Automatic driving assistance system of construction machine and automatic driving assistance control method of construction machine

Abstract

One aspect of the present disclosure relates to an automatic driving assistance system for a construction machine including an undercarriage, a superstructure rotatably coupled to the undercarriage, and a work device including a boom, an arm, and a bucket mounted on the superstructure, the automatic driving assistance system comprising: a sensor unit that detects attitude information of the construction machine; a driving lever that outputs an electric operating signal corresponding to a worker's operation; a setting unit capable of setting a trench area to be worked on; and an electronic control unit that determines whether a driving assistance mode is operated on the basis of the operating signal outputted from the driving lever, and controls driving of the undercarriage such that the construction machine drives along the set trench area when the driving assistance mode is operated, wherein in the driving assistance mode, the electronic control unit controls driving of the undercarriage such that the construction machine drives less than a length of a trench in which the construction machine can work in place.

Description

Automatic driving assistance system for construction machinery and automatic driving assistance control method for construction machinery

[0001] The present disclosure relates generally to construction machinery. In certain aspects, the present disclosure relates to an automatic driving assistance system for construction machinery and a method for controlling an automatic driving assistance system 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 driving assistance system for a construction machine including an undercarriage, an upper swing body rotatably coupled to the undercarriage, and a work device including a boom, an arm, and a bucket mounted on the upper swing body, the automatic driving assistance system for a construction machine including a sensor unit for detecting attitude information of the construction machine, a driving lever for outputting an electric operating signal corresponding to an operation of a worker, a setting unit capable of setting a trench area to be worked on, and an electronic control unit for determining whether a driving assistance mode is operated based on the operating signal output from the driving lever, and controlling the driving of the undercarriage so that the construction machine drives along the set trench area when the driving assistance mode is operated, wherein in the driving assistance mode, the electronic control unit controls the driving of the undercarriage so that the construction machine drives less than a length of a trench in which the construction machine can work in place. The technical advantage is that since the driving of the lower body is controlled to drive less than the length of the trench that can be formed in place when the construction machine is driven, that is, by the driving limit length, the rear part of the trench that the construction machine has already worked and the front part of the trench that the construction machine will subsequently work have an overlapping area of ​​the margin, thereby improving the precision of trench work.

[0006] In one embodiment, the length of the trench that can be worked in place may be the length between a first position of the bucket when the work device is extended to a certain length and a second position of the bucket when the bottom of the bucket is horizontal to the ground.

[0007] In one embodiment, the electronic control unit can generate a virtual driving path consisting of one or more straight lines along the center line of the trench area set in the setting unit.

[0008] In one embodiment, the electronic control unit can activate the driving assistance mode when the driving lever is operated so that the construction machine follows the driving path, and deactivate the driving assistance mode when the driving lever is in a neutral position or the driving lever is operated so that the construction machine does not follow the driving path.

[0009] In one embodiment, the electronic control unit can generate a driving path by extending the rear end of the set trench area by a certain length.

[0010] In one embodiment, the electronic control unit can align a virtual driving centerline, which is parallel to the forward and backward directions of the lower body and passes through the center of the work device, on the driving path. The technical advantage is that the construction machine automatically aligns itself with the trench area and moves backward along the trench area, thereby improving work efficiency.

[0011] In one embodiment, the electronic control unit can control the driving of the lower body so that the angle between the driving center line and the driving path becomes 0.

[0012] In one embodiment, the electronic control unit can form a plurality of points at regular intervals on the driving path.

[0013] In one embodiment, the electronic control unit can generate a driving end reference line extending a predetermined length forward while passing through the center of the work device.

[0014] In one embodiment, the electronic control unit can change the direction of the construction machine when the end of the driving end reference line is located at a point where the direction of the driving path changes, and can end the driving assistance mode of the construction machine when the end of the driving end reference line is located at the last point of the driving path.

[0015] According to a second aspect of the present disclosure, there is provided an automatic driving assistance control method for a construction machine including an undercarriage, an upper swing body rotatably coupled to the undercarriage, and a work device including a boom, an arm, and a bucket mounted on the upper swing body, the method comprising the steps of: generating a virtual driving path formed of one or more straight lines along a center line of a trench area set by a worker (S10); driving the undercarriage so as to align a virtual driving center line that is parallel to the front-rear direction of the undercarriage and passes through the center of the work device on the driving path (S20); and determining whether a driving assistance mode is operated based on an operation signal output from a driving lever, and controlling the driving of the undercarriage so that the construction machine travels along the driving path by less than a length of a trench that can be formed in place when the driving assistance mode is operated (S30).

[0016] In one embodiment, in step S10, multiple points with constant intervals may be formed on the virtual driving path.

[0017] In one embodiment, in step S20, the driving of the lower driving body can be controlled so that the angle between the driving center line and the driving path becomes 0.

[0018] In one embodiment, the step (S40) of changing the direction of the construction machine may be further included when the end of a driving end reference line that passes through the center of the work device but extends forward by a certain length is located at a point where the direction of the driving path changes.

[0019] In one embodiment, the step (S50) of terminating the driving assistance mode may be further included when the end of a driving end reference line that passes through the center of the work device but extends forward by a certain length is located at the last point of the driving path.

[0020] The above-described aspects, appended claims, and / or examples disclosed herein above and hereinafter may be suitably combined with one another as will be apparent to one of ordinary skill in the art.

[0021] 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.

[0022] With reference to the accompanying drawings, a more detailed description of embodiments of the present disclosure, cited as examples, follows below.

[0023] FIG. 1 is a perspective view illustrating a construction machine according to one embodiment of the present invention.

[0024] FIG. 2 is a drawing for explaining the bucket depth of a construction machine according to one embodiment of the present invention.

[0025] FIG. 3 is a block diagram illustrating the basic configuration of an automatic driving assistance system for a construction machine according to one embodiment of the present invention.

[0026] FIG. 4 is a drawing schematically showing the overall configuration of an automatic driving assistance system for a construction machine according to one embodiment of the present invention.

[0027] Figure 5 is a block diagram of the electronic control unit.

[0028] Figure 6 is a schematic diagram illustrating a method for generating a virtual driving path based on a set trench area.

[0029] Figure 7 is a drawing schematically illustrating the driving center line of a construction machine.

[0030] Fig. 8 is a schematic drawing showing a state in which the driving center line of the construction machine and the virtual driving path generated in Fig. 6 are not aligned.

[0031] Figure 9 is a schematic drawing showing a state in which a construction machine is working on a trench in place.

[0032] FIGS. 10A to 10E are schematic drawings showing a construction machine driving along a virtual driving path generated in FIG. 6.

[0033] Figure 11 is a step diagram showing an automatic driving assistance control method for construction machinery.

[0034] The aspects described below represent information necessary to enable a person skilled in the art to practice the present disclosure.

[0035] FIG. 1 is a perspective view illustrating a construction machine according to one embodiment of the present invention.

[0036] 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 swivelably installed on the lower body (20), a work device (40) that is movably installed on the upper body (30) and a hydraulic actuator (50).

[0037] 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.

[0038] 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).

[0039] The hydraulic actuator (50) includes a boom actuator (51), an arm actuator (52), and a bucket actuator (53). When operating fluid is supplied according to the operator's operation of the operating lever, the boom actuator (51), the arm actuator (52), and the bucket actuator (53) operate the boom (41), the arm (42), and the bucket (43), respectively.

[0040] FIG. 2 is a drawing for explaining the bucket depth of a construction machine according to one embodiment of the present invention.

[0041] 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.

[0042] FIG. 3 is a block diagram showing the basic configuration of an automatic driving assistance system for a construction machine according to one embodiment of the present invention, and FIG. 4 is a drawing schematically showing the overall configuration of an automatic driving assistance system for a construction machine according to one embodiment of the present invention.

[0043] Referring to FIGS. 3 and 4, the automatic driving assistance system (100) of a construction machine may include a hydraulic pump (110), a control valve unit (120), an electronic proportional pressure reducing valve (130), a driving motor (140), a driving lever (150), a sensor unit (160), a setting unit (170), and an electronic control unit (180).

[0044] The hydraulic pump (110) is driven by the engine (E) and discharges high-pressure operating fluid to operate the driving motor (140). The hydraulic pump (110) may include first and second hydraulic pumps (111, 112).

[0045] 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) and a second control valve (122) that operate a first driving motor (141) and a second driving motor (142), respectively. In addition, the control valve may also include a control valve that controls a boom actuator, an arm actuator, a bucket actuator, and the like.

[0046] 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 driving motor (140). The pilot signal pressure generated when the first driving lever (151) is operated can be applied to the spool of the first control valve (121). Similarly, the pilot signal pressure generated when the second driving lever (152) is operated can be applied to the spool of the second control valve (122).

[0047] 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 (180), 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.

[0048] The driving motor (140) is operated by operating fluid provided from the hydraulic pump (110). The driving motor (140) may be provided with a first driving motor (141) and a second driving motor (142). The driving motor (140) may rotate forward or backward depending on the flow direction of the operating fluid. When the rotation direction of the driving motor (141, 142) is forward, the construction machine can perform forward driving, and when the rotation direction of the driving motor (141, 142) is reverse, the construction machine can perform backward driving.

[0049] A first driving lever (151) and a second driving lever (152) are provided to operate the first driving motor (141) and the second driving motor (142).

[0050] When the first driving lever (151) and the second driving lever (152) are simultaneously pushed forward, the construction machine moves forward. Conversely, when the first driving lever (151) and the second driving lever (152) are simultaneously pulled backward, the construction machine moves backward. In addition, when only one of the first driving lever (151) and the second driving lever (152) is operated, the construction machine turns to the right or left.

[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 (180).

[0055] The setting unit (170) may be configured as a display installed inside the driver's cab, through which the operator can set the trench area of ​​the construction machine. Preferably, the setting unit (170) may display the trench area (T) set by the operator and real-time information (C) regarding the current position and posture of the construction machine detected by the sensor unit (160).

[0056] In the setting section (170), a button for activating the driving assistance mode may be displayed on the display, and the operator may press it to turn the driving assistance mode on and off. However, the button on the display may also be configured as a switch.

[0057] In addition, information indicating whether the driving assistance mode is in operation and information about the path being tracked by the construction machine can be displayed on the setting section (170).

[0058] In addition, the electronic control unit (180) determines whether the driving assistance mode is activated based on the operation signal output from the driving lever (150), and when the driving assistance mode is activated, generates an electric signal to cause the construction machine to drive along the set trench area and outputs the signal to the electronic proportional pressure reducing valve (130). The electronic proportional pressure reducing valves (130) can move the spools of the control valve unit (120) according to the intensity of the applied pilot signal pressure by supplying a pilot signal pressure proportional to the intensity of the current applied by the electronic control unit (180) to the spools of the control valve unit (120). That is, the electronic control unit (180) controls the driving of the driving motor (140), that is, the driving of the lower body, based on the operation signal output from the driving lever (150).

[0059] Figure 5 is a block diagram of the electronic control unit.

[0060] Referring to FIG. 5, the electronic control unit (180) may include a data receiving unit (181), a storage unit (182), a driving path generation unit (183), a driving path alignment unit (184), a driving control unit (185), an excavation control unit (186), and an output unit (187).

[0061] The data receiving unit (181) can receive information detected by the sensor unit. The data receiving unit (181) 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.

[0062] The data receiving unit (181) can receive information about the trench area set in the setting unit and information about whether the driving assistance mode is activated.

[0063] The storage unit (182) can store information on the first set length, the driving limit length, the third set length, and the margin value. In addition, the storage unit (182) can store the bucket depth that serves as the basis for the margin value.

[0064] The storage unit (182) can store information about a driving end reference line that passes through the center of the work device and extends to a second position of the bucket where the bottom of the bucket is horizontal to the ground.

[0065] Figure 6 is a schematic diagram illustrating a method for generating a virtual driving path based on a set trench area.

[0066] Below, the process of generating a virtual driving path is described in more detail with reference to FIGS. 5 and 6.

[0067] The driving path generation unit (183) generates a virtual driving path (V) based on the trench area (T) set in the setting unit.

[0068] The driving path generation unit (183) generates a virtual driving path (V) consisting of one or more straight lines along the center line of the trench area (T). However, the present invention is not limited thereto, and the virtual driving path may also include curves.

[0069] When a trench area (T) is input through the setting section, the driving path generation section (183) converts the center line of the trench area (T) into a straight line (V) as shown in Fig. 6(b). For example, when the trench area (T) shown in Fig. 6 changes direction in the middle, a virtual driving path (V) composed of two straight lines (V1, V2) is generated as shown in Fig. 6(c).

[0070] In one embodiment, the driving path generation unit (183) can generate a virtual driving path (V) by extending the rear end of the trench area (T) by a certain length. The extended path (VE) illustrated in FIG. 6(b) is configured to terminate the driving assistance mode when the construction machine exits the trench by a certain distance. The extended path (VE) may have a first set length, which will be described later, but is not limited thereto. In addition, the extended path (VE) may be omitted in some cases.

[0071] The driving path generation unit (183) can form multiple points (P) at regular intervals along a virtual driving path (V). These points can serve as reference points when starting trenching work, changing the direction of the construction machine, or determining the end of driving assistance mode. Points located along the extended path (VE) are marked with white dots to distinguish them from previous points.

[0072] Figure 7 is a drawing schematically illustrating the driving center line of a construction machine.

[0073] Referring to FIGS. 5 and 7, the driving path alignment unit (184) controls the driving of the lower body so that the driving center line of the construction machine is aligned on the virtual driving path (V) generated by the driving path generation unit (183).

[0074] The driving path alignment unit (184) can create a driving center line (TC).

[0075] In detail, the driving path alignment unit (184) can generate a virtual driving center line (TC) that is parallel to the forward / backward direction (WD) of the track (21) of the lower driving body (20) and is formed to pass through the centers of the boom (41), the arm (42), and the bucket (43) when the work device (40) is in the correct position. However, the present invention is not limited thereto, and the driving center line (TC) can be received from a sensor unit.

[0076] In general, since the work device (40) is not located at the center of the construction machine (1) but is offset to one side, the driving center line (TC) may not coincide with the center of the construction machine (1).

[0077] Referring to Fig. 7(b), since the driving center line (TC) is parallel to the forward / backward direction (WD) of the track (21) of the lower driving body (20), it always faces forward despite the turning of the upper turning body (30).

[0078] Figure 8 is a schematic drawing showing a state in which the driving center line of a construction machine and the virtual driving path are not aligned.

[0079] Typically, when trenching, workers excavate the ground to form a trench and then repeatedly move backward a certain distance. Since trenches are mostly formed in a straight line, trenching becomes complicated if the travel center line (TC) is not aligned with the virtual travel path (V), as shown in Fig. 8.

[0080] Referring to FIGS. 5 and 8, the driving path alignment unit (184) controls the driving of the lower driving body (20) so that the driving center line (TC) of the construction machine (1) is aligned on the driving path (V) generated by the driving path generation unit (183).

[0081] The driving path alignment unit (184) is the residual angle ( between the driving center line (TC) and the virtual driving path (V1). ) and lateral error ( ) and calculate the residual angle ( ) and lateral error ( ) controls the driving of the lower drive body (20) so that the driving force can be minimized. Specifically, the driving path alignment unit (184) can calculate a pilot signal pressure for controlling the driving of the first driving motor and the second driving motor.

[0082] By this, the amount of operating oil supplied to the first and second driving motors is controlled, and the residual angle () between the driving center line (TC) and the driving path (V) is ) and lateral error ( ) can be 0, i.e., the driving center line (TC) can be aligned with the driving path (V).

[0083] The driving path alignment unit (184) first aligns the driving center line (TC) to the driving path (V1), and when the trench work for the driving path (V1) is completed, aligns the driving center line (TC) to the driving path (V2).

[0084] The driving path alignment unit (184) determines whether to align the driving center line (TC) to the driving path (V) based on an operation signal output from the driving lever or an activation signal of the driving assistance mode output from the setting unit.

[0085] The driving control unit (185) determines whether the driving assistance mode is in operation based on the operation signal output from the driving lever.

[0086] In relation to this, as described above, when the first and second driving levers are simultaneously pulled backward, the construction machine moves backward. However, when only one of the first and second driving levers is operated, the machine turns to the right or left.

[0087] The driving control unit (185) determines that there is an intention to drive along the driving path when the first and second driving levers are pulled backward at the same time, and activates the driving assistance mode.

[0088] However, the driving control unit (185) determines that there is no intention to drive along the driving path when only one of the first and second driving levers is operated, and thus disables the driving assistance mode.

[0089] In one embodiment, the driving control unit (185) stores the shear point of the trench area at the time when the driving assistance mode is released in the storage unit (182), and then controls the driving of the lower body so that the bucket is aligned to the point when the construction machine is aligned again on the driving path.

[0090] Meanwhile, during trenching, workers repeatedly form the trench and drive the construction equipment backward. During this process, soil that flows out during excavation or dumping may accumulate at the rear of the trench.

[0091] Accordingly, the driving control unit (185) controls the driving of the lower body so that the construction machine travels less than a first set length when the driving assistance mode is activated. Here, the first set length is related to the length of a trench that the construction machine can form in place.

[0092] Figure 9 is a schematic drawing showing a state in which a construction machine is working on a trench in place.

[0093] In detail, referring to FIGS. 5 and 9, 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).

[0094] 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 (182).

[0095] In one embodiment, the driving control unit (185) controls the driving of the lower body (20) so that the construction machine (1) drives less than the first set length, i.e., the driving limit length (TL2), when the driving assistance mode is activated. Specifically, the driving control unit (185) can calculate a pilot signal pressure for controlling the driving of the first driving motor and the second driving motor.

[0096] The driving limit length (TL2) can be defined as a value obtained by subtracting the margin (M) from the first set length (TL1). In this way, when the construction machine (1) is driven by the driving control unit (185) less than the first set length (TL1), preferably by the driving limit length (TL2), the rear part of the trench that the construction machine (1) has already worked and the front part of the trench that the construction machine (1) will subsequently work have an overlapping area equal to the margin (M). Accordingly, since the rear part of the previous trench can be worked once more when working on the subsequent trench area, the precision of the trench work can be improved.

[0097] In one embodiment, the margin may be set to, but is not limited to, 50 to 80% of the bucket depth.

[0098] The driving control unit (185) notifies the operator through the setting unit when the lower driving body (20) has driven as far as the driving limit length (TL2) and controls the lower driving body (20) to stop.

[0099] In one embodiment, the driving control unit (185) can generate a driving end reference line (TF) that extends to the end of the bucket (43) when the bucket (43) is at the second position (B2). Specifically, the driving control unit (185) terminates the driving assistance mode when the last point of the driving path is located at the front end of the driving end reference line (TF).

[0100] In one embodiment, the driving control unit (185) can control the driving of the lower body (20) and the work device (40) so that the bucket (43) is positioned at a point located rearward by a distance (TL2) that the construction machine (1) has traveled from the shear point of the previous trench area. Specifically, the lower body (20) and the work device (40) can be driven so that the bucket (43) is positioned at a new point in the posture of the first position (B1).

[0101] The excavation control unit (186) can control the operation of the construction machine (1) so that a trench is formed to a first set length (TL1) when the excavation assistance mode is activated. Specifically, the excavation control unit (186) can calculate a pilot signal pressure for controlling the operation of a hydraulic actuator of the work device. However, this is not limited thereto, and the worker can also directly perform trench work by operating the operation lever without the excavation assistance mode.

[0102] The excavation control unit (186) can determine whether the excavation assistance mode is in operation based on an operation signal output from the operator's operation lever.

[0103] In one embodiment, 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). This is to prevent the work device (40) from colliding with the lower body (20) and the upper swing body (30).

[0104] Referring to FIGS. 4 and 5, the output unit (187) can generate a control signal, for example, a current, corresponding to an operation received from the driving lever (151, 152) and apply it to the electronic proportional pressure reducing valve (130).

[0105] The output unit (187) can generate a current corresponding to the pilot signal pressure calculated in the driving path alignment unit (184) 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 first and second driving motors (141, 142) can be controlled, thereby controlling the driving of the lower driving body.

[0106] The output unit (187) can generate a current corresponding to the pilot signal pressure calculated in the driving control unit (185) and apply it to the electronic proportional pressure reducing valve (130) of each control valve (121, 122). As a result, the amount of operating fluid supplied to the first and second driving motors (141, 142) can be controlled, thereby controlling the driving of the lower driving body.

[0107] The output unit (187) can generate a current corresponding to the pilot signal pressure calculated in the excavation control unit (186) and apply it to the electronic proportional pressure reducing valve of the control valve of the work device. As a result, the amount of operating oil supplied to the hydraulic actuator of the work device can be controlled, thereby controlling the operation of the work device.

[0108] Figures 10a to 10e are schematic drawings showing a construction machine driving along a virtual driving path generated in Figure 6.

[0109] Below, the process of a construction machine driving along a virtual driving path is described in detail with reference to FIGS. 5 and 10a to 10e. In this embodiment, it is assumed that the construction machine performs trench work at a first set length in one location.

[0110] Referring to FIG. 5 and FIG. 10a, the construction machine (1) has its driving center line (TC) aligned on the first driving path (V1) generated by the driving path generation unit (183), and the bucket (43) is positioned at the front end point (P1) of the first driving path (V1) by the driving control unit (185).

[0111] When the trench is worked to the first set length (TL1) by the worker or the excavation control unit (186), and the worker simultaneously pulls the 1st and 2nd driving levers backward to activate the driving assistance mode, the driving control unit (185) drives the lower drive unit (20) to move the construction machine (1) backward along the virtual driving path (V1). When the construction machine (1) moves to the driving limit length (TL2), the driving control unit (185) notifies the worker of this through the setting unit and stops driving the lower drive unit (20).

[0112] Referring to FIG. 10b, the bucket (43) of the construction machine (1) is aligned to a new starting point (P2) that is moved rearward by the travel restriction length (TL2) from the previous starting point (P1) by the travel control unit (185). Since the construction machine (1) has traveled by the travel restriction length (TL2), which is the distance obtained by subtracting the margin (M) from the first set length (TL1), the bucket (43) of the construction machine (1) is aligned to a new starting point (P2) located within the trench area (T1) that has already been worked. The rear portion of the trench area (T1) that the construction machine (1) has already worked and the front portion of the trench area (T2) that the construction machine (1) will subsequently work have an overlapping area of ​​the margin (M). As a result, the worker can excavate the rear portion of the previous trench area (T1) again.

[0113] Figure 10c shows a state where the end of the driving end reference line of the construction machine is located at the end point of the first driving path.

[0114] When the end of the driving end reference line (TF) is located at the point (P3) where the direction changes between the first driving path (V1) and the second driving path (V2), the driving assistance mode is terminated.

[0115] Next, referring to FIG. 10d, when a trench is formed to point (P3) by the operator or the excavation control unit (186), the driving path alignment unit (184) controls the driving of the lower body (20) so that the driving center line (TC) is aligned with the driving path (V2). The bucket (43) of the construction machine (1) is aligned to point (P3) by the driving control unit (185), and the trenching operation is restarted by the operator or the excavation control unit (186).

[0116] Figure 10e shows a state in which the end of the driving end reference line of the construction machine is located at the end point of the second driving path.

[0117] The driving assistance mode is terminated because the end of the driving end reference line (TF) is located at the end point (P5) of the extended path (VE). However, this is not limited to the driving assistance mode, and the driving assistance mode may also be terminated if the end of the driving end reference line (TF) is located at the end point (P4) of the second driving path (V2).

[0118] Figure 11 is a step diagram showing an automatic driving assistance control method for construction machinery.

[0119] Below, an automatic driving assistance control method of a construction machine according to one embodiment of the present invention is described.

[0120] Referring to FIGS. 6 and 11, a method for controlling automatic driving assistance of a construction machine includes a step (S10) of generating a virtual driving path (V) consisting of one or more straight lines (V1, V2) along a center line of a trench area (T) set by a worker. In step S10, a plurality of points (P) with equal intervals may be formed on the virtual driving path (V).

[0121] Referring to FIGS. 8 and 11, the automatic driving assistance control method of a construction machine includes a step (S20) of aligning a virtual driving center line (TC) that is parallel to the forward / rearward direction (WD) of the lower body (20) and passes through the center of the work device (40) on the virtual driving path (V). In step S20, the driving of the lower body (20) can be controlled so that the angle between the virtual driving center line (TC) and the virtual driving path (V) becomes 0.

[0122] Referring to FIGS. 10a and 11, the automatic driving assistance control method of a construction machine includes a step (S30) of determining whether a driving assistance mode is operated based on an operation signal output from a driving lever, and controlling the driving of the lower driving body (20) so that the construction machine (1) drives along a virtual driving path (V1, V2) by a length less than a length (TL1) of a trench that can be formed in place, that is, a driving limit length (TL2).

[0123] Referring to FIGS. 10c and 11, the automatic driving assistance control method of a construction machine may include a step (S40) of changing the direction of the construction machine (1) when the end of a driving end reference line (TF) that passes through the center of the work device (40) but extends forward by a certain length is located at a point (P3) where the direction of the driving path (V1, V2) changes.

[0124] Referring to FIGS. 10e and 11, the automatic driving assistance control method of a construction machine may further include a step (S50) of terminating the driving assistance mode when the end of a driving end reference line (TF) that passes through the center of the work device (40) but extends forward by a certain length is located at the last point (P4, P5) of the driving path (V2, VE).

[0125] Through the aforementioned automatic driving assistance system for construction machinery and the automatic driving assistance control method for construction machinery, the construction machinery is automatically aligned to the trench area and moves backward along the trench area, thereby improving work efficiency.

[0126] 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 equal to the margin, thereby improving the precision of trench work.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 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 driving assistance system for a construction machine including a lower body, an upper swing body rotatably connected to the lower body, and a work device including a boom, an arm, and a bucket mounted on the upper swing body, A sensor unit that detects detailed information of the above construction machine; A driving lever that outputs an electrical operating signal corresponding to the operator's operation; A setting section that allows setting the trench area to be worked on; and It includes an electronic control unit that determines whether the driving assistance mode is operated based on the operation signal output from the driving lever, and controls the driving of the lower driving body so that the construction machine drives along the set trench area when the driving assistance mode is operated. In driving assistance mode, the electronic control unit, An automatic driving assistance system for a construction machine, which controls the driving of the lower driving body so that the construction machine travels less than the length of a trench in which the construction machine can work in place.

2. In paragraph 1, The length of the trench that can be worked in the above-mentioned place is the length between the first position of the bucket when the work device is extended to a certain length and the second position of the bucket when the bottom of the bucket is horizontal to the ground, an automatic driving assistance system for a construction machine.

3. In paragraph 1, The above electronic control unit, An automatic driving assistance system for construction machinery that generates a virtual driving path consisting of one or more straight lines along the center line of a trench area set in the above setting section.

4. In paragraph 3, The above electronic control unit, When the driving lever is operated so that the construction machine follows the driving path, the driving assistance mode is activated. An automatic driving assistance system for construction machinery that deactivates the driving assistance mode when the driving lever is in the neutral position or when the driving lever is operated so that the construction machinery does not follow the driving path.

5. In paragraph 3, The above electronic control unit, An automatic driving assistance system for construction machinery that creates a driving path by extending the rear end of a set trench area by a certain length.

6. In paragraph 3, The above electronic control unit, An automatic driving assistance system for a construction machine, which aligns a virtual driving center line that is parallel to the forward and backward directions of the lower driving body and passes through the center of the work device on the driving path.

7. In paragraph 6, The above electronic control unit, An automatic driving assistance system for construction machinery that controls the driving of the lower driving body so that the angle between the driving center line and the driving path becomes 0.

8. In paragraph 3, The above electronic control unit, An automatic driving assistance system for construction machinery that forms multiple points at regular intervals on a driving path.

9. In paragraph 8, The above electronic control unit, An automatic driving assistance system for construction machinery that creates a driving end reference line that extends a certain length forward while passing through the center of the above work device.

10. In paragraph 9, The above electronic control unit, If the end of the above driving end reference line is located at a point where the direction of the driving path changes, the direction of the construction machine changes. An automatic driving assistance system for a construction machine that terminates the driving assistance mode of the construction machine when the end of the driving end reference line is located at the last point of the driving path.

11. A method for automatic driving assistance control of a construction machine including a lower body, an upper swing body rotatably connected to the lower body, and a work device including a boom, an arm, and a bucket mounted on the upper swing body, A step (S10) of generating a virtual driving path consisting of one or more straight lines along the center line of a trench area set by a worker; Step (S20) of driving the lower body so as to align a virtual driving center line that is parallel to the forward and backward direction of the lower body and passes through the center of the work device on the driving path; and A method for controlling automatic driving assistance of a construction machine, comprising: a step (S30) of determining whether a driving assistance mode is in operation based on an operation signal output from a driving lever, and controlling the driving of the lower driving body so that the construction machine drives along a driving path less than a length of a trench that can be formed in place when the driving assistance mode is in operation.

12. In paragraph 11, A method for automatic driving assistance control of a construction machine, wherein a plurality of points at equal intervals are formed on a virtual driving path at step S10.

13. In paragraph 11, A method for controlling automatic driving assistance of a construction machine, wherein, in step S20, the driving of the lower driving body is controlled so that the angle between the driving center line and the driving path becomes 0.

14. In paragraph 12, A method for controlling automatic driving assistance of a construction machine, further comprising a step (S40) of changing the direction of the construction machine when an end of a driving end reference line that passes through the center of the above-mentioned work device but extends forward by a certain length is located at a point where the direction of the driving path changes.

15. In paragraph 12, A method for controlling automatic driving assistance of a construction machine, further comprising a step (S50) of terminating the driving assistance mode when an end of a driving end reference line that passes through the center of the above-mentioned work device but extends forward by a certain length is located at the last point of the driving path.

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