A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
OVERTURN PREVENTION DEVICE
PROBLEM TO BE SOLVED: To prevent overturn of a construction machine while reducing computational complexity.SOLUTION: A ZMP calculation part 110 calculates a ZMP of a construction machine 1 based on a joint angle θ, an angular velocity θ', an angular acceleration θ" and a tilt angle β. A retrieval part 111 retrieves a tilt direction in which a ratio of decreasing a distance Lp between a boundary B2 of a safety domain D2 and any ZMP in relative to a present angular acceleration becomes maximum, in a first function F1 indicating the distance Lp as an angular acceleration θ" in a case where a present ZMP is positioned outside of the safety domain D2. The angular acceleration is changed in the retrieved tilt direction, thereby retrieving an angular acceleration that makes the distance Lp equal to or less than zero.SELECTED DRAWING: Figure 3
【課題】少ない計算量で建設機械の転倒防止を実現する。【解決手段】ＺＭＰ算出部１１０は、関節角θ、角速度θ’、角加速度θ”、及び傾斜角βに基づいて、建設機械１のＺＭＰを算出する。探索部１１１は、現在のＺＭＰが安全領域Ｄ２の外側に位置する場合、安全領域Ｄ２の境界Ｂ２及び任意のＺＭＰ間の距離Ｌｐを角加速度θ”で示す第１関数Ｆ１において、現在の角加速度に対して距離Ｌｐが減少する割合が最大となる傾斜方向を探索し、探索した傾斜方向に沿って角加速度を変化させることにより、距離Ｌｐが零以下になる角加速度を探索する。【選択図】図３
OVERTURN PREVENTION DEVICE
PROBLEM TO BE SOLVED: To prevent overturn of a construction machine while reducing computational complexity.SOLUTION: A ZMP calculation part 110 calculates a ZMP of a construction machine 1 based on a joint angle θ, an angular velocity θ', an angular acceleration θ" and a tilt angle β. A retrieval part 111 retrieves a tilt direction in which a ratio of decreasing a distance Lp between a boundary B2 of a safety domain D2 and any ZMP in relative to a present angular acceleration becomes maximum, in a first function F1 indicating the distance Lp as an angular acceleration θ" in a case where a present ZMP is positioned outside of the safety domain D2. The angular acceleration is changed in the retrieved tilt direction, thereby retrieving an angular acceleration that makes the distance Lp equal to or less than zero.SELECTED DRAWING: Figure 3
【課題】少ない計算量で建設機械の転倒防止を実現する。【解決手段】ＺＭＰ算出部１１０は、関節角θ、角速度θ’、角加速度θ”、及び傾斜角βに基づいて、建設機械１のＺＭＰを算出する。探索部１１１は、現在のＺＭＰが安全領域Ｄ２の外側に位置する場合、安全領域Ｄ２の境界Ｂ２及び任意のＺＭＰ間の距離Ｌｐを角加速度θ”で示す第１関数Ｆ１において、現在の角加速度に対して距離Ｌｐが減少する割合が最大となる傾斜方向を探索し、探索した傾斜方向に沿って角加速度を変化させることにより、距離Ｌｐが零以下になる角加速度を探索する。【選択図】図３
OVERTURN PREVENTION DEVICE
転倒防止装置
YAMADA TAKASHI (author) / HIEKATA TAKASHI (author) / HAMAGUCHI SEIJI (author)
2018-02-08
Patent
Electronic Resource
Japanese
| European Patent Office | 2022