CN113502861A

CN113502861A - Control method for construction machine

Info

Publication number: CN113502861A
Application number: CN202110903338.8A
Authority: CN
Inventors: 姜泫求
Original assignee: Doosan Infracore Co Ltd
Current assignee: Hyundai Doosan Infracore Co Ltd
Priority date: 2015-11-18
Filing date: 2016-11-18
Publication date: 2021-10-15
Also published as: KR102506386B1; KR20170058125A; CN106948405A

Abstract

The present invention relates to a control method of a construction machine for detecting an initial position of a working device including an attachment. An operating signal associated with the working device is received. A virtual movement locus for the attachment is generated using the initial position and the operation signal. Then, the accessory device is moved along the moving track, and the valve core included in the main control valve is controlled to move so that the accessory device maintains the incident angle at the initial position all the time.

Description

Control method for construction machine

The present invention is a divisional application of an invention having an application number of 201611028237.6 entitled "control method for construction machine", which was filed 2016, 11/18/11.

Technical Field

The present invention relates to a control method for a construction machine, and more particularly, to a control method for a construction machine for stably maintaining the posture of an attachment.

Background

A construction machine, such as an excavator, can perform various works by driving a boom, a robot arm, and an attachment that are rotatably connected. At this time, the attachment may be selected according to the kind of work. For example, the bucket may perform digging work, the crusher may perform crushing work, and the forks may perform carrying work.

However, the movement of the attachment is not only an operation of the attachment but also a result of combining movements of the boom and the robot arm. Therefore, it is sometimes not possible for unskilled persons to control the accessory device as desired. In particular, when the fork attachment is used, the load may fall due to failure to maintain the attachment in a horizontal state, which may cause a safety accident.

Disclosure of Invention

To achieve the above-described object of the present invention, the present invention provides a control method of a construction machine according to an exemplary embodiment for detecting an initial position of a working device including an attachment. A step of receiving an operation signal for the working device. Generating an imaginary movement locus for the attachment using the initial position and the operation signal. Then, the accessory device is moved along the moving track, and the valve core included in the main control valve is controlled to move so that the accessory device always maintains the incident angle of the initial position.

According to an exemplary embodiment, the step of detecting the initial position may include: and detecting a position of the work apparatus using an Inertial Measurement Unit (IMU) provided in the work apparatus.

According to an exemplary embodiment, the receiving of the operation signal may include: a step of receiving a first operation signal for a ground vertical direction from a first joystick; and a step of receiving a second operation signal for the ground horizontal direction from the second joystick.

According to an exemplary embodiment, the step of generating an imaginary movement trajectory for the accessory device comprises: a step of determining a moving speed of the attachment with respect to a ground vertical direction from the received first operation signal; and a step of determining a moving speed of the attachment with respect to a ground level direction from the received second operation signal.

According to an exemplary embodiment, the first joystick is a boom joystick for controlling a boom motion, and the second joystick may be a robot arm joystick for controlling a robot arm motion.

According to an exemplary embodiment, the step of controlling the movement of the spool may comprise: and calculating an angle included in a boom, a robot arm, and the attachment from a position of a distal end portion of the attachment to the working device using inverse kinematics (inversekimetics).

According to an exemplary embodiment, the step of controlling the movement of the spool may comprise: and applying an electric control signal to a control valve for supplying a pilot signal pressure to the spool.

According to an exemplary embodiment, the control valve may be an electronic proportional Pressure Reducing valve (EPPR).

According to an exemplary embodiment, the control method of a construction machine may further include: and a step of recalculating the angles of the boom, the arm, and the attachment by feedback-back control.

According to an exemplary embodiment, the feedback control may be a Proportional Integral Derivative (PID) control.

According to an exemplary embodiment, the attachment may comprise a fork or a bucket.

The control method of a construction machine according to an exemplary embodiment may control an attachment to move while maintaining a predetermined incident angle. Accordingly, an unskilled person can also maintain a predetermined incident angle of the attachment, particularly the fork attachment, thereby preventing a safety accident caused by dropping a load. Further, since the working radius of the excavator to which the fork attachment is attached is much larger than that of the forklift, the effects of improving the working efficiency and diversifying the working use can be achieved.

However, the effects of the present invention are not limited to the effects described above, and can be expanded in various forms without departing from the spirit and scope of the present invention.

Drawings

Fig. 1 is a side schematic view of a construction machine.

FIG. 2 is a block diagram of a control system of a work machine according to an exemplary embodiment.

Fig. 3 is a flowchart illustrating a method of controlling a construction machine using the control system of fig. 2.

Fig. 4 to 6 are schematic views of the accessory device activity according to the driver's operation.

Description of the reference numerals

10: construction machine 20: upper rotating body

30: lower carrier 40: steering chamber

50: the working device 60: movable arm

62: boom cylinder 70: mechanical arm

72: mechanical arm cylinder 80: accessory device

82: attachment cylinder 100: operating device

102: first joystick 104: second control lever

110: the detection device 112: first sensor

114: second sensor 116: third sensor

120: the control device 122: receiving part

124: the trajectory generation unit 126: fine calculation unit

128: control signal output unit 130: control valve

140: a main control valve C: moving track

E1: starting point E2: end point

θ 1: first angle θ 2: second angle

Detailed Description

The specific structural and functional details of the embodiments of the present invention disclosed herein are merely illustrative of the embodiments of the present invention, which can be embodied in various forms and are not limited to the embodiments described herein.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. However, the embodiment is not limited to the specific disclosure of the invention, and includes all the changes, equivalents and substitutes included in the spirit and technical scope of the invention.

The terms first, second, etc. may be used when describing various components, but the components are not limited by the terms. The term may be used for the purpose of distinguishing one component from another. For example, a first component may be termed a second component, and a similar second component may be termed a first component, without departing from the scope of the present invention.

When a component is referred to as being 'linked' or 'linked' to another component, it may be directly linked or linked to the other component, but other components may also be present in the middle. Conversely, when a component is referred to as being 'directly linked' or 'directly linked', there are no other components in between. Other expressions indicating the relationship between the constituent elements, i.e., 'between …' and 'immediately between …' or '… adjacent' and '… directly adjacent' are also the same as the above-described cases.

The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Expressions in the singular include the plural unless the context clearly dictates otherwise. In this application, the terms 'comprise' or 'have' are used to specify the presence of stated features, steps, acts, elements, components or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, acts, elements, components or combinations thereof.

Unless defined otherwise, including technical and scientific terms, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Generally, terms used as dictionary definitions are consistent with meanings provided in the context of the relevant art and are not to be interpreted as abnormal or excessive meanings unless explicitly defined herein.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals are used for the same components in the schematic drawings, and redundant description is omitted for the same components.

Fig. 1 is a side view of a construction machine.

Referring to fig. 1, a construction machine 10 may include an upper rotating body 20, a lower traveling body 30, a cab 40, and a working device 50. For example, the construction machine may be an excavator.

The upper rotating body 20 is mounted on the lower traveling body 30, and is rotated on a plane parallel to the ground surface to set an operation direction, and the operation can be performed by driving the operation device 50. At this time, the balance of the construction machine 10 in operation can be maintained by the balancer installed at the rear of the upper rotating body 20.

The lower traveling structure 30 supports the upper rotating structure 20 and the cab 40, and can travel the construction machine 10 by power generated by the engine. Although the lower traveling structure 30 illustrated in fig. 1 is of a crawler type, the form of the lower traveling structure 30 is not limited thereto. For example, the lower traveling body may have a wheel type form.

The cab 40 is provided at the upper rotating body 20, and a driver mounted inside can manipulate the construction machine 10. The cab 40 may include various operating devices for operating the upper rotating body 20, the lower traveling body 30, and the work equipment 50.

The working device 50 is installed at the upper rotating body 20 and faces forward, and can perform various works such as excavation, crushing, and the like. The working device 50 may include a boom 60, a robot arm 70, an attachment 80, and oil pressure cylinders (a boom cylinder 62, a robot arm cylinder 72, an attachment cylinder 82) for driving them.

The boom 60 is rotatably attached to the upper rotating body 20, and can be raised or lowered by the driving of the boom cylinder 62. The robot arm 70 is rotatably connected to one end portion of the boom 60, and can perform an evagination or an inward hooking motion by driving a robot arm cylinder 72. The attachment 80 is rotatably connected to a lower end portion of the robot arm 70, and can perform an evagination or inward hooking action by driving an attachment cylinder 82. The attachment 80 is illustrated in FIG. 1 as a fork (fork), but is not so limited. For example, the attachment may be a bucket.

As shown in fig. 1, the working device 50 is moved from the first position to the second position by a worker's operation. At this time, the first position is a case where the tip end portion of the attachment 80 is located at the starting point E1, which is indicated by a solid line in fig. 1; the second position is a condition in which the tip end portion of the attachment 80 is at end point E2, which is shown in phantom in fig. 1. The incident angle of the attachment 80 at the start point E1 may be a first angle θ 1 and the incident angle of the attachment 80 at the end point may be a second angle θ 2. In this case, the incident angle is an angle generated when the attachment 80 advances or retreats, and may be defined as an angle generated in a direction perpendicular to the ground by a straight line extending from a connection portion between the attachment 80 and the robot arm 70 to a distal end portion of the attachment.

Referring to fig. 1 and 2, a control system of a construction machine may include: an operation signal 100 for generating an operation signal for the working device 50; a detection device 110 for measuring the position of the working device 50; a control device 120 for determining a movement track of the attachment 80 using the operation signal and the position information to generate a control signal for controlling the movement of the working device 50; a control valve 130 for receiving the control signal to generate a pilot signal pressure corresponding thereto; and a Main Control Valve 140 (MCV) for controlling the amount of hydraulic oil supplied to work implement 50 according to the magnitude of the pilot signal pressure.

The operation device 100 is provided inside the cab 40, and an operation signal for driving the working device 50 may be generated by the degree of operation of the driver. For example, the operating device may be a joystick. The operation signal generated by the operation device 100 may be input to the receiving portion 122 of the control device 120.

According to an exemplary embodiment, the operating device 100 may include a first joystick 102 for generating an operating signal for the boom 60 and a second joystick 104 for generating an operating signal for the robot arm 70. The driver can raise or lower the boom 60 by operating the first operating lever 102, and can turn the robot arm 70 inside out or inside out by operating the second operating lever 104. At this time, the first joystick 102 and the second joystick 104 may generate operation signals corresponding to the amount of operation by the driver. For example, the first joystick may generate a boom 60 movement signal corresponding to a driver's manipulation amount, and the second joystick may generate a robot arm 70 movement signal corresponding to a driver's manipulation amount.

When the horizontal maintenance mode is selected by a selection switch to be described later, the first joystick 102 and the second joystick 104 can generate operation signals corresponding to the amount of operation by the driver and relating to the amount of movement of the attachment 80 in the vertical direction and the horizontal direction, respectively. For example, when the horizontal maintenance mode state is selected, the movement amount in the vertical direction of the ground with respect to the attachment 80 can be determined by the degree of operation of the first joystick 102 by the driver, and the movement amount in the horizontal direction of the ground with respect to the attachment 80 can be determined by the degree of operation of the second joystick 104 by the driver. Thus, the first joystick 102 and the second joystick 104 can generate operation signals only related to the vertical and horizontal movement amounts of the attachment 80, respectively.

The detection device 110 is provided at the working device 50, and can detect information of the position, angle, and the like of the working device 50. For example, the detection device may be an Inertial Measurement Unit (IMU). The inertial measurement unit may include three accelerometers for detecting linear motion and three angular velocity meters for detecting rotational motion, and may measure the direction of motion, attitude, and position, velocity, etc. of the working device 50. The detection device 110 is provided at the working device 50, whereby the detection device 110 can detect relevant information such as a position, an angle, and the like with respect to the working device 50.

According to an exemplary embodiment, the detection device 110 may include a first sensor 112, a second sensor 114, and a third sensor 116 disposed at the boom 60, the arm 70, and the attachment 80, respectively. The first sensor 112 may detect a position and an angle of the boom 60, the second sensor 114 may detect a position and an angle of the robot arm 70, and the third sensor 116 may detect a position and an angle of the attachment 80. At this time, the information detected from the third sensor 116 may include information on the position of the tip portion of the attachment and the incident angle. The control device 120 can grasp the exact positions of the boom 60, the arm 70, and the attachment 80, respectively, using the information measured from the first sensor 112, the second sensor 114, and the third sensor 116.

The acquired detailed information may be transmitted to the control device 120 through wireless communication, for example, wireless communication such as a Controller Area Network (CAN), a Local Interconnect Network (LIN), and FlexRay. In contrast, the detection device 110 may be directly connected to the control device 120 by a wire.

The control device 120 receives the operation signal and the position information from the operation device 100 and the detection device 110, respectively, and with this information, the movement locus of the tip portion of the attachment can be determined and the angles of the respective portions of the working device 50 can be determined so that the attachment 80 maintains a predetermined incident angle. At this time, maintaining the incident angle may be a sufficient condition for driving the working device 50 without dropping the goods loaded on the attachment 80. For example, referring back to fig. 1, the tip portion of the attachment 80 may maintain a predetermined incident angle of the attachment 80 during the movement of the tip portion of the attachment 80 along the movement trajectory C from the start point E1 to the end point E2. That is, the first angle θ 1 may have the same magnitude as the second angle θ 2.

According to an exemplary embodiment, the control device 120 may include a receiving section 122, a trajectory generating section 124, a fine calculating section 126, and a control signal output section 128.

Receiving unit 122 receives an operation signal from the driver from operation device 100, and receives position information for work implement 50 from detection device 110.

The trajectory generation unit 124 can generate a movement trajectory C for the attachment 80 to move while maintaining a predetermined incident angle, using the operation signal and the position information received by the reception unit 122.

Specifically, the trajectory generation unit 124 may set the initial attachment tip end position received from the detection device 110 as the movement trajectory start point E1. Then, the operation signal received from the operation device 100 predicts the movement direction, speed, and the like of the tip portion of the attachment, and thereby a virtual end point E2 can be set. For example, the movement amount of the attachment in the ground vertical direction can be predicted by the operation signal received from the first joystick, and the movement amount of the attachment in the ground horizontal direction can be predicted by the operation signal received from the second joystick. The end point may be set by combining the moving amounts in the vertical direction and the horizontal direction. The moving trajectory C for the attachment tip portion may be an imaginary line connecting the start point E1 and the end point E2.

Also, the moving speed of the attachment 80 can be determined by the predicted moving amount. For example, the moving speed of the attachment 80 in the vertical direction may be increased as the operation amount of the first lever 102 becomes larger, and the moving speed of the attachment 80 in the horizontal direction may be increased as the operation amount of the second lever 104 becomes larger.

The fine calculation unit 126 may calculate the angle of the working device 50 for maintaining a predetermined incident angle of the attachment 80 while the tip portion of the attachment 80 moves along the movement trajectory C generated by the trajectory generation unit 124. For example, the fine calculation unit may calculate an angle from the tip end portion of the attachment 80 to the boom, the arm, and the attachment using Inverse Kinematics (Inverse Kinematics).

The control signal output unit 128 may output a control signal for representing the angle of the work implement 50 calculated by the fine calculation unit 126. The control signal is input to the control valve 130, whereby the magnitude of the pilot signal pressure input from the control valve 130 to the main control valve 140 can be controlled. That is, the operation signal generated at the operation device 100 is corrected in the process of passing through the control device 120, and the corrected operation signal may be input to the control valve 130.

The control valve 130 may receive a control oil supply from a pilot pump (not shown) to generate a pilot signal pressure for moving a spool of the main control valve 140. For example, the control valve may be an Electronic proportional pressure Reducing valve (EPPR). The electro proportional pressure reducing valve may generate a pilot signal pressure proportional to the magnitude of the control signal received from the control signal output part 128. The amount of movement of the spool is determined based on the magnitude of the pilot signal pressure, and thus the amount of working oil supplied to the hydraulic cylinders (boom cylinder 62, arm cylinder 72, attachment cylinder 82) can be determined.

According to an example embodiment, the control valve 130 may include a plurality of electronic proportional pressure reducing valves supplying pilot signal pressure to the spool. For example, the control valve 130 may include a first electronic proportional pressure reducing valve and a second electronic proportional pressure reducing valve for a pilot signal pressure supplied to a boom spool (not shown), a third electronic proportional pressure reducing valve and a fourth electronic proportional pressure reducing valve for a pilot signal pressure supplied to a robot arm spool (not shown), and a fifth electronic proportional pressure reducing valve and a sixth electronic proportional pressure reducing valve for a pilot signal pressure supplied to an attachment spool (not shown). The first electronic proportional pressure reducing valve may generate a pilot signal pressure for raising the boom 60, and the second electronic proportional pressure reducing valve may generate a pilot signal pressure for lowering the boom 60. The third electronic proportional pressure reducing valve and the fifth electronic proportional pressure reducing valve may generate pilot signal pressures for the out-hook arm 70 and the attachment 80, respectively, and the fourth electronic proportional pressure reducing valve and the sixth electronic proportional pressure reducing valve may generate pilot signal pressures for the in-hook arm 70 and the attachment 80, respectively.

The main control valve 140 can control the hydraulic oil supplied to the hydraulic cylinders (the boom cylinder 62, the arm cylinder 72, and the attachment cylinder 82) by using a plurality of spools provided therein. For example, the working oil may be supplied to only one chamber selected from the rising side chamber and the falling side chamber of the boom cylinder 62 according to the boom spool movement direction, and the amount of the working oil supplied to the boom cylinder 62 may be determined according to the degree of the boom spool movement.

At this time, the moving direction and moving degree of the spool may be determined by the direction and magnitude of the pilot signal pressure supplied from the control valve 130. Also, the direction and magnitude of the pilot signal pressure generated at the control valve 130 may be determined by the control signal received from the control signal output part 128. As a result, the movement of the hydraulic cylinders (the boom cylinder 62, the arm cylinder 72, the attachment cylinder 82) is controlled by the control device 120, and the attachment 80 can be controlled to move along the movement locus C while maintaining the predetermined incident angle.

According to an exemplary embodiment, the control system of the construction machine may further include a selection switch (not shown) for determining whether to use the control system. For example, the selection switch may be an on-off switch disposed inside the cab chamber 40. The driver turns on the selection switch, the work machine control system is activated, and the movement of the work device 50 can be controlled as described above. That is, the attachment 80 moves along the movement locus C in a state of maintaining a predetermined incident angle. In contrast, the driver turns off the selection switch, the work machine control system is not activated, and the working device 50 can be driven according to the driver's operation. At this time, the predetermined incident angle of the attachment 80 may not be maintained according to the driver's ability.

As described above, the construction machine control system according to the exemplary embodiment may control the attachment to move while maintaining a predetermined incident angle. Thus, an unskilled person can maintain the incident angle of the attachment, particularly the fork attachment, and thus can prevent a safety accident caused by dropping of the loaded article. Further, the excavator with the fork attachment has a much larger working radius than a forklift, and thus can achieve the effects of improving the work efficiency and diversifying the work use.

Fig. 3 is a flowchart illustrating a method of controlling a construction machine using the control system of fig. 2. Fig. 4 to 6 are schematic views of the attachment activity moved according to the operation of the driver.

Referring to fig. 3, in step S100, it is determined whether the horizontal maintenance mode is selected.

For example, the driver may determine whether to use the level maintenance mode using a selection switch provided inside the cab 40. When the level maintenance mode is not selected, the control valve 130 may generate a pilot signal pressure corresponding to a driver operation signal. Accordingly, each of the hydraulic cylinders (the boom cylinder 62, the arm cylinder 72, and the attachment cylinder 82) of the work implement 50 can be supplied with the hydraulic oil of an amount corresponding to the operation signal. In contrast, when the level maintenance mode is selected, the operation signal is processed by the control device 120 and may be provided to the control valve 130 so that the attachment 80 may maintain the level.

When the horizontal maintenance mode is selected, step S110, detecting a position of the tip portion of the accessory device; step S120, receiving an operation signal of the driver.

The receiving unit 122 of the control device 120 can receive the position information for the working device 50 from the detection device 110. Specifically, the first sensor 112, the second sensor 114, and the third sensor 116 provided at the boom 60, the arm 70, and the attachment 80, respectively, can detect information on the position, the angle, the moving direction, the speed, and the like of the boom 60, the arm 70, and the attachment 80. In particular, the accessory device 80 may include information regarding the position of the tip portion of the accessory device and the angle of incidence. For example, the first sensor 112, the second sensor 114, and the third sensor 116 may be Inertial Measurement Units (IMUs). The detected information may be input to the receiving section 122 by wireless communication.

In addition, the operation signal of the driver may be generated from the operation device 100. For example, the operating device may be a joystick. The driver operates the joystick, which can generate operation information corresponding to the driver operation amount. The generated operation signal may be input to the receiving part 122 of the control device 120.

According to an exemplary embodiment, the operating device 100 may include a first joystick 102 for generating an operating signal for the boom 60 and a second joystick 104 for generating an operating signal for the robot arm 70. When the level maintenance mode is not selected, the driver may raise or lower the boom 60 by operating the first operating lever 102, and may turn the robot arm 70 inside or outside by operating the second operating lever 104.

In addition, when the horizontal maintenance mode is selected, the operation signals in the vertical direction and the horizontal direction with respect to the attachment 80 may be generated in correspondence to the operation amounts of the joysticks (the first joystick 102, the second joystick 104), respectively. For example, the first joystick 102 may generate an operation signal for a ground vertical direction corresponding to a driver operation amount, and the second joystick 104 may generate an operation signal for a ground horizontal direction corresponding to a driver operation amount. The generated operation signals may be input to the receiving parts 122 of the control device 120, respectively.

Step S130 is to generate a movement trajectory for the tip portion of the attachment.

The trajectory generating unit 124 sets the initial position of the tip portion of the attachment as the starting point E1 of the trajectory, and predicts the direction, speed, and the like of the movement of the tip portion of the attachment from the operation signal, thereby setting the virtual end point E2. For example, the amount of movement in the direction perpendicular to the ground can be predicted from the operation signal for the first joystick 102, and the amount of movement in the direction horizontal to the ground can be predicted from the operation signal for the second joystick 104. The end point E2 can be set by a combination of the shift amounts. The moving trajectory C for the attachment tip portion may be an imaginary line connecting the start point E1 and the end point E2.

Also, the moving speed of the attachment 80 can be determined based on the predicted moving amount as well. For example, the vertical direction movement speed of the attachment 80 may be increased as the operation amount α with respect to the first lever 102 becomes larger, and the horizontal direction movement speed of the attachment 80 may be increased as the operation amount β with respect to the second lever 104 becomes larger.

The activity of the attachment 80 operated by the driver is illustrated in detail in fig. 4 to 6.

Referring to fig. 4, in a state where the horizontal maintenance mode is selected, the driver operates only the first joystick 102, and the moving track C with respect to the tip end portion of the attachment can be set to a direction perpendicular to the ground. At this time, the position of the end point E2 and the vertical direction moving speed of the attachment 80 can be determined according to the operation amount α for the first joystick 102. For example, the vertical direction moving speed of the attachment 80 may be increased as the operation amount α with respect to the first joystick becomes larger.

Referring to fig. 5, in a state where the horizontal maintenance mode is selected, the driver operates only the second joystick 104, and the movement locus C of the tip end portion of the attachment can be set to a direction horizontal to the ground. At this time, the position of the end point E2 and the horizontal direction moving speed of the attachment 80 can be determined based on the operation amount β for the second joystick 104. For example, the horizontal direction moving speed of the attachment 80 may be increased as the operation amount β with respect to the second joystick becomes larger.

Referring to fig. 6, in a state where the horizontal maintenance mode is selected, the driver simultaneously operates the first joystick 102 and the second joystick 104, and the movement locus C with respect to the tip portion of the attachment can be set to a direction inclined at a predetermined angle with respect to the ground. That is, the position of the end point E2 can be determined by a combination of the operation amount α of the first joystick 102 and the operation amount β of the second joystick 104. Also, the vertical direction moving speed of the attachment 80 can be determined by the operation amount α of the first joystick 102, and the horizontal direction moving speed of the attachment 80 can be determined by the operation amount β of the second joystick 104.

In step S140, the angle of the working device 50 for maintaining the predetermined incident angle of the attachment is calculated.

The trajectory generation unit 124 generates a movement trajectory C for the tip end portion of the attachment, and the fine calculation unit 126 can calculate the angles of the boom 60, the arm 70, and the attachment 80 that satisfy the movement trajectory C using Inverse Kinematics (Inverse Kinematics).

Then, in step S150, the control signal output unit 128 may output a control signal for maintaining the calculated angle among the boom 60, the arm 70, and the attachment 80. The control signal is input to the control valve 130 and may generate a pilot signal pressure of a magnitude corresponding thereto. The pilot signal pressure may move a spool of the main control valve 140, and the boom cylinder 62, the arm cylinder 72, and the attachment cylinder 82 may be supplied with an amount of working oil corresponding to the control signal. Thereby, the attachment 80 can move along the movement locus C in a state of maintaining a predetermined incident angle.

According to an exemplary embodiment, the control method of a construction machine may improve accuracy and stability through feedback (feed-back) control. Specifically, in step S160, during the movement of the working device 50 along the movement track C, the receiving part 122 may continuously receive the position information for the working device 50. The trajectory generation unit 124 can generate a new movement trajectory based on the current position of the tip portion of the attachment set as a new start point. The fine calculation unit 126 calculates the angle of the work implement 50 to satisfy the new movement locus, and the control signal output unit 128 can also correct the control signal to the control valve 130 for the new movement locus. For example, the feedback control may be proportional integral Derivative control (PID control).

Step S170 of ending the horizontal maintenance mode when the current position of the tip portion of the attachment coincides with the end point E2.

Unlike this, the intention of the driver may be reflected to end the level maintenance mode when the accessory tip end portion does not reach the end point E2. For example, the driver may also end the level maintenance mode by deactivating the selector switch inside cab 40 or operating accessory device 80.

As described above, the construction machine control system according to the exemplary embodiment may control the attachment to move while maintaining a predetermined incident angle. Thus, an unskilled person can also maintain the incident angle of the attachment, particularly the fork attachment, so that a safety accident caused by dropping a loaded article can be prevented. Further, the excavator with the fork attachment has a much larger working radius than a forklift, and thus can achieve the effects of improving the work efficiency and diversifying the work use.

The above embodiments are intended to illustrate the technical aspects of the present invention, but those skilled in the art will appreciate that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention described in the claims.

Claims

1. A control method of a construction machine, comprising:

detecting an initial position of a working device including an attachment;

a step of receiving an operation signal for the working device;

generating a virtual movement locus for the attachment using the initial position and the operation signal; and

moving the attachment along the movement path, controlling a valve element included in a main control valve to move so that the attachment maintains the incident angle of the initial position,

the step of receiving the operation signal includes:

a step of simultaneously operating a first joystick and a second joystick, receiving a first operation signal for a ground vertical direction from the first joystick, and receiving a second operation signal for a ground horizontal direction from the second joystick,

the step of generating the imaginary movement trajectory for the accessory device comprises:

a step of setting the detected initial position of the attachment as a starting point;

predicting a movement amount of the attachment with respect to a ground vertical direction from the received first operation signal;

predicting a movement amount of the attachment with respect to a ground horizontal direction from the received second manipulation signal;

setting a virtual end point by combining a movement amount of the attachment in a vertical direction of the floor and a movement amount of the attachment in a horizontal direction of the floor; and

and setting a virtual line connecting the start point and the end point as a movement locus.

2. The control method of a construction machine according to claim 1, wherein the step of detecting the initial position includes:

and detecting the position of the working device by using an inertia measuring device arranged on the working device.

3. The control method of a construction machine according to claim 1,

the first operating lever is a boom operating lever for controlling the action of a boom;

the second joystick is a mechanical arm joystick for controlling the motion of the mechanical arm.

4. The control method of a construction machine according to claim 1, wherein the step of controlling the movement of the spool comprises:

and calculating an angle included in a boom, a robot arm, and the attachment of the work implement from a position of a tip portion of the attachment by using inverse kinematics.

5. The control method of a construction machine according to claim 1, wherein the step of controlling the movement of the spool comprises:

and applying an electric control signal to a control valve for supplying a pilot signal pressure to the spool.

6. The control method of a construction machine according to claim 6,

the control valve is an electronic proportional pressure reducing valve.

7. The control method of a construction machine according to claim 1, further comprising:

and a step of recalculating angles of the boom, the arm, and the attachment by feedback control.

8. The control method of a construction machine according to claim 7,

the feedback control is proportional integral derivative control.

9. The control method of a construction machine according to claim 1,

the attachment includes a fork or bucket.