System, method, and program

Abstract

A control system (200) controls a construction machine (100) provided with a work machine (160) capable of attaching a work tool (163) to the tip thereof. The control system is provided with a processor (210). The processor specifies a virtual wall (VW) which is a surface that prohibits intrusion of the work device. The processor determines the rotational angular velocity of the construction machine so that the virtual wall does not come into contact with the construction machine. The processor varies the rotational angular velocities depending on the main body weight of the work tool.

Description

Technical Field

[0001] This disclosure relates to systems, methods, and procedures.

[0002] This application claims priority based on Japanese Patent No. 2023-050981, filed on March 28, 2023, the contents of which are incorporated herein by reference. Background Technology

[0003] A technique exists that involves setting up imaginary walls in space to limit the range of motion of construction machinery. By using the control device of the construction machinery to limit the amount of motion of the actuators based on the distance between the imaginary wall and the construction machinery, it is possible to control the construction machinery so that it does not exceed the imaginary wall.

[0004] Furthermore, Patent Document 1 discloses a technique for preventing the working tool from detaching from the working area by taking into account the moment of inertia that changes according to the posture of the working device.

[0005] Existing technical documents

[0006] Patent Literature

[0007] Patent document 1: Japanese Patent Application Publication No. 2020-143449. Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] However, in construction machinery, there are machines that can mount various working tools at the front end of the working device. However, in conventional technology, since the replacement of working tools was not considered, there is a possibility that the control of not exceeding the imaginary wall may not function properly due to the replacement of working tools.

[0010] The purpose of this disclosure is to provide a system, method, and procedure that can restrict the movement of construction machinery without being affected by installed working tools so as to prevent it from intruding into a virtual wall.

[0011] Technical solutions for solving technical problems

[0012] According to a first embodiment of this disclosure, a system controls an engineering machine equipped with a working device capable of mounting a working tool at its front end. The control system includes a processor. The processor determines an imaginary wall as a surface to prevent the working device from intruding. The processor determines the rotational angular velocity of the engineering machine in a manner that prevents the imaginary wall from contacting the engineering machine. The processor adjusts the rotational angular velocity according to the weight of the working tool.

[0013] According to a second embodiment of this disclosure, the method is a control method for construction machinery equipped with a working device capable of mounting a working tool at its front end. The control method includes a hypothetical wall determination step and an angular velocity determination step. The hypothetical wall determination step determines a hypothetical wall as a surface to prevent the working device from intruding. The angular velocity determination step determines the rotational angular velocity of the construction machinery in a manner that prevents the hypothetical wall from contacting the construction machinery. In the angular velocity determination step, the rotational angular velocity varies depending on the weight of the main body of the working tool.

[0014] According to a third embodiment of the present invention, a program causes a computer controlling an engineering machine equipped with a working device capable of mounting a working tool at its front end to execute a hypothetical wall determination step and an angular velocity determination step. The hypothetical wall determination step determines a hypothetical wall as a barrier to prevent the working device from intruding. The angular velocity determination step determines the rotation angle of the engineering machine to prevent the hypothetical wall from contacting the engineering machine. In the angular velocity determination step, the rotation angular velocity varies according to the weight of the working tool's main body.

[0015] The effects of the invention

[0016] According to the above implementation, the movement of construction machinery can be restricted without being affected by the installed working tools, so that the working tools do not intrude into the imaginary wall. Attached Figure Description

[0017] Figure 1 This is a schematic diagram illustrating the structure of the engineering machinery according to the first embodiment.

[0018] Figure 2 A diagram illustrating the drive system of the engineering machinery according to the first embodiment.

[0019] Figure 3 This is a schematic block diagram illustrating the configuration of the control device in the first embodiment.

[0020] Figure 4 This diagram illustrates an example of the resetting of the imaginary wall accompanying the rotation of the rotating body in the first embodiment.

[0021] Figure 5 This is a flowchart (first part) illustrating the updating and intervention control of the imaginary wall set in the first embodiment.

[0022] Figure 6 This is a flowchart (Part 2) illustrating the updating and intervention control of the imaginary wall set in the first embodiment.

[0023] Figure 7 A diagram illustrating the configuration of an operating system in other embodiments. Detailed Implementation

[0024] <First Implementation>

[0025] The Composition of Engineering Machinery

[0026] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings.

[0027] Figure 1 This is a schematic diagram illustrating the configuration of the construction machinery 100 according to the first embodiment. The construction machinery 100 of the first embodiment is, for example, a hydraulic front shovel. The construction machinery 100 includes a traveling body 120, a rotating body 140, a working device 160, a cab 180, and a control device 200. The construction machinery 100 of the first embodiment generates a planar imaginary wall VW according to the operator's operation, and controls the construction machinery 100 to avoid contact with the imaginary wall VW. Therefore, the operator can operate the construction machinery 100 in a manner that prevents it from encroaching on prohibited areas.

[0028] The traveling body 120 supports the construction machinery 100 in a manner that enables it to move. The traveling body 120 is, for example, a pair of infinite tracks on the left and right.

[0029] The rotating body 140 is supported on the traveling body 120 in a manner that allows it to rotate around the center of rotation.

[0030] The working device 160 is movably supported on the rotating body 140. The working device 160 is hydraulically driven. The working device 160 includes a boom 161, a forearm 162, and an auxiliary device 163 as a working tool. The auxiliary device 163 is an example of a working tool. Figure 1 In the example shown, the auxiliary device 163 is a bucket. The base end of the boom 161 is rotatably mounted to the rotating body 140. The base end of the forearm 162 is rotatably mounted to the front end of the boom 161. The auxiliary device 163 is rotatably mounted to the front end of the forearm 162. Here, the portion of the rotating body 140 in which the working device 160 is mounted is referred to as the front portion. Furthermore, for the rotating body 140, the portion opposite to the front portion is referred to as the rear portion, the left portion as the left portion, and the right portion as the right portion.

[0031] The operator's cab 180 is located at the front of the slewing body 140. Inside the operator's cab 180 are an operating device 141 for the operator to operate the construction machinery 100 and a monitoring device 142 serving as a human-machine interface for the control device 200. The monitoring device 142 is implemented, for example, by a computer equipped with a touchscreen.

[0032] The control device 200 controls the traveling body 120, the rotating body 140, and the working device 160 based on the operator's operation of the operating device. The control device 200 is, for example, located inside the cab 180.

[0033] Drive System of Construction Machinery 100

[0034] Figure 2 This diagram illustrates the drive system of the construction machinery 100 according to the first embodiment.

[0035] The construction machinery 100 has multiple actuators for driving the construction machinery 100. Specifically, the construction machinery 100 has a power source 111, a hydraulic pump 112, a control valve 113, a pair of travel motors 114, a swing motor 115, a boom cylinder 116, a forearm cylinder 117, and an auxiliary device cylinder 118.

[0036] Power source 111 drives hydraulic pump 112. Power source 111 is, for example, an engine.

[0037] The hydraulic pump 112 is driven by the power source 111 and supplies hydraulic oil to the travel motor 114, the swing motor 115, the boom cylinder 116, the forearm cylinder 117 and the auxiliary device cylinder 118 via the control valve 113.

[0038] Control valve 113 controls the flow rate of hydraulic oil supplied from hydraulic pump 112 to travel motor 114, swing motor 115, boom cylinder 116, forearm cylinder 117 and auxiliary device cylinder 118.

[0039] The travel motor 114 is driven by hydraulic oil supplied from the hydraulic pump 112, and drives the travel body 120.

[0040] The rotary motor 115 is driven by hydraulic oil supplied from the hydraulic pump 112, causing the rotary body 140 to rotate relative to the traveling body 120.

[0041] The boom cylinder 116 is a hydraulic cylinder used to drive the boom 161. The base end of the boom cylinder 116 is mounted on the slewing body 140. The front end of the boom cylinder 116 is mounted on the boom 161.

[0042] The boom cylinder 117 is a hydraulic cylinder used to drive the boom 162. The base end of the boom cylinder 117 is mounted on the boom 161. The front end of the boom cylinder 117 is mounted on the boom 162.

[0043] The auxiliary device cylinder 118 is a hydraulic cylinder used to drive the auxiliary device 163. The base end of the auxiliary device cylinder 118 is mounted on the forearm 162. The front end of the auxiliary device cylinder 118 is mounted on the auxiliary device 163.

[0044] Measurement System for Construction Machinery 100

[0045] The construction machinery 100 is equipped with multiple sensors for measuring the attitude and position of the construction machinery 100. Specifically, the construction machinery 100 is equipped with a tilt measuring device 101, a rotation angle sensor 102, a boom angle sensor 103, a forearm angle sensor 104, an auxiliary device angle sensor 105, and a load cell 106.

[0046] The tilt measuring device 101 measures the attitude of the rotating body 140. The tilt measuring device 101 measures the tilt angle (e.g., roll angle, pitch angle, and yaw angle) of the rotating body 140 relative to the horizontal plane. An example of the tilt measuring device 101 is an IMU (Inertial Measurement Unit). In this case, the tilt measuring device 101 measures the acceleration and angular velocity of the rotating body 140 and calculates the tilt angle of the rotating body 140 relative to the horizontal plane based on the measurement results. The tilt measuring device 101 is, for example, located below the driver's cab 180. The tilt measuring device 101 outputs the attitude data of the rotating body 140 as measured values ​​to the control device 200.

[0047] The slewing angle sensor 102 measures the slewing angle of the rotating body 140 relative to the traveling body 120. The measured value of the slewing angle sensor 102 is zero, for example, when the traveling body 120 and the rotating body 140 are aligned. The slewing angle sensor 102 is, for example, located at the center of rotation of the rotating body 140. The slewing angle sensor 102 outputs the measured slewing angle data to the control device 200.

[0048] The boom angle sensor 103 measures the boom angle, the angle of rotation of the boom 161 relative to the rotating body 140. The boom angle sensor 103 can be an IMU mounted on the boom 161. In this case, the boom angle sensor 103 measures the boom angle based on the tilt of the boom 161 relative to the horizontal plane and the tilt of the rotating body measured by the tilt measuring device 101. The measured value of the boom angle sensor 103 is zero, for example, when the direction of the straight line passing through the base and tip of the boom 161 is consistent with the forward / backward direction of the rotating body 140. It should be noted that in other embodiments, the boom angle sensor 103 can be a stroke sensor mounted on the boom cylinder 116. Furthermore, in other embodiments, the boom angle sensor 103 can be a rotation sensor installed on the pin connecting the rotating body 140 and the boom 161. The boom angle sensor 103 outputs the boom angle data as a measured value to the control device 200.

[0049] Forearm angle sensor 104 measures the forearm angle, which is the rotation angle of the forearm 162 relative to the upper arm 161. Forearm angle sensor 104 can be an IMU mounted on the forearm 162. In this case, forearm angle sensor 104 measures the forearm angle based on the tilt of the forearm 162 relative to the horizontal plane and the upper arm angle measured by upper arm angle sensor 103. The measured value of forearm angle sensor 104 is zero, for example, when the direction of the straight line passing through the base and tip of the forearm 162 coincides with the direction of the straight line passing through the base and tip of the upper arm 161. It should be noted that in other embodiments, forearm angle sensor 104 can be a stroke sensor mounted on the forearm cylinder 117 for angle calculation. Furthermore, in other embodiments, forearm angle sensor 104 can be a rotation sensor provided on the pin connecting the upper arm 161 and the forearm 162. Forearm angle sensor 104 outputs the forearm angle data as a measured value to control device 200.

[0050] The attachment angle sensor 105 measures the rotation angle of the attachment 163 relative to the forearm 162, i.e., the attachment angle. The attachment angle sensor 105 can be a stroke sensor installed on the attachment cylinder 118 used to drive the attachment 163. In this case, the attachment angle sensor 105 measures the attachment angle based on the stroke of the attachment cylinder 118. The measured value of the attachment angle sensor 105 is zero, for example, when the direction of the straight line passing through the base and front end of the attachment 163 coincides with the direction of the straight line passing through the base and front end of the forearm 162. It should be noted that in other embodiments, the attachment angle sensor 105 can be a rotation sensor installed on the pin connecting the forearm 162 and the attachment 163. Furthermore, in other embodiments, the attachment angle sensor 105 can be mounted on the IMU of the attachment 163. The attachment angle sensor 105 outputs the attached angle data as a measured value to the control device 200.

[0051] The load cell 106 measures the weight of the load held on the attachment 163. For example, the load cell 106 measures the bottom pressure of the cylinder of the boom 161 and converts it into the weight of the load. The load cell 106 can also be a load sensor. The load cell 106 outputs the measured weight data of the load to the control device 200.

[0052] Composition of Control Device 200

[0053] Figure 3 This is a schematic block diagram illustrating the configuration of the control device 200 according to the first embodiment.

[0054] The control device 200 is a computer equipped with a processor 210, main memory 230, memory 250, and interface 270. The control device 200 is an example of a control system. The control device 200 receives measurement values ​​from the tilt measuring device 101, the rotation angle sensor 102, the boom angle sensor 103, the forearm angle sensor 104, the auxiliary device angle sensor 105, and the load cell 106.

[0055] The memory 250 is a non-volatile tangible storage medium. Examples of memory 250 include magnetic disks, optical disks, optical discs, and semiconductor memories. The memory 250 can be an internal medium directly connected to the bus of the control device 200, or an external medium connected to the control device 200 via interface 270 or a communication line. The memory 250 stores control programs used to control the engineering machinery 100.

[0056] The control program can be used to implement a portion of the functions that enable the control device 200 to perform. For example, the control program can function by combining with other programs already stored in the memory 250 or with other programs installed on other devices. It should be noted that in other embodiments, the control device 200 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device), in addition to or replacing the above-described configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions implemented by the processor can be implemented by the integrated circuit.

[0057] The memory 250 stores geometric data representing the dimensions and center of gravity positions of the rotating body 140, the upper arm 161, the lower arm 162, and the auxiliary device 163. The geometric data represents the position of the object in a defined coordinate system. Furthermore, the memory 250 stores the geometric data and the main body weight of the auxiliary device 163 according to its model. The main body weight refers to the weight of the auxiliary device 163 in its unloaded state.

[0058] The memory 250 contains a table of angular velocities that represent the relationship between the permissible slewing angle and the reference limit angular velocity. The permissible slewing angle is the angle at which the rotating body 140 can turn. The permissible slewing angle is represented by the difference between the stop angle and the current slewing angle measured by the slewing angle sensor 102. The reference limit angular velocity is the angular velocity at which the construction machinery 100, with a reference working tool mounted as an attachment 163 and in a reference posture, can stop without exceeding the stop angle when turning at this angular velocity. The reference working tool is the attachment 163 used in the experiment to determine the angular velocity table. The reference working tool may, for example, be the heaviest working tool envisioned by the manufacturer of the construction machinery 100. The reference posture is the posture of the construction machinery 100 used in the experiment to determine the angular velocity table. The posture of the construction machinery 100 is determined by the boom angle, forearm angle, and attachment angle. The reference posture may, for example, be the posture when the distance from the center of rotation to the attachment 163 is at its maximum. The limit angular velocity table is a function that reduces the reference limit angular velocity as the allowable rotation angle becomes smaller.

[0059] The memory 250 contains a table of correction coefficients, which is a function of the relationship between the moment of inertia ratio and the reference limiting angular velocity. The moment of inertia ratio is the ratio of the moment of inertia of the construction machinery 100 when the reference working tool is mounted on the auxiliary device 163 and is in a reference posture to the actual moment of inertia of the construction machinery 100. The correction coefficient is used to correct the reference limiting angular velocity to the limiting angular velocity of the actual construction machinery 100. The limiting angular velocity of the actual construction machinery 100 is the angular velocity at which the actual construction machinery 100 can stop without exceeding the stopping angle while rotating at that angular velocity. The correction coefficient table is a function where the larger the moment of inertia ratio, the larger the correction coefficient becomes.

[0060] Software Composition

[0061] The processor 210, by executing a control program, includes an operation quantity acquisition unit 211, an input unit 212, a display control unit 213, a measurement value acquisition unit 214, a position determination unit 215, a generation unit 216, a rotation conversion unit 217, an intervention determination unit 218, an intervention control unit 219, and a control signal output unit 220.

[0062] The operation quantity acquisition unit 211 acquires operation signals representing the operation quantity of each actuator from the operation device 141.

[0063] The input unit 212 receives operator input from the monitoring device 142. In particular, when the add-on device 163 is replaced, the input unit 212 receives the model number of the add-on device 163. The processor 210 then reads the geometric data and main body weight associated with that model number from the memory 250.

[0064] The display control unit 213 outputs the screen data displayed by the monitoring device 142 to the monitoring device 142.

[0065] The measurement acquisition unit 214 acquires measurement values ​​from the tilt measuring device 101, the rotation angle sensor 102, the upper arm angle sensor 103, the forearm angle sensor 104, the auxiliary device angle sensor 105, and the load cell 106.

[0066] The position determination unit 215 determines the position of the outer casing of the construction machinery 100 in the vehicle coordinate system. The outer casing of the construction machinery 100 refers to the external shape of the construction machinery 100. The outer casing of the construction machinery 100 is defined, for example, by the shape that forms the outer shape of the rotating body 140 and the working device 160. Specifically, the position determination unit 215 determines the positions of multiple points of the outer casing of the construction machinery 100 in the vehicle coordinate system based on various measurement values ​​acquired by the measurement value acquisition unit 214 and geometric data recorded in the memory 250. The multiple points of the outer casing determined by the position determination unit 215 include the front end of the auxiliary device 163 (e.g., the tip of the bucket), one end of the boom 162 on the auxiliary device 163 side (boom tip), one end of the boom 162 on the upper arm 161 side (boom bottom), and a point behind the counterweight of the rotating body 140. The vehicle coordinate system refers to an orthogonal coordinate system with a representative point of the rotating body 140 (e.g., a point through the center of rotation) as the origin. The calculations performed by the position determination unit 215 will be described in detail later. It should be noted that the point determined by the position determination unit 215 is not limited to this.

[0067] When the input unit 212 receives a generation instruction for the hypothetical wall VW from the operator, the generation unit 216 calculates the parameters of the hypothetical wall VW based on the position of the front end of the auxiliary device 163 determined by the position determination unit 215. The generation unit 216 records the parameters of the hypothetical wall VW in the generated vehicle body coordinate system in the main memory 230.

[0068] The rotation conversion unit 217 updates the parameters of the imaginary wall VW stored in the main memory 230 as the rotating body 140 rotates. Specifically, the rotation conversion unit 217 performs rotational conversion on the parameters of the imaginary wall VW with the origin of the vehicle coordinate system as the center, based on the changes in pitch angle, roll angle and yaw angle measured by the tilt measuring device 101. Figure 4 This diagram illustrates an example of the resetting of the imaginary wall VW accompanying the rotation of the rotating body in the first embodiment. For example, as... Figure 4As shown, when the imaginary wall VW is set and the rotating body 140 rotates, the rotation conversion unit 217 refers to the measurement value obtained by the tilt measuring device 101 obtained by the measurement value acquisition unit 214, calculates the changes in roll angle, pitch angle, and yaw angle caused by the rotation of the rotating body 140, and performs rotation conversion on the parameters of the imaginary wall VW with the origin of the vehicle coordinate system as the center. Therefore, the rotation conversion unit 217 can eliminate the rotation of the imaginary wall VW caused by the rotation of the rotating body 140.

[0069] The intervention determination unit 218 determines whether to limit the rotational speed of the rotating body 140 or the speed of the working device 160 based on the positional relationship between multiple points of the outer casing and the imaginary wall VW determined by the position determination unit 215. Hereinafter, the limitation of the speed of the rotating body 140 or the working device 160 by the control device 200 will be referred to as intervention control. Specifically, the intervention determination unit 218 calculates an allowable rotation angle, which is the angle at which the rotating body 140 can rotate before the imaginary wall VW contacts at least one of the multiple points of the outer casing. If the allowable rotation angle is below a predetermined angle, the intervention determination unit 218 determines to perform intervention control on the rotating body 140. Furthermore, if the intervention determination unit 218 calculates a minimum distance between the imaginary wall VW and the working device 160, and this minimum distance is below a predetermined distance, the intervention determination unit 218 determines to perform intervention control on the working device 160.

[0070] When the intervention determination unit 218 determines that intervention control is to be performed, the intervention control unit 219 controls the operation quantity of the intervention object in the operation quantity acquired by the operation quantity acquisition unit 211.

[0071] The control signal output unit 220 outputs the operation quantity acquired by the operation quantity acquisition unit 211 or the operation quantity controlled by the intervention determination unit 218 to the control valve 113.

[0072] Calculation of Position Determination Unit 215

[0073] Here, the method for determining the position of a point on the housing of the construction machinery 100 by the position determination unit 215 will be described. The position determination unit 215 determines the position of a point on the housing based on various measurement values ​​acquired by the measurement value acquisition unit 214 and geometric data recorded in the memory 250. The memory 250 records geometric data representing the dimensions of the rotating body 140, the boom 161, the forearm 162, and the auxiliary device 163.

[0074] The geometric data of the rotating body 140 represents the position (x) of the pin supporting the boom 161 of the rotating body 140 in the vehicle body coordinate system, which serves as the local coordinate system. bm 、y bm z bm ) and the position of the point on the outer shell of the rotating body 140 (xsp y sp z sp Points on the outer shell of the rotating body 140, such as protruding points of the counterweight, are points that are highly likely to come into contact with the wall due to rotation. The vehicle body coordinate system is defined by the X-axis extending in the longitudinal direction with the rotation center of the rotating body 140 as the reference. sb Axis, Y extending in the left-right direction sb Axis, Z extending in the vertical direction sb A coordinate system consisting of axes. It should be noted that the vertical direction of the rotating body 140 is not necessarily consistent with the vertical direction.

[0075] The geometric data of the boom 161 represents the position of the boom tip (x) in the boom coordinate system, which serves as the local coordinate system. am y am z am The boom coordinate system is defined by the X-axis extending along the long side, with the position of the pin connecting the boom 161 and the rotating body 140 as the reference. bm Y-axis extending along the direction of the pin bm Axis, and X bm axis and Y bm Z-axis orthogonal bm A coordinate system consisting of axes. The position of the top of the boom is the location of the pin connecting the boom 161 and the forearm 162. The top of the boom is one of the points on the outer shell of the construction machinery 100.

[0076] The geometric data for forearm 162 represents the position of the forearm apex in the forearm coordinate system, which serves as the local coordinate system (x...). at y at z at The forearm coordinate system is defined by the X-axis extending along the long side, with the position of the pin connecting the forearm 162 and the upper arm 161 as the reference. am Y-axis extending along the direction of the pin am Axis, and X am axis and Y am Z-axis orthogonal am A coordinate system consisting of axes. The position of the forearm tip is the position of the pin connecting the forearm 162 to the auxiliary device 163. The forearm tip is one of the points on the outer shell of the engineering machinery 100.

[0077] The geometric data of the attachment 163 represents the position (x, y) of the front end of the attachment 163 in the attachment coordinate system, which serves as the local coordinate system. cp y cp z cp The coordinate system of the attachment is defined by the X-axis extending along the front end, with the position of the pin connecting the attachment 163 and the forearm 162 as a reference. atY-axis extending along the direction of the pin at Axis, and X at axis and Y at Z-axis orthogonal at A coordinate system formed by axes.

[0078] The position determination unit 215 determines the upper arm angle θ based on the measurement value acquisition unit 214. bm The measured values ​​and geometric data of the rotating body 140 are used to generate the boom-body transformation matrix T for transforming from the boom coordinate system to the body coordinate system using the following equation (1). bm sb Arm-to-Body Conversion Matrix T bm sb To only circle Y bm Axis rotation arm angle θ bm And only the deviation (x) between the origin of the vehicle body coordinate system and the origin of the boom coordinate system is moved parallel to each other. bm 、y bm z bm A matrix of ).

[0079] Furthermore, the position determination unit 215 calculates the position of the top of the boom in the boom coordinate system represented by the geometric data of the boom 161 and the boom-body transformation matrix T. bm sb The product of these factors is used to determine the position of the top of the boom in the vehicle body coordinate system.

[0080] [Formula 1]

[0081]

[0082] The position determination unit 215 determines the forearm angle θ based on the measurement value acquisition unit 214. am The measured values ​​and geometric data of the upper arm 161 are used to generate the forearm-upper arm transformation matrix T for transforming from the forearm coordinate system to the upper arm coordinate system using the following equation (2). am bm Forearm-to-upper arm transformation matrix T am bm To only circle Y am Forearm angle θ of axis rotation am And only the deviation (x) between the origin of the upper arm coordinate system and the origin of the lower arm coordinate system is moved parallel to each other. am 、y am z am The matrix is ​​). Furthermore, the position determination unit 215 calculates the boom-body transformation matrix T. bm sb Forearm-upper arm transformation matrix T am bmThe product of these components generates the forearm-body transformation matrix T, used for transforming from the forearm coordinate system to the vehicle coordinate system. am sb Furthermore, the position determination unit 215 calculates the position of the forearm tip in the forearm coordinate system represented by the geometric data of the forearm 162 and the forearm-vehicle transformation matrix T. am sb The product of these factors is used to determine the position of the top of the forearm in the vehicle coordinate system.

[0083] [Equation 2]

[0084]

[0085] The position determination unit 215 determines the additional device angle θ based on the measurement value acquisition unit 214. at The measured values ​​and geometric data of forearm 162 are used to generate the attachment-forearm transformation matrix T for transforming from the attachment coordinate system to the forearm coordinate system using the following equation (3). at am Additional device – forearm transformation matrix T at am To only circle Y at Shaft rotation additional device angle θ at And only the deviation (x) between the origin of the forearm coordinate system and the origin of the auxiliary device coordinate system is moved in parallel. at 、y at z at The matrix is ​​). Furthermore, the position determination unit 215 calculates the forearm-body transformation matrix T. am sb With the auxiliary device – forearm conversion matrix T at am The product of these terms generates the attachment-body transformation matrix T, used for transforming from the attachment coordinate system to the vehicle coordinate system. at sb .

[0086] [Formula 3]

[0087]

[0088] The position determination unit 215 determines the position of the front end in the attachment coordinate system, represented by the geometric data of the attachment 163, and the attachment-body transformation matrix T. at sb The product of the two is used to determine the position of the front end of the auxiliary device 163 in the vehicle body coordinate system.

[0089] Control Methods for Construction Machinery 100

[0090] The control method of the construction machinery 100 according to the first embodiment will be described below.

[0091] When the control device 200 starts, it reads the geometric data, the limit angular velocity table and the correction coefficient table recorded in the memory 250 into the main memory 230.

[0092] When the operator of the construction machinery 100 replaces the attachment 163, they operate the monitoring device 142 to set the attachment 163. When the input unit 212 receives the setting instruction for the attachment 163 from the monitoring device 142, the display control unit 213 displays a selection screen for the attachment 163 model recorded in the memory 250. The selection screen contains a list of multiple attachment 163 models. The operator operates the monitoring device 142 to select a model. When the input unit 212 receives the selection of the attachment 163 model from the monitoring device 142, it records the value of that model in the main memory 230. Furthermore, the input unit 212 reads the model value into the memory 250 for retrieval upon the next startup. Additionally, the intervention control unit 219 reads the geometric data and main body weight associated with the read model from the memory 250 and reads them into the main memory 230.

[0093] Furthermore, the operator of the construction machinery 100 operates the monitoring device 142 to set the imaginary wall VW. When the input unit 212 receives the setting instruction for the imaginary wall VW from the monitoring device 142, the display control unit 213 causes the monitoring device 142 to display a selection screen for the type of imaginary wall VW to be set. The control device 200 can set five types of imaginary wall VW: front wall, left wall, right wall, upper wall, and lower wall. The front wall, left wall, and right wall are walls extending in the vertical direction. The upper wall and lower wall are walls extending in the horizontal direction. The imaginary wall VW is represented by a normal vector that represents the normal direction of the imaginary wall VW as defined in the vehicle coordinate system, and a position vector that represents the position of the point through which the imaginary wall VW passes.

[0094] Construction machinery 100 can rotate its slewing body 140 to perform operations within the range reached by the working device 160. Therefore, typically, the operator rotates construction machinery 100 when performing operations such as excavation. Since the vehicle body coordinate system is based on the slewing body 140, from a global coordinate system perspective, the vehicle body coordinate system rotates in sync with the rotation of construction machinery 100. When the imaginary wall VW set in the vehicle body coordinate system rotates in sync with the rotation of construction machinery 100, the right and left walls do not interfere with construction machinery 100 and are therefore meaningless. For example, when a right wall is set on the right side of the slewing body 140, regardless of how the slewing body 140 rotates, the right wall always remains on the right side of the slewing body 140 and will not interfere with construction machinery 100. Furthermore, when the front wall rotates in sync with the rotation of construction machinery 100, it functions as a ring-shaped wall rather than a planar wall, and therefore cannot function as an imaginary wall VW along the wall of a building. Therefore, in order to maintain the position of the imaginary wall VW in the global coordinate system before and after the engineering machinery 100 rotates, the control device 200 of the first embodiment performs rotational transformation processing of the imaginary wall VW.

[0095] Figure 5 This is a flowchart (first part) illustrating the update and intervention control of the hypothetical wall VW set in the first embodiment. Figure 6 This is a flowchart (part two) illustrating the update and intervention control of the imaginary wall VW set in the first embodiment. When the operator of the construction machinery 100 sets at least one imaginary wall VW through the operation of the monitoring device 142, the control device 200 begins control as shown below.

[0096] Operation signal acquisition unit 211 acquires operation signals from operating device 141 for boom 161, forearm 162, auxiliary device 163, and rotating body 140 (step S201). Measurement value acquisition unit 214 acquires measurement values ​​from tilt measuring device 101, rotation angle sensor 102, boom angle sensor 103, forearm angle sensor 104, auxiliary device angle sensor 105, and load cell 106 (step S202).

[0097] The rotation conversion unit 217 updates the rotation conversion of one or more imaginary walls VW stored in the main memory 230 based on the roll angle, pitch angle and yaw angle of the rotating body 140 obtained from the tilt measuring device 101 in step S202 (step S203).

[0098] Based on the measurement values ​​obtained in step S202, the position determination unit 215 calculates the positions of multiple points on the outer shell of the construction machinery 100 in the vehicle body coordinate system (step S204). The intervention determination unit 218 selects the points determined by the position determination unit 215 one by one (step S205) and performs the processing from step S206 to step S212 below.

[0099] Intervention determination unit 218 determines the point selected in step S205 and its relationship with the X coordinate system of the vehicle body. sb -Y sb A cross-section parallel to the plane (step S206). Furthermore, the intervention determination unit 218 determines the point selected in step S205 and its relationship to the X-axis of the vehicle body coordinate system. sb -Z sb A cross section parallel to the plane (step S207).

[0100] The intervention determination unit 218 selects one or more imaginary walls VWs set in the main memory 230 one by one (step S208) and performs the processing from step S209 to step S212 below.

[0101] The intervention determination unit 218 calculates the horizontal imaginary wall line as the intersection of the cross section generated in step S206 and the imaginary wall VW selected in step S208 (step S209). It should be noted that there may be cases where the horizontal imaginary wall line does not exist due to the positional relationship between the cross section generated in step S206 and the imaginary wall VW. In the case where the horizontal imaginary wall line exists, the intervention determination unit 218 calculates the rotation angle at which the point selected in step S205 contacts the horizontal imaginary wall line calculated in step S209, for both right and left turns (step S210). For example, the intervention determination unit 218 calculates the intersection of the circle centered on the rotation center and passing through the point selected in step S205 with the horizontal imaginary wall line, and then calculates the angle between the line segment extending from the rotation center towards the point selected in step S205 and the line segment extending from the rotation center towards the intersection point. It should be noted that there may also be cases where the intersection point does not exist due to the positional relationship between the point selected in step S205 and the horizontal imaginary wall line.

[0102] Furthermore, the intervention determination unit 218 calculates the vertical imaginary wall line as the intersection of the cross section generated in step S207 and the imaginary wall VW selected in step S208 (step S211). It should be noted that there may be cases where a vertical imaginary wall line does not exist due to the positional relationship between the cross section generated in step S207 and the imaginary wall VW. In the case where a vertical imaginary wall line exists, the intervention determination unit 218 calculates the distance between the point selected in step S205 and the vertical imaginary wall line calculated in step S211 (step S212).

[0103] Based on the rotation angle of each point on the engineering machinery 100 for each imaginary wall VW obtained in step S210, the intervention determination unit 218 calculates the allowable rotation angle of the rotating body 140 before it comes into contact with at least one imaginary wall VW, which is a plurality of points (step S213).

[0104] Based on the distances between each point on the engineering machinery 100 and each imaginary wall VW obtained in step S212, the intervention determination unit 218 calculates the shortest distance between the working device 160 and the imaginary wall VW (step S214).

[0105] The intervention determination unit 218 calculates the rotation direction and target rotation speed based on the operation signal of the rotating body 140 obtained in step S201 (step S215). The intervention determination unit 218 determines whether the permissible rotation angle of the rotation direction indicated by the operation signal is greater than the intervention start angle (step S216). If the permissible rotation angle is greater than the intervention start angle (step S216: YES), the intervention control unit 219 does not perform intervention control for rotation. On the other hand, if the permissible rotation angle is less than or equal to the intervention start angle (step S216: NO), the intervention control unit 219 determines a reference limit angular velocity based on the permissible rotation angle according to the limit angular velocity table (step S217).

[0106] Next, the intervention control unit 219 calculates the current moment of inertia of the construction machinery 100 based on the position of the forearm tip among the multiple points determined in step S204 and the main body weight of the currently installed auxiliary device 163, which is read into the main memory 230 (step S218). The moment of inertia can be calculated by, for example, multiplying the weight of the working device 160 (the sum of the main body weights of the boom 161, forearm 162, and auxiliary device 163) by the square of the distance from the center of rotation to the forearm tip. The intervention control unit 219 calculates the moment of inertia ratio by dividing the current moment of inertia by the moment of inertia related to the reference working tool and reference posture (step S219). It should be noted that the moment of inertia related to the reference working tool and reference posture is determined in advance through experiments, etc.

[0107] The intervention control unit 219 determines the correction coefficient based on the correction coefficient table and the moment of inertia ratio, and determines the actual limit angular velocity by multiplying the reference limit angular velocity by the correction coefficient (step S220). The intervention control unit 219 limits the target rotational speed of the rotating body 140 to a value below the limit angular velocity (step S221).

[0108] The intervention determination unit 218 calculates the target speed of the working device 160 based on the operation signals of the upper arm 161, forearm 162, and auxiliary device 163 obtained in step S201 (step S222). Specifically, the intervention determination unit 218 calculates the target speed of the upper arm 161, forearm 162, and auxiliary device 163 based on the operation signals of the upper arm 161, forearm 162, and auxiliary device 163 obtained in step S201. Next, the intervention determination unit 218 determines whether the shortest distance calculated in step S214 is longer than the intervention start distance (step S223). If the shortest distance is longer than the intervention start distance (step S223: YES), the intervention control unit 219 does not perform intervention control on the working device 160. On the other hand, when the shortest distance is less than or equal to the intervention start distance (step S223: NO), the intervention control unit 219 selects each axis of the working device 160 one by one and performs processing on the selected axis from steps S225 to S226 below (step S224). The intervention control unit 219 determines whether the operating direction of the selected axis is an operation towards the imaginary wall VW (step S225). When the operating direction of the selected axis is not towards the imaginary wall VW (step S225: NO), the intervention control unit 219 does not perform intervention control for the selected axis. On the other hand, when the operating direction of the selected axis is towards the imaginary wall VW (step S225: YES), the intervention control unit 219 determines a limit speed for the selected axis based on a pre-set limit speed table and limits the target speed to a value below the limit speed (step S226).

[0109] The control signal output unit 220 generates a control signal based on the target speeds of the boom 161, forearm 162, and auxiliary device 163 and the target angular velocity of the rotating body 140, and outputs it to the control valve 113 (step S227).

[0110] Functions and Effects

[0111] Therefore, the control device 200 of the first embodiment controls the construction machinery 100 in the following order: The control device 200 determines an imaginary wall VW as the surface preventing the intrusion of the working device 160. The control device 200 determines the rotational speed of the construction machinery 100 in such a way that the imaginary wall VW does not contact the construction machinery 100. At this time, the control device 200 sets the rotational speed differently according to the main body weight of the attachment 163. The main body weight varies depending on the attachment 163, and the difference in the main body weight is usually greater than the weight of the load held on the attachment 163. According to the control device 200 of the first embodiment, by changing the rotational speed according to the main body weight of the attachment 163, the operation of the construction machinery 100 can be restricted to prevent it from intruding into the imaginary wall VW without being affected by the installed attachment 163.

[0112] Furthermore, the control device 200 of the first embodiment determines the position of the auxiliary device 163 installed on the construction machinery 100, and determines the moment of inertia of the construction machinery 100 based on the position and the weight of the main body. By determining the rotational angular velocity based on the moment of inertia, the control device 200 can restrict the construction machinery 100 with high precision.

[0113] Furthermore, the control device 200 of the first embodiment controls the construction machinery 100 in the following order: The control device 200 determines the permissible rotation angle until the imaginary wall VW contacts the construction machinery 100, and determines a reference limiting angular velocity based on the permissible rotation angle. The control device 200 determines the moment of inertia ratio, which is the ratio of the moment of inertia of the current construction machinery 100 to the moment of inertia of the construction machinery 100 in a reference posture with a reference working tool installed, and determines the rotational angular velocity of the construction machinery 100 by multiplying the reference limiting angular velocity by a correction factor corresponding to the moment of inertia ratio. Thus, the control device 200 can determine the rotational angular velocity for multiple attachable devices 163 that can be installed using a function (rotational angular velocity table) that determines the reference limiting angular velocity based on the permissible rotation angle. For example, for a third-party attached device 163, if its weight is known, the control device 200 can calculate the limiting angular velocity even without prior knowledge of the relationship between the permissible rotation angle and the limiting angular velocity of the attached device 163.

[0114] <Other Implementation Methods>

[0115] The above description, with reference to the accompanying drawings, details one embodiment. However, the specific configuration is not limited to the structure described above, and various design changes are possible. That is, in other embodiments, the order of the above processes can be appropriately altered. Furthermore, some processes can be executed in parallel.

[0116] The control device 200 described in the above embodiments can be composed of a single computer, or the components of the control device 200 can be distributed among multiple computers, with the multiple computers cooperating with each other to function as the control device 200. In this case, the computer constituting part of the control device 200 can be installed inside the construction machinery 100, while other computers can be located outside the construction machinery 100.

[0117] The control device 200 of the above-described embodiment calculates the moment of inertia of the construction machinery 100 based on the model of the auxiliary device 163, and determines the limiting angular velocity based on the ratio of rotational inertia calculated from the moment of inertia, but is not limited thereto. For example, in other embodiments, it is not limited thereto; a table of rotational angular velocities showing the relationship between permissible rotation angle and limiting angular velocity can be stored for each of the multiple auxiliary devices 163 that can be installed in the memory 250, and the limiting angular velocity can be determined without calculating the ratio of rotational inertia. Furthermore, for example, in other embodiments, the limiting angular velocity can also be calculated directly from the moment of inertia of the construction machinery 100 through simulation or the like.

[0118] The control device 200 of the above-described embodiment calculates the moment of inertia by multiplying the weight of the working device 160 by the square of the distance from the center of rotation to the tip of the forearm, but is not limited thereto. For example, the control device 200 of other embodiments can calculate the moment of inertia by multiplying the weight of the working device 160 by the square of the distance from the center of rotation to the center of gravity of the working device 160. In this case, the control device 200 calculates the weight of the working device 160 and the distance from the center of rotation to the center of gravity of the working device 160 based on the weight of the upper arm 161 and the forearm 162 constituting the working device 160 and the center of gravity positions of the upper arm 161, the forearm 162 and the auxiliary device 163 determined according to geometric data. Specifically, the control device 200 can calculate the center of gravity position of the working device 160 based on the vector obtained by multiplying the center of gravity positions of the upper arm 161, the forearm 162 and the auxiliary device 163 by the known weight. Furthermore, in other embodiments, the control device 200 can determine the moment of inertia based on the weight of the load loaded on the auxiliary device 163. For example, the control device 200 determines the weight of the load based on the measurement value of the load gauge 106, and calculates the moment of inertia using the weight obtained by adding the weight of the auxiliary device 163 to the weight of the load.

[0119] The control device 200 of the above-described embodiment stores the weights of multiple installable attachments 163, determining the weight based on the model of the attachment 163, but is not limited thereto. For example, in other embodiments, the control device 200 can directly receive the weight input of the attachment 163 from the operator and use the input weight value for control. Furthermore, in other embodiments, the construction machinery 100 is equipped with a sensor that measures the weight of the attachment 163, and the control device 200 can determine the weight based on the measurement value of the sensor.

[0120] The construction machinery 100 of the above-described embodiments is operated by an operator sitting in the cab 180, but construction machinery 100 of other embodiments is not limited to this. Figure 7 This diagram illustrates the configuration of an operating system in other embodiments. For example... Figure 7 As shown, the construction machinery 100 in other embodiments can be operated by a remote operation device 500. In addition to the configuration of the embodiments described above, the remotely operated construction machinery 100 further includes a camera 119, and the control device 200 transmits images captured by the camera 119 to the remote operation device 500 in real time. The remote operation device 500 includes a driver's seat 510, a display 520, an operating device 530, and a remote operation server 540. The remote operation server 540 displays images received from the construction machinery 100 on the display 520. Thus, the operator can identify the surrounding conditions of the remotely operated construction machinery 100. Furthermore, the remote operation server 540 transmits the operation signals of the operating device 530 performed by the operator to the construction machinery 100 via a network. The remote operation server 540 performs at least some of the functions of the control device 200 in the embodiments described above. That is, in the operating system equipped with the remote operation server 540, the control device 200 and the remote operation server 540 constitute the operating system.

[0121] In the working device 160 of the first embodiment, a bucket is installed as an auxiliary device 163, but it is not limited to this. For example, the working device 160 of other embodiments may replace the bucket with other working tools such as a crusher or a grab bucket. Furthermore, the auxiliary device 163 of other embodiments may be installed on the front end of the boom 162 via a tilting auxiliary device or a tilting rotation auxiliary device.

[0122] [Explanation of Labels in the Attached Image]

[0123] 100…Construction machinery, 101…Inclinometer, 102…Slewing angle sensor, 103…Boom angle sensor, 104…Arm boom angle sensor, 105…Auxiliary device angle sensor, 106…Load gauge, 111…Power source, 112…Hydraulic pump, 113…Control valve, 114…Travel motor, 115…Slewing motor, 116…Boom cylinder, 117…Arm boom cylinder, 118…Auxiliary device cylinder, 120…Travel body, 140…Slewing body, 141…Operating device, 142…Monitoring device, 160… Working device, 161… boom, 162… forearm, 163… auxiliary device, 180… cab, 200… control device, 210… processor, 211… operation quantity acquisition unit, 212… input unit, 213… display control unit, 214… measurement value acquisition unit, 215… position determination unit, 216… generation unit, 217… rotation conversion unit, 218… intervention determination unit, 219… intervention control unit, 220… control signal output unit, 230… main memory, 250… memory, 270… interface, VW… imaginary wall.

Claims

1. A system for controlling construction machinery, said construction machinery having a working device capable of mounting working tools at its front end, the system being characterized in that... Equipped with a processor The processor is configured to, The surface that prevents the intrusion of the working device is determined, i.e., the imaginary wall. The rotational angular velocity of the engineering machinery is determined in a manner that prevents the imaginary wall from contacting the machinery. The rotational angular velocity varies depending on the weight of the main body of the working tool.

2. The system according to claim 1, characterized in that, The processor determines the location of the operating tools installed in the construction machinery. Based on the location of the installed working tools and the weight of the main body, the current moment of inertia of the construction machinery is determined. The rotational angular velocity is determined based on the moment of inertia.

3. The system according to claim 2, characterized in that, The processor determines the permissible rotation angle until the hypothetical wall contacts the engineering machinery. The angular velocity of the engineering machinery, which is determined by the allowable rotation angle as the reference posture for mounting the reference working tool, and whose rotation angle does not exceed the allowable rotation angle, i.e., the reference limiting angular velocity. Determine the ratio of the moment of inertia of the current construction machinery to the moment of inertia of the construction machinery in the reference posture with the reference working tool installed, i.e., the rotational inertia ratio. The rotational angular velocity of the engineering machinery is determined by multiplying the reference limiting angular velocity with the coefficient corresponding to the ratio of rotational inertia.

4. The system according to any one of claims 1 to 3, characterized in that, The processor reads the main body weight of the working tool installed on the engineering machinery from a storage device that stores the main body weights of multiple working tools that can be installed on the working device.

5. A method for controlling construction machinery, the construction machinery having a working device capable of mounting working tools at its front end, the method being characterized by comprising the following steps: The step of determining the imaginary wall as the surface that prevents the intrusion of the working device; The step of determining the rotational angular velocity of the engineering machinery in a manner that prevents the imaginary wall from contacting the engineering machinery. In the step of determining the rotational angular velocity, the rotational angular velocity varies according to the weight of the main body of the working tool.

6. A program, characterized in that, The computer controlling the construction machinery equipped with a working device capable of mounting working tools at the front end performs the following steps: The step of determining the surface, i.e., the imaginary wall, from which the intrusion of the working device is prohibited; The steps involve determining the rotation angle of the engineering machinery in a manner that prevents the imaginary wall from contacting the machinery. In the step of determining the rotational angular velocity, the rotational angular velocity varies according to the weight of the main body of the working tool.

Images