Construction equipment
The construction equipment includes a lower traveling part, an upper turning part, a work device, a control valve configured to control the hydraulic cylinder, and an operation lever. The construction equipment further includes a work setting unit configured to set a work area of the work device and an information providing unit configured to provide at least one of geographic information, position information of the work device, and posture information of the work device. The construction equipment also includes an electronic control unit configured to output a control signal for the control valve according to a signal input from at least one of the operation lever, the work setting unit, and the information providing unit. In the event the work device is likely to invade the work area, the electronic control unit determines cutoff strength for the operation signal based on a velocity of the work device.
1 . Construction equipment comprising:
a lower traveling part;
an upper turning part rotatably supported on the lower traveling part;
a work device which includes a boom, an arm, and a bucket operated by respective hydraulic cylinders and is supported on the upper turning part;
a control valve configured to control each of the hydraulic cylinders;
an operation lever configured to output an operation signal corresponding to an operation amount of a driver;
a work setting unit configured to set a work area of the work device;
an information providing unit configured to provide at least one of geographic information, position information of the work device, and posture information of the work device; and
an electronic control unit configured to output a control signal for the control valve according to a signal input from at least one of the operation lever, the work setting unit, and the information providing unit,
wherein, when the work device is likely to invade the work area, the electronic control unit determines cutoff strength for the operation signal based on a velocity of the work device
wherein the cutoff strength increases as the velocity of the work device increases,
wherein the electronic control unit calculates an expected collision distance (d go ) between one point of the work device and an expected collision point of the work area to determine whether the work device is likely to invade the work area,
wherein, when the expected collision distance (d go ) is finite, the electronic control unit calculates an expected collision time (t go ) by dividing the expected collision distance (d go ) by a velocity of the one point of the work device,
wherein the electronic control unit determines the cutoff strength for the operation signal based on the expected collision time (t go ) and a preset table,
wherein the cutoff strength decreases as the expected collision time (t go ) increases.
2 . The construction equipment of claim 1 , wherein:
when the expected collision distance (d go ) is finite, the electronic control unit determines that the work device is likely to invade the work area; and
when the expected collision distance (d go ) is infinite, the electronic control unit determines that the work device is not likely to invade the work area.
3 . The construction equipment of claim 1 , wherein, in the table:
when the expected collision time (t go ) is greater than or equal to a certain time, the cutoff strength for the operation signal is 0%;
when the expected collision time (t go ) is greater than or equal to 0 and less than or equal to the certain time, the cutoff strength for the operation signal increases as the expected collision time (t go ) decreases; and
when the expected collision time (t go ) is 0, the cutoff strength for the operation signal is 100%.
4 . The construction equipment of claim 3 , wherein:
the work setting unit includes a display device configured to display an adjustment portion; and
the electronic control unit includes a plurality of tables having different cutoff strengths for the operation signal and determines a standard table by adjusting the adjustment portion.
5 . The construction equipment of claim 1 , wherein the electronic control unit calculates the expected collision time (t go ) for each of a plurality of points of the work device and determines the cutoff strength for the operation signal based on a minimum value of the expected collision times (t go ) and the preset table.
6 . The construction equipment of claim 1 , wherein the information providing unit includes at least one of a position measurement unit configured to measure position information of the construction equipment, a posture measurement unit configured to measure posture information of the construction equipment and a posture of each work device, and a coordinate calculation unit configured to calculate coordinates based on information measured from the position measurement unit and the posture measurement unit.
7 . The construction equipment of claim 1 , wherein the operation lever is an electric joystick configured to generate an electrical signal in proportion to the operation amount of the driver and provide the electrical signal to the electronic control unit.
8 . The construction equipment of claim 1 , wherein the work setting unit has a function of setting a plurality of work modes according to needs of the driver and, according to a setting of the work mode, displays at least one of the geographic information, the position information of the work device, and the posture information of the work device, which are received from the information providing unit, on a display screen.