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A platform for research: civil engineering, architecture and urbanism
SAFETY DEVICE FOR SLEWING TYPE WORKING MACHINE
To provide a safety device performing appropriate safety control regardless of a posture of a slewing upper structure of a working machine.SOLUTION: The safety device comprises: obstacle sensors 61 to 64 provided in a slewing upper structure; a slewing angle detector 66; an upper side coordinate position calculation part 71 calculating an upper side coordinate position which is a position of an obstacle in an upper side coordinate system based on the slewing upper structure; a lower side determination area setting part 72 setting a lower side determination area in a lower side coordinate system based on an undercarriage; a coordinate conversion part 73 performing coordinate conversion in which one position of the upper side coordinate position and a position in the lower side determination area to a position in a coordinate system to which the other position belongs; a lower side proximity determination part 74 determining whether or not the obstacle is present in the lower side determination area in the integrated coordinate system; and a safety operation instruction part 78 outputting a safety operation instruction on the basis of a result of the determination.SELECTED DRAWING: Figure 3
【課題】作業機械の上部旋回体の姿勢にかかわらず的確な安全制御を行う安全装置を提供する。【解決手段】安全装置は、上部旋回体に設けられる障害物センサ６１〜６４と、旋回角度検出器６６と、上部旋回体を基準とする上部側座標系における障害物の位置である上部側座標位置を演算する上部側座標位置演算部７１と、前記下部走行体を基準とする下部側座標系において下部側判定領域を設定する下部側判定領域設定部７２と、上部側座標位置と下部側判定領域の位置の一方を他方の座標系に座標変換する座標変換部７３と、統一された座標系において下部側判定領域内に障害物が存在するか否かを判定する下部側接近判定部７４と、その判定結果に基づいて安全動作指令を出力する安全動作指令部７８と、を備える。【選択図】図３
SAFETY DEVICE FOR SLEWING TYPE WORKING MACHINE
To provide a safety device performing appropriate safety control regardless of a posture of a slewing upper structure of a working machine.SOLUTION: The safety device comprises: obstacle sensors 61 to 64 provided in a slewing upper structure; a slewing angle detector 66; an upper side coordinate position calculation part 71 calculating an upper side coordinate position which is a position of an obstacle in an upper side coordinate system based on the slewing upper structure; a lower side determination area setting part 72 setting a lower side determination area in a lower side coordinate system based on an undercarriage; a coordinate conversion part 73 performing coordinate conversion in which one position of the upper side coordinate position and a position in the lower side determination area to a position in a coordinate system to which the other position belongs; a lower side proximity determination part 74 determining whether or not the obstacle is present in the lower side determination area in the integrated coordinate system; and a safety operation instruction part 78 outputting a safety operation instruction on the basis of a result of the determination.SELECTED DRAWING: Figure 3
【課題】作業機械の上部旋回体の姿勢にかかわらず的確な安全制御を行う安全装置を提供する。【解決手段】安全装置は、上部旋回体に設けられる障害物センサ６１〜６４と、旋回角度検出器６６と、上部旋回体を基準とする上部側座標系における障害物の位置である上部側座標位置を演算する上部側座標位置演算部７１と、前記下部走行体を基準とする下部側座標系において下部側判定領域を設定する下部側判定領域設定部７２と、上部側座標位置と下部側判定領域の位置の一方を他方の座標系に座標変換する座標変換部７３と、統一された座標系において下部側判定領域内に障害物が存在するか否かを判定する下部側接近判定部７４と、その判定結果に基づいて安全動作指令を出力する安全動作指令部７８と、を備える。【選択図】図３
SAFETY DEVICE FOR SLEWING TYPE WORKING MACHINE
旋回式作業機械の安全装置
FUJIWARA SHO (author)
2020-01-16
Patent
Electronic Resource
Japanese
IPC:
E02F
Baggern
,
DREDGING