Automatic trenching system of construction machine and automatic trenching control method of construction machine

Abstract

One aspect of the present disclosure relates to an automatic trenching system for a construction machine including an undercarriage, a superstructure rotatably coupled to the undercarriage, and a working device including a boom, an arm, and a bucket mounted on the superstructure, the automatic trenching system comprising: a sensor unit that detects attitude information of the construction machine; a setting unit capable of setting a trench target area to be worked on; and an electronic control unit that directs the construction machine to perform trenching along a set trench target area, wherein the electronic control unit compares the width of the target trench area with the width of the bucket to determine the length and width of a working area in which the construction machine can perform trenching in place.

Description

Automatic trenching system for construction machinery and automatic trenching control method for construction machinery

[0001] The present disclosure relates generally to construction machinery. In certain aspects, the present disclosure relates to an automatic trenching system for construction machinery and an automatic trenching control method for construction machinery. The present disclosure may be applied to large vehicles such as trucks, buses, and construction equipment. While the present disclosure may be described with respect to specific vehicles, the present disclosure is not limited to any particular vehicle.

[0002] In general, an excavator is a type of construction machine that performs various tasks such as digging the ground at construction sites, loading work to transport soil, excavation work to create foundations, demolition work to dismantle buildings, grading work to prepare the ground, and leveling work to level the ground.

[0003] Meanwhile, in trench work such as ditch digging, workers repeatedly excavate the ground to form a trench and drive the construction equipment backwards for a certain distance.

[0004] Up to now, trench work has been carried out manually by workers, which has led to the problem that trench work is complex and the results of trench work are achieved differently depending on the worker.

[0005] According to a first aspect of the present disclosure, there is provided an automatic trenching system for a construction machine including a lower body, an upper swivel body rotatably coupled to the lower body, and a work device including a boom, an arm, and a bucket mounted on the upper swivel body, the automatic trenching system including a sensor unit for detecting attitude information of the construction machine, a setting unit capable of setting a trench target area to be worked on, and an electronic control unit for controlling the construction machine to perform trenching work along the set trench target area, wherein the electronic control unit compares the width of the trench target area with the width of the bucket to determine the length and width of a work area in which the construction machine can perform trenching work in place.

[0006] Optionally, in some examples, the electronic control unit may determine the width of the working area to be equal to the width of the trench target area.

[0007] Optionally, in some examples, the electronic control unit determines the length of the working area as a first set length when the width of the trench target area and the width of the bucket are the same, and the first set length may be a length between a first position of the bucket when the working device is extended a certain distance and a second position of the bucket when the bottom of the bucket is horizontal to the ground.

[0008] Optionally, in some examples, the electronic control unit determines the length of the working area as a second set length when the width of the trench target area is greater than the width of the bucket, and the second set length may be a length between a first position of the bucket when the working device is extended a certain distance and a third position of the bucket when the angle formed by the bucket with the side of the trench target area is a predetermined angle.

[0009] Optionally, in some examples, the electronic control unit may control the operation of the upper swivel body and the work device so that the construction machine forms a trench in the work area.

[0010] Optionally, in some examples, the apparatus further comprises a scanning unit that scans a work area to generate topographic information; wherein the electronic control unit can divide the work area into a plurality of rows and columns.

[0011] Optionally, in some examples, the electronic control unit can inspect the quality of trench work row by row from the front to the rear of the work area based on the terrain information provided by the scanning unit.

[0012] Optionally, in some examples, the electronic control unit may control the operation of the upper swivel body and the work device to inspect the quality of the next row if the error of the inspected row is below a reference value, and to resume trenching work starting from the row located ahead of the inspected row if the error of the inspected row is above the reference value. The technical advantage is that the precision of the trenching work can be improved because the construction machine resumes trenching work starting from the row located ahead of the row with poor quality.

[0013] Optionally, in some examples, the electronic control unit may control the operation of the undercarriage so that the construction machine moves backward by a distance less than the length of the work area if the error of the last row of the work area is below a reference value. The technical advantage is that the rear portion of the trench already worked by the construction machine and the front portion of the trench to be subsequently worked by the construction machine have an overlapping area of ​​a predetermined margin, thereby improving the precision of trench work.

[0014] Another aspect of the present invention is an automatic trench control method of a construction machine including a lower body, an upper swivel body rotatably coupled to the lower body, and a work device including a boom, an arm, and a bucket mounted on the upper swivel body, the method including the steps of: setting a trench target area to be worked on (S10); comparing the width of the trench target area with the width of the bucket to determine the width and length of a work area in which the construction machine can perform trench work in place (S20); controlling the operation of the upper body and the work device to perform trench work in the work area (S30); and scanning the work area to inspect the quality of the work (S40).

[0015] Optionally, in some examples, in step S40, the quality of the trench work can be inspected row by row from the front to the back of the trench target area.

[0016] Optionally, in some examples, in the step S40, if the error of the inspected row is below a reference value, the quality of the next row is inspected, and if the error of the inspected row is higher than the reference value, trenching can be performed again starting from the row located ahead of the row.

[0017] Optionally, in some examples, when the quality inspection for the work area is completed, the step (S50) of controlling the driving of the lower body to move backwards less than the length of the work area so that the construction machine can work on the next work area may be further included.

[0018] The above-described aspects, appended claims, and / or examples disclosed herein above and hereinafter may be suitably combined with one another as would be apparent to one of ordinary skill in the art.

[0019] Additional features and advantages are set forth in the following description, claims, and drawings, and in part will be readily apparent to those skilled in the art from the foregoing or may be recognized by practicing the teachings herein.

[0020] With reference to the accompanying drawings, a more detailed description of embodiments of the present disclosure, cited as examples, follows below.

[0021] FIG. 1 is a perspective view illustrating a construction machine according to one embodiment of the present invention.

[0022] FIG. 2 is a drawing for explaining the bucket depth of a construction machine according to one embodiment of the present invention.

[0023] FIG. 3 is a block diagram showing the basic configuration of an automatic trench system of a construction machine according to one embodiment of the present invention.

[0024] FIG. 4 is a drawing schematically showing the overall configuration of an automatic trench system of a construction machine according to one embodiment of the present invention.

[0025] Figure 5 is a block diagram of the electronic control unit.

[0026] Figures 6a and 6b are schematic drawings of a construction machine performing trench work when the width of the set trench target area and the width of the bucket are the same.

[0027] Figures 7a and 7b are schematic drawings of a construction machine performing trench work when the width of the set trench target area is greater than the width of the bucket.

[0028] Figure 8 is a diagram showing a work area divided into multiple rows and columns.

[0029] Figure 9 is a schematic drawing showing the state of a construction machine driving backward after completing work in a work area.

[0030] Figure 10 is a step diagram showing an automatic trench control method for construction machinery.

[0031] Figure 11 is a step diagram showing an automatic trench control method of a construction machine when the quality of some rows within a work area does not meet the standard value.

[0032] The aspects described below represent information necessary to enable a person skilled in the art to practice the present disclosure.

[0033] FIG. 1 is a perspective view illustrating a construction machine according to one embodiment of the present invention.

[0034] Referring to FIG. 1, a construction machine (1) such as an excavator has a cab (10), a lower body (20), an upper swivel body (30) that is swivellably installed on the lower body (20), a work device (40) that is movably installed on the upper body (30) and a hydraulic actuator (140).

[0035] The undercarriage (20) may be, for example, a crawler or wheel type. For example, the construction machine (1) may travel forward or backward depending on the driving direction of the track (21) or wheel.

[0036] The work device (40) is formed as a multi-joint and includes a boom (41) whose rear end is rotatably supported on an upper swivel body (30), an arm (42) whose rear end is rotatably supported on the front end of the boom (41), and a bucket (43) rotatably installed on the front end side of the arm (42).

[0037] The hydraulic actuator (140) includes a boom actuator (141), an arm actuator (142), and a bucket actuator (143). When operating fluid is supplied according to the operator's operation of the operating lever, the boom actuator (141), the arm actuator (142), and the bucket actuator (143) operate the boom (41), the arm (42), and the bucket (43), respectively.

[0038] FIG. 2 is a drawing for explaining the bucket depth of a construction machine according to one embodiment of the present invention.

[0039] Bucket depth (BD) can be defined as the shortest distance between the apex (43a) of the bucket (43) and the excavation surface (43b). The excavation surface (43b) can be defined as a surface connecting the four corners of the bucket (43) opposite the apex (43a). Bucket depth (BD) can be used when determining the margin value described below.

[0040] FIG. 3 is a block diagram showing the basic configuration of an automatic trench system for construction machinery according to one embodiment of the present invention, and FIG. 4 is a drawing schematically showing the overall configuration of an automatic trench system for construction machinery according to one embodiment of the present invention.

[0041] Referring to FIGS. 3 and 4, the automatic trench system (100) of the construction machine may include a hydraulic pump (110), a control valve unit (120), an electronic proportional pressure reducing valve (130), a hydraulic actuator (140), an operating lever (150), a sensor unit (160), a scan unit (170), a setting unit (180), and an electronic control unit (190).

[0042] The hydraulic pump (110) is driven by the engine (E) and discharges high-pressure operating fluid for operating the hydraulic actuator (140). The hydraulic pump (110) may include first and second hydraulic pumps (111, 112).

[0043] The control valve unit (120) is a member that opens and closes a flow path by a spool that moves in the axial direction under the hydraulic pressure of the operating fluid discharged from the hydraulic pump (110), and may include a first control valve (121), a second control valve (122), and a third control valve (123) that operate a boom actuator (141), an arm actuator (142), and a bucket actuator (143), respectively. In addition, the control valve unit (120) may also include a control valve that controls a travel motor, a swing motor, etc.

[0044] The control valve unit (120) is connected to the hydraulic pump (110) through a hydraulic line and induces the supply of operating oil from the hydraulic pump (110) to the hydraulic actuator (140). The pilot signal pressure generated when the operating lever (150) is operated can be applied to the spool of the control valve unit (120).

[0045] The electronic proportional pressure reducing valve (130) is an electronically operated valve that generates a pilot signal pressure proportional to the intensity of a control signal applied by an electronic control unit (190), for example, the intensity of current, and the generated pilot signal pressure is transmitted to the control valve unit (120). The pilot signal pressure from the electronic proportional pressure reducing valve (130) causes the spool in the control valve unit (120) to move along an axis.

[0046] The hydraulic actuator (140) is operated by operating fluid provided from the hydraulic pump (110). In addition to the boom actuator (141), arm actuator (142), and bucket actuator (143) illustrated in FIG. 3, the hydraulic actuator (140) may include a travel motor, a swing motor, and the like.

[0047] The operating lever (150) may be a hydraulic joystick or an electric joystick, and preferably, the operating lever (150) may be an electric joystick that generates an electric signal proportional to the amount of operation by the operator and provides it to the electronic control unit (190).

[0048] The operating lever (150) can operate the up and down movement of the boom (41), the rotation of the arm (42) and bucket (43), and the rotation of the upper swivel body (30). The operating lever (150) can be configured to include a first operating lever (151) and a second operating lever (152).

[0049] In one embodiment, the automatic trench mode can be activated when either of the first operating lever (151) or the second operating lever (152) is operated.

[0050] In one embodiment, switches with various functions may be provided on the operating lever (150), for example, a switch for turning the automatic trench mode on and off may be provided.

[0051] The sensor unit (160) may include a GNSS (Global Navigation Satellite System) sensor (161) and an attitude measurement sensor (162).

[0052] The GNSS sensor (161) can detect the current location and attitude of the construction machine in real time. Specifically, the GNSS sensor (161) can measure the current latitude, longitude, and altitude of the construction machine in real time, thereby detecting the current location of the construction machine in real time. In addition, the GNSS sensor (161) can detect the current attitude of the construction machine in real time. The real-time information on the current location and attitude of the construction machine detected by the GNSS sensor (161) may be digital data.

[0053] The attitude measurement sensor (162) can measure the displacement, attitude and / or angle of the upper body, boom, arm and bucket using an inertial measurement unit (IMU), an angle sensor, etc. For example, the attitude measurement sensor (162) can be placed on each of the upper body, boom, arm and bucket to detect the displacement, attitude and / or angle of each of the upper body, boom, arm and bucket.

[0054] Information measured by the sensor unit (160) is provided to the electronic control unit (190).

[0055] The scanning unit (170) is placed on one side of the construction machine, scans the worked trench area, and generates 3D or 2D terrain information, and the generated information is provided to the electronic control unit (190).

[0056] The setting unit (180) may be configured as a display installed inside the driver's cab, through which the operator can set the trench target area (TA) to be worked on. Preferably, the setting unit (180) may display the trench target area (TA) to be worked on set by the operator and real-time information (C) on the current position and posture of the construction machine detected by the sensor unit (160).

[0057] In one embodiment, the setting unit (180) may display a button on the display to activate the automatic trench mode, and the operator may push this button to activate the automatic trench mode.

[0058] Additionally, information indicating activation of the automatic trench mode and information about scan information may be displayed on the setting section (180).

[0059] When the automatic trench mode is activated, the electronic control unit (190) generates an electric signal to cause the construction machine to dig a set trench target area (TA) and outputs the signal to the electronic proportional pressure reducing valve (130). The electronic proportional pressure reducing valves (130) supply a pilot signal pressure proportional to the intensity of the current applied by the electronic control unit (190) to the spools of the control valve unit (120), thereby moving the spools of the control valve unit (120) according to the intensity of the applied pilot signal pressure. That is, the electronic control unit (190) controls the driving of the hydraulic actuator (140), i.e., the driving of the work device, based on the operating signal output from the operating lever (150).

[0060] Figure 5 is a block diagram of the electronic control unit.

[0061] Referring to FIG. 5, the electronic control unit (190) may include a data receiving unit (191), a storage unit (192), a work area creation unit (193), an excavation control unit (194), a quality inspection unit (195), a driving control unit (196), and an output unit (197).

[0062] The data receiving unit (191) can receive information detected by the sensor unit. The data receiving unit (191) can receive digital data in real time, such as the current latitude, longitude, altitude, and current attitude of the unmanned excavator detected by the GNSS sensor, the position and / or attitude of the upper slewing body, boom, arm, and bucket detected by the attitude measurement sensor, and the inclination of the main body of the construction machine.

[0063] The data receiving unit (191) can receive 3D or 2D terrain information generated by the scanning unit.

[0064] In addition, the data receiving unit (191) can receive information on the trench target area set in the setting unit and activation information of the automatic trench mode output from the setting unit, the operation lever, or the setting unit.

[0065] The storage unit (192) can store information on the first set length, the second set length, the third set length, the driving limit length, and the margin value. The storage unit (192) can store the bucket depth that serves as the basis for the margin value.

[0066] The storage unit (192) can store information about the width of the bucket.

[0067] The storage unit (192) can store information on the bucket position and posture that serve as a reference when determining the length of the work area.

[0068] Meanwhile, if the width of the trench target area is greater than the width of the bucket, the length of the work area in which trench work can be performed in place becomes shorter because the upper slewing body must be rotated for some areas.

[0069] Accordingly, the work area creation unit (193) compares the width of the trench target area with the width of the bucket to determine the length and width of the work area in which the construction machine can perform trench work in place. Specifically, the work area creation unit (193) sets the width of the work area to be the same as the width of the trench target area, and sets the length of the work area to a first set length if the width of the trench target area and the width of the bucket are the same, and to a second set length if the width of the trench target area is greater than the width of the bucket. Here, the second set length is set to be smaller than the first set length.

[0070] Figures 6a and 6b are schematic drawings of a construction machine performing trench work when the width of the set trench target area and the width of the bucket are the same.

[0071] Referring to FIGS. 5 and 6a, the work area generation unit (193) sets the width of the work area (W) to be the same as the width of the trench target area (TA).

[0072] In addition, the work area creation unit (193) sets the length of the work area (W) to the first set length (TL1) because the width of the trench target area (TA) and the width of the bucket (43) are the same.

[0073] In detail, referring to FIG. 6b, the first set length (TL1) may be the maximum length between the first position (B1) of the bucket (43) when the work device (40) is extended by a certain length and the second position (B2) of the bucket (43) when the bottom of the bucket (43) is horizontal to the ground. That is, the first set length (TL1) may be the length between the position of the apex of the bucket (43) when the bucket (43) is at the first position (B1) and the position of the end of the bucket (43) when the bucket (43) is at the second position (B2).

[0074] The first set length (TL1) may vary depending on the specifications of the construction machine (1), and its value may be stored in the storage unit (192).

[0075] Figures 7a and 7b are schematic drawings of a construction machine performing trench work when the width of the set trench target area is greater than the width of the bucket.

[0076] Referring to FIG. 5 and FIG. 7a, the work area generation unit (193) sets the width of the work area (W) to be the same as the width of the trench target area (TA).

[0077] In addition, the work area creation unit (193) sets the length of the work area (W) to the second set length (TL2) because the width of the trench target area (TA) is greater than the width of the bucket (43).

[0078] Meanwhile, referring to FIGS. 7a and 7b, when excavating while the upper slewing body (30) is turned, the end of the bucket (43) that excavates the object is spaced apart from the side of the trench target area (TA) by a predetermined angle, thereby reducing the excavation efficiency.

[0079] Accordingly, the angle (α) formed between the bucket (43) and the side of the trench target area (TA) can be formed at an angle of 20 degrees or less, preferably 10 degrees or less. Here, the angle (α) can be adjusted by the worker. That is, the worker can adjust the angle (α) according to the width of the trench target area (TA).

[0080] The second set length (TL2) may be the maximum length between the first position (B1) of the bucket (43) when the work device (40) is extended to a certain length, and the third position (B3) of the bucket (43) at which the angle formed by the bucket (43) with the side of the trench target area (TA) forms a preset angle (α). That is, the second set length (TL2) may be the length between the position of the apex of the bucket (43) when the bucket (43) is at the first position (B1) and the position of the end of the bucket (43) when the bucket (43) is at the third position (B3).

[0081] The second set length (TL2) may vary depending on the specifications of the construction machine (1), and its value may be stored in the storage unit (192).

[0082] The excavation control unit (194) can control the operation of the work device (40) so that a trench is formed to a preset length (TL1, TL2). Specifically, the excavation control unit (194) can calculate a pilot signal pressure for controlling the operation of the hydraulic actuator of the work device (40). Additionally, the excavation control unit (194) can also control the operation of the upper slewing body (30) so that an object contained in a bucket (43) by excavation can be dumped to a predetermined location.

[0083] Referring to FIGS. 5 and 6a, the excavation control unit (194) can sequentially excavate from the front to the rear of the working area (W) when the width of the trench target area (TA) and the width of the bucket (43) are the same.

[0084] Referring to FIGS. 5 and 7a, the excavation control unit (194) can divide the work area (W) in the width direction and perform the work if the width of the trench target area (TA) is greater than the width of the bucket (43). For example, the excavation control unit (194) can first excavate from the front to the rear on the right side of the work area (W), and then excavate from the front to the rear on the left side of the work area (W).

[0085] The excavation control unit (194) can control the operation of the work device and the upper rotating body to perform trench work again starting from the row located in front of the row if the quality of the row inspected by the quality inspection unit (195) does not meet the standard.

[0086] Preferably, the excavation control unit (194) can control the operation of the work device and the upper slewing body to resume trenching starting from a row located a first margin ahead of the row whose quality does not meet the standard. Here, the first margin can be set to 50 to 80% of the bucket depth, but is not limited thereto.

[0087] That is, since the excavation control unit (194) performs excavation work while leaving an overlapping area equal to the margin even within one work area, the precision of trench work can be improved.

[0088] Figure 8 is a diagram showing a work area divided into multiple rows and columns.

[0089] The quality inspection department (195) inspects the work quality based on the terrain information provided by the scanning department.

[0090] The quality inspection unit (195) can divide the work area (W) into multiple rows and columns. At this time, the size of each cell can be set to the scan resolution of the scan unit.

[0091] The quality inspection department (195) inspects quality row by row from the front to the rear of the work area (W).

[0092] In detail, the quality inspection department (195) for each row You can calculate the value, It compares the error of each row with the reference value to determine whether it is below the reference value, that is, whether the work quality of each row satisfies the reference value. Here, is the topographic information of each cell provided by the scan unit, is the reference value, There is an error in row i.

[0093] Meanwhile, some soil that flows down during excavation or dumping may accumulate at the rear of the trench being worked on.

[0094] Accordingly, the driving control unit (196) controls the driving of the lower body so that the construction machine, when the driving assistance mode is activated, drives less than the first set length (TL1) or the second set length (TL2), preferably by the driving restriction length (TR). The driving restriction length (TR) may be defined as a value obtained by subtracting the second margin (M2) from the first and second set lengths (TL1, TL2), as illustrated in FIGS. 6b and 7b. The second margin (M2) may be set to 50 to 80% of the bucket depth, but is not limited thereto.

[0095] Figure 9 is a schematic drawing showing the state of a construction machine driving backward after completing work in a work area.

[0096] Referring to FIGS. 5 and 9, the driving control unit (196) controls the driving of the lower body (20) so that the construction machine (1) drives less than the first set length (TL1), preferably by the driving limit length (TR), when the driving assistance mode is in operation.

[0097] When the construction machine (1) travels by the travel control unit (196) for the travel restriction length (TR), the rear portion of the work area (W1) where the construction machine (1) has already worked and the front portion of the work area (W2) where the construction machine (1) will subsequently work have an overlapping area of ​​the second margin (M2). As a result, the construction machine can excavate again from the rear portion of the previous trench area (W1), thereby improving the precision of trench work.

[0098] The driving control unit (196) can calculate a pilot signal pressure for controlling the driving of the first driving motor and the second driving motor of the lower driving body.

[0099] Referring to FIGS. 5 and 6b, the driving control unit (185) and / or the excavation control unit (186) can control the driving of the lower body (20) and / or the work device (40) so that the tip of the bucket (43) at the second position (B2) is spaced apart from the front of the lower body (20) by at least a third set length (TL3).

[0100] Referring to FIG. 5 and FIG. 7b, the driving control unit (185) and / or the excavation control unit (186) can control the driving of the lower body (20) and / or the work device (40) so that the tip of the bucket (43) at the third position (B3) is spaced apart from the front of the lower body (20) by at least a third set length (TL3).

[0101] This is to prevent the work device (40) from colliding with the lower driving body (20) and the upper swing body (30).

[0102] Referring to FIGS. 4 and 5, the output unit (197) can generate a control signal, for example, a current, corresponding to an operation received from the operating lever (151, 152) and apply it to the electronic proportional pressure reducing valve (130).

[0103] The output unit (197) can generate a current corresponding to the pilot signal pressure calculated in the excavation control unit (194) and apply it to the electronic proportional pressure reducing valve (130) of each control valve (121, 122). As a result, the amount of operating oil supplied to the hydraulic actuator (140) can be controlled, thereby controlling the operation of the working device.

[0104] The output unit (197) can generate a current corresponding to the pilot signal pressure calculated in the driving control unit (196) and apply it to the electronic proportional pressure reducing valve (130) of each control valve (121, 122, 123). As a result, the amount of operating oil supplied to the first and second driving motors of the lower driving body can be controlled, thereby controlling the driving of the lower driving body.

[0105] Figure 10 is a step diagram showing an automatic trench control method for construction equipment.

[0106] Hereinafter, an automatic trench control method of a construction machine according to one embodiment of the present invention will be described with reference to FIGS. 6a, 7a, and 10.

[0107] An automatic trench control method for a construction machine according to one embodiment of the present invention includes a step (S10) of setting a trench target area (TA) to be worked on.

[0108] An automatic trench control method for a construction machine according to one embodiment of the present invention includes a step (S20) of comparing the width of a trench target area (TA) with the width of a bucket (43) to determine the width and length of a work area (W) in which the construction machine (1) can perform trench work in place. In step (S20), the width of the work area (W) is set to be the same as the width of the trench target area (TA), and the length of the work area (W) is set to a first set length (TL1) if the width of the trench target area (TA) is the same as the width of the bucket (43), and is set to a second set length (TL2) if the width of the trench target area (TA) is greater than the width of the bucket (43).

[0109] An automatic trench control method for a construction machine according to one embodiment of the present invention includes a step (S30) of controlling the operation of an upper swivel body (30) and a work device (40) to perform trench work in the work area (W).

[0110] An automatic trench control method for a construction machine according to one embodiment of the present invention includes a step (S40) of scanning the work area (W) to inspect the quality of work.

[0111] An automatic trench control method for a construction machine according to one embodiment of the present invention further includes a step (S50) of controlling the driving of the lower drive body (20) so that the construction machine moves backward by less than the length (TL1, TL2) of the work area (W), preferably by the travel restriction length (TR), so that the construction machine can work on the next work area (W), when the quality inspection for the work area (W) is completed.

[0112] Figure 11 is a step diagram showing an automatic trench control method of a construction machine when the quality of some rows within a work area does not meet the standard value.

[0113] Referring to FIG. 5, FIG. 8 and FIG. 11, in step S30, the excavation control unit (194) S n S in the row i Excavate up to the row. Initially, n is set to 1.

[0114] At step S40, the quality inspection department (195) S n By checking the quality of the row, S n It is determined whether the row error is below the standard value. In the above step S40, the quality inspection unit (195) inspects the quality of the trench work row by row from the front to the back of the trench target area (TA).

[0115] At step S41, the quality inspection department (195) S n If the error of a row is less than or equal to the threshold, set n=n+1.

[0116] In step S42, it is determined whether n=i+1. That is, the quality inspection unit (195) determines whether the quality of the Si row has been inspected.

[0117] In step S43, the quality inspection unit (195) sets n=n-M1. n-M1 is set to be greater than 1. Accordingly, in step S30, the excavation control unit (194) sets S that did not pass the quality inspection in step S40. n The excavation work will be carried out again starting from the Sn-M1 row, which is located behind the first margin (M1) in the row.

[0118] At step S50, when the quality inspection for the work area is completed, the driving control unit (196) controls the driving of the lower driving body (20) to move backward by the driving limit length (TR).

[0119] Through the automatic trench system of the construction machine and the automatic trench control method of the construction machine described above, the construction machine inspects the quality of the trench worked on a row-by-row basis, and if the quality is low, the trench work is performed again starting from the row located in front of the row with low quality, so that the precision of the trench work can be improved.

[0120] In addition, since the driving of the lower drive body is controlled so that the construction machine travels less than the length of the trench that can be formed in place when driving, that is, by the driving limit length, the rear part of the trench that the construction machine has already worked on and the front part of the trench that the construction machine will subsequently work on have an overlapping area of ​​a predetermined margin, thereby improving the precision of trench work.

[0121] In addition, construction equipment can automatically perform trench work, improving work efficiency and operator convenience.

[0122] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly dictates otherwise. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items. It will also be understood that the terms “comprises,” “comprising,” “includes,” and / or “including,” when used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0123] While terms such as "first" and "second" may be used herein to describe various components, it is to be understood that these components are not limited by these terms. These terms are used solely to distinguish one component from another. For example, a first component could be referred to as a "second component," and similarly, a second component could be referred to as a "first component," without departing from the scope of the present disclosure.

[0124] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe one element's relationship to another, as illustrated in the drawings. It will be understood that these terms, and those discussed above, are intended to encompass different orientations of the device in addition to the orientations depicted in the drawings. When an element is referred to as being "connected" or "coupled" to another element, it will be understood that it may be directly connected or coupled to the other element, or that intervening elements may be present. Conversely, when an element is referred to as being "directly connected" or "directly coupled" to another element, no intervening elements are present.

[0125] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Furthermore, it is to be understood that terms used herein should be interpreted to have a meaning consistent with their meaning within the context of this specification and related technologies, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

Claims

1. An automatic trenching system for a construction machine including a lower body, an upper swivel body rotatably connected to the lower body, and a work device including a boom, an arm, and a bucket mounted on the upper swivel body, A sensor unit that detects detailed information of the above construction machine; A setting section that can set the target area of ​​the trench to be worked on; and Including an electronic control unit that controls the construction machine to perform trench work along a set trench target area, The above electronic control unit, An automatic trenching system for a construction machine, which compares the width of a trench target area with the width of a bucket to determine the length and width of a work area in which the construction machine can perform trenching work in place.

2. In paragraph 1, The above electronic control unit, An automatic trenching system for construction machinery, which determines the width of the above working area to be the same as the width of the trench target area.

3. In paragraph 2, The above electronic control unit, If the width of the trench target area and the width of the bucket are the same, the length of the work area is determined as the first set length, An automatic trenching system for a construction machine, wherein the first set length is the length between the first position of the bucket when the work device is extended a certain distance and the second position of the bucket when the bottom of the bucket is horizontal to the ground.

4. In paragraph 2, The above electronic control unit, If the width of the trench target area is greater than the width of the bucket, the length of the work area is determined as the second set length, The above second set length is the length between the first position of the bucket when the work device is extended a certain distance and the third position of the bucket when the angle formed by the bucket with the side of the trench target area is a certain angle. An automatic trenching system for a construction machine.

5. In paragraph 1, The above electronic control unit, An automatic trenching system for a construction machine, which controls the operation of the upper swivel body and the work device so that the construction machine forms a trench in the work area.

6. In paragraph 5, A scanning unit for scanning a work area to generate terrain information; further comprising: The above electronic control unit, An automatic trenching system for construction machinery, which divides the above work area into multiple rows and columns.

7. In paragraph 6, The above electronic control unit, An automatic trenching system for construction equipment, which inspects the quality of trenching work row by row from the front to the rear of the work area based on terrain information provided from the above scanning unit.

8. In paragraph 7, The above electronic control unit, If the error of the checked row is below the standard value, the quality of the next row is checked. An automatic trenching system for a construction machine that controls the operation of the upper rotating body and the work device to perform trenching again from the row located in front of the row if the error of the inspected row is higher than the reference value.

9. In paragraph 7, The above electronic control unit, An automatic trenching system for a construction machine, which controls the driving of the lower body so that the construction machine moves backwards by less than the length of the work area when the error of the last row of the work area is less than a reference value.

10. An automatic trench control method for a construction machine including a lower driving body, an upper swing body rotatably connected to the lower driving body, and a work device including a boom, an arm, and a bucket mounted on the upper swing body, Step of setting the trench target area to be worked on (S10); A step (S20) of comparing the width of the trench target area with the width of the bucket to determine the width and length of the work area in which the construction machine can perform trench work in place; Step (S30) of controlling the operation of the upper swivel body and the work device to perform trench work in the work area; and An automatic trench control method for a construction machine, comprising a step (S40) of scanning the above work area to inspect the quality of work.

11. In paragraph 10, In the above step S40, An automatic trench control method for construction machinery, which inspects the quality of trench work row by row from the front to the rear of the trench target area.

12. In paragraph 11, In the above step S40, If the error of the checked row is below the standard value, the quality of the next row is checked. An automatic trench control method for construction equipment, which performs trenching again from the row located ahead of the row if the error of the inspected row is higher than the reference value.

13. In paragraph 10, An automatic trench control method for a construction machine, further comprising a step (S50) of controlling the driving of the lower body to move backwards less than the length of the work area so that the construction machine can work on the next work area when the quality inspection for the work area is completed.

Images