Control system and control method for construction machinery

Abstract

The present invention provides a control system (60) capable of executing appropriate operation restriction control in accordance with a work mode when an operator is fully aware of the control system. The control system (60) includes a mode detector (62) that detects a current work mode, an object sensor (64) that senses a monitored object, a notifier (68) that can notify an operator, a controller (70) that performs operation restriction control on the basis of the sensing of the monitored object, and an operation restriction control switch (66) that can be subjected to a stop operation for stopping the operation restriction control. And a controller (70) which, when the operation limiting control is executed and the hoisting operation mode is detected, causes the notifier to notify a stop instruction for urging the stop operation, continues the operation limiting control until the stop operation is applied to the operation limiting control switch (66), and stops the operation limiting control at a point in time when the stop operation is applied.

Description

Technical Field

[0001] The present invention relates to a control system and a control method for construction machinery, which has functions of performing lifting operations and performing operations other than lifting operations at the same time. Background Art

[0002] Conventionally, construction machinery that has functions of performing lifting operations and performing operations other than lifting operations (normal operations) at the same time is known. In addition to performing the normal operations, such as excavation operations using a bucket at the distal end of an attachment, this construction machinery can also exert the lifting operation function by installing a hook for lifting goods at the distal end of the attachment.

[0003] On the other hand, a system for monitoring the surroundings of construction machinery to perform motion restriction control is known. This system generally includes a sensor and a control device. The sensor can sense a monitoring object around the construction machinery. The control device performs motion restriction control when the sensor senses the monitoring object. The motion restriction control is, for example, restriction of the motion of the construction machinery or notification of a warning.

[0004] When the system for performing the motion restriction control is applied to construction machinery having the lifting operation function, if the motion restriction control is executed during the lifting operation, the safety may sometimes be reduced. Specifically, during the lifting operation, the lifted goods are suspended from the distal end of the attachment by a steel cable or the like. Therefore, during the lifting operation, when the motion restriction control instruction is output and the motion of the construction machinery is forced to suddenly decelerate, or the operator performs an emergency stop operation in response to the issued warning, the lifted goods may swing greatly due to inertia.

[0005] Patent Document 1 describes the following technique: In order to prevent the lifted goods from swinging greatly due to the execution of anti-contact control during the lifting operation as described above, in the lifting operation mode, when the enable switch is turned off, even if an obstacle detection sensor detects an obstacle, the motion of the vehicle body or the working device is controlled according to the operation amount of the operating device, that is, the motion restriction is not performed.

[0006] However, when the operation mode is switched from a mode other than the lifting operation mode to the lifting operation mode while the enable switch remains off, if the motion restriction process, that is, the motion restriction control, is automatically released, the operator may not be fully aware that the motion restriction control has been released. In other words, it is possible that the motion restriction control has been automatically released without the operator's awareness.

[0007] Prior Art Documents

[0008] Patent Documents

[0009] Patent Document 1: Japanese Patent Laid-Open Publication No. 2021-71000 Summary of the Invention

[0010] An object of the present invention is to provide a control system and a control method that can perform appropriate motion restriction control corresponding to an operation mode while the operator is fully aware.

[0011] The present invention provides a control system for a construction machine, and the construction machine has a plurality of operation modes including a hoisting operation mode. The control system includes a mode detector, an object sensor, a motion restriction control switch, a notifier, and a controller. The mode detector detects the current operation mode among the plurality of operation modes. The object sensor senses a monitoring object around the construction machine. The notifier can notify the operator. The controller can perform motion restriction control to restrict the motion of the construction machine based on the sensing of the monitoring object. The motion restriction control switch can be operated to stop by the operator. The controller, when the motion restriction control is being executed and the hoisting operation mode is detected, causes the notifier to notify a stop instruction urging the stop operation, continues the motion restriction control until the motion restriction control switch is operated to stop, and stops the motion restriction control at the time point when the stop operation is performed. Brief Description of the Drawings

[0012] Figure 1 is a side view of a hydraulic excavator according to an embodiment of the present invention.

[0013] Figure 2 is a block diagram of a control system for controlling the hydraulic excavator.

[0014] Figure 3 is a diagram showing the content of a notification provided by the control system.

[0015] Figure 4 is a flowchart showing the flow of control executed by the control system. Detailed Description of the Embodiment

[0016] Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.

[0017] Figure 1 shows a construction machine 2 according to an embodiment of the present invention, Figure 2 shows a control system 60 for controlling the motion of the construction machine 2.

[0018] The construction machine 2 is a hydraulic excavator, and includes: a lower traveling body 10, an upper revolving body 20, a working device 30,Figure 2 The drive device 40 and the operating device 50 shown in the figure.

[0019] The lower traveling body 10 includes a traveling frame (not shown) and a pair of crawler belts 12 disposed on the left and right thereof. The pair of crawler belts 12 can be driven to rotate, so that the lower traveling body 10 can travel on the ground.

[0020] The upper revolving body 20 is mounted on the lower traveling body 10 so as to be rotatable about a rotation center axis extending in the vertical direction. Specifically, the upper revolving body 20 includes a revolving frame 22, a cab 24, and a counterweight 26. The revolving frame 22 is rotatably connected to the traveling frame of the lower traveling body 10 through a slewing bearing (not shown). The cab 24 is mounted on the revolving frame 22, allowing an operator to enter the cab 24. The cab 24 includes a driver's seat for the operator to sit on. The counterweight 26 is disposed at the rear of the revolving frame 22.

[0021] The work device 30 is a work attachment device capable of performing work operations. The work device 30 is installed at the front of the upper revolving body 20 and rotates integrally with the upper revolving body 20 about the rotation center axis.

[0022] The work device 30 includes a boom 34, an arm 36, and a bucket 38. The boom 34 has a base end portion and a distal end portion opposite thereto. The base end portion is connected to the revolving frame 22 in such a manner that the boom 34 can rotate about a horizontal axis, that is, can be raised and lowered. The arm 36 has a base end portion and a distal end portion opposite thereto. The base end portion is rotatably connected to the distal end portion of the boom 34 about a horizontal axis. The bucket 38 is a distal attachment device constituting the distal end portion of the work attachment device and is rotatably connected to the distal end portion of the arm 36 about a horizontal axis. By this rotation, a digging operation (lifting operation) and a release operation (soil discharging operation) in the opposite direction can be performed. The distal attachment device is not limited to the bucket 38. For example, it may also be a crusher for destroying a work object or a lifting magnet for attracting a work object by magnetism.

[0023] The drive device 40 drives a plurality of movable parts of the construction machine 2 respectively, causing the plurality of movable parts to operate to perform work. The drive device 40 of the present embodiment drives the plurality of movable parts respectively by hydraulic pressure, and includes a plurality of hydraulic actuators corresponding to the plurality of movable parts respectively and a hydraulic circuit (not shown).

[0024] The plurality of hydraulic actuators includes: a traveling motor (not shown), a swing motor 42, and a plurality of telescopic hydraulic cylinders, namely, a boom cylinder 44, an arm cylinder 46, and a bucket cylinder 48. The traveling motor and the swing motor 42 are both hydraulic motors. The traveling motor causes the lower traveling body 10 to perform a traveling action. The swing motor 42 is connected to the upper swing body 20 and causes the upper swing body 20 to swing relative to the lower traveling body 10. The boom cylinder 44 causes the boom 34 to rise and fall relative to the upper swing body 20 by the telescopic movement of the boom cylinder 44. The arm cylinder 46 causes the arm 36 to rotate relative to the boom 34 by the telescopic movement of the arm cylinder 46. The bucket cylinder 48 causes the bucket 38 to rotate relative to the arm 36 by the telescopic movement of the bucket cylinder 48. In the case where the distal attachment device itself includes a movable part, for example, in the case where the distal attachment device is a crusher that performs a clamping action, the plurality of hydraulic actuators may further include a device for driving the movable part of the distal attachment device.

[0025] The hydraulic circuit includes: a hydraulic pump, a plurality of control valves, and a plurality of solenoid valves. The hydraulic pump is driven by an engine (not shown) which is a power source mounted on the construction machine 2, thereby sucking and discharging the working oil in the tank. The plurality of control valves are respectively provided corresponding to the plurality of hydraulic actuators and perform opening and closing actions to change the flow direction and flow rate of the working oil respectively supplied from the hydraulic pump to the plurality of hydraulic actuators. The plurality of solenoid valves are respectively provided corresponding to the plurality of control valves. Specifically, the plurality of control valves perform opening and closing actions corresponding to the electrical signals input to the plurality of solenoid valves. Therefore, by inputting the electrical signals to the plurality of solenoid valves, the driving of the plurality of movable parts by the plurality of hydraulic actuators can be controlled, that is, the operation of the construction machine 2 can be controlled.

[0026] The engine (power source) is started by Figure 2 the key switch 58 shown being switched to the ON position. The key switch 58 is switched to the ON position by an operator inserting the engine key into the lock cylinder and rotating it, and outputs a start command signal. This start command signal is input to an engine ECU (not shown) attached to the engine and is input to the control system 60.

[0027] The drive device 40 is not limited to hydraulically driving all of the plurality of movable parts. For example, the drive device 40 may include a plurality of electric actuators and a circuit for controlling the plurality of electric actuators to replace a part or all of the plurality of hydraulic actuators and the hydraulic circuit.

[0028] The construction machinery 2 has multiple operation modes. Specifically, the construction machinery 2 has both a normal mode and a crane mode equivalent to a lifting operation mode. In the normal mode of the construction machinery 2, actions for performing the original operation are carried out. The original operation is an operation using the distal attachment device, i.e., the bucket 38, and specifically is a normal operation including excavation operation, soil discharging operation, leveling operation, etc. In the crane mode of the construction machinery 2, actions for performing a lifting operation using the working device 30 are carried out. Specifically, in the working device 30, a lifting tool (hook) 52 can be detachably mounted on a movable part (the distal end of the arm 36 in the example shown in Figure 1 ), and a lifted load 56 is suspended on the lifting tool 52, for example, by a steel cable 54 shown in FIG. 5, and the lifting operation can be carried out using the working device 30.

[0029] The operation device 50 includes a plurality of operation components corresponding to the plurality of movable parts, and an operator can respectively apply operation operations to the plurality of operation components. The plurality of operation components are, for example, operation levers or operation pedals. In the present embodiment, the operation operations applied to the plurality of working components are: a slewing operation for slewing the upper slewing body 20, a boom operation for raising and lowering the boom 34, an arm operation for rotating the arm 36, and a bucket operation for rotating the bucket 38. When the drive device 40 includes an attachment device for driving the movable part of the distal attachment device, the operation operation may also include a distal attachment device operation for driving the movable part.

[0030] The operation device 50 generates and outputs an operation signal corresponding to the operation operations respectively applied to the plurality of operation components. In the present embodiment, the operation signal is an electric signal. Alternatively, the operation signal may also be a hydraulic signal. For example, when the drive device 40 includes the hydraulic circuit, the hydraulic circuit includes a plurality of remote control valves, and the plurality of remote control valves are respectively connected to the plurality of control valves so as to change the pilot pressure input to the plurality of control valves. In such a case, the operation levers or operation pedals included in the plurality of remote control valves are equivalent to the operation components, and the pilot pressure is equivalent to the operation signal.

[0031] The location where the operation device 50 is configured is not limited. The operation device 50 may be configured in the cab 24 so that an operator sitting on the driver's seat can operate it, or may be configured outside the construction machinery 2, such as a remote operation room.

[0032] The control system 60 includes a function for performing motion limit control of the construction machinery 2, including Figure 2A plurality of elements shown, namely, a spreader mounting detector 62, a lifting load detector 63, an object sensor 64, an operation limit control switch 66, a locking operation detector 67, a notifier 68, and a controller 70.

[0033] The spreader mounting detector 62 senses whether the spreader 52 is mounted on the work device 30. The spreader mounting detector 62 can be a contact sensor that switches from off to on by contacting the spreader 52, or a non-contact sensor (such as an optical sensor or an ultrasonic sensor) that can sense the presence of the spreader 52 at a specified mounting position without contacting the spreader 52.

[0034] The spreader mounting detector 62 constitutes a mode detector for detecting the current operation mode of the construction machine 2. Specifically, the mode detector detects the operation mode currently being adopted among the plurality of operation modes, in other words, it detects which one of the plurality of operation modes the current operation mode of the construction machine 2 is.

[0035] The lifting load detector 63 is composed of a load sensor and detects the lifting load, that is, the load acting on the spreader 52, when the spreader 52 is mounted at the distal end of the work device 30. When the lifting load detected by the lifting load detector 63 is 0 or a minimum value extremely close to 0, it can be determined that the lifting operation performed by the work device 30 has not actually been executed. Thus, the lifting load detector 63 can function as a lifting operation sensor for sensing whether the lifting operation performed by the work device 30 is being executed. Alternatively, the lifting operation sensor can also be a switch type that switches to on when a certain level or more of lifting load acts on the spreader 52, or it can also identify the presence or absence of the lifted cargo 56 through image recognition.

[0036] The object sensor 64 senses the monitoring objects around the construction machinery 2. Specifically, the object sensor 64 is used to sense the presence of people or obstacles within a monitoring area set around the construction machinery 2. The specific structure of the object sensor 64 is not limited. Preferred examples of the object sensor 64 include a device for obtaining two-dimensional information of an imaging object (such as the position or shape in an image), a camera (single-lens camera) for generating two-dimensional information, a device for obtaining a distance image, a device for generating three-dimensional information of an imaging object (such as three-dimensional coordinates or three-dimensional shape) based on the distance image, a device for generating three-dimensional information using a laser such as LIDAR (Light Detection and Ranging) or TOF (Time Of Flight) sensor, a device for detecting three-dimensional information using electromagnetic waves (such as a millimeter-wave radar), and a stereo camera.

[0037] The object sensor 64 is preferably arranged at a position where it can monitor the rear of the operator, such as the rear end of the upper swing body 20. In addition to being arranged at the rear end, the object sensor 64 can also be added to at least one of the left and right sides of the upper swing body 20, or the object sensor at the side can replace the object sensor at the rear end. Alternatively, the object sensor 64 can also be arranged at a position away from the construction machinery 2 at the work site of the construction machinery 2 and capable of monitoring the construction machinery 2 and its surrounding conditions.

[0038] The operation restriction control switch 66 is configured such that the stop operation and the stop release operation performed by the operator can be applied to it. The stop operation is an operation for stopping the operation restriction control executed by the controller 70, that is, an operation for instructing the controller 70 to stop the operation restriction control. The operation restriction control is a control for restricting the operation of the construction machinery 2 based on the sensing of the monitoring object by the object sensor 64, which will be described in detail below. The stop release operation is an operation for releasing the stop of the operation restriction control, that is, an operation for causing the controller 70 to resume the operation restriction control.

[0039] Similar to the operation device 50, the location where the operation restriction control switch 66 is arranged is not limited. The operation restriction control switch 66 can be arranged at a position where the stop operation and the stop release operation can be applied by the operator sitting in the driver's seat, or can be provided in the remote operation room together with the operation device 50. Or it can also be attached to one of the multiple operation components included in the operation device 50.

[0040] The operation limit control switch 66 only needs to be a component capable of applying the stop operation and the stop release operation by the operator, and its specific structure is not limited. The operation limit control switch 66 can be a push switch, a lever switch, a slide switch, etc., which are switches that accept physical operations by the operator, or can be a display, which has a display screen of a touch screen that can be operated by the operator. The display screen can also be the screen of a mobile device carried by the operator.

[0041] The locking operation detector 67 is used to detect the locking operation applied by the operator to the construction machine 2. The locking operation is an operation for invalidating the operation operation applied to the operation device 50 in order to make the construction machine 2 operate. The construction machine 2 includes an operation locking device. When the locking operation detector 67 detects the locking operation, it inputs a locking operation detection signal to the operation locking device and the controller 70 respectively. When the operation locking device is input with the locking operation detection signal, it performs an operation locking action that invalidates the operation operation.

[0042] Similar to the operation device 50, the locking operation detector 67 can be an operation switch that directly accepts the operation (locking operation) of the operator, or can be other locking operation components for accepting the locking operation, such as a locking operation sensing switch, which is opened and closed in conjunction with the action of a locking lever for operating the opening and closing of the entrance and exit. The locking lever switches between an open position where the entrance and exit are opened to allow the operator to enter and exit and a closed position where the entrance and exit are blocked to prevent the operator from entering and exiting. When the locking lever is in the open position, the locking operation sensing switch is switched to the on state, that is, the state of outputting a locking instruction.

[0043] The drive device 40 includes a hydraulic circuit. When the operation device 50 includes the plurality of remote control valves corresponding to the plurality of movable parts, the operation locking device preferably includes a locking valve, which is disposed in the pilot pressure supply oil path between the plurality of remote control valves and the pilot hydraulic source. The locking valve can invalidate the operation operations applied to the plurality of remote control valves at one time only through a simple structure of cutting off the pilot pressure supply oil path. Specifically, it can prevent the plurality of remote control valves from respectively outputting the pilot pressure corresponding to the operation operation. In this case, the operation locking device can directly interlock with the locking operation to close the locking valve, or the controller 70 or another locking control device that has received the locking operation detection signal from the locking operation detector 67 inputs a command signal to the locking valve to close the locking valve. That is, the controller 70 can also form a part of the operation locking device.

[0044] The notifier 68 sends the notification specified by the controller 70 to the operator. Similar to the operating device 50 and the motion limit control switch 66, the location where the notifier 68 is configured is not limited. This location only needs to be a place where the notifier 68 can notify the operator, which can be a position near the driver's seat, or can be set together with the operating device 50 and the motion limit control switch 66 in the remote operation room. Alternatively, it can also be equipped on a mobile device carried by the operator.

[0045] The notification executed by the notifier 68 can be perceived either visually or aurally by the operator. Specifically, the notifier 68 can be a display that shows the content of the notification on a screen, or a speaker that outputs the content of the notification as sound. Additionally, the display can also show a touch screen including the motion limit control switch 66 on the screen. That is, the motion limit control switch 66 and the notifier 68 can also be constituted by a single display.

[0046] In this embodiment, the controller 70 is a processor that controls the operation of the construction machinery 2 and the notification of the notifier 68 based on information input from the operating device 50, the spreader installation detector 62, the lifting load detector 63, the object sensor 64, the motion limit control switch 66, and the key switch 58, and is preferably a computer including a storage unit and an arithmetic unit. Similar to the operating device 50, the controller 70 can be mounted on the construction machinery 2 or can be provided outside the construction machinery 2. The controller 70 can also be included in a cloud server, for example.

[0047] The controller 70 has Figure 2 the shown mode determination unit 72, drive control unit 74, and notification control unit 76 as the main functions for performing the control, and these functions are realized by the arithmetic unit executing a program stored in the storage unit. The program includes a control program for performing the motion limit control.

[0048] The mode determination unit 72 determines the current operation mode of the construction machinery 2 based on the presence or absence of a detection signal input from the spreader installation detector 62, that is, whether the spreader 52 is installed at the distal end of the working device 30. Specifically, when the mode determination unit 72 detects the installation of the spreader 52, it determines that the operation mode is the crane mode, and when it does not detect the installation of the spreader 52, it determines that the operation mode is a mode other than the crane mode, and in this embodiment, it determines that the operation mode is the normal mode.

[0049] As described above, the spreader mounting detector 62 functions as a mode detector that acquires information for determining the current operation mode. Alternatively, the mode detector may also be a mode selection switch. The mode selection switch receives an operation by an operator for selecting the operation mode and inputs a signal for specifying the selected operation mode to the controller 70. This mode selection switch can input information for directly determining the operation mode to the controller 70.

[0050] The drive control unit 74 controls the drive of the construction machine 2 by the drive device 40, whereby the operation of the construction machine 2 is controlled as follows.

[0051] A. Basic control

[0052] The drive control unit 74 of the present embodiment controls the drive of the drive control unit 74 so that the plurality of movable parts perform actions corresponding to the operation signal (electrical signal) input from the operation device 50, that is, actions corresponding to the work operation. Specifically, the drive control unit 74 generates an instruction signal corresponding to the work operation and inputs the instruction signal to the solenoid valve corresponding to the work operation among the plurality of solenoid valves included in the drive device 40, causing the hydraulic actuator corresponding to the work operation to operate.

[0053] The drive control unit 74 may also change the control content corresponding to the operation mode. For example, when the crane mode is detected, the drive control unit 74 may make the speed of the drive of the work device 30 of the drive device 40 or the speed of the swing drive of the upper swing body 20 lower than that in the normal mode in order to suppress the swing of the suspended load 56.

[0054] When the operation device 50 includes the plurality of remote control valves and the operation signals (pilot pressure) are directly input to the plurality of control valves from the plurality of remote control valves, the basic control of the drive control unit 74 does not need to be executed.

[0055] B. Motion limit control

[0056] The drive control unit 74 executes the motion restriction control until the stop operation is applied to the motion restriction control switch 66. As described above, the motion restriction control is a control that restricts the motion of the construction machine based on the detection of the monitored object by the object sensor 64. Specifically, when the object sensor 64 detects a monitored object (person or obstacle) that has entered the monitoring area set around the construction machine 2, the drive control unit 74 performs control to decelerate the motion of the movable part in order to prevent the monitored object from coming into contact with or approaching the movable part of the construction machine 2. This deceleration includes an emergency stop of the movable part.

[0057] In the present embodiment, the deceleration is performed by changing the command signal (i.e., reducing the pilot pressure) of the solenoid valve corresponding to the movable part to be decelerated among the plurality of solenoid valves to which the input is given. In an embodiment in which the operation device 50 includes the plurality of remote control valves and the drive control unit 74 does not execute the basic control, it is also possible to input a pressure reduction command signal to the solenoid valve located between the plurality of remote control valves and the plurality of control valves, thereby enabling deceleration of the object movable part in the same manner as described above.

[0058] The restriction of the motion of the construction machine 2 is not limited to direct restriction, but also includes indirect restriction. For example, the "motion restriction control" of the present invention includes a case where, by giving a warning to the operator to urge the operator to perform an operation to suppress the motion of the construction machine 2, the motion of the construction machine 2 is restricted as a result. The warning can be given using the notifier 68 or an alarm other than the notifier 68.

[0059] When the key switch 58 is switched to ON and the engine is started in a state where the engine as the power source is stopped, the drive control unit 74 automatically starts executing the motion restriction control based on the detection of the monitored object by the object sensor 64. The automatic start of the motion restriction control can reliably prevent a state where the operator is not aware that the motion restriction control has not been executed after the engine is started.

[0060] The notification control unit 76 executes notification control. The notification control causes the notifier 68 to perform a notification corresponding to the notification command signal by generating an appropriate notification command signal and inputting it to the notifier 68. Specifically, as follows.

[0061] C. Stop instruction notification control

[0062] During the execution of the motion limit control and when the mode determination unit 72 determines that the current operation mode is the crane mode, the notification control unit 76 causes the notifier 68 to notify a stop instruction. The stop instruction is an instruction to urge the operator to apply the stop operation for stopping the motion limit control to the motion limit control switch 66, and for example, displays information such as "Please stop the motion limit control during operation in the crane mode".

[0063] By urging the operator to perform the operation for stopping the motion limit control, that is, the stop operation, the stop instruction can effectively suppress the situation where the motion of the construction machine is restricted due to the execution of the motion limit control during the lifting operation in the crane mode, resulting in significant swaying of the lifted load. The stop instruction is also effective when the motion limit of the construction machine is an indirect limit, that is, a warning to the operator as described above. This is because it can effectively suppress the situation where the operator who receives the warning during the lifting operation manually decelerates the motion of the construction machine 2 suddenly, causing the lifted load 56 to sway.

[0064] As described above, the stop of the motion limit control is not automatically performed by the controller 70 regardless of the operator's will. Instead, it always waits for the operator who receives the notification of the stop instruction from the notifier 68 to actually apply the stop operation to the motion limit control switch 66. Therefore, the stop of this motion limit control can be reliably recognized by the operator.

[0065] D. Additional notification control

[0066] After notifying the stop instruction, when the notification control unit 76 senses the execution of the lifting operation again, in this embodiment, when the lifting load detected by the lifting load detector 63 is a certain value or more, the notification control unit 76 causes the notifier 68 to perform an additional notification of the stop instruction. Thereby, it is possible to more reliably suppress the situation where the lifting operation continues in a state where the motion limit control is not stopped. The additional notification can be either a notification that resumes after the initial notification of the stop instruction is temporarily stopped, or a notification that strengthens the instruction in the case of continuing the stop instruction. The former additional notification, that is, the re-notification, can be either the same content as the initial notification of the stop instruction or different content. The latter notification, that is, the strengthened notification, can be either superimposed on the initially performed notification or emphasize the initially performed notification. For example, it can be the display of the text of the stop instruction or an increase in the light amount, blinking, color change in the surrounding part thereof, or an increase in the volume of the sound corresponding to the stop instruction.

[0067] When the lock operation detector 67 detects the lock operation, regardless of whether the operation mode is the crane mode (lifting operation mode) or the normal mode (modes other than the lifting operation mode), the notification control unit 76 stops the notification of the stop instruction of the notifier 68. On the other hand, in a state where the crane mode is detected and the motion limit control continues, when the lock operation is not detected, the notifier 68 is made to notify the stop instruction. Stopping the notification of the stop instruction when the lock operation is detected can prevent unnecessary notification of the stop instruction in a state where the operation is invalidated due to the lock operation, that is, in a state where the operation of the construction machine 2 including the actions for lifting operations is forcibly stopped. In addition, the notification of the stop instruction when the lock operation is released can effectively suppress the execution of the motion limit control in the crane mode when the operation becomes valid due to the release.

[0068] As described above, after the engine stops and the key switch 58 is switched to on and the engine starts, the drive control unit 74 automatically starts the motion limit control. However, when the operation mode detected at the time of starting the engine is the crane mode, the notification control unit 76 causes the notifier 68 to notify the stop instruction. Thereby, it is possible to effectively suppress the motion limit control automatically started at the time of starting the engine from continuing all the time in the crane mode.

[0069] E. Stop state notification control

[0070] When the operation mode is the normal mode which is an operation mode other than the crane mode and the motion limit control is in a stopped state, the notification control unit 76 causes the notifier 68 to notify the operator that the motion limit control is in a stopped state, that is, performs a stop state notification. The stop state notification is, for example, information such as "Please pay attention to the surroundings when driving while the motion limit control is stopped." On the basis of the notification of the stop state as described above, a notification urging the operator to perform a stop release operation on the motion limit control switch 66 may also be issued.

[0071] The above-mentioned stop state notification can ensure a high level of safety also in the normal mode by urging the operator to surely recognize and pay attention to the fact that the motion limit control is in a stopped state in an operation mode other than the crane mode, that is, the normal mode.

[0072] Figure 3Shows a preferred specific example of the notification provided by the notification control unit 76 described above. In this example, the notifier 68 has both a display and a speaker. In addition to continuously flashing the information on the display, an alarm sound is intermittently emitted from the speaker a specified number of times (for example, 5 times). For example, during the execution of the operation restriction control, when the operation mode is switched from the normal mode to the crane mode (the first column of the figure), as the stop instruction notification, in addition to continuously flashing the information "Please stop the operation restriction control during the operation in the crane mode", the alarm sound of the specified number of times is intermittently emitted. Then, at the time point when the execution of the actual lifting operation is detected, in this embodiment, at the time point when the lifting load detector 63 detects that the lifting load is above a certain level (the second column of the figure), as the additional notification, the alarm sound of the specified number of times (for example, 5 times) is intermittently emitted again during the continuation of the information. This alarm sound is not limited to intermittent sounds, and may also be a continuous sound for a certain period of time, for example.

[0073] Next, with reference to Figure 4 the flowchart of, the process of the operation restriction control performed by the controller 70 will be described in more detail.

[0074] When the key switch 58 is turned on, that is, when the engine is started (Yes in step S10), regardless of the operation mode, the drive control unit 74 of the controller 70 automatically starts the operation restriction control (step S12). Then, the following control is performed until the key switch 58 is turned off (step S42).

[0075] The controller 70 determines whether the operation locking device has been locked (step S14). When this locking operation is applied (Yes in step S14), that is, when the operation locking device works and the operation of the operator is invalid, the operation of the construction machine 2 including the actions for the lifting operation cannot be performed, so the continuation of the operation restriction control does not affect safety at all. Therefore, the notification control unit 76 of the controller 70 stops all the notifications of the notifier 68 (step S16).

[0076] When there is no locking operation or the locking operation is released (No in step S14), the controller 70 executes the stop and stop release of the operation restriction control corresponding to the operation applied to the operation restriction control switch 66, and executes the notification control corresponding to the execution / stop of this operation restriction control and the detected operation mode (steps S20 to S40). As described above, these controls will continue until the key switch 58 is switched to off (No in step S42).

[0077] Specifically, the drive control unit 74 of the controller 70 continues the motion limit control until the stop operation is applied to the motion limit control switch 66 (No in step S20) (step S22). On the other hand, the mode determination unit 72 of the controller 70 determines whether the current operation mode is the crane mode (lifting operation mode) or the normal mode (operation mode other than the lifting operation mode) based on whether the spreader mounting detector 62 detects the mounting of the spreader 52 (step S24). When in the crane mode (Yes in step S24), the notification control unit 76 causes the notifier 68 to notify a stop instruction for urging the operator to perform an operation for stopping the motion limit control, that is, a stop operation (step S26). Then, when it is further detected that an actual lifting operation has been performed (Yes in step S28), the notification control unit 76 causes the notifier 68 to perform an additional notification (step S30).

[0078] Even during the execution of the motion limit control, when the operation mode is not the crane mode (in the present embodiment, in the normal mode; No in step S24), the stop instruction notification and the additional notification are not performed.

[0079] Then, at the time when the operator who has received the stop instruction notification actually applies the stop operation to the motion limit control switch 66 (Yes in step S20), the drive control unit 74 stops the motion limit control (step S32). In other words, the drive control unit 74 continues the motion limit control regardless of the operation mode until the stop operation is applied to the motion limit control switch 66 (No in step S20 and step S22). Thereby, it is possible to reliably prevent the motion limit control from being stopped without the operator being fully aware of it.

[0080] When the motion limit control is stopped and the operation mode is not the crane mode (in the present embodiment, in the normal mode; No in step S34), the notification control unit 76 causes the notifier 68 to perform a stop state notification for notifying the operator that the motion limit control is in a stopped state (step S36). The stop of the motion limit control (step S32) and the stop state notification (step S36) continue until the stop release operation is applied to the motion limit control switch 66 (No in step S38). At the time when the stop release operation is applied to the motion limit control switch 66 (Yes in step S38), the drive control unit 74 restarts the motion limit control (step S40).

[0081] The control described above ends completely when the key switch 58 is switched to the off state (Yes in step S42).

[0082] The present invention is not limited to the embodiments and variations described above, and may include, for example, the following methods.

[0083] The operation restriction control switch 66 may also be a switch that can only be subjected to the stop operation among the stop operation and the stop release operation. For example, after the operation restriction control stops by the stop operation, when the operation mode is switched from the crane mode (lifting operation mode) to the normal mode (modes other than the lifting operation mode), the drive control unit 74 automatically restarts the operation restriction control. However, as described in the above embodiment, the operation restriction control switch 66 can be subjected to not only the stop operation but also the stop release operation. If the drive control unit 74 is configured to restart the operation restriction control on the condition of the stop release operation, not only the stop of the operation restriction control but also the restart of the operation restriction control after the stop can be reliably recognized by the operator.

[0084] The plurality of operation modes only need to include at least a lifting operation mode (the crane mode in the embodiment), and the operation modes other than the lifting operation mode are not limited. The operation modes other than the lifting operation mode may also include operations other than the operations using the bucket 38, for example, modes corresponding to operations using other distal attachment devices (such as crushers) exchanged with the bucket 38.

[0085] In addition, the control system can be widely applied to construction machinery other than hydraulic excavators that can at least perform lifting operations.

[0086] As described above, the present invention provides a control system that can perform appropriate operation restriction control corresponding to the operation mode with the operator being fully aware.

[0087] Provided is a control system for construction machinery, and the construction machinery has a plurality of working modes including a hoisting operation mode. The control system includes a mode detector, an object sensor, an operation limit control switch, a notifier, and a controller. The mode detector detects the current working mode among the plurality of working modes. The object sensor senses a monitoring object around the construction machinery. The notifier is capable of notifying an operator. The controller is capable of performing operation limit control to limit the operation of the construction machinery based on the sensing of the monitoring object. The operation limit control switch can be operated by the operator to stop. When the controller detects the hoisting operation mode during the execution of the operation limit control, the controller causes the notifier to notify a stop instruction urging the stop operation, continues the operation limit control until the operation limit control switch is operated to stop, and stops the operation limit control at the time point when the stop operation is performed.

[0088] When the controller of the control system detects the hoisting operation mode during the execution of the operation limit control, the controller causes the notifier to notify a stop instruction, and by urging the operator to perform the stop operation for stopping the operation limit control, it is possible to effectively suppress the significant sway of the hoisted goods during the hoisting operation in the hoisting operation mode due to the execution of the operation limit control, that is, the operation of the construction machinery is restricted. Moreover, the controller continues the operation limit control until the operation limit control switch is operated to stop, and stops the operation limit control only when the operator actually operates the operation limit control switch to stop. Therefore, the operator can surely be aware of the stop of the operation limit control.

[0089] Preferably, the controller stops the operation limit control only when the operation limit control switch is operated to stop. Thereby, it is possible to more reliably make the operator aware of the stop of the operation limit control.

[0090] Preferably, the operation limit control includes control for decelerating (including emergency stop) the operation of the construction machinery. This control can reliably prevent the construction machinery from contacting or approaching the monitoring object detected by the object sensor. On the other hand, the notification of the stop instruction can effectively suppress the significant sway of the hoisted goods caused by the deceleration of the operation of the construction machinery. The operation limit control or the control for indirectly restricting the operation of the construction machinery may also be, for example, control for warning the operator to urge an operation for suppressing the operation of the construction machinery.

[0091] Preferably, the control system further includes: a hoisting operation sensor that senses the execution of the hoisting operation of the construction machinery. Wherein, after the stop instruction is notified, when the hoisting operation sensor senses the execution of the hoisting operation, the controller causes the notifier to make an additional notification of the stop instruction. Thereby, it is possible to more reliably suppress the situation where the hoisting operation continues in a state where the motion limit control has not stopped. The additional notification may be a notification made after the notification of the stop instruction is temporarily stopped, or a notification made in an enhanced manner during the continuation of the stop instruction. In addition, the content of the additional notification may be the same as or different from the content when the stop instruction is notified.

[0092] The control system may further include: a locking operation detector that detects a locking operation. The locking operation is an operation that invalidates the operation performed by the operator to make the construction machinery operate. In this case, preferably, when the controller detects the locking operation, regardless of the operation mode, it stops the notification of the stop instruction by the notifier. On the other hand, when the locking operation is not detected and the hoisting operation mode is detected during the execution of the motion limit control, the controller causes the notifier to notify the stop instruction. Stopping the notification of the stop instruction can prevent the unnecessary notification of the stop instruction for stopping the motion limit control when the operation is invalidated by the locking operation and the construction machinery does not operate. On the other hand, the notification of the stop instruction when the locking operation is not detected can effectively suppress the continuation of the motion limit control in the hoisting operation mode after the locking operation is released.

[0093] When the construction machinery is equipped with a power source, the controller may also automatically execute the motion limit control when the power source is started. Thereby, after the power source is started, the motion limit control can be reliably performed. Moreover, in this case, when the operation mode is the hoisting operation mode when the power source is started, the controller causes the notifier to notify the stop instruction, thereby effectively suppressing the execution of the hoisting operation after the motion limit control starts automatically.

[0094] In this solution, when the control system further includes the locking operation detector, the controller only needs to be configured to cause the notifier to notify the stop instruction only when the operation mode is the hoisting operation mode and the locking operation is not detected when the power source is started.

[0095] Preferably, in addition to being able to be applied with the stop operation, the motion limit control switch can also be applied with a stop release operation. The controller, during the stop of the motion limit control, only resumes the motion limit control when the stop release operation is applied. Thus, not only the stop of the motion limit control but also the resumption of the motion limit control after the stop can be reliably recognized by the operator.

[0096] Preferably, when the operation mode is an operation mode other than the hoisting operation mode and the motion limit control is stopped, the controller causes the notifier to notify that the motion limit control has stopped. Thus, the operator can be surely aware that the motion limit control is stopped although the operation mode is an operation mode other than the hoisting operation mode, and high safety can be ensured even in an operation mode other than the hoisting operation mode.

[0097] In addition, a control method is provided for a construction machine having a plurality of operation modes including a hoisting operation mode. The method includes: performing motion limit control for restricting the motion of the construction machine based on the perception of a monitoring object until a stop operation is applied to a motion limit control switch by an operator; stopping the motion limit control by applying the stop operation to the motion limit control switch; and when the hoisting operation mode is detected during the execution of the motion limit control, causing the notifier to notify a stop instruction for urging the stop operation.

[0098] In addition, a control program is provided for causing a motion limit control for restricting the motion of a construction machine to be executed. The construction machine has a plurality of operation modes including a hoisting operation mode. When the control program is read by a computer, the computer is caused to execute the following processing: performing the motion limit control based on the perception of a monitoring object until a stop operation is applied to a motion limit control switch by an operator; stopping the motion limit control by applying the stop operation to the motion limit control switch; and when the hoisting operation mode is detected during the execution of the motion limit control, causing the notifier to notify a stop instruction for urging the stop operation.

[0099] In addition, a storage medium is provided that stores the above control program, and the control program is allowed to be read by the computer.

Claims

1. A control system for construction machinery having a plurality of operating modes including a hoisting operation mode, characterized in that include: A mode detector for detecting a current operation mode among the plurality of operation modes; An object sensor for sensing a monitoring object around the engineering machinery; Notifier, capable of notifying operators; a controller capable of performing motion limiting control to limit the motion of the engineering machine based on the perception of the monitored object; as well as The action limit control switch can be applied by the operator to stop the operation, wherein: When the motion limiting control is being executed and the hoisting operation mode is detected, the controller causes the notifier to notify a stop instruction urging the stop operation, continues the motion limiting control until the stop operation is applied to the motion limiting control switch, and stops the motion limiting control at the time when the stop operation is applied.

2. The control system according to claim 1, characterized in that: The controller stops the movement restriction control only when the stop operation is applied to the movement restriction control switch.

3. The control system according to claim 1, characterized in that: The motion limiting control executed by the controller includes control for decelerating the motion of the construction machine.

4. The control system according to claim 1, characterized in that Also includes: A lifting operation sensor senses the execution of the lifting operation of the engineering machinery, wherein: The controller causes the notifier to make an additional notification of the stop instruction when the hoisting operation sensor senses execution of the hoisting operation after the stop instruction is notified.

5. The control system according to claim 1, characterized in that Also includes: A lock operation detector detects a lock operation, wherein: The locking operation is an operation to invalidate the operation performed by the operator to make the construction machine move. When the locking operation is detected, the controller stops the notification of the stop instruction by the notifier regardless of the operation mode. On the other hand, when the locking operation is not detected and the lifting operation mode is detected during the execution of the motion limiting control, the controller allows the notifier to notify the stop instruction.

6. The control system according to claim 1, characterized in that: The engineering machine comprises a power source, The controller automatically executes the motion restriction control when the power source is started, and causes the notifier to notify the stop instruction when the operation mode is the hoisting operation mode when the power source is started.

7. The control system according to claim 5, characterized in that: The engineering machine comprises a power source, The controller automatically performs the motion restriction control when the power source is started, and causes the notifier to notify the stop instruction only when the operation mode is the hoisting operation mode and the locking operation is not detected when the power source is started.

8. The control system according to claim 1, characterized in that: In addition to the stop operation, the action limit control switch can also be subjected to a stop release operation. The controller restarts the movement restriction control only when the stop release operation is applied while the movement restriction control is stopped.

9. The control system according to any one of claims 1 to 8, characterized in that: When the operation mode is an operation mode other than the hoisting operation mode and the motion limit control is stopped, the controller causes the notifier to notify that the motion limit control has stopped.

10. A control method for construction machinery having multiple working modes including a hoisting operation mode, characterized in that Comprising: Performing motion limit control to limit the motion of the construction machine based on the perception of the monitoring object until a stop operation is applied to the motion limit control switch by the operator; Stopping the motion limit control by applying the stop operation to the motion limit control switch; When the hoisting operation mode is detected during the execution of the motion limit control, causing the notifier to notify a stop instruction urging the stop operation.

11. A control program for causing a motion limit control for limiting the motion of a construction machine to be executed, the construction machine having a plurality of operation modes including a hoisting operation mode, characterized in that: When read by a computer, causing the computer to execute the following processing: Performing the motion limit control based on the perception of the monitoring object until a stop operation is applied to the motion limit control switch by the operator; Stopping the motion limit control by applying the stop operation to the motion limit control switch; When the hoisting operation mode is detected during the execution of the motion limit control, causing the notifier to notify a stop instruction urging the stop operation.

12. A storage medium storing the control program according to claim 11, characterized in that: The control program is allowed to be read by the computer.

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