CN104420494B - The anterior device anti-collision control device and control method of engineering machinery - Google Patents

The anterior device anti-collision control device and control method of engineering machinery Download PDF

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Publication number
CN104420494B
CN104420494B CN201410446622.7A CN201410446622A CN104420494B CN 104420494 B CN104420494 B CN 104420494B CN 201410446622 A CN201410446622 A CN 201410446622A CN 104420494 B CN104420494 B CN 104420494B
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China
Prior art keywords
anterior device
machine body
work machine
engineering machinery
anterior
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CN201410446622.7A
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Chinese (zh)
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CN104420494A (en
Inventor
金镇昱
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HD Hyundai Infracore Co Ltd
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Doosan Infracore Co Ltd
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Publication of CN104420494A publication Critical patent/CN104420494A/en
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Classifications

    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • 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
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/412—Excavators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means

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  • 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)
  • Component Parts Of Construction Machinery (AREA)

Abstract

The present invention relates to the anterior device anti-collision control device and control method of engineering machinery.The anterior device anti-collision control device of the engineering machinery of the present invention includes：Storage part (20), it stores the shape size information of work machine body；Comparing section (10), whether it receives to input in described storage part the shape size information that stores and the positional information of the engineering machinery anterior device of movement according to the operation of operation device, and judge the anterior device positional information close to the shape size information；Output section (40), it is in the case where the comparing section judges to think within the distance that the anterior device is close to before colliding the work machine body, produce the control signal for the action for limiting the anterior device so that the anterior device not collision subject.

Description

The anterior device anti-collision control device and control method of engineering machinery
Technical field
The present invention relates to the anterior device anti-collision control device and control method of engineering machinery, more specifically, it is related to one Kind is after apparatus for work is installed in excavator, enabling according to the outer shape of the apparatus for work and the information of size, control Excavator posture, prevents the anterior device anticollision control dress of the engineering machinery of the other structures thing of apparatus for work and excavator collision Put and control method.
Background technology
In general, the shape size and shape of the apparatus for work of engineering machinery is different, this apparatus for work is performing digging During digging machine operation, it may reside in beyond the position of driver's seat.Particularly, according to swing arm, dipper, scraper bowl, top The postures such as the direction of body, apparatus for work may be disturbed with the portion of upper body or lower body of excavator, in case of interferers, existed Apparatus for work or the worry of excavator breakage.
On the other hand, operator adapts to the apparatus for work needs newly installed additional for quite a long time.In addition, even if operator is new Apparatus for work is familiar with, but if slightly loosening, it is also possible to the collision of apparatus for work occurs, thus needs very cautiously to adjust Engineering machinery.
Prior art literature
Patent document
Patent document 1：Korean Patent Laid the 10-2008-0049531st (2008.06.04.)
Patent document 2：Korean Patent Laid the 10-2000-0069712nd (2000.11.25.)
Patent document 3：Ebrean Registered Patent publication the 10-09190320th (1999.06.01.)
The content of the invention
Therefore, the purpose of the technical task of the invention to be realized is the anterior device anticollision control for providing a kind of engineering machinery Device processed and control method so that can carry or newly input the appearance information of apparatus for work, after apparatus for work installs additional, export is closed In the appearance information of corresponding apparatus for work, when driving excavator, enabling before apparatus for work collides, limitation is dynamic The operating that arm, dipper, scraper bowl and portion of upper body are swung.
The technical task to be realized of the present invention is not limited to the technical task that the above mentions, the other technical courses not mentioned Topic is that those skilled in the art can be expressly understood that from following record.
It is intended to the anterior device anticollision device, collision-prevention device bag for reaching the engineering machinery of the one embodiment of the invention of the technical task Include：Comparing section 10, it receives to input in the storage part shape size information stored and is moved according to the operation of operation device The positional information of dynamic engineering machinery anterior device, and judge the anterior device positional information whether close to the shape size Information；
Output section 40, it judges to think that the anterior device is close to the collision work machine body in the comparing section In the case of within distance before, the control signal for the action for limiting the anterior device is produced so that the anterior device Not collision subject.
In addition, the anterior device anticollision device, collision-prevention device of the engineering machinery of one embodiment of the invention can also include, the engineering The shape size information of mechanical body is the outermost range information from datum mark to work machine body.
In addition, the anterior device anticollision device, collision-prevention device of the engineering machinery of one embodiment of the invention can also include, the front portion The positional information of device is the range information closest to the position of work machine body from datum mark in the anterior device.
In addition, the anterior device anticollision device, collision-prevention device of the engineering machinery of one embodiment of the invention can also include, the front portion The positional information of device is the positional information of the distal portion for the auxiliary equipment for being installed on the anterior device end and anterior dress Some in the positional information in bottom set face.
In addition, the anterior device anticollision device, collision-prevention device of the engineering machinery of one embodiment of the invention can also include, the front portion The positional information of device includes rotary position information caused by the horizontal direction rotation of the engineering machinery anterior device.
In addition, the anterior device anticollision device, collision-prevention device of the engineering machinery of one embodiment of the invention can also include input unit 30, The shape size information of its engineering machinery inputs the storage part 20.
In addition, the anterior device anticollision device, collision-prevention device of the engineering machinery of one embodiment of the invention can also include, the engineering The shape size information of machinery is some in the horizontal of engineering machinery, longitudinal direction, height, volume.
It is intended to the anterior device avoiding collision bag for reaching the engineering machinery of the one embodiment of the invention of the technical task Include, store the shape size information of work machine body, receive to input the shape size information and the behaviour according to operation device Make and the positional information of mobile engineering machinery anterior device, and judge the anterior device positional information whether close to the work The shape size information of journey mechanical body, judges to think the anterior device close to the collision engineering machine in the judging result In the case of within distance before tool main body, the control signal of the action of anterior device described in export-restriction so that before described Part device not collision subject.
In addition, the anterior device avoiding collision of the engineering machinery of one embodiment of the invention can also include, the engineering The shape size information of mechanical body is the outermost range information from datum mark to work machine body.
In addition, the anterior device avoiding collision of the engineering machinery of one embodiment of the invention can also include, the front portion The positional information of device is the range information closest to the position of work machine body from datum mark in the anterior device.
In addition, the anterior device avoiding collision of the engineering machinery of one embodiment of the invention can also include, the front portion The positional information of device is the positional information of the distal portion for the auxiliary equipment for being installed on the anterior device end and anterior dress Some in the positional information in bottom set face.
In addition, the anterior device avoiding collision of the engineering machinery of one embodiment of the invention can also include, the front portion The positional information of device includes rotary position information caused by the horizontal direction rotation of the engineering machinery anterior device.
In addition, the anterior device avoiding collision of the engineering machinery of one embodiment of the invention can also include inputting the work The step of shape size information of journey machinery.
In addition, the anterior device avoiding collision of the engineering machinery of one embodiment of the invention can also include, the engineering The shape size information of machinery is some in the horizontal of engineering machinery, longitudinal direction, height, volume.
The details of other embodiments are included in detailed description and attached drawing.
The anterior device anti-collision control device and control method of engineering machinery of the invention formed as described above, can take The appearance information of apparatus for work is carried, or in the case of new job device, can newly input appearance information, thus, if selection Certain operations specific device, then according to the appearance information of the apparatus for work of selection, limit the operating of each driver of engineering machinery, from And it can prevent the collision of apparatus for work.
Brief description of the drawings
Fig. 1 to Fig. 3 is the figure for illustrating the composition of engineering machinery.
Fig. 4 is the anterior device anti-collision control device and controlling party for illustrating the engineering machinery of one embodiment of the invention The figure of method.
Fig. 5 is the anterior device anti-collision control device and controlling party for illustrating the engineering machinery of one embodiment of the invention The flow chart of method.
Symbol description
10- comparing sections, 20- storage parts, 30- input units, 40- output sections, the new input units of 50-, the input of 60- control signals Portion, 100- excavators, 110- lower bodies, 112- wheels, 120- portion of upper body, 130- rotary joints, 210- swing arms, 212- first drive Device, 220- dippers, the second drivers of 222-, 230- scraper bowls, the 3rd drivers of 232-, 300- dozer units, 302- protective covers Unit, 310- trigger units.
Embodiment
With reference to the embodiment that is described in detail together with attached drawing below, advantages of the present invention and feature and reach its side Method will be clear and definite.
With reference to the accompanying drawings, the embodiment of the present invention is described in detail.Embodiment explained below is to help this The understanding of invention and exemplarily enumerate, it is thus understood that, the present invention can be with embodiment described herein as differently diversely Deformation implementation.But, in the description of the present invention, when judging that think can to related known function or illustrating for inscape When can obscure main idea of the present invention, description is omitted and is specifically illustrating.In addition, attached drawing is not to help the understanding invented Illustrated by actual ratio ruler, the size of a part of inscape can be illustrated turgidly.
On the other hand, term described later is the term for considering function in the present invention and setting, this may be because of production The intention or convention of person and it is different, thus its definition should be made based on the content of this specification in the whole text.
The same reference numeral of specification censures identical inscape in the whole text.
First, referring to figs. 1 to Fig. 3, the composition of excavator is illustrated.
Attached drawing Fig. 1 to Fig. 3 is the figure for illustrating the composition of excavator.
As shown in Figure 1 to Figure 3, excavator 100 is configured with portion of upper body 120 in the upside of lower body 110, lower body 110 with Portion of upper body 120 is connected by rotary joint 130.
Wheel 112 is installed in lower body 110, wheel 112 is used to travel.On the other hand, can also in crawler-mounted excavator Substitution takes turns 112 and installs crawler belt.
Another further aspect, in the front of lower body 110, can be provided with dozer 300, can be with the rear of lower body 110 Trigger unit 310 is installed.
In addition, in the upside of dozer 300, the dozer driver for operating dozer 300 can be installed, bulldozed The upside of driver is shoveled, the protective cover unit 302 for protecting dozer driver can be installed.
Rotary joint 130 can be made of rotation motor and gear ring with planetary combine.If rotation motor is transported Turn, then portion of upper body 120 rotates operating in lower body 110.
On portion of upper body 120, the driver's cabin taken for driver, the engine room for producing power etc. are equipped with.In addition, The front of portion of upper body 120, is provided with swing arm 210, dipper 220, scraper bowl 230.Swing arm 210 by means of the first driver 212 fortune Then it is mobile, dipper 220 is moved by means of the operating of the second driver 222, scraper bowl 230 by means of the 3rd driver 232 and It is mobile.
In addition, scraper bowl 230 can be removed from dipper 220, the position of scraper bowl 230 is being eliminated, can installed additional as operation One of device can screening device.
On the other hand, excavator is the hydraulic test driven by means of hydraulic pressure.Hydraulic test is in order to control to each driving The flow that device provides, can use electrical proportional control valve.Electrical proportional control valve can be controlled according to the current value of input to flow Amount, current value can be understood as control signal.If operator's manipulation bar, setting requirements flow is this to require flow Control signal is transformed to, controls electrical proportional control valve.
That is, as the flow for making to be supplied to each driver is reduced, stops or increased, the operating of each driver is controlled, moreover, Control the posture of excavator.
Another further aspect, the posture of excavator, more specifically, portion of upper body 120 rotate to which kind of position, swing arm 210, dipper 220 and scraper bowl 230 be unfolded or be retracted into the posture of which kind of degree etc., can easily be grasped by means of known technology.For example, In the patent document 1,2 that prior art literature is recorded, appearance can be detected by describing preceding apparatus for work (swing arm, dipper, scraper bowl) The technology of gesture, in patent document 3, describes the technology for the rotation gesture that can detect portion of upper body.Therefore, as long as affiliated neck The technical staff in domain, according to known technology, can grasp the posture of excavator.
Referring to Fig. 4, anterior device anti-collision control device and control to the engineering machinery of one embodiment of the invention Method illustrates.Attached drawing Fig. 4 is for illustrating that the anterior device anticollision of the engineering machinery of one embodiment of the invention controls dress Put and the figure of control method.
Comparing section 10 is the device for receiving the various information and signals of input and being handled and being exported.Inputted in comparing section 10 Information 60 in, can include excavator pose information and excavate machine control signal.The pose information of excavator is as basis The operation of operation device and the positional information of the engineering machinery anterior device of movement, can be the rotation positions, dynamic of portion of upper body 120 Arm 210, dipper 220, scraper bowl 230 etc. are retracted or the information of the degree of expansion.In addition, the positional information of engineering machinery anterior device It can be the range information closest to the position of work machine body from datum mark in the anterior device.In addition, engineering machinery The positional information of anterior device can be the positional information of the distal portion for the auxiliary equipment for being installed in the anterior device end With some in the positional information of anterior device bottom surface.In addition, the positional information of engineering machinery anterior device can include institute State rotary position information caused by the horizontal direction rotation of engineering machinery anterior device.
It can be used to rotate portion of upper body 120, transport swing arm 210, dipper 220 and scraper bowl 230 to excavate machine control signal The excavation machine control signal turned.
The appearance information of apparatus for work is stored with storage part 20.Apparatus for work can be the set apparatus for work of specification and Non-generic special operation device.
Specification apparatus for work, thus can be with the appearance information of specification apparatus for work due to the regularization of shape size Database form is stored in storage part 20.
Input unit 30 is when operator have selected a certain operations specific device, the apparatus for work of input selection.Work as selection Apparatus for work when being 20 stored apparatus for work of storage part, comparing section 10 exports the outer of corresponding apparatus for work from storage part 20 Shape information.
If the apparatus for work for receiving input in input unit 30 is not stored in storage part 20, can be newly defeated in input unit 50 Enter the appearance information on apparatus for work.The appearance information newly inputted is stored in storage part 20.
Another further aspect, the appearance information can be the shape sizes that transverse direction, longitudinal direction, height etc. will appreciate that apparatus for work Information.In addition, appearance information can be the shape size information of work machine body.In addition, appearance information, i.e. engineering machine The shape size information of tool main body, can be from datum mark to the outermost range information of work machine body.It is in addition, just broken For machine, the operating of clip expansion or retraction can be performed, therefore, the appearance information of overall volume maximum rating can be inputted.
On the other hand, the apparatus for work appearance information that comparing section 10 can be inputted newly and the apparatus for work stored originally Appearance information, can be with output class in the case where new job device appearance information is similar with original apparatus for work appearance information As apparatus for work appearance information, can propose to enable operator to utilize the apparatus for work appearance information stored originally.That is, The arduous of the appearance information of new input apparatus for work can be mitigated.
The signal that output section 40 is used to control electrical proportional control valve from the output of comparing section 10.If this is extended It is bright, as apparatus for work anticollision control is performed, as previously described, the posture of excavator is detected, when according to operator's It is required that and when operating a certain particular drive, if it is determined that it is worried to think that apparatus for work and excavator have a collision, then control Electrical proportional control valve, control is so that be reduced or turned off the flow provided to respective actuator.
For example it is assumed that plate is also equipped with scraper bowl 230, when the monnolithic case of scraper bowl 230 further expands, in input unit 30 It has selected the apparatus for work that scraper bowl is combined with plate.At this time, if scraper bowl 230 operates so that close to lower body 110 or dozer 300 sides, then consider the volume of plate, and before plate and lower body 110 or dozer 300 are collided, control first, second, third is driven Move some in device 212,222,232.More specifically, the electrical proportional being controlled to respective actuator is controlled to control Valve.Another further aspect, with being provided with dozer 300 in the front of lower body 110, trigger is provided with the rear of lower body 110 The situation of unit 310 similarly, can be according to portion of upper body 120 in the case of being provided with attachment device before and after lower body 110 (swing) angle is rotated, carries out the control of respective actuator in real time.
Referring to Fig. 5, anterior device anti-collision control device and control to the engineering machinery of one embodiment of the invention Method illustrates.Attached drawing Fig. 5 is for illustrating that the anterior device anticollision of the engineering machinery of one embodiment of the invention controls dress Put and the flow chart of control method.
First performs step (S1)：It is the step of receiving which kind of apparatus for work of input selection.Operator is defeated in instrument board The apparatus for work currently to be installed additional is selected in the catalogue of the apparatus for work gone out.On the other hand, it is even if not exactly the same, it is similar having In the case of the apparatus for work of size, specific apparatus for work can be exported in the catalogue that storage part 20 stores.Thus, make Dealer can reduce the time needed for apparatus for work selection input.
First judgment step：It is to judge whether in the first apparatus for work for performing input in step (S1) be not in storage part The step of new job device stored in 20.In the first judgment step, if apparatus for work is the apparatus for work stored originally, Then enter second and perform step (S3), in the first judgment step, if apparatus for work is new job device, held into the 4th Row step (S6).
Second performs step (S3)：In first performs step (S1), if the apparatus for work of input is in storage part 20 The apparatus for work of storage, then export the appearance information of corresponding apparatus for work from storage part 20.
3rd performs step (S4)：It is the step of performing apparatus for work anticollision control.That is, according to being input to comparing section 10 Information 60, for example, according to excavator pose information and the appearance information for excavating machine control signal and corresponding apparatus for work, prediction is made The collision possibility of industry device, produces simultaneously output control signal so that do not collide.In addition, the shape of storage work machine body Size information, receives to input the shape size information and the engineering machinery anterior device of movement according to the operation of operation device Positional information, judge the anterior device positional information whether close to the work machine body shape size information, The feelings within the distance that the anterior device is close to before colliding the work machine body are thought in the judging result judgement Under condition, the control signal of the action of anterior device described in export-restriction so that the anterior device not collision subject.The control of output Signal processed is exported by output section 40, and the electronics ratio of respective actuator is responsible in control signal control respective actuator, or control Example control valve.
On the other hand, provide must be bigger than left and right width for the total length length of the front and back of lower body 110.According to portion of upper body 120 It is arranged in front and back region (with reference to FZ, RZ), is also arranged in lateral side regions (with reference to SZ), the rollover risk degree meeting of excavator It is different.If being extended explanation to this, in the case where portion of upper body 120 is configured at lateral side regions SZ, rollover risk degree can compare The situation for being configured at front and back region FZ, RZ is high.Which that is, can be given in region, above-mentioned control signal according to portion of upper body 120 Reflection.
In addition, in the case where portion of upper body 120 is configured at lateral side regions SZ, apparatus for work can move closer to excavation The main body (portion of upper body, lower body) of machine.
Second judgment step (S5)：If apparatus for work separates, the excavator operation device of one embodiment of the invention Anticollision device, collision-prevention device and method terminate.
On the other hand, in the 4th performs step (S6), if the apparatus for work in the first execution step (S1) input is The apparatus for work not stored in storage part 20, then, storage part 20 is newly stored the appearance information of corresponding apparatus for work.New defeated When entering the appearance information of corresponding apparatus for work, can roughly it input, at this point it is possible to export the database stored in storage part 20 In most similar apparatus for work appearance information, operator can also output apparatus for work similar to catalogue in select it is a certain specific Apparatus for work.As described above, in the case where selecting apparatus for work during apparatus for work is similar to catalogue, new job device appearance information Storage part 20 can not also be stored in.
Therefore, as described above, anterior device anti-collision control device and control with regard to the engineering machinery of one embodiment of the invention For method processed, the various apparatus for work of shape size can be installed additional, when performing excavator operation, can prevent corresponding operation Device collides.
Particularly, with regard to one embodiment of the invention engineering machinery anterior device anti-collision control device and control method and Speech, can set the shape size of the apparatus for work newly installed additional in advance, especially with person without known on various numerous The appearance information of the apparatus for work of species, by merely selecting, just can determine apparatus for work, very convenient.
Above by reference to attached drawing, the embodiment of the present invention is illustrated, but those skilled in the art can be with Understand, the present invention can be implemented in the case of without departing from its technological thought or essential feature with other concrete forms.
Therefore, the embodiment that the above describes is interpreted as only being exemplary rather than limiting in all respects, the scope of the present invention Represented by claims described later, have altered derived from the meaning and scope and its equivalent concepts of claims or The form of deformation, which should be interpreted that, is contained in the scope of the present invention.
Industrial utilization possibility
The anterior device anti-collision control device and control method of the engineering machinery of the present invention, can be used for preventing engineering machinery The apparatus for work of middle installation and other inscapes of engineering machinery are collided.

Claims (11)

  1. A kind of 1. anterior device anti-collision control device of engineering machinery, it is characterised in that
    Including：
    Storage part (20), it stores the shape size information of work machine body；
    Comparing section (10), its shape size information using the work machine body of the storage and the operation device according to input Operation and the positional information of the engineering machinery anterior device of movement, and judge the anterior device positional information whether close to institute State shape size information；
    Output section (40), its comparing section judge to think the anterior device be close to the collision work machine body it In the case of within preceding distance, the control signal for the action for limiting the anterior device is produced so that the anterior device is not Collision subject,
    The shape size information of the work machine body is from the datum mark set in advance inside the work machine body To the outermost range information of work machine body,
    The positional information of the anterior device is the position of the distal portion for the auxiliary equipment for being installed on the anterior device end Some in information and the positional information of anterior device bottom surface.
  2. A kind of 2. anterior device anti-collision control device of engineering machinery, it is characterised in that
    Including：
    Storage part (20), it stores the shape size information of work machine body；
    Comparing section (10), its shape size information using the work machine body of the storage and the operation device according to input Operation and the positional information of the engineering machinery anterior device of movement, and judge the anterior device positional information whether close to institute State shape size information；
    Output section (40), its comparing section judge to think the anterior device be close to the collision work machine body it In the case of within preceding distance, the control signal for the action for limiting the anterior device is produced so that the anterior device is not Collision subject,
    The shape size information of the work machine body is from the datum mark set in advance inside the work machine body To the outermost range information of work machine body,
    The positional information of the anterior device is from the work in the anterior device closest to the position of work machine body The range information of datum mark set in advance inside journey mechanical body.
  3. A kind of 3. anterior device anti-collision control device of engineering machinery, it is characterised in that
    Including：
    Storage part (20), it stores the shape size information of work machine body；
    Comparing section (10), its shape size information using the work machine body of the storage and the operation device according to input Operation and the positional information of the engineering machinery anterior device of movement, and judge the anterior device positional information whether close to institute State shape size information；
    Output section (40), its comparing section judge to think the anterior device be close to the collision work machine body it In the case of within preceding distance, the control signal for the action for limiting the anterior device is produced so that the anterior device is not Collision subject,
    The shape size information of the work machine body is from the datum mark set in advance inside the work machine body To the outermost range information of work machine body,
    The positional information of the anterior device includes rotation caused by the horizontal direction rotation of the engineering machinery anterior device Positional information.
  4. 4. the anterior device anti-collision control device of engineering machinery according to any one of claim 1 to 3, its feature exist In,
    Input unit (30) is further included, the shape size information of its engineering machinery inputs the storage part (20).
  5. A kind of 5. anterior device anti-collision control device of engineering machinery, it is characterised in that
    Including：
    Storage part (20), it stores the shape size information of work machine body；
    Comparing section (10), its shape size information using the work machine body of the storage and the operation device according to input Operation and the positional information of the engineering machinery anterior device of movement, and judge the anterior device positional information whether close to institute State shape size information；
    Output section (40), its comparing section judge to think the anterior device be close to the collision work machine body it In the case of within preceding distance, the control signal for the action for limiting the anterior device is produced so that the anterior device is not Collision subject,
    The shape size information of the engineering machinery is some in the length of engineering machinery, width, height, volume,
    The positional information of the anterior device is the position of the distal portion for the auxiliary equipment for being installed on the anterior device end Some in information and the positional information of anterior device bottom surface.
  6. A kind of 6. anterior device anticollision control method of engineering machinery, it is characterised in that
    Including：
    The step of storing the shape size information of work machine body；
    Moved using the shape size information of the work machine body of the storage and according to the operation of the operation device of input Engineering machinery anterior device positional information, and judge the anterior device positional information whether close to the engineering machinery master The step of shape size information of body；
    Judge to think within distance of the anterior device close to before colliding the work machine body in the judging result In the case of, the control signal of the action of anterior device described in export-restriction so that the step of the anterior device not collision subject Suddenly,
    The shape size information of the work machine body is from the datum mark set in advance inside the work machine body To the outermost range information of work machine body,
    The positional information of the anterior device is the position of the distal portion for the auxiliary equipment for being installed on the anterior device end Some in information and the positional information of anterior device bottom surface.
  7. A kind of 7. anterior device anticollision control method of engineering machinery, it is characterised in that
    Including：
    The step of storing the shape size information of work machine body；
    Moved using the shape size information of the work machine body of the storage and according to the operation of the operation device of input Engineering machinery anterior device positional information, and judge the anterior device positional information whether close to the engineering machinery master The step of shape size information of body；
    Judge to think within distance of the anterior device close to before colliding the work machine body in the judging result In the case of, the control signal of the action of anterior device described in export-restriction so that the step of the anterior device not collision subject Suddenly,
    The shape size information of the work machine body is from the datum mark set in advance inside the work machine body To the outermost range information of work machine body,
    The positional information of the anterior device is from the work in the anterior device closest to the position of work machine body The range information of datum mark set in advance inside journey mechanical body.
  8. A kind of 8. anterior device anticollision control method of engineering machinery, it is characterised in that
    Including：
    The step of storing the shape size information of work machine body；
    Moved using the shape size information of the work machine body of the storage and according to the operation of the operation device of input Engineering machinery anterior device positional information, and judge the anterior device positional information whether close to the engineering machinery master The step of shape size information of body；
    Judge to think within distance of the anterior device close to before colliding the work machine body in the judging result In the case of, the control signal of the action of anterior device described in export-restriction so that the step of the anterior device not collision subject Suddenly,
    The shape size information of the work machine body is from the datum mark set in advance inside the work machine body To the outermost range information of work machine body,
    The positional information of the anterior device includes rotation caused by the horizontal direction rotation of the engineering machinery anterior device Positional information.
  9. 9. the anterior device anticollision control method of the engineering machinery according to any one of claim 6 to 8, its feature exist In,
    The step of further including the shape size information for inputting the engineering machinery.
  10. 10. the anterior device anticollision control method of the engineering machinery according to any one of claim 6 to 8, its feature exist In,
    If apparatus for work is separated from the engineering machinery, the anterior device anticollision control terminates.
  11. A kind of 11. anterior device anticollision control method of engineering machinery, it is characterised in that
    Including：
    The step of storing the shape size information of work machine body；
    Moved using the shape size information of the work machine body of the storage and according to the operation of the operation device of input Engineering machinery anterior device positional information, and judge the anterior device positional information whether close to the engineering machinery master The step of shape size information of body；
    Judge to think within distance of the anterior device close to before colliding the work machine body in the judging result In the case of, the control signal of the action of anterior device described in export-restriction so that the step of the anterior device not collision subject Suddenly,
    The shape size information of the engineering machinery is some in the length of engineering machinery, width, height, volume,
    The positional information of the anterior device is the position of the distal portion for the auxiliary equipment for being installed on the anterior device end Some in information and the positional information of anterior device bottom surface.
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JP6760163B2 (en) * 2017-03-22 2020-09-23 コベルコ建機株式会社 Construction machinery
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