EP3951071B1 - Équipement de construction - Google Patents

Équipement de construction

Info

Publication number
EP3951071B1
EP3951071B1 EP19922792.7A EP19922792A EP3951071B1 EP 3951071 B1 EP3951071 B1 EP 3951071B1 EP 19922792 A EP19922792 A EP 19922792A EP 3951071 B1 EP3951071 B1 EP 3951071B1
Authority
EP
European Patent Office
Prior art keywords
bucket
work
speed
work area
construction equipment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP19922792.7A
Other languages
German (de)
English (en)
Other versions
EP3951071A4 (fr
EP3951071A1 (fr
Inventor
Miok Kim
Dongsoo Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Construction Equipment AB
Original Assignee
Volvo Construction Equipment AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volvo Construction Equipment AB filed Critical Volvo Construction Equipment AB
Publication of EP3951071A1 publication Critical patent/EP3951071A1/fr
Publication of EP3951071A4 publication Critical patent/EP3951071A4/fr
Application granted granted Critical
Publication of EP3951071B1 publication Critical patent/EP3951071B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller

Definitions

  • the present invention relates to a construction equipment. More specifically, the present invention relates to a construction equipment having a work area limit function capable of improving work speed and work efficiency by controlling the speed of the bucket in consideration of the distance from the bucket end to the work area in the direction in which the bucket end moves (the speed direction of the bucket end).
  • US 2019/078289 discloses a work machine including a work implement, an operation apparatus for operating the work implement, and a controller for controlling the work implement.
  • the controller performs intervention control for raising the work implement based on an operation command from the operation apparatus, decides switching from the intervention control to control of the work implement in accordance with an operation command from the operation apparatus, when the operation command from the operation apparatus is the operation command for raising the work implement or the neutral command based on a result of the determination, and makes an adjustment to gradually change the rising target speed of the work implement to the target speed in accordance with the operation command from the operation apparatus when the speed difference is greater than or equal to a predetermined value.
  • US 2018/002901 discloses a control system for a work vehicle includes at least one sensor, an operating device, and a controller.
  • the operating device includes at least one operating member.
  • the controller is programmed to control a work implement of the work vehicle based on signals from the at least one sensor and the operating device.
  • the controller is further programmed to use the signals to obtain a distance between the work implement and a design terrain which represents a target shape of a work object, and to determine whether a surface compaction determination condition indicating that work performed by the work implement is surface compaction work is satisfied.
  • the controller executes a surface compaction control in which a velocity of the work implement toward the design terrain is limited in response to the distance between the work implement and the design terrain when the surface compaction determination condition is satisfied.
  • US 5704429 discloses a control system of an excavator.
  • the excavator includes a lower running body, an upper pivoting body, a working device having a plurality of links attached to the upper pivoting body, a pivoting device, and a running device, actuators for actuating the working device, the pivoting device, and the running device, hydraulic control valves for controlling quantities of hydraulic fluid supplied to the actuators, sensors for detecting relative angular positions of the links, and a control system.
  • the control system includes a pair of manipulating devices each of which can be manipulated in at least three directions so as to output electrical signals proportional to deviated amounts in selected directions among the directions from a neutral position thereof, a switch board on which a plurality of function switch are installed, for outputting a signal in accordance with a selected function and displaying the selected function, a control section for controlling quantities of hydraulic fluid supplied to the hydraulic cylinders and the hydraulic motors by receiving signals from the manipulating device, the switch board, and the angle detecting sensors and transferring the signals to the hydraulic control valves.
  • Fig. 2 illustrates situations (a) to (c) in which the posture of the bucket 13c is different, but the distance between the bucket end P1 and the work area is the same in a situation in which a driver sets a work area and then removes the work material piled up in the work area.
  • the speed of the bucket 13c is limited only by the shortest distance d between the bucket end P1 and the work area. Even when the shortest distance d between the bucket end P1 and the work area is the same, there may be many cases where the bucket 13c does not invade the work area or has extra time to invade the work area depending on the posture of the bucket 13c. Even in such cases, according to prior art, the speed of the bucket 13c is limited all the same.
  • situation (c) is a situation in which the bucket 13c does not invade the work area when the driver operates the bucket 13c
  • the shortest distance d between the bucket end P1 and the work area is recognized to be the same, and thus the speed of the bucket 13c is limited in the same manner as in situations (a) and (b). Accordingly, there is a problem that the work speed and efficiency may decrease during the digging work using a bucket 13c.
  • the present invention aims at solving the above problems of the prior art. It is an object of the present invention to provide a construction equipment having a work area limit function capable of improving work speed and work efficiency by controlling the speed of the bucket in consideration of the distance from the bucket end to the work area in the direction in which the bucket end moves (the speed direction of the bucket end).
  • the present invention provides a construction equipment in accordance with claim 1.
  • the construction equipment comprises, inter alia: a lower traveling body; an upper swing body rotatably supported on the lower traveling body; a work device comprising a boom, an arm, and a bucket moved by means of respective hydraulic cylinders and supported by the upper swing body; a control valve for controlling the hydraulic cylinder; an operation lever for outputting an operation signal corresponding to the operation amount of a driver; a work setting unit capable of setting and/or selecting the work area of the work device; a location information provision unit for collecting and/or calculating location information of the work device and/or location information of the work area; and an electronic control unit for outputting a control signal for the control valve according to a signal inputted from at least one from among the control lever, the work setting unit, and the location information provision unit, wherein the electronic control unit is configured to calculate the distance between the work area and the work device and to control the speed of the work device on the basis of the calculated
  • the electronic control unit may determine whether the work device approaches or moves away from the work area when an operation signal of the operation lever is input, and limit the speed of the work device only when the work device approaches the work area.
  • the electronic control unit controls the speed of the work device on the basis of the distance from the bucket end to the work area in the speed direction of the bucket end.
  • the direction in which the bucket end moves may be a direction in which the line connecting the bucket end and the bucket pin is perpendicular to the bucket end.
  • the direction in which the bucket end moves may be a direction in which the line connecting the bucket end and the arm pin is perpendicular to the bucket end.
  • the electronic control unit compares the distance from the bucket end to the work area in the speed direction of the bucket end with the predetermined reference value and determine to be in the speed limit range when the distance from the bucket end to the work area in the speed direction of the bucket end is smaller than the predetermined reference value.
  • the electronic control unit may set the speed reducing rate of the work device in the speed limit range and limit the speed of the work device on the basis of the set speed reducing rate.
  • the electronic control unit may set the speed limit range and/or speed reducing rate on the basis of the shortest distance between the bucket end and the work area in a reference bucket pin location.
  • the electronic control unit may control the speed of the work device on the basis of the speed reducing rate when the work device enters the speed limit range.
  • the electronic control unit may reduce the speed limit amount of the work device in proportion to the raised distance of the bucket pin when the location of the bucket pin is raised to be higher than the location of the reference bucket pin.
  • the location information provision unit may comprise at least one of a location measuring unit for measuring the location information of the construction equipment, a posture measuring unit for measuring the posture information of the construction equipment and the location of the respective work device, and a coordinate calculating unit for calculating the coordinate on the basis of the location information measured from the location measuring unit and the posture measuring unit.
  • the operation lever may generate an electric signal in proportion to the operation amount of a driver and provide the same to the electronic control unit as an electric joystick.
  • the work setting unit may provide a plurality of work mode setting functions that can be set according to the driver's need, and display, on a display screen, at least one of the geographic information, location information and posture information of the construction equipment provided from the location information provision unit according to the work mode setting.
  • the work efficiency may be improved by controlling the speed of the work device on the basis of the distance from the bucket end to work area in the direction in which the bucket end moves.
  • the driver may easily operate the work device regardless of driving experience.
  • the construction equipment 10 comprises a lower traveling body 11, an upper swing body 12 rotatably supported on the lower traveling body 11, and a work device 13 supported by the upper swing body 12.
  • the work device 13 comprises a boom 13a, an arm 13b, and a bucket 13c which operate by means of respective hydraulic cylinders.
  • the construction equipment 10 has a work area limit function which controls the work device 13 not to invade the work surface by limiting the operation required amount of the driver's work device 13 on the basis of the distance between the bucket end and the work surface.
  • Fig. 3 is a schematic diagram illustrating the work area limit function of the construction equipment according to an embodiment of the present invention
  • Fig. 4 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation according to an embodiment of the present invention.
  • the construction equipment 10 having a work area limit function comprises a lower traveling body 11, an upper swing body 12 rotatably supported on the lower traveling body 11, a work device 13 comprising a boom 13a, an arm 13b, and a bucket 13c moved by means of respective hydraulic cylinders and supported by the upper swing body 12, a control valve 100 for controlling the hydraulic cylinder, an operation lever 200 for outputting an operation signal corresponding to the operation amount of a driver, a work setting unit 400 capable of setting and/or selecting the work area of the work device, a location information provision unit 300 for collecting and/or calculating location information of the work device and/or location information of the work area, and an electronic control unit 500 for outputting a control signal for the control valve 100 according to a signal inputted from at least one from among the operation lever 200, the work setting unit 400, and the location information provision unit 300.
  • the electronic control unit 500 is configured to calculate the distance between the work area and the work device and to control the speed of the work device on the basis of the calculated distance.
  • the control valve 100 is a member for opening and closing the flow path by a spool moving in the axial direction under pressure.
  • the control valve 100 serves to switch the supply direction of the hydraulic oil supplied by the hydraulic pump which is the hydraulic pressure source to the hydraulic cylinder side.
  • the control valve 100 is connected to the hydraulic pump through a hydraulic pipe, and induces the supply of hydraulic oil from the hydraulic pump to the hydraulic cylinder.
  • the operation lever 200 may be a hydraulic joystick or an electric joystick, and preferably may be an electric joystick which generates an electric signal in proportion to the operation amount of a driver and provides the same to the electronic control unit 500.
  • the speed of the work device 13 may not be limited when the work device 13 moves away from the work area.
  • the location information provision unit 300 may comprise at least one of a location measuring unit for measuring the location information of a construction equipment 10 by receiving a signal transmitted by a global positioning system (GPS) satellite, a posture measuring unit for measuring the posture information of the construction equipment 10 and the location of at least one of the boom 13a, the arm 13b and the bucket 13c, and a coordinate calculating unit for calculating the coordinates of the construction equipment 10 on the basis of the location information measured from the location measuring unit and the posture measuring unit.
  • GPS global positioning system
  • the location measuring unit 310 may comprise a receiver capable of receiving a signal transmitted by a GPS satellite, and measure location information of the construction equipment 10 from the received signal.
  • the posture measuring unit 320 measures the location and/or posture of at least one of the boom 13a, arm 13b and bucket 13c and slope of the body of the construction equipment 100 using a plurality of inertial measurement units (IMUs) and angle sensors, etc.
  • IMUs inertial measurement units
  • the coordinate calculating unit 330 calculates the coordinates (x, y, z) of at least one of the boom 13a, arm 13b, and bucket 13c using the location information measured from the location measuring unit 310 and the posture measuring unit 320.
  • the location information providing unit 300 may further comprise a mapping unit for mapping the geographic information around the work location and the construction information on the work location to the calculated coordinates.
  • the mapping unit maps by adjusting the location and/or posture of the respective work device 13 measured by the posture measuring unit and the slope of the body of the construction equipment 10 according to each axis calculated by the coordinate calculating unit.
  • the work setting unit 400 may set and/or select a work area of the work device 13.
  • the work setting unit 400 may provide a work mode function that may be set and/or selected in various ways according to the driver's needs, such as work area limit mode, swing position control mode.
  • the work setting unit 400 displays at least one of the geographic information, location information and posture information of the construction equipment 10 provided from the location information provision unit 300 on a display 410 screen according to the setting and/or selection of the work area and/or the work mode.
  • the driver may set and/or select a work area and/or a work mode on the screen of the display 410, and work easily using the displayed information accordingly.
  • the work area refers to a design surface targeted by the driver.
  • the electronic control unit 500 determines whether the current work device 13 approaches or moves away from a set work area when an operation signal is input from the operation lever 200. When it is determined that the work device 13 is approaching a set work area, the distance between the work device 13 and the set work area is calculated. Then, the calculated distance is compared with a predetermined reference value to determine the speed limit of the work device 13. Finally, a control signal is output to the control valve 100 for controlling the hydraulic cylinder on the basis of the speed limit.
  • the construction equipment having a work area limit function operates as shown below.
  • the driver selects an active control mode on the work setting unit 400, and sets a target work area.
  • the driver operates the bucket-in operation lever 200 for bucket digging work on the work area.
  • whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200.
  • the speed of the work device 13 may be limited only when the work device 13 approaches the work area.
  • the electronic control unit 500 calculates the distance d s from the bucket end P1 to the work area in the direction in which the bucket end P1 moves (the speed direction of the bucket end) on the basis of the location information of the work device 13 and/or location information of the set work area provided from the location information provision unit 300.
  • the electronic control unit 500 compares the calculated distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 with a predetermined reference value d t .
  • the electronic control unit 500 determines that the speed of the bucket 13c does not have to be limited when the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is greater than the predetermined reference value d t . In other words, the electronic control unit 500 does not limit the speed of the bucket 13c at this time.
  • the electronic control unit 500 sets the speed reducing rate of the bucket 13c in the speed limit range.
  • the speed reducing rate of the bucket 13c may be linearly set according to the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1, but is not limited thereto.
  • the speed of the bucket 13c is controlled on the basis of the speed reducing rate in the speed limit range.
  • the electronic control unit 500 outputs a control signal to the control valve 100 on the basis of the speed reducing rate according to the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1, and the control valve 100 controls the hydraulic cylinder on the basis of the control signal.
  • the shortest distance d between the bucket end P1 and the work area is all the same in postures (a), (b) and (c), but the time it takes for each posture to invade the work area while operating the bucket 13c is different.
  • the speed of the bucket 13c is limited on the basis of the shortest distance d between the bucket end P1 and the work area, the speed of the bucket 13c is limited all the same in postures (a) to (c). Accordingly, the work speed and efficiency may decrease during the digging work using the bucket 13c.
  • the speed of the bucket 13c needs to be controlled on the basis of the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1.
  • posture (a) the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is d 1 , which is the smallest
  • posture (b) the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is d 2 , which is the second smallest
  • posture (c) the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is d 3 , which is the largest.
  • the electronic control unit 500 controls the speed of the bucket 13c on the basis of the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1, it becomes possible to operate the bucket 13c more efficiently than when the bucket 13c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the bucket 13c during bucket digging.
  • Fig. 5 is a schematic diagram illustrating a method for controlling the speed of the work device during arm-in operation of the construction equipment according to another embodiment of the present invention.
  • a driver selects an active control mode on the work setting unit 400 and sets a target work area.
  • the driver operates the arm-in operation lever 200 for digging work on the work area.
  • the operation lever 200 of the bucket 13c may not be operated.
  • whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200.
  • the speed of the work device 13 may be limited only when the work device 13 approaches the work area.
  • the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500.
  • the electronic control unit 500 calculates the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 on the basis of the location information of the work area 13 and/or the location information of the set work area provided from the location information provision unit 300.
  • the direction in which the bucket end P1 moves may be a direction in which a virtual line (line 2) connecting the bucket end P1 and the arm pin P3 is perpendicular to the bucket end P1.
  • a virtual line line 2 connecting the bucket end P1 and the arm pin P3 is perpendicular to the bucket end P1.
  • it may be a direction facing a tangential line at the bucket end P1 from a circle having a virtual line connecting the bucket end P1 and the arm pin P3 as a diameter.
  • the electronic control unit 500 compares the calculated distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 with a predetermined reference value d t .
  • the electronic control unit 500 determines that the speed of the bucket 13c does not have to be limited when the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is greater than the predetermined reference value d t . In other words, the electronic control unit 500 does not limit the speed of the bucket 13c at this time.
  • the electronic control unit 500 determines it to be in a speed limit range.
  • the electronic control unit 500 sets the speed reducing rate of the arm 13b in the speed limit range.
  • the speed reducing rate of the arm 13b may be linearly set according to the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1, but is not limited thereto.
  • the speed of the arm 13b is controlled on the basis of the speed reducing rate in the speed limit range.
  • the electronic control unit 500 outputs a control signal to the control valve 100 on the basis of the speed reducing rate according to the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1, and the control valve 100 controls the hydraulic cylinder on the basis of the control signal.
  • the shortest distance d between the bucket end P1 and the work area is all the same in postures (a), (b) and (c), but the time it takes for each posture to invade the work area while operating the arm 13b is different.
  • the speed of the arm 13b is limited on the basis of the shortest distance d between the bucket end P1 and the work area, the speed of the arm 13b is limited all the same in postures (a) to (c). Accordingly, the work speed and efficiency may decrease during the digging work using the arm 13b.
  • the speed of the arm 13b needs to be controlled on the basis of the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1.
  • posture (a) the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is d 1 , which is the smallest
  • posture (b) the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is d 2 , which is the second smallest
  • posture (c) the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1 is d 3 , which is the largest.
  • the electronic control unit 500 controls the speed of the arm 13b on the basis of the distance d s from the bucket end P1 to the work area in the speed direction of the bucket end P1, it becomes possible to operate the arm 13b more efficiently than when the bucket 13c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the arm 13b during bucket digging.
  • Fig. 6 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation of the construction equipment according to yet another embodiment of the present invention.
  • a driver selects an active control mode on the work setting unit 400 and sets a target work area.
  • the driver operates the bucket-in operation lever 200 for digging work on the work area.
  • whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200.
  • the speed of the work device 13 may be limited only when the work device 13 approaches the work area.
  • the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500.
  • the electronic control unit 500 sets the location of the reference bucket pin P2 on the basis of the location information of the work device 13 and/or location information of the predetermined work area provided from the location information provision unit 300.
  • the speed limit range and/or the speed reducing rate are set on the basis of the shortest distance d between the bucket end P1 and the work area at the location of the reference bucket pin P2.
  • the electronic control unit 500 controls the speed of the bucket 13c according to a set speed reducing rate on the basis of the shortest distance d between the bucket end P1 and the work area when the bucket end P1 enters the speed limit range.
  • the electronic control unit 500 determines whether the location of the bucket pin P2 is raised or lowered than the location of the reference bucket pin P2.
  • the electronic control unit 500 may reduce the speed limit of the bucket 13c in proportion to the distance the bucket pin P2 is raised.
  • the electronic control unit 500 may increase the speed limit of the bucket 13c in proportion to the distance the bucket pin P2 is lowered.
  • the electronic control unit 500 may set the speed limit range and the speed reducing rate at the location of the reference bucket pin P2, and control the speed of the bucket 13c by reflecting the location change amount in the height direction of the bucket pin P2 thereto.
  • the shortest distance d between the bucket end P1 and the work area is the all the same in postures (a) and (b), but the time it takes for each posture to invade the work area while operating the bucket 13c is different.
  • the speed of the bucket 13c is limited on the basis of the shortest distance d between the bucket end P1 and the work area, the speed of the bucket 13c is limited all the same in postures (a) and (b). Accordingly, the work speed and efficiency may decrease during the digging work using the bucket 13c.
  • the speed of the bucket 13c needs to be controlled by reflecting the location change amount in the height direction of the bucket pin P2 even if the shortest distance d between the bucket end P1 and the work area is the same.
  • the electronic control unit 500 when explaining the case in which the electronic control unit 500 recognizes the location of the bucket pin P2 in posture (a) as a reference location, the electronic control unit 500 sets the speed limit range and/or speed reducing rate on the basis of the shortest distance d between the bucket end P1 and the work area in posture (a).
  • posture (b) refers to a situation when there is a lot of time to invade the work area or when the bucket does not invade the work area as compared with posture (a). In other words, it refers to a case where the distance between the bucket end P1 and the work area is the same, but the location of the bucket pin P2 is raised to be higher than the reference location as much as da.
  • the speed limit amount of the bucket 13c in posture (b) is reduced even more as compared with the reference location, posture (a).
  • the speed limit range of the bucket 13c in posture (b) is reduced even more as compared with the reference location, posture (a).
  • the electronic control unit 500 sets the location of the reference bucket pin P2, and controls the speed of the bucket 13c by reflecting the location change amount in the height direction of the reference bucket pin P2, it becomes possible to operate the bucket 13c more efficiently than when the bucket 13c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the bucket 13c during bucket digging.
  • the driver may easily operate the work device regardless of driving experience.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Claims (11)

  1. Équipement de construction (10) comprenant :
    un corps mobile inférieur (11) ;
    un corps oscillant supérieur (12) supporté de manière à pouvoir tourner sur le corps mobile inférieur (11) ;
    un dispositif de travail (13) comprenant une flèche (13a), un bras (13b) et un godet (13c) déplacés au moyen de vérins hydrauliques respectifs (14, 15, 16) et supportés par le corps oscillant supérieur (12) ;
    une soupape de commande (100) pour commander le vérin hydraulique ;
    un levier de commande (200) pour émettre un signal de commande correspondant à l'amplitude de commande d'un conducteur ;
    une unité de réglage de travail (400) capable de régler et/ou de sélectionner la zone de travail du dispositif de travail (13) ;
    une unité de fourniture d'informations de localisation (300) pour collecter et/ou calculer des informations de localisation du dispositif de travail (13) et/ou des informations de localisation de la zone de travail ; et
    une unité de commande électronique (500) pour émettre un signal de commande pour la soupape de commande (100) en fonction d'un signal entré à partir d'au moins un élément parmi le levier de commande (200), l'unité de réglage de travail (400) et l'unité de fourniture d'informations de localisation (500),
    l'unité de commande électronique (500) étant configurée pour calculer la distance entre la zone de travail et le dispositif de travail (13) et pour commander la vitesse du dispositif de travail (13) sur la base de la distance calculée,
    caractérisé en ce que l'unité de commande électronique (500) commande la vitesse du dispositif de travail (13) sur la base de la distance (ds) de l'extrémité de godet (P1) jusqu'à la zone de travail dans le sens de la vitesse de l'extrémité de godet (P1),
    et en ce que l'unité de commande électronique (500) compare la distance (ds) de l'extrémité de godet (P1) à la zone de travail dans le sens de la vitesse de l'extrémité de godet (P1) à la valeur de référence prédéterminée (dt) et détermine qu'elle se trouve dans la plage de limite de vitesse lorsque la distance (ds) de l'extrémité de godet (P1) à la zone de travail dans le sens de la vitesse de l'extrémité de godet (P1) est inférieure à la valeur de référence prédéterminée (dt).
  2. Équipement de construction (10) selon la revendication 1, dans lequel l'unité de commande électronique (500) détermine si le dispositif de travail (13) s'approche ou s'éloigne de la zone de travail lorsqu'un signal d'actionnement du levier de commande (200) est entré, et limite la vitesse du dispositif de travail (13) uniquement lorsque le dispositif de travail (13) s'approche de la zone de travail.
  3. Équipement de construction (10) selon la revendication 1, dans lequel la direction dans laquelle l'extrémité de godet (P1) se déplace est une direction dans laquelle la ligne reliant l'extrémité de godet (P1) et l'axe de godet (P2) est perpendiculaire à l'extrémité de godet (P1).
  4. Équipement de construction (10) selon la revendication 1, dans lequel la direction dans laquelle l'extrémité de godet (P1) se déplace est une direction dans laquelle la ligne reliant l'extrémité de godet (P1) et l'axe de bras (P3) est perpendiculaire à l'extrémité de godet (P1).
  5. Équipement de construction (10) selon la revendication 1, dans lequel l'unité de commande électronique (500) établit le taux de réduction de vitesse du dispositif de travail (13) dans la plage de limite de vitesse et limite la vitesse du dispositif de travail (13) sur la base du taux de réduction de vitesse établi.
  6. Équipement de construction (10) selon la revendication 1, dans lequel l'unité de commande électronique (500) établit la plage de limite de vitesse et/ou le taux de réduction de vitesse sur la base de la distance la plus courte (d) entre l'extrémité de godet (P1) et la zone de travail dans un emplacement de broche de godet de référence.
  7. Équipement de construction (10) selon la revendication 6, dans lequel l'unité de commande électronique (500) commande la vitesse du dispositif de travail (13) sur la base du taux de réduction de vitesse lorsque le dispositif de travail (13) entre dans la plage de limite de vitesse.
  8. Équipement de construction (10) selon la revendication 7, dans lequel l'unité de commande électronique (500) réduit le niveau de limite de vitesse du dispositif de travail (13) proportionnellement à la distance relevée de l'axe de godet (P2) lorsque l'emplacement de l'axe de godet est relevé pour être plus élevé que l'emplacement de l'axe de godet de référence.
  9. Équipement de construction (10) selon la revendication 1, dans lequel l'unité de fourniture d'informations de localisation (300) comprend au moins une unité de mesure de localisation (310) pour mesurer les informations de localisation de l'équipement de construction (10), une unité de mesure de posture (320) pour mesurer les informations de posture de l'équipement de construction (10) et l'emplacement du dispositif de travail respectif (13), et une unité de calcul de coordonnées (330) pour calculer les coordonnées sur la base des informations de localisation mesurées à partir de l'unité de mesure de localisation (310) et de l'unité de mesure de posture (320).
  10. Équipement de construction (10) selon la revendication 1, dans lequel le levier de commande (200) génère un signal électrique proportionnel à l'amplitude d'actionnement d'un conducteur et fournit celui-ci à l'unité de commande électronique (500) en tant que manette électrique.
  11. Équipement de construction (10) selon la revendication 1, dans lequel l'unité de réglage de travail (400) fournit une pluralité de fonctions de réglage de mode de travail qui peuvent être réglées selon le besoin du conducteur, et affiche, sur un écran d'affichage, au moins l'une des informations géographiques, des informations de localisation et des informations de posture de l'équipement de construction (10) fournies par l'unité de fourniture d'informations géographiques, des informations de localisation (300) selon le réglage de mode de travail.
EP19922792.7A 2019-04-05 2019-04-05 Équipement de construction Active EP3951071B1 (fr)

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PCT/KR2019/004110 WO2020204240A1 (fr) 2019-04-05 2019-04-05 Équipement de construction

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KR102705219B1 (ko) 2024-09-11
EP3951071A4 (fr) 2022-12-14
US20250277355A1 (en) 2025-09-04
WO2020204240A1 (fr) 2020-10-08
US20220178113A1 (en) 2022-06-09
EP3951071A1 (fr) 2022-02-09
KR20220037405A (ko) 2022-03-24
CN113795633A (zh) 2021-12-14

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