KR102506386B1 - Control method for construction machinery - Google Patents

Abstract

A control method of a construction machine detects an initial position of a work device including an attachment. Receives an operation signal for the work device. A virtual movement trajectory for the attachment is generated using the initial position and the manipulation signal. Then, while moving the attachment along the movement trajectory, the attachment controls the movement of the spools included in the main control valve so that the angle of incidence at the initial position can be maintained as it is.

Description

Construction machine control method {CONTROL METHOD FOR CONSTRUCTION MACHINERY}

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

A construction machine, for example, an excavator, may perform various tasks by driving a rotatably connected boom, arm, and attachment. At this time, the attachment may be selected according to the type of work. For example, a bucket may perform an excavation operation, a crusher may perform a crushing operation, and a fork may perform a conveying operation.

However, the movement of the attachment is realized as a result of a combination of manipulations of the boom and the arm as well as manipulations of the attachment. Therefore, in the case of an unskilled person, the movement of the attachment may not be controlled as desired. In particular, in the case of using the fork attachment, the load may fall because the attachment cannot be leveled, which may cause a safety accident.

(Patent Document 1) Patent Document 1: Korean Patent Publication No. 10-2015-0016933

An object of the present invention is to provide a control method of a construction machine for controlling an attachment to move while maintaining a constant angle of incidence.

In order to achieve the above object of the present invention, a method for controlling a construction machine according to exemplary embodiments of the present invention detects an initial position of a work device including an attachment. An operation signal for the work device is received. A virtual movement trajectory for the attachment is generated using the initial position and the manipulation signal. Then, while moving the attachment along the movement trajectory, the attachment controls the movement of the spools included in the main control valve so that the incident angle at the initial position can be maintained as it is.

In example embodiments, the detecting of the initial position may include detecting a position of the working device using an inertia measurement unit (IMU) installed in the working device.

In example embodiments, the receiving of the manipulation signal may include receiving a first manipulation signal in a direction perpendicular to the ground from a first joystick, and a second manipulation signal in a direction horizontal to the ground from a second joystick. 2 may include receiving an operation signal.

In example embodiments, the generating of a virtual movement trajectory for the attachment may include determining a movement speed of the attachment in a direction perpendicular to the ground from the received first manipulation signal, and the received and determining a movement speed of the attachment in a direction horizontal to the ground from the received second manipulation signal.

In example embodiments, the first joystick may be a boom joystick for controlling an operation of a boom, and the second joystick may be an arm joystick for controlling an operation of an arm.

In exemplary embodiments, the step of controlling the movement of the spools is to calculate angles of a boom, an arm, and the attachment included in the work device from a distal end position of the attachment using inverse kinematics steps may be included.

In example embodiments, controlling the movement of the spools may include applying an electrical control signal to a control valve for supplying a pilot signal pressure to the spools.

In example embodiments, the control valve may be an Electronic Proportional Pressure Reducing (EPPR) valve.

In example embodiments, the control method of the construction machine may further include recalculating angles of the boom, the arm, and the attachment through a feed-back control.

In exemplary embodiments, the feedback control may be a proportional integral derivative (PID) control.

In example embodiments, the attachment may include a fork or a bucket.

A control method of a construction machine according to exemplary embodiments may control an attachment to move while maintaining a constant angle of incidence. Accordingly, even an unskilled person can maintain a constant angle of incidence of the attachment, in particular, the fork attachment, thereby preventing safety accidents due to falling loads. In addition, since an excavator equipped with a fork attachment has a much larger working radius than a forklift, it is possible to improve work efficiency and diversify work purposes.

However, the effects of the present invention are not limited to the above-mentioned effects, and may be variously extended without departing from the spirit and scope of the present invention.

1 is a side view showing a construction machine.
2 is a block diagram illustrating a control system for a construction machine according to exemplary embodiments.
FIG. 3 is a flowchart illustrating a method of controlling a construction machine using the control system of FIG. 2 .
4 to 6 are diagrams illustrating movement of an attachment according to a driver's manipulation.

For the embodiments of the present invention disclosed in the text, specific structural or functional descriptions are only exemplified for the purpose of explaining the embodiments of the present invention, and the embodiments of the present invention may be implemented in various forms and the text It should not be construed as being limited to the embodiments described above.

Since the present invention can have various changes and various forms, specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific form disclosed, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle. Other expressions describing the relationship between elements, such as "between" and "directly between" or "adjacent to" and "directly adjacent to", etc., should be interpreted similarly.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "having" are intended to indicate that the described feature, number, step, operation, component, part, or combination thereof exists, but that one or more other features or numbers are present. However, it should be understood that it does not preclude the presence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this application, they are not interpreted in an ideal or excessively formal meaning. .

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

1 is a side view showing a construction machine.

Referring to FIG. 1 , a construction machine 10 may include an upper swing body 20 , a lower traveling body 30 , an operator's cabin 40 , and a work device 50 . For example, the construction machine may be an excavator.

The upper swing body 20 is mounted on the lower traveling body 30, rotates on a plane parallel to the ground to set a working direction, and can perform work by driving the working device 50. In this case, it is possible to maintain the balance of the construction machine 10 in operation by using a counter weight mounted on the rear of the upper swing structure 20 .

The lower traveling body 30 supports the upper swing body 20 and the driver's cab 40, and can drive the construction machine 10 using power generated by the engine. Although a crawler-type undercarriage 30 is shown in FIG. 1 , the shape of the undercarriage 30 is not limited thereto. For example, the undercarriage may have a wheel type shape.

The operator's cabin 40 is installed on the upper swing structure 20, and a driver can ride inside and control the construction machine 10. Various control devices for controlling the upper swing body 20 , the lower traveling body 30 , and the work device 50 may be provided inside the cab 40 .

The work device 50 is mounted forward on the upper swing body 20 and can perform various tasks such as excavation and breaking. The work device 50 may include a boom 60, an arm 70, an attachment 80, and hydraulic cylinders 62, 72, and 82 for driving them.

The boom 60 is rotatably attached to the upper swing body 20 and can be raised or lowered by driving the boom cylinder 62 . The arm 70 is rotatably connected to one end of the boom 60, and may perform a dump or crowd operation by driving the arm cylinder 72. The attachment 80 is rotatably connected to the lower end of the arm 80, and can perform a dump or crowd operation by driving the attachment cylinder 82. 1 shows a fork as the attachment 80, but is not limited thereto. For example, the attachment may be a bucket.

As shown in FIG. 1 , the work device 50 may be moved from a first position to a second position by manipulation of an operator. At this time, the first position is a case where the distal end of the attachment 80 is located at the starting point (E ₁ ) and is indicated by a solid line in _FIG . As a case located at , it is indicated by a broken line in FIG. 1 . The incident angle of the attachment 80 at the starting point E ₁ may be the first angle θ ₁ , and the incident angle of the attachment 80 at the ending point may be the second angle θ ₂ . At this time, the angle of incidence is an angle formed when the attachment 80 moves forward or backward, and a straight line extending from the connection between the attachment 80 and the arm 70 toward the distal end of the attachment is perpendicular to the ground It can be defined as an angle formed by

2 is a block diagram illustrating a control system for a construction machine according to exemplary embodiments.

Referring to FIGS. 1 and 2, the construction machine control system includes an operating device 100 for generating an operation signal for the work device 50 and a detection device 110 for measuring the position of the work device 50. , The control device 120 for determining the movement trajectory of the attachment 80 using the operation signal and the position information and generating a control signal for controlling the movement of the work device 50 accordingly, the control device 120 receives the control signal A control valve 130 for generating a pilot signal pressure corresponding thereto, and a main control valve for controlling the amount of hydraulic oil supplied to the working device 50 according to the magnitude of the pilot signal pressure (Main Control Valve, MCV , 140).

The operating device 100 is installed inside the cab 40 and can generate an operating signal for driving the working device 50 according to the driver's degree of manipulation. For example, the operating device may be a joystick. The manipulation signal generated by the manipulation device 100 may be input to the receiver 122 of the control device 120 .

In exemplary embodiments, the operating device 100 includes 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 arm 70. ) may be included. The operator can raise or lower the boom 60 by operating the first joystick 102, and dump or crowd the arm 70 by operating the second joystick 104. In this case, the first and second joysticks 102 and 104 may generate manipulation signals corresponding to the driver's manipulation amount. For example, the first joystick may generate a movement signal of the boom 60 corresponding to the driver's manipulation amount, and the second joystick may generate an arm 70 movement signal corresponding to the driver's manipulation amount.

On the other hand, when the horizontal maintenance mode is selected by a selection switch described later, the first joystick 102 and the second joystick 104 operate the vertical and horizontal movement amounts of the attachment 80 corresponding to the driver's manipulation amount. Each signal can be generated. For example, in a state in which the leveling mode is selected, the amount of movement of the attachment 80 in a direction perpendicular to the ground may be determined according to the degree to which the driver manipulates the first joystick 102, and the driver moves the second joystick 102 The amount of movement of the attachment 80 in a direction horizontal to the ground may be determined according to the degree of manipulation of the 104 . Accordingly, the first joystick 102 and the second joystick 104 may respectively generate only manipulation signals related to the vertical and horizontal movement amounts of the attachment 80 .

The detection device 110 is installed in the work device 50 and can detect information about the position, angle, and the like of the work device 50 . For example, the detection device may be an inertia measurement unit (IMU). The inertial measurement device may include three accelerometers for measuring linear motion and three angular velocities for measuring rotational motion, and may measure the motion direction, posture, position, speed, etc. of the work device 50. can Since the detection device 110 is installed in the work device 50 , the detection device 110 can detect information about the position and angle of the work device 50 .

In exemplary embodiments, the detection device 110 may include first to third sensors 112, 114, and 116 installed on the boom 60, the arm 70, and the attachment 80, respectively. there is. The first sensor 112 can detect the position and angle of the boom 60, the second sensor 114 can detect the position and angle of the arm 70, and the third sensor 116 can detect the attachment The position and angle of (80) can be detected. At this time, the information detected by the third sensor 116 may include information about the location of the distal end of the attachment and the incident angle. The control device 120 may determine the exact position of each of the boom 60, the arm 70, and the attachment 80 using the information measured by the first to third sensors 112, 114, and 116.

The obtained attitude information may be transmitted to the control device 120 through wireless communication, for example, a Controller Area Network (CAN), a Local Interconnect Network (LIN), or FlexRay. Alternatively, the detection device 110 may be directly connected to the control device 120 through a wire.

The control device 120 receives operation signals and position information from the operation device 100 and the detection device 110, respectively, and uses them to maintain the movement trajectory of the attachment end and the angle of incidence of the attachment 80 constant. The angle of each part of the device 50 can be determined. In this case, maintaining a constant angle of incidence may be a sufficient condition that the load loaded on the attachment 80 does not fall while the work device 50 is driven. For example, referring back to FIG. 1, the angle of incidence of the attachment 80 is kept constant while the distal end of the attachment 80 moves along the movement trajectory C from the starting point E ₁ to the ending point E ₂ It can be. That is, the first angle θ ₁ may have the same size as the second angle θ ₂ .

In example embodiments, the control device 120 may include a receiver 122 , a trajectory generator 124 , a posture calculator 126 , and a control signal output unit 128 .

The receiver 122 may receive a driver's manipulation signal from the manipulation device 100 and receive location information about the work device 50 from the detection device 110 .

The trajectory generator 124 may generate a movement trajectory C for the attachment 80 to move while maintaining a constant angle of incidence using the manipulation signal and position information received through the receiver 122 .

Specifically, the trajectory generator 124 may set the position of the initial attachment distal end received from the detection device 110 as the starting point E ₁ of the movement trajectory. In addition, a virtual end point (E ₂ ) may be set by estimating the movement direction and speed of the distal end of the attachment from the manipulation signal received from the manipulation device 100 . For example, it is possible to predict the amount of movement of the attachment in a direction perpendicular to the ground from the operation signal received from the first joystick, and from the operation signal received from the second joystick to the direction horizontal to the ground of the attachment movement can be predicted. The end point may be set through a combination of movement amounts in the vertical direction and the horizontal direction. The movement trajectory C for the attachment distal end may be a virtual line connecting the starting point E ₁ and the ending point E ₂ .

In addition, the movement speed of the attachment 80 may also be determined according to the predicted movement amount. For example, as the amount of manipulation of the first joystick 102 increases, the vertical movement speed of the attachment 80 may increase, and as the amount of manipulation of the second joystick 104 increases, the speed of movement of the attachment 80 increases. The horizontal direction movement speed may be increased.

The attitude calculation unit 126 is a working device for keeping the incident angle of the attachment 80 constant while the distal end of the attachment 80 moves along the movement trajectory C generated by the trajectory generating unit 124 The angle of (50) can be calculated. For example, the posture calculating unit may calculate angles of the boom, the arm, and the attachment from the position of the distal end of the attachment 80 using inverse kinematics.

The control signal output unit 128 may output a control signal for realizing the angle of the work device 50 calculated by the posture calculator 126 . The control signal may be input to the control valve 130 to control the magnitude of the pilot signal pressure input from the control valve 130 to the main control valve 140 . That is, the manipulation signal generated by the manipulation device 100 is modified while passing through the control device 120 , and the modified manipulation signal may be input to the control valve 130 .

The control valve 130 may generate pilot signal pressure for moving the spools of the main control valve 140 by receiving control oil from a pilot pump (not shown). For example, the control valve may be an electronic proportional pressure reducing (EPPR) valve. The electronic proportional pressure reducing valve may generate a pilot signal pressure proportional to the magnitude of the control signal received from the control signal output unit 128. The amount of movement of the spools is determined according to the magnitude of the pilot signal pressure, and accordingly, the amount of hydraulic oil supplied to the hydraulic cylinders 62, 72, and 82 may be determined.

In example embodiments, the control valve 130 may include a plurality of electromagnetic proportional pressure reducing valves that supply pilot signal pressure to the spools. For example, the control valve 130 includes first and second electronic proportional pressure reducing valves for supplying pilot signal pressure to a boom spool (not shown), and a first supplying pilot signal pressure to an arm spool (not shown). Third and fourth electronic proportional pressure reducing valves, and fifth and sixth electronic proportional pressure reducing valves for supplying pilot signal pressure to an attachment spool (not shown) may be included. The first electromagnetic proportional pressure reducing valve can generate a pilot signal pressure for raising the boom 60, and the second electromagnetic proportional pressure reducing valve can generate a pilot signal pressure for lowering the boom 60. The third and fifth electromagnetic proportional pressure reducing valves can generate pilot signal pressure for dumping the arm 70 and the attachment 80, respectively, and the fourth and sixth electromagnetic proportional pressure reducing valves respectively arm 70 And a pilot signal pressure for crowding the attachment 80 can be generated.

The main control valve 140 may control hydraulic oil supplied to the hydraulic cylinders 62, 72, and 82 using a plurality of spools installed therein. For example, according to the movement direction of the boom spool, hydraulic oil may be supplied only to one chamber selected from the ascending side chamber and the descending side chamber of the boom cylinder 62, and to the boom cylinder 62 according to the degree of movement of the boom spool. The amount of hydraulic oil supplied can be controlled.

In this case, the direction and degree of movement of the spools may be determined according to the direction and magnitude of the pilot signal pressure supplied from the control valve 130 . In addition, the direction and magnitude of the pilot signal pressure generated by the control valve 130 may be determined according to the control signal received from the control signal output unit 128 . As a result, as the movement of the hydraulic cylinders 62, 72, and 82 is controlled by the control device 120, the attachment 80 can be controlled to move along the movement trajectory C while maintaining a constant angle of incidence. there is.

In exemplary embodiments, 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 installed inside the cab 40. When the driver turns on the selection switch, the control system of the construction machine is activated and the movement of the work device 50 can be controlled as described above. That is, the attachment 80 may move along the moving trajectory C while maintaining a constant angle of incidence. Alternatively, when the driver turns off the selection switch, the control system of the construction machine is deactivated and the work device 50 can be driven according to the driver's manipulation. In this case, the incident angle of the attachment 80 may not be maintained constant according to the driver's capability.

As described above, the construction machine control system according to exemplary embodiments may control the attachment to move while maintaining a constant angle of incidence. Accordingly, even an unskilled person can maintain a constant angle of incidence of the attachment, in particular, the fork attachment, thereby preventing safety accidents due to falling loads. In addition, since an excavator equipped with a fork attachment has a much larger working radius than a forklift, it is possible to improve work efficiency and diversify work purposes.

FIG. 3 is a flowchart illustrating a method of controlling a construction machine using the control system of FIG. 2 . 4 to 6 are diagrams illustrating movement of an attachment according to a driver's manipulation.

Referring to FIG. 3 , it is determined whether or not the horizontal maintenance mode is selected (S100).

For example, the driver can determine whether or not to use the leveling mode by using a selection switch installed inside the cab 40 . When the leveling mode is not selected, the control valve 130 may generate a pilot signal pressure to correspond to a driver's manipulation signal. Accordingly, an amount of hydraulic oil corresponding to the operation signal may be supplied to each of the hydraulic cylinders 62, 72, and 82 of the working device 50. Alternatively, when the leveling mode is selected, the manipulation signal may be processed by the control device 120 and provided to the control valve 130 so that the attachment 80 may be leveled.

When the leveling mode is selected, the position of the distal end of the attachment is detected (S110) and a driver's manipulation signal is received (S120).

The receiver 122 of the control device 120 may receive location information about the work device 50 from the detection device 110 . Specifically, the first to third sensors 112, 114, and 116 respectively installed on the boom 60, the arm 70, and the attachment 80 are the boom 60, the arm 70, and the attachment 80 ) can detect information about the position, angle, movement direction, speed, etc. In particular, in the case of the attachment 80, information about the position of the distal end of the attachment and the angle of incidence may be included. The first to third sensors 112, 114, and 116 may be, for example, an inertial measurement unit (IMU). The detected information may be input to the receiver 122 through wireless communication or the like.

Meanwhile, the driver's manipulation signal may be generated from the manipulation device 100 . For example, the operating device may be a joystick. When the driver manipulates the joystick, the joystick may generate a manipulation signal corresponding to the driver's manipulation amount. The generated manipulation signal may be input to the receiver 122 of the control device 120 .

In exemplary embodiments, the operating device 100 includes 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 arm 70. ) may be included. When the leveling mode is not selected, the operator can raise or lower the boom 60 by operating the first joystick 102, and dump the arm 70 by operating the second joystick 104. It can be done or crowded out.

Meanwhile, when the horizontal maintenance mode is selected, manipulation signals for the vertical and horizontal directions of the attachment 80 may be generated corresponding to the manipulation amounts of the joysticks 102 and 104 . For example, the first joystick 102 may generate a manipulation signal in a direction perpendicular to the ground in response to a driver's manipulation amount, and the second joystick 104 may generate a manipulation signal in a direction horizontal to the ground in response to the driver's manipulation amount. It is possible to generate an operation signal for. The generated manipulation signals may be respectively input to the receiver 122 of the control device 120 .

A movement trajectory for the attachment distal end is generated (S130).

The trajectory generator 124 may set the initial position of the distal end of the attachment as the starting point (E ₁ ) of the trajectory, and set a virtual end point (E ₂ ) by estimating the movement direction and speed of the distal end of the attachment from the manipulation signal. . For example, an amount of movement in a direction perpendicular to the ground may be estimated from an operation signal for the first joystick 102, and an amount of movement in a direction horizontal to the ground may be estimated from an operation signal for the second joystick 104. there is. The end point E ₂ may be set through a combination of the movement amounts. The movement trajectory C for the attachment distal end may be a virtual line connecting the starting point E ₁ and the ending point E ₂ .

In addition, the movement speed of the attachment 80 may also be determined according to the predicted movement amount. For example, the vertical movement speed of the attachment 80 may increase as the manipulation amount α of the first joystick 102 increases, and the manipulation amount β of the second joystick 104 increases. The movement speed of the attachment 80 in the horizontal direction may increase.

The movement of the attachment 80 according to the driver's manipulation is shown in detail in FIGS. 4 to 6 .

Referring to FIG. 4 , when the driver operates only the first joystick 102 in a state in which the leveling mode is selected, the movement trajectory C for the distal end of the attachment may be set in a direction perpendicular to the ground. At this time, the location of the end point E ₂ and the vertical movement speed of the attachment 80 may be determined according to the manipulation amount α of the first joystick 102 . For example, as the manipulation amount α of the first joystick increases, the vertical movement speed of the attachment 80 may increase.

Referring to FIG. 5 , when the driver operates only the second joystick 104 in a state in which the leveling mode is selected, the movement trajectory C for the distal end of the attachment may be set in a direction horizontal to the ground. At this time, the position of the end point E ₂ and the horizontal movement speed of the attachment 80 may be determined according to the manipulation amount β of the second joystick 104 . For example, as the manipulation amount β of the second joystick increases, the horizontal direction movement speed of the attachment 80 may increase.

Referring to FIG. 6, when the driver simultaneously operates the first joystick 102 and the second joystick 104 in a state where the leveling mode is selected, the movement trajectory C for the distal end of the attachment is at a constant angle with respect to the ground. It can be set in an inclined direction. That is, the position of the end point E ₂ may be determined according to a combination of the manipulation amount α of the first joystick 102 and the manipulation amount β of the second joystick 104 . In addition, the vertical movement speed of the attachment 80 may be determined according to the operation amount α of the first joystick 102, and the attachment 80 moves horizontally according to the operation amount β of the second joystick 104. speed can be determined.

An angle of the working device 50 for maintaining a constant angle of incidence of the attachment is calculated (S140).

When the movement trajectory (C) for the attachment distal end is generated by the trajectory generator 124, the posture calculator 126 uses inverse kinematics to satisfy the movement trajectory (C) of the boom ( 60), the angles of the arm 70, and the attachment 80 can be calculated.

Thereafter, the control signal output unit 128 may output a control signal for the boom 60, the arm 70, and the attachment 80 to maintain the calculated angle (S150). The control signal may be input to the control valve 130 to generate a pilot signal pressure corresponding to it. The pilot signal pressure can move the spools of the main control valve 140, and an amount of hydraulic oil corresponding to the control signal can be supplied to the boom cylinder 62, the arm cylinder 72, and the attachment cylinder 82 there is. Accordingly, the attachment 80 may move along the moving trajectory C while maintaining a constant angle of incidence.

In exemplary embodiments, the control method of the construction machine can improve accuracy and stability through feedback control. Specifically, while the work device 50 is moving along the movement trajectory C, the receiver 122 may continue to receive location information about the work device 50 (S160). The trajectory generating unit 124 may set the location of the current attachment distal end as a new starting point and generate a new movement trajectory based on this. The attitude calculation unit 126 calculates the angle of the working device 50 to satisfy the new movement trajectory, and the control signal output unit 128 also sends a control signal to the control valve 130 according to the new movement trajectory. can be modified For example, the feedback control may be PID control (Proportional Integral Derivative Control).

When the current position of the distal end of the attachment coincides with the end point (E ₂ ), the leveling mode is terminated (S170).

Alternatively, even when the attachment distal end does not reach the end point E ₂ , the level maintenance mode may be terminated by reflecting the driver's intention. For example, even when the driver deactivates the selection switch inside the cab 40 or manipulates the attachment 80, the leveling mode may be terminated.

As described above, the construction machine control system according to exemplary embodiments may control the attachment to move while maintaining a constant angle of incidence. Accordingly, even an unskilled person can maintain a constant angle of incidence of the attachment, in particular, the fork attachment, thereby preventing safety accidents due to falling loads. In addition, since an excavator equipped with a fork attachment has a much larger working radius than a forklift, it is possible to improve work efficiency and diversify work purposes.

Although the above has been described with reference to the embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention described in the claims below. You will understand that you can.

10: construction machine 20: upper swing body
30: lower running body 40: cab
50: work device 60: boom
62: boom cylinder 70: arm
72: arm cylinder 80: attachment
82: attachment cylinder 100: operating device
102: first joystick 104: second joystick
110: detection device 112: first sensor
114: second sensor 116: third sensor
120: control device 122: receiver
124: trajectory generation unit 126: posture calculation unit
128: control signal output unit 130: control valve
140: main control valve C: movement trajectory
E ₁ : start point E ₂ : end point
θ ₁ : first angle θ ₂ : second angle

Claims (11)

detecting an initial position of a work device including an attachment;
receiving an operation signal for the work device;
generating a virtual movement trajectory for the attachment using the initial position and the manipulation signal; and
Controlling the movement of spools included in the main control valve to move the attachment along the movement trajectory so that the attachment can maintain the angle of incidence at the initial position as it is,
Receiving the manipulation signal,
Simultaneously operating a first joystick and a second joystick to receive a first manipulation signal in a direction perpendicular to the ground of the attachment from the first joystick, and receiving a first manipulation signal in a direction perpendicular to the ground of the attachment from the second joystick Receiving a second operation signal;
Generating the virtual movement trajectory for the attachment,
setting the detected initial position of the attachment as a starting point;
predicting a movement amount of the attachment in a direction perpendicular to the ground from the received first manipulation signal;
predicting a movement amount of the attachment in a direction horizontal to the ground from the received second manipulation signal;
setting a virtual end point through a combination of a movement amount of the attachment in a direction perpendicular to the ground and a movement amount of the attachment in a horizontal direction with respect to the ground; and
and setting a virtual line connecting the start point and the end point as the movement trajectory. The construction machine according to claim 1, wherein the detecting of the initial position comprises detecting the position of the work device using an inertia measurement unit (IMU) installed on the work device. control method. delete delete The method according to claim 1, wherein the first joystick is a boom joystick for controlling the operation of the boom, and the second joystick is an arm joystick for controlling the operation of the arm. The method of claim 1, wherein the controlling of the movements of the spools comprises calculating angles of a boom, an arm, and the attachment included in the work device from a distal end position of the attachment using inverse kinematics. Control method of a construction machine, characterized in that it comprises. The method according to claim 1, wherein the controlling the movement of the spools comprises applying an electrical control signal to a control valve for supplying a pilot signal pressure to the spools. The control method of a construction machine according to claim 7, wherein the control valve is an Electronic Proportional Pressure Reducing (EPPR) valve. The method according to claim 1, further comprising the step of recalculating the angles of the boom, the arm, and the attachment through a feed-back control. 10. The method according to claim 9, wherein the feedback control is PID (Proportional Integral Derivative) control. The method according to claim 1, wherein the attachment comprises a fork or a bucket.

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