Real-time weight compensation method and system for automatic swing control of construction equipment

Abstract

One aspect of the present disclosure is a real-time weight compensation method for automatic swing control of a construction machine, wherein the construction machine comprises a lower body and an upper structure swingably supported on the lower body, and the upper structure comprises an upper slewing body, a boom connected to the upper slewing body, an arm connected to the boom, and an attachment connected to the arm; the method comprises the steps of: measuring a current arm joint angle (θc) using one or more detection means and measuring a current boom cylinder pressure (Pc) at the current arm joint angle (θc) using pressure measuring means; calculating a pressure difference (P) between the measured current boom cylinder pressure (Pc) at the current arm joint angle (θc) and a preset reference boom cylinder pressure (Pr) at the corresponding arm joint angle (θc); converting the calculated pressure difference (P) into a preset reference additional weight (Wr) at the corresponding pressure difference (P); and updating the swing moment of inertia of the upper structure in real time by reflecting the reference additional weight (Wr). Provides a method that includes steps.

Description

Technology Field

[0001] The present disclosure relates to a real-time weight compensation method and system for automatic swing control of construction machinery. In a particular aspect, the present disclosure relates to a method and system for reflecting weight changes caused by the replacement of attachments or the weight of the workpiece in real time to the swing moment of inertia of construction machinery. The present disclosure may be applied to heavy vehicles such as trucks, buses, and construction equipment among other vehicle types. While the present disclosure may be described with respect to specific vehicles, the present disclosure is not limited to any specific vehicle. Background Technology

[0002] An excavator is a construction machine that performs various tasks at construction sites, such as excavation work to dig the ground, loading work to transport excavated soil and load it onto a load receiver, excavation work to create a foundation, crushing work to demolish a building, leveling work to prepare the ground, and leveling work to level the ground.

[0003] An excavator may generally include a lower traveling body that serves as the moving part of the equipment, an upper slewing body rotatably mounted on the lower traveling body, and a working device (boom, arm, bucket, etc.) mounted on the front of the upper slewing body.

[0004] Generally, when an excavator performs a series of continuous operations including digging and dumping, it operates by changing its swing direction left and right within a certain swing range. In this case, if the operator manually stops the upper slewing body during the swing process, the upper slewing body will stop at a certain point after swinging at a certain angle from the starting point of stopping. However, the stopping point varies depending on when the stop command is initiated, making it difficult to stop precisely at the target point. Therefore, there are inconveniences such as the need to stop significantly in advance to avoid collisions when there are obstacles, and the operator having to perform additional swing operations to align with the target point.

[0005] To address this, an automatic swing control function—namely the Swing Boundary Limit (SBL) function—was introduced to automatically stop the upper slewing body at a target point set by the operator. However, conventional SBL functions do not account for external weights, such as the weight of excavated work material or work attachments replaced on-site, other than the pre-set weight condition of the excavator. In such cases, even if the SBL function is activated, the upper slewing body may stop past the target point set by the operator, which could lead to a major accident. The problem to be solved

[0006] The present disclosure is intended to solve the problems of the aforementioned prior art, and the purpose of the present disclosure is to provide a real-time weight compensation method and system for improving the accuracy of automatic swing control by reflecting weight changes caused by the replacement of a work device or the weight of the work material in real time. means of solving the problem

[0007] A first aspect of the present disclosure is a real-time weight compensation method for automatic swing control of a construction machine, wherein the construction machine comprises a lower body and an upper structure swingably supported on the lower body, and the upper structure comprises an upper slewing body, a boom connected to the upper slewing body, an arm connected to the boom, and an attachment connected to the arm; the method comprises the steps of: measuring a current arm joint angle (θc) using one or more detection means and measuring a current boom cylinder pressure (Pc) at the current arm joint angle (θc) using pressure measuring means; calculating a pressure difference (P) between the measured current boom cylinder pressure (Pc) at the current arm joint angle (θc) and a preset reference boom cylinder pressure (Pr) at the corresponding arm joint angle (θc); converting the calculated pressure difference (P) into a preset reference additional weight (Wr) at the corresponding pressure difference (P); and adjusting the swing moment of inertia of the upper structure in real-time by reflecting the reference additional weight (Wr). Provides a method that includes an update step.

[0008] Optionally, the reference boom cylinder pressure (Pr) according to the arm joint angle may be determined by linearly interpolating the boom cylinder pressure (P1) when the swing moment of inertia of the superstructure is minimum and the boom cylinder pressure (P2) when the swing moment of inertia of the superstructure is maximum for the standard specifications of the construction machine.

[0009] Optionally, the method may be characterized in that when the swing moment of inertia of the superstructure is minimum, the posture of the construction machine is in a state where the boom is pulled up, the arm is pulled in, and the attachment is pulled in, and when the swing moment of inertia of the superstructure is maximum, the posture of the construction machine is in a state where the arm is pulled out, the attachment is pulled in, and the height of the first pin connecting the boom and the upper slewing body matches the height of the second pin connecting the attachment and the arm.

[0010] Optionally, the method may be characterized in that the pressure measuring means is installed in a boom cylinder.

[0011] The method may optionally be characterized in that the detection means is an inertial measurement unit (IMU) or an angle sensor.

[0012] The method may be characterized by, in the step of optionally calculating the pressure difference (P), if the pressure difference (P) is calculated to be a negative value, outputting the pressure difference (P) as 0.

[0013] The method may be characterized in that the swing inertia moment of an optionally updated superstructure is applied to a swing boundary limit function that causes the swing of the superstructure to stop at a swing limit point set by an operator.

[0014] A second aspect of the present disclosure is a real-time weight compensation system for automatic swing control of a construction machine, wherein the construction machine comprises a lower body and an upper structure swingably supported on the lower body, the upper structure comprises an upper slewing body, a boom connected to the upper slewing body, an arm connected to the boom, and an attachment connected to the arm, and comprises one or more detection means for measuring a current arm joint angle (θc) in real time, pressure measuring means for measuring a current boom cylinder pressure (Pc) in real time at the current arm joint angle (θc), and a processor for performing real-time weight compensation based on the current arm joint angle (θc) and the current boom cylinder pressure (Pc), wherein the processor calculates a pressure difference (P) between the measured current boom cylinder pressure (Pc) at the current arm joint angle (θc) and a predefined reference boom cylinder pressure (Pr) at the corresponding arm joint angle (θc), and adds the calculated pressure difference (P) to a predefined reference at the corresponding pressure difference (P). We provide a system that converts to weight (Wr) and updates the swing moment of inertia of the superstructure in real time by reflecting the additional reference weight (Wr).

[0015] Optionally, the system may be characterized in that the reference boom cylinder pressure (Pr) according to the arm joint angle is determined by linearly interpolating the boom cylinder pressure (P1) when the swing moment of inertia of the superstructure is minimum and the boom cylinder pressure (P2) when the swing moment of inertia of the superstructure is maximum for the standard specifications of the construction machine.

[0016] The system may be characterized in that, optionally, when the swing moment of inertia of the superstructure is minimum, the posture of the construction machine is in a state where the boom is pulled up, the arm is pulled in, and the attachment is pulled in, and when the swing moment of inertia of the superstructure is maximum, the posture of the construction machine is in a state where the arm is pulled out, the attachment is pulled in, and the height of the first pin connecting the boom and the upper slewing body matches the height of the second pin connecting the attachment and the arm.

[0017] Optionally, the system may be characterized in that the pressure measuring means is installed in a boom cylinder.

[0018] Optionally, the detection means may be a system characterized by being an inertial measurement unit (IMU) or an angle sensor.

[0019] Optionally, the processor may be a system characterized by outputting the pressure difference (P) as 0 when the pressure difference (P) is calculated to be a negative value.

[0020] The system may be characterized in that the swing inertia moment of an optionally updated superstructure is applied to a swing boundary limit function that causes the swing of the superstructure to stop at a swing limit point set by an operator.

[0021] A third aspect of the present disclosure may provide a computer program product comprising program code for performing a method according to a first aspect when executed on a computer.

[0022] A fourth aspect of the present disclosure may provide a computer-readable storage medium comprising instructions that enable the method according to the first aspect to be performed when executed on a computer. Effects of the invention

[0023] According to the present disclosure, when the weight of a construction machine changes due to the replacement of an attachment or a work material, immediate updates to the changed weight are performed in real time and reflected in the automatic swing control of the construction machine, thereby improving work efficiency, accuracy, and stability.

[0024] The effects of the present disclosure are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the content of the disclosure or the composition of the disclosure described in the claims.

[0025] The disclosed aspects, embodiments (including any preferred embodiments), and / or accompanying claims may be appropriately combined with one another as will be obvious to those skilled in the art.

[0026] Additional features and benefits are disclosed in the following description, claims, and drawings, and in part will be readily apparent to those skilled in the art or recognized by practicing the disclosures as set forth in this specification. Brief explanation of the drawing

[0027] The example is explained in more detail below with reference to the attached drawings. FIG. 1 is a drawing illustrating a construction machine according to one aspect of the present disclosure. FIG. 2 is a drawing for explaining automatic swing control of a construction machine according to one aspect of the present disclosure. FIG. 3 is a flowchart of automatic swing control of a construction machine according to one aspect of the present disclosure. FIG. 4 is a block diagram schematically illustrating the configuration of a real-time weight compensation system for automatic swing control of a construction machine according to one aspect of the present disclosure. FIG. 5 is a flowchart of a real-time weight compensation method for automatic swing control of a construction machine according to one aspect of the present disclosure. FIG. 6 is a drawing illustrating a real-time weight compensation method for automatic swing control of a construction machine according to one aspect of the present disclosure. FIG. 7 is a drawing showing a real-time weight compensation algorithm for automatic swing control of a construction machine according to one aspect of the present disclosure. FIG. 8 is a block diagram schematically illustrating the configuration of a real-time weight compensation system for automatic swing control of a construction machine according to another aspect of the present disclosure. FIG. 9 is a drawing showing a real-time weight compensation algorithm for automatic swing control of a construction machine according to another aspect of the present disclosure. Specific details for implementing the invention

[0028] The detailed description below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the present disclosure. However, the present disclosure may be embodied in various different forms and is therefore not limited to the aspects described herein. Furthermore, in order to clearly illustrate the present disclosure in the drawings, parts unrelated to the description have been omitted, and similar parts throughout the specification have been given similar reference numerals.

[0029] The terms used herein are merely for describing specific aspects and are not intended to limit the disclosure. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise. As used herein, the term “and / or” includes any combination of one or more of the related listed items. As used herein, the terms “comprising” and “comprising” specify the presence of the mentioned features, integers, steps, actions, elements, and / or components, but do not exclude the presence or addition of one or more other functions, integers, steps, operations, elements, components, and / or groups thereof.

[0030] While terms such as first, second, etc. may be used in this specification to describe various elements, it will be understood that these elements should not be limited by such terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of the rights of this disclosure, a first component may be named a second component, and similarly, a second component may be named a first component.

[0031] Relative terms such as "below," "above," "up," "down," "horizontal," or "vertical" may be used in this specification to describe the relationship between one element and another as illustrated in the drawings. It will be understood that these terms and the terms discussed above are intended to include different orientations of the device in addition to the orientations illustrated in the drawings. When a component is referred to as being "connected" or "combined" to another component, it will be understood that it may be directly connected to or combined with the other component, or that there may be an intervening component. In contrast, when an element is referred to as being "directly connected" or "directly combined" to another element, no intermediate element exists.

[0032] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as generally understood by those skilled in the art to which this disclosure pertains. Terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and related technology, and should be further understood that they should not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0033] Hereinafter, one aspect of the present disclosure will be described in detail with reference to the attached drawings.

[0034] FIG. 1 is a drawing illustrating a construction machine according to one aspect of the present disclosure.

[0035] Referring to FIG. 1, a construction machine (10) according to one aspect of the present disclosure may be, for example, an excavator. The present disclosure may be described with respect to an excavator, but is not limited thereto. An excavator is a device capable of excavating objects, and may include various types of excavators capable of performing excavation work in various ways, such as soil transport work, building demolition work, ground leveling work, etc.

[0036] The construction machine (10) may include a lower body (100) and an upper structure (200) supported to swing on the lower body (100). The upper structure (200) may include an upper slewing body (210) and a working device (220). The working device (220) may include, for example, a boom (221), an arm (222), and an attachment (223). The attachment (223) may be, for example, a bucket.

[0037] The lower driving body (100) is configured to support the load of a work device (220) including an upper slewing body (210), a boom (221), an arm (222), and an attachment (223), while simultaneously moving the construction machine (10). The lower driving body (100) includes a pair of left and right driving sections and can travel in a straight line in the forward and backward directions, change direction to the left or right by steering, or change direction in the opposite direction of travel by turning.

[0038] The upper pivot body (210) is configured to be supported on the lower driving body (100) and is designed to swing on the lower driving body (100) by means of a pivoting device including a swing motor, a swing reduction gear, etc.

[0039] A driver's cabin (230) of the construction machine (10) may be installed on the upper slewing body (210), and a driver's seat may be provided in the driver's cabin (230) where an operator can sit. Various operating levers or pedals for operating the work or driving of the construction machine (10) may be provided in front of the driver's seat, and a swing lever may also be provided so that the operator can control the swing of the upper slewing body (210).

[0040] The arm (222) is connected to the attachment (223) and the boom (221), respectively, and in one embodiment, is connected via joints in the order of the boom (221), arm (222), and attachment (223) from the upper slewing body (210), and each joint can be moved by a hydraulic cylinder.

[0041] For example, the arm (222) may be connected to a boom (221) connected to an upper slewing body (210) at one end and to an attachment (223) at the other end. Each of the boom (221), arm (222), and attachment (223) may rotate on one or more axes by means of a boom cylinder (221a), an arm cylinder (222a), and an attachment cylinder (223a), and the attachment (223), for example, a bucket, may hold an excavation target (e.g., soil) on the ground as it rotates.

[0042] Since these boom (221), arm (222) and attachment (223) are installed while being supported forward on the upper slewing body (210), when the upper slewing body (210) swings, the boom (221), arm (222) and attachment (223) swing together with the upper slewing body (210).

[0043] The construction machine (10) can be configured, for example, with an electro-hydraulic system, and its operation can be controlled electronically by a controller.

[0044] Meanwhile, if the operator fails to pay sufficient attention during the swinging process of the upper structure (200) including the upper slewing body (210), the work device (220), and the driver's cabin (230), an accident may occur in which the work device (220) collides with nearby obstacles or workers. Additionally, if necessary, when the work device (220) performs a series of continuous operations including digging and dumping, it performs repetitive operations by changing the swing direction to the left and right within a certain swing range. At this time, accurate swinging motion is required for work efficiency.

[0045] FIG. 2 is a drawing for explaining automatic swing control of a construction machine according to one aspect of the present disclosure.

[0046] Automatic swing control of a construction machine according to one aspect of the present disclosure may be a Swing Boundary Limit (SBL) function that enables the swing of a superstructure to be automatically stopped at a target swing point set by an operator. The target swing point (or swing limit point) set by the operator may be, for example, a digging point for digging work material or a loading point for loading excavated work material.

[0047] When a target swing point is set by the operator, the construction machine controller outputs a control signal to the slewing device to stop the swing of the superstructure at the position corresponding to the target swing point. At this time, regardless of whether the operator has operated the swing lever in the cab, the controller outputs a control signal to the slewing device to prevent the superstructure from passing the position set as the target swing point. In other words, when the target swing point is set, the swing of the superstructure stops at the position set as the target swing point, and the superstructure cannot swing past the position set as the target swing point even by the operator's operation of the swing lever.

[0048] For example, referring to FIG. 2, in the Swing Boundary Limit (SBL) function, the swing start point (20) is the point where the swing of the upper structure (200) begins, the target swing point (23) is the point where the swing of the upper structure (200) stops, set by the operator, the current swing point (21) is the point where the swinging upper structure (200) is currently located, and the braking start point (22) is the point where the upper structure (200) must start braking to stop at the target swing point (23). That is, the angle from the swing start point (20) to the target swing point (23) is the target swing angle (θ swing It can be defined as ), and the angle from the current swing point (21) to the target swing point (23) is the remaining angle (θ remain It can be defined as ), and the angle from the braking start point (22) to the target swing point (23) is the braking angle (θ stop It can be defined as ). In addition, the angle caused by the bounce phenomenon due to the inertia of the upper structure (200), the compressibility of the fluid, and the backlash of the rotating device (slewing gear) is the bouncing angle (θ rebounded It can be defined as ).

[0049] Here, the controller of the construction machine [determines] the remaining angle (θ) from the current swing point (21) to the swing target point (23). remain ) and braking angle (θ stop By comparing in real-time, the swing is automatically controlled so that the upper structure (200) can stop at the swing target point (23).

[0050] FIG. 3 is a flowchart of automatic swing control of a construction machine according to one aspect of the present disclosure.

[0051] Referring to FIG. 3, the automatic swing control method (S30) of a construction machine may include the steps of activating a swing boundary limit (SBL) function (S31), setting a target swing point (target swing angle) (S32), calculating the remaining swing angle between the current swing point and the target swing point (S33), calculating the braking angle (S34), comparing the remaining swing angle and the braking angle (S35), and restricting the operation of the swing lever and starting deceleration if the remaining swing angle is less than or equal to the braking angle (S36).

[0052] Here, in the step of calculating the braking angle (S34), the braking angle can be calculated based on the swing moment of inertia of the superstructure, the current swing angular velocity of the superstructure, and the swing dynamic braking torque by the swing motor as follows.

[0053]

[0054] In other words, if the weight of the superstructure increases due to the replacement of the working device or the working material, the swing moment of inertia of the superstructure increases, and furthermore, the rotational kinetic energy increases, so the braking angle required to stop the swing of the superstructure increases.

[0055] In this case, if the Swing Boundary Limit (SBL) function does not reflect weight fluctuations caused by attachment replacement or the workpiece, particularly increased weight, a difference in the braking angle required to stop the superstructure at the target swing point will occur, making it impossible to guarantee the accurate performance of the Swing Boundary Limit (SBL). Therefore, it is necessary to update the weight fluctuations caused by attachment replacement or the workpiece in real time and reflect them in the calculation of the superstructure's swing moment of inertia to ensure the accurate performance of the Swing Boundary Limit (SBL).

[0056] Meanwhile, in the step (S36) of restricting swing lever operation and starting deceleration, the remaining swing angle (θ remain ) is the braking angle (θ stop The section below ) is defined as the swing braking section, and during the swing braking operation, the operation of the work device lever may also be restricted to prevent the swing moment of inertia from increasing. That is, the remaining swing angle (θ remain ) is the braking angle (θ stop When it is less than ) even if a swing lever operation signal is input in the current swing direction, the controller does not accept the swing lever operation signal in order to stop at the swing target point.

[0057] In other words, if the swing moment of inertia increases due to the operation of the working device (e.g., arm out operation) during the swing braking motion, a problem may arise where the superstructure fails to stop at the target swing point and passes the target swing point; to prevent this problem, the operation of the working device (e.g., arm out operation) can also be restricted during the swing braking section.

[0058] FIG. 4 is a block diagram schematically illustrating the configuration of a real-time weight compensation system for automatic swing control of a construction machine according to one aspect of the present disclosure.

[0059] A real-time weight compensation system (300) for automatic swing control of a construction machine whose weight has changed due to the replacement of an attachment or a work material according to one aspect of the present disclosure may include one or more detection means (310), pressure measuring means (320), and a processor (330).

[0060] The detection means (310) is installed on the work device (220) and can detect information regarding the position, angle, etc. of the work device (220). In particular, the detection means (310) detects the current arm joint angle (θ c ) can be measured in real time. Here, the arm joint angle (θ c ) means the angle between the arm (222) and the boom (221).

[0061] According to one embodiment, the detection means (310) may be an inertial measurement unit (IMU). One or more inertial measurement units may be installed on the boom (221), the arm (222), and the attachment (223), respectively. One or more inertial measurement units may include three accelerometers for measuring linear motion and three angular velocity sensors for measuring rotational motion, and may measure the direction of motion, attitude, position, velocity, etc. of the working device (220).

[0062] According to another embodiment, the detection means (310) may be an angle sensor. One or more angle sensors may be installed on the boom (221), the arm (222), and the attachment (223), respectively.

[0063] One or more angle sensors can measure the position and angle of the boom (221), the position and angle of the arm (222), and the position and angle of the attachment (223).

[0064] In this way, the detection means (310) can detect information regarding the position, angle, etc. of the work device (220) required for real-time weight compensation.

[0065] The pressure measuring means (320) is currently the arm joint angle (θ c Current boom cylinder pressure (P) at ) c ) can be measured in real time. The pressure measuring means (320) can be installed in the boom cylinder large chamber. The pressure measuring means (320) can be, for example, a pressure sensor.

[0066] The pressure measuring means (320) is installed in the large chamber of the boom cylinder and can output data of an electrical signal or a physical pressure signal corresponding to the change in cylinder pressure.

[0067] Information obtained from the detection means (310) and the pressure measuring means (320) may be transmitted to the processor (330) via wired communication, for example, CAN (Controller Area Network), LIN (Local Interconnect Network), FlexRay, etc. Alternatively, information obtained from the detection means (310) and the pressure measuring means (320) may be transmitted to the processor (330) via wireless communication, for example, Wi-Fi, Bluetooth, Zigbee, 5G, etc.

[0068] The processor (330) measures the current arm joint angle (θ c ) and current boom cylinder pressure (P c ) is received, and the changed weight (e.g., bucket load added by work material) can be estimated using it.

[0069] That is, the processor (330) receives the current arm joint angle (θ) from the detection means (310) and the pressure measuring means (320). c ) and current boom cylinder pressure (P cBased on ), the weight of the attachment and the swing moment of inertia of the superstructure, which are varied by the replacement of the attachment or the work material, can be updated in real time. This processor (330) can operate with the swing boundary limit (SBL) function enabled.

[0070] More specifically, the processor (330) currently has an arm joint angle (θ c Measured current boom cylinder pressure (P) c ) and current arm joint angle (θ c Pre-set reference boom cylinder pressure (P) at ) r Calculate the pressure difference (P) between ), and the calculated pressure difference (P) is used as a preset reference additional weight (W) at the corresponding pressure difference (P). r Convert to ), and additional reference weight (W r The swing moment of inertia of the superstructure can be updated in real time by reflecting ).

[0071] That is, the real-time weight compensation system (300) for automatic swing control can ensure the performance of the swing boundary limit (SBL) by using a measuring means (310) and a pressure measuring means (320) to estimate and compensate for the additional weight added during the operation of the construction machine in real time.

[0072] The aforementioned series of continuous weight compensation methods will be described in detail later with reference to FIGS. 5 to 7.

[0073] FIG. 5 is a flowchart of a real-time weight compensation method for automatic swing control of a construction machine according to one aspect of the present disclosure, FIG. 6 is a diagram illustrating a real-time weight compensation method for automatic swing control of a construction machine according to one aspect of the present disclosure, and FIG. 7 is a diagram showing a real-time weight compensation algorithm for automatic swing control of a construction machine according to one aspect of the present disclosure.

[0074] Referring to FIGS. 5 to 7, a real-time weight compensation method (S400) for automatic swing control of a construction machine whose weight has changed due to the replacement of an attachment or a work material utilizes one or more detection means to determine the current arm joint angle (θ c Measure ) and use a pressure measuring means to measure the current arm joint angle (θ c Current boom cylinder pressure (P) at ) c Step of measuring ) (S410), current arm joint angle (θ c Measured current boom cylinder pressure (P) c ) and the corresponding arm joint angle (θ c Pre-set reference boom cylinder pressure (P) at ) r A step (S420) of calculating the pressure difference (P) between ), and the calculated pressure difference (P) with a preset reference additional weight (W) at the corresponding pressure difference (P). r Steps to convert to ) and additional reference weight (W r It may include a step of updating the swing moment of inertia of the superstructure in real time by reflecting ).

[0075] Referring to FIGS. 5 through 7, in step S410, one or more detection means (310) detect the current arm joint angle (θ c ) measures in real time, and the pressure measuring means (320) measures the current arm joint angle (θ c Current boom cylinder pressure (P) at ) c ) can be measured in real time.

[0076] In step S420, the processor (330) determines the current arm joint angle (θ c Measured current boom cylinder pressure (P) c ) and the corresponding arm joint angle (θ c Pre-set reference boom cylinder pressure (P) at ) r The pressure difference (P) between ) can be calculated.

[0077] Here, reference boom cylinder pressure (P) according to the arm joint angle r ) can be determined by linearly interpolating the boom cylinder pressure (P1) when the swing moment of inertia of the superstructure is minimum and the boom cylinder pressure (P2) when the swing moment of inertia of the superstructure is maximum with respect to the standard specifications of the construction machinery (specifications at the time of shipment of the construction machinery). The arm joint angle when the swing moment of inertia of the superstructure is minimum is the minimum (θ min ) can be, and the arm joint angle is maximum (θ when the swing moment of inertia of the superstructure is minimum max It can be. For example, on a graph showing reference boom cylinder pressure according to arm joint angle, two points (θ min , P1) and (θ max By linearly interpolating , P2), θ min and θ max Reference boom cylinder pressure (P) at a specific arm joint angle located between r ) can be determined. The reference boom cylinder pressure (P) at this specific arm joint angle r ) may be in a state that is pre-configured and stored on the system.

[0078] Referring to FIG. 6, the posture of the construction machine (10) when the swing moment of inertia of the superstructure is at its minimum may be a pull-up state of the boom (221), a pull-in state of the arm (222), and a pull-in state of the attachment (223) (e.g., bucket) (short reach posture, FIG. 6 (a)). That is, when the construction machine (10) is in a short reach posture, the swing moment of inertia of the superstructure may be at its minimum. And, the posture of the construction machine when the swing moment of inertia of the superstructure is maximum may be a state in which the arm (222) is pulled out, the attachment (223) (e.g., bucket) is pulled in, and the height of the first pin (P1) connecting the boom (221) and the upper slewing body (210) matches the height of the second pin (P2) connecting the attachment (223) (e.g., bucket) and the arm (222) (full reach posture of FIG. 6 (b)). That is, when the construction machine (10) is in the full reach posture, the swing moment of inertia of the superstructure may be maximum.

[0079] Meanwhile, the pressure difference (P) is the current boom cylinder pressure (P c Reference boom cylinder pressure (P) at ) r It can be defined as the value obtained by subtracting ). That is, if the pressure difference (P) is calculated as a positive value, the current boom cylinder pressure (P c ) is reference boom cylinder pressure (P r If it is greater than ), it may indicate an increase in the weight of the attachment (e.g., an increase in bucket load due to the workpiece). Additionally, if the pressure difference (P) is calculated as a negative value, the current boom cylinder pressure (P c ) is reference boom cylinder pressure (P rIt may mean that the weight of the attachment has been reduced (e.g., replaced with a lighter attachment) by being smaller than ). However, if the pressure difference (P) is calculated to be a negative value, the processor (330) may output the pressure difference (P) as 0. However, if the pressure difference (P) calculated to be a negative value is output as is, it has the effect of stopping the upper structure before the swing target point.

[0080] In step S430, the processor (330) calculates the pressure difference (P) and the preset reference additional weight (W) at the pressure difference (P). r It can be converted to ).

[0081] Reference additional weight (W r ) may be a state pre-configured and stored in the system. For example, if the pressure difference (P) is 0, the additional reference weight (W r ) may be set to 0, and if the pressure difference (P) is 55, the additional reference weight (W r ) may be set to the standard bucket load, and if the pressure difference (P) is 100, the reference additional weight (W r ) may be set to twice the standard bucket load. That is, the processor (330) calculates the pressure difference (P) and sets a preset reference additional weight (W) corresponding to the pressure difference (P). r It can be converted to ).

[0082] In step S440, the processor (330) has a reference additional weight (W r The swing moment of inertia of the superstructure can be updated in real time by reflecting ). That is, the processor (330) can update the swing moment of inertia of the superstructure in real time by reflecting the reference additional weight (W r The weight of the attachment can be updated by adding ) to the pre-set attachment weight, and the swing moment of inertia of the superstructure can be updated in real time by reflecting the updated attachment weight.

[0083] That is, the swing moment of inertia of the updated superstructure is the current boom cylinder pressure (P) measured by the pressure measuring means c ) and pre-set reference boom cylinder pressure (P r The pressure difference (P) of ), and the preset reference additional weight (W r It can be calculated based on ).

[0084] The swing inertia moment of the superstructure, updated in real time, can be applied to the swing boundary limit (SBL) function, which causes the swing of the superstructure to stop at a target swing point set by the operator. For example, in the step (S34) of calculating the braking angle of FIG. 3, the braking angle can be calculated more accurately by using the swing inertia moment of the superstructure, updated in real time. In other words, the weight of the attachment, which is changed by the replacement of the attachment or the work material, is updated in real time and reflected in the calculation of the swing inertia moment of the superstructure, thereby ensuring the accurate performance of the swing boundary limit (SBL).

[0085] FIG. 8 is a block diagram schematically illustrating the configuration of a real-time weight compensation system for automatic swing control of a construction machine according to another aspect of the present disclosure, and FIG. 9 is a diagram showing a real-time weight compensation algorithm for automatic swing control of a construction machine according to another aspect of the present disclosure.

[0086] Referring to FIGS. 8 and 9, a real-time weight compensation system (500) for automatic swing control of a construction machine according to another aspect of the present disclosure may include an OBW system (510) and a processor (520).

[0087] The OBW (On Board Weighing) system (510) refers to a system that measures and monitors the weight of work materials loaded on an attachment in real time. The OBW (On Board Weighing) system (510) can measure the weight of the loaded work materials in real time during operation, allowing the operator to easily manage the load and prevent overloading.

[0088] The OBW system (510) may include a load cell and a display device.

[0089] A load cell is a device that measures the load loaded on an attachment and can detect weight deformation and convert it into an electrical signal. This load cell is installed at the connection point between the attachment and the arm, allowing for real-time measurement of the weight of the workpiece loaded on the attachment.

[0090] The display device can visually provide the operator with weight information measured in real time. In addition to weight, the display device can display other operation-related information, such as load capacity and warning messages.

[0091] The processor (520) can update the swing moment of inertia of the upper structure in real time by reflecting the real-time weight information of the work material received from the OBW system (510). That is, the processor (520) can update the real-time weight of the work material received from the OBW system (510), i.e., the additional weight (W c The weight of the attachment can be updated by adding ) to the pre-set attachment weight, and the swing moment of inertia of the superstructure can be updated in real time by reflecting the updated attachment weight.

[0092] In other words, the swing moment of inertia of the updated superstructure is the weight of the work material loaded on the attachment received from the OBW system, i.e., the additional weight (W c It can be calculated based on ).

[0093] Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored in a storage medium (e.g., memory) readable by a machine (e.g., a display device or a computer). For example, a processor of the machine may call at least one of the one or more instructions stored from the storage medium and execute it. This enables the machine to operate to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. The storage medium readable by the machine may be provided in the form of a non-transitory storage medium. Here, "non-transitory" simply means that the storage medium is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0094] According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created in a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0095] Thus, according to the present disclosure, when the weight of a construction machine changes due to the replacement of an attachment or a work material, work efficiency, accuracy, and stability can be improved by performing an immediate update of the changed weight in real time and reflecting it in the automatic swing control of the construction machine.

[0096] It should be understood that the present disclosure is not limited to the embodiments described above and illustrated in the drawings. Rather, those skilled in the art will recognize that many changes and modifications may be made within the scope of the present disclosure and the appended claims. In the drawings and specification, aspects are disclosed merely for illustrative purposes and not for the purpose of limitation, and the scope of the concept of the present disclosure is set forth in the following claims. Explanation of the symbols

[0097] 10 Construction machinery 100 Underbody 200 superstructure 210 Upper pivot body 220 Working device 221 Boom 221a Boom cylinder 222 Aam 222a arm cylinder 223 attachment 223a Attachment cylinder 230 driver's cab 300 Real-time weight compensation system for automatic swing control of construction machinery according to the first embodiment 310 detection means 320 Pressure measuring means 330 processor 500 Real-time weight compensation system for automatic swing control of construction machinery according to the second embodiment 510 OBW system 520 processor

Claims

Claim 1 A real-time weight compensation method for automatic swing control of a construction machine, wherein the construction machine comprises a lower traveling body and an upper structure swingably supported on the lower traveling body, and the upper structure comprises an upper slewing body, a boom connected to the upper slewing body, an arm connected to the boom, and an attachment connected to the arm, and using one or more detection means, the current arm joint angle (θ c Measure ) and use a pressure measuring means to measure the current arm joint angle (θ c Current boom cylinder pressure (P) at ) c Step of measuring ); current arm joint angle (θ c Measured current boom cylinder pressure (P) c ) and the corresponding arm joint angle (θ c Pre-set reference boom cylinder pressure (P) at ) r A step of calculating the pressure difference (P) between ); the calculated pressure difference (P) and a predefined reference additional weight (W) at the corresponding pressure difference (P). r Step of converting to ); and additional reference weight (W r A method comprising the step of updating the swing moment of inertia of the superstructure in real time by reflecting ). Claim 2 In claim 1, the reference boom cylinder pressure (P) according to the arm joint angle r A method characterized by being determined by linearly interpolating the boom cylinder pressure (P1) when the swing moment of inertia of the superstructure is minimum and the boom cylinder pressure (P2) when the swing moment of inertia of the superstructure is maximum with respect to the standard specifications of the construction machine. Claim 3 A method according to paragraph 2, characterized in that when the arm joint angle is at its minimum, the posture of the construction machine is in a state where the boom is pulled up, the arm is pulled in, and the attachment is pulled in, and when the arm joint angle is at its maximum, the posture of the construction machine is in a state where the arm is pulled out, the attachment is pulled in, and the height of the first pin connecting the boom and the upper slewing body matches the height of the second pin connecting the attachment and the arm. Claim 4 A method according to claim 1, characterized in that the pressure measuring means is installed in a boom cylinder. Claim 5 A method according to claim 1, wherein the detection means is an inertial measurement unit (IMU) or an angle sensor. Claim 6 A method according to claim 1, characterized in that, in the step of calculating the pressure difference (P), if the pressure difference (P) is calculated to be a negative value, the pressure difference (P) is output as 0. Claim 7 A method according to claim 1, characterized in that the swing inertia moment of the updated superstructure is applied to a swing boundary limit function that causes the swing of the superstructure to stop at a swing limit point set by an operator. Claim 8 As a real-time weight compensation system for automatic swing control of construction machinery, the construction machinery comprises a lower traveling body and an upper structure swingably supported on the lower traveling body, and the upper structure comprises an upper slewing body, a boom connected to the upper slewing body, an arm connected to the boom, and an attachment connected to the arm, and the current arm joint angle (θ c One or more detection means for measuring ) in real time; current arm joint angle (θ c Current boom cylinder pressure (P) at ) c Pressure measuring means for measuring ) in real time; and current arm joint angle (θ c ) and current boom cylinder pressure (P c It includes a processor that performs real-time weight compensation based on ), and said processor, the current arm joint angle (θ c Measured current boom cylinder pressure (P) c ) and the corresponding arm joint angle (θ c The previously defined reference boom cylinder pressure (P) at ) r Calculate the pressure difference (P) between ), and the calculated pressure difference (P) is used as a preset reference additional weight (W) at the corresponding pressure difference (P). r Convert to ), and additional reference weight (W r A system that updates the swing moment of inertia of the superstructure in real time by reflecting ). Claim 9 In claim 8, the reference boom cylinder pressure (P) according to the arm joint angle r A system characterized by being determined by linearly interpolating the boom cylinder pressure (P1) when the swing moment of inertia of the superstructure is minimum and the boom cylinder pressure (P2) when the swing moment of inertia of the superstructure is maximum with respect to the standard specifications of the construction machine. Claim 10 A system according to claim 9, characterized in that when the swing moment of inertia of the superstructure is minimum, the posture of the construction machine is in a state where the boom is pulled up, the arm is pulled in, and the attachment is pulled in, and when the swing moment of inertia of the superstructure is maximum, the posture of the construction machine is in a state where the arm is pulled out, the attachment is pulled in, and the height of the first pin connecting the boom and the upper slewing body matches the height of the second pin connecting the attachment and the arm. Claim 11 A system according to claim 8, characterized in that the pressure measuring means is installed in a boom cylinder. Claim 12 A system according to claim 8, characterized in that the detection means is an inertial measurement unit (IMU) or an angle sensor. Claim 13 A system according to claim 8, wherein the processor outputs the pressure difference (P) as 0 when the pressure difference (P) is calculated to be a negative value. Claim 14 A system characterized in that, in claim 8, the swing inertia moment of the updated superstructure is applied to a swing boundary limit function that causes the swing of the superstructure to stop at a swing limit point set by the operator. Claim 15 A computer program product comprising program code for performing the method of any one of claims 1 through 7 when executed on a computer. Claim 16 A computer-readable storage medium comprising instructions that perform the method of any one of claims 1 through 7 when executed on a computer.

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