Operating machinery

Abstract

The purpose of this invention is to provide a work machine equipped with a function to prevent the work device from encroaching on a prohibited area, thus balancing the work device's construction accuracy and work efficiency. To this end, when the distance between a pre-set monitoring point on the work device and the prohibited area reaches a first distance, the controller initiates a work range restriction control that slows down or stops the movement of the machine body or the work device. When the distance between the monitoring point and the prohibited area reaches a second distance greater than the first distance, the work range restriction control ends, and the second distance is adjusted according to the amount of operation of the work device.

Description

Technical Field

[0001] This invention relates to the control of hydraulic excavators and other operating machinery. Background Technology

[0002] The hydraulic systems of conventional hydraulic excavators and other work machines typically consist of a hydraulic pump driven by a prime mover such as an engine, actuators that drive the machine body or front-mounted device (working device), and directional control valves that control the direction and flow of pressurized oil supplied from the hydraulic pump to the actuators. The operator of the work machine can instruct the actuators on the direction and speed of movement by operating levers or other control devices.

[0003] In addition, as a working range limiting control device for construction machinery that stops the front device just before reaching a pre-set no-entry zone, preventing the actuator from accidentally moving and causing the front device to enter the no-entry zone or generate an impact due to subsequent lever operation, there is a device described in Patent Document 1.

[0004] Patent Document 1 describes a working range limiting control device for construction machinery, which is installed in the construction machinery. The construction machinery includes: a multi-joint type front unit composed of multiple front components capable of vertical rotation; multiple hydraulic actuators driving the multiple front components; multiple operating units instructing the movement of the multiple front components; and multiple flow control valves driven according to the operation of the multiple operating units to control the flow rate of pressurized oil supplied to the multiple hydraulic actuators. The multiple operating units are multiple pilot operating devices that output pilot pressure and drive corresponding flow control valves. The working range limiting control device of the construction machinery calculates and outputs a command current value based on the distance between a pre-set monitoring point of the front unit and a pre-set prohibited intrusion zone. If the monitoring point approaches the prohibited intrusion zone, the front unit decelerates; if it reaches the prohibited intrusion zone, the front unit decelerates. The aforementioned front-end device stops, characterized in that the operating range limiting control device of the engineering machinery comprises: an electric pressure reducing valve disposed between at least one of the plurality of pilot operating devices and a corresponding plurality of flow control valves, which reduces and outputs the operating pilot pressure output from the pilot operating device according to the command current value; a deceleration calculation unit that calculates the command current value in a manner that decreases as the distance between the monitoring point and the prohibited intrusion area decreases; and a signal reduction processing unit that, when the monitoring point is within a predetermined range from the prohibited intrusion area to near the prohibited intrusion area, changes the command current value calculated by the deceleration calculation unit to a low current value that completely stops the front-end device and outputs it to the electric pressure reducing valve, wherein the signal reduction processing unit performs a longer hysteresis calculation when the distance of the predetermined range when the monitoring point is away from the prohibited intrusion area is longer than when it is close to the prohibited intrusion area.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 09-105152 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] In the work range limiting control device described in Patent Document 1, if the difference between the distance of the predetermined range (the area that slows down the front device) when the monitoring point approaches the prohibited intrusion area and the distance of the predetermined range when the monitoring point moves away from the prohibited intrusion area (the hysteresis width) is increased, the speed limit of the actuator relative to the prohibited intrusion area becomes stricter, thus improving construction accuracy. On the other hand, the work efficiency may decrease. Conversely, if the hysteresis width is decreased, the speed limit of the actuator relative to the prohibited intrusion area can be eased, thus improving work efficiency. On the other hand, the construction accuracy may decrease. Therefore, in the work range limiting control device described in Patent Document 1, it is difficult to simultaneously meet the requirements of construction accuracy and work efficiency.

[0010] The present invention was made in view of the above-mentioned problems, and its object is to provide a work machine equipped with a function to prevent the work device from entering the restricted area and to take into account the construction accuracy and work efficiency of the work device.

[0011] Methods for solving problems

[0012] To achieve the above objectives, the work machine of the present invention includes: an operating device that instructs the operation of the machine body and the work device; and a controller that performs work range restriction control in a manner that prevents a monitoring point set on the work device from encroaching on a prohibited intrusion area, and decelerates or stops the operation of the machine body or the work device based on the distance between the monitoring point and the prohibited intrusion area. When the distance between the monitoring point and the prohibited intrusion area becomes a first distance, the controller starts the work range restriction control; when the distance between the monitoring point and the prohibited intrusion area becomes a second distance greater than the first distance, the controller ends the work range restriction control. The controller changes the second distance based on the amount of operation of the operating device.

[0013] According to the present invention configured as described above, in a work machine equipped with a function to prevent the work device from intruding into a prohibited area, by changing the lag width of the target surface distance (the interval between the first distance and the second distance) according to the amount of operation of the work device, both the construction accuracy and work efficiency of the work device can be taken into account.

[0014] Invention Effects

[0015] According to the present invention, in a work machine equipped with a function to prevent the work device from intruding into a prohibited area, both the construction accuracy and work efficiency of the work device can be taken into account. Attached Figure Description

[0016] Figure 1 This is a side view of a hydraulic excavator according to the first embodiment of the present invention.

[0017] Figure 2 This is a structural diagram of the hydraulic control system in the first embodiment of the present invention.

[0018] Figure 3 This is a functional block diagram of the controller in the first embodiment of the present invention.

[0019] Figure 4 This diagram illustrates the processing of the operator command processing unit in the first embodiment of the present invention.

[0020] Figure 5 This diagram illustrates the processing of the upper speed calculation unit in the first embodiment of the present invention.

[0021] Figure 6 This diagram illustrates a modified example of the processing of the upper limit speed calculation unit in the first embodiment of the present invention.

[0022] Figure 7 This diagram illustrates the processing of the operator command processing unit in the second embodiment of the present invention.

[0023] Figure 8 This diagram illustrates the processing of the upper speed calculation unit in the second embodiment of the present invention.

[0024] Figure 9 This is a side view of a hydraulic excavator according to the third embodiment of the present invention.

[0025] Figure 10 This is a structural diagram of the hydraulic control system in the third embodiment of the present invention.

[0026] Figure 11 This is a functional block diagram of the controller in the third embodiment of the present invention.

[0027] Figure 12 This diagram illustrates the processing of the upper speed calculation unit in the third embodiment of the present invention.

[0028] Figure 13 It is a diagram illustrating the relationship between the individual rotational motion and the longitudinal oscillation on a steep slope. Detailed Implementation

[0029] Hereinafter, a hydraulic excavator will be used as an example of an operating machine according to an embodiment of the present invention, and will be described with reference to the accompanying drawings. Furthermore, in each drawing, identical reference numerals are used for equivalent parts, and redundant descriptions are omitted where appropriate.

[0030] Example 1

[0031] Figure 1 This is a side view of a hydraulic excavator according to the first embodiment of the present invention. Figure 1As shown, the hydraulic excavator 200 includes a lower traveling body 1, an upper rotating body 2 which is the main mechanical body and is rotatably mounted on the lower traveling body 1 via a rotating device 8, and a working device 210 connected to the front of the upper rotating body 2 in a manner that allows it to rotate in the vertical direction.

[0032] The upper rotating body 2 has a rotating frame 2a that forms the lower structure of the base. A working device 210 is connected to the front of the rotating frame 2a in a manner that allows it to rotate vertically. A counterweight 3 is installed at the rear of the rotating frame 2a to achieve weight balance with the working device 210. A driver's cab 4 is located at the front left side of the rotating frame 2a. A left operating lever 15L and a right operating lever 15R (which serve as operating devices) for operating the upper rotating body 2 and the working device 210 are arranged inside the driver's cab 4. Figure 2 (As shown). The rotating frame 2a is equipped with an engine 16 serving as a prime mover, a pump unit 9 consisting of one or more hydraulic pumps driven by the engine 16, a rotary motor 8a driving the rotating device 8, and a control valve unit 10 consisting of multiple directional control valves. The control valve unit 10 controls the flow of pressurized oil supplied from the pump unit 9 to multiple actuators, including the rotary motor 8a and the boom cylinder 5a, stick cylinder 6a, and bucket cylinder 7a (described later).

[0033] The working device 210 includes: a boom 5 whose base end is rotatably connected to the right front part of the rotating frame 2a in the vertical direction; a stick 6 which is rotatably connected to the front end of the boom 5 in the vertical and horizontal directions and is raised and lowered by the boom 5; a bucket 7 which is rotatably connected to the front end of the stick 6 in the vertical and horizontal directions and is raised and lowered by the boom 5 or the stick 6, serving as a working tool; a boom cylinder 5a for driving the boom 5; a stick cylinder 6a for driving the stick 6; and a bucket cylinder 7a for driving the bucket 7.

[0034] A bucket position determination system 11 is installed on the bucket 7. Figure 1 The diagram illustrates a system that allows the bucket position measurement system 11 to directly measure the bucket position. However, in general, the bucket position is calculated based on the positional relationship between the upper rotating body 2, the boom 5, the stick 6, and the bucket 7. This system consists of angle sensors and IMUs respectively installed on the upper rotating body 2, the boom 5, the stick 6, and the bucket 7.

[0035] Figure 2 This is a schematic diagram of the hydraulic control system installed on the hydraulic excavator 200. (Example) Figure 2 As shown, the hydraulic control system 300 includes a controller 20 as a control device, a hydraulic device 23, operating levers 15L and 15R, and a bucket position measuring system 11.

[0036] The control levers 15L and 15R are devices used by the operator to instruct the controller 20 on the actions of the hydraulic excavator 200, and output operation signals corresponding to the operator's lever operations to the controller 20. The forward / backward movement of the right control lever 15R corresponds to the movement of the boom 5, and the left / right movement corresponds to the movement of the bucket 7. The forward / backward movement of the left control lever 15L corresponds to the rotation action, and the left / right movement corresponds to the movement of the stick 6. The controller 20 outputs action commands to the hydraulic unit 23 based on the operation signals from the control levers 15L and 15R, the work area information, and the posture information from the bucket position measurement system 11.

[0037] The hydraulic device 23 supplies pressurized oil to the boom cylinder 5a, stick cylinder 6a, bucket cylinder 7a and rotary motor 8a according to the action command from the controller 20, thereby driving the boom 5, stick 6, bucket 7 and rotary device 8.

[0038] Figure 3 This is a functional block diagram of controller 20. (For example...) Figure 3 As shown, the controller 20 includes an operator command processing unit 30, a bucket position calculation unit 40, a target surface distance calculation unit 50, an upper limit speed calculation unit 60, and an action command generation unit 70.

[0039] The operator command processing unit 30 determines the target speeds of actuators 5a, 6a, 7a, and 8a based on the operation signals from the control sticks 15L and 15R, and outputs them to the motion command generation unit 70. Additionally, the operator command processing unit 30 generates operator operation information based on the operation signals from the control sticks 15L and 15R, and outputs it to the upper limit speed calculation unit 60.

[0040] The bucket position calculation unit 40 calculates the bucket position based on the front posture information and outputs it to the target surface distance calculation unit 50. The target surface distance calculation unit 50 calculates the distance from the bucket 7 to the construction target surface (target surface distance) based on the work area information and the bucket position, and outputs it to the upper limit speed calculation unit 60. Here, the work area is the area where the hydraulic excavator 200 is allowed to operate, and includes construction drawing information, obstacle location information, etc. Hereinafter, the area outside the work area is called the no-intrusion area, and the boundary between the work area and the no-intrusion area is called the target surface.

[0041] The upper limit speed calculation unit 60 calculates the upper limit speed of actuators 5a, 6a, 7a, and 8a based on operation information and target surface distance, and outputs it to the motion command generation unit 70. The motion command generation unit 70 corrects the target speed of actuators 5a, 6a, 7a, and 8a so that the speed of the monitoring point on the working device 210 (e.g., the tip position of the bucket 7) in the direction of approaching the prohibited intrusion area is below the upper limit speed, and outputs a motion command corresponding to the corrected target speed to the hydraulic device 23. Thus, the following control is called working range limitation control: the movement of the machine body 2 or the working device 210 is slowed down or stopped according to the distance between the monitoring point and the prohibited intrusion area (target surface distance) so that the monitoring point does not intrude into the prohibited intrusion area.

[0042] Figure 4 This diagram illustrates the processing of the operator's command processing unit 30. (For example...) Figure 4 As shown, the operator command processing unit 30 includes a first target speed calculation unit 31, a second target speed calculation unit 32, and an operation determination unit 33.

[0043] The first target speed calculation unit 31 uses a pre-set table to convert the forward and backward movement of the left control stick 15L into the target speed of the upper rotating body 2 (rotation target speed), and converts the left and right movement of the left control stick 15L into the target speed of the stick 6 (stick target speed), and sends each target speed to the operation determination unit 33 and the motion command generation unit 70. Figure 3 (As shown in the image) Output. Furthermore, a non-sensitive zone is set for the operation amount; the target speed is zero until the operation amount exceeds a predetermined value.

[0044] The second target speed calculation unit 32 uses a pre-set table to convert the forward and backward movement of the right operating lever 15R into the target speed of the boom 5 (boom target speed), and converts the left and right movement of the right operating lever 15R into the target speed of the bucket 7 (bucket target speed), and sends each target speed to the operation determination unit 33 and the motion command generation unit 70. Figure 3 (As shown) Output. Furthermore, in each table of the first target speed calculation unit 31 and the second target speed calculation unit 32, a desensitization zone is set for the operation amount, so that the target speed is zero before the operation amount exceeds a predetermined value.

[0045] If the operation determination unit 33 determines that "a compound operation has occurred" when any two or more of the target speeds of the boom, bucket, boom, and rotation are greater than 0, and otherwise determines that "a compound operation has not occurred," the determination result is sent as operation information to the upper limit speed calculation unit 60. Figure 3 (As shown in the image) Output.

[0046] Figure 5This is a diagram showing the processing of the upper speed calculation unit 60. (Example) Figure 5 As shown, the upper limit speed calculation unit 60 includes a first upper limit speed calculation unit 61 and a second upper limit speed calculation unit 62. The first upper limit speed calculation unit 61 and the second upper limit speed calculation unit 62 use a preset table to convert the target surface distance into an upper limit speed and send it to the motion command generation unit 70. Figure 3 (As shown in the image) Output. The upper speed limit mentioned here is set for the speed at which the monitoring point approaches the restricted area.

[0047] The upper limit speed calculation unit 60 uses the first upper limit speed calculation unit 61 and the second upper limit speed calculation unit 62 separately according to the operation information. When the operation information is "there is a compound operation", the first upper limit speed calculation unit 61 converts the target surface distance into the upper limit speed; when the operation information is "there is no compound operation", the second upper limit speed calculation unit 62 converts the target surface distance into the upper limit speed. Furthermore, in this embodiment, the case where the operation information is "there is a compound operation" is determined as a movement action, and the case where the operation information is "there is no compound operation" is determined as a positioning action.

[0048] When the working device 210 moves towards the target surface near the monitoring point, the first upper limit speed calculation unit 61 reduces the upper limit speed according to the decrease in the target surface distance. If the target surface distance becomes less than or equal to a predetermined first distance d1, the upper limit speed is set to zero. On the other hand, when the working device 210 moves away from the target surface from the monitoring point, the upper limit speed is set to zero until the target surface distance reaches a predetermined second distance d2 that is greater than the predetermined first distance d1. If the target surface distance exceeds the second distance d2, the upper limit speed increases according to the increase in the target surface distance. That is, if the target surface distance is less than or equal to the first distance d1, the work range restriction control begins; if the target surface distance becomes greater than or equal to the second distance d2, the work range restriction control ends.

[0049] The basic structure of the second upper limit speed calculation unit 62 is the same as that of the first upper limit speed calculation unit 61, but its lag width (=d2-d1) is larger than that of the first upper limit speed calculation unit 61. That is, the second distance d2 of the second upper limit speed calculation unit 62 is set to a value larger than that of the second distance d2 of the first upper limit speed calculation unit 61. As a result, in the absence of compound operation (positioning action), by suppressing the oscillation of the working device 210, re-acceleration caused by automatic control can be prevented. On the other hand, in the presence of compound operation (movement action), compared with the absence of compound operation (positioning action), by reducing the lag width, the oscillation of the working device 210 can be allowed to continue, and the operation of the working device 210 can continue.

[0050] In addition, Figure 5In the example shown, the first distance d1 and the second distance d2 are defined based on the target surface distance when the upper limit speed is zero (when the movement of the monitoring point in the direction approaching the prohibited intrusion area stops), but it can also be defined as follows: Figure 6 As shown, the first distance d1 or the second distance d2 is defined based on the target surface distance when the upper limit speed is reduced (when the movement of the monitoring point toward the direction of the prohibited intrusion area is decelerated).

[0051] (Summarize)

[0052] In this embodiment, the working machine 200 includes: a mechanical body 2; a multi-joint type working device 210 mounted on the mechanical body 2, which includes a working tool 7; operating devices 15L and 15R that instruct the actions of the mechanical body 2 and the working device 210; and a controller 20 that performs work range restriction control by slowing down or stopping the actions of the mechanical body 2 or the working device 210 based on the distance between the monitoring point and the prohibited intrusion area, so that the monitoring point set on the working device 210 does not intrude into the prohibited intrusion area. When the distance between the monitoring point and the prohibited intrusion area becomes a first distance d1, the controller 20 starts the work range restriction control, and when the distance between the monitoring point and the prohibited intrusion area becomes a second distance d2 that is greater than the first distance d1, the work range restriction control ends. The controller 20 changes the second distance d2 according to the amount of operation of the operating devices 15L and 15R.

[0053] According to the above-described embodiment, in the work machinery 200 equipped with the function of preventing the work device 210 from intruding into the prohibited intrusion area, by changing the lag width of the target surface distance (the interval between the first distance d1 and the second distance d2) according to the operation amount of the operating devices 15L and 15R, the construction accuracy and work efficiency of the work device 210 can be balanced.

[0054] Furthermore, in this embodiment, the controller 20 determines whether the action of the working device 210 is a positioning action to determine the position of the working tool 7 or a movement action to move the working tool 7 based on the operation amounts of the operating devices 15L and 15R. If the action of the working device 210 is determined to be a positioning action, the second distance d2 is set to a first predetermined value (the second distance d2 in the second upper limit speed calculation unit 62). If the action of the working device 210 is determined to be a movement action, the second distance d2 is set to a second predetermined value smaller than the first predetermined value (the second distance d2 in the first upper limit speed calculation unit 61). Therefore, during the positioning action of the working device 210, by increasing the hysteresis width of the target surface distance (the interval between the first distance d1 and the second distance d2), the oscillation of the working device 210 can be suppressed. On the other hand, during the movement action of the working device 210, by making the hysteresis width smaller than during the positioning action, the oscillation of the working device 210 can be allowed, allowing the operation of the working device 210 to continue. Therefore, it is possible to maintain the construction accuracy when the working device 210 is positioned, and to improve the working efficiency when the working device 210 is moved.

[0055] Furthermore, the work machine 200 in this embodiment includes multiple actuators 5a, 6a, and 7a that actuate the work device 210. The controller 20, based on the operation amounts of the operating devices 15L and 15R, determines whether the operation of the operating devices 15L and 15R is a compound operation simultaneously operating two or more of the multiple actuators 5a, 6a, and 7a. If the operation of the operating devices 15L and 15R is determined to be a compound operation, the action of the work device 210 is determined to be a movement action; if the operation of the operating devices 15L and 15R is determined not to be a compound operation, the action of the work device 210 is determined to be a positioning action. Therefore, it is easy to determine whether the action of the work device 210 is a positioning action or a movement action.

[0056] Furthermore, in this embodiment, if two or more actuators among the multiple actuators 5a, 6a, 7a, and 8a have a target speed greater than zero, the controller 20 determines that the operation of the operating devices 15L and 15R is the composite operation; if one or fewer actuators among the multiple actuators 5a, 6a, 7a, and 8a have a target speed greater than zero, the controller 20 determines that the operation of the operating devices 15L and 15R is not the composite operation. Therefore, it is possible to determine whether the operation of the operating devices 15L and 15R is a composite operation based on the target speeds of the multiple actuators 5a, 6a, 7a, and 8a.

[0057] Furthermore, in this embodiment, the controller 20 can also determine the action of the working device 210 as the positioning action when the velocity component of the monitoring point perpendicular to the prohibited intrusion area is greater than the velocity component parallel to the prohibited intrusion area, and determine the action of the working device 210 as the movement action when the vertical velocity component is less than the parallel velocity component. Thus, it is possible to determine whether the action of the working device 210 is a positioning action or a movement action based on the movement direction of the monitoring point relative to the prohibited intrusion area.

[0058] Example 2

[0059] The working machinery of the second embodiment of the present invention will be described with a focus on the differences from the first embodiment.

[0060] Figure 7 This diagram illustrates the processing of the operator command processing unit 30 in this embodiment. Figure 7 In the operation determination unit 33, if any two or more of the target speeds of the boom, bucket, boom, and rotation are greater than 0, it determines that there is a "compound operation"; if only the rotation target speed is greater than 0, it determines that there is a "rotational operation"; otherwise, it determines that there is no "compound operation (other than rotational operation)".

[0061] Figure 8 This diagram illustrates the processing of the upper speed calculation unit 60 in this embodiment. Figure 8 In addition to the first upper limit speed calculation unit 61 and the second upper limit speed calculation unit 62, the upper limit speed calculation unit 60 also has a third upper limit speed calculation unit 63. When the operation information is "rotational operation alone", the third upper limit speed calculation unit 63 converts the target surface distance into an upper limit speed. Furthermore, in this embodiment, the case where the operation information is "compound operation" or "rotational operation alone" is determined as a movement action, and the case where the operation information is "no compound operation (other than rotational operation alone)" is determined as a positioning action.

[0062] The basic structure of the third upper limit speed calculation unit 63 is the same as that of the first upper limit speed calculation unit 61 and the second upper limit speed calculation unit 62, but the hysteresis width (=d2-d1) of the target surface distance is smaller than that in the first upper limit speed calculation unit 61. That is, the second distance d2 in the third upper limit speed calculation unit 63 is set to a value smaller than that in the first upper limit speed calculation unit 61.

[0063] Here, the reason for making the lag width in the rotary individual operation (third upper limit speed calculation unit 63) smaller than the lag width in other individual operations (first upper limit speed calculation unit 61) will be explained. If the movement direction of the boom 5, stick 6, and bucket 7 is set to longitudinal, then the movement direction of the upper rotating body 2 is transverse. Therefore, the longitudinal oscillation of the upper rotating body 2 or working device 210 accompanying the rotary individual operation is smaller than the longitudinal oscillation of the upper rotating body 2 or working device 210 accompanying the movement of the boom 5, stick 6, or bucket 7. Therefore, in the case of rotary individual operation, even if the lag width (=d2-d1) is smaller than that of other individual operations, longitudinal oscillation can be suppressed. Therefore, in this embodiment, in order to improve the working efficiency of rotary individual operation, the lag in rotary individual operation is made smaller than that of other individual operations.

[0064] (Summarize)

[0065] The working machine 200 in this embodiment includes multiple actuators 5a, 6a, 7a, 8a and a lower traveling body 1 that move the main body 2 and the working device 210. The main body 2 is an upper rotating body 2 that is rotatably mounted on the lower traveling body 1. The multiple actuators 5a, 6a, 7a, 8a include a rotary motor 8a that drives the upper rotating body 2. The controller 20 determines, based on the operation amount of the operating devices 15L and 15R, whether the operation of the operating devices 15L and 15R is a compound operation that simultaneously operates two or more of the multiple actuators 5a, 6a, 7a, 8a, or a single operation that only operates the rotary motor 8a. If the operation of the operating devices 15L and 15R is determined to be the compound operation or the single operation, the action of the working device 210 is determined to be the moving action. If the operation of the operating devices 15L and 15R is determined not to be the compound operation or the single operation, the action of the working device 210 is determined to be the positioning action.

[0066] In this embodiment configured as described above, the same effect as in the first embodiment can be achieved. Moreover, since the action of the work device 210 based on rotational individual operation is determined as a movement action, the hysteresis width (=d2-d1) of the target surface distance is smaller than the hysteresis width (=d2-d1) in the positioning action, thus improving the work efficiency of rotational individual operation.

[0067] Furthermore, in this embodiment, the controller 20 sets the second distance d2 to different values ​​depending on whether the operation of the operating devices 15L and 15R is determined to be a compound operation or a rotational operation alone. This allows for optimization of the hysteresis width (=d2-d1) for movement actions based on compound operations and the hysteresis width (=d3-d1) for movement actions based on rotational operations, respectively.

[0068] Example 3

[0069] The working machinery of the third embodiment of the present invention will be described with a focus on the differences from the first or second embodiment.

[0070] Figure 9 This is a side view of the hydraulic excavator in this embodiment. Figure 9 In the middle, an angle sensor 12 is installed on the upper rotating body 2 to detect the tilt angle (vehicle tilt angle) of the upper rotating body 2.

[0071] Figure 10 This is a structural diagram of the hydraulic control system in this embodiment. Figure 10 In the process, the controller 20 outputs action commands to the hydraulic device 23 based on the operation signals from the control levers 15L and 15R, the work area information, the bucket position information from the bucket position measurement system 11, and the vehicle body tilt angle.

[0072] Figure 11 This is a functional block diagram of the controller in this embodiment. Figure 11 In the process, the upper limit speed calculation unit 60 calculates the upper limit speed of actuators 5a, 6a, 7a, and 8a based on the operation information input from the operator command processing unit 30, the target surface distance input from the target surface distance calculation unit 50, and the vehicle body tilt angle input from the angle sensor 12, and outputs it to the action command generation unit 70.

[0073] Figure 12 This diagram illustrates the processing of the upper speed calculation unit 60 in this embodiment. Figure 12 In addition to the first to third upper limit speed calculation units 61 to 63, the upper limit speed calculation unit 60 also has a fourth upper limit speed calculation unit 64. When the operation information is "rotational operation only" and the vehicle tilt angle is small (below a predetermined threshold), the third upper limit speed calculation unit 63 converts the target surface distance into an upper limit speed. When the operation information is "rotational operation only" and the vehicle tilt angle is large (greater than the threshold), the fourth upper limit speed calculation unit 64 converts the target surface distance into an upper limit speed. The threshold for the vehicle tilt angle can be determined based on the relationship between the vehicle tilt angle and the magnitude of the vertical vibration generated by the rotational operation. The structure of the fourth upper limit speed calculation unit 64 is the same as that of the third upper limit speed calculation unit 63, but its hysteresis width (=d2-d1) is larger than that of the third upper limit speed calculation unit 63.

[0074] Here, the reason for distinguishing between the third upper limit speed calculation unit 63 and the fourth upper limit speed calculation unit 64 based on the vehicle body tilt angle will be explained.

[0075] When the hydraulic excavator 200 performs a single rotational action on a horizontal plane, the rotational velocity only includes the horizontal (lateral) velocity component. Therefore, during rotational braking, the upper rotating body 2 or the working device 210 will not experience significant longitudinal sway. Thus, it is not necessary to increase the hysteresis width to suppress the longitudinal sway of the upper rotating body 2 or the working device 210. However, as... Figure 13 As shown, when performing a single rotational action on a steep slope, the velocity in the rotational direction includes a vertical (longitudinal) velocity component. Therefore, during rotational braking, the upper rotating body 2 or the working device 210 may experience significant longitudinal sway. Therefore, in this embodiment, when the vehicle body tilt angle is large, a fourth upper limit speed calculation unit 64 with a large hysteresis width (=d2-d1) is used to suppress the longitudinal sway of the upper rotating body 2 or the working device 210 during rotational braking.

[0076] (Summarize)

[0077] In this embodiment, the operating machinery 200 is equipped with an angle sensor 12 for detecting the tilt angle of the main body 2. When the controller 20 determines that the operation of the operating devices 15L and 15R is a rotational operation, it sets the second distance d2 when the tilt angle is greater than a predetermined threshold to a value greater than the second distance d2 when the operation of the operating devices 15L and 15R is determined to be a rotational operation and the tilt angle is below the threshold.

[0078] In this embodiment configured as described above, the same effect as in the second embodiment can be achieved. Furthermore, when the working machine 200 performs a single rotational action on a steep slope, the longitudinal sway of the upper rotating body 2 or the working device 210 can be suppressed.

[0079] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments and includes various modifications. For example, the above embodiments are detailed embodiments for ease of understanding and illustration of the present invention, and are not limited to having all the structures described. In addition, a part of the structure of another embodiment may be added to the structure of a certain embodiment, or a part of the structure of a certain embodiment may be deleted or replaced with a part of another embodiment.

[0080] Explanation of reference numerals in the attached figures

[0081] 1…Lower traveling body, 2…Upper rotating body (mechanical main body), 3…Counterweight, 4…Cab, 5…Boom, 5a…Boom cylinder (actuator), 6…Stick, 6a…Stick cylinder (actuator), 7…Bucket (working tool), 7a…Bucket cylinder (actuator), 8…Spinning device, 8a…Spinning motor (actuator), 9…Pump device, 10…Control valve unit, 11…Bucket position measurement system, 12…Angle sensor, 15L…Left operating lever (operating device), 15R…Right operating lever (operating device), 16… Engine, 20… Controller, 23… Hydraulic device, 30… Operator command processing unit, 31… First target speed calculation unit, 32… Second target speed calculation unit, 33… Operation judgment unit, 40… Bucket position calculation unit, 50… Target surface distance calculation unit, 60… Upper limit speed calculation unit, 61… First upper limit speed calculation unit, 62… Second upper limit speed calculation unit, 63… Third upper limit speed calculation unit, 64… Fourth upper limit speed calculation unit, 70… Action command generation unit, 200… Hydraulic excavator (operating machinery).

Claims

1. A type of operating machinery, comprising: Mechanical body; A multi-joint type working device, which is installed on the main body of the machine, includes working tools; An operating device that instructs the actions of the mechanical body and the working device; as well as The controller limits the operating range by slowing down or stopping the movement of the mechanical body or the working device based on the distance between the monitoring point and the prohibited intrusion area, in a manner that prevents the monitoring point set on the working device from encroaching on the prohibited intrusion area. When the distance between the monitoring point and the prohibited intrusion area reaches a first distance, the controller initiates the work range restriction control; when the distance between the monitoring point and the prohibited intrusion area reaches a second distance greater than the first distance, the controller terminates the work range restriction control. It is characterized in that The controller performs the following actions: Based on the amount of operation of the operating device, it is determined whether the action of the working device is a positioning action to determine the position of the working tool or a moving action to move the working tool. When the action of the working device is determined to be the positioning action, the second distance is set to a first predetermined value; as well as When the action of the working device is determined to be the movement action, the second distance is set to a second predetermined value that is smaller than the first predetermined value.

2. The operating machinery according to claim 1, characterized in that, The working machine includes multiple actuators that actuate the working device. The controller performs the following actions: Based on the amount of operation of the operating device, determine whether the operation of the operating device is a compound operation that simultaneously operates two or more of the plurality of actuators; If the operation of the operating device is determined to be the composite operation, the action of the working device is determined to be the moving action; as well as If it is determined that the operation of the operating device is not the composite operation, then the action of the working device is determined to be the positioning action.

3. The operating machinery according to claim 2, characterized in that, The controller performs the following actions: If two or more of the actuators have a target speed greater than zero, the operation of the operating device is determined to be the composite operation. as well as If there is one or fewer actuators among the plurality of actuators with a target speed greater than zero, it is determined that the operation of the operating device is not the composite operation.

4. The operating machinery according to claim 1, characterized in that, The controller performs the following actions: If the velocity component perpendicular to the prohibited intrusion area at the monitoring point is greater than the velocity component parallel to the prohibited intrusion area, the action of the working device is determined to be the positioning action; as well as When the vertical velocity component is less than or equal to the horizontal velocity component, the action of the working device is determined to be the moving action.

5. The operating machinery according to claim 1, characterized in that, The operating machinery includes: Multiple actuators that move the mechanical body and the working device; and Lower driving body The mechanical body is an upper rotating body that is rotatably mounted on the lower traveling body. The plurality of actuators includes a rotary motor that drives the upper rotating body. The controller performs the following actions: Based on the amount of operation of the operating device, determine whether the operation of the operating device is a compound operation that simultaneously operates two or more of the plurality of actuators, or a single operation that only operates the rotation of the rotary motor; If the operation of the operating device is determined to be either the compound operation or the rotational operation alone, the action of the working device is determined to be the movement action. as well as If it is determined that the operation of the operating device is not the compound operation or the rotational operation alone, then the action of the working device is determined to be the positioning action.

6. The operating machinery according to claim 5, characterized in that, The controller sets the second distance to different values ​​when it determines that the operation of the operating device is the composite operation and when it determines that the operation of the operating device is the rotational operation alone.

7. The operating machinery according to claim 6, characterized in that, The operating machinery is equipped with an angle sensor that detects the tilt angle of the main body of the machinery. The controller performs the following actions: The second distance is set to a value greater than the second distance when the operation of the operating device is determined to be a rotational operation alone and the tilt angle is greater than a predetermined threshold.

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