Interference preventing system for construction machine

• US 5,957,989 A
• Filed: 12/04/1996
• Issued: 09/28/1999
• Est. Priority Date: 01/22/1996
• Status: Expired due to Term

• Current Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Inventors: Kihara, Mitsuo, Nishida, Toshiaki, Haga, Masakazu, Hosono, Junichi, Watanabe, Hiroshi, Egawa, Eiji, Adachi, Hiroyuki
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/760,572
• Time in Patent Office: 1,028 Days
• Field of Search: 701/50, 395/90, 37/348
• US Class Current: 701/50
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123

Abstract

A calculating portion 7a calculates a distance from the tip end of a front device to an interference prevention area, and a detection line 7m detects a moving speed of a boom 1. If the tip end of the front device comes close to the interference prevention area when the boom 1 is moving upward, control is made such that, while continuing to move the boom 1 upward, a control gain calculating portion 7h and a multiplier 7i cooperatively calculate a target speed of an arm in the arm dumping direction (interference avoiding direction) corresponding to the boom-up speed, and an input limit value calculating portion 7c, an adder 7j and a minimum value selecting portion 7f cooperatively control the arm to move in the interference avoiding direction relative to a vehicle body. Interference avoidance control enabling the tip end of the front device to be moved smoothly along the vicinity of a boundary of the interference prevention area is thereby effected and the front device can be prevented from interfering with the vehicle body without reducing the maneuverability and the working efficiency.

Claims

1. An interference preventing system for a construction machine comprising a vehicle body, a front device mounted on said vehicle body and made up of a plurality of front members including first and second front members pivotable in the vertical direction, a plurality of hydraulic actuators for driving said plurality of front members, a plurality of operating means for instructing operations of said plurality of front members, and a plurality of flow control valves for controlling flow rates of a hydraulic fluid supplied to the associated hydraulic actuators in accordance with respective operation signals input from said plurality of operating means, said interference preventing system regulating motion of said front device when said front device come close to said vehicle body, wherein said interference preventing system comprises:

(a) first detecting means for detecting status variables in relation to a position and attitude of said front device,

(b) calculating means for calculating the position and attitude of said front device based on detected values of said first detecting means,

(c) second detecting means for detecting the operation of said first front member in accordance with the operation signal from said operating means, and

(d) first control means for controlling, based on a calculated value of said calculating means and a detected value of said second detecting means, said second front member to move in the interference avoiding direction relative to said vehicle body while continuing to operate said first front member in accordance with said operation signal, when a predetermined portion of said front device comes close to said vehicle body while said first front member is being moved in accordance with said operation signal.

2. An interference preventing system for a construction machine according to claim 1, wherein said first control means controls said second front member to move in the forward direction relative to said vehicle body as said interference avoiding direction relative to said vehicle body.

3. An interference preventing system for a construction machine according to claim 1, wherein said first control means calculates, based on a detected value of said second detecting means, a target speed of said second front member in the interference avoiding direction corresponding to an operating speed of said first front member, and controls said second front member to move at the calculated target speed.

4. An interference preventing system for a construction machine according to claim 3, wherein said first control means calculates a higher target speed of said second front member in the interference avoiding direction as the operating speed of said first front member increases.

5. An interference preventing system for a construction machine according to claim 3, wherein said first control means calculates a higher target speed of said second front member in the interference avoiding direction as the predetermined portion of said front device comes closer to said vehicle body.

6. An interference preventing system for a construction machine according to claim 3, wherein said first control means calculates a larger control gain as the predetermined portion of said front device comes closer to said vehicle body, and multiplies the detected value of said second detecting means by the calculated control gain, thereby producing the target speed of said second front member in the interference avoiding direction.

7. An interference preventing system for a construction machine according to claim 3, wherein said first control means calculates, based on the calculated value of said calculating means and the detected value of said second detecting means, a component of the speed at the predetermined portion of said front device in the direction toward said vehicle body when said first front member is being moved in accordance with said operation signal, calculates a larger control gain as the predetermined portion of said front device comes closer to said vehicle body, and multiplies the calculated speed component by the calculated control gain, thereby producing the target speed of said second front member in the interference avoiding direction.

8. An interference preventing system for a construction machine according to claim 1, wherein said second detecting means is means for detecting the operation signal applied to said flow control valve associated with said first front member.

9. An interference preventing system for a construction machine according to claim 1, wherein:

said calculating means includes means for calculating, based on the detected values of said first detecting means, a distance from the predetermined portion of said front device to an area preset around said vehicle body, and

said first control means starts s aid control at the time said calculated distance becomes not larger than a preset distance.

10. An interference preventing system for a construction machine according to claim 1, wherein:

said calculating means includes means for calculating, based on the detected values of said first detecting means, a distance from the predetermined portion of said front device to an area preset around said vehicle body, and

said first control means modifies the operation signal from said operating means for said first front member such that when said calculated distance is not larger than a preset first control start distance, said first front member is further slowed down as said calculated distance reduces, and then starts said control at the time said calculated distance becomes not larger than a second control start distance that is equal to or smaller than said first control start distance.

11. An interference preventing system for a construction machine according to claim 1, wherein:

said calculating means includes means for calculating, based on the detected values of said first detecting means, a distance from the predetermined portion of said front device to an area preset around said vehicle body, and

said first control means includes;

(d1) means for calculating a first limit value of the operation signal from said operating means for said first front member such that when said calculated distance is larger than a preset control start distance, said first limit value is kept at a maximum value, when said calculated distance is not larger than said control start distance, said first limit value is reduced as said calculated distance reduces, and when said calculated distance is less than a certain negative value, said first limit value becomes nil (0),

(d2) means for modifying the operation signal from said operating means for said first front member so that the operation signal will not exceed said first limit value,

(d3) means for calculating a second limit value of the operation signal from said operating means for said second front member such that when said calculated distance is larger than said control start distance, said second limit value is kept at a maximum value, when said calculated distance is not larger than said control start distance, said second limit value is reduced as said calculated distance reduces and then becomes nil (0) at said calculated distance being nil (0), and when-said calculated distance is negative, said second limit value is further reduced and takes a negative value depending on the value of said calculated distance,

(d4) means for calculating a control gain in relation to the detected value of said second detecting means such that when said calculated distance is larger than said control start distance, said control gain is kept at nil (0), when said calculated distance is not larger than said control start distance, said control gain is increased as said calculated distance reduces, and when said calculated distance is nil (0) or less, said control gain takes a maximum value,

(d5) means for multiplying the detected value of said second detecting means by said control gain to produce a target speed for moving said second front member in the interference avoiding direction, and

(d6) means for subtracting said target speed in the interference avoiding direction from said second limit value and modifying the operation signal from said operating means for said second front member such that the operation signal will not exceed a resulted difference value.

12. An interference preventing system for a construction machine according to claim 1, further comprising:

(e) setting means for setting, in the ambient around said construction machine, an operable area in which said front device is allowed to move, and

(f) second control means for controlling, in accordance with the calculated value of said calculating means, said first front member to stop when said front device reaches a boundary of said operable area.

13. An interference preventing system for a construction machine according to claim 12, wherein said second control means modifies the operation signal from said operating means for said first front member such that said first front member is slowed down as said front device comes closer to the boundary of said operable area.

14. An interference preventing system for a construction machine according to claim 13, wherein:

said calculating means includes means for calculating, based on the detected values of said first detecting means, a first distance from the predetermined portion of said front device to an area preset around said vehicle body, and means for calculating, based on the detected values of said first detecting means, a second distance from the predetermined portion of said front device to a boundary of the area preset by said setting means,

said first control means calculates a first limit value that is reduced as said first distance reduces,

said second control means calculates a second limit value that is reduced as said second distance reduces and is nil (0) when said second distance becomes nil (0),

said second control means modifies the operation signal from said operating means for said first front member such that the operation signal will not exceed said second limit value, and

said first control means modifies the operation signal from said operating means for said first front member such that the operation signal will not exceed both said first and second limit values.

15. An interference preventing system for a construction machine according to claim 1, wherein:

said calculating means includes means for calculating, based on the detected values of said first detecting means, a distance from the predetermined portion of said front device to an area preset around said vehicle body,

said first control means starts said control at the time said calculated distance becomes not larger than a preset distance, and

said interference preventing system further comprises;

(g) third detecting means for detecting a factor affecting operating characteristics of said front device under control of said first control means, and

(h) distance modifying means for modifying, based on a detected value of said third detecting means, said calculated distance such that said front device will not enter said preset area even when the operating characteristics of said front device is changed depending on said factor.

16. An interference preventing system for a construction machine according to claim 15, wherein said distance modifying means includes means for determining a modification value of said control start distance based on the detected value of said third detecting means, and means for subtracting said modification value from said calculated distance.

17. An interference preventing system for a construction machine according to claim 15, wherein said factor is a fluid temperature of the hydraulic fluid, and said distance modifying means modifies said calculated distance such that said control start distance is increased as the fluid temperature lowers.

18. An interference preventing system for a construction machine according to claim 15, wherein said factor is a revolution speed of a prime mover for driving an hydraulic pump, and said distance modifying means modifies said calculated distance such that said control start distance is increased as the revolution speed rises.

19. An interference preventing system for a construction machine according to claim 15, wherein said factor is a load pressure of the hydraulic actuator for said first front member, and said distance modifying means modifies said calculated distance such that said control start distance is increased as the load pressure rises.

20. An interference preventing system for a construction machine according to claim 1, further comprising:

(i) fourth detecting means for detecting a factor affecting operating characteristics of said front device under control of said first control means, and

(j) gain modifying means for modifying, based on a detected value of said fourth detecting means, a control gain of said first control means such that the operating characteristics of said front device will not change to a large extent regardless of change in said factor.

21. An interference preventing system for a construction machine according to claim 20, wherein said factor is a rotational angle of said first front member, and said gain modifying means modifies said control gain such that said control gain is increased as the rotational angle of said first front member increases.

22. An interference preventing system for a construction machine according to claim 20, wherein said factor is a load pressure of the hydraulic actuator for said first front member, and said gain modifying means modifies said control gain such that said control gain is reduced as the load pressure rises.

23. An interference preventing system for a construction machine according to claim 20, wherein said factor is a fluid temperature of the hydraulic fluid, and said gain modifying means modifies said control gain such that said control gain is reduced as the fluid temperature lowers.

24. An interference preventing system for a construction machine according to claim 20, wherein said factor is a revolution speed of a prime mover for driving an hydraulic pump, and said gain modifying means modifies said control gain such that said control gain is reduced as the revolution speed rises.

25. An interference preventing system for a construction machine according to claim 20, wherein:

said calculating means includes means for calculating, based on the detected values of said first detecting means, a distance from the predetermined portion of said front device to an area preset around said vehicle body, and

said first control means include;

(d1) means for calculating said control gain as a value that is kept at nil (0) when said calculated distance is larger than a preset control start distance, is gradually increased as said calculated distance reduces when said calculated distance is not larger than said control start distance, and is kept at a maximum value when said calculated distance is nil (0) or less, and

(d2) means for multiplying the detected value of said second detecting means by said control gain to produce a target speed for moving said second front member in the interference avoiding direction,

said gain modifying means modifying a change rate of said control gain with respect to said calculated distance.

26. An interference preventing system for a construction machine according to claim 25, wherein said gain modifying means modifies the change rate of said control gain with respect to said calculated distance by changing a maximum value of said control gain depending on said factor.

27. An interference preventing system for a construction machine according to claim 25, wherein said gain modifying means modifies the change rate of said control gain with respect to said calculated distance by changing an increase start distance for said control gain depending on said factor.

28. An interference preventing system for a construction machine according to claim 1, wherein said plurality of operating means are of electric lever type outputting electric signals as said operation signals, and

said first control means calculates a command signal based on the operation signal from said operating means for said first front member, outputs the command signal to said flow control valve associated with said first front member, calculates a target speed of said second front member in the interference avoiding direction, calculates a command signal based on the target speed of said second front member in the interference avoiding direction and the operation signal from said operating means for said second front member, and outputs the command signal to said flow control valve associated with said second front member.

29. An interference preventing system for a construction machine according to claim 1, wherein said plurality of operating means are of hydraulic pilot type outputting pilot pressures as said operation signals, and

said first control means includes means for calculating a target speed of said second front member in the interference avoiding direction, a proportional solenoid pressure reducing valve for outputting a pilot pressure corresponding to the target speed of said second front member in the interference avoiding direction, and a shuttle valve disposed in a line for introducing the pilot pressure from said operating means for said second front member to said flow control valve associated with said second front member and selecting higher one of the pilot pressure output from said proportional solenoid pressure reducing valve and the pilot pressure from said operating means for said second front member.

30. An interference preventing system for a construction machine according to claim 1, wherein said first front member is a front member requiring the predetermined portion of said front device to be continuously moved around said vehicle body during work where the predetermined portion of said front device may possibly interfere with said vehicle body, and said second front member is a front member not requiring the predetermined portion of said front device to be continuously moved around said vehicle body during said work.

31. An interference preventing system for a construction machine according to claim 1, wherein said construction machine is an offset type hydraulic excavator including a boom, an offset and an arm as said plurality of front members, said first front member is the boom, said second front member is the arm, the operation of said first front member detected by said second detecting means is operation of moving said boom upward, and the operation of said second front member provided by said first control means in the interference avoidance direction is operation of moving said arm in the dumping direction.