System for preventing tipping of construction equipment

Abstract

The present invention provides a system for preventing tipping of construction equipment, which calculates a tipping load of construction equipment to provide the calculated tipping load to an operator, and displays a tipping risk according to a swing angle section and a reach section to effectively warn the operator of the tipping risk.

Description

Tip-over prevention system for construction machinery

[0001] The present invention relates to a tipping prevention system for construction machinery, and more specifically, to a tipping prevention system for construction machinery that calculates a tipping load of the construction machinery and provides it to a worker, and displays a tipping risk according to a turning angle section and a reach section, thereby effectively warning a worker of a tipping risk.

[0002] Construction machinery broadly refers to all machines used in civil engineering or building construction. Typically, construction machinery has an engine and a hydraulic pump powered by the engine. The power generated by the engine and hydraulic pump is used to drive the machine or operate the implement.

[0003] Because these construction machines frequently operate in rough terrain and carry loads, the risk of tipping over is relatively higher than that of conventional vehicles. Therefore, operators must exercise extreme caution while driving or working. This constant vigilance can lead to fatigue, and carelessness can lead to tipping over.

[0004] To prevent this, in the past, the actual weight of the salvaged object was compared with the value in the overturning load table, and if the actual weight was heavier than the rated overturning load value in the overturning load table, the user was warned of the risk of overturning. However, the rated overturning load in the overturning load table is calculated based solely on the major and minor axes, assuming that the equipment is stationary and located on flat ground. Therefore, there is a problem that the result of the system's judgment of the risk of overturning may differ from the actual situation when the equipment is moving or located on a slope. In other words, the overturning load table can only consider the static stability of the equipment on flat ground.

[0005] Additionally, because the overturning load table is structured in a table format with the rated overturning load values ​​at regular intervals for reach and height, even slight changes in the lift point position can cause discontinuous changes in the rated overturning load values. This discontinuity can cause significant inconvenience to workers. For example, a situation may arise where a worker is warned that an unsafe condition exists even though there is no risk of overturning, or conversely, a situation may arise where a worker is informed that a safe condition exists even though an unsafe condition exists.

[0006] To address the aforementioned issues, a method has been developed to continuously warn of the risk of equipment tipping over by calculating or measuring the Zero Moment Point (ZMP), which can determine the dynamic stability of the equipment. However, conventional methods simply display the ZMP within the support area connecting the equipment and the ground's grounding points to warn of the risk of tipping over. This means that because tipping over risk is only warned based on the equipment's current ZMP, it is difficult to inform workers in advance of the potential tipping risk when the equipment adopts a different posture.

[0007] The purpose of the present invention is to provide a tipping prevention system for construction machinery that can effectively warn workers of the risk of tipping by calculating the tipping load of the construction machinery and providing it to workers, and indicating the risk of tipping according to the turning angle section and the reach section.

[0008] The technical problems to be solved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0009] In order to solve the above problem, one embodiment of the present invention provides a system for preventing overturning of a construction machine, comprising: a lower body; an upper body rotatably installed on the lower body; a boom rotatably connected to the upper body and rotated by a boom cylinder; an arm rotatably connected to the boom and rotated by an arm cylinder; and a bucket rotatably connected to the arm and rotated by a bucket cylinder, wherein the system calculates an overturning load by using position information, acceleration information, external force information of the lower body, the upper body, the boom, the arm, and the bucket, and coordinates at the boundary of a support area connecting ground contact points of the equipment, and provides the calculated overturning load to a worker.

[0010] According to an embodiment, the system uses the position information, acceleration information, and external force information of the lower body, the upper body, the boom, the arm, and the bucket to determine the coordinates of the ZMP ( , ) and obtain the coordinates of the origin of the support area and the ZMP ( , ) is derived as a one-dimensional function, and the coordinates at the boundary of the support area are obtained through the one-dimensional function ( , ) and obtain the coordinates at the boundary of the support area ( , ) can be used to calculate the conduction load by reverse calculation.

[0011] According to an embodiment, the system calculates a slope rotation matrix from a slope angle sensor provided on the upper body when the equipment is on a slope. , and obtain the above slope rotation matrix The inclined plane rotation matrix considering the rotation angle of the upper body with respect to the lower body After deriving the coordinates of the above ZMP ( , ) when obtaining the above acceleration information, the acceleration of gravity can be applied.

[0012] According to an embodiment, the slope rotation matrix Is or and here is a matrix transformation that rotates around the x-axis, is a matrix transformation that rotates around the y-axis, is the roll angle of the upper body, may be the pitch angle of the upper body.

[0013] According to an embodiment, the slope rotation matrix is the above-mentioned slope rotation matrix to It is derived by multiplying, is a matrix transformation that rotates around the z-axis, may be the turning angle of the upper body with respect to the lower body.

[0014] In some embodiments, the support area may correspond to an area connecting the ground contact points of the equipment when the equipment is on a flat surface or an inclined surface.

[0015] In an embodiment, when the equipment is on a slope, the origin of the support area may be set to the center of a circle after extracting the coordinates of two additional ZMPs by changing the rotation angle of the upper body to an arbitrary value and connecting the coordinates of a total of three ZMPs into a circle.

[0016] According to an embodiment, the system may additionally calculate a tipping load by changing the turning angle or reach of the equipment to an arbitrary value different from the current turning angle and reach, compare the additionally calculated tipping load with the current lifting load to determine a tipping risk, and then provide the operator with information about whether or not there is a tipping risk at the arbitrary value.

[0017] According to an embodiment, the system may divide the turning angle of the equipment into a plurality of sections, divide the reach of the equipment into a plurality of sections, and provide the operator with information on whether there is a risk of tipping over for each section.

[0018] According to an embodiment, the system may divide the turning angle of the equipment into six or more sections and divide the reach of the equipment into two or more sections.

[0019] According to an embodiment, the system may calculate the rated hydraulic critical load of the boom cylinder through the moment equilibrium equation of the boom cylinder, calculate the rated hydraulic critical load of the arm cylinder through the moment equilibrium equation of the arm cylinder, and set the smaller value of the rated hydraulic critical load of the boom cylinder and the rated hydraulic critical load of the arm cylinder as the final hydraulic critical load.

[0020] According to an embodiment, the system calculates a slope rotation matrix from a slope angle sensor provided on the upper body when the equipment is on a slope. , and the gravity component of the moment equilibrium equation of the boom cylinder and the gravity component of the moment equilibrium equation of the arm cylinder are obtained. can be applied.

[0021] According to an embodiment, the system may derive a smaller value between the conductive load and the final hydraulic critical load and provide the result to the operator.

[0022] According to an embodiment, when the equipment is on a slope, the coordinates of the ZMP ( , ) can be calculated through formula 2.

[0023] [Formula 2]

[0024]

[0025]

[0026] According to an embodiment, when the equipment is on a slope, the moment equilibrium equation of the boom cylinder may correspond to Equation 6, and the moment equilibrium equation of the arm cylinder may correspond to Equation 7.

[0027] [Formula 6]

[0028]

[0029] [Formula 7]

[0030]

[0031] In an embodiment, the overturning load calculated based on the current information of the equipment is output as a number on the display device of the equipment, and the overturning load calculated by changing it to an arbitrary value different from the current information of the equipment can be output as a color on the display device of the equipment after determining the risk of overturning through comparison with the current lifting load.

[0032] According to the present invention, after calculating the ZMP coordinates, the tipping load is calculated through inverse calculation using the ZMP coordinates and provided to the worker, so that the worker can intuitively understand and compare the current lifting load and tipping load.

[0033] In addition, even when the construction equipment is on a slope as well as a flat surface, the computational load for calculating the ZMP coordinate can be greatly reduced by considering the slope rotation matrix in the gravitational acceleration.

[0034] In addition, by calculating the overturning load according to multiple turning angle sections and multiple reach sections, the risk of overturning is determined and displayed in color on a display device, so that the worker can identify the risk of overturning according to various movements as well as the risk of overturning in the current state.

[0035] In addition, since the overturning load is displayed continuously using the ZMP coordinate as an index, the overturning risk can be displayed more continuously than the conventional technology using the overturning load table, and even when the rated hydraulic capacity is reached, the hydraulic critical risk is displayed separately from the overturning risk, so when a warning situation occurs, the worker can distinguish whether it is due to the overturning risk or the hydraulic critical risk.

[0036] This will ultimately help prevent worker injuries or deaths caused by overturning of construction machinery.

[0037] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0038] FIG. 1 is a side view illustrating construction machinery equipment according to one embodiment of the present invention.

[0039] FIG. 2 is a block diagram schematically illustrating a tipping prevention system for construction machinery equipment according to one embodiment of the present invention.

[0040] Figure 3 is a schematic diagram showing a method for calculating a conducting load using ZMP coordinates.

[0041] Figures 4a and 4b are schematic diagrams showing how to set the support area and origin when the equipment is on an inclined plane.

[0042] Figures 5a and 5b are schematic diagrams illustrating an example in which an input value control unit changes the reach of the equipment to an arbitrary value for a plurality of reach sections.

[0043] Figure 6 is a schematic diagram showing a method for calculating the hydraulic critical load when the equipment is on an inclined surface.

[0044] Fig. 7 is a front view showing in detail the display device of Fig. 1.

[0045] Figure 8a is a front view showing the first display section of Figure 7 in a risk situation according to a conductive load.

[0046] Figure 8b is a front view showing the first display section of Figure 7 at a risk level according to a critical load.

[0047] Fig. 9 is a front view showing another state of the display device of Fig. 1.

[0048] Hereinafter, a preferred embodiment of a tipping prevention system for construction machinery equipment of the present invention will be described with reference to the attached drawings.

[0049] In addition, the terms described below are terms defined in consideration of the functions in the present invention, and may vary depending on the intention or custom of the user or operator. The examples below do not limit the scope of the present invention, but are merely exemplary of the components presented in the claims of the present invention.

[0050] To clearly explain the present invention, irrelevant parts have been omitted, and the same reference numerals are used throughout the specification to refer to identical or similar components. Throughout the specification, when a part is said to "include" a certain component, unless specifically stated otherwise, this does not mean that other components may be included, but rather that other components may be included.

[0051] Furthermore, components represented as "~bu" throughout the specification may be two or more components combined into a single component, or a single component may be further subdivided into two or more components with more detailed functions. Furthermore, each component described below may, in addition to its own primary function, additionally perform some or all of the functions performed by other components. Furthermore, some of the primary functions of each component may be exclusively performed by other components.

[0052]

[0053] First, let us briefly look at the construction machinery equipment (1) according to one embodiment of the present invention with reference to FIG. 1.

[0054] Construction machinery equipment (1) includes a lower body (10) that allows the equipment to move, an upper body (20) that is rotatably installed on the lower body (10), and a work device that is installed on the upper body (20) to perform excavation and lifting operations, etc. The work device may include a boom (Boom; 30) that is rotatably connected to the upper body (20) about a first support point (31) and rotated by a boom cylinder (32), an arm (Arm; 40) that is rotatably connected to the boom (30) about a second support point (41) and rotated by an arm cylinder (42), and a bucket (50) that is rotatably connected to the arm (40) about a third support point (51) (Lift point) and rotated by a bucket cylinder (52). The bucket cylinder (52) is connected to the bucket (50) through the bucket link (53) and to the arm (40) through the arm link (54), so that the rotation angle of the bucket (50) can be controlled by the bucket link (53) and the arm link (54).

[0055] The lower body (10) is a moving device for moving on rough or flat terrain, and can drive by receiving driving force from the upper body (20), and is not limited to a specific configuration. For example, the lower body (10) may include multiple wheels, caterpillars, etc.

[0056] The upper body (20) is driven to rotate around the central axis (CL) by a rotation motor on the lower body (10). The upper body (20) may be equipped with a driver's cabin, an operation control device that controls the start / stop and overall operation of the equipment, an engine, etc. For example, the operation control device may be equipped with an operation lever for inputting a movement instruction for each cylinder, a display device (60) that indicates a risk of equipment tipping over, etc., and an alarm device (70) that generates a warning sound when a situation such as a risk of equipment tipping over occurs.

[0057] The bucket (50) can be used to lift or move heavy objects generated during excavation work. The bucket (50) can be replaced with other work tools such as a grapple, cutter, or breaker.

[0058] Each component of construction machinery (1) is equipped with sensors for measuring position information, acceleration information, and external force information. The sensors below are provided as examples, and various methods for obtaining each piece of information can be utilized.

[0059] Specifically, an inclination sensor is provided on the upper body (20) to detect the inclination angle of the upper body (20). The inclination sensor measures the inclination angle with respect to a world coordinate system that has the direction of gravity as its reference and the direction opposite to gravity as the z-axis. A turning angle sensor is provided on the central axis (CL) of the upper body (20) to detect the turning angle of the upper body (20) with respect to the lower body (10).

[0060] Additionally, acceleration sensors for detecting acceleration may be provided near the centers of the lower body (10), upper body (20), boom (30), and arm (40), respectively. Acceleration may be first measured through the acceleration sensors, and each rotational motion angle may be extracted from this. In some cases, angle sensors for measuring the rotational motion angle may be provided at each support point (31, 41, 51) separately from the acceleration sensors.

[0061] As a method for measuring external force information, a pin force sensor may be provided on each of the pins connecting the arm (40) and the bucket (50) (i.e., the pin installed at the third support point (51)) and the pin connecting the bucket link (53) and the bucket (50). For example, the pin force sensor may be configured such that a strain gauge is inserted into the interior of a cylindrical shape, and by measuring the deformation occurring in the strain gauge, the magnitude and direction of the force (external force) applied to the pin can be detected.

[0062]

[0063] The tipping prevention system of the present invention determines the dynamic stability of construction machinery equipment (1) through the ZMP. In particular, the calculated ZMP is used to calculate the tipping load and provide it to the operator. Furthermore, the tipping load is calculated according to multiple turning angle sections and multiple reach sections to determine the risk of tipping, and this is displayed on a display device using color, etc., and provided to the operator.

[0064] Referring to FIG. 2, a fall prevention system (100) according to an embodiment of the present invention may include an input unit (110), a ZMP calculation unit (120), a fall load calculation unit (130), a fall risk determination unit (140), an output unit (150), a display device (60), and an alarm device (70). Hereinafter, a specific operation process of the fall prevention system (100) will be examined.

[0065] The input unit (110) inputs values ​​detected from the above-described multiple sensors. Specifically, the inclination angle of the upper body (20), the turning angle of the upper body (20), the rotational motion angle of the boom (30), the rotational motion angle of the arm (40), the rotational motion angle of the bucket (50), the acceleration of the lower body (10), the acceleration of the upper body (20), the acceleration of the boom (30), the acceleration of the arm (40), the external force applied to the pin connecting the arm (40) and the bucket (50), and the external force applied to the pin connecting the bucket link (53) and the bucket (50) can be input.

[0066] The ZMP calculation unit (120) calculates ZMP from the values ​​input to the input unit (110). ZMP refers to a point on the ground where the rotational moment due to the inertial force, gravity, and external force acting on the equipment is offset by the ground reaction force to achieve dynamic equilibrium, and is the same concept as CoP (Center of Pressure) from the ground reaction force perspective.

[0067] First, if the equipment (1) is placed on a flat surface and there is no incline, the coordinates of the ZMP ( , ) can be calculated through [Formula 1] below.

[0068] [Formula 1]

[0069]

[0070]

[0071] Here, i and j refer to the center of gravity position of each component. For example, the i, j=1st position refers to the center of gravity position of the lower body (10), the i, j=2nd position refers to the center of gravity position of the upper body (20), the i, j=3rd position refers to the center of gravity position of the boom (30), the i, j=4th position refers to the center of gravity position of the arm (40), and the i, j=5th position refers to the center of gravity position of the bucket (50). In addition, k refers to the position at which an external force is applied.

[0072] Here is the mass at the i-th position, is the acceleration in the z direction at the i-th position, is the acceleration of gravity in the z direction, is the x-coordinate of the i-th position, is the acceleration in the x direction at the i-th position, is the acceleration of gravity in the x-direction, is the z-coordinate of the i-th position, is the rotation moment in the y direction at the i-th position, is the moment in the y direction acting from the outside at the j-th position, is the z-coordinate of the kth position where the external force acts, is the external force in the x-direction at the kth position, is the x-coordinate of the kth position where the external force acts, is the external force in the z direction at the kth position.

[0073] If the construction machinery equipment (1) is being lifted, that is, if there are no external moments or forces acting on it, and can be ignored, and The formula can be simplified by considering all of them as 0.

[0074] The coordinates of ZMP obtained through [Formula 1] are ( , ) is within the support area (SA) of the construction machinery equipment (1) as illustrated in FIG. 3, it can be determined that there is currently no risk of tipping over. The support area (SA) of the construction machinery equipment (1) is an area that connects the contact points of the equipment and the ground in a straight line. For example, when the lower body (10) of the equipment is in contact with the ground, the area of ​​the lower body (10) can become the support area (SA).

[0075] However, the tipping prevention system (100) of the present invention does not provide the coordinate position of the ZMP to the worker, but rather calculates the tipping load using the coordinates of the ZMP and provides this to the worker, thereby allowing the worker to intuitively determine the difference between the current lifting load and the tipping load and the weight that can be lifted in the current state of the equipment.

[0076] To this end, as shown in Fig. 3, the conductive load calculation unit (130) calculates the coordinates of the ZMP calculated in the ZMP calculation unit (120) ( , ) is received, and the coordinates of the origin (O) and ZMP of the support area (SA) ( , ) is connected to derive a one-dimensional function. If the equipment (1) is on a flat surface, the origin (O) of the support area (SA) can be set as the center. Then, the coordinates ( at the boundary of the support area (SA) through the derived one-dimensional function , ) is obtained. After that, the coordinates ( , ) can be inserted into [Formula 1] to calculate the conduction load through reverse calculation. That is, the mass of the bucket (50) ( ) can be calculated by setting only the conduction load as a variable. The conduction load calculated in the conduction load calculation unit (130) is output to the display device (60) through the output unit (150) and displayed on the display device (60).

[0077] In addition, the overturning load calculated by the overturning load calculation unit (130) is transmitted to the overturning risk determination unit (140), and the overturning risk determination unit (140) compares the overturning load with the current lifting load to determine whether there is a risk of overturning. For example, if the current lifting load is 100% or more of the overturning load, it may be determined that there is a risk of overturning, and if it is less than that, it may be determined that there is no risk of overturning. According to an embodiment, if the current lifting load is less than 100% of the overturning load but is more than a certain percentage (e.g., 70%) of the overturning load, it may be determined that there is a high possibility of a risk of overturning.

[0078] In some cases, the operator can input a sensitivity setting into the input unit (110). If the operator sets the sensitivity to a high value, the tipping risk determination unit (140) can determine that there is a tipping risk if the current lifting load is 90% or more of the tipping load. On the other hand, if the operator sets the sensitivity to a low value, the tipping risk determination unit (140) can determine that there is a tipping risk if the current lifting load is 110% or more of the tipping load.

[0079] Information on the risk of falling determined by the risk of falling determination unit (140) is transmitted to the output unit (150). If there is a risk of falling, the output unit (150) can output information to the display device (60) in red, for example, and to the alarm device (70) in an alarm sound (see FIG. 9). On the other hand, if there is no risk of falling, the output unit (150) can output information to the display device (60) in green, for example. (see FIG. 7). According to an embodiment, if the risk of falling determination unit (140) determines that there is a high possibility of a risk of falling, the output unit (150) can output information to the display device (60) in yellow, for example.

[0080]

[0081] Next, let's look at how to calculate the coordinates of the ZMP and the overturning load when the equipment (1) is placed on a slope.

[0082] The problem with equipment (1) when placed on an incline is that the support area, when projected onto the flat surface, changes from a rectangle to a parallelogram, and the pivot point for the ZMP is no longer located at the origin of the equipment. In particular, since the boundary of the area projected onto the flat surface in the form of a parallelogram is composed of a one-dimensional function, additional computational complexity arises when calculating the risk of tipping.

[0083] Accordingly, the present invention is characterized in that the influence of the slope is considered not on the position of the equipment, but on the force (gravity) applied to the equipment. Specifically, the slope rotation matrix that can be obtained by the slope angle sensor provided on the upper body (20) When said, the slope rotation matrix The inclined plane rotation matrix considering the rotation angle of the upper body (20) with respect to the lower body (10) is derived. Accordingly, the acceleration due to gravity The transpose matrix of By applying the method, the part affected by gravity when the equipment (1) is on a slope can be calculated. That is, the equipment affected by the acceleration of gravity g on a slope can be calculated on a flat surface. It is calculated by treating it as equipment that is affected by .

[0084] Due to this, [Formula 1] can be modified to the following [Formula 2].

[0085] [Formula 2]

[0086]

[0087]

[0088] Here too, in the case of lifting work of construction machinery equipment (1), that is, when there is no moment or force acting from the outside, and can be ignored, and on flat ground It can be calculated by treating it as equipment that is affected by . This causes at := In this case, [Formula 2] can be simply expressed as [Formula 3].

[0089] [Formula 3]

[0090]

[0091]

[0092] Inclined rotation matrix According to the characteristics of the inclination sensor provided in the upper body (20) or It could be. is a matrix transformation that rotates around the x-axis, is a matrix transformation that rotates around the y-axis, is the roll angle of the upper body (20), is the pitch angle of the upper body (20). Specifically, the inclined plane rotation matrix If you display it, it is as follows. Below , It should be written as .

[0093] or am.

[0094] Inclined rotation matrix is the slope rotation matrix to It is derived by multiplying, is a matrix transformation that rotates around the z-axis, is the turning angle of the upper body (20) with respect to the lower body (10). If the lower body (10) and the upper body (20) are both facing the same direction, i.e. If this is 0° = This is it.

[0095] In this way, the present invention reflects the influence of the slope only on the gravity component without reflecting it on the position of the center of gravity, velocity, and acceleration components, thereby significantly reducing the computational load without complex function calculation.

[0096] The coordinates of ZMP obtained through [Formula 2] (or simplified [Formula 3]) are ( , ) is the same as described above. That is, the coordinates of the origin (O) of the support area (SA) and the ZMP ( , ) is connected to derive a one-dimensional function, and the coordinates at the boundary of the support area (SA) are derived through the derived one-dimensional function ( , ) is obtained, the coordinates ( , ) can be inserted into [Formula 2] to calculate the conduction load through inverse calculation.

[0097] As shown in Figures 4a and 4b, when the equipment (1) is placed on a slope, the actual support area (indicated by a solid line) connecting the contact points of the equipment (1) and the ground on the slope in a straight line is formed as a rectangle as in a plane, but the virtual support area (indicated by a dotted line) on the flat surface projected on the flat surface will be in the shape of a parallelogram. In the present invention, the equipment (1) placed on a slope is placed on a flat surface. Since it is calculated by treating it as equipment affected by the ground, the actual support area, not the virtual support area on the ground, can be set as the support area (SA). In other words, the area connecting the points on the ground and the equipment (1) with a straight line can be set as the support area (SA), regardless of whether the equipment (1) is on the ground or a slope.

[0098] However, when the equipment (1) is placed on a slope, the origin (O) of the support area (SA) does not correspond to the center of the support area (SA), unlike when the equipment (1) is placed on a flat surface. Therefore, in order to obtain the origin (O) of the support area (SA) as shown in Fig. 4b, the rotation angle of the upper body (20) is arbitrarily changed to obtain two additional ZMP coordinates ( , ) and ( , ) is extracted. Accordingly, a total of three ZMP coordinates can be connected into a circle, and the center of the circle can be set as the origin (O) of the support area (SA).

[0099]

[0100] According to an embodiment, the anti-fall system (100) may further include an input value control unit (160), an additional ZMP calculation unit (170), and an additional fall load calculation unit (180).

[0101] The input value control unit (160) changes the input value to an arbitrary value different from the current equipment's turning angle and reach value and transmits the change to the additional ZMP calculation unit (170), and the additional ZMP calculation unit (170) and the additional overturning load calculation unit (180) calculate the ZMP coordinates and overturning load according to the arbitrary input value. The overturning load calculated according to the arbitrary input value is similarly transmitted to the overturning risk determination unit (140) so that the presence or absence of a overturning risk can be determined, and information on the determined overturning risk is transmitted to the output unit (150). Thereafter, the presence or absence of a overturning risk can be displayed on the display device (60) using a color, etc., through the output unit (150). At this time, the display device (60) may display the change in a position corresponding to the arbitrary turning angle and reach value, which will be examined in more detail in the description of the display device (60) below. Through this, the worker can identify not only the overturning risk in the current state but also the overturning risk according to various actions, and thus can easily proceed with the work while preventing overturning in advance.

[0102] For example, the input value control unit (160) may divide the 360° turning angle of the upper body (20) evenly into a total of 8 sections, and may divide the 1st section clockwise so that 0° is the center value, the 2nd section clockwise so that 45° is the center value, the 3rd section clockwise so that 90° is the center value, the 4th section clockwise so that 135° is the center value, the 5th section clockwise so that 180° is the center value, the 6th section clockwise so that 225° is the center value, the 7th section clockwise so that 270° is the center value, and the 8th section clockwise so that 315° is the center value. If the current turning angle of the upper body (20) belongs to section 2, the input value control unit (160) may arbitrarily change the turning angle of the upper body (20) to the center values ​​of the remaining sections and provide the change to the additional ZMP calculation unit (170). (See FIG. 7)

[0103] Also, as an example, as illustrated in FIG. 5A, the input value control unit (160) can divide the maximum reach value of the equipment into 1 section that is 50% or less, 2 sections that are more than 50% and less than 75%, and 3 sections that are more than 75% and less than 100%. The reach of the equipment refers to the horizontal distance between the pivot center axis (CL) of the upper body (20) and the third support point (51), and the maximum reach refers to the distance when the third support point (51) touches the ground. If the reach of the current equipment belongs to 2 sections, the input value control unit (160) can arbitrarily change the reach to the end value of the 1st section closest to the 2nd section and the end value of the 3rd section, and provide the change to the additional ZMP calculation unit (170). The arbitrary rich values ​​changed by the input value control unit (160) for each case where the rich value of the current equipment belongs to the 3rd section, the 2nd section, and the 1st section are easily illustrated in FIG. 5b.

[0104]

[0105] According to an embodiment, the anti-fall system (100) may further include a hydraulic critical load calculation unit (190).

[0106] The hydraulic critical load calculation unit (190) calculates the rated hydraulic critical load of the boom cylinder (32) and the rated hydraulic critical load of the arm cylinder (42). The rated hydraulic critical load of the boom cylinder (32) is the hydraulic critical load that the boom cylinder (32) can withstand, and the rated hydraulic critical load of the arm cylinder (42) is the hydraulic critical load that the arm cylinder (42) can withstand.

[0107] The rated hydraulic critical load of the boom cylinder (32) can be calculated through the moment equilibrium equation for the boom cylinder ([Formula 4] below), and the rated hydraulic critical load of the arm cylinder (42) can be calculated through the moment equilibrium equation for the arm cylinder ([Formula 5] below). [Formula 4] and [Formula 5] below can be applied when the equipment (1) is on flat ground.

[0108] [Formula 4]

[0109] ⇔

[0110]

[0111] [Formula 5]

[0112] ⇔

[0113]

[0114] Here, Bm refers to the boom (30), Arm refers to the arm (40), Wght refers to the weight of the bucket (50) or the lifting object running on the third support point (51) (Lift point), Bmcyl refers to the boom cylinder (32), and Armcyl refers to the configuration of the arm cylinder (42).

[0115] In [Formula 4] , , are the position vectors to the center of gravity of Bm, Arm, and Wght, respectively, based on the first support point (31). refers to the position vector from the first support point (31) to the fourth support point (33), which is the point where the boom cylinder (32) is pushed. In addition, means the power of the boom cylinder (32), , , represents the force due to gravitational acceleration applied to the masses of Bm, Arm, and Wght, respectively. (ex: ) As a result, when force is applied to the boom cylinder (32) through [Formula 4], the moment generated at the first support point (31) ) due to the weights Bm, Arm, and Wght. , , ) can withstand, and since the boom cylinder (32) can exert force hydraulically, the weight corresponding to this equilibrium point is called the hydraulic critical load.

[0116] Likewise, in [Formula 5] , are the position vectors to the center of gravity of Arm and Wght based on the second support point (41), respectively. refers to the position vector from the second support point (41) to the fifth support point (43), which is the point where the female cylinder (42) is pushed. In addition, means the power of the female cylinder (42), , represents the force due to gravitational acceleration applied to the masses of Arm and Wght, respectively.

[0117] If the equipment (1) is on a slope, the boom cylinder (32) and the arm cylinder (42) are both connected to the upper body (20), so the slope rotation matrix discussed above The transpose matrix of can be applied to the gravity vector.

[0118] Specifically, In this case and, In this case am.

[0119] As a result, [Formula 4] for the boom cylinder (32) can be modified to [Formula 6], and [Formula 5] for the female cylinder (42) can be modified to [Formula 7]. Referring to Fig. 6, for equipment on a slope, the gravity vector If applied, it can be seen that it can be treated as equipment on flat ground.

[0120] [Formula 6]

[0121]

[0122] [Formula 7]

[0123]

[0124] The hydraulic critical load calculated in the hydraulic critical load calculation unit (190) is transmitted to the output unit. The output unit (150) can provide the operator with the smaller value between the hydraulic critical load for the boom cylinder (32) and the hydraulic critical load for the arm cylinder (42) as the final hydraulic critical load.

[0125] The output unit can output the conduction load transmitted from the conduction load calculation unit (130) and the final hydraulic critical load transmitted from the hydraulic critical load calculation unit (190) to be displayed on the display device (60), respectively. However, in this embodiment, only the smaller value of the conduction load and the final hydraulic critical load is output to be displayed on the display device (60). This will be examined in more detail in the description of the display device (60) below.

[0126]

[0127] Next, let us look at the display device (60) in detail with reference to FIGS. 7 and 8.

[0128] As illustrated in Fig. 7, the display device (60) in the present embodiment includes a first display unit (61), a second display unit (62), and a third display unit (63). Hereinafter, in the drawing, an area filled with dots is described as an area corresponding to green, an area filled with hatching is described as an area corresponding to yellow, and an area entirely filled with black is described as an area corresponding to red.

[0129] The first display unit (61) displays the current lifting load, and the smaller value among the overturning load and the final hydraulic critical load. In Fig. 7, the description will be based on the case where the current lifting load is 2.59 t, the overturning load is 8.62 t, and the final hydraulic critical load is 12.28 t. In the present embodiment, since the overturning load is smaller than the final hydraulic critical load, the overturning load is displayed on the first display unit (61). Specifically, the current lifting load is displayed on the left side of the drawing of the first display unit (61), and the overturning load is displayed on the right side of the drawing. If the final hydraulic critical load is smaller than the overturning load, the final hydraulic critical load will be displayed on the first display unit (61). In addition, the first display unit (61) may additionally display what percentage of the displayed overturning load or final hydraulic critical load the current lifting load corresponds to.

[0130] However, the worker cannot know whether the 8.62t displayed on the first display unit (61) is the overturning load or the final hydraulic critical load. Accordingly, when the current lifting load reaches 100% of the overturning load and is in a dangerous state, it can be displayed as in Fig. 8a, and when the current lifting load reaches 100% of the final hydraulic critical load and is in a dangerous state, it can be displayed as in Fig. 8b. In this way, by displaying the risk due to the overturning load and the risk due to the hydraulic critical load differently on the first display unit (61), the worker can clearly identify which element is causing the dangerous situation.

[0131] The second display unit (62) can display the outline of the construction machine equipment (1) along with the reach and height values ​​in the current state. Here, the height refers to the straight-line distance from the ground to the third support point (51).

[0132] The third display unit (63) displays the risk of tipping over according to a plurality of turning angle sections and a plurality of reach sections. In addition, the current turning angle section and reach section of the equipment are indicated through a schematic shape viewed from above of the construction equipment (1). In the present embodiment, as discussed in the description of the input value control unit (160), the turning angle section is divided into a total of 8 sections, and the reach section is divided into a total of 3 sections, so that the risk of tipping over is displayed for a total of 24 sections. The process of determining the risk of tipping over in each section has been described above. However, it is not limited thereto, and it is preferable that the plurality of turning angle sections have 6 or more turning angle sections, and the plurality of reach sections have 2 or more reach sections, so that the operator can identify the risk of tipping over according to various movements.

[0133] To briefly explain, the current equipment's turning angle is in the 2nd section, the reach is also in the 2nd section, and since the current lifting load is only 30% of the overturning load as indicated on the first display unit (61), the 3rd display unit (63) indicates that there is no risk of overturning (in green). However, when the input value control unit (160) changes the equipment's turning angle to 90° corresponding to the 3rd section and the equipment's reach is maintained as is, the additional ZMP calculation unit (170), the additional overturning load calculation unit (180), and the overturning risk determination unit (140) calculate that there is a high possibility of overturning. Accordingly, the 3rd display unit (63) indicates that there is a high possibility of overturning (in yellow) on the 3rd section of the turning angle and the 2nd section of the reach.

[0134] According to an embodiment, the third display unit (63) may additionally display a first indicator (64) within the turning angle range of the current equipment. The first indicator (64) pointing clockwise indicates a risk of tipping over when the current turning angle is +α, and the first indicator (64) pointing counterclockwise indicates a risk of tipping over when the current turning angle is -α. It is preferable that α is within 10°. The calculation of the tipping risk for the color output of the first indicator (64) may also be performed by the input value control unit (160), the additional ZMP calculation unit (170), the additional tipping load calculation unit (180), and the tipping risk determination unit (140), and may be output through the output unit (150).

[0135] According to an embodiment, the second display unit (62) may further display a second indicator (65) indicating a risk of tipping over according to the up / down movement (up / down direction) of the boom (30) with respect to the current weight, and a third indicator (66) indicating a risk of tipping over according to the forward / backward movement (in / out direction) of the arm (40). Accordingly, it is possible to guide whether operation is possible according to the movement of the boom (30) and the arm (40) with respect to the current weight.

[0136] The calculation of the risk of overturning for the color output of the second indicator (65) and the third indicator (66) can also be performed by the input value control unit (160), the additional ZMP calculation unit (170), the additional overturning load calculation unit (180), and the overturning risk determination unit (140), and can be output through the output unit (150). Furthermore, unlike the third indicator (63), in the second indicator (62), not only the risk according to the overturning load but also the risk according to the hydraulic critical load can be displayed, so that the hydraulic critical load according to the up-and-down movement of the boom (30) and the back-and-forth movement of the arm (40) can be additionally calculated for the current weight, although not shown in FIG. 2. The additionally calculated hydraulic critical load can be transmitted to the overturning risk determination unit (140), through which the overturning risk determination unit (140) can determine whether there is a risk of overturning by comparing the smaller value of the additionally calculated overturning load and the additionally calculated hydraulic critical load for each direction of the boom (30) and the arm (40) with the current lifting load.

[0137] Figure 9 illustrates another state of the display device (60). In Figure 9, the current equipment's turning angle section and reach section are indicated as having a risk of tipping over, and the reach section of the current equipment is particularly highlighted. That is, the three reach sections of the current equipment are displayed in bold in all turning directions.

[0138] The present invention is not limited to the specific embodiments and descriptions described above, and anyone with ordinary skill in the art to which the present invention pertains can make various modifications without departing from the gist of the present invention as claimed in the claims, and such modifications are within the protection scope of the present invention.

[0139] The present invention relates to a tipping prevention system for construction machinery, which calculates the tipping load of construction machinery equipment and provides it to a worker, and effectively warns a worker of the risk of tipping by indicating the risk of tipping according to a turning angle section and a reach section.

Claims

1. A system for preventing tipping over of a construction machine equipment, comprising: a lower body; an upper body rotatably installed on the lower body; a boom rotatably connected to the upper body and rotated by a boom cylinder; an arm rotatably connected to the boom and rotated by an arm cylinder; and a bucket rotatably connected to the arm and rotated by a bucket cylinder. The above system is a tipping prevention system for construction machinery, characterized in that it calculates a tipping load by using position information of the lower body, the upper body, the boom, the arm, the bucket, acceleration information, external force information, and coordinates at the boundary of a support area connecting the ground contact points of the equipment, and provides the calculated tipping load to a worker.

2. In paragraph 1, The above system uses the position information, acceleration information, and external force information of the lower body, upper body, boom, arm, and bucket to determine the coordinates of the ZMP ( , ) is obtained, and the coordinates of the origin of the support area and the ZMP ( , ) is derived as a one-dimensional function, and the coordinates at the boundary of the support area are obtained through the one-dimensional function ( , ) and obtain the coordinates at the boundary of the support area ( , ) is used to calculate the load for overturning prevention of construction machinery equipment.

3. In paragraph 2, The above system, when the equipment is on a slope, calculates the slope rotation matrix from the slope angle sensor provided on the upper body. Obtain the above slope rotation matrix The inclined plane rotation matrix considering the rotation angle of the upper body relative to the lower body After deriving the coordinates of the above ZMP ( , ) When obtaining the acceleration information, the acceleration of gravity is used. A system for preventing tipping over of construction machinery equipment, characterized by applying a.

4. In paragraph 3, The above slope rotation matrix Is or and here is a matrix transformation that rotates around the x-axis, is a matrix transformation that rotates around the y-axis, is the roll angle of the upper body, A system for preventing tipping over of construction machinery, characterized in that the pitch angle of the upper body is:

5. In paragraph 3, The above slope rotation matrix is the rotation matrix of the above slope to It is derived by multiplying, is a matrix transformation that rotates around the z-axis, A system for preventing tipping over of construction machinery, characterized in that the upper body is turned at an angle relative to the lower body.

6. In paragraph 3, A system for preventing tipping over of construction machinery, characterized in that the above-mentioned support area corresponds to an area connecting the ground contact points of the equipment when the equipment is on a flat surface or an inclined surface.

7. In paragraph 6, A system for preventing tipping over of construction machinery, characterized in that when the equipment is on a slope, the origin of the support area is set to the center of a circle after extracting the coordinates of two additional ZMPs by changing the rotation angle of the upper body to an arbitrary value and connecting the coordinates of a total of three ZMPs into a circle.

8. In paragraph 1, The above system is a tipping prevention system for construction machinery, characterized in that it calculates an additional tipping load by changing the turning angle or reach of the equipment to an arbitrary value different from the current turning angle and reach, compares the additionally calculated tipping load with the current lifting load to determine the risk of tipping, and then provides the operator with information about whether or not there is a tipping risk at the arbitrary value.

9. In paragraph 8, A system for preventing tipping over of construction machinery, characterized in that the system divides the turning angle of the equipment into a plurality of sections, divides the reach of the equipment into a plurality of sections, and provides the operator with information on whether there is a tipping risk for each section.

10. In paragraph 9, The above system is a system for preventing tipping over of construction machinery, characterized in that the above system divides the turning angle of the equipment into six or more sections and divides the reach of the equipment into two or more sections.

11. In paragraph 1, The above system is a tipping prevention system for construction machinery equipment, characterized in that it calculates the rated hydraulic critical load of the boom cylinder through the moment equilibrium equation of the boom cylinder, calculates the rated hydraulic critical load of the arm cylinder through the moment equilibrium equation of the arm cylinder, and sets the smaller value between the rated hydraulic critical load of the boom cylinder and the rated hydraulic critical load of the arm cylinder as the final hydraulic critical load.

12. In paragraph 11, The above system, when the equipment is on a slope, calculates the slope rotation matrix from the slope angle sensor provided on the upper body. , and obtain the gravity component of the moment equilibrium equation of the boom cylinder and the gravity component of the moment equilibrium equation of the arm cylinder. A system for preventing tipping over of construction machinery equipment, characterized by applying a.

13. In paragraph 11, The above system is a system for preventing tipping over of construction machinery, characterized in that it derives a smaller value between the above-described tipping load and the above-described ultimate hydraulic critical load and provides the result to the worker.

14. In paragraph 3, When the above equipment is on a slope, the coordinates of the ZMP ( , ) is characterized by being calculated through Equation 2, a tipping prevention system for construction machinery equipment. [Formula 2] 15. In paragraph 12, A system for preventing tipping over of construction machinery, characterized in that when the equipment is on a slope, the moment equilibrium equation of the boom cylinder corresponds to Equation 6, and the moment equilibrium equation of the arm cylinder corresponds to Equation 7. [Formula 6] [Formula 7] 16. In paragraph 8, A system for preventing tipping over of construction machinery, characterized in that the tipping load calculated based on the current information of the equipment is output as a number on the display device of the equipment, and the tipping load calculated by changing the current information of the equipment to an arbitrary value different from the current information is output as a color on the display device of the equipment after determining the risk of tipping over by comparing it with the current lifting load.

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