit 930 determines whether the running body 4 is in the front-back direction based on the relative angle ⁇ of the running body 4 with respect to the revolving body 3. That is, it is determined whether the relative angle ⁇ is included in either the area A1 or the area A2. If the relative angle ⁇ is included in either the area A1 or the area A2, the process proceeds to step S160. On the contrary, if the relative angle ⁇ is included in either the region B1 or the region B2 (that is, if the traveling body 4 is not in the front-rear direction (in the left-right direction)), the process proceeds to step 161 .
  • step S160 the floating center calculation unit 930 determines in which direction the traveling object 4 is floating based on the floating angle ⁇ calculated in step S140. is negative, the revolving body 3 is tilted forward and the counterweight 37 side of the running body 4 is floating, so the process proceeds to step S170. On the other hand, if the rising angle is positive, the revolving body 3 is tilted backward, and the front working device 2 side of the running body 4 is floating, so the process proceeds to step S180.
  • step S170 since the revolving body 3 is tilted forward, the lifting center calculation section 930 is operated in the traveling direction (also referred to as the front-rear direction or length direction) of the traveling body 4 and on the side of the front working device 2 (that is, the traveling body). 4) to set the center of rotation.
  • the rotation center Crf is set when the relative angle ⁇ is included in the area A1
  • the rotation center Crb is set when the relative angle ⁇ is included in the area A2.
  • step S180 since the revolving body 3 is tilted backward, the floating center calculation section 930 is operated in the traveling direction of the running body 4 (also referred to as the longitudinal direction or the length direction) and the counterweight 37 side (that is, the running body 4 ) to set the center of rotation.
  • the rotation center Crb is set when the relative angle ⁇ is included in the area A1
  • the rotation center Crf is set when the relative angle ⁇ is included in the area A2.
  • step S161 the floating center calculation unit 930 determines in which direction the traveling body 4 is floating based on the floating angle ⁇ calculated in step S140. is negative, the revolving body 3 is tilted forward and the counterweight 37 side of the traveling body 4 is floating, so the process proceeds to step S171. On the other hand, if the rising angle is positive, the revolving body 3 is tilted backward, and the front working device 2 side of the traveling body 4 is floating, so the process proceeds to step S181.
  • step S171 since the revolving body 3 is tilted forward, the lifting center calculation unit 930 sets the center of rotation in the lateral direction of the traveling body 4 and on the side of the front working device 2 (that is, the front side of the traveling body 4). As a result, the rotation center Crl is set when the relative angle ⁇ is included in the region B1, and the rotation center Crr is set when the relative angle ⁇ is included in the region B2.
  • step S181 since the revolving body 3 is tilted backward, the lifting center calculation unit 930 sets the center of rotation in the lateral direction of the running body 4 and on the side of the counterweight 37 (that is, the rear side of the running body 4). As a result, the rotation center Crr is set when the relative angle ⁇ is included in the region B1, and the rotation center Crl is set when the relative angle ⁇ is included in the region B2.
  • the center of rotation of the traveling body 4 can be accurately calculated even when the relative angle ⁇ between the revolving body 3 and the traveling body 4 is not zero. can improve the correction accuracy of
  • the present invention is not limited to the above-described embodiments, and includes various modifications within a scope that does not deviate from the gist of the present invention.
  • the present invention is not limited to those having all the configurations described in the above embodiments, but also includes those with some of the configurations omitted. Also, it is possible to add or replace part of the configuration according to one embodiment with the configuration according to another embodiment.
  • each configuration related to the controller 34 and the functions and execution processing of each configuration are implemented partially or entirely by hardware (for example, logic for executing each function is designed by an integrated circuit).
  • the configuration related to the controller 34 may be a program (software) that implements each function related to the configuration of the controller 34 by being read and executed by an arithmetic processing unit (for example, CPU).
  • Information related to the program can be stored, for example, in a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.
  • control lines and information lines have been shown as necessary for the description of the embodiments, but not necessarily all the control lines and information lines related to the product does not necessarily indicate In reality, it can be considered that almost all configurations are interconnected.
  • SYMBOLS 1 Hydraulic excavator (working machine), 2... Front working device, 3... Revolving body, 4... Traveling body, 20... Boom, 20A... Boom cylinder, 20BP... Pressure sensor (boom bottom pressure sensor), 20RP...

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)

Abstract

Pelle hydraulique 1 comprenant un capteur d'IMU 30S qui détecte la posture d'un corps tournant 4, et un dispositif de commande principal 34 dans lequel la position d'une limite d'une région à fonctionnement limité 59 dans laquelle un dispositif de travail 2 est interdit d'entrer est stockée sur un système de coordonnées de caisse de véhicule réglé pour le corps tournant. Un dispositif de commande principal 37 calcule un angle de soulèvement θ d'un corps mobile 4 sur la base de la sortie provenant du capteur d'IMU 30S, calcule un centre de rotation Cr (Crf, Crb) autour duquel le corps mobile est soulevé sur la base de l'angle de soulèvement θ, et corrige la position de la limite 60 sur le système de coordonnées de caisse de véhicule sur la base de l'angle de soulèvement et du centre de rotation.
PCT/JP2022/011129 2021-04-19 2022-03-11 Machine de travail WO2022224624A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2023516332A JP7375260B2 (ja) 2021-04-19 2022-03-11 作業機械

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-070573 2021-04-19
JP2021070573 2021-04-19

Publications (1)

Publication Number Publication Date
WO2022224624A1 true WO2022224624A1 (fr) 2022-10-27

Family

ID=83722895

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/011129 WO2022224624A1 (fr) 2021-04-19 2022-03-11 Machine de travail

Country Status (2)

Country Link
JP (1) JP7375260B2 (fr)
WO (1) WO2022224624A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0820974A (ja) * 1994-07-11 1996-01-23 Hitachi Constr Mach Co Ltd 建設機械の作業範囲制限装置
JP2009179968A (ja) * 2008-01-29 2009-08-13 Hitachi Constr Mach Co Ltd 油圧ショベルのフロント制御装置
WO2011049079A1 (fr) * 2009-10-19 2011-04-28 日立建機株式会社 Engin d'opération
JP2012172427A (ja) * 2011-02-22 2012-09-10 Komatsu Ltd 油圧ショベルの作業可能範囲表示装置とその制御方法
JP2019007175A (ja) * 2017-06-21 2019-01-17 住友重機械工業株式会社 ショベル
WO2020049623A1 (fr) * 2018-09-03 2020-03-12 日立建機株式会社 Engin de chantier

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0820974A (ja) * 1994-07-11 1996-01-23 Hitachi Constr Mach Co Ltd 建設機械の作業範囲制限装置
JP2009179968A (ja) * 2008-01-29 2009-08-13 Hitachi Constr Mach Co Ltd 油圧ショベルのフロント制御装置
WO2011049079A1 (fr) * 2009-10-19 2011-04-28 日立建機株式会社 Engin d'opération
JP2012172427A (ja) * 2011-02-22 2012-09-10 Komatsu Ltd 油圧ショベルの作業可能範囲表示装置とその制御方法
JP2019007175A (ja) * 2017-06-21 2019-01-17 住友重機械工業株式会社 ショベル
WO2020049623A1 (fr) * 2018-09-03 2020-03-12 日立建機株式会社 Engin de chantier

Also Published As

Publication number Publication date
JP7375260B2 (ja) 2023-11-07
JPWO2022224624A1 (fr) 2022-10-27

Similar Documents

Publication Publication Date Title
JP6502476B2 (ja) 作業機械の表示システム及び作業機械
US11053661B2 (en) Work machine
US9663917B2 (en) Work vehicle, bucket device, and method for obtaining tilt angle
CN110300827B (zh) 工程机械
KR20130113515A (ko) 굴삭 제어 시스템 및 건설 기계
JP6872666B2 (ja) 作業機械
KR20220086671A (ko) 작업 기계의 제어 시스템, 작업 기계, 작업 기계의 제어 방법
KR20190034648A (ko) 작업 기계
JP2019105160A (ja) 作業機械の表示システム及び作業機械
WO2022224624A1 (fr) Machine de travail
JP7314429B2 (ja) 作業機械
WO2022186215A1 (fr) Engin de chantier
JP7274671B2 (ja) 油圧ショベル
KR102590162B1 (ko) 작업 기계
JP6912687B2 (ja) 油圧ショベル
JP7149912B2 (ja) 作業機械
WO2020179346A1 (fr) Engin de chantier
JP2021014783A (ja) 作業機械の表示システム及び作業機械
JP2021152275A (ja) 作業機械
CN111201350B (zh) 作业机械
CN114787455B (zh) 作业机械的控制系统、作业机械以及作业机械的控制方法
WO2022230417A1 (fr) Machine de travail
WO2024070262A1 (fr) Engin de chantier
JP2022149934A (ja) 建設機械
JP2021055423A (ja) 作業機械

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22791404

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2023516332

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22791404

Country of ref document: EP

Kind code of ref document: A1