KR20110022100A

KR20110022100A - Operation interface of hydraulic backhoe with cylindrical coordinate control

Info

Publication number: KR20110022100A
Application number: KR1020090079322A
Authority: KR
Inventors: 윤정원; 오라리우스 마누룽; 성현석; 허민호
Original assignee: 경상대학교산학협력단; 우성정공 주식회사
Priority date: 2009-08-26
Filing date: 2009-08-26
Publication date: 2011-03-07

Abstract

PURPOSE: An operation interface device of a hydraulic backhoe with cylindrical coordinate control is provided to enable a beginner to efficiently and precisely control a working machine without practice. CONSTITUTION: An operation interface device of a hydraulic backhoe with cylindrical coordinate control comprises a left electronic joystick(1a), a right electronic joystick(1b), a coordinate conversion controller interface(4), a boom, an arm, a bucket, and rotating cylinder valves(3-1,3-2,3-3,3-4). The coordinate conversion controller interface is inputted with the displacement of the electronic joystick and converts electrical signals into cylindrical coordinate velocity instruction in proportion to the displacement.

Description

Operation Interface of Hydraulic Backhoe with Cylindrical Coordinate Control

The present invention allows the user to move the end of the work machine intuitively through the joysticks and allow the work machine to move in the cylindrical coordinate system in order to allow the user intuitive operation to the hydraulically driven backhoe work that can be attached to or detached from the tractor or loader. The position-based speed control of the hydraulic cylinder provides a cylindrical coordinate system interlocking backhoe machine operation interface that enables the beginner to control the machine efficiently and precisely without skilled practice.

The backhoe working machine, which can be attached to or detached from an agricultural tractor, consists of a control valve, a boom, an arm, a bucket, and an outrigger, so that it can be used for multi-purpose work in the agricultural and livestock industry such as soil management, field crop harvesting, small scale construction, and civil engineering. It is an advanced agricultural machinery work machine. With the same structure as the existing heavy equipment excavator, the displacement of the three hydraulic cylinders that drive the boom, arm, and bucket is controlled by adjusting the operating lever of the driving seat to finally control the position and pitch angle of the bucket. In addition, it has a total of four degrees of freedom movement generating structure that implements the swing operation of the whole machine to the operation of the swing cylinder attached to the main frame to perform a variety of excavation work. However, a professional excavator qualified person with long driving experience has no difficulty in manipulating the backhoe compactor, but it takes a long time to acquire skillful excavator working skills, and the fatigue is increased when the hydraulic control valve operating levers must be operated at the same time for flattening work. There is difficulty. In particular, it is almost impossible to use the backhoe work without systematic and long-time training, and the simple education has been increased due to the increasing demand for multipurpose work in agriculture and livestock industry such as soil management, field crop harvesting, small scale construction, and civil engineering. As the use of backhoe workers excavation work has been increased by the general public, the existing excavator operation interface has a limitation in performing an efficient excavation work using a backhoe worker.

Mechanical lever device has been traditionally used for excavation operation of hydraulically driven backhoe work machine. However, due to the complicated interface of several levers and scaffolding, the operator's discomfort is large and easily felt. The joystick type developed by Caterpillar Co., Ltd. uses two joysticks, the up and down direction of the right joystick is boom up and down, the left and right directions are matched with the bucket ?? direction control, and the left and right joystick is the up and down direction of the arm Was used to match swing control. Most of the work machines including the recent mini excavator have adopted the joystick type to improve the operation conditions of the work machine, but the movement of the joystick is matched with the motion of each cylinder, which requires a lot of training to be intuitive.

Looking at the recent research trend, the method to reduce the fatigue of the operator by performing the excavation work automatically by inputting basic information, such as the excavation angle, by focusing on the development of the automatic control device for excavators (automatic flat work equipment and methods of construction machinery) Although the control method of excavators has been proposed, it is proposed to apply the automation of excavators to the actual working environment due to the complexity of the excavation work, the change of work contents, and the diversity of working environment. Is not easy.

The existing working method of the excavator is to properly manipulate the boom, arm, bucket, and mainframe so that the bucket at the end of the excavator can perform the translation movement of the bucket up and down, left and right, front and rear, and the pitch movement of the bucket. Therefore, the patent of the concept of inserting the work machine inverse kinematics into the embedded controller to directly connect the work lever with the orthogonal coordinate movement of the work machine arm end, rather than matching the directional motion of the control lever to the motion of each cylinder of the work machine (for hydraulic excavators). Cartesian coordinate control system, in particular 1995-0011780, has already been published. However, the general hydraulic excavator rotates the base including the work machine, and the operator always looks at the front of the work machine, but the backhoe work for small excavators attached to the tractor is excluded from the user and the base in consideration of the miniaturization and convenience of mounting. Only the work machine rotates. Therefore, the operator does not always directly look at the front of the work machine, it is difficult to intuitively work the excavation work after the turning operation in the rectangular coordinate method. In addition, in order to interlock the end with the actual operating device, precise speed control of each hydraulic cylinder according to the input value of the operating device must be implemented so that the input of the manipulator and the end of the excavator can be efficiently interlocked, but the controller of the related hydraulic device is implemented. The content is not presented. Recently, an input device for excavator control through a haptic device for remote operation (excavator adjusting device using a parallel haptic device, special 2009-0061508) has been disclosed, and for haptic device and bucket control using a three degree of freedom translation parallel mechanism. We tried to control four degree of freedom excavator with one hand by mixing the degree of freedom haptic device. However, when mounted on an actual hydraulic excavator, rather than remote operation, there is a problem that the concept of the existing operating system must be completely changed, and in the case of an excavation operation, remote operation has various disadvantages in performing various and complex environments and excavation operations. .

The present invention has been made to solve the above problems, and an object of the present invention is to match the cylindrical coordinate system (Cylindrical Coordinate) while maintaining the operation of the end of the hydraulic backhoe working machine similar to the conventional method through the two electronic joysticks Through the right and left movement of the right joystick is the vertical movement of the end of the work machine, joystick left and right movement is matched with the pitch movement of the bucket, the left and right joystick is the forward and backward movement of the work machine end, and the joystick left and right movement is matched with the turning movement and the joystick An operation interface circuit including kinematics and a valve controller is inserted between the cylinder control valve and the cylinder control valve to operate an intuitive excavator operation method that can adjust the boom, arm, bucket cylinder and swing cylinder, respectively. Article interface It is in the ball. In addition, in the present invention, the speed control of the end corresponding to the joystick input by using the interface such that the hydraulic excavator of the position control-based speed control (rate control) method to be robust to the nonlinearity of the hydraulic device and each link by ductility I would like to present a controller.

Cylindrical coordinate system interlocking backhoe worker operation interface according to the present invention for achieving the above object is a backhoe worker operation interface for operating a backhoe work consisting of the actuator of the hydraulic cylinder and the main body of the boom, arm, bucket, pivoting base , The left electronic joystick (1a), the right electronic joystick (1b), coordinate system controller controller (4), boom, arm, bucket, swing cylinder to operate the back-end work machine end (2-End-Effector) with the cylindrical coordinate system. Valves 3-1, 3-2, 3-3, and 3-4, and end of the backhoe work machine according to an electrical signal input from the electronic joysticks 1a and 1b. ) Receives the displacement of the electronic joystick (1a, 1b) from the coordinate system conversion controller interface (4) so as to operate on the cylindrical coordinate system and the backhoe operator end (2-End-Effector) in proportion to the displacement. To control the boom, arm, bucket, and swing cylinder valves (3-1, 3-2, 3-3, 3-4) to generate the cylinder coordinate system speed command to drive the hydraulic cylinders of the corresponding backhoe work machines. It features.

At this time, the left joystick left and right direction (1-1) is the backhoe machine cylindrical coordinate system rotation direction (2-1), the left joystick front and rear direction (1-2) is the backhoe worker cylindrical coordinate system radial direction (2-2), right The joystick left and right directions (1-3) are matched to control the backhoe working bucket rotation direction (2-3), and the right joystick front and rear directions (1-4) control the backhoe working cylinder coordinate system height directions (2-4), respectively. It is done.

In addition, the coordinate system controller 4 converts the displacement signals 1-1, 1-2, 1-3, 1-4 from the two electronic joysticks 1a, 1b into analog / digital (A / D). Rate controller (4-1), which receives the speed command value at the end of the work machine in proportion to the input joystick displacement, and a cylinder that can determine the magnitude of the velocity for each axis in the cylindrical coordinate system in proportion to the displacement. Cylindrical coordinate system which feedback-controls the value of 2-End-Effector movement command generated from coordinate gains 4-1a, 4-1b, 4-1c, and 4-d and rate controller 4-1. The base controller (4-2), the actuator controller (4-3) for converting the cylindrical coordinate system-based control into the hydraulic cylinder control mode, and the respective cylinder displacement sensor values (4-DS1, 4-DS2, 4- for the driver feedback control). D3, 4-DS4) inputs, and the resultant values of the driver controller 4-3 to drive the electronic hydraulic proportional control valves 3-1, 3-2, 3-3, 3-4. Hair / and being configured to analog (D / A) converter.

At this time, the output value of the rate controller 4-1 which generates coordinate system-based speed control according to the joystick input displacements (1-a, 1-b) and the work machine end initial value at the start of control (4-1-Initial) And a coordinate system command value (4-2-Command) is generated, the coordinate system command value (4-2-Command) enters an input value of the cylindrical coordinate system-based controller 4-2, and the coordinate system command value (4- The value combined with 2-command) and coordinate feedback control becomes the coordinate system control input value (4-2-desired) and changes to actuator control input value (4-3-desired) through backhoe working area kinematics (4-IK). The actuator displacement value (4-3-Actual) measured by the cylinder displacement sensors (4-DS1, 4-DS2, 4-DS3, 4-DS4) is entered into the controller (4-3). FK) is converted into a coordinate system measurement value (4-2-Actual) and is input as a feedback control value of the cylindrical coordinate system-based controller (4-2).

According to the present invention, through the implementation of the intuitive backhoe operating method through the two electronic joysticks through the proposed cylindrical coordinate matching according to the present invention, the existing manual valve method at the same time during the operation such as flattening operation Solving the problem that caused inconvenience to the user because the operation was possible only by performing the operation of the axis, there is a great effect that can perform the operation only by joystick operation of one axis.

As described above, according to the present invention, it is possible to increase the user convenience and increase the work efficiency by increasing the operability, and to achieve the stability of the production by improving the working conditions and reducing the labor cost, high efficiency and high precision, and an efficient operation interface. There are various effects that can double the user's satisfaction by attaching to the work machine.

In addition, since the interface of the present invention is similar to the existing operation method, it is also easy to adapt and skilled because it is familiar to existing users.

Hereinafter, with reference to the accompanying drawings will be described in detail a cylindrical coordinate system interlocking backhoe working interface.

1 is a configuration diagram of a cylindrical coordinate system interlocking backhoe working interface method according to the present invention, Figure 2 is an operation of the Cartesian coordinate system and the cylindrical coordinate system according to the present invention, Figure 3 is a configuration diagram of the backhoe working cylinder coordinate system according to the present invention 4 is a configuration diagram of a joystick and a backhoe working cylindrical coordinate system according to the present invention, FIG. 5 is a configuration diagram of a hardware controller for converting a cylindrical coordinate system according to the present invention, and FIG. 6 is a configuration diagram of a joystick interlocking cylindrical coordinate system controller according to the present invention. 7 is a configuration diagram of a hydraulic controller according to the present invention.

Referring to FIGS. 1 and 5, the cylindrical coordinate system interlocking backhoe working interface of the present invention is largely referred to as a left electronic joystick 1a, a right electronic joystick 1b, a coordinate conversion controller interface 4, a boom, an arm, a bucket, and a turning cylinder. It consists of valves 3-1, 3-2, 3-3, 3-4 and a backhoe work consisting of the actuator of the hydraulic cylinder and the main body of the boom, arm, bucket and pivoting base.

Left joystick left and right direction (1-1) is the cylindrical coordinate system rotation direction (2-1), left joystick forward and backward direction (1-2) is the backhoe working cylinder coordinate system radial direction (2-2), right joystick left and right direction (1) -3) is matched to control the backhoe worker bucket rotation direction (2-3), the right joystick front and rear direction (1-4) respectively control the backhoe worker cylindrical coordinate system height direction (2-4), the operator's electronic joystick input electrical In response to the signal, the joystick's displacement is input from the coordinate conversion controller interface 4 so that the 2-End-Effector operates on the cylindrical coordinate system and generates and responds to the cylindrical coordinate system speed command in proportion to the displacement. Cylindrical coordinate system of backhoe work machine using electronic joystick by controlling boom, arm, bucket, swing cylinder valve (3-1, 3-2, 3-3, 3-4) to drive hydraulic cylinder of each backhoe work machine Implement interlocked controller The.

To this end, the coordinate conversion controller interface 4 receives the displacement signals (1-1, 1-2, 1-3, 1-4) from two electronic joysticks through an analog / digital (A / D) conversion board. The speed controller (4-1) generates the speed command value of the work end in proportion to the input joystick displacement, and the cylindrical coordinate system speed gains (4) that can determine the magnitude of the speed for each axis in the cylindrical coordinate system in proportion to the displacement. -1a, 4-1b, 4-1c, 4-d), Cylindrical Coordinate System-Based Controller (4-2) for Feedback Control of the 2-End-Effector Movement Command Value Generated by the Rate Controller 4-1 , The actuator controller 4-3 for converting the cylindrical coordinate system-based control to the hydraulic cylinder control mode, and the values of the respective cylinder displacement sensor values 4-4-DS1, 4-DS2, 4-DS3, 4-DS4 for actuator feedback control. Digital, analog for driving the electronic hydraulic proportional control valves 3-1, 3-2, 3-3, 3-4 using the input, the result of the actuator controller 4-3. It consists of the (D / A) converter.

As shown in FIG. 2, the backhoe work attached to the tractor / loader has a magnet and an excavator work unit, and the seat is fixed at the time of the backhoe work turning operation unlike the case where the turning motion occurs at the same time. For this reason, a cylindrical coordinate system A that generates a symmetrical movement around one axis is suitable. In the case of the backhoe working machine, when the Cartesian coordinate system (B) is used, the movement of the Cartesian coordinates, which are rarely used in the excavation work, is not carried out for the excavation work after the pivoting operation, as shown in FIG. It is not suitable for.

Therefore, as shown in FIG. 3, the end movement of the backhoe working machine is represented by the cylindrical coordinate system variables, and as an example, the direction of the end coordinate variable of the cylindrical coordinate system backhoe working machine is matched with the joystick direction. 3, the cylindrical coordinate system rotation direction (2-1), the cylindrical coordinate system radial direction (2-2), and the cylindrical coordinate system height direction (2-4) with respect to the cylindrical coordinate system origin (2-0) are the cylindrical coordinate system configuration parameters ( r). , θ, z ). At this time, as shown in FIG. 4, the radial forward direction (2-2F) of the cylindrical coordinate system is in the forward direction of the left joystick, and the radial forward direction (2-2B) of the cylindrical coordinate system is in the backward direction of the left joystick, and the right direction of rotation of the cylindrical coordinate system ( 1R) is to the left joystick to the right, the cylindrical coordinate system rotates to the left (2-1L) to the left joystick to the left, and the cylindrical coordinate system is above the height (2-4U) to the right joystick backwards, and the cylindrical coordinate system is below the height (2 -4D) can match in the right joystick forward direction. In addition, the opening 2-3 of the bucket can be matched to the left of the right joystick, and the closing of the bucket 2-3C can be matched to the right of the right joystick. It should be noted here that the bucket is relatively more used than the turning motion, so it is arranged on the right joystick to be more proficient in using the work machine.

6 is a controller block diagram for implementing a cylindrical coordinate system interlocking speed control at the end of a backhoe machine according to the joystick input displacement. The output value of the rate controller 4-1, which generates coordinate system-based speed control according to the joystick input displacements (1-a, 1-b), and the work machine end initial value (4-1-Initial) at the start of control, Coordinate system command value (4-2-Command) is generated and this value is entered into the cylindrical coordinate system based controller (4-2) input value. The combined value of the coordinate system command value (4-2-Command) and the coordinate system feedback control becomes the actual coordinate system control input value (4-2-Desired), and the driver control input value (4-IK) is performed through the backhoe working area kinematics (4-IK). Switch to 3-Desired) and enter the driver controller (4-3). At this time, the actuator displacement value (4-3-Actual) measured by the cylinder displacement sensors (4-DS1, 4-DS2, 4-DS3, 4-DS4) is measured by the coordinate system measurement value (4-FK) through the backhoe working forward kinematics (4-FK). 4-2-Actual) is inputted as a feedback control value of the cylindrical coordinate system-based controller 4-2. It is important to note that the operator can visually feed back the end movement and replay the input value through the joystick to overcome the control error of the hydraulic system and to intuitively perform the end of the cylindrical coordinate system.

Here, the rate controller 4-1 is specifically implemented as follows.

(One)

(2)

here,

Is the input value,

Is the output,

Is the sampling time,

Is the speed gain.

Figure 7 shows the hydraulic control configuration for controlling the proposed cylindrical coordinate system hydraulic backhoe work. The engine, the pump and the control valve implement the method of controlling the spool of the electric control valve in the manner of controlling the spool of the control valve while maintaining the hydraulic structure of the existing backhoe worker. A backhoe machine operation interface device, which is input from the pilot pump to the flow proportional control valve 3 and includes a coordinate system conversion control interface 4 and a joystick, controls the pilot flow rate to control the spool of the control valve by controlling the proportional valve. As a result, the desired actuator position can be obtained. The proposed hydraulic control method can implement the operation interface device for the cylindrical coordinate system control at the end of the backhoe work machine by inserting additional flow proportional valve control without changing the existing hydraulic system.

The present invention is not limited to the above-described embodiments, and the scope of application of the present invention is not limited to those of ordinary skill in the art to which the present invention pertains without departing from the gist of the present invention. Of course, various modifications are possible.

1 is a cylindrical coordinate system interlocking backhoe working interface method according to the present invention.

Figure 2 is an operation of the rectangular coordinate system and cylindrical coordinate system according to the present invention.

Figure 3 is a configuration diagram of the backhoe working cylinder coordinate system variable according to the present invention.

Figure 4 is a joystick and backhoe working cylinder coordinate system matching configuration in accordance with the present invention.

5 is a hardware configuration diagram of a cylindrical coordinate system conversion controller according to the present invention.

Figure 6 is a joystick interlocking cylindrical coordinate system controller configuration in accordance with the present invention.

7 is a hydraulic controller configuration diagram according to the present invention

Explanation of symbols on the main parts of the drawing

Left electronic joystick (1a)

Right electronic joystick (1b)

Left joystick left / right direction (1-1)

Left joystick forward and backward direction (1-2)

Right Joystick Left / Right (1-3)

Right joystick forward and backward (1-4)

Cylindrical coordinate origin (2-0)

2-End-Effector of backhoe work

Cylindrical coordinate system rotation direction (2-1), Cylindrical coordinate system right rotation direction (2-1R),

Left rotation direction of cylindrical coordinate system (2-1L)

Cylindrical coordinate system radial direction (2-2), cylindrical coordinate system radial direction (2-2F),

Cylindrical Coordinate System Radius Reverse Direction (2-2B)

Bucket rotation direction (2-3), bucket opening direction (2-3O), bucket closing direction (2-3C)

Cylindrical coordinate system height direction (2-4), Cylindrical coordinate system height direction (2-4U),

Cylindrical Coordinate System Height-Downward (2-4D)

Boom cylinder valve (3-1), female cylinder valve (3-2)

Bucket cylinder valve (3-3), swing cylinder valve (3-4)

Coordinate System Conversion Controller Interface (4)

Rate control (4-1)

Bucket Rotation Speed Gain (4-1a)

Cylindrical coordinate system radial speed gain (4-1b), Cylindrical coordinate system rotation direction speed gain (4-1c)

Cylindrical Coordinate System Height Direction Speed Gain (4-1d), Cylindrical Coordinate System Based Controller (4-2)

Work Machine End Initial Value (4-1-Initial), Coordinate System Command Value (4-2-Command),

Coordinate system control input value (4-2-Desired), driver control input value (4-3-Desired),

Driver displacement value (4-3-Actual), coordinate system measured value (4-2-Actual)

Actuator controller (4-3), work order kinematics (4-FK), work area kinematics (4-IK),

Boom cylinder displacement sensor (4-DS1), female cylinder displacement sensor (4-DS2),

Bucket cylinder displacement sensor (4-DS3), swing cylinder displacement sensor (4-DS4)

Electronic flow proportional control valve (5)

Claims

Left electronic joystick 1a;

Right electronic joystick 1b;

A conversion controller interface 4 for converting an electric signal according to the displacement input from the electronic joysticks 1a and 1b into a cylindrical coordinate system speed command;

Cylindrical coordinate system interlocking backhoe worker operation interface, characterized in that comprises a

According to claim 1, wherein the cylindrical coordinate system backhoe worker operation interface

It is included in the backhoe work composed of the actuator of the hydraulic cylinder and the main body of the boom, arm, bucket, swing operation base to operate the end of the backhoe work (2-End-Effector) of the backhoe work by the cylindrical coordinate system interlocking,

The end of the backhoe machine (2-End-Effector) is driven by a drive means comprising a boom, arm, bucket, swing cylinder valves (3-1, 3-2, 3-3, 3-4) ,

The electronic joysticks 1a and 1b at the coordinate system conversion controller interface 4 such that the backhoe work end 2-End-Effector operates on a cylindrical coordinate system in accordance with an electrical signal input from the electronic joysticks 1a and 1b. Boom, Arm, Bucket, and Slewing Cylinder Valve are generated to generate the speed command of the cylindrical coordinate system at the 2-End-Effector in proportion to the displacement. 3-1, 3-2, 3-3, 3-4) cylindrical coordinate system interlocking backhoe worker operation interface

The method of claim 2,

Left joystick left and right directions (1-1) indicate the backhoe machine cylindrical coordinate system rotation direction (2-1), left joystick forward and backward directions (1-2) the backhoe work machine cylindrical coordinate system radial direction (2-2), right joystick left and right directions (1-3) is a cylinder, characterized in that the backhoe working bucket rotation direction (2-3), the right joystick front and rear directions (1-4) are matched to control the backhoe working cylinder coordinate system height direction (2-4), respectively Coordinate System Interlocking Backhoe Operator Operation Interface

The method of claim 2,

The coordinate system conversion controller interface 4 converts displacement signals 1-1, 1-2, 1-3, 1-4 from two electronic joysticks 1a, 1b to analog / digital (A / D) conversion. Received through the board,

Rate controller 4-1, which generates the speed command value at the end of the work machine in proportion to the input joystick displacement, and cylindrical coordinate system speed gains 4-1a, which can determine the magnitude of the velocity for each axis in the cylindrical coordinate system in proportion to the displacement. , 4-1b, 4-1c, 4-d), Cylindrical coordinate system-based controller (4-2) for controlling the feedback value of 2-End-Effector movement command generated from the rate controller 4-1, cylinder Driver controller 4-3 for converting coordinate system based control to hydraulic cylinder control mode, input of respective cylinder displacement sensor values 4-DS1, 4-DS2, 4-DS3, 4-DS4 for driver feedback control, Composed of digital / analog (D / A) converter for driving the electronic hydraulic proportional control valves 3-1, 3-2, 3-3, 3-4 using the resultant value of the driver controller 4-3. Cylindrical coordinate system interlocking backhoe worker operation interface, characterized in that

The method of claim 4, wherein

The output value of the rate controller 4-1, which generates coordinate system-based speed control according to the joystick input displacements (1-a, 1-b), and the work machine end initial value (4-1-Initial) at the start of control, Coordinate system command value (4-2-Command) is generated,

The coordinate system command value (4-2-Command) enters the input value of the cylindrical coordinate system-based controller (4-2),

The combined value of the coordinate system command value (4-2-Command) and the coordinate system feedback control becomes the coordinate system control input value (4-2-desired), and the driver control input value (4-IK) is performed through the backhoe working area kinematics (4-IK). Switch to 3-Desired) and enter the driver controller (4-3),

The actuator displacement value (4-3-Actual) measured by the cylinder displacement sensors (4-DS1, 4-DS2, 4-DS3, 4-DS4) is measured using the coordinate system measurement value (4FK) through the backhoe working forward kinematics (4-FK). -2-Actual) is converted into a feedback control value of the cylindrical coordinate system-based controller (4-2), the cylindrical coordinate system interlocking backhoe working interface

In the cylindrical coordinate system interlocking backhoe worker operation control method according to claim 2 or 3,

a) input of the displacement of the electronic joystick (1a, 1b) via the coordinate system transformation interface (4);

b) generating, by the coordinate transformation interface 4, a cylindrical coordinate system speed command of the end of the backhoe machine in proportion to the displacement of the electronic joysticks 1a and 1b input in step a). ;

c) Boom, arm, bucket, swing cylinder valve (3-1, 3-2, 3-3, 3-4) to drive the hydraulic cylinder of each of the backhoe workers in accordance with the cylindrical coordinate system speed command generated in step b). Controlled;

Cylindrical coordinate system interlocking backhoe worker operation control method comprising a

In the cylindrical coordinate system interlocking backhoe worker operation control method according to claim 4 in the cylindrical coordinate system interlocking backhoe worker operation control method,

b1) The speed command of the cylindrical coordinate system of the 2-End-Effector is generated in proportion to the displacement of the electronic joysticks 1a and 1b input in step a) by the rate controller 4-1. step;

b2) feedback control by the cylindrical coordinate system-based controller (4-2) by the cylindrical command system speed command inputted at step b1) by the cylindrical coordinate system speed command;

b3) converting, by the driver controller 4-3, the cylindrical coordinate system-based control value calculated in step b2) into a hydraulic cylinder control value;

b4) The hydraulic cylinder control value converted in step b3) by the digital / analog converter is driven by the electronic hydraulic proportional control valves 3-1, 3-2, 3-3, 3-4. Converting to a value;

c) Boom, arm, bucket, swing cylinder valve (3-1, 3-2, 3-3, 3-4) to drive the hydraulic cylinder of each of the backhoe work machine according to the drive value converted in step b-4) Controlled;