U.S. patent application number 17/041777 was filed with the patent office on 2021-02-18 for construction machinery.
This patent application is currently assigned to KOBELCO CONSTRUCTION MACHINERY CO., LTD.. The applicant listed for this patent is KOBELCO CONSTRUCTION MACHINERY CO., LTD.. Invention is credited to Yusuke KAMIMURA.
Application Number | 20210047798 17/041777 |
Document ID | / |
Family ID | 1000005194336 |
Filed Date | 2021-02-18 |
![](/patent/app/20210047798/US20210047798A1-20210218-D00000.png)
![](/patent/app/20210047798/US20210047798A1-20210218-D00001.png)
![](/patent/app/20210047798/US20210047798A1-20210218-D00002.png)
![](/patent/app/20210047798/US20210047798A1-20210218-D00003.png)
![](/patent/app/20210047798/US20210047798A1-20210218-D00004.png)
![](/patent/app/20210047798/US20210047798A1-20210218-D00005.png)
![](/patent/app/20210047798/US20210047798A1-20210218-D00006.png)
![](/patent/app/20210047798/US20210047798A1-20210218-D00007.png)
United States Patent
Application |
20210047798 |
Kind Code |
A1 |
KAMIMURA; Yusuke |
February 18, 2021 |
CONSTRUCTION MACHINERY
Abstract
A hydraulic excavator includes a lower travelling body, an upper
slewing body attached to the lower travelling body in a rotatable
manner about a slewing axis, distance sensors, the distance sensors
being capable of detecting a distance to an object to be detected,
the object being located in a circumference of the lower travelling
body about the slewing axis; a slewing angle sensor that detects a
slewing angle of the upper slewing body with respect to the lower
travelling body; and a controller that specifies an entry
prohibited area in which ingress of the lower travelling body is
prohibited, based on the distance detected by the distance sensors,
that generates information about safety with reference to a
travelling direction of the lower travelling body based on the
entry prohibited area and the slewing angle detected by the slewing
angle sensor, and that outputs the information.
Inventors: |
KAMIMURA; Yusuke;
(Hiroshima, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
KOBELCO CONSTRUCTION MACHINERY CO., LTD. |
Hiroshima-shi |
|
JP |
|
|
Assignee: |
KOBELCO CONSTRUCTION MACHINERY CO.,
LTD.
Hiroshima-shi
JP
|
Family ID: |
1000005194336 |
Appl. No.: |
17/041777 |
Filed: |
February 6, 2019 |
PCT Filed: |
February 6, 2019 |
PCT NO: |
PCT/JP2019/004153 |
371 Date: |
September 25, 2020 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F 3/43 20130101; E02F
9/265 20130101; E02F 9/2033 20130101; E02F 9/24 20130101 |
International
Class: |
E02F 3/43 20060101
E02F003/43; E02F 9/20 20060101 E02F009/20; E02F 9/24 20060101
E02F009/24; E02F 9/26 20060101 E02F009/26 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 29, 2018 |
JP |
2018-064909 |
Claims
1. Construction machinery comprising: a lower travelling body; an
upper slewing body attached to the lower travelling body in a
rotatable manner about a slewing axis; distance detection means
attached to the upper slewing body, the distance detection means
being capable of detecting a distance to an object to be detected,
the object being located in a circumference of the lower travelling
body about the slewing axis; a slewing angle detector that detects
a slewing angle of the upper slewing body with respect to the lower
travelling body; and a controller that specifies an entry
prohibited area in which ingress of the lower travelling body is
prohibited, based on the distance detected by the distance
detection means, that generates information about safety with
reference to a travelling direction of the lower travelling body
based on the entry prohibited area and the slewing angle detected
by the slewing angle detector, and that outputs the information
about the safety.
2. The construction machinery according to claim 1, wherein the
controller determines whether the entry prohibited area exists
within at least one range of a front side detection range from a
front portion of the lower travelling body to a position separated
by a predetermined distance to a forward side in the travelling
direction, and a rear side detection range from a rear portion of
the lower travelling body to a position separated by a
predetermined distance to a reverse side in the travelling
direction, and outputs the information about the safety when it is
determined that the entry prohibition area exists within the at
least one range.
3. The construction machinery according to claim 2, further
comprising: a forward side restriction device that restricts
travelling of the lower travelling body to a forward side in
response to a command from the controller; and a reverse side
restriction device that restricts travelling of the lower
travelling body to a reverse side in response to a command from the
controller, wherein the controller outputs a command to the forward
side restriction device when it is determined that the entry
prohibited area exists within the front side detection range, and
outputs a command to the reverse side restriction device when it is
determined that the entry prohibited area exists within the rear
side detection range.
4. The construction machinery according to claim 3, wherein the
controller prohibits output of a command to the reverse side
restriction device when it is determined that the entry prohibited
area exists only within the front side detection range, and also
prohibits output of a command to the forward side restriction
device when it is determined that the entry prohibited area exists
only within the rear side detection range.
5. The construction machinery according to claim 3, wherein the
controller is capable of outputting a command for stopping the
lower travelling body with gradual deceleration to the forward side
restriction device and the reverse side restriction device.
6. The construction machinery according to claim 1, further
comprising: notification means for notifying an operator of
predetermined information, wherein when it is determined that the
entry prohibited area exists within the at least one range, the
controller outputs, to the notification means, a command for
notifying the operator of the determination.
Description
TECHNICAL FIELD
[0001] The present invention relates to construction machinery
capable of detecting an entry prohibited area in a travelling
direction.
BACKGROUND ART
[0002] Conventionally, known examples of the construction machinery
include a loading work machine described in Patent Literature
1.
[0003] This loading work machine includes a loading work machine
main body, a travelling unit that causes the loading work machine
main body to travel, and a loader bucket provided in the loading
work machine main body.
[0004] The loading work machine also includes a multi-lens camera
attached to a position overlooking a travelling direction of the
loading work machine main body. The multi-lens camera has a
plurality of cameras disposed at a predetermined interval and can
simultaneously image the same subject.
[0005] The loading work machine further includes a distance image
generation unit that generates a distance image including distance
information from the multi-lens camera to the subject based on an
image captured by the multi-lens camera and a parallax between the
cameras, a cliff edge recognition unit that recognizes a cliff edge
based on the distance image, and a control unit that stops
travelling of the loading work machine when a distance from the
multi-lens camera to the cliff edge approaches a predetermined
value or more.
[0006] The loading work machine described in Patent Literature 1
has a travelling direction of the travelling unit, being aligned
with a detection direction of the multi-lens camera.
[0007] However, when a multi-lens camera is used in another
construction machinery including a lower travelling body and an
upper slewing body provided on the lower travelling body in a
rotatable manner, the multi-lens camera has difficulty in attaching
to the lower travelling body due to the following reasons.
[0008] First, the lower travelling body has a high possibility of
being covered with water or earth and sand, so that attaching a
multi-lens camera to the lower travelling body may cause early
deterioration of the multi-lens camera.
[0009] Secondly, the lower travelling body is attached to the upper
slewing body in a rotatable manner, so that disposing the
multi-lens camera on the lower travelling body requires an
electrical connection means (e.g., a slip ring) to be provided in a
portion between the multi-lens camera and the control unit provided
in the upper slewing body, thereby complicating structure of the
construction machinery.
[0010] Thus, providing the multi-lens camera on the upper slewing
body is conceivable, but this case may cause the multi-lens camera
to have a detection direction that is not aligned with a travelling
direction of the lower travelling body depending on a slewing angle
of the upper slewing body.
[0011] This causes the control unit to be unable to accurately
specify an entry prohibited area (a cliff edge in Patent Literature
1) in the travelling direction of the lower travelling body, so
that a command for stopping travel of the loading work machine
cannot be accurately output.
CITATION LIST
Patent Literature
[0012] Patent Literature 1: JP H11-222882 A
SUMMARY OF INVENTION
[0013] It is an object of the present invention to provide
construction machinery having a controller capable of outputting
information about safety based on a travelling direction of a lower
travelling body regardless of a slewing angle of an upper slewing
body.
[0014] To solve the above-mentioned problems, the present invention
provides construction machinery including: a lower travelling body;
an upper slewing body attached to the lower travelling body in a
rotatable manner about a slewing axis; distance detection means
attached to the upper slewing body, the distance detection means
being capable of detecting a distance to an object to be detected,
the object being located in a circumference of the lower travelling
body about the slewing axis; a slewing angle detector that detects
a slewing angle of the upper slewing body with respect to the lower
travelling body; and a controller that specifies an entry
prohibited area in which ingress of the lower travelling body is
prohibited, based on the distance detected by the distance
detection means, that generates information about safety with
reference to a travelling direction of the lower travelling body
based on the entry prohibited area and the slewing angle detected
by the slewing angle detector, and that outputs the information
about the safety.
[0015] The present invention enables providing construction
machinery having a controller capable of outputting information
about safety with reference to a travelling direction of the lower
travelling body regardless of a slewing angle of the upper slewing
body.
BRIEF DESCRIPTION OF DRAWINGS
[0016] FIG. 1 is a side view illustrating overall structure of a
hydraulic excavator according to an embodiment of the present
invention.
[0017] FIG. 2 is a plan view schematically illustrating the
hydraulic excavator of FIG. 1.
[0018] FIG. 3 is a system configuration diagram illustrating a
travelling control device provided in the hydraulic excavator of
FIG. 1 and a controller for controlling the travelling control
device.
[0019] FIG. 4 is a flowchart illustrating a process executed by the
controller of FIG. 3.
[0020] FIG. 5 is a combination of a plan view and a side view
illustrating a state in which the hydraulic excavator of FIG. 1
moves away from an entry prohibited area.
[0021] FIG. 6 is a combination of a plan view and a side view
illustrating a state in which the hydraulic excavator of FIG. 1
approaches an entry prohibited area.
[0022] FIG. 7 is a schematic diagram illustrating an image
displayed on a display unit of FIG. 3.
DESCRIPTION OF EMBODIMENTS
[0023] Hereinafter, embodiments of the present invention will be
described with reference to the accompanying drawings. The
following embodiments are merely examples embodying the present
invention, and do not limit the technical scope of the present
invention.
[0024] FIG. 1 is a side view illustrating overall structure of a
hydraulic excavator 1 as an example of construction machinery
according to an embodiment of the present invention. FIG. 2 is a
plan view schematically illustrating the hydraulic excavator 1 of
FIG. 1.
[0025] Referring to FIGS. 1 and 2, the hydraulic excavator 1
includes a lower travelling body 2 having a crawler 2a, an upper
slewing body 3 attached to the lower travelling body 2 in a
rotatable manner about a slewing axis C, and an attachment 4
attached to the upper slewing body 3.
[0026] The attachment 4 includes a boom 5 having a base end portion
rotatably attached to the upper slewing body 3, and an arm 6 having
a base end portion rotatably attached to a leading end portion of
the boom 5, and a bucket 7 rotatably attached to a leading end
portion of the arm 6.
[0027] The attachment 4 also includes a boom cylinder 8 that
rotates the boom 5 with respect to the upper slewing body 3, an arm
cylinder 9 that rotates the arm 6 with respect to the boom 5, and a
bucket cylinder 10 that rotates the bucket 7 with respect to the
arm 6.
[0028] The upper slewing body 3 includes an upper frame 11 mounted
to the lower travelling body 2 in a rotatable manner, and a cab 12
provided on the upper frame 11.
[0029] As illustrated in FIG. 3, the upper slewing body 3 also
includes a travelling control device 13 that controls travelling
and stop of travelling of the lower travelling body 2.
[0030] The travelling control device 13 controls driving of a
travelling motor 2b provided on the crawler 2a of the lower
travelling body 2. Specifically, the travelling control device 13
includes a hydraulic pump 19 that supplies hydraulic oil to the
travelling motor 2b, a control valve 20 that controls supply and
discharge of hydraulic oil to and from the travelling motor 2b, an
operation device 21 for operating the control valve 20, and a
forward side sensor 22F and a reverse side sensor 22R that detect
whether the operation device 21 is operated.
[0031] The control valve 20 is a pilot-type switching valve that is
switchable among a neutral position (a central position in FIG. 3)
at which supply and discharge of hydraulic oil to the travelling
motor 2b is stopped, a forward position (a right position in FIG.
3) at which the travelling motor 2b is operated in a forward
direction, and a reverse position (a left position in FIG. 3) at
which the travelling motor 2b is operated in a reverse direction.
The control valve 20 includes a pilot port on forward side and a
pilot port on reverse side, and is biased to the neutral position
in a state where pilot pressure is not supplied to both the pilot
ports.
[0032] The operation device 21 is configured by combining an
operation lever, a remote control valve, and a pilot pump (each
reference numeral is omitted). When the operation lever is
operated, the remote control valve opens at an opening degree
corresponding to the amount of the operation, and then hydraulic
oil from the pilot pump is supplied to the pilot port on the
forward side or reverse side of the control valve 20.
[0033] The forward side sensor 22F can detect pilot pressure
applied from the operation device 21 to the pilot port on the
forward side of the control valve 20, i.e., the amount of operation
of the operation lever.
[0034] The reverse side sensor 22R can detect pilot pressure
applied from the operation device 21 to the pilot port on the
reverse side of the control valve 20, i.e., the amount of operation
of the operation lever.
[0035] The travelling control device 13 includes a forward side
proportional valve (forward side restriction device) 23F provided
between the forward side sensor 22F and the operation device 21,
and a reverse side proportional valve (reverse side restriction
device) 23R provided between the reverse side sensor 22R and the
operation device 21.
[0036] The forward side proportional valve 23F restricts travelling
of the lower travelling body 2 to the forward side in response to a
command from a controller 16 described later. Specifically, the
forward side proportional valve 23F is biased to a normal position
for supplying pilot pressure from the operation device 21 to the
pilot port on the forward side of the control valve 20 in a state
where no command is received from the controller 16. When the
forward side proportional valve 23F is biased to the normal
position, pilot pressure corresponding to the amount of operation
of the operation lever toward the forward side is applied to the
pilot port on the forward side of the control valve 20. The forward
side proportional valve 23F is switched to a pressure reduction
position at which the pilot pressure from the operation device 21
is reduced in response to a command from the controller 16. The
forward side proportional valve 23F is configured to be able to
adjust a degree of pressure reduction (the amount of hydraulic oil
guided to a tank) in accordance with a command value (current
value) from the controller 16. When the forward side proportional
valve 23F is switched to the pressure reduction position as
described above, pilot pressure applied from the operation device
21 to the pilot port on the forward side of the control valve 20 is
reduced in accordance with an opening degree of the forward side
proportional valve 23F, thereby restricting driving on the forward
side of the travelling motor 2b.
[0037] The reverse side proportional valve 23R restricts travelling
of the lower travelling body 2 to the reverse side in response to a
command from the controller 16. The reverse side proportional valve
23R has a configuration similar to that of the forward side
proportional valve 23F, and thus description of the configuration
is omitted.
[0038] A plurality of distance sensors 14A to 14D is attached to
the upper slewing body 3.
[0039] Referring to FIG. 2, the distance sensors 14A to 14D will be
described below.
[0040] Each of the distance sensors 14A to 14D has a detector, and
the detector emits light. Each of the distance sensors 14A to 14D
detects a distance to a portion to be detected based on time from
when the detector emits light to when the detector receives
reflected light from an object to be detected.
[0041] The distance sensor 14A is disposed below a base end portion
of the boom 5 pivotally supported by the upper frame 11 at a
substantially central position in the left-right direction of a
front edge of the upper frame 11. Directions of the upper slewing
body 3 are each based on a direction viewed by an operator seated
in a driver's seat (not illustrated) provided in the cab 12.
[0042] The distance sensor 14A has a detection range EA that
spreads rightward and leftward from the distance sensor 14A toward
the front. The detection range EA is set to be inclined downward
from the upper frame 11 so that the distance sensor 14A can detect
the ground in front of the lower travelling body 2 within the
detection range EA.
[0043] The distance sensor 14B is disposed at a substantially
central position in the front-rear direction of the upper frame 11
and behind the cab 12 on a left edge of the upper frame 11. The
distance sensor 14B has a detection range EB that spreads forward
and backward from the distance sensor 14B toward the left. The
detection range EB is set to be inclined downward from the upper
frame 11 so that the distance sensor 14B can detect the ground on a
left side of the lower travelling body 2 within the detection range
EB. The detection range EB includes a front portion overlapping a
left portion of the detection range EA in plan view.
[0044] The distance sensor 14C is disposed at a substantially
central position in the left-right direction of a rear edge of the
upper frame 11. The distance sensor 14C has a detection range EC
that spreads rightward and leftward from the distance sensor 14C
toward the rear. The detection range EC is set inclined downward
from the upper frame 11 so that the distance sensor 14C can detect
the ground behind the lower travelling body 2 in the detection
range EC. The detection range EC includes a left portion
overlapping a rear portion of the detection range EB in plan
view.
[0045] The distance sensor 14D is disposed at a substantially
central position in the front-rear direction of the upper frame 11
and at a right edge of the upper frame 11. The distance sensor 14D
has a detection range ED that spreads forward and backward from the
distance sensor 14D toward the right. The detection range ED is set
to be inclined downward from the upper frame 11 so that the
distance sensor 14D can detect the ground on a right side of the
lower travelling body 2 in the detection range ED. The detection
range ED includes a rear portion overlapping a right portion of the
detection range EC, and a front portion overlapping a right portion
of the detection range EA in plan view.
[0046] As described above, the detection ranges EA to ED adjacent
to each other of the distance sensors 14A to 14D overlap each other
in plan view, so that a distance to an object to be detected can be
detected, the object being located in the periphery of the lower
travelling body 2 about the slewing axis C. That is, the distance
sensors 14A to 14D constitute distance detection means attached to
the upper slewing body 3, the distance detection means being
capable of detecting a distance to an object to be detected, the
object being located in the periphery of the lower travelling body
2 about the slewing axis C. Here, the object to be detected
includes the ground and an object placed on the ground.
[0047] As illustrated in FIG. 3, the upper slewing body 3 includes
a slewing angle sensor (slewing angle detector) 15 that detects a
slewing angle of the upper slewing body 3 with respect to the lower
travelling body 2.
[0048] As illustrated in FIG. 5, the slewing angle sensor 15 can
detect an angle of the upper slewing body 3 in a slewing body front
direction D1 (a front direction of an operator seated in the
driver's seat in the cab 12) with respect to a reference angle in
the travelling direction of the lower travelling body 2 (indicated
as a forward direction of 0 deg in the present embodiment). As the
slewing angle sensor 15, for example, a rotary encoder that detects
a rotation angle of a rotating shaft (not illustrated) for slewing
that connects the lower travelling body 2 and the upper slewing
body 3 can be used.
[0049] As illustrated in FIG. 3, the upper slewing body 3 further
includes the controller 16 that specifies an entry prohibited area
EH (refer to FIG. 5) in which ingress of the lower travelling body
2 is prohibited, based on distances detected by the distance
sensors 14A to 14D described above, generates information about
safety with reference to a travelling direction of the lower
travelling body 2 based on the entry prohibited area EH and a
slewing angle detected by the slewing angle sensor 15, and outputs
this information. Here, the entry prohibited area EH means an area
including a step (a height of unevenness on the ground and a height
of an object placed on the ground) having a height equal to or
higher than a preset height.
[0050] Specifically, the controller 16 outputs a predetermined
command (information about safety) to the travelling control device
13, and a display unit 17 and a speaker 18 (an example of
notification means) provided on the upper slewing body 3 (in the
cab 12).
[0051] Referring to FIGS. 2, 3, and 5, the controller 16 will be
described below.
[0052] The controller 16 is configured by combining a CPU, a ROM,
and a RANI to achieve the following functions by the
configuration.
[0053] The controller 16 includes a peripheral information creation
unit 16a that creates information about the periphery of the lower
travelling body 2, a peripheral information correction unit 16b
that corrects the peripheral information to information with
respect to the travelling direction of the lower travelling body 2,
a restriction command unit 16c that outputs a command to the
travelling control device 13, and a notification command unit 16d
that outputs a command to the display unit 17 and the speaker
18.
[0054] The peripheral information creation unit 16a is configured
such that when there is an area where a step having a height equal
to or higher than a preset height over the entire circumference
about the slewing axis C, i.e., when the entry prohibited area EH
exists, a distance to the entry prohibited area EH is determined
based on detection results of the distance sensors 14A to 14D, and
then periphery information is created by summarizing information on
the distance.
[0055] The peripheral information is created by the peripheral
information creation unit 16a with reference to the slewing body
front direction D1 (refer to FIG. 5) of the upper slewing body 3.
Thus, the peripheral information correction unit 16b corrects the
peripheral information into information with reference to the
reference angle (0 deg) in the travelling direction of the lower
travelling body 2.
[0056] Specifically, the example of FIG. 5 shows a state where the
upper slewing body 3 has the slewing body front direction D1 when
slewed by an angle .theta. with respect to the reference angle (0
deg) of the lower travelling body 2. In this case, the peripheral
information correction unit 16b rotates reference coordinates of
the peripheral information about the slewing axis C by the angle
.theta.. This allows the peripheral information to coincide with
the travelling direction of the lower travelling body 2.
[0057] The peripheral information correction unit 16b stores front
side detection range EF from a front portion of the lower
travelling body 2 to a position separated by a predetermined
distance to a forward side in the travelling direction, and a rear
side detection range ER from a rear portion of the lower travelling
body 2 to a position separated by a predetermined distance to a
reverse side in the travelling direction. Although the example of
FIG. 5 illustrates the detection ranges EF and ER each having a
width set equivalent to a width in a width direction of the lower
travelling body 2, each of the widths of the detection ranges EF
and ER may be set wider than that of the lower travelling body 2 to
more reliably prevent ingress of the lower travelling body 2 into
the entry prohibited area EH. No range in the width direction may
be set for the detection ranges EF and ER. The detection ranges EF
and ER has a boundary line therebetween that is not necessarily set
to a straight line. Additionally, a distance from the front side
detection range EF to the front portion of the lower travelling
body 2 is set such that the lower travelling body 2 can be reliably
stopped before the entry prohibited area EH when travelling
restriction processing of the lower travelling body 2 described
below is executed in a state where the lower travelling body 2 is
travelling at the highest speed. Similarly, a distance from the
rear side detection range ER to the rear portion of the lower
travelling body 2 is set.
[0058] Then, the peripheral information correction unit 16b
determines whether the entry prohibited area EH exists within at
least one range of the front side detection range EF and the rear
side detection range ER based on the corrected peripheral
information.
[0059] For example, the example of FIG. 5 illustrates that the
entry prohibited area EH is located in front of (outside) the front
side detection range EF, and the entry prohibited area EH does not
exist in the rear side detection range ER either. In this state,
the peripheral information correction unit 16b determines that the
entry prohibited area EH does not exist in the detection ranges EF
and ER.
[0060] In contrast, the example of FIG. 6 illustrates that the
entry prohibited area EH is located within the front side detection
range EF. Thus, in this state, the peripheral information
correction unit 16b determines that the entry prohibited area EH
exists within at least one range of the detection ranges EF and
ER.
[0061] As described above, when it is determined that the entry
prohibited area EH exists within at least one range of the
detection ranges EF and ER, the peripheral information correction
unit 16b determines whether the entry prohibited area EH exists in
the front side detection range EF, in the rear side detection range
ER, or in both the detection ranges EF and ER.
[0062] Referring to FIG. 3, the restriction command unit 16c
outputs a command (information about safety) to at least one of
both the proportional valves 23F and 23R based on the detection
range EF and/or the detection range ER determined that the entry
prohibited area EH exists by the peripheral information correction
unit 16b.
[0063] The example of FIG. 6 illustrates that the entry prohibited
area EH exists within the front side detection range EF, so that
forward movement of the lower travelling body 2 needs to be
restricted. Thus, in this case, the restriction command unit 16c
outputs a command to the forward side proportional valve 23F.
[0064] The restriction command unit 16c outputs a command to
gradually decelerate the lower travelling body 2 to the
proportional valves 23F and 23R so that the lower travelling body 2
stops until the lower travelling body 2 approaches a preset
distance (hereinafter referred to as a stop distance) with respect
to the entry prohibited area EH. Specifically, the restriction
command unit 16c preliminarily stores a table set to have a command
value (current value) to each of the proportional valves 23F and
23R, gradually increasing as a distance from the lower travelling
body 2 to the entry prohibited area EH decreases. The stop distance
is set such that when output of the command is started in a state
where an operation lever of the operation device 21 is fully
opeated, the lower travelling body 2 can be always stopped by time
when reaching a position away from the entry prohibited area EH by
the stop distance.
[0065] Instead of the above-described table, a command for stopping
the lower travelling body 2 at a position with the stop distance to
the entry prohibited area EH by gradually decelerating the lower
travelling body 2 based on pilot pressure detected by both the
sensors 22F and 22R may be determined by calculation. In this case,
the restriction command unit 16c needs to receive the pilot
pressure detected by both the sensors 22F and 22R as illustrated in
FIG. 3. In contrast, when the table is used as described above,
both the sensors 22F and 22R do not need to be connected to the
restriction command unit 16c.
[0066] The notification command unit 16d outputs a command
(information about safety) to the display unit 17 and the speaker
18 based on the detection range RF and/or the detection range ER
determined that the entry prohibited area EH exists by the
peripheral information correction unit 16b.
[0067] Specifically, as illustrated in FIG. 7, the display unit 17
displays an image showing that the entry prohibited area EH exists
on at least one of the forward side and the reverse side in the
travelling direction of the lower travelling body 2, in response to
a command from the peripheral information correction unit 16b. FIG.
7 illustrates that a downward step (entry prohibited area EH)
exists at a position on the forward side of the lower travelling
body 2.
[0068] The speaker 18 notifies an operator by sound that the entry
prohibited area EH exists on at least one of the forward side and
the reverse side in the travelling direction of the lower
travelling body 2.
[0069] Referring to FIGS. 3 and 4, processing executed by the
controller 16 will be described below.
[0070] When the processing is started, detection values of the
distance sensors 14A to 14D are acquired (step S1), and peripheral
information about the entry prohibited area EH in the circumference
of the lower travelling body 2, about the slewing axis C, is
created based on the detection values of the distance sensors 14A
to 14D (step S2).
[0071] Next, a detection value of the slewing angle sensor 15 is
acquired to determine the slewing body front direction D1 (refer to
FIG. 5) of the upper slewing body 3 (step S3). Then, the peripheral
information is corrected into that with respect to the travelling
direction of the lower travelling body 2 using the slewing body
front direction D1 (step S4).
[0072] Specifically, the example of FIG. 5 illustrates that the
slewing body front direction D1 is shifted by the angle .theta.
with respect to the reference angle (0 deg) in the travelling
direction of the lower travelling body 2, so that reference
coordinates of the peripheral information are rotated by the angle
.theta. about the slewing axis C. This allows the reference
coordinates of the peripheral information to coincide with the
travelling direction of the lower travelling body 2.
[0073] Then, it is determined whether the entry prohibited area EH
exists within at least one range of both the detection ranges EF
and ER (step S5). Here, when it is determined that the entry
prohibited area EH does not exist within both the detection ranges
EF and ER as illustrated in FIG. 5, the processing returns to step
S1.
[0074] In contrast, referring to FIG. 4, when it is determined in
step S5 that the entry prohibited area EH exists within at least
one range of both the detection ranges EF and ER, a range of both
the detection ranges EF and ER in which the entry prohibited EH
exists is determined in subsequent steps S6 and S7.
[0075] Specifically, the front side detection range EF is
determined in step S6 whether the entry prohibited area EH exists.
When it is determined as YES in step S6, the rear side detection
range ER is determined in step S7 whether the entry prohibited area
EH exists.
[0076] When it is determined as NO in step S7, i.e., when the entry
prohibited area EH exists only in the front side detection range EF
as illustrated in FIG. 6, the controller 16 (restriction command
unit 16c) outputs a command to only the forward side proportional
valve 23F (step S8), and prohibits output of a command to the
reverse side proportional valve 23R. This enables the lower
travelling body 2 not only to be prevented from approaching the
entry prohibited area EH by restricting forward movement of the
lower travelling body 2 but also to move away (avoid) from the
entry prohibited area EH by allowing reverse movement of the lower
travelling body 2, when the entry prohibited area EH exists only
within the front side detection range EF as illustrated in FIG.
6.
[0077] Referring to FIG. 4, when it is determined as YES in step
S7, i.e., when the entry prohibited area EH exists in both the
detection ranges EF and ER, the controller 16 (restriction command
unit 16c) outputs commands to both the proportional valves 23F and
23R (step S9). This restricts travelling to the front side and the
rear side on each of which the entry prohibited area EH exists. In
this case, the hydraulic excavator 1 can be traveled after a
measure such as reducing a step in the entry prohibited area EH on
at least one of the front side and the rear side (a measure such as
piling up sand to fill the step) is applied.
[0078] In contrast, when it is determined in step S6 that the entry
prohibited area EH does not exist in the front side detection range
EF, i.e., when the entry prohibited area EH exists only in the rear
side detection range ER, the controller 16 (the restriction command
unit 16c) outputs a command to only the reverse side proportional
valve 23R (step S10) and prohibits output of a command to the
forward side proportional valve 23F. This enables the lower
travelling body 2 not only to be prevented from approaching the
entry prohibited area EH by restricting reverse movement of the
lower travelling body 2 but also to move away (avoid) from the
entry prohibited area EH by allowing forward movement of the lower
travelling body 2, when the entry prohibited area EH exists only
within the rear side detection range ER.
[0079] Then, after steps S8 to S10, the controller 16 (the
notification command unit 16d) executes a notification process of
outputting a command to each of the display unit 17 and the speaker
18 (step S11) As illustrated in FIG. 7, this enables not only a
position of the entry prohibited area EH with respect to the
hydraulic excavator 1 to be visually notified to an operator using
the display unit 17, but also approaching of the entry prohibited
area EH to be auditorily transmitted to the operator using the
speaker 18.
[0080] As described above, location information about the entry
prohibited area EH in the circumference of the lower travelling
body 2 about the slewing axis C can be acquired by the distance
sensors 14A to 14D and the controller 16 This enables the
controller 16 not only to generate information about safety with
respect to the travelling direction of the lower travelling body 2
(commands to the proportional valves 23F and 23R, and commands to
the display unit 17 and the speaker 18) by further using a slewing
angle detected by the slewing angle sensor 15, but also to output
the information.
[0081] Thus, for example, the information output from the
controller 16 can be used to notify the operator to prevent ingress
into the entry prohibited area EH and to stop travelling of the
lower travelling body 2.
[0082] According to the embodiment above, the following effects can
be achieved.
[0083] When the lower travelling body 2 approaches the entry
prohibited area EH to some extent, a command can be output to each
of the proportional valves 23F and 23R, the display unit 17, and
the speaker 18. Thus, using the command enables preventing ingress
of the lower travelling body 2 into the entry prohibited area EH
and prompting the operator to prevent the ingress.
[0084] When the lower travelling body 2 approaches the entry
prohibited area EH to some extent, travelling of the lower
travelling body 2 toward the entry prohibited area EH can be
restricted.
[0085] Allowing restriction of travelling in a direction away from
the entry prohibited area EH enables a quick avoidance from the
entry prohibited area EH.
[0086] The lower travelling body 2 is gradually decelerated from a
stage, where the entry prohibited area EH enters the corresponding
detection ranges EF and ER, to cause the lower travelling body 2 to
stop, so that impact during braking can be reduced.
[0087] Notifying the operator of approach of the hydraulic
excavator 1 to the entry prohibited area EH enables the operator to
be prompted to move away from the entry prohibited area EH.
[0088] The present invention is not limited to the above
embodiment, and for example, the following aspects also can be
used.
[0089] Although there is exemplified distance detection means
composed of the plurality of distance sensors 14A to 14D disposed
with the adjacent detection ranges EA to ED overlapping each other,
the configuration of the distance detection means is not limited to
this. For example, the distance detection means can be composed of
one distance sensor having a detection range rotatable about the
slewing axis C.
[0090] When it is determined that the entry prohibited area EH
exists within one of the detection ranges EF and ER, travelling
(forward or reverse) on only a side where the entry prohibited area
EH exists is restricted. However, both the forward and reverse
travelling may be restricted.
[0091] Although stopping the lower travelling body 2 is exemplified
as content of the restriction on the travelling of the lower
travelling body 2 in the above embodiment, the content is not
limited to the stopping. The lower travelling body 2 may be
restricted to an extremely low travelling speed.
[0092] Although the method using the proportional valves 23F and
23R is described as a method for restricting travelling of the
lower travelling body 2, the travelling of the lower travelling
body 2 can also be restricted by restricting output of an engine
(not illustrated). In this case, the controller 16 may output a
command for reducing output to an ECU that controls driving of the
engine.
[0093] Although the example in which the lower travelling body 2 is
decelerated and then stopped is described, the lower travelling
body 2 may be immediately stopped when it is determined that the
entry prohibited area EH exists in at least one range of the
detection ranges EF and ER.
[0094] Although the display unit 17 and the speaker 18 are
illustrated as the notification means, the notification means is
not limited to these. For example, a buzzer or a lamp also can be
used as the notification means.
[0095] The construction machinery is not limited to the hydraulic
excavator, and may be a crane, a demolition machine, or hybrid
construction machinery.
[0096] The specific embodiment described above mainly includes the
invention having the following configuration.
[0097] Specifically, the present invention provides construction
machinery including: a lower travelling body; an upper slewing body
attached to the lower travelling body in a rotatable manner about a
slewing axis; distance detection means attached to the upper
slewing body, the distance detection means being capable of
detecting a distance to an object to be detected, the object being
located in a circumference of the lower travelling body about the
slewing axis; a slewing angle detector that detects a slewing angle
of the upper slewing body with respect to the lower travelling
body; and a controller that specifies an entry prohibited area in
which ingress of the lower travelling body is prohibited, based on
the distance detected by the distance detection means, that
generates information about safety with reference to a travelling
direction of the lower travelling body based on the entry
prohibited area and the slewing angle detected by the slewing angle
detector, and that outputs the information about the safety.
[0098] According to the present invention, location information
about the entry prohibited area in the circumference of the lower
travelling body about the slewing axis can be acquired by the
distance detection means and the controller. This enables the
controller to generate information about safety with reference to a
travelling direction of the lower travelling body by further using
the slewing angle detected by the slewing angle detector and to
output the information.
[0099] Thus, for example, using the information output from the
controller enables notifying the operator to prevent ingress into
the entry prohibited area and stopping travelling of the lower
travelling body.
[0100] In the present invention, the "object to be detected"
includes the ground and an object placed on the ground. The "entry
prohibited area" means an area including a step (a height of
unevenness on the ground and a height of an object placed on the
ground) having a height equal to or higher than a preset
height.
[0101] The construction machinery is preferably configured such
that the controller determines whether the entry prohibited area
exists within at least one range of a front side detection range
from a front portion of the lower travelling body to a position
separated by a predetermined distance to a forward side in the
travelling direction, and a rear side detection range from a rear
portion of the lower travelling body to a position separated by a
predetermined distance to a reverse side in the travelling
direction, and outputs the information about the safety when it is
determined that the entry prohibition area exists within the at
least one range.
[0102] According to this aspect, the information about the safety
can be output when the lower travelling body approaches the entry
prohibited area to some extent. Thus, for example, using this
information enables preventing ingress of the lower travelling body
into the entry prohibited area and prompting an operator to prevent
the ingress.
[0103] Specifically, the construction machinery preferably further
includes a forward side restriction device that restricts
travelling of the lower travelling body to a forward side in
response to a command from the controller, and a reverse side
restriction device that restricts travelling of the lower
travelling body to a reverse side in response to a command from the
controller, in which the controller outputs a command to the
forward side restriction device when it is determined that the
entry prohibited area exists within the front side detection range,
and outputs a command to the reverse side restriction device when
it is determined that the entry prohibited area exists within the
rear side detection range.
[0104] According to this aspect, when the lower travelling body
approaches the entry prohibited area to some extent, travelling of
the lower travelling body toward the entry prohibited area can be
restricted.
[0105] The "restriction" in the above aspect includes not only
stopping the lower travelling body but also decelerating the lower
travelling body.
[0106] Here, when it is determined that the entry prohibition area
exists in the front side detection range or the rear side detection
range, both forward and backward travelling may be restricted.
However, this case does not enable a quick avoidance because
travelling toward a direction for avoiding the entry prohibited
area is also restricted.
[0107] Thus, the construction machinery is preferably configured
such that the controller prohibits output of a command to the
reverse side restriction device when it is determined that the
entry prohibited area exists only within the front side detection
range, and also prohibits output of a command to the forward side
restriction device when it is determined that the entry prohibited
area exists only within the rear side detection range.
[0108] According to this aspect, restriction of travelling in the
direction away from the entry prohibited area is allowed, thereby
enabling a quick avoidance from the entry prohibited area.
[0109] Here, the controller may output a command for immediately
stopping the lower travelling body to the forward side restriction
device and the reverse side restriction device. However, this case
causes sudden braking in a stage where the entry prohibited area
enters the detection range, thereby increasing impact at the time
of stopping.
[0110] Thus, the construction machinery is preferably configured
such that the controller is capable of outputting a command for
stopping the lower travelling body with gradual deceleration to the
forward side restriction device and the reverse side restriction
device.
[0111] According to this aspect, the lower travelling body can be
gradually decelerated from the stage where the entry prohibited
area enters the detection range, thereby reducing impact at the
time of braking.
[0112] The construction machinery may further include notification
means for notifying an operator of predetermined information, in
which when it is determined that the entry prohibited area exists
within the at least one range, the controller may output, to the
notification means, a command for notifying the operator of the
determination.
[0113] According to this aspect, when the operator is notified that
the construction machinery approaches the entry prohibited area,
the operator can be prompted to move away from the entry prohibited
area.
* * * * *