Construction machinery and its driving method

Abstract

The present invention relates to a construction machine capable of reducing the load of a processing unit and a method for driving the same, comprising: a main processing unit that generates an identifier list including identifiers of data required for performing a requested task; and a sub-processing unit that, based on the identifier list from the main processing unit, selectively filters data from an external source that includes identifiers of the identifier list and transmits them to the main processing unit.

Description

Technology Field

[0001] The present invention relates to construction machinery, and more particularly to construction machinery capable of reducing the load of the main processing unit and a method for driving the same. Background Technology

[0002] As construction machinery becomes more electronic, the number of nodes (electronic components or electronic control units) participating in CAN communication is increasing, and as a result, the amount of data transmitted from each node is also rapidly increasing.

[0003] Therefore, there is a problem in that the load on the processing unit processing such a large amount of data increases.

[0004] Korean Published Patent No. 10-2019-0006922, related to CAN communication, discloses a method for increasing data throughput in CAN communication. The problem to be solved

[0005] The purpose of the present invention is to provide a construction machine capable of reducing the load of a processing unit and a method for driving the same. means of solving the problem

[0006] A construction machine according to the present invention for achieving the above-mentioned purpose comprises: a main processing unit (501) that generates an identifier list including identifiers of data required for performing a requested task; and a sub-processing unit (502) that selectively filters data including identifiers of the identifier list among data from the outside based on the identifier list from the main processing unit (501) and transmits the filtered data to the main processing unit (501).

[0007] The identifiers in the above list of identifiers are sorted based on the size of the identifier.

[0008] The above processing unit (502) selectively filters data corresponding to identifiers in the identifier list among the data from the outside through a binary search algorithm.

[0009] The above sub-processing unit (502) registers the list of identifiers generated from the above main processing unit (501) inside the above sub-processing unit (502).

[0010] The above processing unit (502) deletes the previously registered identifier list before registering the identifier list.

[0011] It further includes at least one bus line through which data from the above external source is transmitted.

[0012] The above main processing unit and the above sub-processing unit are display control units.

[0013] It further includes an automatic vehicle monitoring device and an inertial sensor connected to the above-mentioned display control unit.

[0014] In addition, a method for driving a construction machine according to the present invention for achieving the above-mentioned purpose comprises: a step of generating an identifier list including identifiers of data required for performing a requested task; a step of selectively filtering data from an external source that includes identifiers of the identifier list based on the identifier list; and a step of transmitting the filtered data.

[0015] The identifiers in the above list of identifiers are sorted based on the size of the identifier.

[0016] The step of selectively filtering the data selectively filters the data using a binary search algorithm.

[0017] It further includes the step of registering the above-generated list of identifiers.

[0018] It further includes the step of deleting a previously registered list of identifiers before registering the above-mentioned list of identifiers. Effects of the invention

[0019] According to the construction machine and the driving method thereof according to the present invention, since the sub-processing unit selectively filters only the data necessary for performing the currently requested task and provides it to the main processing unit, the load on the main processing unit's data processing can be reduced. Brief explanation of the drawing

[0020] FIG. 1 is a diagram showing a data frame of a CAN communication message for a construction machine according to one embodiment of the present invention. Figure 2 is a diagram showing an example of a protocol data unit among the frame formats of Figure 1. FIG. 3 is a block diagram of a construction machine according to one embodiment of the present invention. FIG. 4 is a drawing for explaining a driving method of a construction machine according to one embodiment of the present invention. Figure 5 is a diagram for explaining the operation of the sub-processing unit of Figure 4. Figure 6 is a diagram showing an example of an identifier list. Figure 7 is a diagram illustrating a method for finding a target value by a binary search algorithm. Figure 8 is a diagram showing code with a binary search algorithm applied. Specific details for implementing the invention

[0021] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Accordingly, in some embodiments, well-known process steps, well-known device structures, and well-known techniques are not specifically described to avoid the present invention being interpreted ambiguously. Throughout the specification, like reference numerals refer to like components.

[0022] Thicknesses have been enlarged in the drawings to clearly represent various layers and regions. Throughout the specification, the same reference numerals have been used for similar parts.

[0023] In this specification, when it is stated that a part is connected to another part, this includes not only cases where they are directly connected, but also cases where they are electrically connected with other elements interposed between them. Furthermore, when it is stated that a part includes a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0024] In this specification, terms such as first, second, third, etc. may be used to describe various components, but these components are not limited by said terms. These terms are used for the purpose of distinguishing one component from other components. For example, without departing from the scope of the present invention, the first component may be named the second or third component, and similarly, the second or third component may be named alternately.

[0025] Unless otherwise defined, all terms used in this specification (including technical and scientific terms) may be used in a meaning commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0026] Hereinafter, a construction machine according to the present invention will be described in detail with reference to FIGS. 1 to 8.

[0028] FIG. 1 is a diagram showing a data frame of a CAN communication message for a construction machine according to one embodiment of the present invention.

[0029] CAN (Control Area Network) communication is a multi-master network that utilizes the CSMA / CD+AMP (Carrier Sense Multiple Access / Collision Detection with Arbitration on Message Priority) method. Before transmitting a message to a node (e.g., an electronic component), the CAN communication system determines whether the bus line (e.g., a CAN bus line) is in use and performs collision detection between messages. At this time, a message transmitted from any node does not include the address of the sender or receiver. In other words, CAN communication does not use an addressing method. Instead, at the beginning of the message, each node has a unique identifier (ID—11 bits or 29 bits) to identify each node on the CAN network.

[0030] All nodes connected to a network receive messages on the network and accept them only if they have the identifier they require, ignoring messages that do not. When data from multiple nodes flowing through a network (e.g., a CAN communication line) simultaneously enters a node required by a user, the CAN communication system determines the priority of the message to be accepted by comparing the identifier numbers; the lower the identifier number, the higher the priority. Messages with higher priority are guaranteed access to the bus line, while messages with lower priority are automatically retransmitted in the next bus cycle. Each message has an 11-bit identifier (CAN 2.0A) or a 29-bit identifier (CAN 2.0B) and is located at the very beginning of the message. These identifiers serve to identify the message type and assign priority to the message.

[0031] CAN communication defines four frame types: data frame, remote frame, error frame, and overload frame.

[0032] Data frames are generally used for data transmission, while remote frames are used when a receiving node requests transmission from a sending node capable of transmitting the desired message.

[0033] Error frames are used to notify the system when an error in a message is detected.

[0034] Overload frames are used for the purpose of synchronizing messages. In CAN communication, data transmission and reception are performed using message frames. The frame format of a CAN communication message can have a structure as shown in FIG. 1.

[0035] The Start of Frame (SOF) field consists of a single dominant bit, indicates the beginning of the message, and is used for synchronization of all nodes.

[0036] The arbitration field (200) may include a basic identifier (201) with a size of 11 bits, a Substitute Remote Request (SRR) bit (202) with a size of 1 bit, an Identifier Extension (IDE) bit (203) with a size of 1 bit, an extended identifier (204) with a size of 18 bits, and a Remote Transmission Request (RTR) bit (205) with a size of 1 bit. This arbitration field (200) is used to coordinate collisions between messages that occur when message transmissions occur simultaneously at two or more nodes. The value of the RTR bit (205) is used to determine whether the frame is a data frame ('d') or a remote frame ('r'). Here, the IDE bit (203) is placed between the basic identifier (201) and the extended identifier (204) so ​​that the basic identifier (201) and the extended identifier (204) can be distinguished from each other.

[0037] The control field (300) consists of a first reserved bit (r1) having a size of 1 bit, a second reserved bit (r0) having a size of 1 bit, and a data length code (DLC) having a size of 4 bits.

[0038] The data field (400) can be up to 8 bytes and is used to store data (including data transmitted from a specific node to another node).

[0039] The CRC field (500) consists of a 15-bit CRC sequence (501) generated using the bit sequence from the frame start field (SOF) to the data field (400) and a one 'r'-bit CRC delimiter (502). This is used to check for errors in the message.

[0040] The ACK field (600) consists of a one-bit ACK slot (601) and a one-bit ACK delimiter (602). When a valid message is received at any node, the value of the ACK slot (601) is set to 'd' at the moment the ACK field (600) is received, and the message is continuously transmitted on the bus.

[0041] The frame end field (700) consists of 7 'r' bits and is used to indicate the end of the message.

[0042] Meanwhile, a frame interruption field (800) may follow the frame end field (700). After this frame interruption field (700), the bus line may be recognized as being in a free state.

[0044] Figure 2 is a diagram showing an example of a Protocol Data Unit (PDU) in the frame format of Figure 1.

[0045] Referring to FIG. 2, a protocol data unit (PDU) may include an identifier (ID) and a data field (400) having a size of 29 bits. In other words, the protocol data unit (PDU) may be defined by an identifier (ID) and a data field (400) having a size of 29 bits. Here, the identifier (ID) includes the aforementioned basic identifier (201) and extended identifier (204).

[0046] The identifier (ID) of a protocol data unit (PDU) includes a priority field (P) with a size of 3 bits, a reservation bit (R) with a size of 1 bit, a data page field (DP) with a size of 1 bit, a PDU format field (PF) with a size of 8 bits, a PDU specification field (PS) with a size of 8 bits, and a source address field (SA) with a size of 8 bits.

[0047] The priority field (P) is used to determine the priority of a message during arbitration processing. This priority field (P) establishes the priority of messages in the network and ensures that messages with higher importance are transmitted and received before messages with lower priority. For example, the smaller the value of the priority field (P), the higher the priority of the message. As a specific example, when the priority field (P) has a value of “000,” messages containing that priority field (P) value are processed first. Conversely, when the priority field (P) has a value of “111,” messages containing that priority field (P) value are processed last.

[0048] The reserved bit (R) is reserved for future use. When a message is transmitted, the value of this reserved bit (R) must always be set to “0”.

[0049] The data page field (DP) functions as a page selector for the PDU format field (PF). When the value of the data page field (DP) is “0”, it refers to page 0. Meanwhile, page 1 is reserved for future use.

[0050] The PDU format field (PF) can have values ​​from 0 to 255 (e.g., 0x00 to 0xFF).

[0051] The PDU specification field (PS) is defined according to the value of the PDU format field (PF). For example, when the PDU format field (PF) has a value from 0 to 239 (e.g., Ox00 to OxEF), the PDU specification field (PS) contains the destination address of the node receiving the message (i.e., the receiving node). In other words, when the PDU format field (PF) is defined as a first PDU format field (PDU1 Format) having a value from 0 to 239 (e.g., Ox00 to OxEF), the PDU specification field (PS) defines the destination address of the node receiving the message (i.e., the receiving node).

[0052] Meanwhile, when the PDU format field (PF) has a value of 240 to 255 (e.g., OxF0 to OxFF), the PDU specification field (PS) includes a group extension. In other words, when the PDU format field (PF) is defined as a second PDU format field (PDU2 Format) having a value of 240 to 255 (e.g., OxF0 to OxFF), the PDU specification field (PS) defines a group extension. This group extension provides a large number of configuration values ​​for identifying messages broadcast to all nodes on the network.

[0053] The source address field (SA) indicates the address of the node transmitting the message (e.g., the sending node).

[0054] Meanwhile, among the six areas included in the aforementioned identifier (ID), the priority field (P), the reserve bit (R), the data page field (DP), the PDU format field (PF), and the PDU specification field (PS) can be defined as the parameter group number (PG) (Parameter Group Number; PGN). Hereinafter, for convenience of explanation, the parameter group number will be referred to as the parameter group number (PGN). Through the parameter group number (PGN) of a received message, the receiving node can identify the type of data included in the received message.

[0055] A parameter group may be engine temperatures, such as engine coolant temperature, fuel temperature, oil temperature, etc. Parameter groups (PG) and parameter group numbers (PGN) are listed in SAE J1939 (approximately 300 pages) and defined in SAE J1939 / 71. SAE 1939 contains an approximately 800-page document filled with parameter group definitions and Suspect Parameter Numbers (SPNs).

[0057] FIG. 3 is a block diagram of a construction machine according to one embodiment of the present invention.

[0058] A construction machine according to one embodiment of the present invention may include various electronic components (11, 12, 13, 14, 15), bus lines (CBL2, CBL2) and a display control unit (500), as shown in FIG. 3.

[0059] The embodiments of the present invention are described as an example of a structure applied to construction machinery, but are not limited thereto, and can be applied to various vehicles equipped with engines, heavy equipment, agricultural machinery, etc.

[0060] A construction machine, such as an excavator, comprises, for example, a lower body having a driving device driven by a hydraulic motor for driving, a slewing device driven by a hydraulic motor for slewing, an upper body positioned on the lower body through the slewing device, and a workpiece mounted at the front central position of the upper body, and a cab is provided in the upper body. The workpiece includes a boom connected to the upper body so as to be movable up and down, an arm rotatably connected to the boom, and a bucket rotatably connected to the arm, and hydraulic cylinders for operating them, including a boom cylinder, an arm cylinder, and a bucket cylinder.

[0061] A driver's seat is provided in the driver's cab, and a driving lever, driving pedal, and attachment pedal are mounted in front of the driver's seat to control the lower vehicle. Additionally, operating levers for operating the boom, arm, and bucket are provided on both sides of the driver's seat, and a starter switch (STD), horn button, safety lever, gauge panel (GP), etc. are installed on one side of the operating lever.

[0062] Various electronic components (11 to 14) may include, for example, an engine control unit (11), a vehicle control unit (12), an automatic vehicle monitoring device (13), and an inertial sensor (14).

[0063] The display control unit (500) controls a gauge panel that displays the speed, engine rotation speed, internal / external temperature, fuel amount, etc. of the construction machine.

[0064] The electronic components (11 to 14) and the display control unit (500) communicate through bus lines (CBL1, CBL2). In other words, the electronic components (11 to 14) and the display control unit (500) can exchange CAN communication messages through the bus lines (CBL1, CBL2).

[0065] At this time, electronic components can communicate with the display control unit (500) through different bus lines. For example, the engine control unit (11), automatic vehicle monitoring device (13), and inertial sensor (14) are connected to the display control unit (500) through the first bus line (CBL1), and the vehicle control unit (12) can be connected to the display control unit (500) through the second bus line (CBL2).

[0066] The display control unit (500) may include a sub-processing unit (502) and a main processing unit (501). Here, the main processing unit may include a central processing unit (CPU), and the sub-processing unit may include a micro control unit (MCU).

[0067] The main processing unit (501) receives various data transmitted from electronic components (11 to 14) through bus lines (CBL1, CBL2) and the sub-processing unit (502). The main processing unit (501) processes the various data received through the bus lines (CBL1, CBL2) and can supply the processed data (e.g., data related to the speed of the construction machine, engine rotation speed, internal / external temperature, fuel amount, etc.) to a gauge panel.

[0068] Additionally, the main processing unit (501) generates an identifier list. This identifier list may include identifiers (IDs) of data required for performing a request operation. If there are multiple data required for performing a request operation, the identifier list may include identifiers for each of the multiple data. For example, if the data required for performing a request operation consists of first to tenth data, the identifier list may include first to tenth identifiers corresponding to the first to tenth data. Here, the first identifier is the identifier of the first data, the second identifier is the identifier of the second data, the third identifier is the identifier of the third data, the ninth identifier is the identifier of the ninth data, and the tenth identifier is the identifier of the tenth data. In other words, the nth identifier refers to the identifier of the nth data. Here, n is a natural number.

[0069] The main processing unit (501) may include at least one application for performing a requested task, and this application requires data related to the requested task to perform the requested task. For example, if the requested task is information related to the speed of a construction machine to be displayed on a gauge panel, the main processing unit (501) may receive speed-related data required by the application from the sub-processing unit (502), process the received speed-related data using the application, and transmit the processed data to the gauge panel. Then, the gauge panel displays the speed-related information as an image on the screen based on the processed data.

[0070] Meanwhile, the main processing unit (501) can distinguish the data required for the operation of each application based on the information stored in the database. For example, if a first application and a second application requiring different data are installed in the main processing unit (501), information regarding the data required by the first application and information regarding the data required by the second application may be stored in advance in the database. For example, identifier information of the data required for the execution of the first application and identifier information of the data required for the execution of the second application may be stored in advance in the database.

[0071] The main processing unit (501) can generate an identifier list based on information stored in the aforementioned database. For example, the main processing unit (501) can generate a first identifier list including identifiers of data required for the execution of the aforementioned first application, and a second identifier list including identifiers of data required for the execution of the second application.

[0072] The main processing unit (501) sorts the identifiers in the identifier list based on the size of the identifiers. For example, the main processing unit (501) can sort the identifiers in the identifier list in ascending or descending order based on the size of the identifiers. As a specific example, the identifiers in the first identifier list described above can be sorted in ascending order based on the size of the identifiers, and likewise, the identifiers in the second identifier list described above can be sorted in ascending order based on the size of the identifiers.

[0073] The list of identifiers generated in this way can be transmitted to the sub-processing unit (502). In other words, the main processing unit (501) can transmit the generated list of identifiers to the sub-processing unit (502).

[0074] The sub-processing unit (502) selectively filters data from the outside that includes an identifier from the identifier list based on the identifier list. For example, there is data transmitted from electronic components (11 to 14) in the bus lines (CBL1, CBL2), and the sub-processing unit (502) searches for data that matches an identifier (ID) from the identifier list among the data in the bus lines (CBL1, CBL2). For example, if the identifier list includes identifiers 1 through 10, the sub-processing unit (502) selects one of the data from the bus lines (CBL1, CBL2), compares the identifier of the selected data with the identifiers 1 through 10 of the identifier list, and if the comparison result shows that the identifier of the selected data matches one of the identifiers in the identifier list, the selected data is transmitted to the main processing unit (501). On the other hand, if the comparison result shows that the identifier of the selected data does not match any of the identifiers in the identifier list, the sub-processor (502) does not transmit the selected data to the main processing unit (501). In this way, the sub-processor (502) compares each of the data from the bus lines (CBL1, CBL2) one by one with the identifiers in the identifier list, selectively filters only the data having identifiers that match the identifiers in the identifier list based on the comparison, and transmits the filtered data to the main processing unit (501). Here, the sub-processor (502) can find data that matches the identifier (ID) in the identifier list, for example, by using a binary search algorithm.

[0075] The main processing unit (501) executes the corresponding application using the filtered data. That is, the filtered data are ultimately the data required for the operation of the corresponding application, so the main processing unit (501) can run the corresponding application using only the data required by the corresponding application. Therefore, the load on the main processing unit (501) during the process of processing data using the application can be significantly reduced.

[0076] Meanwhile, as described above, if a first application and a second application exist, the sub-processor (502) filters data from bus lines (CBL1, CBL2) based on a first identifier list containing identifiers of data related to the execution of the first application and a second identifier list containing identifiers of data related to the execution of the second application. That is, from the data of the bus lines (CBL1, CBL2), the sub-processor (502) selectively filters first data having identifiers that match the identifiers of the first identifier list, selectively filters second data that match the identifiers of the second identifier list, and transmits the filtered first data and second data to the main processing unit (501). The main processing unit (501) can distinguish the first data and the second data through a database (or the first identifier list and the second identifier list). That is, the main processing unit (501) can determine that among the first and second data transmitted from the sub-processing unit (502), the first data is data required for the execution of the first application and the second data is data required for the execution of the second application. The main processing unit (501) executes the first application using the first data and executes the second application using the second data.

[0077] The gauge panel can display the speed, engine rotation speed, internal / external temperature, fuel amount, etc. of the construction machine on the screen of the gauge panel based on data provided from the main processing unit (501).

[0079] FIG. 4 is a drawing for explaining a driving method of a construction machine according to one embodiment of the present invention.

[0080] First, the main processing unit (501) checks the data required for performing the request task through a database. Then, the main processing unit (501) generates an identifier list (S1) containing identifiers (IDs) of the data required for performing the request task. At this time, the main processing unit (501) generates the identifier list by sorting the identifiers based on the size of the identifiers. Here, the request task can be performed by a specific application of the main processing unit (501).

[0081] Afterwards, the main processing unit (501) transmits the list of identifiers to the sub-processing unit (502).

[0082] Next, the sub-processing unit (502) registers the list of identifiers provided by the main processing unit (501) internally (S2). For example, the sub-processing unit (502) can store the received list of identifiers in an internal storage device.

[0083] Next, the sub-processor (502) filters data from bus lines (CLB1, CLB2) based on an identifier list (S3). That is, the sub-processor (502) selectively extracts (or filters) only the data from the bus lines that has an identifier matching an identifier in the identifier list. Here, the sub-processor (502) can find data matching an identifier in the identifier list, for example, by using a binary search algorithm. The sub-processor (502) transmits the extracted data to the main processing unit (501).

[0084] Afterwards, the main processing unit (501) performs a request operation based on the data from the sub-processing unit (502) (S4). For example, the main processing unit (501) can perform the aforementioned request operation by executing the corresponding application based on the data from the sub-processing unit (502).

[0085] Meanwhile, when a new request task is received (S5), the main processing unit (501) generates a new identifier list containing identifiers of new data required to perform the new request task. Here, if the aforementioned existing request task is a task for displaying first information on the screen of a gauge panel, the new request task may be a task for displaying second information different from the first information on the screen of the gauge panel. In other words, when it is necessary to switch the screen of the gauge panel, a new request task may be generated to display the switched new screen.

[0086] The process of filtering bus line data based on this new list of identifiers is the same as the process described above.

[0088] FIG. 5 is a diagram for explaining the operation of the sub-processing unit (502) of FIG. 4.

[0089] First, when a start signal is input to the construction machine, the sub-processing unit (502) is initialized (S11). Accordingly, the list of existing identifiers registered in the sub-processing unit (502) is deleted. For example, the list of existing identifiers stored in the storage unit of the sub-processing unit (502) may be deleted.

[0090] Afterwards, the sub-processor determines whether the list of identifiers newly generated from the main processing unit has been registered (S22).

[0091] If a list of registered identifiers exists, the sub-processing unit (502) filters data from bus lines based on the identifier list as described above. In other words, the sub-processing unit (502) compares each piece of data from bus lines one by one with the identifiers in the identifier list and, based on the comparison, finds data that has identifiers matching the identifiers in the identifier list (S33).

[0092] Meanwhile, if there is no list of registered identifiers, the sub-processing unit (502) does not transmit data to the main processing unit (501).

[0093] The sub-processing unit (502) transmits the data to the main processing unit (501) if the data from the bus line has an identifier that matches the identifier in the identifier list (S44). On the other hand, if the data from the bus line has an identifier that does not match the identifier in the identifier list, the data is not transmitted to the main processing unit (501).

[0095] Figure 6 is a diagram showing an example of an identifier list.

[0096] The first identifier list of FIG. 6 may include identifiers of data related to information of the first screen (601) of the gauge panel, for example. As illustrated in FIG. 5, the identifiers of the first identifier list are arranged in ascending order. In other words, the identifiers of the first identifier list are arranged so that their size tends to gradually increase along the direction from the bottom to the top.

[0097] The second identifier list of FIG. 6 may include identifiers of data related to information on the second screen (602) of the gauge panel, for example. As illustrated in FIG. 6, the identifiers of the second identifier list are arranged in ascending order. In other words, the identifiers of the second identifier list are arranged so that their size tends to gradually increase along the direction from the bottom to the top.

[0098] The first identifier list and the second identifier list are transmitted to the sub-processing unit (502).

[0100] Figure 7 is a diagram illustrating a method for finding a target value by a binary search algorithm, and Figure 8 is a diagram showing code to which the binary search algorithm is applied.

[0101] As illustrated in FIG. 7, when the target value to be found is 75, as a first step of the search, the sum of the minimum index 0 and the maximum index 9 is divided by 2 to find the first intermediate index. This first intermediate index is 4 (decimal places are discarded). The median value corresponding to this first intermediate index 4 is 23, and this median value 23 is smaller than the target value 75. That is, the median value found in the first step is different from the target value. Therefore, a second step of the search is performed. At this time, since the median value in the first step of the search is smaller than the target value, indices having values ​​less than or equal to that median value, namely indices 0 to 4, are excluded during the second step of the search.

[0102] As a second stage of the search, the second intermediate index is found by dividing the sum of the minimum index 5 and the maximum index 9 by 2. This second intermediate index is 7. The median value corresponding to this second intermediate index 7 is 65, and this median value 65 is smaller than the target value 75. That is, the median value found in the second stage is different from the target value. Therefore, the third stage of the search is performed. At this time, since the median value in the second stage of the search is smaller than the target value, indices having values ​​less than or equal to that median value, namely indices 0 through 7, are excluded during the third stage of the search.

[0103] As a third step of the search, the third intermediate index is found by dividing the sum of the minimum index 8 and the maximum index 9 by 2. This third intermediate index is 8 (decimal places are discarded). The median value corresponding to this third intermediate index 8 is 75, and this median value 75 is equal to the target value 75. In other words, the median value found in the third step matches the target value. Therefore, the target value can be found through the third step of the search.

[0104] The 10 indices of FIG. 7 may be, for example, the first to tenth identifiers of the aforementioned list of identifiers. And, the values ​​corresponding to the 10 indices may be data corresponding to the first to tenth identifiers, respectively.

[0105] The code in Fig. 8 shows the process of finding data to be filtered by applying the binary search algorithm of Fig. 7.

[0107] It will be obvious to those skilled in the art that the invention described above is not limited to the embodiments and attached drawings described above, and that various substitutions, modifications, and changes are possible within the scope of the technical concept of the invention. Explanation of the symbols

[0108] 11: Engine Control Unit 12: Vehicle Control Unit 13: Automatic vehicle monitoring device 14: Inertial sensor CBL1: Bus Line 1 CBL2: Bus Line 2 500: Display control unit 501: Main processing unit 502: Sub-processing unit

Claims

Claim 1 A construction machine comprising: a main processing unit that generates an identifier list including identifiers of data required for the performance of a request task; and a sub-processing unit that, based on the identifier list from the main processing unit, compares each of the data from the outside with the identifiers in the identifier list and selectively filters only the data having identifiers that match the identifiers in the identifier list and transmits them to the main processing unit. Claim 2 A construction machine according to claim 1, further comprising at least one bus line through which data from the outside is transmitted. Claim 3 In claim 1, the main processing unit and the sub-processing unit are a display control unit, a construction machine. Claim 4 A construction machine according to claim 3, further comprising an automatic vehicle monitoring device and an inertial sensor connected to the display control unit. Claim 5 A method for operating a construction machine comprising: generating an identifier list containing identifiers of data required for performing a request operation; comparing each of the data from the outside with the identifiers in the identifier list based on the identifier list, and selectively filtering only the data having identifiers that match the identifiers in the identifier list; and transmitting the filtered data. Claim 6 In claim 5, the identifiers of the above-mentioned list of identifiers are driving methods of construction machinery arranged based on the size of the identifiers. Claim 7 In claim 6, the step of selectively filtering data is a driving method of a construction machine that selectively filters said data using a binary search algorithm. Claim 8 A method for driving a construction machine according to claim 5, further comprising the step of registering the generated list of identifiers. Claim 9 A method for driving a construction machine according to claim 8, further comprising the step of deleting a previously registered list of identifiers before registering the generated list of identifiers.

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