JP6909767B2 - Collision prevention system during transportation of construction machinery - Google Patents

Description

The present invention relates to a technique for ensuring safety during transportation of a construction machine. In particular, the present invention relates to a technique for preventing collision of components mounted on the vehicle body of a construction machine.

There is a technology to prevent interference between the handrail mounted on the body of the construction machine and the attachment of the construction machine during the operation of the construction machine. For example, Patent Document 1 states, "In a civil engineering / construction machine provided with a house for covering an engine, a hydraulic device, etc. arranged on an upper swing body, a handrail for work is provided on the upper part of the outer periphery of the house. A storage place for storing the handrail was provided on one end side of the upper swing body, and a hydraulic cylinder was provided for freely moving the handrail between the working position and the storage position (abstract excerpt). "Construction machine Is disclosed.

Japanese Patent No. 2003-20689

According to the technique disclosed in Patent Document 1, when the engine is turned on, the extension and storage of the handrail are controlled by a hydraulic cylinder driven according to the position of the attachment. Therefore, avoidance of interference with the attachment is limited to the operation of the construction machine.

However, when moving a track-running construction machine such as a hydraulic excavator to another work site, it is usually carried by a trailer or the like instead of self-propelling on a general road. Since the construction machine itself is not in operation during transportation, it is not possible to avoid handrail interference using the technique of Patent Document 1. However, components protruding from the vehicle body such as handrails may come into contact with surrounding objects during transportation, and countermeasures are required.

The present invention has been made in view of the above circumstances, and provides a technique for reducing the risk of contact between a component protruding from the main body of a construction machine and surrounding objects during normal use during transportation of the construction machine. The purpose is.

The present invention is either a used state in which the component provided on the controller and the construction machine is held at a predetermined height, or a transportation state in which the component is held at a position lower than the predetermined height. A component state detection device that detects whether or not the construction machine is in the operating state and outputs the detection result to the controller, and a machine that detects whether the construction machine is in the operating state or the transporting state and outputs the detection result to the controller. A state detection device and an alarm device that outputs an alarm when an alarm signal is received from the controller are provided. The controller is transporting the detection result of the machine state detection device while the construction machine is mounted on another vehicle. When the detection result by the component state detecting device indicates that the component state is in the used state, the alarm signal is output to the alarm device.

According to the present invention, it is possible to reduce the risk of contact between a component protruding from the main body of the construction machine and surrounding objects during normal use during transportation of the construction machine. Issues, configurations and effects other than those described above will be clarified by the description of the following embodiments.

(A) is a side view of the hydraulic excavator according to the embodiment of the present invention. (B) is a figure explaining the transport state of the hydraulic excavator which concerns on embodiment of this invention. (A) is a figure explaining the used state of the handrail which concerns on embodiment of this invention, and (b) is a figure explaining the non-used state of the handrail. FIG. 3C is a diagram illustrating a usage state of the GNSS antenna according to the embodiment of the present invention. The block diagram of the collision prevention system at the time of transportation which concerns on embodiment of this invention. The flowchart of the collision prevention processing at the time of transportation which concerns on embodiment of this invention. FIG. 3 is a block diagram of a collision prevention system during transportation of a modified example of the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all the drawings for explaining the embodiment, members having the same function are designated by the same or related reference numerals, and the repeated description thereof will be omitted. Further, in the present embodiment, a hydraulic excavator will be described as an example of a construction machine.

FIG. 1A shows a side view of the hydraulic excavator 100 of the present embodiment.

As shown in FIG. 1A, the hydraulic excavator 100 is mounted on the self-propelled crawler type lower traveling body 110 and the lower traveling body 110 so as to be able to turn, and together with the lower traveling body 110, the hydraulic excavator 100 The upper swivel body 120 constituting the vehicle body and the front working machine 130 provided on the front side of the upper swivel body 120 so as to be able to move up and down are provided. The hydraulic excavator 100 is used, for example, for excavating earth and sand.

The upper swivel body 120 includes a swivel frame 121 that is the center of swivel, a cab 122 that is above the swivel frame 121 and mounted on the front side, and a counter that is above the swivel frame 121 and is mounted on the rear side. It includes a weight 123 and an engine located between the cab 122 and the counterweight 123. A heat exchanger is arranged on the outside air suction side of the engine, and a hydraulic pump unit is arranged on the exhaust side. The portion where the engine or the like is arranged constitutes a machine room, and a part of this machine room is covered with the machine room cover 124. On the other hand, the side surface portion of the hydraulic excavator 100 on the rear side of the cab 122 is covered with the building cover 125.

Further, a handrail 210 and a GNSS antenna 220 for GNSS (Global Navigation Satellite System) are provided on the upper swing body 120. In the upper swing body 120, for example, in the cab 122, a GNSS receiving device 247 (see FIG. 3) for calculating the position information of the own vehicle using the radio waves received by the GNSS antenna 220 is provided. Further, in the present embodiment, an alarm device 230 such as a rotating light is further provided.

The alarm device 230 is arranged around the counterweight 123. However, it is not limited to this position. As will be described later, the location may be any place that can be recognized by the driver of the trailer 300 on which the hydraulic excavator 100 is mounted when the hydraulic excavator 100 is transported.

Further, the alarm device 230 may be, for example, a rotating lamp 231 (see FIG. 3), a buzzer 232 that outputs sound (see FIG. 3), a lamp that repeatedly blinks, or the like.

Further, although not shown in FIG. 1A, the hydraulic excavator 100 includes a transport collision prevention system 200 (see FIG. 3). The collision prevention system 200 during transportation is a detection device that detects the state of each part of the hydraulic excavator 100, and a controller 250 that receives signals from the detection device, processes them, and controls the operation of the entire hydraulic excavator 100 (see FIG. 3). ) And the alarm device 230. The collision prevention system 200 during transportation will be described later.

When moving the work site, such a hydraulic excavator 100 is mounted on another vehicle such as a trailer 300 and transported (transported) as shown in FIG. 1 (b). At this time, the protruding components such as the handrail 210 and the GNSS antenna 220 are in a predetermined state during transportation. In the transported state, these components are held at a position lower than the height in the used state so as not to protrude from the upper swing body 120 and collide with surrounding objects.

The handrail 210 is, for example, a protective fence for preventing the operator from falling when ascending to the upper surface of the upper swing body 120 for inspection or repair work of each part of the hydraulic excavator 100. The handrail 210 is provided, for example, substantially above the building cover 125 behind the cab 122, has a shape in which a steel pipe is bent into a gate shape (Π shape), and has a horizontal fence portion and both leg portions. Be prepared. The handrail 210 of the present embodiment has two states, a used state in which it is in use and a non-used state in which it is not in use. The handrail 210 is in an unused state during transportation.

The usage state of the handrail 210 is shown in FIG. 2 (a). The non-use state is shown in FIG. 2 (b).

In the used state, the handrail 210 is attached in a state where the horizontal fence portion is horizontal and both leg portions are substantially vertical, as shown in FIG. 2A. One leg of the handrail 210 is the left side edge of the upper swing body 120 and is located on the back surface of the cab 122 with a slight gap. In the present embodiment, the other leg of the handrail 210 is located at a position in the front-rear direction close to the front end of the machine room cover 124. The root portion of the handrail 210 is foldably held by a fixing means so as to be foldable via a hinge or the like (not shown).

On the other hand, in the non-use state, as shown in FIG. 2B, the fixing means provided at the root portion is released from the fixing, tilted from the root by approximately 90 degrees, and held on the upper surface of the upper swing body 120. At this time, for example, the fixing pin is fitted into the through hole formed in the horizontal fence portion of the handrail 210 and the locking hole formed in the ceiling plate of the upper swing body 120 to be locked.

In the present embodiment, a detection switch 241 which is a state detection sensor for detecting the state of the handrail 210 is provided on the upper surface of the upper swing body 120. The detection switch 241 is arranged so as to be located directly below the horizontal fence portion of the handrail 210 in an unused state, for example. As a result, when the handrail 210 is tilted when not in use, the detection switch 241 is turned on. When the detection switch 241 is turned on, the detection switch 241 outputs a non-use detection signal to the controller 250. That is, the detection switch 241 of the present embodiment outputs a non-use detection signal when it detects that the handrail 210 is in the non-use state. The controller 250 can grasp the state of the handrail 210 by the presence or absence of this non-use state detection signal.

When in use, the GNSS antenna 220 is mounted with a dedicated pole 221 standing upright on the counterweight 123, for example, as shown in FIG. 1 (a). When not in use, it is removed from the dedicated pole 221. During transportation, the GNSS antenna 220 is in a non-use state.

An ON / OFF switch 242 for detecting the attachment / detachment of the GNSS antenna 220 is provided at the tip of the dedicated pole 221. When the GNSS antenna 220 is attached, the ON / OFF switch 242 is in the ON state and outputs an ON signal to the controller 250. That is, when the GNSS antenna 220 is in use, an ON signal is output to the controller 250. The controller 250 can grasp the state of the GNSS antenna 220 depending on the presence or absence of this ON signal. Instead of the ON / OFF switch 242, an electric signal output from the connector that electrically connects the GNSS antenna 220 to the GNSS receiver 247 toward the controller 250 may be used for grasping the state of the GNSS antenna 220.

As described above, the handrail 210 and the GNSS antenna 220 are held in the state of being transported and not in use. Therefore, hereinafter, the state when not in use is referred to as a transportation state.

Next, the transport collision prevention system 200 included in the hydraulic excavator 100 of the present embodiment will be described. FIG. 3 is a block diagram of the transport collision prevention system 200 of the present embodiment. The transport collision prevention system 200 of the present embodiment detects the state of the controller 250, the component state, and outputs the detection result to the controller 250, and detects the state of the construction machine, and outputs the detection result to the controller. It includes a mechanical state detection device that outputs to 250, an alarm device 230, and a battery 260.

The component state detection device includes the above-mentioned detection switch 241 and an ON / OFF switch 242. Further, the mechanical state detection device includes a key switch (ignition switch; start switch) 243 provided in the hydraulic excavator 100 and an acceleration sensor 244.

The key switch 243 is provided near the driver's seat in the cab 122 and is turned on to start the engine of the hydraulic excavator 100. Specifically, the battery 260 included in the hydraulic excavator 100 outputs a start signal for closing the contacts of circuits leading to various electrical components. In this embodiment, this start signal is output to the controller 250. By receiving this start signal, the controller 250 can grasp that the hydraulic excavator 100 is in operation. That is, in the present embodiment, the key switch 243 functions as an operation detection device that detects whether or not the hydraulic excavator 100 is in operation.

The acceleration sensor 244 detects the acceleration of the hydraulic excavator 100. For example, it is provided on the upper swing body 120. The acceleration sensor 244 outputs the detected acceleration as an acceleration signal to the controller 250. When the vehicle body of the hydraulic excavator 100 is moving, an acceleration signal is output. By receiving this acceleration signal, the controller 250 can grasp that the hydraulic excavator 100 is moving. That is, in the present embodiment, the acceleration sensor 244 functions as a movement detection device that detects whether or not the hydraulic excavator 100 is moving.

While the hydraulic excavator 100 is being transported, the controller 250 determines whether the handrail 210 and the GNSS antenna 220, which are components, are in the transporting state, and if at least one is not in the transporting state, the alarm device 230. Output an alarm from. The controller 250 is arranged in, for example, the upper swing body 120.

The controller 250 determines whether or not the hydraulic excavator 100 is being transported by using the outputs from the key switch 243 and the acceleration sensor 244. Further, whether or not the component is in the transported state is determined by using the outputs from the detection switch 241 and the ON / OFF switch 242. Further, when at least one component is not in the transport state during the transport of the hydraulic excavator, an alarm signal is generated and output to the alarm device 230. At this time, the operating power of the controller 250 and the like is obtained from the battery 260.

The sensor device, the alarm device 230, and the controller 250 may be connected by wire or wirelessly.

Hereinafter, the flow of collision prevention processing during transportation by the controller 250 will be described. As described above, the collision prevention process during transportation is a process for causing the alarm device 230 to output an alarm when at least one of the handrail 210 and the GNSS antenna 220 is not in the transportation state during transportation of the hydraulic excavator 100.

FIG. 4 is a processing flow of the collision prevention processing of the present embodiment. This process is executed at predetermined time intervals.

The controller 250 first determines whether or not the hydraulic excavator 100 is being transported. The hydraulic excavator 100 is determined to be transported when the engine is not running but the vehicle body is moving.

The controller 250 first determines whether or not the engine is running (step S1101). Whether or not the engine is operating is determined by whether or not a start signal is received from the key switch 243. When the controller 250 receives the start signal, it determines that the engine is running. On the other hand, if the start signal is not received, the engine determines that it is not operating.

When it is determined that the engine is operating (S1101; Yes), it is determined that the engine is not being transported, and the process is terminated as it is.

On the other hand, when it is determined that the engine is not operating (S1101; No), the controller 250 determines whether or not the vehicle body is moving (step S1102). Whether or not the vehicle body is moving is determined by the output from the acceleration sensor 244. That is, the controller 250 determines whether or not the acceleration information is output from the acceleration sensor 244. If it is output, it is determined that the vehicle body is moving.

When the controller 250 determines that the vehicle body is not moving (S1102; No), the controller 250 determines that the vehicle is not being transported and ends the process as it is.

On the other hand, when it is determined that the vehicle body is moving (S1102; Yes), the controller 250 determines whether or not the component parts such as the handrail 210 are in the transported state (step S1103). In the present embodiment, the controller 250 determines that the component is in the transported state when both the handrail 210 and the GNSS antenna 220 are determined to be in the transported state. That is, when at least one of the handrail 210 and the GNSS antenna 220 is determined to be in the used state, it is determined that the component is not in the transported state.

It should be noted that the determination as to whether each component is in the transported state or the used state is as follows. That is, when the non-use signal is input from the detection switch 241, the handrail 210 determines that it is in the transport state. On the other hand, when the non-use signal is not input, the handrail 210 determines that it is in use. Further, when the ON signal is input from the ON / OFF switch 242, the GNSS antenna 220 determines that the antenna is in use. On the other hand, when the ON signal is not input from the ON / OFF switch 242, it is determined that the product is in the transport state.

When it is determined that the component is in the transported state (S1103; Yes), the controller 250 ends the process as it is. On the other hand, when it is determined that the vehicle is not in the transport state (S1103; No), the controller 250 outputs an alarm signal to the alarm device 230 (step S1104), and ends the process. The alarm device 230 receives the alarm signal and outputs an alarm.

As described above, the hydraulic excavator 100 of the present embodiment includes a transportation collision prevention system 200 that prevents collision of components during transportation. The transport collision prevention system 200 includes a controller 250, a component state detection device, a mechanical state detection device, and an alarm device 230 that outputs an alarm when an alarm signal is received from the controller 250. The component state detection device is, for example, a detection switch 241 and an ON / OFF switch 242, and is used in which components such as a handrail 210 and a GNSS antenna 220 provided on the hydraulic excavator 100 are held at a predetermined height. It detects whether it is in a state or a transport state (non-used state) held at a position lower than the predetermined height, and outputs the detection result to the controller 250. The mechanical state detection device is, for example, a key switch 243 and an acceleration sensor 244, and whether the state of the hydraulic excavator 100 is in the operating state of being in operation or in the transportation state of being mounted on another vehicle and being transported. Is detected, and the detection result is output to the controller 250. The controller 250 outputs an alarm signal when the detection result by the mechanical state detection device indicates that it is in the transport state and the detection result by the component state detection device indicates that it is in the use state.

As described above, according to the present embodiment, when the component protruding from the vehicle body of the hydraulic excavator 100 during normal use is not in the transport state during transportation of the hydraulic excavator 100, an alarm is output from the alarm device 230. As a result, for example, a person around the driver of the trailer 300 carrying the hydraulic excavator 100 can easily know that the component parts may come into contact with surrounding objects during transportation, and measures are taken. be able to. This makes it possible to reduce the risk that the components protruding from the hydraulic excavator 100 come into contact with surrounding objects during transportation.

In the above embodiment, the handrail 210 is tilted on the upper surface of the upper swing body 120 when not in use, but the present invention is not limited to this. For example, the lengths of both legs may be adjustable to reduce the height of protrusion from the upper swing body 120, or the handrail 210 itself may be configured to be retractable in the upper swing body 120.

Further, in the above embodiment, the handrail 210 and the GNSS antenna 220 are assumed as the components protruding from the vehicle body of the hydraulic excavator 100, but either one may be used. For example, when the GNSS antenna 220 is not removed during transportation, the GNSS receiving device 247 may be used as a movement detecting device for detecting whether or not the vehicle body of the hydraulic excavator 100 is moving. In this case, when the position information calculated by the GNSS receiving device 247 changes with time, it is determined that the vehicle body is moving. As GNSS, for example, GPS is used.

Further, the components are not limited to the handrail 210 and the GNSS antenna 220.

Further, in the transportation collision prevention system 200, the target for detecting the state during transportation is not limited to the component parts. Further, it may be determined whether or not the posture of the front working machine 130 is in the transporting state.

A block diagram of the collision prevention system 200 during transportation in this case is shown in FIG. Here, as the posture detection device of the front work machine 130, a stroke sensor 245 and an angle sensor 246 are further provided. These are sensors that are mounted on the front work machine 130 in advance as sensors that detect the posture of the front work machine 130.

The controller 250 determines whether or not the posture of the front work machine 130 is the posture at the time of transportation (transportation state) based on the signal input from the attitude detection device. The posture during transportation is, for example, a posture in which the height of the front work machine 130 is equal to or less than a predetermined height.

In step S1103 of the alarm output process, the controller 250 further determines whether or not the posture of the front work machine 130 is in the transport state. Then, when it is determined that at least one of the components and the posture of the front work machine 130 is not in the transport state, an alarm signal is output.

Further, in the above embodiment, whether or not the hydraulic excavator 100 is being transported is determined based on two conditions: whether or not the engine is operating and whether or not the vehicle body is moving. That is, the determination is made based on the signal from the key switch 243 and the signal from the acceleration sensor 244, but the determination is not limited to this. Generally, when transported by a trailer 300 or the like, the moving speed is faster than the normal self-propelled speed of the hydraulic excavator 100. This characteristic may be used to determine whether or not the hydraulic excavator 100 is being transported.

In this case, the controller 250 calculates the actual moving speed from the acceleration signal input from the acceleration sensor 244, and determines based on the moving speed. That is, a predetermined speed threshold value is stored in a storage device (not shown) in advance, and if the moving speed is equal to or higher than the speed threshold value, the hydraulic excavator 100 determines that the vehicle is being transported. The speed threshold value is, for example, the maximum speed of the hydraulic excavator 100 when the hydraulic excavator 100 is self-propelled.

With this configuration, the number of signals used by the controller 250 can be reduced as compared with the processing in the present embodiment in order to perform collision prevention processing during transportation. Therefore, a collision prevention process during transportation can be realized with a simple configuration.

Further, the alarm device 230 may be detachably attached so that the alarm device 230 can be arranged at a position easily understood by the driver of the trailer 300.

In the following description, the hydraulic excavator 100 is taken up as a construction machine, but the construction machine is not limited to the hydraulic excavator 100, and is transported without self-propelled when moving to a work site such as a wheel loader or various road machines. It can be applied to various construction machines.

The present invention is not limited to the above-described embodiments and modifications, and includes various modifications within a range that does not deviate from the gist thereof. For example, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted.

100: Excavator, 110: Lower traveling body, 120: Upper swivel body, 121: Swivel frame, 122: Cab, 123: Counterweight, 124: Machine room cover, 125: Building cover, 130: Front work machine,
200: Collision prevention system during transportation, 210: Handrail, 220: GNSS antenna, 221: Dedicated pole, 230: Alarm device, 231: Rotating light, 232: Buzzer, 241: Detection switch, 242: ON / OFF switch, 243 : Key switch, 244: Accelerometer, 245: Stroke sensor, 246: Angle sensor, 250: Controller, 260: Battery,
300: Trailer

Claims (5)

With the controller
Detects whether the component provided on the construction machine is in a used state where it is held at a predetermined height or in a transport state where the component is held at a position lower than the predetermined height. Then, the component state detection device that outputs the detection result to the controller and
A machine state detection device that detects whether the construction machine is in an operating state or a transporting state and outputs the detection result to the controller.
An alarm device that outputs an alarm when an alarm signal is received from the controller is provided.
The controller indicates that the detection result by the machine state detection device indicates that the construction machine is mounted on another vehicle and is being transported, and the detection result by the component state detection device is the use state. When indicating, a collision prevention system during transportation of a construction machine, characterized in that the alarm signal is output to the alarm device. In the transportation collision prevention system for construction machinery according to claim 1,
The construction machine is equipped with a front work machine
A posture detection device that detects the posture of the front work machine and outputs the detection result to the controller is further provided.
The controller further indicates that the detection result by the machine state detection device is being transported, and the detection result of the posture detection device indicates that the posture of the front work machine is higher than a predetermined height. In the case of a construction machine, a collision prevention system during transportation, characterized in that the alarm signal is output. In the transportation collision prevention system for construction machinery according to claim 1 or 2.
The mechanical state detection device is
An operation detection device that detects whether or not the construction machine is in operation and outputs the detection result to the controller.
It is provided with a movement detection device that detects whether or not the construction machine is moving and outputs the detection result to the controller.
When the detection result of the movement detection device indicates that the construction machine is not in operation and the detection result of the movement detection device indicates that the construction machine is moving, the construction is performed. A transport collision prevention system for construction machinery, characterized in that it determines that the machine is in transit. In the collision prevention system during transportation of the construction machine according to claim 3,
The operation detection device is a key switch for starting the engine.
The movement detection device is a collision prevention system during transportation of a construction machine, characterized in that it is an acceleration sensor or a GNSS receiver. In the transportation collision prevention system for construction machinery according to claim 4,
The controller determines that when the detection result by the acceleration sensor indicates that the construction machine is moving at a speed equal to or higher than a predetermined speed, it indicates that the construction machine is being transported. Collision prevention system during transportation.

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