Swing operating machine and method of controlling swing operating machine

• US 9,580,885 B2
• Filed: 10/19/2011
• Issued: 02/28/2017
• Est. Priority Date: 10/19/2011
• Status: Active Grant

• Current Assignee: Sumitomo Heavy Industries Limited
• Original Assignee: Sumitomo Heavy Industries Limited
• Inventors: Wu, Chunnan, Li, Shipeng
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/352,745
• Publication Number:
  US 20140257647A1
• Time in Patent Office: 1,959 Days
• US Class Current: 1/1
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 9/123 Drives or control devices specially adapted therefor E02F9/125 and E02F9/128 take precedence
• 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
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

A rotation type working machine includes: an attachment mounted so as to be able to rotate with respect to a base body; a rotation mechanism which rotates the attachment; a control device which controls the rotation mechanism; and an entering object detection device which detects a position of an entering object entered into a work area, in which the control device controls a rotation operation of the attachment based on a first physical amount related to at least one of a current angular velocity of the attachment and a current moment of inertia of the attachment, and the position of the entering object detected by the entering object detection device.

Claims

1. A rotation type working machine comprising:

an attachment mounted so as to be able to rotate with respect to a base body;

a rotation mechanism which rotates the attachment;

a control device which controls the rotation mechanism; and

an entering object detection device which detects a position of an entering object entered into a work area,

wherein the control device controls a rotation operation of the attachment by the rotation mechanism based on a first physical amount related to at least one of a current angular velocity of the attachment and a current moment of inertia of the attachment, and the position of the entering object detected by the entering object detection device, and

wherein the control device

performs a decision of whether or not probability of contact of the attachment with the entering object is high, based on the first physical amount and the position of the entering object detected by the entering object detection device,

performs, in a case where it is decided that the probability of contact is high, first control, and

performs, in a case where it is decided that the probability of contact is low, second control different from the first control.

2. A rotation type working machine comprising:

an attachment mounted so as to be able to rotate with respect to a base body;

a rotation mechanism which rotates the attachment;

a control device which controls the rotation mechanism; and

an entering object detection device which detects a position of an entering object entered into a work area,

wherein the control device controls a rotation operation of the attachment based on a first physical amount related to at least one of a current angular velocity of the attachment and a current moment of inertia of the attachment, and the position of the entering object detected by the entering object detection device, and

wherein the control device

stores the relationship between an upper limit of a supervised angle and the first physical amount therein,

compares an angular interval which is an angle between a current orientation of the attachment with a rotation center of the attachment as a base point and an orientation of the entering object detected by the entering object detection device with the upper limit of the supervised angle, and

stops a rotation of the attachment in a case where the angular interval is smaller than the upper limit of the supervised angle.

3. The rotation type working machine according to claim 2, wherein the control device determines the upper limit of the supervised angle such that the upper limit of the supervised angle becomes larger as the current angular velocity of the attachment becomes faster.

4. The rotation type working machine according to claim 2, further comprising:

a sensor which measures a second physical amount related to a height of a tip of the attachment,

wherein the entering object detection device is adopted to detect whether or not only a dump truck is detected as the entering object, and

the control device

allows, in a case where only a dump truck is detected as the entering object and the height of the tip of the attachment is higher than a height of the detected dump truck, a rotation of the attachment even if the angular interval is less than or equal to the upper limit of the supervised angle.

5. A control method for a rotation type working machine comprising:

detecting a position of an entering object entered into a working range of the rotation type working machine having a rotatable attachment;

performing a decision of whether or not probability of contact of the attachment with the entering object is high, based on a first physical amount related to at least one of a current angular velocity of the attachment and a current moment of inertia of the attachment, and the position of the entering object;

performing, in a case where it is decided that the probability of contact is high, first control; and

performing, in a case where it is decided that the probability of contact is low, second control different from the first control.

6. A control method for a rotation type working machine comprising:

detecting a position of an entering object entered into a working range of the rotation type working machine having a rotatable attachment; and

controlling a rotation operation of the attachment based on a first physical amount related to at least one of a current angular velocity of the attachment and a current moment of inertia of the attachment, and the position of the entering object,

wherein in detecting a position of an entering object, an angle between a current orientation of the attachment with a rotation center as a base point and an orientation of the detected entering object is obtained as an angular interval, and

the controlling a rotation operation of the attachment includes

determining an upper limit of a supervised angle based on the first physical amount,

comparing the angular interval with the upper limit of the supervised angle, and

controlling the rotation operation of the attachment based on a comparison result of the angular interval with the upper limit of the supervised angle.

7. The control method for a rotation type working machine according to claim 6, wherein in determining an upper limit of a supervised angle, the upper limit of the supervised angle is determined such that the upper limit of the supervised angle becomes larger as the current angular velocity of the attachment becomes faster.

8. The control method for a rotation type working machine according to claim 6, wherein in controlling a rotation operation of the attachment,

the rotation operation of the attachment is stopped in a case where the angular interval is less than or equal to the upper limit of the supervised angle.

9. The control method for a rotation type working machine according to claim 8, wherein the controlling a rotation operation of the attachment further includes

performing a decision of whether or not only a dump truck is detected as the entering object entered into the working range,

detecting a height of a tip of the attachment, and

allowing, in a case where the height of the tip of the attachment is higher than a height of the detected dump truck and only a dump truck is detected as the entering object, the rotation operation of the attachment even if the angular interval is less than or equal to the upper limit of the supervised angle.

10. A rotation type working machine comprising:

an attachment mounted so as to be able to rotate with respect to a base body;

a rotation mechanism which rotates the attachment;

a control device which controls the rotation mechanism; and

an entering object detection device which detects a position of an entering object entered into a work area,

wherein the control device calculates a length of the attachment and controls a rotation operation of the attachment based on a calculated length of the attachment related to a moment of inertia of the attachment, and the position of the entering object detected by the entering object detection device.

11. A rotation type working machine comprising:

an attachment mounted so as to be able to rotate with respect to a base body;

a rotation mechanism which rotates the attachment;

a control device which controls the rotation mechanism; and

an entering object detection device which detects a position of an entering object entered into a work area and images the entering object,

wherein the control device specifies a type of the entering object by analyzing an image data imaged by the entering object detection device, and controls a rotation operation of the attachment based on a first physical amount related to at least one of a current angular velocity of the attachment and a current moment of inertia of the attachment, the position of the entering object detected by the entering object detection device, and the specified type of the entering object.