KR19990033807A - Automatic traveling control device of hydraulic construction machine and its control method - Google Patents

Abstract

It is applied to hydraulic construction machines equipped with traveling devices as in wheel type excavators, and it is possible to provide convenience to the driver by automatically controlling the driving state of the machine even when the driving pedal is not directly operated by the driver. It is.

According to a preferred embodiment, there is provided an engine, between a first hydraulic pump and a second hydraulic pump driven by the engine, a traveling motor connected to and driven by the first hydraulic pump, and between the first hydraulic pump and the traveling motor. The main control valve is installed between the second hydraulic pump and the main control valve to control the amount, flow direction of the hydraulic oil supplied to the traveling motor, and controls the start, stop, and direction change of the traveling motor. It is installed between the forward and backward solenoid valve which switches according to the electrical signal applied from the lever selection switch means and controls the switching direction of the main control valve, and between the second hydraulic pump and the forward and backward solenoid valve to control the forward and backward solenoid valve pressure. An automatic traveling control device for a hydraulic construction machine including an adjusting remote control valve, Means for selecting whether or not to perform the automatic driving function and switching between the second hydraulic pump and the remote control valve when a predetermined electrical signal is applied, and the signal pressure discharged from the second hydraulic pump to the remote control valve. And a pilot solenoid valve for selectively supplying the forward and backward solenoid valves, and a brake valve installed in the discharge flow path of the second hydraulic pump to control the signal pressure supplied to the brake device. And a controller for applying a predetermined electrical signal to the pilot solenoid valve in accordance with a detection signal input from a means for detecting, means for selecting whether to perform the automatic driving function, and means for detecting the operation of the brake pedal. Automatic driving of the hydraulic construction machine, characterized in that Provide a control device.

As a result, in a hydraulic construction machine equipped with a traveling device such as a wheel type excavator, the driving state of the equipment can be automatically controlled even when the driving pedal is not directly operated by the driver, thereby providing convenience to the driver. For example, if the driving operation of the equipment is mishandled due to inadvertent operation by the driver, the driver may detect the misoperation and prevent the driving of the equipment against the driver's intention to improve the safety of the equipment.

Description

Automatic traveling control device of hydraulic construction machine and its control method

The present invention relates to an automatic traveling control device for a hydraulic construction machine and a control method thereof. More particularly, the present invention is applied to a hydraulic construction machine equipped with a traveling device, such as a wheel type excavator, and does not directly operate a traveling pedal by a driver. The present invention relates to an automatic driving control device for a hydraulic construction machine and a control method thereof, which can automatically control a driving state of a machine so as to provide convenience to a driver.

As schematically shown in FIG. 1, the automatic traveling control apparatus for a hydraulic construction machine according to the prior art includes an engine 1, a first hydraulic pump 3 driven by the engine 1, and a pilot signal pressure. Between the second hydraulic pump 5 for generating a pressure, the driving motor 11 connected to and driven by the first hydraulic pump 3 described above, and the first hydraulic pump 3 and the driving motor 11 described above. And a main control valve (MCV) 10 installed to control the amount, flow direction of the hydraulic oil supplied to the above-described traveling motor 11 to control the starting, list price and direction change of the above-described traveling motor 11, and It is installed between the forward lever select switch means 6 and the above-mentioned second hydraulic pump 5 and the main control valve 10 and is switched in accordance with the electrical signal applied from the above-mentioned forward lever select switch means 6. Forward and backward solenoid valve 7 for controlling the switching direction of the above-mentioned main control valve 10, and Further included is a second hydraulic pump (5) and the forward-reverse solenoid valve 7 forward-reverse solenoid valve 7, a remote control valve (RCV) for regulating pressure are provided between the above-described (9).

Reference numeral 8 is a driving pedal, 13 is a brake valve for controlling the pilot signal pressure supplied to the brake device not shown due to the pressure of the brake pedal 12 when the running equipment is stopped.

When driving the wheel-type heavy equipment configured as described above, the driver selects the forward or backward of the machine due to the operation of the forward and backward lever selection switch means 6, and accordingly the electrical signal is the forward and backward solenoid. It is applied to the valve 7 to switch it in the left or right direction on the drawing. In addition, the secondary pressure passing through the remote control valve 9 is proportionally generated in proportion to the operation amount of the driving pedal 8 described above. Thus, the main control described above is changed according to the above-described switching of the remote control valve 9. The switching direction of the valve 10 is determined.

Therefore, the main control valve 10 controls the hydraulic oil discharged from the above-described first hydraulic pump 3 in proportion to the pressure of the above-described remote control valve 9, the equipment is to move forward or backward.

In addition, in the case of stopping the equipment during driving, as the driver operates the above-described brake pedal 12, the internal spool of the brake valve 13 thereof is switched downward to open in the drawing, and as a result, the second As the pilot signal pressure discharged from the hydraulic pump 5 is supplied to the brake device not shown via the brake valve 13 described above, the equipment is stopped.

However, as described above, when the equipment is moved to an adjacent work place in a low speed driving state, or when moving long distances including city driving, the driver operates the state in which the above-described driving pedal 8 is continuously pressurized at the maximum pressure at all times. The driver is inconvenient as he continues, increasing the driver's fatigue.

Accordingly, an object of the present invention is to provide the driver with a hydraulic construction machine equipped with a traveling device, such as a wheel type excavator, to automatically control the driving state of the equipment even when the driving pedal is not directly operated by the driver. It is to provide an automatic running control device and a control method of a hydraulic construction machine to provide convenience.

Another object of the present invention is to detect the misoperation of the driving operation of the equipment due to the carelessness of the driver to prevent the running of the equipment against the driver's intention to automatically drive the hydraulic construction machine to improve the safety of the equipment It is to provide a control device and a control method thereof.

1 is a hydraulic circuit diagram of a traveling control apparatus of a hydraulic construction machine according to the prior art.

2 is a hydraulic circuit diagram of an automatic traveling control apparatus for a hydraulic construction machine according to an embodiment of the present invention.

3 is a flow chart applied to the automatic driving control method of a hydraulic construction machine according to an embodiment of the present invention.

* Explanation of symbols used in the main part of the drawing

1: engine

3: first hydraulic pump

5: the second hydraulic pump

6: forward and backward lever selection switch means

7: forward and backward solenoid valve

8: running pedal

9: remote control valve

10: main control valve

11: drive motor

12: brake pedal

13: brake valve

15: automatic driving function selection means

16: pilot solenoid valve

17: brake operation detection means

18: travel pedal operation detection means

19: forward and backward lever operation state detection means

An object of the present invention described above is an engine, a first hydraulic pump and a second hydraulic pump driven by the engine, a traveling motor connected to and driven by the first hydraulic pump, the first hydraulic pump and a traveling motor. It is installed between the main control valve for controlling the amount of flow, the flow direction of the hydraulic oil supplied to the traveling motor, the control valve for starting, stopping and direction of the driving motor, and is installed between the second hydraulic pump and the main control valve The forward and backward solenoid valve is switched between the second hydraulic pump and the forward and backward solenoid valve, which is switched according to an electrical signal applied from the forward and backward lever selection switch means and controls the switching direction of the main control valve. In the automatic traveling control device of a hydraulic construction machine including a remote control valve for adjusting the valve pressure, by the driver And a means for selecting whether to perform the driving function and switching between the second hydraulic pump and the remote control valve when a predetermined electrical signal is applied, and the signal pressure discharged from the second hydraulic pump before and after the remote control valve. A pilot solenoid valve for selectively supplying the solenoid valve to the jin solenoid valve, and a brake valve installed in the discharge flow path of the second hydraulic pump to control the signal pressure supplied to the brake device to detect whether the brake pedal is operated. And a controller for applying a predetermined electrical signal to the pilot solenoid valve in accordance with a detection signal input from a means for selecting whether to perform the automatic driving function and a means for detecting whether the brake pedal is operated. Traveling control station of hydraulic construction machinery By providing a value.

Preferably, when the autonomous driving function is not activated, the controller selects the autonomous driving function by the detection signal from the autonomous driving function selecting means, and operates the braking device by the detection signal from the brake operation detecting means. Instead, when the equipment is set to the driving state by the detection signal from the forward / backward lever switch means, a predetermined electrical signal is applied to the pilot solenoid valve to automatically drive the equipment.

Preferably, when the autonomous driving function is activated, the controller deselects the autonomous driving function by the detection signal from the autonomous driving function selecting means, and the braking device is activated by the detection signal from the brake operation detecting means. The electronic signal is operated by the detection signal from the forward reversing lever switch means to block the electrical signal applied to the pilot solenoid valve when the device is released from the running state of the equipment, thereby releasing it from the automatic driving state of the equipment.

Preferably, the remote control valve is provided with a signal for detecting the presence or absence of the driving pedal operation to the controller, the automatic driving function is selected, and the brake pedal is not operated when the controller in the pilot solenoid valve According to the application of the electrical signal, the driving pedal operation detection means for preventing the automatic running of the equipment is further provided when the driver incorrectly operating the automatic driving function selection means without operating the brake pedal.

Preferably, the forward and reverse lever selection switch is formed, the signal for detecting the operation state of the forward and backward lever selection switch is input to the controller, the automatic driving function is selected and the operation state of the forward and backward lever is forward or When the controller applies an electrical signal to the pilot solenoid valve in the reverse state, when the driver incorrectly operates the automatic driving function selection means without operating the driving pedal of the remote control valve, the equipment is automatically driven. And a forward / backward lever operating state detection means for preventing the possibility of failure.

Preferably, the travel pedal operation detection means and the forward and backward lever operation state detection means may be selected or used alone or in combination.

An object of the present invention described above is to set an output condition of a controller that blocks an electrical signal applied to a pilot solenoid valve so that, in the automatic driving control method of a hydraulic construction machine, the automatic driving is not activated at the initial start of the equipment. And a second step of determining whether to perform the automatic travel function according to the detection signals of the automatic travel function selection means, the brake operation detection means, the travel pedal operation state detection means, and the forward and backward lever operation state detection means. The current automatic driving function is being performed in two stages, the automatic driving function selection means are not operated by the driver, the brake pedal is not operated, and the forward and reverse lever switch is set to the forward or reverse position. A third step of maintaining the automatic driving function and repeating the second step; The current auto-drive function is not being performed by two stages, the auto-drive function is selected by the driver, and the auto-drive function is activated when the forward / backward lever switch is set to the forward or reverse position without operating the brake pedal. In the fourth step of repeating the second step and the third and fourth steps, the automatic driving function is not maintained or the automatic driving function is being performed. It is achieved by providing an automatic running control method for a hydraulic construction machine, comprising the fifth step of releasing the possibility and repeating the second step.

Preferably, in the fifth step, when the driver operates the brake pedal in a state in which the automatic driving function is not currently performed by the first step, the driving pedal is set when the forward and reverse lever switch is set to the neutral position. The first step of operating the automatic driving function selection means in the state of not operating the operation, and the operation of the automatic driving function selection means in the state in which the current automatic driving function is being performed by the third step, the operation of the brake pedal And setting a forward and backward lever switch to a neutral position.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are not intended to limit the technical scope of the present invention.

2 is a hydraulic circuit diagram of an automatic traveling control apparatus for a hydraulic construction machine according to an embodiment of the present invention, Figure 3 is a flow chart applied to the automatic driving control method of a hydraulic construction machine according to an embodiment of the present invention.

As shown in Figs. 2 and 3, the engine 1, the first hydraulic pump 3 and the second hydraulic pump 5 driven by the engine 1, and the first hydraulic pump described above ( 3) the driving motor 11 connected to and driven between the driving motor 11 and the first hydraulic pump 3 and the driving motor 11 described above, and the amount and flow direction of the hydraulic oil supplied to the driving motor 11 described above. The main control valve 10 for controlling the start, stop, and direction change of the above-described traveling motor 11, the forward and backward lever selection switch means 6, the above-mentioned second hydraulic pump 5, and the main control. A solenoid valve 7 installed between the valves 10 and switched according to the electrical signals applied from the aforementioned forward and backward lever selection switch means 6 to control the switching direction of the aforementioned main control valve 10; A limo installed between the second hydraulic pump 5 and the solenoid valve 7 to adjust the pressure of the solenoid valve 7 described above. Since the configuration having the control valve 9 is the same as that shown in Figure 1, the detailed description thereof will be omitted, and overlapping reference numerals are the same.

Therefore, according to a preferred embodiment of the present invention, the above-mentioned means is provided between the means 15 for selecting whether the automatic driving function is to be performed by the driver, and the second hydraulic pump 5 and the remote control valve 9 described above. 2 The pilot solenoid valve 16 which controls the signal pressure discharged from the hydraulic pump 5 to be selectively supplied to the above-described remote control valve 9 and the forward and backward solenoid valve 7 is switched so that a predetermined electric signal is applied. And means (17) for detecting the presence or absence of operation of the brake pedal (12) of the brake valve (13) which intercepts the signal pressure supplied to the predetermined braking device to the discharge passage of the second hydraulic pump (5) described above. And a means 15 for selecting whether or not to perform the above-described autonomous driving function and means 17 for detecting the operation of the brake pedal according to the detection signal inputted therefrom to the pilot solenoid valve 16 described above. I'm The controller 14 is connected each to apply a cues.

A signal for detecting the presence or absence of the operation of the traveling pedal 8 is input to the above-described remote control valve 9 to the controller 14 described above, whereby the automatic driving function is selected, and the above-described brake pedal 12 is operated. If the above-described controller 14 applies an electrical signal to the aforementioned pilot solenoid valve 16, the above-described automatic driving function selection means 15 without operating the brake pedal 12 by the driver. In the case of misoperation, a driving pedal operation detecting means 18 is installed to automatically prevent the running of the equipment against the driver's intention.

The above-mentioned forward and backward lever selection switch 6 inputs a signal for detecting its operation state to the above-described controller 14, whereby the automatic travel function is selected, and the above-mentioned forward and backward lever operation state is forward or backward. In a state where the controller 14 applies an electrical signal to the pilot solenoid valve 16 described above, the driver does not operate the traveling pedal 8 of the above-described remote control valve 9 by the driver. In the case of misoperation of the automatic driving function selection means 15, forward and backward lever operating state detection means 19 is installed to prevent the equipment from running automatically against the driver's intention.

At this time, the above-described driving pedal operation detecting means 18 and the forward and backward lever operating state detecting means 19 may be selected alone or in combination.

Referring to the operation of the present invention configured as described above, the predetermined signal detected from the above-described automatic driving function selection means 15 and the brake operation presence detection means 17 is input to the above-described controller 14, thereby When the automatic driving function is selected by one of the controllers 4 and there is no brake operation, a predetermined electrical signal is applied to the valve spring 16a opposite side of the pilot solenoid valve 16 described above so that the internal splice is leftward on the drawing. Switch to.

That is, when the driver operates the above-described automatic driving function selecting means 15 in a state where there is no brake operation, the controller 14 outputs an electrical signal from the controller 14 to the pilot solenoid valve 16 described above. The pilot pressure discharged from the above-described second hydraulic pump 5 is supplied to the above-mentioned forward and backward solenoid valve 7 via the above-described pilot solenoid valve 16 which is switched. Therefore, even when the driver does not directly operate the driving pedal 8 described above, the equipment is automatically driven when the forward and backward lever switch means 6 is selected as the forward or backward position.

When the driver wants to stop the equipment during the automatic driving of the equipment, when the above-described automatic driving function selecting means 15 and the brake pedal 12 are operated, the above-described automatic driving function selecting means 15 and the brake operation presence In accordance with the detection signal from the detection means 17, the controller 14 applies a predetermined electrical signal to the opposing spring 16a side of the pilot solenoid valve 16 described above. As a result, the pilot pressure discharged from the above-described second hydraulic pump 5 is transmitted to the above-described remote control valve 9 by the above-described pilot solenoid valve 16 and supplied to the above-mentioned forward and backward solenoid valve 7. Is blocked. Therefore, the equipment can be stopped even when there is no operation of the separate driving pedal 8 by the driver.

On the other hand, when the driver misoperates the above-described automatic driving function selecting means 15 in a state where there is no brake operation by the driver, the above-described pilot solenoid valve 16 determines that the automatic driving function is selected by the controller 14 described above. As a result of driving the driver, the driver may drive when the driver sets the aforementioned forward lever switch means 6 to the forward or backward position without the above-described driving pedal 8. At this time, it is possible to prevent the running of the equipment automatically against the driver's intention by the above-described forward and backward lever operating state detection means 19.

That is, the controller 14 receives the detection signals from the above-described automatic driving function selecting means 15, the brake operating state detecting means 17, and the forward and backward lever operating state detecting means 19, so that the automatic traveling function is provided. The above-described pilot solenoid valve 16 is driven only when there is no brake operation and the forward / backward lever operating state is in the forward or backward position.

In addition, when a driver misoperates the above-described autonomous driving select means 15 in a state where there is no brake operation, the controller 14 determines that the autonomous driving function is selected and the pilot solenoid valve 16 described above. As it drives, the equipment will run. At this time, it is possible to prevent the running of the equipment automatically against the driver's intention by the above-described driving pedal operation state detecting means 18.

That is, the above-described controller 14 receives the detection signals from the above-described auto travel function selection means 15, the brake operation state detection means 17 and the travel pedal operation state detection means 18 to select the auto travel function. There is no brake operation, and the pilot solenoid valve 16 is driven only when the driving pedal 8 is operated.

And, the automatic driving control method of the hydraulic construction machine according to an embodiment of the present invention will be described with reference to FIG.

In step 1 (21), an OFF signal for cutting off the electrical signal applied to the pilot solenoid valve 16 side described above from the controller 14 described above is output, and then the flow advances to step 2 (22). That is, the output condition of the controller 14 is set so that the automatic driving function is not activated by turning off the electrical signal applied to the pilot solenoid valve 16 described above at the start of the equipment.

In step 2 (22), the auto cruise flag, which is a variable for determining the above-described state of performing the autonomous driving function, is set to OFF, and then the procedure proceeds to step 3 (23). .

In step 3 (23), the above-described autonomous driving function selection signal from the autonomous driving function selection means 15 and the brake operation detection signal from the above-described brake operation presence detecting means 17 are input to the controller 14 described above. The process then proceeds to step 4 (24).

In step 4 (24), the driving pedal operation signal and the forward and backward lever operation state signal from the above-described traveling pedal operation detection means 18 and the forward and backward lever operation state detection means 19 are input to the controller 14 described above. The process then proceeds to step 5 (25).

In step 5 (25), it is determined whether the current automatic circuit is in an ON state (determining whether the current automatic traveling function is being performed). In other words, if the automatic driving function is currently being performed, the process proceeds to step 12 (32). If the automatic driving function is not currently performed, the process proceeds to step 6 (26).

In step 6 (26), when the autonomous driving function is not currently performed in step 5 (25), the auto driving function selection signal input to the controller 14 described above in step 3 (23) is turned on. Determine if (ON). That is, when the automatic driving function selection signal is on, that is, when the driver wants to perform the automatic driving function by operating the aforementioned automatic driving function selection means 15, the process proceeds to step 7 (27), and the automatic driving function selection signal is off. If the driver does not operate the above-described automatic travel function selection means 15, the process proceeds to step 1535.

In step 7 (27), when the automatic traveling function selection signal is on in step 6 (26) described above, it is determined whether the brake operation signal in step 3 (23) described above is on. If the driver does not operate the brake pedal 12 described above (when the brake operation signal is off), the process proceeds to step 8 (28), and if the driver operates the brake pedal 12 described above (the brake operation signal is on). If so, the process proceeds to step 15 (35).

In step 8 (28), when the brake operation signal is off in step 7 (27) described above, it is determined whether the forward and backward lever operation state signal in step 4 (24) described above is in the neutral state (N).

That is, if the aforementioned forward lever operation state signal is neutral, the process proceeds to step 15 (35), and when the aforementioned forward lever operation state signal is not neutral, the driver advances the aforementioned forward lever switch means 6 ( F) or, if set to the reverse (R) position, the process proceeds to step 9 (29).

In step 9 (29), if the forward and backward lever operation state signal described above in step 8 (28) is not neutral, it is determined whether the travel pedal operation signal in step 4 (24) described above is on. If the driver is operating the above-described driving pedal 8, the process proceeds to step 10 (30), and if the driver does not operate the above-mentioned driving pedal 8, the process proceeds to step 15 (35).

In step 10 (30), the autonomous driving function is not currently performed under the conditions from step 5 (25) to step 9 (29) described above, there is no operation of the driver's brake pedal 12, and the above-mentioned forward and backward lever is The above-described pilot solenoid valve 16 corresponds to a case in which the switch multi means 6 is in the forward or reverse state and the automatic drive function selecting means 15 is operated while the above-described traveling pedal 8 is in operation. Outputs an on-signal to the processor side, and proceeds to step 11 (31). That is, even if the driver does not continuously operate the above-described driving pedal 8, the equipment will automatically run.

In step 11 (31), when it is in the auto travel state by the operation of the above-described step 10 (30), it is set to ON to perform the current auto travel function, and the flow advances to step 3 (23).

In step 12 (32), it is determined whether the auto travel function selection signal in step 3 (23) described above is off when the current auto travel function is performed in step 5 (25).

That is, when the driver wants to cancel the automatic driving function by operating the automatic driving function selecting means 15, the process proceeds to step 15 (35) described above, and when the driver does not operate the automatic driving function selecting means 15, step 13 Proceed to (33).

In step 13 (33), it is determined whether the brake operation signal in step 3 (23) described above is on when the auto travel function selection signal is on in step 12 (32) described above. That is, when the driver operates the above-described brake pedal 12, the process proceeds to step 15 (35), and when the driver does not operate the above-described brake pedal 12, the process proceeds to step 14 (34).

In step 14 (34), when the brake operation signal is off in step 13 (33) described above, it is determined whether the forward and backward lever operation state signal in step 4 (24) described above is in a neutral state.

That is, when the driver puts the aforementioned forward lever switch means 6 in the neutral state, the process proceeds to step 5 (35), and when the aforementioned forward lever operation state signal is not neutral, the process proceeds to step 3 (23). Therefore, the above-described brake function selection means 15 by the driver is not operated by the driver in the state where the automatic driving function is currently being performed under the conditions of the above steps 5 (25) to 13 (33). There is no operation of (12), and the above-mentioned forward and backward lever switch means 6 corresponds to the case where it is continuously positioned in the forward or backward state.

As a result, the above-described signal on the pilot solenoid valve 16 side is continuously output by the above-described step 10 (30). This indicates that the machine is currently in automatic driving.

In step 15 (35), the driver is operating the above-described brake pedal 12 in a state in which the autonomous driving function is not currently performed according to the above-described conditions from step 5 (25) to step 9 (29) or This applies to the case where the automatic traveling function selecting means 15 is operated while the forward and backward lever switch means 6 is set to the neutral position or the driving pedal 8 is not operated. In addition, the driver operates the auto travel function selecting means 15 or the above-described brake pedal 12 in a state where the auto travel function is currently being performed under the conditions of the steps 5 (25) to 14 (34) described above. Or the forward / backward lever switch 6 is set to the neutral position. This outputs an off signal to the above-described pilot solenoid valve 16 to maintain the state in which the auto travel function is not performed or to release the auto travel function while the auto travel function is being performed, and step 16 (36) Proceed to).

In step 16 (36), the current auto travel function is maintained by the operation of the above-described step 15 (35), in which the auto travel function is not performed or the auto driving function is canceled while the auto travel function is being performed. If this is not performed, go to Step 3 (23).

As described above, according to the preferred embodiment, in a hydraulic construction machine equipped with a traveling device, such as in a wheel type excavator, it is possible to automatically control the running state of the equipment even when the driving pedal is not directly operated by the driver. There is one advantage that can provide convenience to the driver.

In addition, when the driving operation of the equipment due to inadvertent operation by the driver has an advantage to detect this by preventing the running of the equipment against the driver's intention to improve the safety of the equipment.

Claims (5)

An engine, a first hydraulic pump and a second hydraulic pump driven by the engine, a traveling motor connected to and driven by the first hydraulic pump, and installed between the first hydraulic pump and the traveling motor, It is installed between the main control valve and the second hydraulic pump and the main control valve to control the amount, flow direction of the operating oil supplied to control the start, stop and direction of the driving motor, and is applied from the forward and backward lever selection switch means. And a remote control valve installed between the second hydraulic pump and the forward and backward solenoid valve to switch in accordance with the electrical signal to control the switching direction of the main control valve. In the automatic traveling control device of a hydraulic construction machine including: whether the automatic driving function performed by the driver Means for selecting; It is installed to switch when a predetermined electrical signal is applied between the second hydraulic pump and the remote control valve, the pilot for controlling the selective supply of the signal pressure discharged from the second hydraulic pump to the remote control valve and the forward and backward solenoid valve Solenoid valves; Means provided in a brake valve installed in the discharge flow path of the second hydraulic pump to control the signal pressure supplied to the braking device, for detecting the operation of the brake pedal; And a controller for applying a predetermined electrical signal to the pilot solenoid valve according to a detection signal inputted from a means for selecting whether to perform the automatic driving function and a means for detecting the operation of the brake pedal. Automatic travel control of hydraulic construction machines. The pilot solenoid of claim 1, wherein the pilot solenoid is formed on the remote control valve and inputs a signal to detect whether the driving pedal is operated, and when the automatic driving function is selected and the brake pedal is not operated. In response to an electrical signal applied to the valve, the driving pedal operation detection means for preventing the running of the equipment automatically when the driver incorrectly operating the automatic driving function selection means without operating the brake pedal is configured to further comprise Automatic traveling control device for a hydraulic construction machine characterized in that. According to claim 1, wherein the forward and backward lever selection switch is input to a signal for detecting the operating state of the forward and backward lever selection switch to the controller, the automatic driving function is selected and the operating state of the forward and backward lever When the controller applies an electrical signal to the pilot solenoid valve when the controller is in the forward or backward state, the driver is automatically operated when the driver incorrectly operates the auto-driving selectable means without operating the drive pedal of the remote control valve. The automatic driving control device for a hydraulic construction machine, characterized in that it further comprises a forward and backward lever operation state detection means for preventing the running of. 4. The automatic traveling control apparatus for a hydraulic construction machine according to claim 2 or 3, wherein the traveling pedal operation detecting means and the forward and backward lever operating state detecting means are selected and used alone or in combination. An automatic driving control method for a hydraulic construction machine, comprising: a first step of setting an output condition of a controller which cuts off an electrical signal applied to a pilot solenoid valve so that an automatic driving function is not activated when the equipment is initially started; A second step of determining whether to perform the automatic travel function according to the detection signals of the automatic travel function selection means, the brake operation detection means, the travel pedal operation state detection means and the forward and backward lever operation state detection means; When the current automatic driving function according to the second step is being performed, the automatic driving function selection means is not operated by the driver, and the front and rear lever switches are set to the forward or backward position without operating the brake pedal. A third step of maintaining a current automatic driving function and repeatedly performing the second step; The current automatic driving function according to the second step is not being performed, the automatic driving function is selected by the driver, and the automatic driving when the forward and backward lever switch is set to the forward or backward position without operating the brake pedal. Performing a function, the fourth step of repeating the second step; And a fifth step of continuously maintaining the state in which the automatic driving function is not performed by the third and fourth steps or releasing the automatic driving function while the automatic driving function is being performed, and repeatedly performing the second step. Automatic driving control method of a hydraulic construction machine comprising a.