Area limiting excavation control system for construction machines
First Claim
1. An area limiting excavation control system for construction machines comprising a plurality of driven members (1a-1e) including a plurality of front members (1a-1c) which make up a multi-articulated front device (1A) and are pivotable in the vertical direction, a plurality of hydraulic actuators (3a-3f) for driving respectively said plurality of driven members, a plurality of operating means (14a-14f;
- 4a-4f) for instructing operation of said plurality of driven members, and a plurality of hydraulic control valves (15a-15f;
5a-5f) driven in accordance with operation signals from said plurality of operating means for controlling flow rates of a hydraulic fluid supplied to said plurality of hydraulic actuators, wherein said control system further comprises;
area setting means (7;
7, 9a) for setting an area where said front device (1A) is movable;
first detecting means (8a-8d) for detecting status variables in relation to a position and posture of said front device (1A);
first calculating means (250;
9b) for calculating the position and posture of said front device (1A) based on signals from said first detecting means;
first signal modifying means (260;
9m, 11a, 11b;
9M, 11a, 11b) for modifying, based on values calculated by said first calculating means, at least the operation signal from the operating means (14b, 4b) associated with a first particular front member (1b) among said plurality of operating means (14a-14f;
4a-4f) so as to reduce said operation signal, when said front device (1A) is near the boundary of the set area therewithin; and
second signal modifying means (270, 280;
9c-9f, 10a, 10b, 12;
9D-9I, 10a, 10b,
12) for calculating, based on at least the operation signal reduced by said first signal modifying means and the values calculated by said first calculating means, a speed (Vc;
b) for control of said front device (1A), and modifying, based on said speed for control, at least the operation signal from the operating means (14a;
4a) associated with a second particular front member (1a) among said plurality of operating means, such that a moving speed (Vcy;
by) of said front device in the direction toward the boundary of the set area is reduced within the set area.
1 Assignment
0 Petitions
Accused Products
Abstract
An area where a front device 1A is movable is set in advance. A target speed vector of the front device is modified such that its component in the direction toward a boundary of the set area is reduced, by using signals obtained by reducing operation signals input from control lever units 4a-4c when a mode switch 20 is turned on and the front device is within and near the boundary of the set area, and by using the operation signals as they are when the mode switch 20 is turned off. When the front device is outside the set area, the target speed vector is modified so that the front device is returned to the set area. Thus, excavation within a limited area can be performed efficiently and smoothly, and an operator can select one of an accuracy precedence work mode and a speed precedence work mode at his own discretion.
45 Citations
10 Claims
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1. An area limiting excavation control system for construction machines comprising a plurality of driven members (1a-1e) including a plurality of front members (1a-1c) which make up a multi-articulated front device (1A) and are pivotable in the vertical direction, a plurality of hydraulic actuators (3a-3f) for driving respectively said plurality of driven members, a plurality of operating means (14a-14f;
- 4a-4f) for instructing operation of said plurality of driven members, and a plurality of hydraulic control valves (15a-15f;
5a-5f) driven in accordance with operation signals from said plurality of operating means for controlling flow rates of a hydraulic fluid supplied to said plurality of hydraulic actuators, wherein said control system further comprises;area setting means (7;
7, 9a) for setting an area where said front device (1A) is movable;first detecting means (8a-8d) for detecting status variables in relation to a position and posture of said front device (1A); first calculating means (250;
9b) for calculating the position and posture of said front device (1A) based on signals from said first detecting means;first signal modifying means (260;
9m, 11a, 11b;
9M, 11a, 11b) for modifying, based on values calculated by said first calculating means, at least the operation signal from the operating means (14b, 4b) associated with a first particular front member (1b) among said plurality of operating means (14a-14f;
4a-4f) so as to reduce said operation signal, when said front device (1A) is near the boundary of the set area therewithin; andsecond signal modifying means (270, 280;
9c-9f, 10a, 10b, 12;
9D-9I, 10a, 10b,
12) for calculating, based on at least the operation signal reduced by said first signal modifying means and the values calculated by said first calculating means, a speed (Vc;
b) for control of said front device (1A), and modifying, based on said speed for control, at least the operation signal from the operating means (14a;
4a) associated with a second particular front member (1a) among said plurality of operating means, such that a moving speed (Vcy;
by) of said front device in the direction toward the boundary of the set area is reduced within the set area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
- 4a-4f) for instructing operation of said plurality of driven members, and a plurality of hydraulic control valves (15a-15f;
Specification