Construction machine
When it is confirmed that a distal end portion of an attachment has reached a predetermined distance detection start position apart from a cab on the basis of a posture of the attachment detected by posture detector, a control apparatus determines whether or not an object to be detected has reached a predetermined stop position closer to the cab than the distance detection start position on the basis of a distance of the object to be detected by a distance detection sensor, and controls the drive unit so as to stop the attachment when determining that the object to be detected has reached the stop position, and the control apparatus controls the drive unit so that the speed of the distal end portion of the attachment becomes a predetermined target speed or lower when the distal end portion of the attachment reaches the distance detection start position.
1. A construction machine comprising:
a machine body formed with an operation room;
an attachment having a base end portion attached to the machine body and a distal end portion on a side opposite to the base end portion, and configured to be changeable in posture so that the distal end portion is displaced with respect to the operation room;
a drive unit for driving the attachment so that a speed of the distal end portion is adjustable;
a posture detector for detecting a posture of the attachment;
a distance detector capable of detecting a distance from the operation room to an object to be detected outside the operation room; and
a control apparatus configured to control the drive unit so as to prevent the attachment from interfering with the operation room based on detection results of the posture detector and the distance detector,
wherein in a period when the distal end portion of the attachment approaches the operation room,
(i) when it is confirmed that the distal end portion of the attachment has reached a predetermined distance detection start position apart from the operation room based on the posture of the attachment detected by the posture detector, the control apparatus determines whether or not the object to be detected has reached a predetermined stop position closer to the operation room than the distance detection start position based on the distance of the object to be detected by the distance detector, and controls the drive unit so as to stop the attachment when determining that the object to be detected has reached the stop position, and
(ii) the control apparatus controls the drive unit so that the speed of the distal end portion of the attachment becomes a predetermined target speed or lower when the distal end portion of the attachment reaches the distance detection start position, and
a speed detector for detecting the speed of the distal end portion of the attachment,
wherein when it is confirmed that the distal end portion of the attachment has reached a predetermined deceleration start position further apart from the operation room than the distance detection start position based on the posture of the attachment detected by the posture detector, and when the speed of the distal end portion of the attachment at the deceleration start position, which is detected by the speed detector, is higher than the target speed, the control apparatus controls the drive unit so that the speed of the distal end portion is continuously decreased to the target speed in accordance with movement of the distal end portion of the attachment from the deceleration start position to the distance detection start position.
2. The construction machine according to claim 1 , wherein the control apparatus decides a deceleration characteristic indicating a relationship between the position and the speed of the distal end portion of the attachment in a range from the deceleration start position to the distance detection start position based on the speed of the distal end portion of the attachment at the deceleration start position, which is detected by the speed detector, and the target speed, and controls the drive unit based on the position of the distal end portion of the attachment based on the detection result of the posture detector, and the deceleration characteristic.