KR20210123023A - Hydraulic control method and system - Google Patents

Abstract

The present invention relates to a hydraulic control method of work equipment. According to the present invention, in the hydraulic control method of work equipment, a target command signal for operating a hydraulic system of the work equipment is determined to perform an unmanned automation task. A sensor signal is received from a measurement unit installed in the hydraulic system. A feedback control signal is generated based on the target command signal and the sensor signal. A feedforward control signal is generated based on the target command signal. An operation of the hydraulic system is controlled according to a control signal generated by summing the feedback control signal and the feedforward control signal.

Description

HYDRAULIC CONTROL METHOD AND SYSTEM

The present invention relates to a method and system for hydraulic control of work equipment. More particularly, it relates to a method for controlling a hydraulic system of a work equipment for performing an unmanned automated operation, and a hydraulic control system for a work equipment for performing the same.

The automated work equipment system may perform unattended automated work according to a work command received from an upper control unit such as a motion planner that controls the site. Since the work command is received from the upper control unit, a signal delay occurs due to the slow dynamic characteristics of the hydraulic system of the work equipment, and it is difficult to improve the responsiveness of the hydraulic system only from the existing feedback control.

An object of the present invention is to provide a method for controlling a hydraulic pressure of work equipment capable of improving dynamic characteristics of a hydraulic system during unmanned automated work.

Another object of the present invention is to provide a hydraulic control system of a work equipment for performing the above-described hydraulic control method.

In the hydraulic control method of the work equipment according to the exemplary embodiments for achieving the above object of the present invention, a target command signal for operating the hydraulic system of the work equipment is determined to perform an unmanned automation task. A sensor signal is received from a measurement unit installed in the hydraulic system. A feedback control signal is generated based on the target command signal and the sensor signal. A feedforward control signal is generated based on the target command signal. An operation of the hydraulic system is controlled according to a control signal generated by summing the feedback control signal and the feedforward control signal.

In example embodiments, generating the feedback control signal may include generating the feedback control signal based on a difference value between the target command signal and the sensor signal.

In example embodiments, determining the target command signal may include acquiring the target command signal from work command information provided from an upper control unit.

In example embodiments, the method may further include acquiring surrounding environment awareness data necessary for an unattended automated operation of the work equipment, and transmitting the acquired surrounding environment awareness data to the upper control unit. have.

In example embodiments, the method may further include transmitting a sensor signal from a measurement unit installed in the hydraulic system to the upper control unit.

In example embodiments, the target command signal may include state values for automatic operation of the hydraulic system.

In example embodiments, receiving the sensor signal from the measuring unit may include measuring state values of the hydraulic system in real time when the work equipment is performed.

In example embodiments, the method may further include selecting any one operation mode from among an unattended automated operation mode and a manual operation mode through the selection unit.

In example embodiments, the method may further include receiving a manual operation signal from an operator when the manual operation mode is selected, and controlling an operation of the hydraulic system according to the manual operation signal. .

The hydraulic control system of the work equipment according to exemplary embodiments for achieving another object of the present invention is a measuring unit for measuring sensor signals for state values of the hydraulic system of the work equipment, for unmanned automation work A feedback controller for receiving the target command signal and the sensor signal from the measuring unit and generating a feedback control signal based on the target command signal and the sensor signal and for generating a feedforward control signal based on the target command signal A control device including a feedforward controller and outputting a control signal generated by summing the feedback control signal and the feedforward control signal, and a hydraulic control device for controlling an operation of the hydraulic system according to the control signal do.

In example embodiments, the feedback controller may generate the feedback control signal based on a difference value between the target command signal and the sensor signal.

In example embodiments, the control device may obtain the target command signal from work command information provided from the upper control unit.

In example embodiments, the measurement unit may acquire surrounding environment awareness data necessary for the unmanned automated operation, and the control device may transmit the acquired surrounding environment awareness data to the upper control unit.

In example embodiments, the target command signal may include state values for automatic operation of the hydraulic system.

In example embodiments, the measurement unit may detect the state values of the hydraulic system in real time when the work of the work equipment is performed.

In exemplary embodiments, the hydraulic control system of the work equipment may further include a selection unit for selecting any one work mode from among an unmanned automated work mode and a manual work mode.

In exemplary embodiments, when the manual operation mode is selected through the selection unit, the control device may receive a manual operation signal of an operator and output a control signal according to the manual operation signal to the hydraulic control device. can

According to exemplary embodiments, the hydraulic control system of the work equipment includes a feedback controller using a sensor signal obtained from the hydraulic system when performing an unmanned automated operation, and a feedforward controller that receives a target command signal provided from an upper control unit as an input It is possible to reduce an error between the trajectory of the work command received from the upper control unit and the trajectory of the actual operation of the hydraulic system. In addition, when the manual operation mode is selected, the hydraulic control system of the work equipment may control the hydraulic system according to a manual operation signal of an operator.

Therefore, by using the controller composed of the feedback controller and the feed-forward controller, the hydraulic system can be quickly responsive, and it is possible to provide improved control performance by minimizing fluctuations due to large loads or disturbances occurring during operation. can

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

1 is a side view showing work equipment according to exemplary embodiments;
FIG. 2 is a block diagram illustrating a hydraulic system of the working equipment of FIG. 1 .
Fig. 3 is a block diagram illustrating a hydraulic control system of a work equipment according to exemplary embodiments.
4 is a block diagram illustrating a controller of the control device of FIG. 3 .
5 is a flowchart illustrating a method for controlling hydraulic pressure of work equipment according to exemplary embodiments.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In each drawing of the present invention, the dimensions of the structures are enlarged than the actual size for clarity of the present invention.

In the present invention, terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

The terms used in the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

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

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

1 is a side view showing work equipment according to exemplary embodiments; FIG. 2 is a block diagram illustrating a hydraulic system of the working equipment of FIG. 1 .

1 and 2 , the work equipment may include equipment capable of performing unmanned automation tasks using a hydraulic system, such as an excavator, a wheel loader, a forklift, an agricultural machine, a mining equipment, and the like. Hereinafter, a case in which the work equipment is an excavator will be described. However, it will be understood that the control system according to the exemplary embodiments is not limited thereto for controlling the excavator.

Specifically, the work equipment 10 includes a lower traveling body 20 , an upper revolving body 30 mounted so as to be revolving on the lower traveling body 20 , and a cab 50 installed in the upper revolving body 30 , and It may include a working device 60 .

The lower traveling body 20 supports the upper revolving body 30 and may drive the work equipment 10 such as an excavator by using the power generated from the engine 110 . The lower traveling body 20 may be a traveling body of a caterpillar type including a caterpillar. Alternatively, the undercarriage 20 may be a wheel-type traveling body including driving wheels. The upper revolving body 30 has an upper frame 32 as a base, and can be rotated on a lower traveling body 20 on a plane parallel to the ground to set a working direction.

The working device 60 may include a boom 70 , an arm 80 , and a bucket 90 . The working device 60 may be actuated by actuation of an actuator 62 , such as a boom cylinder 72 , an arm cylinder 82 , and a bucket cylinder 92 . As the boom cylinder 72 , the arm cylinder 82 and the bucket cylinder 92 extend or contract, the boom 70 , the arm 80 , and the bucket 90 may implement various movements, and the working device 60 . can perform several tasks. At this time, the boom cylinder 72 , the arm cylinder 82 , and the bucket cylinder 92 may be extended or contracted by the hydraulic oil supplied from the hydraulic pump 120 .

The work equipment 10 may include a turning device for rotating the upper pivot 30 . The turning device may be operated by driving an actuator 62 such as a turning motor. At this time, the turning motor may rotate clockwise or counterclockwise by the hydraulic oil supplied from the hydraulic pump 120 .

The work equipment 10 may include a traveling device for rotating the right track (or right wheel) and the left track (or left wheel) of the undercarriage 20 . The traveling device may include an actuator 62 such as a left traveling motor and a right traveling motor for rotating the right track (or right wheel) and the left track (or left wheel), respectively. In this case, the left traveling motor and the right traveling motor may rotate clockwise or counterclockwise by the hydraulic oil supplied from the hydraulic pump 120 .

As shown in FIG. 2 , the hydraulic system of the working equipment includes an engine 110 , a hydraulic pump 120 driven by the engine 110 , and at least one operable by hydraulic oil discharged from the hydraulic pump 120 . At least one for controlling the flow rate of hydraulic oil installed between the actuator 62, the hydraulic pump 120 and the actuator 62 and supplied from the hydraulic pump 120 to the actuator 62 according to the displacement amount of the spool provided therein A spool displacement comprising a main control valve 130 including a control valve of It may include an adjustment unit 140 .

The hydraulic pump 120 may be connected to an output shaft of the engine 110 as a mechanical drive unit. For example, the hydraulic pump 120 may include a pressure-controlled electro-hydraulic pump. The discharge flow rate of the hydraulic pump 120 may be determined by the angle of the swash plate. The angle of the swash plate of the hydraulic pump 120 may be adjusted by the pump regulator 122 . The pump regulator 122 may adjust the angle of the swash plate of the hydraulic pump 120 according to a pump control signal input from the control device 200 .

The hydraulic pump 120 may be connected to the main control valve 130 through a high pressure hydraulic line 124 . Actuators 62 such as the boom cylinder 72, the arm cylinder 82, the bucket cylinder 92, the swing motor, the left travel motor and the right travel motor are connected to the main control valve 130 through a high pressure hydraulic line. can be connected

The pilot pump 150 is connected to the output shaft of the engine 110 , and is driven as the output shaft rotates to discharge control oil. For example, the pilot pump may be a gear pump. In this case, the working oil and the control oil may include substantially the same material.

The control oil discharged from the pilot pump 150 may be supplied to the spool of the control valve through the spool displacement adjustment valve of the spool displacement adjustment unit 140 . The spool displacement control valve may supply a pilot signal pressure for controlling a displacement amount of the spool of the control valve to the spool of the control valve in proportion to the input control signal.

For example, a pair of spool displacement adjustment valves may be provided respectively on both sides of the spool of the corresponding control valve. The pilot signal pressure output from the spool displacement control valve is selectively supplied to both sides of the spool in the corresponding control valve, so that the control valve can be switched. The spool displacement control valve may supply a pilot signal having a magnitude proportional to the input control signal. The movement of the spool in the control valve may be controlled by the pilot signal pressure. That is, the moving direction of the spool may be determined according to the supply direction of the pilot signal pressure, and the amount of displacement of the spool may be determined according to the strength of the pilot signal pressure.

For example, the main control valve 130 as an assembly having the control valve may be an electro-hydraulic main control valve. The spool displacement control valve may include an electronic proportional damping valve (EPPRV) that controls pilot hydraulic oil applied to the spool in the control valve according to an input electrical signal.

In exemplary embodiments, the control device 200 adjusts the spool displacement by using a pressure command signal as a control signal for operating the working device 60 according to a target command signal for an unattended automated operation or a manual command signal of an operator. It can be output with a valve. The electronic proportional pressure reducing valve may control the spool with an electrical control signal by outputting a secondary pressure proportional to the pressure command signal to the corresponding spool.

As described above, the hydraulic system of the working equipment includes a hydraulic control device such as a main control valve 130 and a spool displacement adjustment unit 140 , and the hydraulic control device responds to a control signal output from the control device 200 . Accordingly, it is possible to control the operation of the hydraulic system (the working device, the turning device, and the traveling device) of the work equipment.

Hereinafter, a hydraulic control system of the work equipment will be described.

Fig. 3 is a block diagram illustrating a hydraulic control system of a work equipment according to exemplary embodiments. 4 is a block diagram illustrating a controller of the control device of FIG. 3 .

3 and 4 , the hydraulic control system of the working equipment includes a hydraulic control device for controlling the operation of the hydraulic system 100 of the working equipment according to an input control signal, and state values of the hydraulic system 100 . It may include a measurement unit 300 for measuring a sensor signal for , and a control device 200 for generating and outputting the control signal in order to perform an unattended automation operation of the work equipment. In addition, the hydraulic control system of the work equipment may further include an upper control unit 400 for providing topographic information and work information of the work terrain for the unmanned automated work of the work equipment.

In example embodiments, the measurement unit 300 may measure sensor signals for state values of the hydraulic system 100 . For example, the measurement unit 300 may measure the state values of the hydraulic system 100 in real time when the work equipment is performed. State values of the hydraulic system 100 may include an attitude information sensor signal.

For example, the posture information sensor signal may include the angle and angular velocity of each of the joints of the boom 70 , the arm 80 , and the bucket 90 of the working device 60 . The angle sensors and the IMU sensors may measure the angle, angular velocity, and angular acceleration values of the joints of the boom 70 , the arm 80 , and the bucket 90 .

In addition, the measurement unit 300 may include a sensor for acquiring the surrounding environment recognition data required for the unmanned automated operation of the work equipment. The sensor may acquire surrounding environment recognition data for detecting a work terrain and detecting a surrounding object. The sensor may acquire front ground information and object information by scanning the terrain or object in front.

For example, the sensor may include a LiDAR sensor, a stereo camera sensor, a Radar sensor, an ultrasonic sensor, and the like.

In exemplary embodiments, the control device 200 of the work equipment transmits the surrounding environment recognition data to the upper control unit 400, and topographic information of the work area for the unmanned automated operation from the upper control unit 400 and You can receive job information. For example, the work area may be defined as an area for the excavator to move and work.

The upper control unit 400 may be provided as a subsystem within the work equipment or as a separate system (eg, a control unit). The upper control unit 400 may not be directly involved in driving the hydraulic system 100 of the work equipment.

The control device 200 may be connected to the upper control unit 400 wirelessly or by wire. For example, the control device may include a wireless transceiver for wireless communication with the upper control unit 400 . The wireless transceiver may use known communication standards such as cellular communication such as CDMA and GSM, Wi-Fi, and radio communication. The wireless transceiver may include a Telematics Monitor System (TMS) module.

Also, the measurement unit 300 may be wirelessly connected to the upper control unit 400 . The upper control unit 400 may receive a sensor signal directly from the measurement unit 300 . For example, during physical interaction with the surrounding environment, such as when a large load is applied to the work equipment during the work, the upper control unit 400 takes into account the load condition, the sensor signal from the measuring unit 300 can be fed back to generate a target command signal.

In example embodiments, the control device 200 of the work equipment may output a control signal for controlling the operation of the hydraulic system 100 . The control device 200 includes a microcomputer and various interfaces, and may control the operation of the hydraulic system according to program and recipe information stored in an external memory or an internal memory.

The hydraulic control system of the work equipment may further include a selection unit for selecting any one work mode from among an unmanned automated work mode (virtual mode) and a manual work mode.

When the unattended automated operation mode (virtual mode) is selected, the control device 200 of the work equipment may receive a target command signal from the work command information provided from the upper control unit 400 . The target command signal may include command signals for state values of the hydraulic system 100 for the unmanned automated operation trajectory. For example, the target command signal may include a virtual speed command signal and a virtual position command signal.

The control device 200 of the work equipment may include a controller for compensating for an error between the working trajectory from the upper control unit 400 and the actual working trajectory of the hydraulic system 100 .

As shown in FIG. 4 , the controller of the control device 200 of the working equipment includes a first summer 212 , a feedback controller 214 , a feedforward controller 220 and a second summer 216 . can do. In addition, the controller of the control device 200 of the working equipment may further include a limiter 218 and a plant model 222 .

The first summing unit 212 may compare the target command signal (eg, a virtual position command signal) as a set point signal and the sensor signal (eg, a position sensor signal) as an actual detection signal. A difference value between the target command signal and the sensor signal may represent an error signal. The sensor signal may be a state value of the hydraulic system 100 detected by the measurement unit 300 in real time when the work equipment is performed.

The feedback controller 214 may generate a feedback control signal based on the error signal. The feedback controller 214 may include a proportional integral derivative (PID) controller. The control device 200 of the work equipment may calculate and provide the control parameters of the feedback controller 214 .

The feedforward controller 220 may generate a feedforward control signal based on the target command signal (eg, a virtual speed command signal). The control device 200 of the work equipment may calculate and provide control parameters of the feedforward controller 220 .

The second summer 216 may provide a modified control signal by adding the feedback control signal generated by the feedback controller 214 and the feedforward control signal generated by the feedforward controller 220 . The hydraulic control device of the hydraulic system 100 may be controlled or operated based on the control signal.

The limiter 218 may limit the output magnitude of the control signal to operate within an operating range that the actual equipment can operate. The plant model 222 is a simulation of the hydraulic system and may be implemented mathematically or in a look-up table.

When the unattended automation operation mode is selected, a virtual mode selection signal is input to the output unit 230 , and the output unit 230 generates a control signal (target command signal) generated by summing the feedback control signal and the feedforward control signal. ) may be output to the spool displacement adjustment valve of the hydraulic system 100 as a pressure command signal.

In exemplary embodiments, when the manual operation mode is selected, a manual mode selection signal is input to the output unit 230 , and the output unit 230 receives the operator's manual operation signal (eg, the operation unit 500 ) from the operation unit 500 . For example, a manual joystick/pedal command signal) may be output to the spool displacement adjustment valve of the hydraulic system 100 as a pressure command signal.

As described above, the hydraulic control system of the work equipment receives the target command signal provided from the feedback controller 214 and the upper control unit 400 using the sensor signal obtained from the hydraulic system 100 when performing an unmanned automated operation. It is possible to reduce an error between the trajectory of the work command received from the upper control unit 400 through the input feed forward controller 220 and the actual trajectory of the hydraulic system 100 . In addition, when the manual operation mode is selected, the hydraulic control system of the work equipment may control the operation of the hydraulic system 100 according to an operator's operation signal.

Therefore, by using the controller composed of the feedback controller 214 and the feedforward controller 220, the rapid response of the hydraulic system 100 is ensured, and the change due to a large load or disturbance generated during operation is minimized. control performance can be provided.

Hereinafter, a method of controlling the hydraulic system of a construction machine using the hydraulic control system of the work equipment of FIG. 3 will be described.

5 is a flowchart illustrating a method for controlling hydraulic pressure of work equipment according to exemplary embodiments.

1 to 5 , first, a mode selection signal may be monitored ( S100 ), and it may be determined whether an unattended automation operation mode is selected ( S110 ). When the unattended automation operation mode is selected, a target command signal and a sensor signal may be received (S120).

In example embodiments, the operator may select any one of the unmanned automated operation mode and the manual operation mode through the selection unit.

When the unattended automation work mode is selected, the target command signal may be received from work command information provided from the upper control unit 400 . The target command signal may include command signals for state values of the hydraulic system 100 for an unmanned automated operation trajectory. For example, the target command signal may include a virtual speed command signal and a virtual position command signal.

The sensor signal may be a state value of the hydraulic system 100 detected by the measurement unit 300 in real time when the work equipment is performed. For example, the sensor signal may include a position sensor signal.

Subsequently, a feedback control signal may be generated (S130) and a feedforward control signal may be generated (S132).

In example embodiments, the feedback control signal may be generated based on the target command signal and the sensor signal. The target command signal (eg, target position command signal) as a set point signal may be compared with the sensor signal (eg, position sensor signal) as an actual detection signal. A difference value between the target command signal and the sensor signal may represent an error signal. The feedback controller 214 may generate a feedback control signal based on the error signal.

The feedforward control signal may be generated based on the target command signal. The feedforward controller 220 may generate the feedforward control signal based on the target command signal (eg, a target speed command signal).

Thereafter, a control signal generated by summing the feedback control signal and the feedforward control signal may be output to the hydraulic pressure control device of the hydraulic system 100 ( S140 ).

A modified control signal may be provided by summing the feedback control signal generated by the feedback controller 214 and the feedforward control signal generated by the feedforward controller 220 . The hydraulic control device of the hydraulic system 100 may be controlled or operated based on the control signal.

A control signal (target command signal) generated by summing the feedback control signal and the feedforward control signal may be output as a pressure command signal to the spool displacement adjustment valve of the hydraulic system 100 .

When the manual operation mode is selected, a manual operation signal may be received (S122), and a control signal according to the manual operation signal may be output to the hydraulic control device of the hydraulic system 100 (S140).

When the manual operation mode is selected, a manual mode selection signal is input to the output unit 230 , and the output unit 230 receives the operator's manual operation signal (eg, manual joystick/pedal command) received from the operation unit 500 . signal) may be output to the spool displacement adjustment valve of the hydraulic system 100 as a pressure command signal.

As described above, when the unmanned automation operation mode is selected, the operation command is received from the upper control unit 400, a feedback control signal and a feedforward control signal are generated, and the hydraulic system 100 is operated according to the summed control signal. By controlling the hydraulic system 100, it is possible to secure a quick responsiveness and switch the control right so that the operator can directly operate it in case of an emergency.

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 within the scope without departing from the spirit and scope of the present invention described in the claims below. You will understand that you can.

10: work equipment 20: undercarriage
30: upper slewing body 32: upper frame
40: counterweight 50: cab
60: working device 62: actuator
70: boom 72: boom cylinder
80: female 82: female cylinder
90: bucket 92: bucket cylinder
100: hydraulic system 110: engine
120: hydraulic pump 122: pump regulator
124: high pressure hydraulic line 130: main control valve
140: spool displacement adjustment unit 150: pilot pump
200: control device 212: first summer
214: feedback controller 216: second summer
218: limiter 220: feedforward controller
222: plant model 230: output
300: measurement unit 400: upper control unit
500: control panel

Claims (17)

determine a target command signal for operating a hydraulic system of the work equipment to perform an unattended automated task;
receiving a sensor signal from a measurement unit installed in the hydraulic system;
generate a feedback control signal based on the target command signal and the sensor signal;
generate a feedforward control signal based on the target command signal; and
and controlling an operation of the hydraulic system according to a control signal generated by summing the feedback control signal and the feedforward control signal. The method according to claim 1, wherein generating the feedback control signal includes generating the feedback control signal based on a difference value between the target command signal and the sensor signal. The method according to claim 1, wherein determining the target command signal includes obtaining the target command signal from work command information provided from an upper control unit. The method according to claim 3, further comprising: acquiring environmental awareness data necessary for unmanned automated operation of the work equipment; and
The hydraulic control method of work equipment further comprising transmitting the acquired surrounding environment recognition data to the upper control unit. 4. The method of claim 3,
The hydraulic control method of the working equipment further comprising transmitting a sensor signal from a measuring unit installed in the hydraulic system to the upper control unit. The method according to claim 1, wherein the target command signal includes state values for automatic operation of the hydraulic system. The method of claim 1 , wherein receiving the sensor signal from the measuring unit comprises measuring state values of the hydraulic system in real time when the work equipment is performed. The method of claim 1,
The hydraulic control method of the work equipment further comprising selecting any one of the unmanned automated work mode and the manual work mode through the selection unit. 9. The method of claim 8,
receiving a manual operation signal of an operator when the manual operation mode is selected; and
The hydraulic control method of the work equipment further comprising controlling the operation of the hydraulic system according to the manual operation signal. a measuring unit for measuring a sensor signal for state values of a hydraulic system of the work equipment;
A feedback controller for receiving a target command signal and the sensor signal from the measurement unit for an unattended automation operation, and generating a feedback control signal based on the target command signal and the sensor signal, and a feedforward based on the target command signal a control device comprising a feedforward controller for generating a control signal, and outputting a control signal generated by summing the feedback control signal and the feedforward control signal; and
and a hydraulic control device for controlling an operation of the hydraulic system according to the control signal. The hydraulic control system of a work equipment according to claim 10, wherein the feedback controller generates the feedback control signal based on a difference value between the target command signal and the sensor signal. The hydraulic control system of a work equipment according to claim 10, wherein the control device obtains the target command signal from work command information provided from an upper control unit. The method of claim 12, wherein the measurement unit acquires surrounding environment recognition data necessary for the unmanned automation operation,
The control device is a hydraulic control system of the work equipment for transmitting the acquired surrounding environment recognition data to the upper control unit. The hydraulic control system of a working equipment according to claim 10, wherein the target command signal includes state values for automatic working operation of the hydraulic system. The hydraulic control system of claim 10, wherein the measuring unit detects state values of the hydraulic system in real time when the work of the work equipment is performed. 11. The method of claim 10,
The hydraulic control system of the work equipment further comprising a selection unit for selecting any one of the unmanned automated work mode and the manual work mode. The work equipment according to claim 16, wherein the control device receives a manual operation signal of an operator and outputs a control signal according to the manual operation signal to the hydraulic control device when the manual operation mode is selected through the selection unit. of hydraulic control system.

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