Method and device for controlling attachment of construction machine

Abstract

The present invention relates to a method for controlling the attitude of an attachment provided in a construction machine comprising a driving body, a slewing body mounted so as to be pivotable on the driving body, a boom having one end mounted on the slewing body, an arm having one end mounted on the other end of the boom, a tilt rotator mounted on the other end of the arm, and an attachment mounted on the tilt rotator, the method comprising: collecting measurement values ​​from a plurality of sensors installed in the construction machine; calculating the current attitude of the construction machine based on the measurement values; and calculating a tilt angle and a bucket angle to reach a target attitude from the current attitude. The present invention relates to a method for controlling the attitude of a construction machine attachment, comprising: a target attitude in which the rotation axis of the tilt rotator is parallel to a first axis extending along the direction of gravity; a tilt angle is a rotation angle required to reach the target attitude based on a second axis orthogonal to the first axis; and a bucket angle is a rotation angle required to reach the target attitude based on a third axis orthogonal to the first axis and the second axis.

Description

Technology Field

[0001] The present invention relates to a method and apparatus for controlling the attachment posture of a construction machine. Background Technology

[0002] Generally, at earthwork sites, various attachments are connected to construction machinery such as excavators to perform many types of work. For example, when materials stored on-site need to be moved to a location where work is required, an excavator equipped with a forklift attachment lifts pallets loaded with materials using the attachment, transports them to the work site, and then unloads them at a designated location.

[0003] At this time, if only the fork attachment is mounted on the excavator, it is possible to operate the fork attachment to tilt in the forward and backward directions, but it is impossible to operate it to tilt in the left and right directions. Since it is difficult to maintain the fork in a horizontal state in such cases, a tilt rotator is additionally connected between the excavator's arm and the attachment to enable operation in the left and right directions, thereby keeping the fork and the materials loaded on the fork horizontal and preventing the materials from falling.

[0004] However, conventionally, since the excavator must be driven with the load lifted on the forklift attachment and the boom, arm, attachment, and tilting operations must be operated simultaneously and in combination to adjust the posture, it is an extremely difficult task even for highly skilled professionals.

[0005] In particular, when the excavator itself is tilted or when the tilt rotator is tilted and the material must be moved to the unloading location by rotating the tilt rotator, the weight of the material prevents the tilt rotator from rotating at a normal speed, and the material may fall and be damaged or even pose a risk of injury due to excessive operation to repeatedly adjust the horizontal position. The problem to be solved

[0006] The objective of the present invention, devised to solve the aforementioned problems, is to provide a method and apparatus for controlling the attachment posture of an automatically controllable construction machine so that the attachment can always maintain a specific posture regardless of the posture of the boom or arm.

[0007] In addition, another objective of the present invention is to provide a method and apparatus for controlling the attachment posture of a construction machine capable of calculating in real time the tilt angle and bucket angle required for the attachment to reach a horizontal state from the current posture of the construction machine.

[0008] In addition, another objective of the present invention is to provide a method and apparatus for controlling the attachment posture of a construction machine, which can prevent the risk of materials loaded on the attachment falling by maintaining the attachment posture in a horizontal state. means of solving the problem

[0009] According to a feature of the present invention for achieving the above-described purpose, the present invention comprises a construction machine including a driving body, a slewing body mounted so as to be pivotable on the driving body, a boom having one end mounted on the slewing body, an arm having one end mounted on the other end of the boom, a tilt rotator mounted on the other end of the arm, and an attachment mounted on the tilt rotator, and a method for controlling the attitude of the attachment, the method comprising: collecting measurement values ​​from a plurality of sensors installed on the construction machine; calculating the current attitude of the construction machine based on the measurement values; and calculating a tilt angle and a bucket angle to reach a target attitude from the current attitude. It includes, wherein the target posture is a posture in which the rotation axis of the tilt rotator is parallel to a first axis extending along the direction of gravity, the tilt angle is a rotation angle required to reach the target posture based on a second axis orthogonal to the first axis, and the bucket angle may be a rotation angle required to reach the target posture based on a third axis orthogonal to the first axis and the second axis.

[0010] Additionally, the current posture can be calculated based on angle information of the tilt of the slewing body with respect to the second axis, angle information of the tilt of the slewing body with respect to the third axis, angle information of the tilt of the boom with respect to the third axis, angle information of the tilt of the arm with respect to the third axis, angle information of the tilt of the attachment with respect to the third axis, direction and angle information of the tilt of the tilt rotator with respect to the second axis, and rotation angle information of the tilt rotator rotated with respect to the first axis.

[0011] Additionally, it may further include the step of generating a control signal to control the operation of the tilt rotator and the attachment based on the tilt angle and the bucket angle.

[0012] Additionally, a control signal for controlling the operation of the tilt rotator and the attachment may include a control signal for controlling the operation of a bucket cylinder, one end of which is connected to the arm and the other end of which is connected to the tilt rotator based on the bucket angle, and a control signal for controlling the operation of a tilt cylinder provided in the tilt rotator based on the tilt angle.

[0013] In addition, in the step of generating the control signal, the amount of change of the bucket cylinder corresponding to the bucket angle is calculated, and based on the calculated amount of change of the bucket cylinder, the flow rate of the hydraulic fluid supplied to the bucket cylinder and the control signal corresponding to the flow rate can be generated.

[0014] In addition, the boom or the arm may operate in response to the amount of operation by the operator on the operating device provided on the slewing body.

[0015] In addition, the step of calculating the tilt angle and bucket angle to reach the target posture from the current posture can be performed whenever the current posture changes, provided that the amount of operation by the operator on at least one of the boom and the arm is input.

[0016] In addition, prior to the step of collecting the above measurement values, the method may further include the step of receiving an automatic control activation signal through the operating device.

[0017] In addition, when the above automatic control activation signal is received, if at least one of a first amount of operation for controlling the tilt operation of the tilt rotator and a second amount of operation for controlling the movement of the attachment based on the third axis is input through the operating device, the operation of the tilt rotator and the attachment can be controlled according to the larger value among the control signal corresponding to the tilt angle and the control signal corresponding to the first amount of operation, and the larger value among the control signal corresponding to the bucket angle and the control signal corresponding to the second amount of operation.

[0018] Next, the present invention comprises a device for controlling the attitude of an attachment provided in a construction machine comprising a driving body, a swivel body mounted rotatably on the driving body, a boom with one end mounted on the swivel body, an arm with one end mounted on the other end of the boom, a tilt rotator mounted on the other end of the arm, and an attachment mounted on the tilt rotator, the device comprising: a data collection module for collecting measurement values ​​from a plurality of sensors installed in the construction machine; and a current attitude calculation module for calculating the current attitude of the construction machine based on the measurement values ​​collected from the data collection module. and a target posture calculation module for calculating a tilt angle and a bucket angle to reach a target posture from the current posture; wherein the target posture is a posture in which the rotation axis of the tilt rotator is parallel to a first axis extending along the direction of gravity, the tilt angle is a rotation angle required to reach the target posture based on a second axis orthogonal to the first axis, and the bucket angle is a rotation angle required to reach the target posture based on a third axis orthogonal to the first axis and the second axis.

[0019] In addition, the current attitude calculation module can calculate the current attitude based on angle information of the tilt of the swivel body with respect to the second axis, angle information of the tilt of the swivel body with respect to the third axis, angle information of the tilt of the boom with respect to the third axis, angle information of the tilt of the arm with respect to the third axis, angle information of the tilt of the attachment with respect to the third axis, direction and angle information of the tilt of the tilt rotator with respect to the second axis, and rotation angle information of the tilt rotator rotated with respect to the first axis.

[0020] Additionally, it may further include a control signal generating module that generates a control signal for controlling the operation of the tilt rotator and the attachment based on the tilt angle and the bucket angle.

[0021] In addition, the control signal generation module can generate a control signal for controlling the operation of a bucket cylinder, one end of which is connected to the arm and the other end of which is connected to the tilt rotator, based on the bucket angle, and a control signal for controlling the operation of a tilt cylinder provided in the tilt rotator based on the tilt angle.

[0022] In addition, the control signal generation module can calculate the amount of change of the bucket cylinder corresponding to the bucket angle, and generate the flow rate of the hydraulic fluid supplied to the bucket cylinder and a control signal corresponding to the flow rate based on the calculated amount of change of the bucket cylinder.

[0023] In addition, if the attachment is a forklift fork, the forklift fork can maintain a horizontal state in the target position. Effects of the invention

[0024] According to the present invention as described above, a method and apparatus for controlling the attachment posture of an automatically controllable construction machine can be provided so that the attachment can always maintain a specific posture regardless of the posture of the boom or arm.

[0025] In addition, according to the present invention, a method and apparatus for controlling the attachment posture of a construction machine can be provided, which can calculate in real time the tilt angle and bucket angle required for the attachment to reach a horizontal state from the current posture of the construction machine.

[0026] In addition, according to the present invention, a method and apparatus for controlling the attachment posture of a construction machine can be provided, which can prevent the risk of materials loaded on the attachment falling by maintaining the attachment posture in a horizontal state. Brief explanation of the drawing

[0027] FIG. 1 is a drawing showing a construction machine according to an embodiment of the present invention. FIGS. 2A and FIGS. 2B are drawings of the tilt rotator shown in FIG. 1 viewed from different planes, respectively. Figure 3 is a diagram showing the configuration of a driving system of a construction machine according to an embodiment of the present invention. Figure 4 is a diagram showing the configuration of the attitude control device illustrated in Figure 3. FIGS. 5A and FIGS. 5B are drawings illustrating different positions of the tilt rotator and attachment. FIG. 6 is a diagram illustrating a method for obtaining a change amount of a bucket cylinder corresponding to a bucket angle calculated according to an embodiment of the present invention. FIG. 7 is a drawing showing a computing device according to an embodiment of the present invention. Specific details for implementing the invention

[0028] In the following, embodiments related to the present invention are illustrated in the drawings and described in detail through the detailed description. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention.

[0029] In describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended only to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by these terms. Furthermore, where it is stated in this specification that a component is "connected," "coupled," or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but that another component may also be "connected," "coupled," or "connected" between each component. In the case of "connection," "coupled," or "connected," it may be understood as being physically "connected," "coupled," or "connected," as well as electrically "connected," "coupled," or "connected" as necessary.

[0030] Terms such as "~part (unit)," "~device," "~part," and "~module" as used in this specification refer to a unit that processes at least one function or operation, and may be implemented in hardware, software, or a combination of hardware and software. Furthermore, terms such as "include," "compose," or "have" as used in this specification, unless specifically stated otherwise, mean that the relevant component may be inherent; therefore, they should be interpreted as allowing for the inclusion of additional components rather than excluding other components.

[0031] Furthermore, it is intended to clarify that the classification of components in this specification is merely based on the primary function each component is responsible for. That is, two or more components described below may be combined into a single component, or a single component may be divided into two or more components based on more subdivided functions. Additionally, each component described below may additionally perform some or all of the functions of other components in addition to its primary function, and it is obvious that some of the primary functions of each component may be exclusively performed by other components.

[0032] Hereinafter, with reference to the drawings related to embodiments of the present invention, a method and system for controlling the attachment posture of a construction machine according to an embodiment of the present invention will be described.

[0033] FIG. 1 is a drawing showing a construction machine according to an embodiment of the present invention, FIG. 2a and FIG. 2b are drawings of a tilt rotator shown in FIG. 1 viewed from different planes, respectively, and FIG. 3 is a drawing showing the configuration of a driving system of a construction machine according to an embodiment of the present invention.

[0034] Referring to FIGS. 1 to 3, the construction machine (10) may include a driving body (20), a swivel body (30) mounted on the driving body (20) so as to be swivelable, and a work device (40) and a driver's cabin (50) installed on the swivel body (30).

[0035] Construction machinery (10) may include excavators, wheel loaders, forklifts, etc., but below, construction machinery (10) will be described as an example of an excavator.

[0036] The driving body (20) supports the turning body (30) and can drive a construction machine (10), such as an excavator, using power generated from an engine (not shown). The driving body (20) may be a tracked type driving body including an endless track, but the present invention is not limited thereto, and depending on the case, the driving body (20) may be implemented as a wheeled type driving body including a plurality of driving wheels.

[0037] The rotating body (30) is equipped with an upper frame (32) as a base and can set the working direction by rotating on a plane parallel to the ground on the driving body (20).

[0038] The working device (40) may be mounted on the front part of the upper frame (32), and the working device (40) may include a boom (60), an arm (70), a tilt rotator (80), and an attachment (90).

[0039] One end of the boom (60) is rotatably mounted to the swivel body (30), and one end of the arm (70) is rotatably mounted to the other end of the boom (60). The tilt rotator (80) is mounted to the other end of the arm (70) to enable the attachment (90) to tilt and rotate.

[0040] Meanwhile, the attachment (90) includes a bucket, a forklift, a breaker, a cutter, etc., and can be attached to the tilt rotator (80) by changing it in various ways depending on the purpose of the work, but below, the attachment (90) will be described as an example of a forklift.

[0041] The working device (40) can be operated by driving a plurality of actuators such as a boom cylinder (62), an arm cylinder (72), a bucket cylinder (92), a tilt cylinder (82), and a rotary motor (84).

[0042] The boom cylinder (62) is a hydraulic cylinder for controlling the movement of the boom (60), and one end of the boom cylinder (62) is mounted on the swivel body (30) and the other end of the boom cylinder (62) is mounted on the boom (60).

[0043] The arm cylinder (72) is a hydraulic cylinder for controlling the movement of the arm (70), and one end of the arm cylinder (72) is mounted on the boom (60) and the other end of the arm cylinder (70) is mounted on the arm (70).

[0044] The bucket cylinder (92) is a hydraulic cylinder for controlling the movement of the tilt rotator (80) and the attachment (90), and one end of the bucket cylinder (92) is mounted on the arm (70) and the other end of the bucket cylinder (92) is mounted on the tilt rotator (80) through a link member.

[0045] As the boom cylinder (62), arm cylinder (72) and bucket cylinder (92) extend or retract, the boom (60), arm (70), attachment (90) and tiltrotator (80) can perform various movements, and the working device (40) can perform various tasks.

[0046] The tilt cylinder (82) is a hydraulic cylinder for controlling the tilting motion of the attachment (90) attached to the tilt rotator (80), and the rotary motor (84) is a hydraulic motor for controlling the rotating motion of the attachment (90) attached to the tilt rotator (80).

[0047] For driving the aforementioned plurality of actuators, the construction machine (10) according to an embodiment of the present invention, although not shown in the drawing, may include a hydraulic pump driven by an engine and supplying hydraulic fluid to each actuator through an electronic proportional pressure reducing valve, and the electronic proportional pressure reducing valve may control the flow rate of hydraulic fluid supplied to each actuator based on a signal output from a control device (53).

[0048] Additionally, although not illustrated in the drawings, the construction machine (10) according to an embodiment of the present invention may further include a driving motor for driving a driving body (20) and a turning motor for turning a turning body (30), and the driving motor and the turning motor may be operated by an engine and a hydraulic pump.

[0049] The driver's cabin (50) is installed on one side of the front part of the upper frame (32), and the driver's cabin (50) may be equipped with an operating device (51) and a control device (53) for a worker to operate the construction machine (10).

[0050] The operating device (51) receives input from the operator for the amount of operation of the driving motor, the amount of operation of the swing motor, the amount of operation of the boom cylinder (62), the amount of operation of the arm cylinder (72), the amount of operation of the bucket cylinder (92), the amount of operation of the tilt cylinder (82), the amount of operation of the rotary motor (84), etc., and can output the received signal to the control device (53).

[0051] The operating device (51) may receive a signal from the operator to activate or deactivate the automatic control mode of the operation of the work device (40), and when the automatic control mode of the operation of the work device (40) is activated by the operator, the posture control device (500) according to one embodiment of the present invention may generate and output a signal to control the operation of the work device (40).

[0052] The control device (53) outputs an input signal from the operating device (51) or a control signal generated by the attitude control device (500) to enable the construction machine (10), particularly the working device (40), to operate. Specifically, when an automatic control mode deactivation signal is received from the operator, a signal for driving the actuator described above can be received from the operator through the operating device (51). Additionally, when an automatic control mode activation signal is received from the operator, the attitude control device (500) can generate a signal to control the operation of the bucket cylinder (92) and the tilt cylinder (82), and in this case, the rotating operation of the boom (60), arm (70), or tiltrotator (80) can be controlled according to the operator's input signal.

[0053] According to one embodiment of the present invention, if the operation control signal of the bucket cylinder (92) and / or tilt cylinder (82) generated by the attitude control device (500) is different from the operator's input signal input through the operating device (51), the bucket cylinder (92) or tilt cylinder (82) may be operated according to the larger value between the control signal corresponding to the operation control signal of the bucket cylinder (92) and / or tilt cylinder (82) and the control signal corresponding to the operator's input signal. This reflects the characteristics of a construction machine in which the operation of the operating device can be performed finely due to vehicle body vibration even though the driver has not operated the operating device, and prioritizes the automatic attitude control function of the attachment in the automatic control mode activation state so that the function can be performed stably. However, if the control device (53) detects excessive operation of the operating device (51) exceeding a preset value in the automatic control mode activation state, it may determine that it is not the operator's intention and deactivate the automatic control mode.

[0054] Meanwhile, in this specification, a first axis extending in the up-down direction or in the direction of gravity based on the pivot center of the pivot body (30) is defined as the Z-axis, a second axis extending in the forward-backward direction based on the pivot center that is orthogonal to the Z-axis is defined as the X-axis, and a third axis extending in the left-right direction based on the pivot center that is orthogonal to the Z-axis and X-axis is defined as the Y-axis.

[0055] Figure 4 is a diagram showing the configuration of the attitude control device illustrated in Figure 3.

[0056] Referring to FIGS. 1 to 4, the attitude control device (500) may include a data collection module (510), a current attitude calculation module (520), a target attitude calculation module (530), a control signal generation module (540), and a communication module (550).

[0057] The data collection module (510) can collect all data necessary to calculate the current posture of the construction machine (10), such as the sensing values ​​sensed by the body sensor, boom sensor, arm sensor, bucket sensor, tilt sensor, and rotator sensor.

[0058] A body sensor is provided on the swivel body (30) and can measure the body angle, which is the angle at which the swivel body (30) is tilted with respect to the X-axis and the angle at which it is tilted with respect to the Y-axis.

[0059] The boom sensor measures the boom angle, which is the angle at which the boom (60) is tilted with respect to the Y-axis, the arm sensor measures the arm angle, which is the angle at which the arm (70) is tilted with respect to the Y-axis, and the bucket sensor can measure the angle at which the tilt rotator (80) and attachment (90) are tilted with respect to the Y-axis.

[0060] The tilt sensor measures the angle at which the tilt rotator (80) is tilted with respect to the X-axis, i.e., the tilt angle of the tilt rotator (80), and the rotator sensor measures the angle at which the tilt rotator (80) is rotated with respect to the Z-axis, i.e., the rotation angle of the tilt rotator (80).

[0061] The above-described sensor may be implemented as at least one of an angle sensor, a tilt sensor, an inertial measurement unit (IMU), a stroke sensor, and a rotation sensor.

[0062] The current posture calculation module (520) can calculate information regarding the current posture of the construction machine (10) based on data collected from the data collection module (510), and in particular, can calculate three-dimensional position information of the end of the tilt rotator (80) based on the center of rotation of the swivel body (30).

[0063] Specifically, the current posture calculation module (520) can obtain rotational state information of the attachment (90) based on angle information of tilting the swivel body (30) with respect to the X-axis, angle information of tilting with respect to the Y-axis, angle information of tilting the boom (60) with respect to the Y-axis, angle information of tilting the arm (70) with respect to the Y-axis, angle information of tilting the attachment (90) with respect to the Y-axis, direction and angle information of tilting the tilt rotator (80) with respect to the X-axis, and rotational angle information of rotation of the tilt rotator (80) with respect to the Z-axis.

[0064] Additionally, the current position calculation module (520) can obtain relative three-dimensional position information of the end of the tiltrotator (80) based on the rotation center of the above-described attachment (90) by using length information from the rotation center of the swivel body (30) to the boom joint (Jbm), length information from the boom joint (Jbm) to the arm joint (Jam), length information from the arm joint (Jam) to the bucket joint (Jbkt), and length information from the bucket joint (Jbkt) to the rotation axis (R-axis) of the tiltrotator (80).

[0065] Here, the relative 3D position information comprises rotation angle information and length information operated with respect to any one of the X, Y, and Z axes, represented by the rotation matrices RotationX, RotationY, and RotationZ and the translation matrix Translation(= After substituting into ), each matrix can be obtained by multiplying them, and the rotation angle can be measured from multiple sensors as a value that changes in real time as each of the turning body (30) and working device (40) operates, and the length information can be information obtained in advance.

[0066] A rotation matrix used in calculations is determined according to the rotation direction based on the pivot center of the pivot body (30), the boom joint (Jbm), the arm joint (Jam), the bucket joint (Jbkt), and the rotation axis (R-axis) of the tilt rotator, and in the case of rotation based on the X-axis, the rotation matrix based on the X-axis is RotationX(= Calculate by substituting the angle corresponding to the current movement into the θ value of ), and in the case of rotation around the Y-axis, the Y-axis rotation matrix RotationY(= It performs calculations by substituting the angle corresponding to the current movement into the θ value, and in the case of rotation around the Z-axis, it uses the Z-axis rotation matrix RotationZ(= The angle corresponding to the current movement can be substituted into the θ value within the matrix to perform calculations. Meanwhile, the θ value substituted into the rotation matrix may be the relative angle between interconnected components, for example, between the swivel body (30) and the boom (60), between the boom (60) and the arm (70), or between the arm (70) and the tilt-rotate (80).

[0067] Assuming a calculation to obtain rotational state and longitudinal 3D position information from the boom joint (Jbm) to the arm joint (Jam), the calculation can be performed by multiplying the RotationY rotation matrix, which calculates the change in rotational angle relative to the Y-axis of the boom (60), and the Translation longitudinal movement matrix, which corresponds to the X-axis longitudinal movement of the rotated axis. At this time, the boom relative angle value is substituted into the θ value in the rotation matrix, and this is calculated as the sum of the rotational angle relative to the Y-axis of the slewing body (30) and the rotational angle relative to the Y-axis of the boom (60). Additionally, the length value measured between the centers of each joint can be substituted into the lx value in the Translation matrix, and the rotational state and longitudinal 3D position information from the boom joint (Jbm) to the arm joint (Jam) can be obtained through sequential multiplication of the rotation matrix and the translation matrix.

[0068] For example, as described above, by reflecting the movements of the swivel body (30), boom (60), arm (70), and tilt rotator (80) respectively and performing a calculation by sequentially multiplying the rotation matrix and the translation matrix, it is possible to obtain relative three-dimensional position information of the rotation end of the tilt rotator based on the swivel center of the swivel body (30). More specifically, the rotational state and movement state of the boom joint (Jbm) at the pivot center of the pivot body (30) can be calculated by sequentially multiplying the rotational matrix and the movement matrix, the rotational state and movement state from the boom joint (Jbm) to the arm joint (Jam) can be calculated by sequentially multiplying the rotational matrix and the movement matrix, the rotational state and movement state from the arm joint (Jam) to the bucket joint (Jbkt) can be calculated by sequentially multiplying the rotational matrix and the movement matrix, the rotational state and movement state from the bucket joint (Jbkt) to the tiltrotator rotation axis (R-axis) can be calculated by sequentially performing the process of calculating the state in which the tiltrotator (80) is rotated from the tiltrotator rotation axis (R-axis) with respect to the X-axis through the rotational matrix, and the state in which the tiltrotator (80) is rotated with respect to the tiltrotator rotation axis (R-axis) through the rotational matrix.

[0069] Next, the target posture calculation module (530) can calculate the tilt angle and bucket angle so that the tilt rotator (80) can reach the target posture from the current posture. Here, the target posture is intended to ensure that the forklift fork, which is an attachment (90) connected to the tilt rotator (80), always maintains a horizontal state, and the target posture may be a posture in which the rotation axis (R-axis) of the tilt rotator (80) is parallel to the Z-axis.

[0070] FIGS. 5A and 5B are exemplary drawings showing different postures of a tiltrotator and an attachment. As shown in FIG. 5A, if the rotation axis (R-axis) of the tiltrotator (80) is not parallel to the Z-axis, the forklift attachment (90) cannot maintain a horizontal state. As shown in FIG. 5B, if the rotation axis (R-axis) of the tiltrotator (80) is parallel to the Z-axis, the forklift attachment (90) can maintain a horizontal state. Therefore, in order to control the forklift attachment (90) to always be in a horizontal state, it is necessary to control the tiltrotator (80) so that its rotation axis (R-axis) is parallel to the Z-axis, regardless of the posture of the slewing body (30), boom (60), and arm (70).

[0071] To this end, the X-axis and Y-axis angle values ​​required to move from the current posture to the target posture can be obtained through a new posture matrix calculated by multiplying the inverse matrix of the rotation matrix within the current posture matrix process obtained by the current posture calculation module (520) and the rotation matrix in the target posture parallel to the Z-axis. The target posture calculation module (530) can calculate the tilt angle and bucket angle for the tilt rotator (80) to reach the target posture from the current posture based on the components of the new posture matrix calculated by multiplying the inverse matrix of the rotation matrix within the current posture matrix process obtained by the current posture calculation module (520) and the rotation matrix in the target posture parallel to the Z-axis.

[0072] Specifically, the tilt angle to reach the target position can be calculated by calculating the rotation angle based on the X-axis in a new position matrix calculated by multiplying the inverse matrix of the rotation matrix within the current position matrix process obtained from the current position calculation module (520) and the rotation matrix of the target position parallel to the Z-axis, and the bucket angle to reach the target position can be calculated by calculating the rotation angle based on the Y-axis. At this time, the angle value can be obtained using the atan2 function so that the angle value is not calculated discontinuously during the process of obtaining the relative angle value between the current position and the target position.

[0073] Next, the control signal generation module (540) can generate a control signal using the tilt angle and bucket angle calculated by the target posture calculation module (530).

[0074] The control signal generated by the control signal generation module (540) may include a signal for controlling the tilting operation of the tilt rotator (80) rotated around the X-axis and a signal for controlling the movement of the attachment (90) rotated around the Y-axis, each corresponding to a signal for controlling the operation of the tilt cylinder (82) and the bucket cylinder (92), and the signal for controlling the operation of the tilt cylinder (82) may be generated based on the tilt angle, and the signal for controlling the operation of the bucket cylinder (92) may be generated based on the bucket angle.

[0075] In particular, the control signal generation module (540) according to the present invention calculates the correlation between the change in bucket angle and the change in bucket cylinder, taking into account that the change in bucket angle and the change in bucket cylinder are not in a linear relationship, thereby enabling more precise bucket (attachment) attitude control and ensuring control performance.

[0076] To this end, the control signal generation module (540) can calculate in real time the amount of change of the bucket cylinder corresponding to the bucket angle to reach the target posture by using the length and angle information of the bucket cylinder and other joint devices connected thereto.

[0077] FIG. 6 is a diagram illustrating a method for obtaining a target change amount of a bucket cylinder corresponding to a bucket angle calculated according to an embodiment of the present invention.

[0078] Referring to FIGS. 1 to 6, the control signal generation module (540) can calculate the target change amount of the bucket cylinder (92) to implement the target bucket angle by utilizing information on the length of the first side (Length_Am) connecting one end of the bucket joint (Jbkt) and the bucket cylinder (92), the length of the second side (Length_cross) connecting the other end of the bucket joint (Jbkt) and the bucket cylinder (92), and the angle between the first side and the second side (Theta_BktCylinder).

[0079] The control signal generation module (540) can also calculate the operating flow rate flowing into the cylinder through the target change amount of the bucket cylinder (92). This calculates the flow rate flowing into the bucket cylinder relative to the total flow rate discharged from the pump in a hydraulic system where the engine and hydraulic pump discharge flow rate to operate the cylinder, thereby ensuring control performance by verifying whether the flow rate is properly distributed even during complex attachment operations, and by determining when the maximum flow rate in the bucket cylinder is reached due to the operating range limit of the structure, it is configured to avoid performing unnecessary control through separate control, thereby ensuring stable control performance.

[0080] To this end, the control signal generation module (540) can calculate the velocity value of the bucket cylinder (92), that is, the amount of change of the bucket cylinder (92), and then calculate the cylinder flow rate of each chamber by utilizing the area information of the large chamber and small chamber of the bucket cylinder.

[0081] However, the present invention is not limited to the bucket angle shown in FIG. 6, and the definition of the bucket angle calculated to maintain a target posture according to an embodiment of the present invention may vary depending on the location where the bucket sensor is equipped.

[0082] When information regarding the flow rate of the bucket cylinder (92) at the current bucket angle and the flow rate of the bucket cylinder (92) according to the target position is generated through the process described above, the bucket angle can be controlled by adjusting the gain ratio within the feedback control.

[0083] Meanwhile, the tilting operation of the tilt rotator (80) can be controlled by calculating the amount of change of the tilting cylinder in the same way as described above, or it can be controlled by adjusting the gain ratio within the feedback control for the difference value between the tilt angle corresponding to the current posture and the tilt angle corresponding to the target posture.

[0084] When the lever, which is an operating device (51) for controlling cylinder operation, is operated based on a hydraulic proportional pressure reducing valve device, the control signal generation module (540) generates and outputs a value corresponding to the pilot pressure of the hydraulic proportional pressure reducing valve corresponding to the flow rate of the bucket cylinder (92) and / or tilt cylinder (82) as a control signal, and when the lever is electronic and outputs via an electrical signal or CAN communication, it can generate and output an electrical signal corresponding to the flow rate of the bucket cylinder (92) and / or tilt cylinder (82).

[0085] Meanwhile, the posture control device (500) according to the embodiment of the present invention can calculate a new tilt angle and bucket angle to reach a target posture whenever the current posture is changed by the operation of the boom or / and arm by the operator operating the operating device, and output a control signal corresponding to the newly calculated tilt angle and bucket angle so that the rotation axis (R-axis) of the tilt rotator is always parallel to the Z-axis, and accordingly, the attachment, in particular the forklift fork, can always be maintained in a horizontal state.

[0086] The communication module (550) can perform the function of enabling data transmission and reception from / to the data collection module (510), current attitude calculation module (520), target attitude calculation module (530), and control signal generation module (540), or communication between the operation device (51) and the control device (53).

[0087] Meanwhile, although the present specification describes the construction machine as operating based on a hydraulic system, the present invention is not limited thereto and may, in some cases, operate based on an electric motor drive system.

[0088] FIG. 7 is a drawing showing a computing device according to an embodiment of the present invention. The computing device (TN100) of FIG. 7 may be a device described in the present specification (e.g., a control device (53), an attitude control device (500), etc.).

[0089] In the embodiment of FIG. 7, the computing device (TN100) may include at least one processor (TN110), a transceiver (TN120), and a memory (TN130). Additionally, the computing device (TN100) may further include a storage device (TN140), an input interface device (TN150), an output interface device (TN160), etc. The components included in the computing device (TN100) may be connected by a bus (TN170) to communicate with each other.

[0090] The processor (TN110) can execute a program command stored in at least one of the memory (TN130) and the storage device (TN140). The processor (TN110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. The processor (TN110) may be configured to implement the procedures, functions, and methods described in relation to embodiments of the present invention. The processor (TN110) can control each component of the computing device (TN100).

[0091] The input interface device (TN150) and the output interface device (TN160) may be means for interfacing with an external input device or an external output device (not shown). Here, the external input device may include devices such as a keyboard, mouse, microphone, or camera, and the external output device may include devices such as a display, speaker, or haptic feedback device. Alternatively, the input interface device (TN150) and the output interface device (TN160) may be means for interfacing with a device in which the functions for input and output are integrated into one, such as a touchscreen.

[0092] Each of the memory (TN130) and the storage device (TN140) can store various information related to the operation of the processor (TN110). Each of the memory (TN130) and the storage device (TN140) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (TN130) may be composed of at least one of read-only memory (ROM) and random access memory (RAM).

[0093] The transmitting and receiving device (TN120) can transmit or receive wired or wireless signals. The transmitting and receiving device (TN120) can be connected to a network to perform communication.

[0094] A person skilled in the art to which the present invention pertains will understand that the present invention may be implemented in other specific forms without altering its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0095] 10: Construction Machinery 20: Driving body 30: Rotating body 40: Working device 50: Driver's cab 51: Control device 53: Control unit 60: Boom 62: Boom Cylinder 70: Cancer 72: Female cylinder 80: Tilt-rotator 82: Tilt cylinder 84: Rotary motor 90: Attachment 92: Bucket Cylinder

Claims

Claim 1 A method for controlling the attitude of an attachment provided in a construction machine comprising a driving body, a slewing body mounted so as to be slewing on the driving body, a boom having one end mounted on the slewing body, an arm having one end mounted on the other end of the boom, a tilt rotator mounted on the other end of the arm, a bucket cylinder having one end connected to the arm and the other end connected to the tilt rotator, and an attachment mounted on the tilt rotator, the method comprising: receiving an automatic control activation signal through a control device provided in the slewing body; collecting measurement values ​​from a plurality of sensors installed in the construction machine; calculating the current attitude of the construction machine based on the measurement values; calculating a tilt angle and a bucket angle to reach a target attitude from the current attitude; and generating a control signal for controlling the operation of the tilt rotator and the attachment based on the tilt angle and the bucket angle. The above includes, wherein the target posture is a posture in which the rotation axis of the tiltrotator is parallel to a first axis extending along the direction of gravity, the above tilt angle is a rotation angle required to reach the target posture based on a second axis orthogonal to the first axis, and the above bucket angle is a rotation angle required to reach the target posture based on a third axis orthogonal to the first axis and the second axis, and the control signal for controlling the operation of the tiltrotator and the attachment includes a control signal for controlling the operation of the bucket cylinder, and the control signal for controlling the operation of the bucket cylinder is generated by reference to the amount of change of the bucket cylinder calculated using the length of a first side connecting the joint connecting the arm and the tiltrotator and one end of the bucket cylinder, the length of a second side connecting the joint and the other end of the bucket cylinder, and the angle between the first side and the second side, and the boom or the arm operates in response to the amount of operation by the operator on the operating device.A method for controlling the posture of a construction machine attachment, wherein whenever the boom or the arm operates in response to an amount of operation input to the operating device and the current posture changes, the method comprises the steps of: calculating a tilt angle and a bucket angle to reach a target posture from the current posture; and generating a control signal to control the operation of the tilt rotator and the attachment based on the tilt angle and the bucket angle; wherein, while receiving the automatic control activation signal, when at least one of a first amount of operation for controlling the tilt operation of the tilt rotator and a second amount of operation for controlling the movement of the attachment based on the third axis is input through the operating device, the operation of the tilt rotator and the attachment is controlled according to the larger value between the control signal corresponding to the tilt angle and the control signal corresponding to the first amount of operation, and the larger value between the control signal corresponding to the bucket angle and the control signal corresponding to the second amount of operation. Claim 2 A method for controlling the attitude of a construction machine attachment according to claim 1, wherein the current attitude is calculated based on angle information in which the slewing body is tilted with respect to the second axis, angle information in which the slewing body is tilted with respect to the third axis, angle information in which the boom is tilted with respect to the third axis, angle information in which the arm is tilted with respect to the third axis, angle information in which the attachment is tilted with respect to the third axis, direction and angle information in which the tiltrotator is tilted with respect to the second axis, and rotation angle information in which the tiltrotator is rotated with respect to the first axis. Claim 3 delete Claim 4 A method for controlling the attitude of a construction machine attachment according to claim 1, wherein the control signal for controlling the operation of the tilt rotator and the attachment further comprises a control signal for controlling the operation of a tilt cylinder provided in the tilt rotator based on the tilt angle. Claim 5 A method for controlling the attitude of a construction machine attachment, wherein, in the step of generating the control signal, the flow rate of the hydraulic fluid supplied to the bucket cylinder and the control signal corresponding to the flow rate are generated based on the amount of change of the bucket cylinder in the 4th paragraph. Claim 6 delete Claim 7 delete Claim 8 delete Claim 9 delete Claim 10 A device for controlling the attitude of an attachment provided in a construction machine comprising a driving body, a slewing body mounted so as to be pivotable on the driving body, a boom with one end mounted on the slewing body, an arm with one end mounted on the other end of the boom, a tilt rotator mounted on the other end of the arm, a bucket cylinder with one end connected to the arm and the other end connected to the tilt rotator, and an attachment mounted on the tilt rotator, the device comprising: a data collection module for collecting measurement values ​​from a plurality of sensors installed in the construction machine; a current attitude calculation module for calculating the current attitude of the construction machine based on the measurement values ​​collected from the data collection module; a target attitude calculation module for calculating a tilt angle and a bucket angle to reach a target attitude from the current attitude; and a control signal generation module for generating a control signal to control the operation of the tilt rotator and the attachment based on the tilt angle and the bucket angle....including, wherein the target posture is a posture in which the rotation axis of the tiltrotator is parallel to a first axis extending along the direction of gravity, the tilt angle is a rotation angle required to reach the target posture based on a second axis orthogonal to the first axis, and the bucket angle is a rotation angle required to reach the target posture based on a third axis orthogonal to the first axis and the second axis, the control signal generation module generates a control signal for controlling the operation of the bucket cylinder, and the control signal for controlling the operation of the bucket cylinder is generated by reference to the change amount of the bucket cylinder calculated using the length of a first side connecting the joint connecting the arm and the tiltrotator and one end of the bucket cylinder, the length of a second side connecting the joint and the other end of the bucket cylinder, and the angle between the first side and the second side, and the boom or the arm operates in response to the amount of operation by an operator on a control device provided on the slewing body, and to the direction of operation input to the control device A device for controlling the attitude of a construction machine attachment, wherein, in response, whenever the boom or the arm operates and the current attitude changes, the target attitude calculation module recalculates the tilt angle and bucket angle to reach the target attitude, and the control signal generation module regenerates a control signal corresponding to the recalculated tilt angle and the recalculated bucket angle; and when an automatic control activation signal is input through the operating device, the control signal generation module controls the operation of the tilt rotator and the attachment according to the larger value between the control signal corresponding to the tilt angle and the control signal corresponding to the first operating amount, and the larger value between the control signal corresponding to the bucket angle and the control signal corresponding to the second operating amount, when at least one of a first operating amount for controlling the tilt operation of the tilt rotator and a second operating amount for controlling the movement of the attachment based on the third axis is input through the operating device. Claim 11 In claim 10, the current attitude calculation module is a device for controlling the attitude of an attachment of a construction machine, which calculates the current attitude based on angle information of the tilting body with respect to the second axis, angle information of the tilting body with respect to the third axis, angle information of the boom with respect to the third axis, angle information of the arm with respect to the third axis, angle information of the attachment with respect to the third axis, direction and angle information of the tilting of the tiltrotator with respect to the second axis, and rotation angle information of the tiltrotator rotated with respect to the first axis. Claim 12 delete Claim 13 In claim 10, the control signal generating module further generates a control signal for controlling the attachment posture of a construction machine based on the tilt angle to control the operation of a tilt cylinder provided in the tilt rotator. Claim 14 In paragraph 13, the control signal generation module is a device for controlling the attachment posture of a construction machine, which generates a flow rate of hydraulic fluid supplied to the bucket cylinder and a control signal corresponding to the flow rate based on a change amount of the bucket cylinder. Claim 15 In claim 10, a device for controlling the attachment posture of a construction machine in which, when the attachment is a forklift fork, the forklift fork maintains a horizontal state in the target posture.

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