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    • 10. 发明授权
    • Region limiting excavation control system for construction machine
    • 施工机械区域限制挖掘控制系统
    • US5835874A
    • 1998-11-10
    • US553702
    • 1995-12-05
    • Toichi HirataEiji YamagataHiroshi WatanabeMasakazu HagaKazuo FujishimaHiroyuki Adachi
    • Toichi HirataEiji YamagataHiroshi WatanabeMasakazu HagaKazuo FujishimaHiroyuki Adachi
    • E02F3/43E02F9/20E02F9/22
    • E02F9/2033E02F3/301E02F3/435
    • In a region limiting excavation control system for a construction machine, a region where a front attachment (1A) is movable is set beforehand. A control unit (9) calculates the position and posture of the front attachment based on signals from angle sensors (8a-8c), calculates a target speed vector (Vc) of the front attachment based on signals from control lever units (4a, 4b), and modifies the target speed vector such that the target speed vector is maintained as it is when the front attachment is within the set region but not near the boundary thereof. A vector component (Vcy) of the target speed vector in the direction toward the boundary of the set region is reduced when the front attachment is within the set region near the boundary thereof, and the front attachment is returned to the set region and when the front attachment is outside the set region. As a result, the excavation within a limited region can be implemented efficiently and smoothly.
    • PCT No.PCT / JP95 / 00843 Sec。 371 1995年12月5日第 102(e)日期1995年12月5日PCT 1995年4月27日PCT PCT。 第WO95 / 30059号公报 日期:1995年11月9日在建筑机械的挖掘控制系统的区域限制中,预先设置前附件(1A)可移动的区域。 控制单元(9)基于来自角度传感器(8a-8c)的信号,计算出前侧安装件的位置和姿势,根据来自控制杆单元(4a,4b)的信号,计算出前部附件的目标速度向量(Vc) ),并且修改目标速度矢量,使得当前附件在设定区域内但不在其边界附近时目标速度矢量保持原样。 当前附件在其附近的设定区域内时,朝向设定区域的边界方向的目标速度矢量的矢量分量(Vcy)减小,并且前附件返回到设定区域,并且当 前附件在设定区域之外。 因此,可以有效地平稳地实施有限区域内的挖掘。