US20220178113A1

US20220178113A1 - Construction equipment

Info

Publication number: US20220178113A1
Application number: US17/601,167
Authority: US
Inventors: Dongsoo Kim; Miok Kim
Original assignee: Volvo Construction Equipment AB
Current assignee: Volvo Construction Equipment AB
Priority date: 2019-04-05
Filing date: 2019-04-05
Publication date: 2022-06-09
Also published as: KR102705219B1; KR20220037405A; EP3951071A4; US20250277355A1; EP3951071A1; CN113795633A; WO2020204240A1

Abstract

A construction equipment includes a work device including a boom, an arm, and a bucket moved by means of respective hydraulic cylinders; a control valve for controlling the hydraulic cylinders; an operation lever for outputting an operation signal corresponding to the operation amount of a driver; a work setting unit capable of setting and/or selecting the work area of the work device; a location information provision unit for collecting and/or calculating location information of the work device and/or location information of the work area; and an electronic control unit for outputting a control signal for the control valve according to a signal inputted from at least one from among the control lever, the work setting unit, and the location information provision unit. The electronic control unit calculates the distance between the work area and the work device and controls the speed of the work device on the basis of the calculated distance.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a 35 U.S.C. § 371 national stage application of PCT International Application No. PCT/KR2019/004110 filed on Apr. 5, 2019, the disclosure and content of which is incorporated by reference herein in its entirety.

TECHNICAL FIELD

The present invention relates to a construction equipment. More specifically, the present invention relates to a construction equipment having a work area limit function capable of improving work speed and work efficiency by controlling the speed of the bucket in consideration of the distance from the bucket end to the work area in the direction in which the bucket end moves (the speed direction of the bucket end).

BACKGROUND

In general, an excavator is a construction equipment performing various tasks such as digging for digging up the ground at construction sites, etc., loading for carrying soil, excavating for making a foundation, crushing for dismantling buildings, grading for cleaning the ground, and leveling for leveling the ground.
With reference to FIG. 1, a construction equipment 1 such as an excavator comprises a lower traveling body 2, an upper swing body 3 rotatably supported on the lower traveling body 2, and a work device 4 installed to operate vertically on the upper swing body 3.
In addition, the work device 4 is formed of multi-joints, and comprises a boom 4 a which has a rear end thereof rotatably supported on the upper swing body 3, an arm 4 b which has a rear end thereof rotatably supported on a tip of the boom 4 a, and a bucket 4 c rotatably installed on the tip side of the arm 4 b. Also, hydraulic oil is provided as the user operates the lever, and a boom cylinder 5 (working actuator), an arm cylinder 6 (working actuator), and a bucket cylinder 7 (working actuator) operate the boom 4 a, arm 4 b, and bucket 4 c, respectively.
Such construction equipment 1 operates a work device 4 such as a boom 4 a, an arm 4 b, a bucket 4 c, etc. by its respective manual operation lever. However, since the work device 4 carries out a rotational movement by being connected to each joint part, it requires considerable effort for the driver to operate each work device 4 separately and work in a predetermined area.
Therefore, in order to facilitate such work, Japanese Patent No. Heil-94735 discloses an apparatus for controlling work area of an excavator. The apparatus for controlling work area of an excavator controls the movement of the bucket along the distance between the bucket end and the border line of a non-intrusive area. Therefore, even if the driver accidentally moves the bucket end to the non-intrusive area, the bucket will automatically stop at the border line of the non-intrusive area. Also, the driver may realize that the work device is approaching the non-intrusive area from the fact that the speed of the work device is decreasing during work, and send back the tip of the bucket.
FIG. 2 illustrates situations (a) to (c) in which the posture of the bucket 13 c is different, but the distance between the bucket end P1 and the work area is the same in a situation in which a driver sets a work area and then removes the work material piled up in the work area.
In this case, it is necessary to operate a bucket 13 c in order for a driver to remove the work material piled up in the work area set. According to prior art, the speed of the bucket 13 c is limited only by the shortest distance d between the bucket end P1 and the work area. Even when the shortest distance d between the bucket end P1 and the work area is the same, there may be many cases where the bucket 13 c does not invade the work area or has extra time to invade the work area depending on the posture of the bucket 13 c. Even in such cases, according to prior art, the speed of the bucket 13 c is limited all the same.
In other words, unlike situations (a) and (b), even though situation (c) is a situation in which the bucket 13 c does not invade the work area when the driver operates the bucket 13 c, the shortest distance d between the bucket end P1 and the work area is recognized to be the same, and thus the speed of the bucket 13 c is limited in the same manner as in situations (a) and (b). Accordingly, there is a problem that the work speed and efficiency may decrease during the digging work using a bucket 13 c.

SUMMARY

The present invention aims at solving the above problems of the prior art. It is an object of the present invention to provide a construction equipment having a work area limit function capable of improving work speed and work efficiency by controlling the speed of the bucket in consideration of the distance from the bucket end to the work area in the direction in which the bucket end moves (the speed direction of the bucket end).
In order to achieve the above object, according to an aspect of the present invention, the present invention provides a construction equipment comprising: a lower traveling body; an upper swing body rotatably supported on the lower traveling body; a work device comprising a boom, an arm, and a bucket moved by means of respective hydraulic cylinders and supported by the upper swing body; a control valve for controlling the hydraulic cylinder; an operation lever for outputting an operation signal corresponding to the operation amount of a driver; a work setting unit capable of setting and/or selecting the work area of the work device; a location information provision unit for collecting and/or calculating location information of the work device and/or location information of the work area; and an electronic control unit for outputting a control signal for the control valve according to a signal inputted from at least one from among the control lever, the work setting unit, and the location information provision unit, wherein the electronic control unit is configured to calculate the distance between the work area and the work device and to control the speed of the work device on the basis of the calculated distance.
According to an embodiment of the present invention, the electronic control unit may determine whether the work device approaches or moves away from the work area when an operation signal of the operation lever is input, and limit the speed of the work device only when the work device approaches the work area.
According to an embodiment of the present invention, the electronic control unit may control the speed of the work device on the basis of the distance from the bucket end to the work area in the speed direction of the bucket end.
According to an embodiment of the present invention, the direction in which the bucket end moves may be a direction in which the line connecting the bucket end and the bucket pin is perpendicular to the bucket end.
According to an embodiment of the present invention, the direction in which the bucket end moves may be a direction in which the line connecting the bucket end and the arm pin is perpendicular to the bucket end.
According to an embodiment of the present invention, the electronic control unit may compare the distance from the bucket end to the work area in the speed direction of the bucket end with the predetermined reference value and determine to be in the speed limit range when the distance from the bucket end to the work area in the speed direction of the bucket end is smaller than the predetermined reference value.
According to an embodiment of the present invention, the electronic control unit may set the speed reducing rate of the work device in the speed limit range and limit the speed of the work device on the basis of the set speed reducing rate.
According to an embodiment of the present invention, the electronic control unit may set the speed limit range and/or speed reducing rate on the basis of the shortest distance between the bucket end and the work area in a reference bucket pin location.
According to an embodiment of the present invention, the electronic control unit may control the speed of the work device on the basis of the speed reducing rate when the work device enters the speed limit range.
According to an embodiment of the present invention, the electronic control unit may reduce the speed limit amount of the work device in proportion to the raised distance of the bucket pin when the location of the bucket pin is raised to be higher than the location of the reference bucket pin.
According to an embodiment of the present invention, the location information provision unit may comprise at least one of a location measuring unit for measuring the location information of the construction equipment, a posture measuring unit for measuring the posture information of the construction equipment and the location of the respective work device, and a coordinate calculating unit for calculating the coordinate on the basis of the location information measured from the location measuring unit and the posture measuring unit.
According to an embodiment of the present invention, the operation lever may generate an electric signal in proportion to the operation amount of a driver and provide the same to the electronic control unit as an electric joystick.
According to an embodiment of the present invention, the work setting unit may provide a plurality of work mode setting functions that can be set according to the driver's need, and display, on a display screen, at least one of the geographic information, location information and posture information of the construction equipment provided from the location information provision unit according to the work mode setting.
According to an aspect of the present invention, the work efficiency may be improved by controlling the speed of the work device on the basis of the distance from the bucket end to work area in the direction in which the bucket end moves.
In addition, the driver may easily operate the work device regardless of driving experience.
The effects of the present invention are not limited to the above-mentioned effects, and it should be understood that the effects of the present disclosure include all effects that could be inferred from the configuration of the invention described in the detailed description of the invention or the appended claims.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view illustrating a basic configuration of the construction equipment according to prior art;

FIG. 2 is a schematic diagram illustrating a method for controlling the speed of the work device according to prior art;

FIG. 3 is a schematic diagram illustrating the work area limit function of the construction equipment according to an embodiment of the present invention;

FIG. 4 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation according to an embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating a method for controlling the speed of the work device during arm-in operation of the construction equipment according to another embodiment of the present invention; and

FIG. 6 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation of the construction equipment according to yet another embodiment of the present invention.

DETAILED DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of the present invention with be explained in detail with reference to FIGS. 1 to 6.
The construction equipment 10 according to an embodiment of the present invention comprises a lower traveling body 11, an upper swing body 12 rotatably supported on the lower traveling body 11, and a work device 13 supported by the upper swing body 12. The work device 13 comprises a boom 13 a, an arm 13 b, and a bucket 13 c which operate by means of respective hydraulic cylinders.
Also, the construction equipment 10 according to an embodiment of the present invention has a work area limit function which controls the work device 13 not to invade the work surface by limiting the operation required amount of the driver's work device 13 on the basis of the distance between the bucket end and the work surface.
FIG. 3 is a schematic diagram illustrating the work area limit function of the construction equipment according to an embodiment of the present invention, and FIG. 4 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation according to an embodiment of the present invention.
With reference to FIGS. 3 and 4, the construction equipment 10 having a work area limit function according to an embodiment of the present invention comprises a lower traveling body 11, an upper swing body 12 rotatably supported on the lower traveling body 11, a work device 13 comprising a boom 13 a, an arm 13 b, and a bucket 13 c moved by means of respective hydraulic cylinders and supported by the upper swing body 12, a control valve 100 for controlling the hydraulic cylinder, an operation lever 200 for outputting an operation signal corresponding to the operation amount of a driver, a work setting unit 400 capable of setting and/or selecting the work area of the work device, a location information provision unit 300 for collecting and/or calculating location information of the work device and/or location information of the work area, and an electronic control unit 500 for outputting a control signal for the control valve 100 according to a signal inputted from at least one from among the operation lever 200, the work setting unit 400, and the location information provision unit 300.
At this time, the electronic control unit 500 according to an embodiment of the present invention is configured to calculate the distance between the work area and the work device and to control the speed of the work device on the basis of the calculated distance.
The control valve 100 is a member for opening and closing the flow path by a spool moving in the axial direction under pressure. In other words, the control valve 100 serves to switch the supply direction of the hydraulic oil supplied by the hydraulic pump which is the hydraulic pressure source to the hydraulic cylinder side. The control valve 100 is connected to the hydraulic pump through a hydraulic pipe, and induces the supply of hydraulic oil from the hydraulic pump to the hydraulic cylinder.
The operation lever 200 may be a hydraulic joystick or an electric joystick, and preferably may be an electric joystick which generates an electric signal in proportion to the operation amount of a driver and provides the same to the electronic control unit 500.
It is determined whether the work device 13 approaches or moves away from the set work area by the current location of the work device 13 and the operating direction of the operation lever 200.
The speed of the work device 13 may not be limited when the work device 13 moves away from the work area.
The location information provision unit 300 may comprise at least one of a location measuring unit for measuring the location information of a construction equipment 10 by receiving a signal transmitted by a global positioning system (GPS) satellite, a posture measuring unit for measuring the posture information of the construction equipment 10 and the location of at least one of the boom 13 a, the arm 13 b and the bucket 13 c, and a coordinate calculating unit for calculating the coordinates of the construction equipment 10 on the basis of the location information measured from the location measuring unit and the posture measuring unit.
The location measuring unit 310 may comprise a receiver capable of receiving a signal transmitted by a GPS satellite, and measure location information of the construction equipment 10 from the received signal.
The posture measuring unit 320 measures the location and/or posture of at least one of the boom 13 a, arm 13 b and bucket 13 c and slope of the body of the construction equipment 100 using a plurality of inertial measurement units (IMUs) and angle sensors, etc.
The coordinate calculating unit 330 calculates the coordinates (x, y, z) of at least one of the boom 13 a, arm 13 b, and bucket 13 c using the location information measured from the location measuring unit 310 and the posture measuring unit 320.
In addition, the location information providing unit 300 may further comprise a mapping unit for mapping the geographic information around the work location and the construction information on the work location to the calculated coordinates. The mapping unit maps by adjusting the location and/or posture of the respective work device 13 measured by the posture measuring unit and the slope of the body of the construction equipment 10 according to each axis calculated by the coordinate calculating unit.
The work setting unit 400 may set and/or select a work area of the work device 13. In addition, the work setting unit 400 may provide a work mode function that may be set and/or selected in various ways according to the driver's needs, such as work area limit mode, swing position control mode.
The work setting unit 400 displays at least one of the geographic information, location information and posture information of the construction equipment 10 provided from the location information provision unit 300 on a display 410 screen according to the setting and/or selection of the work area and/or the work mode. In other words, the driver may set and/or select a work area and/or a work mode on the screen of the display 410, and work easily using the displayed information accordingly. In this case, the work area refers to a design surface targeted by the driver.
The electronic control unit 500 determines whether the current work device 13 approaches or moves away from a set work area when an operation signal is input from the operation lever 200. When it is determined that the work device 13 is approaching a set work area, the distance between the work device 13 and the set work area is calculated. Then, the calculated distance is compared with a predetermined reference value to determine the speed limit of the work device 13. Finally, a control signal is output to the control valve 100 for controlling the hydraulic cylinder on the basis of the speed limit.
In other words, when the work area limit function according to the present invention is active, the operation signal of the operation lever 200 and/or various location information of the location information provision unit 300 are input to the electronic control unit 500. In addition, the electronic control unit 500 determines the speed limit amount of the work device 13 on the basis of the collected information, and controls the movement of the work device 13 accordingly.
With reference to FIGS. 3 and 4, the construction equipment having a work area limit function according to an embodiment of the present invention operates as shown below.
First, the driver selects an active control mode on the work setting unit 400, and sets a target work area. In addition, the driver operates the bucket-in operation lever 200 for bucket digging work on the work area.
At this time, whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200. The speed of the work device 13 may be limited only when the work device 13 approaches the work area.
Then, the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500.
The electronic control unit 500 calculates the distance d_sfrom the bucket end P1 to the work area in the direction in which the bucket end P1 moves (the speed direction of the bucket end) on the basis of the location information of the work device 13 and/or location information of the set work area provided from the location information provision unit 300.
Here, the direction in which the bucket end P1 moves may be a direction in which a virtual line (line 1) connecting the bucket end P1 and the bucket pin is perpendicular to the bucket end P1. In other words, it may be a direction facing a tangential line at the bucket end P1 from a circle having a virtual line connecting the bucket end P1 and the bucket pin P2 as a diameter.
Next, the electronic control unit 500 compares the calculated distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 with a predetermined reference value d_t.
The electronic control unit 500 determines that the speed of the bucket 13 c does not have to be limited when the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is greater than the predetermined reference value d_t. In other words, the electronic control unit 500 does not limit the speed of the bucket 13 c at this time.
However, when the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is smaller than the reference value d_t, the electronic control unit 500 determines it to be in a speed limit range.
Then, the electronic control unit 500 sets the speed reducing rate of the bucket 13 c in the speed limit range. At this time, the speed reducing rate of the bucket 13 c may be linearly set according to the distance cl, from the bucket end P1 to the work area in the speed direction of the bucket end P1, but is not limited thereto.
Accordingly, the speed of the bucket 13 c is controlled on the basis of the speed reducing rate in the speed limit range.
In other words, the electronic control unit 500 outputs a control signal to the control valve 100 on the basis of the speed reducing rate according to the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1, and the control valve 100 controls the hydraulic cylinder on the basis of the control signal.
With reference to FIG. 4, a method for controlling according to the posture of the bucket during bucket digging will be described as shown below.
The shortest distance d between the bucket end P1 and the work area is all the same in postures (a), (b) and (c), but the time it takes for each posture to invade the work area while operating the bucket 13 c is different.
Nevertheless, if the speed of the bucket 13 c is limited on the basis of the shortest distance d between the bucket end P1 and the work area, the speed of the bucket 13 c is limited all the same in postures (a) to (c). Accordingly, the work speed and efficiency may decrease during the digging work using the bucket 13 c.
Therefore, the speed of the bucket 13 c needs to be controlled on the basis of the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1.
At this time, in posture (a), the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is d₁, which is the smallest, in posture (b), the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is d₂, which is the second smallest, and in posture (c), the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is d₃, which is the largest.
In other words, according to the present invention, in posture (a), the speed of the bucket 13 c is reduced the most, in posture (b), the speed of the bucket 13 c is reduced the second most, and in posture (c), the speed of the bucket 13 c is reduced the least.
As such, when the electronic control unit 500 controls the speed of the bucket 13 c on the basis of the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1, it becomes possible to operate the bucket 13 c more efficiently than when the bucket 13 c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the bucket 13 c during bucket digging.
FIG. 5 is a schematic diagram illustrating a method for controlling the speed of the work device during arm-in operation of the construction equipment according to another embodiment of the present invention.
With reference to FIGS. 3 and 5, the method for operating the construction equipment having a work area limit function according to another embodiment of the present invention is as shown below.
First, a driver selects an active control mode on the work setting unit 400 and sets a target work area. In addition, the driver operates the arm-in operation lever 200 for digging work on the work area. At this time, the operation lever 200 of the bucket 13 c may not be operated.
At this time, whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200. The speed of the work device 13 may be limited only when the work device 13 approaches the work area.
Then, the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500.
The electronic control unit 500 calculates the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 on the basis of the location information of the work area 13 and/or the location information of the set work area provided from the location information provision unit 300.
Here, the direction in which the bucket end P1 moves may be a direction in which a virtual line (line 2) connecting the bucket end P1 and the arm pin P3 is perpendicular to the bucket end P1. In other words, it may be a direction facing a tangential line at the bucket end P1 from a circle having a virtual line connecting the bucket end P1 and the arm pin P3 as a diameter.
Next, the electronic control unit 500 compares the calculated distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 with a predetermined reference value d_t.
The electronic control unit 500 determines that the speed of the bucket 13 c does not have to be limited when the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is greater than the predetermined reference value d_t. In other words, the electronic control unit 500 does not limit the speed of the bucket 13 c at this time.
However, when the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is smaller than the reference value d_t, the electronic control unit 500 determines it to be in a speed limit range.
Then, the electronic control unit 500 sets the speed reducing rate of the arm 13 b in the speed limit range. At this time, the speed reducing rate of the arm 13 b may be linearly set according to the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1, but is not limited thereto.
Accordingly, the speed of the arm 13 b is controlled on the basis of the speed reducing rate in the speed limit range.
In other words, the electronic control unit 500 outputs a control signal to the control valve 100 on the basis of the speed reducing rate according to the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1, and the control valve 100 controls the hydraulic cylinder on the basis of the control signal.
With reference to FIG. 5, a method for controlling according to the posture of the arm 13 b during digging will be described as shown below.
The shortest distance d between the bucket end P1 and the work area is all the same in postures (a), (b) and (c), but the time it takes for each posture to invade the work area while operating the arm 13 b is different.
Nevertheless, if the speed of the arm 13 b is limited on the basis of the shortest distance d between the bucket end P1 and the work area, the speed of the arm 13 b is limited all the same in postures (a) to (c). Accordingly, the work speed and efficiency may decrease during the digging work using the arm 13 b.
Therefore, the speed of the arm 13 b needs to be controlled on the basis of the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1.
At this time, in posture (a), the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is d₁, which is the smallest, in posture (b), the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is d₂, which is the second smallest, and in posture (c), the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1 is d₃, which is the largest.
In other words, in posture (a), the speed of the arm 13 b is reduced the most, in posture (b), the speed of the arm 13 b is reduced the second most, and in posture (c), the speed of the arm 13 b is reduced the least.
As such, when the electronic control unit 500 controls the speed of the arm 13 b on the basis of the distance d_sfrom the bucket end P1 to the work area in the speed direction of the bucket end P1, it becomes possible to operate the arm 13 b more efficiently than when the bucket 13 c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the arm 13 b during bucket digging.
FIG. 6 is a schematic diagram illustrating a method for controlling the speed of the work device during bucket-in operation of the construction equipment according to yet another embodiment of the present invention.
With regard to FIGS. 3 and 6, the method for operating the construction equipment having a work area limit function according to yet another embodiment of the present invention is as shown below.
First, a driver selects an active control mode on the work setting unit 400 and sets a target work area. In addition, the driver operates the bucket-in operation lever 200 for digging work on the work area.
At this time, whether the work device 13 approaches or moves away from a set work area is determined by the current location of the work device 13 and the operating direction of the operation lever 200. The speed of the work device 13 may be limited only when the work device 13 approaches the work area.
Then, the location information provision unit 300 collects and/or calculates the location information of the work device 13 and/or the location information of the set work area, and provides the same to the electronic control unit 500.
The electronic control unit 500 sets the location of the reference bucket pin P2 on the basis of the location information of the work device 13 and/or location information of the predetermined work area provided from the location information provision unit 300. In addition, the speed limit range and/or the speed reducing rate are set on the basis of the shortest distance d between the bucket end P1 and the work area at the location of the reference bucket pin P2.
The electronic control unit 500 controls the speed of the bucket 13 c according to a set speed reducing rate on the basis of the shortest distance d between the bucket end P1 and the work area when the bucket end P1 enters the speed limit range.
Here, when the location of the bucket pin P2 moves from the location of the reference bucket pin P2, the electronic control unit 500 determines whether the location of the bucket pin P2 is raised or lowered than the location of the reference bucket pin P2.
When it is determined that the location of the bucket pin P2 is raised to be higher than the location of the reference bucket pin P2, the electronic control unit 500 may reduce the speed limit of the bucket 13 c in proportion to the distance the bucket pin P2 is raised.
When it is determined that the location of the bucket pin P2 is lowered to be lower than the location of the reference bucket pin P2, the electronic control unit 500 may increase the speed limit of the bucket 13 c in proportion to the distance the bucket pin P2 is lowered.
In other words, the electronic control unit 500 may set the speed limit range and the speed reducing rate at the location of the reference bucket pin P2, and control the speed of the bucket 13 c by reflecting the location change amount in the height direction of the bucket pin P2 thereto.
With reference to FIG. 6, a method for controlling according to the location of the bucket pin P2 during bucket digging will be described as shown below.
The shortest distance d between the bucket end P1 and the work area is the all the same in postures (a) and (b), but the time it takes for each posture to invade the work area while operating the bucket 13 c is different.
Nevertheless, if the speed of the bucket 13 c is limited on the basis of the shortest distance d between the bucket end P1 and the work area, the speed of the bucket 13 c is limited all the same in postures (a) and (b). Accordingly, the work speed and efficiency may decrease during the digging work using the bucket 13 c.
Therefore, the speed of the bucket 13 c needs to be controlled by reflecting the location change amount in the height direction of the bucket pin P2 even if the shortest distance d between the bucket end P1 and the work area is the same.
For example, when explaining the case in which the electronic control unit 500 recognizes the location of the bucket pin P2 in posture (a) as a reference location, the electronic control unit 500 sets the speed limit range and/or speed reducing rate on the basis of the shortest distance d between the bucket end P1 and the work area in posture (a).
In addition, when the posture of the bucket 13 c is changed from posture (a) to posture (b), posture (b) refers to a situation when there is a lot of time to invade the work area or when the bucket does not invade the work area as compared with posture (a). In other words, it refers to a case where the distance between the bucket end P1 and the work area is the same, but the location of the bucket pin P2 is raised to be higher than the reference location as much as da.
At this time, the electronic control unit 500 reduces the speed limit amount of the bucket 13 c in proportion to the distance da raised to be higher than the reference location. In other words, in FIG. 6, the speed reducing graph of the bucket 13 c in posture (a) moves in parallel to the speed reducing graph of the bucket 13 c in posture (b) as much as the distance da raised to be higher than the reference location.
Accordingly, even if the shortest distance d between the bucket end P1 and the work area is the same in postures (a) and (b), the speed limit amount of the bucket 13 c in posture (b) is reduced even more as compared with the reference location, posture (a). In addition, the speed limit range of the bucket 13 c in posture (b) is reduced even more as compared with the reference location, posture (a).
As such, when the electronic control unit 500 sets the location of the reference bucket pin P2, and controls the speed of the bucket 13 c by reflecting the location change amount in the height direction of the reference bucket pin P2, it becomes possible to operate the bucket 13 c more efficiently than when the bucket 13 c does not invade the work area or when there is a lot of time to invade the work area according to the posture of the bucket 13 c during bucket digging.
In addition, the driver may easily operate the work device regardless of driving experience.
The foregoing description of the present invention has been presented for illustrative purposes, and it is apparent to a person having ordinary skill in the art that the present invention can be easily modified into other detailed forms without changing the technical idea or essential features of the present invention.
The scope of the present invention is presented by the accompanying claims, and it should be understood that all changes or modifications derived from the definitions and scopes of the claims and their equivalents fall within the scope of the present invention.

DESCRIPTION OF REFERENCE NUMERALS

10: construction equipment
11: lower traveling body
12: upper swing body
13: work device
13 a: boom
13 b: arm
13 c: bucket
14: boom cylinder (working actuator)
15: arm cylinder (working actuator)
16: bucket cylinder (working actuator)
100: control valve
200: operation lever
300: location information provision unit
310: location measuring unit
320: posture measuring unit
330: coordinate calculating unit
400: work setting unit
410: display
500: electronic control unit
P1: bucket end
P2: bucket pin
P3: arm pin
d: shortest distance between bucket end and work area
d s: distance from bucket end to work area in the direction in which the bucket end moves (the speed direction of the bucket end)

Claims

1. A construction equipment comprising:

a lower traveling body;

an upper swing body rotatably supported on the lower traveling body;

a work device comprising a boom, an arm, and a bucket moved by means of respective hydraulic cylinders and supported by the upper swing body;

a control valve for controlling the hydraulic cylinder; an operation lever for outputting an operation signal corresponding to the operation amount of a driver;

a work setting unit capable of setting and/or selecting the work area of the work device;

a location information provision unit for collecting and/or calculating location information of the work device and/or location information of the work area; and

an electronic control unit for outputting a control signal for the control valve according to a signal inputted from at least one from among the control lever, the work setting unit, and the location information provision unit,

wherein the electronic control unit is configured to calculate the distance between the work area and the work device and to control the speed of the work device on the basis of the calculated distance.

2. The construction equipment of claim 1, wherein the electronic control unit determines whether the work device approaches or moves away from the work area when an operation signal of the operation lever is input, and limits the speed of the work device only when the work device approaches the work area.

3. The construction equipment of claim 1, wherein the electronic control unit controls the speed of the work device on the basis of the distance from the bucket end to the work area in the speed direction of the bucket end.

4. The construction equipment of claim 3, wherein the direction in which the bucket end moves is a direction in which the line connecting the bucket end and the bucket pin is perpendicular to the bucket end.

5. The construction equipment of claim 3, wherein the direction in which the bucket end moves is a direction in which the line connecting the bucket end and the arm pin is perpendicular to the bucket end.

6. The construction equipment of claim 3, wherein the electronic control unit compares the distance from the bucket end to the work area in the speed direction of the bucket end with the predetermined reference value and determines to be in the speed limit range when the distance from the bucket end to the work area in the speed direction of the bucket end is smaller than the predetermined reference value.

7. The construction equipment of claim 6, wherein the electronic control unit sets the speed reducing rate of the work device in the speed limit range and limits the speed of the work device on the basis of the set speed reducing rate.

8. The construction equipment of claim 1, wherein the electronic control unit sets the speed limit range and/or speed reducing rate on the basis of the shortest distance between the bucket end and the work area in a reference bucket pin location.

9. The construction equipment of claim 8, wherein the electronic control unit controls the speed of the work device on the basis of the speed reducing rate when the work device enters the speed limit range.

10. The construction equipment of claim 9, wherein the electronic control unit reduces the speed limit amount of the work device in proportion to the raised distance of the bucket pin when the location of the bucket pin is raised to be higher than the location of the reference bucket pin.

11. The construction equipment of claim 1, wherein the location information provision unit comprises at least one of a location measuring unit for measuring the location information of the construction equipment, a posture measuring unit for measuring the posture information of the construction equipment and the location of the respective work device, and a coordinate calculating unit for calculating the coordinate on the basis of the location information measured from the location measuring unit and the posture measuring unit.

12. The construction equipment of claim 1, wherein the operation lever generates an electric signal in proportion to the operation amount of a driver and provides the same to the electronic control unit as an electric joystick.

13. The construction equipment of claim 1, wherein the work setting unit provides a plurality of work mode setting functions that can be set according to the driver's need, and displays, on a display screen, at least one of the geographic information, location information and posture information of the construction equipment provided from the location information provision unit according to the work mode setting.