Turning control apparatus for turning-type working machine

Patent metadata

Field	Value
Publication number	US-11873620-B2
Application number	US-201917046641-A
Country	US
Kind code	B2
Filing date	Mar 25, 2019
Priority date	Apr 26, 2018
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

A turning control apparatus, for a turning-type working machine, includes: a target stop position setting unit setting the target stop position of the turning body and a turning command unit. The target stop position setting unit includes an image taking device, an image processing device forming an overhead view image of the work machine and surrounding objects based on the taken image; an image display command unit making a target stop position setting image including the overhead view image be displayed on a display screen of the image display device, a setting operation member to which a position setting operation for setting a target stop position with reference to the position of the image of the work machine and surrounding objects included in the overhead view image is applied, and a target stop position determination unit that determines a target stop position based on the position setting operation.

First claim

The invention claimed is:

1. A turning control apparatus for controlling driving of a turning body in a working machine that includes the turning body, a support body that supports the turning body turnably, and a turning drive device that turns the turning body, the turning control apparatus comprising:
a target stop position setting unit that sets a target stop position, which is a position at which the turning of the turning body is to be stopped; and
a turning command unit that provides an automatic stop command for automatically stopping the turning body at the target stop position to the turning drive device, wherein:
the target stop position setting unit includes: an image taking device that is mounted on the working machine and takes an image of the working machine and surroundings thereof; an image processing device that forms an overhead view image of the working machine and a surrounding object positioned around the working machine based on the image taken by the image taking device; an image display device including a display screen capable of displaying the overhead view image; an image display command unit that makes the display screen display a target stop position setting image including the overhead view image; a setting operation member to which a position setting operation for setting the target stop position based on the position of the image of the working machine and the surrounding object included in the overhead view image is applied; and a target stop position determination unit that determines the target stop position based on the position setting operation, and
the image display command unit is configured to make an image further including a turning virtual image that turns on the overhead view image simulating the turning body be displayed on the display screen as the target stop position setting image, and the target stop position determination unit is configured to determine the target stop position based on the position of the turning virtual image with respect to a turning direction of the turning virtual image at the time when the position setting operation is applied to the setting operation member during turning of the turning virtual image.

2. A turning-type working machine comprising:
a turning body;
a support body that turnably supports the turning body;
a turning drive device that turns the turning body; and
a turning control apparatus according to claim 1 , the turning control apparatus controlling driving of the turning body performed by the turning drive device.

3. A turning control apparatus for controlling driving of a turning body in a working machine that includes the turning body, a support body that supports the turning body turnably, and a turning drive device that turns the turning body, the turning control apparatus comprising:
a target stop position setting unit that sets a target stop position, which is a position at which the turning of the turning body is to be stopped;
a turning command unit that provides an automatic stop command for automatically stopping the turning body at the target stop position to the turning drive device; and
a turning operation member to which a turning operation for turning the turning body is applied, wherein:
the target stop position setting unit includes: an image taking device that is mounted on the working machine and takes an image of the working machine and surroundings thereof; an image processing device that foiins an overhead view image of the working machine and a surrounding object positioned around the working machine based on the image taken by the image taking device; an image display device including a display screen capable of displaying the overhead view image; an image display command unit that makes the display screen display a target stop position setting image including the overhead view image; a setting operation member to which a position setting operation for setting the target stop position based on the position of the image of the working machine and the surrounding object included in the overhead view image is applied; and a target stop position determination unit that determines the target stop position based on the position setting operation,
the turning command unit is configured to provide a turning drive command for making the turning body perform a turning motion corresponding to the turning operation applied to the turning operation member to the turning drive device when the target stop position is not set and configured to provide an automatic stop command for making the turning body perform automatically stopping motion in preference to the turning operation to the turning drive device when the target stop position is set, and
the turning operation member serves as the setting operation member, and the turning control apparatus further comprises a command switching unit switchable between a target stop position setting mode of making the target stop position determination unit deteiniine the target stop position with regarding the operation applied to the turning operation member as the position setting operation and a turning operation mode of making the turning command unit output the turning drive command to the turning command unit with regarding the operation applied to the turning operation member as the turning operation.

4. The turning control apparatus according to claim 3 , wherein: the image display command unit is configured to make an image further including a turning virtual image that turns on the overhead view image simulating the turning body be displayed on the display screen as the target stop position setting image; the target stop position determination unit is configured to determine the target stop position based on the position of the turning virtual image with respect to a turning direction of the turning virtual image at the time when the position setting operation is applied to the setting operation member during turning of the turning virtual image; and the command switching unit is configured to make the image display command unit issue an image display command so as to start the turning of the turning virtual image in the overhead view image when a turning start operation in a direction in which the turning operation member moves away from the neutral position is applied to the turning operation member in the target stop position setting mode and configured to make the target stop position determination unit determine the target stop position based on a position of the turning virtual image with respect to the turning direction at the time when a neutral position return operation of returning the turning operation member to the neutral position is applied to the turning operation member during the turning of the turning virtual image.

5. The turning control apparatus according to claim 3 , wherein the turning operation member is a remote operation member to which a remote turning operation is applied at a remote operation station away from the working machine, the turning control apparatus further comprising a remote operation command unit that transmits a remote turning operation command corresponding to the remote turning operation applied to the remote operation member, the turning command unit being configured to receive the remote turning operation command and to input a turning drive command corresponding to the remote turning operation command to the turning drive device.

6. The turning control apparatus according to claim 5 , wherein the setting operation member is provided at a position where the setting operation member is able to be operated by an operator in the remote operation station, and the image display device is provided at a position where the target stop position setting image displayed on a screen of the image display device is able

Assignees

• Kobelco Constr Mach Co Ltd

Inventors

• Saiki Seiji

Classifications

• E02F9/123 Primary

  Drives or control devices specially adapted therefor (E02F9/125 and E02F9/128 take precedence) · CPC title

• B66C13/40

  Applications of devices for transmitting control pulses; Applications of remote control devices (control in general G05) · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• E02F9/26

  Indicating devices {(E02F5/145 takes precedence)} · CPC title

• B66C23/86

  hydraulically actuated · CPC title