Electromagnetic proportional valve and construction machine

Abstract

Provided is an electromagnetic proportional valve, a construction machine. The present invention is made in view of problems of an electromagnetic proportional valve provided with an electromagnetic valve that supplies a working fluid to an actuator, and aims to provide an electromagnetic proportional valve that can easily change a structure. An electromagnetic proportional valve (10) is provided with a proportional valve main body (12) and an electromagnetic valve control section (14). The proportional valve main body (12) supplies a working fluid (Fd) to an actuator (56) that drives a driven body. The electromagnetic valve control section (14) is provided integrally with the proportional valve main body (12) in order to control the proportional valve main body (12).

Description

Technical Field

[0001] This invention relates to an electromagnetic proportional valve and construction machinery. Background Technology

[0002] It is known to drive driven devices using electrically controlled hydraulic actuators. For example, Patent Document 1 describes an intelligent hydraulic actuator used in an injection molding machine with a system controller. This hydraulic actuator has a microcontroller connected to the system controller, which drives the injection molding structure of the driven object by moving linearly between a first position and a second position according to the flow rate of the working oil. The microcontroller is configured close to the hydraulic actuator.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2000-120603 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] The inventors have gained the following understanding regarding a device having a solenoid valve for controlling a hydraulic cylinder.

[0008] A construction machine is equipped with boom, stick, and bucket, each driven by multiple hydraulic cylinders, allowing these driven parts to move independently to perform a predetermined task. To drive the multiple hydraulic cylinders, the following components are proposed: multiple solenoid valves that adjust the hydraulic pressure supplied to the cylinders; multiple hydraulic sensors that detect the hydraulic pressure; and a system controller that controls the multiple solenoid valves based on the detection results from the hydraulic sensors.

[0009] However, in this structure, the system controller controls both the main body of the construction machinery and the solenoid valves, resulting in a significant processing burden. Furthermore, numerous wiring connections are required between the solenoid valves and sensors and the system controller, leading to a large-scale structure. Additionally, modifying the system structure by adding or changing components necessitates replacing the system controller with a larger one, increasing wiring, and rewriting the system controller's program, all of which incur substantial time costs.

[0010] Based on these considerations, the invention described in Patent Document 1 cannot be said to adequately address the issue, considering the ease with which the structure of the device can be modified. Such problems are not limited to construction machinery; they may also arise for other types of movable devices.

[0011] The present invention was made in view of the following problems, one of the objectives of which is to provide a technique for easily modifying the structure of a device having a solenoid valve that supplies working fluid to an actuator.

[0012] Solution for solving the problem

[0013] To solve the above problems, a certain technical solution of the present invention provides an electromagnetic proportional valve comprising: a proportional valve body that supplies working fluid to an actuator that drives a driven body; and an electromagnetic valve control unit that is integrally disposed with the proportional valve body for controlling the proportional valve body.

[0014] Furthermore, any combination of the above, or technical solutions that interchange the structural elements of the present invention with those described in a method, apparatus, program, transient or non-transient storage medium, system, etc., are also valid as technical solutions of the present invention.

[0015] The effects of the invention

[0016] According to the present invention, a technique is provided that allows for easy modification of the structure in a device having a solenoid valve that supplies working fluid to an actuator. Attached Figure Description

[0017] Figure 1 This is a side view that schematically represents a construction machine equipped with a control system including the electromagnetic proportional valve of the first embodiment.

[0018] Figure 2 It is a general representation Figure 1 A block diagram of the control system.

[0019] Figure 3 This is a block diagram representing the control system of the comparative example.

[0020] Figure 4 It is a general representation Figure 1 A three-dimensional view of the proportional valve body and the solenoid valve control unit of the electromagnetic proportional valve.

[0021] Figure 5 It is a general representation Figure 1 A three-dimensional view of an example of an assembly of electromagnetic proportional valves.

[0022] Figure 6 This is an explanation Figure 1 A flowchart illustrating an example of the operation of a control system.

[0023] Explanation of reference numerals in the attached figures

[0024] 1. Control system; 12. Proportional valve body; 14. Solenoid valve control unit; 16. Detection component; 10. Solenoid proportional valve; 20. Upper control unit; 28. Communication line; 32. Surrounding environment monitoring component; 38. Operator's cab; 40. Working unit; 42. Boom; 44. Stick; 46. Bucket; 54. Operating unit; 56. Actuator; 100. Construction machinery. Detailed Implementation

[0025] Hereinafter, the present invention will be described with reference to the accompanying drawings, based on preferred embodiments. In the embodiments and modifications, the same or equivalent structural elements and components are labeled with the same reference numerals, and repeated descriptions are omitted where appropriate. Furthermore, for ease of understanding, the dimensions of components in the drawings are appropriately enlarged or reduced. Additionally, in the drawings, parts of components that are not important in explaining the embodiments are omitted.

[0026] In addition, terms such as ordinal numbers 1 and 2 are used to describe diverse structural elements. These terms are used only to distinguish a structural element from other structural elements, and the structural element is not limited by these terms.

[0027] [First Implementation]

[0028] The structure of the electromagnetic proportional valve 10 according to the first embodiment of the present invention will be described with reference to the accompanying drawings. The electromagnetic proportional valve 10 is a valve mechanism that controls the supply of working fluid to an actuator that drives the driven body. The driven body is not limited, but in this embodiment, the driven body is the boom, stick, bucket, etc. of construction machinery. The actuator is not limited, but in this embodiment, the actuator is a hydraulic cylinder that applies driving force to the boom, stick, and bucket using the pressure of a working fluid such as working oil.

[0029] Figure 1 This is a side view of a construction machine 100 that schematically represents a control system 1 including the electromagnetic proportional valve 10 of the first embodiment. Figure 2 This is a block diagram that roughly represents the control system 1. The control system 1 mainly includes an electromagnetic proportional valve 10 and a detection component 16. Figure 2 The structural elements of the control system 1 shown can be installed integrally, separately, or independently. The electromagnetic proportional valve 10 mainly comprises a proportional valve body 12 and a solenoid valve control unit 14. The proportional valve body 12 includes a solenoid 10d, a spool 10e, and a housing 10c (described later), and supplies working fluid to the actuator 56 that drives the driven body. The solenoid valve control unit 14 functions as a local control component integrally installed with the proportional valve body 12 for controlling the proportional valve body 12.

[0030] The solenoid valve control unit 14 can also operate in cooperation with components that control the main unit of the control system 1 (hereinafter referred to as "other control components"). Other control components are, for example, higher-level control components. The solenoid valve control unit 14 can be configured to include a computer processor. The detection component 16 functions as a pressure sensor that detects information related to the working fluid Fd supplied from the proportional valve body 12 to the actuator 56. The detection result of the detection component 16 is provided to the solenoid valve control unit 14.

[0031] First, the structure of the construction machinery 100 will be explained, and then the control system 1 will be discussed in detail.

[0032] The construction machinery 100 of this embodiment is a construction machine that performs operations by moving the bucket 46, and functions as a so-called power excavator. The construction machinery 100 includes a host control unit 20 and an ambient environment monitoring unit 32. In this example, the host control unit 20 exemplifies other control units. The host control unit 20 can be configured to include a computer processor and functions as a main solenoid valve control unit that controls the actions of various parts of the construction machinery 100. The ambient environment monitoring unit 32 can acquire various information related to the surrounding environment of the construction machinery 100. The ambient environment monitoring unit 32 of this embodiment includes an image sensor 32d to acquire image information Gp obtained by photographing the construction machinery 100 and its surroundings. The ambient environment monitoring unit 32 will be discussed subsequently.

[0033] Furthermore, the construction machinery 100 includes a lower traveling section 36, an upper body section 34, a boom mechanism 48, and a bucket 46. In this embodiment, the boom mechanism 48 and the bucket 46 constitute the working section 40. The lower traveling section 36 is configured to travel in a predetermined direction using tracks or the like. The upper body section 34 is mounted on the lower traveling section 36. The upper body section 34 and the working section 40 are configured to rotate relative to the lower traveling section 36 about a rotation axis La using a rotary drive unit 60. The rotary drive unit 60 can be, for example, composed of a rotary motor (not shown) and a rotary gear (not shown). An operator's cab 38 is provided in the upper body section 34.

[0034] An operating unit 54 of an operating work unit 40 is provided in the control room 38. When an operation is input from the operating unit 54, multiple electromagnetic proportional valves 10 are opened and closed according to the operation. According to the opening and closing of the electromagnetic proportional valves 10, the working fluid Fd supplied from the pump 58p is supplied to multiple actuators 56. The actuators 56 include actuators 56a, 56b, and 56c.

[0035] Multiple electromagnetic proportional valves 10 control actuators 56a, 56b, and 56c respectively. Actuators 56a, 56b, and 56c extend and retract according to the supply of working fluid Fd from each electromagnetic proportional valve 10.

[0036] The detection component 16 includes detection components 16a, 16b, and 16c for detecting the pressure of the working fluid Fd supplied to the actuators 56a, 56b, and 56c.

[0037] As an example, the base of the boom mechanism 48 is located on the right side of the operator's cab 38 within the upper body section 34. The boom mechanism 48 includes, for example, a boom 42 and a stick 44 extending forward from the upper body section 34. A bucket 46 is mounted on the top side of the boom mechanism 48. Thus, the construction machine 100 can change the posture of the working section 40 according to the operator's operation, thereby driving the bucket 46 to perform the intended work. In addition, the construction machine 100 can rotate the upper body section 34 and the working section 40, thereby enabling the bucket 46 to move in three dimensions.

[0038] Hereinafter, the control system 510 of the comparative example will be described. This comparative example was conceived by the inventors during the creation of this invention. Figure 3 This is a block diagram that roughly represents the control system 510 of this comparative example, and... Figure 2 Correspondingly, in the accompanying drawings and descriptions of this comparative example, structural elements and components that are the same or equivalent to those in the first embodiment are labeled with the same reference numerals. Descriptions that are repeated in the first embodiment are omitted where appropriate, and different structures are described.

[0039] This comparative example includes solenoid valves 512a, 512b, and 512c that control actuators 56a, 56b, and 56c. Solenoid valves 512a, 512b, and 512c do not have separate solenoid valve control units. Solenoid valves 512a, 512b, and 512c are controlled by a main solenoid valve control unit 520. Pressure sensors 516a, 516b, and 516c detect the pressure of the working fluid Fd supplied to actuators 56a, 56b, and 56c and output pressure signals to the main solenoid valve control unit 520.

[0040] In this comparative example, the main solenoid valve control unit 520 directly receives the operation result from the operation unit 554 and determines the control target value for each actuator 56a to 56c based on the operation result. The main solenoid valve control unit 520 uses the pressure signals from each pressure sensor 516a to 516c as feedback quantities and performs feedback control on each solenoid valve 512a to 512c based on the comparison result with the control target value. As a result, the extension and retraction lengths of the actuators 56a to 56c change according to the operation of the operation unit 554, and the postures of the boom 42, stick 44, and bucket 46 change.

[0041] In this comparative example, numerous wirings are installed between each solenoid valve 512a-512c and each pressure sensor 516a-516c and the main solenoid valve control unit 520, resulting in complex wiring operations. The main solenoid valve control unit handles the feedback control of each solenoid valve 512a-512c, easily leading to an excessive overall processing load. Therefore, when adding a solenoid valve, the processor of the main solenoid valve control unit 520 needs to be replaced with a high-speed, high-capacity type. Furthermore, when changing the control characteristics of a solenoid valve, the program of the main solenoid valve control unit 520 needs to be modified, raising concerns about potential impacts on other controls. Thus, this comparative example suffers from a complex structure and difficulties in modifying the system structure.

[0042] This embodiment will be described based on the comparative examples. For example... Figure 2 As shown, in this embodiment, the various structural elements communicate with each other via a shared communication line 28. Various communication methods can be used in the communication line 28; this embodiment uses CAN (registered trademark). The communication line 28 can also be USB (registered trademark), Ethernet (registered trademark), or other methods. The communication line 28 can be wired, including optical communication, or wireless. By using the shared communication line 28, this embodiment allows for easy addition and modification of accessories. The use of CAN in the communication line 28 ensures good noise immunity.

[0043] like Figure 2 As shown, in this embodiment, the solenoid valve control unit 14, the detection unit 16, the operation unit 54, and the ambient environment monitoring unit 32 are configured to communicate with the upper control unit 20 via the communication line 28 in order to transmit (send, receive) information. In other words, the solenoid valve control unit 14, the detection unit 16, the operation unit 54, the ambient environment monitoring unit 32, and the upper control unit 20 are configured to have a communication unit 28c and be able to communicate with each other via the communication line 28.

[0044] The operation results of the operation unit 54 can also be directly input to the upper control unit 20, but in this embodiment, they are sent to the upper control unit 20 via the communication line 28. The upper control unit 20 determines the control target value Cs for each actuator 56a to 56c based on the operation results of the operation unit 54. Each control target value Cs is transmitted to each solenoid valve control unit 14 via the communication line 28. The solenoid valve control unit 14 receives the control target value Cs.

[0045] like Figure 2As shown, in this embodiment, the detection results (pressure signals) of the detection components 16a to 16c are input to the solenoid valve control unit 14. The solenoid valve control unit 14 obtains the detection results of the detection components 16a to 16c as a feedback quantity Cx. The solenoid valve control unit 14 performs feedback control on the proportional valve body 12 based on the comparison result between the control target value Cs and the feedback quantity Cx. In this way, by using the local solenoid valve control unit to control the proportional valve body, the processing burden of the upper control unit 20 is reduced, and a small-scale processor can be used in the upper control unit 20.

[0046] Alternatively, the solenoid valve control unit 14 can obtain the operation results of the operation unit 54 via the communication line 28 and autonomously determine the control target value Cs. In this case, the processing burden of the upper control unit 20 can be further reduced.

[0047] The electromagnetic proportional valve 10 is described below. In this embodiment, the electromagnetic valve control unit 14 and the proportional valve body 12 are integrally formed. Figure 4 This is a schematic side view of the electromagnetic proportional valve 10. The electromagnetic proportional valve 10 includes a solenoid valve control unit 14, a solenoid 10d, a spool valve 10e, and a housing 10c.

[0048] The housing 10c of this embodiment has a hollow cylindrical shape. In this embodiment, the solenoid valve control unit 14, the solenoid 10d, and the slide valve core 10e are arranged in the order of solenoid valve control unit 14, solenoid 10d, and slide valve core 10e, and are housed as a whole in the housing 10c. The solenoid 10d moves a movable iron core (not shown) under the control of the solenoid valve control unit 14. The slide valve core 10e moves integrally with the movable iron core, causing the multiple input / output ports (not shown) provided to the housing 10c to open and close. That is, the solenoid 10d is electrically driven by the solenoid valve control unit 14, and the slide valve core 10e is driven by the movable iron core.

[0049] return Figure 2 This describes the operation of the electromagnetic proportional valve 10. Pump 58p supplies the working fluid Fd from tank 58t to the input port of the electromagnetic proportional valve 10. The output port of the electromagnetic proportional valve 10 supplies the actuator 56 with the working fluid Fd, whose pressure is adjusted according to the control of the solenoid valve control unit 14. The electromagnetic proportional valve 10 controls the pressure of the working fluid Fd supplied from the output port based on the comparison result between the control target value Cs from the upper control unit 20 and the feedback amount Cx from the detection unit 16.

[0050] In the electromagnetic proportional valve 10, the pressure of the working fluid Fd is controlled by the control characteristics based on the program loaded into the solenoid valve control unit 14. Therefore, the program can be flexibly changed in the electromagnetic proportional valve 10. By changing the program, the electromagnetic proportional valve 10 can control the pressure of the working fluid Fd with desired characteristics such as linearity or nonlinearity relative to the control target value Cs.

[0051] Reference Figure 2 , Figure 5 And this describes the assembly block 18. Figure 5 This is a perspective view schematically representing an example of the assembly block 18. To distinguish the multiple electromagnetic proportional valves 10, they are indicated by the designation "-A", "-B", and "-C" at the end of the reference numerals. While the electromagnetic proportional valves 10-A, 10-B, and 10-C can be configured separately, in this embodiment, they are integrated into the assembly block 18. By arranging multiple electromagnetic proportional valves within the assembly block 18, a compact overall system can be constructed.

[0052] Reference Figure 1 , Figure 2 The surrounding environment monitoring component 32 is described below. The surrounding environment monitoring component 32 has one or more image sensors 32d, which are installed on the roof of the control room 38. The surrounding environment monitoring component 32 captures image information Gp of the surrounding environment and the work area 40 of the construction machinery 100.

[0053] By using image information GP, ​​construction machinery 100 can possess a contact avoidance function, enabling the work unit 40 to avoid contact with surrounding people and objects. To achieve this contact avoidance function, a structure is conceived that performs image processing and avoidance control (hereinafter referred to as "contact avoidance processing") of image information GP in the upper-level control unit 20. However, in this structure, integrating the contact avoidance function into the existing construction machinery 100 requires a significant rewrite of the software in the upper-level control unit 20. Furthermore, the processing power of the upper-level control unit 20 is insufficient, necessitating its replacement with a high-speed, high-capacity type. Therefore, large-scale modifications are unavoidable in order to achieve the contact avoidance function.

[0054] Therefore, in this embodiment, the contact avoidance processing is performed in the solenoid valve control unit 14 of the solenoid proportional valve 10. In this case, the solenoid proportional valve 10, which has software programmed for contact avoidance processing, can be added as an auxiliary device, so the software of the upper control unit 20 can be changed almost without modification.

[0055] Next, the contact avoidance processing of the control system 1 in this embodiment will be explained. Figure 6This is a flowchart illustrating the contact avoidance process S70 of the control system 1. Process S70 controls the operation unit 40 based on image information Gp to avoid contact with surrounding obstacles such as people and objects. Here, we will illustrate with the following example: The control system 1 identifies an obstacle, predicts the interference between the operation unit 40 and the obstacle, and, based on its prediction, causes the operation unit 40 to perform avoidance actions such as deceleration, stopping, or trajectory change. Process S70 begins at the moment the manager inputs the contact avoidance instruction.

[0056] After the contact avoidance processing time is reached (Y in step S71), the solenoid valve control unit 14 of the solenoid proportional valve 10 acquires image information Gp from the surrounding environment monitoring unit 32 via the communication line 28 (step S72). This step can be performed by any of the solenoid valve control units 14, but in this embodiment, they are performed separately. This is because subsequent processing is performed separately. Alternatively, by acquiring image information Gp using any one of them, the solenoid valve control units 14 can share image information that has undergone certain image processing such as information compression.

[0057] After obtaining the image information Gp, the solenoid valve control unit 14 determines the position and speed of the working unit 40 based on the image information Gp (step S73).

[0058] After the operation unit 40 is determined, the solenoid valve control unit 14 determines the position and speed of the obstacle based on the image information Gp (step S74).

[0059] After the obstacle is identified, the solenoid valve control unit 14 predicts the change in distance between the operation unit 40 and the obstacle (step S75).

[0060] The processing steps S73 to S75 can be performed by any one of the solenoid valve control units 14, but in this embodiment, they are performed separately by the solenoid valve control units 14. For example, step S73 can be performed by one solenoid valve control unit, step S74 by another solenoid valve control unit, and step S75 by yet another solenoid valve control unit. By distributing the processing, the concentration of processing burden can be alleviated.

[0061] After predicting the distance change, the solenoid valve control unit 14 determines the form of the avoidance action based on the predicted minimum distance between the working unit 40 and the obstacle (hereinafter referred to as "predicted minimum distance") (step S76). For example, the form of the avoidance action can also be determined based on the predicted minimum distance as follows.

[0062] (1) If the predicted minimum distance is greater than or equal to the first distance: do not take any avoidance action.

[0063] (2) If the predicted minimum distance is less than the first distance but more than the second distance: slow down the movement of the work unit 40.

[0064] (3) If the predicted minimum distance is less than the second distance but more than the third distance: stop the movement of the work unit 40.

[0065] (4) If the predicted minimum distance is less than the third distance: change the moving track of the work unit 40.

[0066] After determining the type of avoidance action, the solenoid valve control unit 14 adjusts the supply of working fluid Fd to control actuators 56a to 56c so that the avoidance action is performed according to that type (step S77). After executing step S77, process S70 ends. Steps S71 to S77 are executed repeatedly until there is no longer an indication to perform an avoidance action.

[0067] If the contact avoidance process is not reached (step N in S71), steps S72 to S77 are skipped. This process S70 is just an example; the order of the steps can be changed, or some steps can be added, deleted, or modified. Part of process S70 can also be executed by the upper control unit 20. In this case, the processing burden of the solenoid valve control unit 14 is reduced.

[0068] The features of the control system 1 of this embodiment, configured as described above, will be explained. The control system 1 includes: a proportional valve body 12 that supplies working fluid Fd to the actuator 56 of the drive unit 40; and a solenoid valve control unit 14 that is integrally provided with the proportional valve body 12 for controlling the proportional valve body 12.

[0069] In this configuration, the solenoid valve control unit 14 is integrally formed with the proportional valve body 12. Therefore, by utilizing the distributed control processing of each solenoid valve control unit, the processing burden on the upper-level control unit 20 that controls the solenoid valve control unit 14 can be reduced. Furthermore, since the solenoid valve control unit 14 controls the proportional valve body 12, the wiring between it and the upper-level control unit 20 can be simplified. Additionally, when adding or changing the proportional valve body 12, this can be addressed by slightly modifying the software of the upper-level control unit 20. By modifying the software of the solenoid valve control unit 14, the control characteristics of the actuator 56 and the operating characteristics of the driven body can be altered.

[0070] The solenoid valve control unit 14 obtains detection results from the detection component 16, which detects information related to the working fluid Fd supplied from the proportional valve body 12, and controls the proportional valve body 12 based on these detection results. In this case, feedback control can be performed using the detection component 16 and the solenoid valve control unit 14.

[0071] The solenoid valve control unit 14 controls the proportional valve body 12 based on information related to the surrounding environment from the surrounding environment monitoring unit 32. In this case, the operation of the driven body can be changed according to the conditions of the surrounding environment.

[0072] The solenoid valve control unit 14 is configured to control the proportional valve body 12 based on image information Gp from the ambient environment monitoring unit 32, thereby preventing the operating unit 40 from coming into contact with people or objects in the surrounding environment. In this case, the operation of the operating unit 40 can be changed according to the situation of people or objects in the surrounding environment to avoid contact.

[0073] The solenoid valve control unit 14 is integrally formed with the proportional valve body 12. In this case, the control system 1 can be compactly configured.

[0074] The proportional valve body 12 is disposed on an integrated block 18 comprising multiple solenoid valves. In this case, the control system 1 can be further compacted.

[0075] The solenoid valve control unit 14 communicates with the upper control unit 20 to send or receive information. In this case, it can cooperate with the upper control unit 20 to operate. It can receive information for controlling the proportional valve body 12. It can send predetermined information to the upper control unit 20.

[0076] The solenoid valve control unit 14 communicates with the upper control unit 20 via at least one of a data bus and a network. In this case, a shared communication line 28 is used, thus allowing for simple configuration. When changing the system structure, the scope of changes to the upper control unit 20 can be narrowed.

[0077] Next, the second and third embodiments of the present invention will be described. In the drawings and descriptions of the second and third embodiments, structural elements and components that are the same as or equivalent to those in the first embodiment are labeled with the same reference numerals. Descriptions that are repeated in the first embodiment are omitted where appropriate, and the focus is on describing structures that differ from those in the first embodiment.

[0078] [Second Implementation]

[0079] The second embodiment of the present invention is also an electromagnetic proportional valve 10. This electromagnetic proportional valve 10 includes: a proportional valve body 12 having a solenoid 10d and a spool valve core 10e driven by the solenoid 10d, supplying working fluid Fd to an actuator that drives a driven body; an electromagnetic valve control unit 14 integrally formed with the proportional valve body 12, controlling the proportional valve body 12; and a housing 10c that houses the solenoid 10d, the spool valve core 10e, and the electromagnetic valve control unit 14. As an example, the driven body may also be a working unit 40, and the actuator may also be an actuator 56. According to the structure of the second embodiment, it achieves the same effect as the first embodiment.

[0080] [Third Implementation]

[0081] The third embodiment of the present invention is a construction machine 100. This construction machine 100 includes: a working unit 40, whose posture changes under the action of an actuator driven by a working fluid Fd; a proportional valve body 12, which supplies the working fluid Fd to the actuator; and a solenoid valve control unit 14, which is integrally formed with the proportional valve body 12 and controls the proportional valve body 12 based on the detection result of a detection unit 16 that detects information related to the working fluid Fd. As an example, the actuator may also be an actuator 56. According to the structure of the third embodiment, it achieves the same effect as the first embodiment.

[0082] The embodiments of the present invention have been described in detail above. The embodiments described above are merely specific examples of implementing the present invention. The content of the embodiments is not intended to limit the scope of protection of the present invention. Many design changes, such as alterations, additions, and deletions of structural elements, can be made without departing from the inventive spirit defined in the claims. In the above embodiments, the content that allows such design changes is indicated by phrases such as "in the embodiment" or "in the embodiment," but this does not mean that design changes are not permitted for content without such descriptions.

[0083] [Variation Example]

[0084] The following describes modified examples. In the accompanying drawings and descriptions of the modified examples, structural elements and components that are the same or equivalent to those in the embodiment are labeled with the same reference numerals. Descriptions that are repeated in the embodiment are omitted where appropriate, and the focus is on describing structures that differ from the structure of the first embodiment.

[0085] In the description of the first embodiment, an example of the electromagnetic proportional valve 10 being mounted on a construction machine 100 is shown, but the present invention is not limited thereto. The electromagnetic proportional valve 10 can be installed in various movable devices having actuators driven by working fluid. In addition, an example of the construction machine 100 having a bucket 46 is shown, but the construction machine 100 may also have various accessories other than a bucket.

[0086] In the description of the first embodiment, an example of an actuator being a hydraulic cylinder was shown, but the present invention is not limited thereto. For example, the actuator may also be a hydraulic motor that generates rotary motion using fluid power, or a oscillating actuator that generates oscillating motion using fluid power, etc.

[0087] In the description of the first embodiment, an example of an assembly block 18 having three electromagnetic proportional valves 10 is shown, but the present invention is not limited to this. The assembly block may also have two or four or more electromagnetic valves. In addition, the assembly block may also include electromagnetic valves without electromagnetic valve control units.

[0088] In the description of the first embodiment, an example is shown where a block is integrally formed with multiple electromagnetic proportional valves 10. Alternatively, multiple separately formed electromagnetic valves can be connected to form an aggregate block.

[0089] In the description of the first embodiment, an example of the detection component 16 detecting the pressure of the working fluid Fd is shown, but the detection component can also be used to obtain various other information besides the pressure. For example, the detection component can also be used to obtain information about the supply amount and flow rate of the working fluid Fd supplied from the proportional valve body.

[0090] In the description of the first embodiment, an example of communication between the solenoid valve control unit 14 and the upper control unit 20 was shown, but the solenoid valve control unit 14 does not necessarily have to communicate with the upper control unit 20. For example, the solenoid valve control unit can also be used to autonomously control the proportional valve body.

[0091] In the description of the first embodiment, an example of the ambient environment monitoring unit 32 acquiring image information Gp was shown. However, the ambient environment monitoring unit can also be used to acquire various ambient environment information other than image information. For example, the ambient environment monitoring unit can also be used to acquire ambient temperature information. In this case, the solenoid valve control unit can also change the control characteristics based on the temperature information and the temperature characteristics of the working fluid Fd.

[0092] In the description of the first embodiment, an example is shown where the ambient environment monitoring component 32 is installed on the roof of the operator's cab 38, but the present invention is not limited thereto. For example, the ambient environment monitoring component 32 may also be installed on the side of the operator's cab 38 or on the cover of the upper body section 34. In addition, the ambient environment monitoring component 32 may also be installed on the work section 40.

[0093] In the description of the first embodiment, examples of avoidance actions including deceleration, stopping, and trajectory change of the driven body are shown, but the present invention is not limited to this. Avoidance actions may include one of these, other actions, or actions completely different from them.

[0094] In the description of the first embodiment, an example is shown where the boom mechanism 48 is located on the right side of the operator's cab 38, but the present invention is not limited thereto. For example, the boom mechanism may also be located on the left side of the operator's cab, in front of the operator's cab.

[0095] In the description of the first embodiment, an example of the construction machinery 100 being operated by an operator from the control room 38 is shown, but the present invention is not limited thereto. For example, the construction machinery may also be automatically operated or remotely operated construction machinery.

[0096] In the description of the first embodiment, an example is shown in which the proportional valve body 12 and the solenoid valve control unit 14 are integrally provided. However, the proportional valve body 12 and the solenoid valve control unit 14 can be connected one-to-one, and can be provided separately or separately from each other.

[0097] The above-described variations have the same function and effect as the first embodiment.

[0098] Any combination of the above-described embodiments and variations is also useful as an embodiment of the present invention. New embodiments resulting from these combinations also possess the effects of the combined embodiments and variations.

Claims

1. An electromagnetic proportional valve, comprising: The proportional valve body supplies working fluid to the actuator that drives the driven body; and The solenoid valve control unit is integrally disposed with the proportional valve body for controlling the proportional valve body. The solenoid valve control unit is configured to determine the position and velocity of the driven body and the position and velocity of the obstacle based on image information from a monitoring unit that captures the surrounding environment and the surrounding environment of the driven body; predict the interference between the driven body and the obstacle; and control the proportional valve body based on the prediction result, thereby preventing the driven body from contacting the obstacle. The solenoid valve control unit controls the proportional valve body in the following manner: based on the image information, it predicts the distance change between the driven body and the obstacle; based on the predicted minimum distance between the driven body and the obstacle based on the predicted distance change, it determines the form of the avoidance action; and the driven body performs the avoidance action according to the form of the avoidance action. If the predicted minimum distance is greater than or equal to the first distance, no avoidance action will be taken. If the predicted minimum distance is less than the first distance but greater than the second distance, the movement of the driven body is slowed down. If the predicted minimum distance is less than the second distance but greater than the third distance, the movement of the driven object shall be stopped. If the predicted minimum distance is less than the third distance, the trajectory of the driven body is changed.

2. The electromagnetic proportional valve according to claim 1, wherein, The solenoid valve control unit obtains the detection result from the detection component that detects information related to the working fluid, and controls the proportional valve body based on the detection result.

3. The electromagnetic proportional valve according to claim 1 or 2, wherein, The proportional valve body is configured in an assembly of multiple proportional valve bodies.

4. The electromagnetic proportional valve according to claim 1 or 2, wherein, The solenoid valve control unit is configured to communicate with other control components in order to send or receive information.

5. The electromagnetic proportional valve according to claim 4, wherein, The solenoid valve control unit communicates with the other control components via at least one of a data bus and a network.

6. An electromagnetic proportional valve, comprising: The proportional valve body supplies working fluid to the actuator that drives the driven body; and The solenoid valve control unit is connected one-to-one with the proportional valve body in order to control the proportional valve body. The solenoid valve control unit is configured to determine the position and velocity of the driven body and the position and velocity of the obstacle based on image information from a monitoring unit that captures the surrounding environment and the surrounding environment of the driven body; predict the interference between the driven body and the obstacle; and control the proportional valve body based on the prediction result, thereby preventing the driven body from contacting the obstacle. The solenoid valve control unit controls the proportional valve body in the following manner: based on the image information, it predicts the distance change between the driven body and the obstacle; based on the predicted minimum distance between the driven body and the obstacle based on the predicted distance change, it determines the form of the avoidance action; and the driven body performs the avoidance action according to the form of the avoidance action. If the predicted minimum distance is greater than or equal to the first distance, no avoidance action will be taken. If the predicted minimum distance is less than the first distance but greater than the second distance, the movement of the driven body is slowed down. If the predicted minimum distance is less than the second distance but greater than the third distance, the movement of the driven object shall be stopped. If the predicted minimum distance is less than the third distance, the trajectory of the driven body is changed.

7. The electromagnetic proportional valve according to claim 6, wherein, The solenoid valve control unit obtains the detection result from the detection component that detects information related to the working fluid, and controls the proportional valve body based on the detection result.

8. The electromagnetic proportional valve according to claim 6 or 7, wherein, The proportional valve body is configured in an assembly of multiple proportional valve bodies.

9. The electromagnetic proportional valve according to claim 6 or 7, wherein, The solenoid valve control unit is configured to communicate with other control components in order to send or receive information.

10. The electromagnetic proportional valve according to claim 9, wherein, The solenoid valve control unit communicates with the other control components via at least one of a data bus and a network.

11. An electromagnetic proportional valve, comprising: The proportional valve body has a solenoid and a spool valve driven by the solenoid, which supplies working fluid to the actuator that drives the driven body. The solenoid valve control unit is integrally formed with the proportional valve body, and drives the solenoid based on the detection result of the detection component that detects information related to the working fluid, thereby controlling the proportional valve body; as well as The housing includes the solenoid, the slide valve core, and the solenoid valve control unit. The solenoid valve control unit is configured to determine the position and velocity of the driven body and the position and velocity of the obstacle based on image information from a monitoring unit that captures the surrounding environment and the surrounding environment of the driven body; predict the interference between the driven body and the obstacle; and control the proportional valve body based on the prediction result, thereby preventing the driven body from contacting the obstacle. The solenoid valve control unit controls the proportional valve body in the following manner: based on the image information, it predicts the distance change between the driven body and the obstacle; based on the predicted minimum distance between the driven body and the obstacle based on the predicted distance change, it determines the form of the avoidance action; and the driven body performs the avoidance action according to the form of the avoidance action. If the predicted minimum distance is greater than or equal to the first distance, no avoidance action will be taken. If the predicted minimum distance is less than the first distance but greater than the second distance, the movement of the driven body is slowed down. If the predicted minimum distance is less than the second distance but greater than the third distance, the movement of the driven object shall be stopped. If the predicted minimum distance is less than the third distance, the trajectory of the driven body is changed.

12. The electromagnetic proportional valve according to claim 11, wherein, The solenoid valve control unit, the solenoid, and the spool valve core are arranged in the following order: the solenoid valve control unit, the solenoid, and the spool valve core. The solenoid valve control unit, the solenoid, and the slide valve core are all housed within the housing.

13. A construction machine, comprising: The work unit changes posture under the action of an actuator driven by the working fluid; The proportional valve body supplies the working fluid to the actuator; and The solenoid valve control unit is integrally formed with the proportional valve body, and controls the proportional valve body based on the detection results of a detection component that detects information related to the working fluid. The solenoid valve control unit is configured to determine the position and speed of the working unit and the position and speed of obstacles based on image information from a camera capturing the surrounding environment and an environment monitoring unit monitoring the surrounding environment of the working unit; predict the interference between the working unit and the obstacles; and control the proportional valve body based on the prediction results, thereby preventing the working unit from contacting the obstacles. The solenoid valve control unit controls the proportional valve body in the following manner: based on the image information, it predicts the distance change between the working unit and the obstacle; based on the predicted minimum distance between the working unit and the obstacle based on the predicted distance change, it determines the form of the avoidance action; and the working unit performs the avoidance action according to the form of the avoidance action. If the predicted minimum distance is greater than or equal to the first distance, no avoidance action will be taken. If the predicted minimum distance is less than the first distance but greater than the second distance, the movement of the work unit is slowed down. If the predicted minimum distance is less than the second distance but greater than the third distance, the movement of the work unit shall be stopped. If the predicted minimum distance is less than the third distance, the movement track of the work unit is changed.

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