Work machine

Abstract

In a working machine (1), when a straight line that departs a certain distance from a travel prediction point (P1) on a travel plane (S) of a track (21) and has the same angle as a maximum climbing angle (θ) with respect to the travel plane (S) is set as a first straight line (L1), and a straight line that links an installation position of a distance measuring sensor (6) and the travel prediction point (P1) is set as a second straight line (L2), the distance measuring sensor (6) is located above the first straight line (L1), and measures a distance from the installation position to the ground on the second straight line (L2). A control device (5) calculates a height (H1) of a travel prediction area (T) based on a measurement result of the distance measuring sensor (6) and a detection result of a rotation angle sensor (8), determines whether a height difference (H3) between the calculated height (H1) of the travel prediction area (T) and a height (H2) of the travel plane (S) is above a threshold value, and causes a notification device (7) to operate in a case where it is determined that the height difference is above the threshold value.

Description

Technical Field

[0001] This invention relates to a hydraulic excavator and other operating machinery. Background Technology

[0002] For example, hydraulic excavators and other mining machinery operate in environments with significant elevation differences, performing excavation and loading operations day and night. In such environments, dust is prevalent, and the work site is dark at night, resulting in poor visibility for the excavator operator. Furthermore, the large size of hydraulic excavators in mines makes it difficult for the operator to see the area around the tracks. Therefore, if a large step is not observed while driving, there is a risk of the tracks landing on the step or the excavator falling off, losing stability. Instability leads to work interruptions and reduced productivity.

[0003] Therefore, as a technology for maintaining the stability of the excavator, for example, the hydraulic excavator disclosed in Patent Document 1 has been studied. Specifically, a distance sensor is installed at the front of the hydraulic excavator to measure the distance to the ground vertically below. The elevation difference is calculated by subtracting the height of the location vertically below the distance sensor from the height of the ground contact point of the lower traveling body. If the calculated elevation difference exceeds a threshold, the movement of the hydraulic excavator is restricted. This aims to maintain the stability of the excavator.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2020-159142 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, in the hydraulic excavator disclosed in Patent Document 1, the distance sensor is rotatably mounted on the front device in a manner that is vertically downward regardless of the posture of the front device. Therefore, the distance sensor vibrates in the direction of rotation during the operation of the front device. This rotational wobbling generates noise, making it difficult to accurately measure the distance. To accurately measure the distance, for example, it is considered to perform the measurement when the operation of the front device is slowed down or stopped; however, slowing down or stopping the front device would affect the productivity of the machine. Therefore, there is room for improvement in the hydraulic excavator described in Patent Document 1.

[0009] This invention was made to solve such a technical problem, and its purpose is to provide a working machine that can maintain vehicle stability and suppress the decrease in productivity caused by vehicle instability.

[0010] Methods for solving problems

[0011] The work machinery of the present invention comprises: a lower traveling body having tracks; and an upper rotating body rotatably disposed on the lower traveling body. The work machinery is characterized in that it includes: at least one distance-measuring sensor mounted on the upper rotating body; a rotation angle sensor for detecting the relative rotation angle between the upper rotating body and the lower traveling body; a notification device for notifying the operator of the work machinery; and a control device for controlling the lower traveling body and the notification device to travel at a predicted point on the traveling plane of the tracks, at which the machine will move a certain distance away from the tracks and have an angle corresponding to the maximum climbing angle of the work machinery relative to the traveling plane of the tracks. When the straight line is designated as the first straight line and the straight line connecting the installation position of the distance measuring sensor and the driving prediction point is designated as the second straight line, the distance measuring sensor is located above the first straight line. It measures the distance from the installation position to the ground on the second straight line. When the area of ​​the ground measured by the distance measuring sensor is designated as the driving prediction area, the control device calculates the height of the driving prediction area based on the measurement results of the distance measuring sensor and the detection results of the rotation angle sensor. It determines whether the height difference between the calculated height of the driving prediction area and the height of the driving plane of the track is above a preset threshold. If it is determined that the height difference is above the threshold, the notification device is activated.

[0012] In the work machinery of this invention, a first straight line is defined as a travel prediction point on the track's travel plane that is a certain distance away from the track and has an angle relative to the track's travel plane corresponding to the work machinery's maximum climbing angle. A second straight line is defined as a straight line connecting the mounting position of a distance measuring sensor to the travel prediction point. The distance measuring sensor is mounted on the upper rotating body, positioned above the first straight line, and measures the distance from this mounting position to the ground on the second straight line. In this way, the distance measuring sensor can measure distances at an angle larger than the maximum climbing angle, thus reliably detecting steps where the elevation difference exceeds the maximum climbing angle. Furthermore, if the elevation difference is determined to be above a threshold, the control device activates a notification device, thereby notifying the operator of the work machinery of this information. As a result, even with poor visibility from the driver's seat, the operator can notice the presence of steps in the travel prediction area. This prevents the track from falling into steps or the work machinery from falling off steps, thus maintaining the stability of the work machinery and suppressing the decrease in productivity caused by vehicle instability.

[0013] The effects of the invention

[0014] According to the present invention, vehicle body stability can be maintained and the reduction in productivity caused by vehicle body instability can be suppressed. Attached Figure Description

[0015] Figure 1 This is a side view of the operating machinery according to the first embodiment.

[0016] Figure 2 This is a functional block diagram representing the control device.

[0017] Figure 3 This is a flowchart representing the control processing of the control device.

[0018] Figure 4 It is a top view used to illustrate the shape of the driving prediction area.

[0019] Figure 5 This is a diagram used to illustrate the content displayed by the notification device.

[0020] Figure 6 This is a side view showing the operating machinery of the second embodiment.

[0021] Figure 7 This is a side view of a machine that also has a rear range sensor, a left range sensor, and a right range sensor.

[0022] Figure 8 This is a rear view of a machine that also has a rear range sensor, a left range sensor, and a right range sensor. Detailed Implementation

[0023] Hereinafter, embodiments of the work machinery of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are labeled with the same symbols, and repeated descriptions are omitted. In addition, the following description uses a hydraulic excavator as an example of work machinery, but the present invention is not limited to hydraulic excavators, and is also applicable to work machinery such as crawler cranes. Moreover, in the following description, the directions and positions of up and down, left and right, and front and back are based on the normal operating state of the hydraulic excavator, that is, the state in which the lower traveling body is in contact with the ground.

[0024] [First Implementation Method]

[0025] Figure 1 This is a side view of the work machine according to the first embodiment. The work machine 1 in this embodiment is, for example, a hydraulic excavator, comprising a lower traveling body 2 that travels via a power system, an upper rotating body 3 that is rotatably mounted relative to the lower traveling body 2 in the left-right direction, and a front device 4 mounted on the upper rotating body 3 for performing excavation and other operations. In this embodiment, the lower traveling body 2 and the upper rotating body 3 constitute the body of the work machine 1.

[0026] The lower traveling body 2 has a pair of left and right tracks 21, a travel motor (not shown) that drives each pair of tracks 21, and a travel controller 22 that controls the travel motors, etc. The travel motors drive the left and right tracks 21 according to the instructions of the travel controller 22. Thus, the lower traveling body 2 can move forward or backward, turn left or right, or turn in place (also known as stationary turning). Furthermore, the travel controller 22 is electrically connected to the control device 5 described later, and controls the drive of the travel motors, etc., according to the travel control instructions from the control device 5. Here, turning in place means that the lower traveling body 2 turns in place by rotating the left and right tracks 21 in opposite directions.

[0027] The upper slewing body 3 includes a driver's cab 31 and a machine room 32. The driver's cab 31 is located, for example, on the left side of the upper slewing body 3, and includes a driver's seat for operating the machinery 1 while the operator is seated. The machine room 32 is located, for example, behind the driver's cab 31. A slewing motor (not shown) is mounted on the upper slewing body 3. When the slewing motor is driven, the upper slewing body 3 can rotate relative to the lower traveling body 2.

[0028] The front assembly 4 is configured to rotate vertically relative to the upper rotating body 3. The front assembly 4 includes a boom 41 connected to the upper rotating body 3, a stick 42 connected to the boom 41, a bucket 43 connected to the stick 42, a boom cylinder 44 for driving the boom 41, a stick cylinder 45 for driving the stick 42, and a bucket cylinder 46 for driving the bucket 43 via a bucket linkage.

[0029] In addition, the working machine 1 includes: a slewing angle sensor 8, which detects the relative slewing angle between the upper slewing body 3 and the lower traveling body 2; a notification device 7, which notifies the operator of the working machine 1 of information; a distance measuring sensor 6, which is installed in front of the upper slewing body; and a control device 5, which performs various controls on the working machine 1.

[0030] The rotation angle sensor 8 is formed by, for example, a rotary encoder, and measures the rotation angle of the upper rotating body 3 relative to the lower traveling body 2, and outputs the measurement result to the control device 5.

[0031] The notification device 7, consisting of, for example, a screen and a speaker, is disposed within the driver's cab 31. The notification device 7 is electrically connected to the control device 5 and notifies the operator of information via text or voice according to notification control commands from the control device 5. In this embodiment, the notification device 7 has a display unit 9 (described later) composed of a monitor.

[0032] The ranging sensor 6 is formed by, for example, a 1D to 3D type LiDAR, millimeter-wave radar, or stereo camera. The ranging sensor 6 is mounted on the upper rotating body 3 (in this case, the outside of the windshield of the cab 31).

[0033] In this embodiment, the installation position and measurement position of the ranging sensor 6 are determined as follows. That is, as... Figure 1 As shown, when a travel prediction point P1 is located a certain distance D1 away from the track 21 on the travel plane S of the track 21 of the working machine 1 and has the same angle as the maximum climbing angle θ of the working machine 1 relative to the travel plane S of the track 21, the first straight line L1 is defined as the straight line passing through the travel prediction point P1 on the travel plane S of the track 21. When a straight line connecting the installation position of the distance measuring sensor 6 and the travel prediction point P1 is defined as the second straight line L2, the distance measuring sensor 6 is installed on the upper rotating body 3 at a position higher than the first straight line L1, and measures the distance from this installation position to the ground on the second straight line L2.

[0034] Here, the travel plane S is an imaginary plane when the track 21 travels in a straight line. The travel prediction point P1 is a point-like region existing on the travel plane S, which is a region at a certain distance D1 from the end (here, the front end) of the track 21. The position of the travel prediction point P1 (in other words, the distance D1) is determined, for example, based on the value obtained by multiplying the response time from the control device 5 sending a stop command to the travel controller 22 until the working machine 1 stops by the maximum travel speed of the vehicle body, i.e., the braking distance. Furthermore, the position of the travel prediction point P1 (in other words, the distance D1) may also be greater than the braking distance.

[0035] The maximum climbing angle θ is the maximum angle of the slope F that the working machine 1 can climb. It is set based on the specifications (climbing capacity) of the working machine 1, but it can also be set to provide a safety margin for the specifications. That is, the maximum climbing angle θ can be set to be the same as the specifications, or it can be set to be smaller than the specifications to prioritize safety. The first straight line L1 is a straight line passing through the travel prediction point P1, and it is a straight line with the same angle as the maximum climbing angle θ relative to the travel plane S. Furthermore, the distance measuring sensor 6 is located above the first straight line L1 and is mounted on the upper rotating body 3. The distance measuring sensor 6 measures the distance from its mounting position along the second straight line L2 to the ground, that is, the distance to the point where the second straight line L2 intersects the slope F, and outputs the measurement result to the control device 5.

[0036] In this embodiment, the area of ​​the ground measured by the ranging sensor 6 is defined as the driving prediction area T. The driving prediction area T can be an area of ​​various shapes. For example, it can be a region of multiple points scattered around the working machine 1, a linear region (e.g., straight line, curved line) composed of continuous points, or a ring-shaped region (e.g., circular ring, polygonal ring) composed of continuous points surrounding the working machine 1. The shape of the driving prediction area T will be described later.

[0037] The control device 5 is composed of, for example, a microcomputer consisting of a CPU (Central Processing Unit) for performing calculations, a ROM (Read Only Memory) for storing the program used for calculations as a secondary storage device, and a RAM (Random Access Memory) for storing the calculation process and temporary control variables as a temporary storage device. It performs various controls on the working machine 1 by executing the stored program.

[0038] Figure 2 This is a functional block diagram representing the control device. For example... Figure 2 As shown, the control device 5 includes a terrain shape acquisition unit 51, an elevation difference calculation unit 52, a determination unit 53, a reporting unit 54, and a driving control unit 55. The terrain shape acquisition unit 51 acquires the terrain shape of the driving prediction area T based on the distance measured by the distance sensor 6 and the angle measured by the yaw angle sensor 8.

[0039] The elevation difference calculation unit 52 calculates the elevation H1 of the driving prediction region T based on the terrain shape obtained by the terrain shape acquisition unit 51 (refer to the elevation difference calculation unit 52). Figure 1 Additionally, the elevation difference calculation unit 52 calculates the height H2 of the driving plane S (refer to...). Figure 1 The difference between the height H1 of the driving prediction area T calculated above and the height difference H3 (refer to the above) is the difference between the height H1 and the height H1 of the driving prediction area T. Figure 1 In addition, heights H1 and H2 are calculated based on the distance measured by the distance sensor 6 and the tilt angle of the second straight line L2 relative to the driving plane S, with the installation position of the distance sensor 6 as a reference.

[0040] The determination unit 53 determines whether the height difference calculated by the height difference calculation unit 52 is above a preset threshold. For example, the threshold is set based on the specification value of the height difference that the working machine 1 can crush. In addition, this determination unit 53 sets a step detection flag based on the determination result of whether the height difference is above the threshold. Specifically, if it is determined that the height difference is above the threshold, the determination unit 53 considers a step to be detected in the driving prediction area T and sets the "step detection flag" to "true". On the other hand, if the height difference is less than the threshold, the determination unit 53 sets the "step detection flag" to "false". Furthermore, as described above, in this embodiment, a "step" refers to a step where the difference between the height H2 of the driving plane S and the height H1 of the driving prediction area T (height difference H3) is above the threshold.

[0041] When the reporting unit 54 determines that the aforementioned elevation difference is above a threshold, it issues a command to activate the notification device 7. That is, the reporting unit 54 only outputs a command to the notification device 7 when it determines that the aforementioned elevation difference is above a threshold. When the driving control unit 55 determines that the aforementioned elevation difference is above a threshold, it outputs a command to the driving controller 22 to immediately decelerate and stop the driving of the lower driving vehicle 2.

[0042] The following is based on Figure 3 The control processing of control device 5 is explained.

[0043] In step S1, the terrain shape acquisition unit 51 acquires the terrain shape of the driving prediction area T based on the measurement results of the ranging sensor 6 and the detection results of the turning angle sensor 8.

[0044] In step S2 following step S1, the elevation difference calculation unit 52 calculates the height H1 of the driving prediction region T based on the terrain shape of the driving prediction region T obtained in step S1. The height H1 of the driving prediction region T is, for example, the average height of the terrain shape of the driving prediction region T.

[0045] In step S3 following step S2, the elevation difference calculation unit 52 calculates the difference (elevation difference H3) between the pre-measured height H2 of the driving plane S and the height H1 of the driving prediction area T calculated in step S2, and outputs the calculated elevation difference to the determination unit 53. Then, the determination unit 53 compares the elevation difference calculated by the elevation difference calculation unit 52 with a preset threshold and determines whether the calculated elevation difference is above the threshold.

[0046] If the calculated elevation difference is determined to be less than the threshold, the control process proceeds to step S4. In step S4, the determination unit 53 determines that there is no step in the driving prediction area T and sets the "step detection flag" to "false". The control process then ends.

[0047] On the other hand, if it is determined in step S3 that the calculated height difference is above the threshold, the control process proceeds to step S5. In step S5, the determination unit 53 determines that a step exists in the driving prediction area T (in other words, a step is detected), and sets the "step detection flag" to "true".

[0048] In step S6 following step S5, the reporting unit 54 receives a "true" step detection flag and outputs an instruction to the notification device 7 to activate the notification device 7. In this case, the notification device 7, according to the instruction from the reporting unit 54, notifies the operator via text display or sound that a step has been detected in the driving prediction area T.

[0049] In step S7, following step S6, the driving control unit 55 outputs a command to the driving controller 22 to immediately decelerate and stop the movement of the lower driving body 2. When step S7 ends, the series of control processes conclude.

[0050] Furthermore, in the control process described above, steps S6 and S7 can also be performed simultaneously. That is, if a "true" step detection flag is received, the reporting unit 54 outputs to the notification device 7, and simultaneously the driving control unit 55 outputs a deceleration and stop command to the driving controller 22. In this way, if a "true" step detection flag is received, a stop command is immediately output to the driving controller 22, thereby enabling the immediate stopping of the working machine 1 without any time delay, thus improving the safety of the working machine 1. Furthermore, in this case, Figure 2 The determination unit 53 shown can be directly connected to the driving control unit 55 in a manner that also allows it to output to the driving control unit 55.

[0051] Furthermore, in the control process described above, if the elevation difference is determined to be above a threshold, the control device 5 can also replace the driving stop (step S7) and control the lower traveling body 2 to travel in a direction where the elevation difference is less than the threshold. For example, if a step is detected in front of the working machine 1 but no step is detected behind the working machine 1, the control device 5 controls the lower traveling body 2 to travel backward. In this way, the vehicle stability can be maintained and the driving stop of the working machine 1 can be avoided.

[0052] In the work machine 1 of this embodiment, when a first straight line L1 is defined as a straight line passing through a travel prediction point P1 on the travel plane S of the track 21 of the work machine 1, which is a certain distance D1 away from the track 21, and having the same angle as the maximum climbing angle θ of the work machine 1 relative to the travel plane S of the track 21, and a second straight line L2 is defined as the straight line connecting the mounting position of the distance measuring sensor 6 and the travel prediction point P1, the distance measuring sensor 6 is mounted on the upper rotating body 3 at a position higher than the first straight line L1, and measures the distance from this mounting position to the ground on the second straight line L2. In this way, the distance measuring sensor 6 can measure the distance at an angle larger than the maximum climbing angle θ, and therefore can reliably detect steps with an elevation difference exceeding the maximum climbing angle θ.

[0053] Furthermore, if the height difference is determined to be above a threshold, the control device 5 activates the notification device 7, which then notifies the operator of the work machine 1 of this information. As a result, even with poor visibility from the driver's seat, the operator can notice the presence of a step in the driving prediction area T. Therefore, the operator can stop the work machine 1, preventing the tracks 21 from falling into the step or the work machine 1 from falling off the step, thus maintaining the stability of the work machine 1 and suppressing the decrease in productivity caused by vehicle instability.

[0054] Furthermore, if the height difference is determined to be above a threshold, the control device 5 controls the movement of the lower traveling body 2 to stop. Therefore, even if the operator notices the detected step via the notification device 7 but fails to stop the machine 1 quickly, or if the machine is driven directly for some reason, the machine 1 can be prevented from becoming unstable by rapidly decelerating and stopping the lower traveling body 2. Thus, vehicle stability can be maintained, reliably suppressing the decrease in productivity caused by vehicle instability.

[0055] Furthermore, since the ranging sensor 6 is mounted on the upper rotating body 3, it can reliably suppress the influence of rotational sway on measurement accuracy compared to the previous case where it was mounted on the front device 4.

[0056] As mentioned above, the driving prediction region T can have various shapes. The following explains... Figure 4 The four representative examples shown are (T1 to T4).

[0057] first, Figure 4The driving prediction area T1 shown is the most basic driving prediction area, defined as multiple point-like areas in the forward and backward direction of the lower traveling body 2. Specifically, the driving prediction area T1 consists of four point-like areas, one at the front and one at the rear of the left and right tracks 21. Therefore, the terrain shape acquisition unit 51 of the control device 5 acquires the terrain shape of each of the four point-like areas. In this way, steps located in front of the working machine 1 can be detected in the forward and backward direction of the lower traveling body 2. Furthermore, when measuring the driving prediction area T1 behind the tracks 21, the upper rotating body 3 is rotated backward and the measurement is performed using the distance measuring sensor 6.

[0058] in addition, Figure 4 The driving prediction area T2 shown is set as multiple linear areas along the left and right direction of the lower driving body 2. Specifically, the driving prediction area T2 consists of four linear areas, one at the front and one at the back of the left and right tracks 21. Moreover, for example, the length of each area can be the same as the width of the track 21. In this way, the terrain shape acquisition unit 51 of the control device 5 acquires the terrain shape at the front and back of the left and right tracks 21, which is the same as the width of the track 21. In this way, the average height of the terrain shape in the driving prediction area T2 can be used as the height of the terrain shape, so the influence of terrain unevenness and the measurement noise of the ranging sensor 6 can be suppressed, and the height difference can be calculated with high accuracy. In addition, when measuring the driving prediction area T2 behind the track 21, the upper rotating body 3 is rotated backward and the measurement is performed using the ranging sensor 6.

[0059] Figure 4 The driving prediction area T3 shown is set as an annular region surrounding the lower driving body 2. Specifically, the driving prediction area T3 is an annular or elliptical annular region surrounding the lower driving body 2. In this case, the terrain shape acquisition unit 51 of the control device 5 acquires the terrain shape around the entire circumference of the lower driving body 2. In this way, steps located on the side of the lower driving body 2 can also be detected. Therefore, for example, when the lower driving body 2 is turned in place, it is possible to prevent the track 21 from falling onto steps located on the side of the lower driving body 2 and causing the vehicle to become unstable. Furthermore, when measuring the driving prediction area T3 to the side and rear of the track 21, it is sufficient to use the distance measuring sensor 6 to measure while the upper rotating body 3 is turned.

[0060] in addition, Figure 4The driving prediction area T4 shown is formed by multiple linear regions along the longitudinal direction of the lower traveling body 2. Specifically, the driving prediction area T4 consists of two straight linear regions extending along the driving direction of the left and right tracks 21. In this case, the terrain shape acquisition unit 51 of the control device 5 acquires the terrain shape linearly relative to the longitudinal direction of the lower traveling body 2. In this way, steps farther than the driving prediction point P1 can be detected. Furthermore, when measuring the driving prediction area T4 behind the track 21, the upper rotating body 3 is rotated backward and the measurement is performed using the distance measuring sensor 6.

[0061] Alternatively, the driving prediction area can also be a collection of multiple radial areas extending forward from the lower driving body 2, i.e., a fan-shaped area. For example, by rotating the upper rotating body 3 in a fan shape while using the ranging sensor 6 to measure areas farther than the driving prediction point P1, steps within a certain range in front of the working machine 1 can be detected. In this way, for example, as... Figure 5 As shown, by displaying the ridge line 10 indicating the location of the detected step and the location of the working machine 1 on the display section 9 of the notification device 7, the operator can quickly notice the situation of the step in the distance and easily grasp the situation of the step.

[0062] Furthermore, the conditions for obtaining the terrain shape of the driving prediction areas T1 to T4 vary depending on whether the measurement range of the ranging sensor 6 is point-shaped, line-shaped, or area-shaped. For example, in the case of driving prediction area T1, the terrain shape of driving prediction area T1 can be obtained even if the measurement range of the ranging sensor 6 is point-shaped, line-shaped, or area-shaped. However, in the case of driving prediction area T4, the measurement range of the ranging sensor 6 needs to be line-shaped or area-shaped.

[0063] Furthermore, in the case of driving prediction areas T2 and T3, regardless of whether the measurement range of the distance sensor 6 is a point, a line, or an area, the terrain shape of driving prediction areas T2 and T3 can be obtained. For example, when the measurement range of the distance sensor 6 is a point, the distance sensor 6 continuously measures the distance while the upper rotating body 3 is rotated (in other words, the distance is measured in a way that becomes a continuous point), and combines it with the rotation angle measured by the rotation angle sensor 8, thereby obtaining the terrain shape of driving prediction areas T2 and T3.

[0064] [Second Implementation]

[0065] The following is based on Figure 6 The second embodiment of the operating machine 1 will be described. The operating machine 1 of the second embodiment differs from the first embodiment in that it is applicable to remote operation. Here, only the differences from the first embodiment based on this difference will be described.

[0066] like Figure 6 As shown, the operating machine 1 in the second embodiment further includes: a remote operation device 11, which is disposed in a location away from the operating machine 1 and configured to send operation commands to the control device 5; a wireless transmitter 12, which sends operation commands from the remote operation device 11; and a wireless receiver 13, which is disposed on the upper rotating body 3 and receives commands sent from the wireless transmitter 12. The wireless receiver 13 outputs the received commands to the control device 5.

[0067] In the second embodiment, the distance measuring sensor 6 is mounted on the upper rotating body 3 (here, on the outside of the windshield of the cab 31), but its mounting position and measurement position are determined as follows. That is, a third straight line L3 is defined by a remote operation travel prediction point P2 on the travel plane S of the track 21 that is farther away from the travel prediction point P1 relative to the working machine 1 and has the same angle or corresponding angle with the maximum climbing angle θ relative to the travel plane S of the track 21. A fourth straight line L4 is defined by the straight line connecting the mounting position of the distance measuring sensor 6 and the remote operation travel prediction point P2. The distance measuring sensor 6 is mounted on the upper rotating body 3 in a manner that is higher than the third straight line L3, and the distance from this mounting position to the ground on the fourth straight line L4 is measured.

[0068] Here, the remote-operated driving prediction point P2 is a point on the driving plane S, located a certain distance D2 (D2 > D1) away from the end (here, the front end) of the track 21. The position of the remote-operated driving prediction point P2 (in other words, the distance D2) is determined, for example, by multiplying the value obtained from the response time from the output of a stop command from the control device 5 to the driving controller 22 until the work machine 1 stops, plus the time it takes for the operation command from the remote-operated device 11 to reach the control device 5 via the wireless transmitter 12 and the wireless receiver 13, by the maximum driving speed of the vehicle body; that is, by the braking distance caused by remote operation. Furthermore, the position of the remote-operated driving prediction point P2 (in other words, the distance D2) may also be greater than the braking distance caused by remote operation.

[0069] In this embodiment, the area of ​​the ground measured by the ranging sensor 6 is designated as the remote operation driving prediction area W. The remote operation driving prediction area W, like the driving prediction area T in the first embodiment described above, has various shapes, for example, having... Figure 4 The shape shown.

[0070] Furthermore, in the control device 5 of this embodiment, the terrain shape acquisition unit 51 acquires the terrain shape of the remote operation driving prediction area W based on the measurement results of the ranging sensor 6 and the detection results of the rotation angle sensor 8. The elevation difference calculation unit 52 calculates the height H4 of the remote operation driving prediction area W (refer to...) based on the terrain shape of the remote operation driving prediction area W acquired by the terrain shape acquisition unit 51. Figure 6 Furthermore, the elevation difference calculation unit 52 calculates the height H5 of the driving plane S (refer to...). Figure 6 The difference between the height H4 and the height H6 of the remote-controlled driving prediction area W (see reference). Figure 6 Furthermore, heights H4 and H5 are calculated based on the installation position of the distance sensor 6, the distance measured by the distance sensor 6, and the tilt angle of the fourth straight line L4 relative to the driving plane S.

[0071] On the other hand, the determination unit 53, the reporting unit 54, and the driving control unit 55 are the same as those in the first embodiment described above. Furthermore, the control processing related to the control device 5 differs from the first embodiment in that it targets the remote operation driving prediction region W, but is otherwise the same as the first embodiment; therefore, repeated descriptions are omitted.

[0072] In the case of remotely operated machinery 1, the operator performs various operations from a location far from machinery 1, for example, based on images from a camera (not shown) mounted on machinery 1. When communicating wirelessly between the camera images and operation commands from the remote control device 11, communication delays occur. Therefore, for example, when the operator instructs machinery 1 to move using the remote control device 11, the operator may sometimes be late in noticing steps or similar obstacles due to poor visibility. Furthermore, even if the operator quickly instructs to stop via the remote control device 11, the braking distance of machinery 1 is greater than when the operator is actually riding on machinery 1, due to wireless communication delays. As a result, there may not be enough time to stop machinery 1, leading to the possibility that the tracks 21 fall onto steps or machinery 1 rolls off steps.

[0073] Therefore, in this embodiment, considering the increased braking distance, a remote operation driving prediction point P2 is set further away than the driving prediction point P1. A distance measuring sensor 6 is positioned above a third straight line L3 that passes through this remote operation driving prediction point P2 and has the same angle as the maximum climbing angle θ relative to the driving plane S. This makes the remote operation driving prediction area W further away from the work machine 1. As a result, the step can be detected earlier by the distance measuring sensor 6, relative to the increase in braking distance caused by remote operation. This prevents the track 21 from falling into the step or the work machine 1 from rolling off the step, thus maintaining the stability of the vehicle body and suppressing the decrease in productivity caused by vehicle body instability.

[0074] In the above embodiments, an example was described in which only one ranging sensor 6 was installed on the upper rotating body 3 of the working machine 1 (more specifically, an example in which the ranging sensor 6 was installed in front of the upper rotating body 3), but the ranging sensor of the present invention can also be multiple. For example, such as Figure 7 as well as Figure 8 As shown, a distance measuring sensor can also be installed at the rear of the upper rotating body 3 and at the side of the upper rotating body 3.

[0075] like Figure 7 as well as Figure 8 As shown, in addition to the aforementioned distance sensor 6, the operating machine 1 also includes a rear distance sensor 6a, a left distance sensor 6b, and a right distance sensor 6c. The rear distance sensor 6a is installed at the rear of the upper rotating body 3. The left distance sensor 6b is installed on the left side of the upper rotating body 3, and the right distance sensor 6c is installed on the right side of the upper rotating body 3.

[0076] Furthermore, the installation and measurement positions of the rear ranging sensor 6a, the left ranging sensor 6b, and the right ranging sensor 6c are determined based on the driving prediction point and the maximum climbing angle, just like the ranging sensor 6.

[0077] For example, such as Figure 7 As shown, when a first straight line L1a is defined as the straight line passing through a rear travel prediction point P1a a certain distance away from track 21 on the travel plane S and having the same angle as the maximum climbing angle θ relative to the travel plane S, and a second straight line L2a is defined as the straight line connecting the mounting position of the rear distance measuring sensor 6a and the rear travel prediction point P1a, the rear distance measuring sensor 6a is mounted on the upper rotating body 3 in a manner higher than the first straight line L1a, and measures the distance from this mounting position to the ground on the second straight line L2a. The position of the rear travel prediction point P1a can be determined based on the braking distance in the same way as the travel prediction point P1 in the first embodiment, or it can be determined to be greater than the braking distance.

[0078] In addition, such as Figure 8As shown, when a first straight line L1b is defined as the straight line passing through a left-side travel prediction point P1b a certain distance away from track 21 on the travel plane S and having the same angle as the maximum climbing angle θ relative to the travel plane S, and a second straight line L2b is defined as the straight line connecting the mounting position of the left-side distance measuring sensor 6b and the left-side travel prediction point P1b, the left-side distance measuring sensor 6b is mounted on the upper rotating body 3 at a position higher than the first straight line L1b, and measures the distance from this mounting position to the ground on the second straight line L2b. The position of the left-side travel prediction point P1b can be determined based on the braking distance in the same way as the travel prediction point P1 in the first embodiment, or it can be determined to be greater than the braking distance.

[0079] Furthermore, when a first straight line L1c is defined as the straight line that passes through a right-side travel prediction point P1c at a certain distance away from track 21 on the travel plane S and has the same angle as the maximum climbing angle θ relative to the travel plane S, and a second straight line L2c is defined as the straight line connecting the mounting position of the right-side distance measuring sensor 6c and the right-side travel prediction point P1c, the right-side distance measuring sensor 6c is mounted on the upper rotating body 3 at a position higher than the first straight line L1c, and measures the distance from this mounting position to the ground on the second straight line L2c. The position of the right-side travel prediction point P1c can be determined based on the braking distance, similar to the travel prediction point P1 in the first embodiment, or it can be determined to be greater than the braking distance.

[0080] Furthermore, the range sensor 6, the rear range sensor 6a, the left range sensor 6b, and the right range sensor 6c are each composed of, for example, a 2D type LiDAR, with measurement areas such as... Figure 7 or Figure 8 As shown, it is a two-dimensional plane with a certain angle in the horizontal direction. Furthermore, Figure 7 as well as Figure 8 The triangle shown schematically represents the measurement range of the left-side ranging sensor 6b and the rear-side ranging sensor 6a.

[0081] In this way, it also has a rear ranging sensor 6a, a left ranging sensor 6b and a right ranging sensor 6c, so that it can detect steps located behind, to the left and to the right of the track 21 without rotating the upper rotating body 3, thus reliably maintaining the stability of the vehicle body.

[0082] also, Figure 7 as well as Figure 8 The example shown also applies to the second embodiment described above, but its repeated description is omitted.

[0083] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments. Various design changes can be made without departing from the spirit of the present invention as set forth in the claims.

[0084] Symbol Explanation

[0085] 1: Operating machinery

[0086] 2: Lower driving body

[0087] 3: Upper Rotating Body

[0088] 4: Front device

[0089] 5: Control device

[0090] 6: Distance sensor

[0091] 6a: Rear ranging sensor

[0092] 6b: Left-side ranging sensor

[0093] 6c: Right-side ranging sensor

[0094] 7: Notification device

[0095] 8: Rotation angle sensor

[0096] 9: Display Section

[0097] 11: Remote operating device

[0098] 12: Wireless transmitter

[0099] 13: Wireless receiver

[0100] 21: Tracks

[0101] F: slope

[0102] L1, L1a, L1b, L1c: First straight line

[0103] L2, L2a, L2b, L2c: The second straight line

[0104] L3: Third straight line

[0105] L4: Fourth line

[0106] P1: Driving Prediction Point

[0107] P1a: Rear driving prediction point

[0108] P1b: Left-side driving prediction point

[0109] P1c: Right-side driving prediction point

[0110] P2: Remote driving prediction point

[0111] S: Driving plane

[0112] T, T1, T2, T3, T4: Driving prediction area

[0113] W: Remote driving prediction area

[0114] θ: Maximum climbing angle

Claims

1. A working machine comprising: a lower traveling body having tracks; and an upper rotating body rotatably disposed on the lower traveling body. The operating machinery is characterized in that... The operating machinery includes: At least one ranging sensor is mounted on the upper rotating body; A rotation angle sensor detects the relative rotation angle between the upper rotating body and the lower traveling body; A notification device that notifies the operator of the operating machinery of information; as well as A control device that controls the lower driving body and the notification device. When a first straight line is defined as a travel prediction point located a certain distance away from the front end of the track along the travel direction on the track's travel plane, and having an angle relative to the track's travel plane corresponding to the maximum downward-facing climbing angle of the working machinery, and a second straight line is defined as a straight line connecting the mounting position of the distance measuring sensor and the travel prediction point, the mounting position of the distance measuring sensor is set above the first straight line on the upper rotating body. The distance measuring sensor measures the distance from the mounting position along the second straight line to the ground below the travel plane. When the area of ​​the ground measured by the distance measuring sensor is set as the driving prediction area, the control device calculates the height difference between the driving prediction area and the driving plane of the track based on the measurement results of the distance measuring sensor and the detection results of the rotation angle sensor, determines whether the height difference is above a preset threshold, and activates the notification device if the height difference is above the threshold.

2. The operating machinery according to claim 1, characterized in that, When the control device determines that the height difference is above the threshold, it controls the lower vehicle to stop its movement.

3. The operating machinery according to claim 1, characterized in that, When the control device determines that the elevation difference is above the threshold, it controls the lower driving body to travel in a direction where the elevation difference is less than the threshold.

4. The operating machinery according to any one of claims 1 to 3, characterized in that, The driving prediction area is a point-like area in the front-rear direction of the lower driving body.

5. The operating machinery according to any one of claims 1 to 3, characterized in that, The driving prediction area is a linear area along the left and right direction of the lower driving body.

6. The operating machinery according to any one of claims 1 to 3, characterized in that, The driving prediction area is a ring-shaped region surrounding the lower driving body.

7. The operating machinery according to any one of claims 1 to 3, characterized in that, The driving prediction area is a linear region along the front-rear direction of the lower driving body.

8. The operating machinery according to any one of claims 1 to 3, characterized in that, The notification device has a display section that shows the position of the operating machinery and the position of the elevation difference.

9. The operating machinery according to any one of claims 1 to 3, characterized in that, It also features a remote operation device that wirelessly sends operation commands to the control device. When a third straight line is defined as a remotely operated travel prediction point located further away from the work machinery on the track's travel plane than the travel prediction point, and having an angle corresponding to the maximum downward climbing angle of the work machinery relative to the track's travel plane, and a fourth straight line is defined as a straight line connecting the mounting position of the distance measuring sensor and the remotely operated travel prediction point, the mounting position of the distance measuring sensor is set above the third straight line on the upper rotating body. The distance measuring sensor measures the distance from the mounting position along the fourth straight line to the ground below the travel plane. When the area of ​​the ground measured by the ranging sensor is set as the remote operation driving prediction area, the control device calculates the height difference between the remote operation driving prediction area and the driving plane of the track based on the measurement results of the ranging sensor and the detection results of the rotation angle sensor, determines whether the height difference is above the threshold, and activates the notification device if the height difference is determined to be above the threshold.

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