KR20170058125A - Control method for construction machinery - Google Patents

Abstract

A control method for construction machinery detects an initial position of a working device having an attachment, receives an operation signal with respect to the working device, generates an imaginary moving trajectory with respect to the attachment by using the initial position and the operation signal, and controls movement of spools included in a main control valve for the attachment to intactly maintain an incidence angle in the initial position while moving the attachment along the moving trajectory.

Description

[0001] CONTROL METHOD FOR CONSTRUCTION MACHINERY [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method of a construction machine, and more particularly, to a control method of a construction machine for maintaining an attitude of an attachment at a constant level.

A construction machine, for example, an excavator, can perform various operations by driving a boom, a rock, and an attachment rotatably connected. At this time, the attachment can be selected according to the type of work. For example, the bucket can perform an excavation operation, the crusher can perform a shredding operation, and the fork can perform a transportation operation.

However, the movement of the attachment is implemented as a result of combining not only the operation on the attachment but also the operations on the boom and the arm. Therefore, in the case of a non-expert, the movement of the attachment may not be controlled as desired. Particularly, in the case of using the fork attachment, the attachment can not maintain its horizontal position and the load may fall, thereby causing a safety accident.

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

In order to accomplish the objects of the present invention, a method of controlling a construction machine according to exemplary embodiments of the present invention detects an initial position of a work device including an attachment. And receives an operation signal for the working device. And generates a virtual movement trajectory for the attachment using the initial position and the operation signal. The movement of the spools included in the main control valve is controlled so that the attachment moves along the movement trajectory and the attachment can maintain the incident angle at the initial position.

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

In exemplary embodiments, receiving the manipulation signal may include receiving a first manipulation signal from a first joystick in a direction perpendicular to the ground, and receiving a second manipulation signal from a second joystick in a direction perpendicular to the ground 2 operational signals from the first and second processors.

In exemplary embodiments, generating a hypothetical movement trajectory for the attachment may include determining a movement velocity in a direction perpendicular to the ground of the attachment from the received first manipulation signal, And determining a moving speed with respect to a horizontal direction on the ground of the attachment from the second operating signal.

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

In exemplary embodiments, controlling the movement of the spools may include calculating the angle of the boom, the arm, and the attachment included in the work device from the distal location of the attachment using inverse kinematics Step < / RTI >

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

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

In exemplary embodiments, the control method of the construction machine may further include restoring the angle of the boom, the arm, and the attachment via feed-back control.

In the exemplary embodiments, the feed-back control may be a PID (Proportional Integral Derivative) control.

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

The control method of the construction machine according to the exemplary embodiments can control the attachment to move while maintaining a constant incident angle. Thus, the unskilled person can keep the angle of incidence of the attachment, particularly the fork attachment constant, thereby preventing a safety accident caused by the fall of the load. In addition, excavators equipped with fork attachments have a much larger working radius than forklifts, which can improve work efficiency and diversify work.

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 a construction machine.
2 is a block diagram illustrating a control system of a construction machine according to exemplary embodiments.
3 is a flow chart illustrating a method of controlling a construction machine using the control system of FIG.
FIGS. 4 to 6 are views showing the movement of the attachment according to the operation of the driver.

For the embodiments of the invention disclosed herein, specific structural and functional descriptions are set forth for the purpose of describing an embodiment of the invention only, and it is to be understood that the embodiments of the invention may be practiced in various forms, The present invention should not be construed as limited to the embodiments described in Figs.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

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

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprise", "having", and the like are intended to specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

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

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

1 is a side view showing a construction machine.

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

The upper revolving structure 20 is mounted on the lower traveling body 30 and can be rotated on a plane parallel to the ground to set the working direction and to drive the working device 50 to perform the work. In this case, the counterweight mounted on the rear of the upper revolving structure 20 can be used to balance the construction machine 10 in operation.

The lower traveling body 30 supports the upper swing body 20 and the cab 40 and can drive the construction machine 10 using the power generated by the engine. 1 shows a crawler type lower traveling body 30, but the shape of the lower traveling body 30 is not limited thereto. For example, the lower traveling body may take the form of a wheel type.

The cab 40 is installed in the upper revolving structure 20 and can be operated by a driver to control the construction machine 10. Various control devices for controlling the upper revolving body 20, the lower traveling body 30, and the working device 50 may be provided in the cab 40.

The working device 50 is mounted forward to the upper revolving structure 20 and can perform various operations such as excavation, braking and the like. The working device 50 may include a boom 60, an arm 70, an attachment 80, and hydraulic cylinders 62, 72, 82 for driving them.

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

As shown in Fig. 1, the working device 50 can be moved from the first position to the second position by the operation of the operator. The first position is indicated by a solid line in FIG. 1 when the distal end of the attachment 80 is located at the starting point E ₁ and the second position is indicated by the end position of the attachment 80 at the end point E ₂ . And is indicated by a dashed line in Fig. The incident angle of the attachment 80 at the starting point E ₁ is the first angle? ₁ and the angle of incidence of the attachment 80 at the end point may be the second angle? ₂ . At this time, the incident angle is an angle formed when the attachment 80 advances or retreats, and a straight line extending from the connecting portion of the attachment 80 and the arm 70 with respect to the attachment distal end is perpendicular to the plane of the drawing Can be defined as the angle formed.

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

1 and 2, a control system of a construction machine includes an operation device 100 for generating an operation signal for the work device 50, a detection device 110 for measuring the position of the work device 50, A control device 120 for determining a movement trajectory of the attachment 80 using the operation signal and the positional information and generating a control signal for controlling the movement of the operation device 50, And a main control valve (MCV) for controlling the amount of operating fluid supplied to the working device 50 according to the magnitude of the pilot signal pressure, , 140).

The operation device 100 is installed in the cab 40 and can generate an operation signal for driving the work device 50 according to the degree of operation of the driver. For example, the operating device may be a joystick. The operation signal generated in the operation device 100 may be input to the receiving unit 122 of the control device 120. [

In an exemplary embodiment, the operating device 100 includes a first joystick 102 for generating an operating signal for the boom 60 and a second joystick 104 for generating an operating signal for the arm 70 ). The driver can raise or lower the boom 60 by operating the first joystick 102 and can dump or crow the arm 70 by operating the second joystick 104. [ In this case, the first and second joysticks 102 and 104 can generate an operation signal corresponding to the operation amount of the driver. For example, the first joystick may generate a movement signal of the boom 60 corresponding to an operation amount of the driver, and the second joystick may generate a movement signal of the arm 70 corresponding to an operation amount of the driver.

On the other hand, when the horizontal holding mode is selected by the selection switch to be described later, the first joystick 102 and the second joystick 104 are operated in the vertical direction and the horizontal direction movement amount of the attachment 80 corresponding to the operation amount of the driver Respectively. For example, in the state in which the horizontal holding mode is selected, the amount of movement of the attachment 80 in the direction perpendicular to the paper surface can be determined according to the degree to which the driver operates the first joystick 102, The amount of movement of the attachment 80 with respect to the horizontal direction can be determined according to the degree of operation of the attachment 104. Accordingly, the first joystick 102 and the second joystick 104 can generate only the operation signals relating to the vertical and horizontal movement amounts of the attachment 80, respectively.

The detecting device 110 is installed in the working device 50 and can detect information about the position, angle, and the like of the working device 50. [ For example, the detection device may be an inertia measurement unit (IMU). The inertial measurement device may include three accelerometers for measuring linear motion and three angular speedometers for measuring rotational motion. The inertial measurement device may measure the motion direction, posture, position, speed, etc. of the working device 50 . By installing the detecting device 110 in the working device 50, the detecting device 110 can detect information about the position, angle, and the like with respect to the working device 50. [

In the exemplary embodiments, the detection device 110 may include first to third sensors 112, 114, and 116, respectively, mounted to the boom 60, the arm 70 and the attachment 80 have. The first sensor 112 can detect the position and the angle of the boom 60 and the second sensor 114 can detect the position and the angle of the arm 70 and the third sensor 116 can detect the position and angle of the boom 60, It is possible to detect the position and the angle of the movable member 80. At this time, the information detected from the third sensor 116 may include information on the position of the attachment end and the incident angle. The control device 120 can grasp the exact position of each of the boom 60, the arm 70 and the attachment 80 using the measured information from the first to third sensors 112, 114,

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

The control device 120 receives operation signals and positional information from the operation device 100 and the detection device 110 and uses them to perform operations for maintaining the movement trajectory of the attachment end and the incident angle of the attachment 80 constant The angle of each part of the device 50 can be determined. In this case, the fact that the incident angle is kept constant may be a sufficient condition that the load carried on the attachment 80 does not fall during driving of the working device 50. 1, the incident angle of the attachment 80 is maintained constant while the distal end of the attachment 80 moves along the movement path C from the starting point E ₁ to the ending point E ₂ . That is, the first angle? ₁ may have the same magnitude as the second angle? ₂ .

The control device 120 may include a receiving section 122, a locus generating section 124, an attitude calculating section 126, and a control signal output section 128. In this embodiment,

The receiving unit 122 can receive an operation signal of the driver from the operation device 100 and can receive position information on the operation device 50 from the detection device 110. [

The locus generator 124 can generate a locus C for moving the attachment 80 while maintaining the incident angle using the operation signal and the position information received through the receiver 122. [

Specifically, the locus generator 124 can set the initial attachment end position received from the detection device 110 to the start point (E ₁ ) of the locus of movement. The virtual end point E ₂ can be set by predicting the direction and velocity of the end of the attachment from the operation signal received from the operation device 100. For example, it is possible to predict an amount of movement in a direction perpendicular to the paper surface of the attachment from an operation signal received from the first joystick, and to predict the amount of movement in a direction perpendicular to the paper surface of the attachment from the operation signal received from the second joystick. The amount of movement can be predicted. The end point may be set through a combination of the movement amounts in the vertical direction and the horizontal direction. The movement locus C for the attachment end may be a virtual line connecting the start point E ₁ and the end point E ₂ .

Also, the movement speed of the attachment 80 may be determined according to the predicted movement amount. For example, as the manipulated variable for the first joystick 102 increases, the vertical movement speed of the attachment 80 may increase, and as the manipulated variable for the second joystick 104 increases, The horizontal moving speed can be increased.

The attitude calculation unit 126 calculates the attitude of the attachment 80 based on the movement locus C generated by the locus generation unit 124 while keeping the incidence angle of the attachment 80 constant, It is possible to calculate the angle of the light source 50. For example, the attitude calculator may calculate the angles of the boom, the arm, and the attachment from the position of the distal end of the attachment 80 using inverse kinematics.

The control signal output unit 128 may output a control signal for implementing the angle of the working device 50 calculated by the attitude calculation unit 126. [ The control signal is input to the control valve 130 to control the magnitude of the pilot signal pressure input from the control valve 130 to the main control valve 140. That is, the operation signal generated in the operation device 100 is modified while passing through the control device 120, and the modified operation signal can be input to the control valve 130. [

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

In the exemplary embodiments, the control valve 130 may include a plurality of electronically proportional pressure reducing valves that supply the pilot signal pressure to the spools. For example, the control valve 130 may include first and second electron proportional pressure reducing valves for supplying a pilot signal pressure to a boom spool (not shown), a pilot pressure sensor for supplying a pilot signal pressure to an arm spool Third and fourth electron proportional pressure reducing valves, and fifth and sixth electron proportional pressure reducing valves for supplying the pilot signal pressure to the attachment spool (not shown). The first electromagnetic proportional pressure reducing valve may generate a pilot signal pressure for raising the boom 60 and the second electromagnetic proportional pressure reducing valve may generate a pilot signal pressure for lowering the boom 60. [ The third and fifth solenoid proportional pressure reducing valves may each generate a pilot signal pressure for dumping the arm 70 and the attachment 80, And the pilot signal pressure to crowd the attachment 80.

The main control valve 140 may control the hydraulic fluid supplied to the hydraulic cylinders 62, 72, and 82 using a plurality of the spools installed therein. For example, depending on the direction of movement of the boom spool, the operating fluid can be supplied only to one chamber selected from the upside chamber or the downside chamber of the boom cylinder 62, and the boom cylinder 62 It is possible to control the amount of operating oil supplied.

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

In the exemplary embodiments, the control system of the construction machine may further include a selection switch (not shown) for determining whether to use the control system. For example, the selection switch may be an on-off switch installed inside the cabin 40. When the operator turns on the selection switch, the control system of the construction machine is activated to control the movement of the work device 50 as described above. That is, the attachment 80 can move along the movement trajectory C while maintaining a constant incident angle. Alternatively, when the operator turns off the selection switch, the control system of the construction machine is deactivated and the working device 50 can be driven according to the operation of the driver. In this case, the incidence angle of the attachment 80 may not be maintained constant depending on the capability of the driver.

As described above, the construction machine control system according to the exemplary embodiments can control the attachment to move while maintaining a constant incident angle. Thus, the unskilled person can keep the angle of incidence of the attachment, particularly the fork attachment constant, thereby preventing a safety accident caused by the fall of the load. In addition, excavators equipped with fork attachments have a much larger working radius than forklifts, which can improve work efficiency and diversify work.

3 is a flow chart illustrating a method of controlling a construction machine using the control system of FIG. FIGS. 4 to 6 are views showing the movement of the attachment according to the operation of the driver.

Referring to FIG. 3, it is determined whether the horizontal retention mode is selected (S100).

For example, the driver can determine whether to use the horizontal holding mode by using a selection switch provided in the cab 40. [ When the horizontal holding mode is not selected, the control valve 130 can generate the pilot signal pressure to correspond to the operation signal of the driver. Accordingly, the hydraulic cylinders 62, 72, and 82 of the working device 50 can be supplied with hydraulic oil corresponding to the operation signals. Alternatively, when the horizontal hold mode is selected, the operation signal may be processed by the control device 120 and provided to the control valve 130 so that the horizontal position of the attachment 80 can be maintained.

When the horizontal holding mode is selected, the position of the attachment end is detected (S110) and the operation signal of the driver is received (S120).

The receiving unit 122 of the control device 120 can receive position information on the working device 50 from the detecting device 110. [ Specifically, the first to third sensors 112, 114, and 116 provided respectively to the boom 60, the arm 70, and the attachment 80 are connected to the boom 60, the arm 70, and the attachment 80 , The position, the angle, the direction of motion, the velocity, and the like. In particular, in the case of the attachment 80, information on the position and angle of incidence of the attachment end may be included. The first to third sensors 112, 114, 116 may be, for example, an inertial measurement unit (IMU). The detected information may be input to the receiving unit 122 through wireless communication or the like.

On the other hand, an operation signal of the driver can be generated from the operation device 100. [ For example, the operating device may be a joystick. When the driver operates the joystick, the joystick can generate an operation signal corresponding to the operation amount of the driver. The generated operation signal may be input to the receiving unit 122 of the controller 120. [

In an exemplary embodiment, the operating device 100 includes a first joystick 102 for generating an operating signal for the boom 60 and a second joystick 104 for generating an operating signal for the arm 70 ). When the horizontal holding mode is not selected, the driver can raise or lower the boom 60 by operating the first joystick 102, and by operating the second joystick 104, Or crowded.

On the other hand, when the horizontal holding mode is selected, operation signals for the direction perpendicular to the paper surface and the horizontal direction of the attachment 80 can be generated corresponding to the manipulated variables of the joysticks 102, 104, respectively. For example, the first joystick 102 can generate an operation signal in a direction perpendicular to the ground in accordance with the amount of operation of the driver, and the second joystick 104 can generate an operation signal in a horizontal direction It is possible to generate an operation signal for the control unit. The generated operation signals may be input to the receiving unit 122 of the controller 120, respectively.

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

The locus generator 124 can set the initial attachment end position to the start point E ₁ of the trajectory and set the virtual end point E ₂ from the manipulation signal by predicting the motion direction and velocity of the attachment end . For example, the movement amount in the direction perpendicular to the paper surface can be predicted from the operation signal for the first joystick 102, and the movement amount in the horizontal direction to the ground can be predicted from the operation signal for the second joystick 104 have. The end point E ₂ may be set through a combination of the movement amounts. The movement locus C for the attachment end may be a virtual line connecting the start point E ₁ and the end point E ₂ .

The movement speed of the attachment 80 may also be determined according to the predicted movement amount. For example, as the manipulated variable alpha for the first joystick 102 increases, the vertical movement speed of the attachment 80 may increase, and as the manipulated variable beta for the second joystick 104 increases, The horizontal moving speed of the attachment 80 can be increased.

The movement of the attachment 80 according to the operation of the driver is shown in detail in Figs.

Referring to FIG. 4, when the driver operates only the first joystick 102 while the horizontal holding mode is selected, the movement trajectory C with respect to the attachment end can be set in a direction perpendicular to the ground. At this time, the position of the end point E ₂ and the vertical movement speed of the attachment 80 can be determined according to the operation amount? Of the first joystick 102. For example, as the manipulated variable alpha for the first joystick increases, the vertical movement speed of the attachment 80 may increase.

Referring to FIG. 5, when the driver operates only the second joystick 104 in the state in which the horizontal holding mode is selected, the movement trajectory C with respect to the attachment end can be set to a horizontal direction on the ground. At this time, the position of the end point E ₂ and the horizontal movement speed of the attachment 80 can be determined according to the operation amount? Of the second joystick 104. For example, as the manipulated variable [beta] for the second joystick increases, the horizontal movement speed of the attachment 80 may increase.

6, when the driver simultaneously operates the first joystick 102 and the second joystick 104 in the state where the horizontal holding mode is selected, the movement trajectory C with respect to the attachment distal end is set at an angle It can be set in an oblique direction. That is, the position of the end point E ₂ can be determined according to the combination of the manipulated variable α of the first joystick 102 and the manipulated variable β of the second joystick 104. The vertical movement speed of the attachment 80 can be determined according to the operation amount alpha of the first joystick 102 and the horizontal movement speed of the attachment 80 can be determined according to the operation amount beta of the second joystick 104. [ The speed can be determined.

The angle of the working device 50 for maintaining the incident angle of the attachment constant is calculated (S140).

When the trajectory generating unit 124 generates a trajectory C for the attachment end, the posture calculating unit 126 calculates the posture of the boom for satisfying the trajectory C using inverse kinematics 60, the arm 70, and the attachment 80. [

Thereafter, the control signal output unit 128 may output a control signal for maintaining the calculated angle of the boom 60, the arm 70, and the attachment 80 (S150). The control signal may be input to the control valve 130 to generate pilot signal pressure of a corresponding magnitude. The pilot signal pressure can move the spools of the main control valve 140 and the hydraulic fluid corresponding to the control signal can be supplied to the boom cylinder 62, the arm cylinder 72 and the attachment cylinder 82 have. Accordingly, the attachment 80 can move along the movement locus C while maintaining a constant incident angle.

In exemplary embodiments, the control method of the construction machine can improve accuracy and stability through feedback-back control. Concretely, even while the working device 50 is moving along the movement locus C, the receiving part 122 can continuously receive position information on the working device 50 (S160). The locus generator 124 sets the position of the current attachment end to a new start point, and generates a new locus based on the position. The attitude calculation unit 126 calculates the angle of the working device 50 to satisfy the new movement locus and the control signal output unit 128 also calculates the control signal for the control valve 130 in accordance with the new locus Can be modified. For example, the feedback control may be a PID control (Proportional Integral Derivative control).

If the current position of the attachment end matches the end point (E ₂ ), the horizontal hold mode is terminated (S 170).

Alternatively, even if the end of the attachment does not reach the end point E ₂ , the horizontal hold mode may be terminated by reflecting the intention of the driver. For example, the horizontal holding mode may be terminated even when the driver deactivates the selection switch in the cab 40 or operates the attachment 80. [

As described above, the construction machine control system according to the exemplary embodiments can control the attachment to move while maintaining a constant incident angle. Thus, the unskilled person can keep the angle of incidence of the attachment, particularly the fork attachment constant, thereby preventing a safety accident caused by the fall of the load. In addition, excavators equipped with fork attachments have a much larger working radius than forklifts, which can improve work efficiency and diversify work.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the following claims. It can be understood that it is possible.

10: Construction machine 20: Upper revolving body
30: lower traveling body 40: cab
50: working device 60: boom
62: boom cylinder 70: arm
72: female cylinder 80: attachment
82: Attachment cylinder 100: Operation device
102: first joystick 104: second joystick
110: detecting device 112: first sensor
114: second sensor 116: third sensor
120: Control device 122: Receiver
124: locus generator 126: posture calculator
128: control signal output unit 130: control valve
140: Main control valve C: Movement locus
E ₁ : starting point E ₂ : ending point
? ₁ : first angle? ₂ : second angle

Claims (11)

Detecting an initial position of the work device including the attachment;
Receiving an operation signal for the work device;
Generating a virtual movement trajectory for the attachment using the initial position and the manipulation signal; And
Controlling the movement of the spools included in the main control valve so that the attachment moves along the movement trajectory and the attachment maintains the incident angle at the initial position. 2. The method as claimed in claim 1, wherein the step of detecting the initial position includes the step of detecting the position of the working device using an inertia measurement unit (IMU) provided in the working device. / RTI > 2. The method of claim 1,
Receiving a first manipulation signal from a first joystick in a direction perpendicular to the ground; And
And receiving a second manipulation signal from the second joystick in a horizontal direction on the ground. 4. The method of claim 3, wherein generating the virtual movement trajectory for the attachment comprises:
Determining a movement speed in a direction perpendicular to the paper surface of the attachment from the received first manipulation signal; And
And determining a moving speed in a horizontal direction on the ground of the attachment from the received second operation signal. 4. The method according to claim 3, wherein the first joystick is a boom joystick for controlling the operation of the boom, and the second joystick is an arm joystick for controlling an operation of the arm. 2. The method of claim 1, wherein controlling the movement of the spools comprises calculating an angle of the boom, the arm, and the attachment included in the working device from an end position of the attachment using inverse kinematics The control method comprising the steps of: The control method of a construction machine according to claim 1, wherein controlling the movement of the spools comprises applying an electrical control signal to a control valve for supplying a pilot signal pressure to the spools 8. The method of claim 7, wherein the control valve is an Electronic Proportional Pressure Reducing (EPPR) valve. 2. The method of claim 1, further comprising the step of repositioning the angle of the boom, the arm, and the attachment via feed-back control. 10. The method of claim 9, wherein the feed-back control is PID (Proportional Integral Derivative) control. The method of claim 1, wherein the attachment comprises a fork or bucket.

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