Automatic control system and method for joystick control-based construction equipment

Abstract

According to the present invention, a hydraulic system of construction equipment is implemented as a close center system, which converts an input signal of an electric or hydraulic joystick into a speed signal of a work apparatus, and controls a speed of the work apparatus regardless of an external load condition, thereby minimizing fatigue of a worker to improve work efficiency, improving a work apparatus operation ability of an unskilled person, and patterning standardized work to implement automation of construction equipment.

Claims

1. A system for automatically controlling construction equipment, to which a joystick is applied, based on a joystick control, comprising: a hydraulic pump configured to discharge working fluid within a hydraulic tank and supply the working fluid to an actuator; the actuator configured to drive a construction work apparatus with the working fluid of the hydraulic pump; first electronic hydraulic control valves installed in a piston-side inlet flow path and a rod-side inlet flow path connected from the hydraulic pump to the actuator; second electronic hydraulic control valves installed in a piston-side outlet flow path and a rod-side outlet flow path connected from the actuator to the hydraulic tank; and a control unit configured to independently control the first electronic hydraulic control valves and the second electronic hydraulic control valves connected to the actuator, wherein the system is implemented as a close center system without a bypass flow path connected from the hydraulic pump to the hydraulic tank by bypassing the actuator, the control unit determines a speed of the actuator in proportion to a stroke by an operation of the joystick and controls the first electronic hydraulic control valves, the second electronic hydraulic control values and the hydraulic pump by using the speed of the actuator regardless of an external load condition, and the control unit controls the hydraulic pump so as not to discharge a predetermined flow rate when the joystick is in a neutral stage.

2. The system of claim 1, wherein the joystick is an electric joystick, and when an electric signal is generated by an operation of the electric joystick, the control unit controls the first electronic hydraulic control valves and the second electronic hydraulic control valves connected to the actuator by using the electric signal generated by the operation of the electric joystick.

3. The system of claim 1, wherein the joystick is a hydraulic joystick, and the system further comprises a pressure sensor converting a pilot pressure formed by an operation of the hydraulic joystick into an electric signal, and the control unit controls the first electronic hydraulic control valves and the second electronic hydraulic control valves connected to the actuator by using the electric signal generated by the pressure sensor.

4. The system of claim 2, wherein the control unit further includes a controller configured to convert a coded electric signal, which is in proportion to a stroke of the electric joystick into a speed signal, to control open/close of the first electronic hydraulic control valves and the second electronic hydraulic control valves, and to change a work speed of the construction work apparatus.

5. The system of claim 4, wherein an area of a flow path is variably controlled by the first electronic hydraulic control valves and the second electronic hydraulic control valves according to an operation quantity of the electric joystick.

6. The system of claim 2, wherein the control unit further includes a storage unit storing an electric signal and a speed signal generated according to an operation of the electric joystick in real time.

7. The system of claim 3, wherein the control unit further includes a controller configured to convert a coded electric signal, which is in proportion to a stroke of the hydraulic joystick into a speed signal, to control open/close of the first electronic hydraulic control valves and the second electronic hydraulic control valves, and to change a work speed of the construction work apparatus.

8. The system of claim 3, wherein the control unit further includes a storage unit storing an electric signal and a speed signal generated according to an operation of the hydraulic joystick in real time.

9. The system of claim 7, wherein an area of a flow path is variably controlled by the first electronic hydraulic control valves and the second electronic hydraulic control valves according to an operation quantity of the hydraulic joystick.

10. The system of claim 1, wherein the control unit further comprises a storage unit configured to store the input signal generated by the operation of the joystick and the speed signal controlling the work speed of the construction work apparatus for a specific time period, wherein the control unit is configured to control the work speed of the construction work apparatus using the input signal and the speed signal previously stored in the storage unit.

11. The system of claim 1, comprising a plurality of actuators and a storage unit configured to store the number of driven actuators and information on operation quantity of the joystick, wherein the control unit is configured to control a speed of each of the actuators according to the number of driven actuators and the information on the operation quantity of the joystick stored in the storage unit.

12. The system of claim 1, wherein the control unit is configured to store an operation signal of the joystick in response to a request of automatic excavation function of the construction work apparatus and to generate control signals of the hydraulic pump and the first and second electronic hydraulic control valves by using the previously stored operation signal of the joystick.

Description

DESCRIPTION OF DRAWINGS

(1) The accompanying drawings in the present specification are for illustrating an exemplary embodiment of the present invention, and more fully understanding the technical spirit of the present invention together with the detailed description of the invention, so that the present invention shall not be construed while being limited to the matters described in the drawings.

(2) FIGS. 1 and 2 are conceptual diagram illustrating a general configuration of a system for automatically controlling construction equipment based on a electric joystick control according to a first exemplary embodiment of the present invention.

(3) FIG. 3 is a conceptual diagram schematically illustrating an algorithm of a method of automatically controlling construction equipment based on a electric joystick control according to the first exemplary embodiment of the present invention.

(4) FIGS. 4 and 5 are conceptual diagram illustrating a general configuration of a system for automatically controlling construction equipment based on a hydraulic joystick control according to a second exemplary embodiment of the present invention.

(5) FIG. 6 is a conceptual diagram schematically illustrating an algorithm of a method of automatically controlling construction equipment based on a hydraulic joystick control according to the second exemplary embodiment of the present invention.

BEST MODE

(6) Hereinafter, exemplary embodiments of a system and a method of automatically controlling construction equipment based on a joystick control according to the present invention will be described in detail.

(7) FIGS. 1 and 2 are conceptual diagram illustrating a general configuration of a system for automatically controlling construction equipment based on a electric joystick control according to a first exemplary embodiment of the present invention.

(8) Referring to FIGS. 1 and 2, a system for automatically controlling construction equipment based on a electric joystick control according to a first exemplary embodiment of the present invention includes an electric joystick 10, a hydraulic tank 20, a hydraulic pump 30, actuators 40, first electronic flow rate control valves 50 and 50′, second electronic flow rate control valves 60 and 60′, and a control unit 70, which will be described in detail below.

(9) The electric joystick 10 is an operation tool of a construction work apparatus, and when a worker operates the electric joystick 10 for work, such as lift or tilt, a coded electric signal, which is in proportion to a stroke, is output.

(10) The hydraulic pump 30 discharges working fluid within the hydraulic pump 30 driven by an engine, and supplies working fluid to the plurality of actuators 40, and the discharge flow rate of the hydraulic pump 30 is controlled by the control unit 70.

(11) The actuator 40, which drives various construction work apparatuses, is connected with the hydraulic pump 30 by a piston-side inlet flow path 41 and a rod-side inlet flow path 42, and is connected to the hydraulic tank 20 by a piston-side outlet flow path 21 and a rod-side outlet flow path 22, and the number of actuators 40 provided is plural.

(12) The first electronic hydraulic control valves 50 and 50′ are installed at the piston-side inlet flow path 41 and the rod-side inlet flow path 42, respectively, and the second electronic hydraulic control valves 60 and 60′ are installed at the piston-side outlet flow path 21 and the rod-side outlet flow path 22, respectively.

(13) The first electronic hydraulic control valves 50 and 50′ and the second electronic hydraulic control valves 60 and 60′ are installed in every flow path connected to each actuator 40, and are connected with the control unit 70 to be controlled by an operation quantity of the electric joystick 10.

(14) The control unit 70 is connected with the electric joystick 10, so that information on an operation quantity of the electric joystick 10 is stored in a storage unit 72, and controls the first electronic hydraulic control valve 50, the second electronic hydraulic control valve 60, and the pressure control-scheme hydraulic pump 30 by a pre-stored algorithm based on the information on the operation quantity pre-stored in the storage unit 72 to control a speed of the actuator 40.

(15) In this case, the control unit 70 includes a controller 71, the storage unit 72, and a monitoring unit 73.

(16) The controller 71 converts a coded electric signal, which is in proportion to a stroke, into a speed signal by an operation of the electric joystick 10 to close open and close of the first electronic hydraulic control valves 50 and 50′ and the second electronic hydraulic control valves 60 and 60′, thereby enabling change of a work speed of the construction work apparatus.

(17) Further, the storage unit 72 stores an electric signal and a speed signal generated according to an operation of the electric joystick 10 in a real time.

(18) The monitoring unit 73 monitors an electric signal and a speed signal generated according to an operation of the electric joystick 10 in a real time.

(19) That is, the present invention implements a close center system, in which each actuator 40 is subjected to an individual flow rate control controlled by an electronic hydraulic control valve, a predetermined flow rate is not discharged from the hydraulic pump 30 when the electric joystick 10 is in a neutral stage, and there is no bypass flow path.

(20) In the present invention, when a worker operates the electric joystick 10, the number of simultaneously driven actuators 40 and the information on the operation quantity of the electric joystick 10 are stored in the storage unit 72, a speed of each actuator 40 is determined according to the algorithm pre-stored in the storage unit 72, and the first electronic hydraulic control valves 50 and 50′, the second electronic hydraulic control valves 60 and 60′, and the hydraulic pump 30 are controlled by the control unit 70, so that an area of a variable orifice and a difference in a pressure between a front end and a rear end of the variable orifice governing a movement of the actuator 40 are controlled, thereby implementing a target speed of the actuator 40 according to an intention of an operator.

(21) Accordingly, the present invention may randomly store a specific repeated operation, such as auto levelling and excavation, by using the aforementioned characteristic, and uniformly control a speed of the construction work apparatus even in a change in a load condition, and pattern a standardized operation and re-implement the operation, thereby implementing a teach & play back system by automation.

(22) FIG. 3 is a conceptual diagram schematically illustrating an algorithm of a method of automatically controlling construction equipment based on a electric joystick control according to the first exemplary embodiment of the present invention.

(23) Referring to FIG. 3, in a method of automatically controlling construction equipment based on a electric joystick control according to the first exemplary embodiment of the present invention, a worker first inputs an electric signal into an electric joystick lever of a construction work apparatus (operation S10).

(24) Next, the lever signal of the joystick operated by the worker is converted into a speed signal of the construction work apparatus (operation S20).

(25) Next, an automatic excavation function of the construction work apparatus is selected by the lever signal of the joystick, which has been converted into the speed signal of the construction work apparatus (operation S30).

(26) In this case, a button or a kind of switch, or a separate predetermined operation button 74 or kind of switch is further provided at the electric joystick 10 so as to select the automatic excavation function, so that an automatic excavation performance selection signal is input into the control unit 70 (see FIG. 2).

(27) The operation button 74 may be input through a monitoring unit, input by a switch mounted in a separate console, and input by a switch mounted in the electric joystick.

(28) Next, when the automatic excavation function of the construction work apparatus is selected, an operation signal of the electric joystick lever is stored (operation S40).

(29) In this case, when the automatic excavation function of the construction work apparatus is not selected, control signals of a pump and an electronic hydraulic valve are generated according to the lever signal of the electric joystick (operation S60″), so that the actuators are driven.

(30) In the meantime, when the operation signal of the electric joystick lever is stored, the construction work apparatus automatically performs excavation (operation S50).

(31) Next, when the construction work apparatus automatically performs the excavation, control signals of a pump and an electronic hydraulic valve are generated according to the pre-stored lever signal of the electric joystick (operation S60).

(32) Last, when the control signals of the pump and the electronic hydraulic valve are generated according to the lever signal of the electric joystick, the actuators are finally driven (operation S70).

(33) Here, when the automatic excavation of the construction work apparatus is not performed, the method returns to the operation of selecting the automatic excavation function of the construction work apparatus.

(34) That is, the method of automatically controlling construction equipment based on a joystick control according to the first exemplary embodiment of the present invention implements the teach & play back function, which is capable of converting an operation quantity of the electric joystick into a speed of the construction work apparatus, selecting to store the speed of the construction work apparatus as data, reproducing the stored speed signal of the construction work apparatus according to a selection switch, and repeatedly and automatically controlling the construction work apparatus.

(35) FIGS. 4 and 5 are conceptual diagram illustrating a general configuration of a system for automatically controlling construction equipment based on a hydraulic joystick control according to a second exemplary embodiment of the present invention.

(36) Referring to FIGS. 4 and 5, a system for automatically controlling construction equipment based on a hydraulic joystick control according to a second exemplary embodiment of the present invention includes a hydraulic joystick 100, a hydraulic tank 200, a hydraulic pump 300, actuators 400, first electronic flow rate control valves 500 and 500′, second electronic flow rate control valves 600 and 600′, and a control unit 700, which will be described in detail below.

(37) The hydraulic joystick 100 is an operation tool of a construction work apparatus, and when a worker operates the hydraulic joystick 10 for work, such as lift or tilt, a pilot pressure signal, which is in proportion to a stroke, is output.

(38) The hydraulic pump 300 discharges working fluid within the hydraulic pump 300 driven by an engine, and supplies working fluid to the plurality of actuators 400, and the discharge flow rate of the hydraulic pump 300 is controlled by the control unit 700.

(39) The actuator 400, which drives various construction work apparatuses, is connected with the hydraulic pump 300 by a piston-side inlet flow path 410 and a rod-side inlet flow path 420, and is connected to the hydraulic tank 200 by a piston-side outlet flow path 210 and a rod-side outlet flow path 220, and the number of actuators 400 provided is plural.

(40) The first electronic hydraulic control valves 500 and 500′ are installed at the piston-side inlet flow path 410 and the rod-side inlet flow path 420, respectively, and the second electronic hydraulic control valves 600 and 600′ are installed at the piston-side outlet flow path 210 and the rod-side outlet flow path 220.

(41) The first electronic hydraulic control valves 500 and 500′ and the second electronic hydraulic control valves 600 and 600′ are installed in every flow path connected to each actuator 400, and are connected with the control unit 700 to be controlled by an operation quantity of the hydraulic joystick 100.

(42) The control unit 700 is connected with the hydraulic joystick 100, so that information on an operation quantity of the hydraulic joystick 100 is stored in a storage unit 720, and controls the first electronic hydraulic control valve 500, the second electronic hydraulic control valve 600, and the pressure control-scheme hydraulic pump 300 by a pre-stored algorithm based on the information on the operation quantity pre-stored in the storage unit 720 to control a speed of the actuator 400.

(43) In this case, the control unit 700 includes a controller 710, the storage unit 720, and a monitoring unit 730.

(44) The pilot pressure signal, which is in proportion to the stroke, is output by the operation of the hydraulic joystick 100, and the controller 710 changes the pressure value to an electric signal by using a pressure sensor 800.

(45) The controller 710 converts the value, which is changed to the electric signal, into a speed signal to control the open/close of the first electronic hydraulic control valve 500 and 500′ and the second electronic hydraulic control valve 600 and 600′, thereby changing a work speed of the construction work apparatus.

(46) Further, the storage unit 720 stores an electric signal and a speed signal generated according to an operation of the hydraulic joystick 100 in a real time.

(47) The monitoring unit 730 monitors an electric signal and a speed signal generated according to an operation of the hydraulic joystick 10 in a real time.

(48) That is, the present invention implements a close center system, in which each actuator 400 is subjected to an individual flow rate control controlled by an electronic hydraulic control valve, a predetermined flow rate is not discharged from the hydraulic pump 300 when the hydraulic joystick 100 is in a neutral stage, and there is no bypass flow path.

(49) In the present invention, when a worker operates the hydraulic joystick 100, the number of simultaneously driven actuators 400 and the information on the operation quantity of the hydraulic joystick 100 are stored in the storage unit 720, a speed of each actuator 400 is determined according to the algorithm pre-stored in the storage unit 720, and the first electronic hydraulic control valves 500 and 500′, the second electronic hydraulic control valves 600 and 600′, and the hydraulic pump 300 are controlled by the control unit 700, so that an area of a variable orifice and a difference in a pressure between a front end and a rear end of the variable orifice governing a movement of the actuator 400 are controlled, thereby implementing a target speed of the actuator 400 according to an intention of an operator.

(50) Accordingly, the present invention may randomly store a specific repeated operation, such as auto levelling and excavation, by using the aforementioned characteristic, and uniformly control a speed of the construction work apparatus even in a change in a load condition, and pattern a standardized operation and re-implement the operation, thereby implementing a teach & play back system by automation.

(51) FIG. 6 is a conceptual diagram schematically illustrating an algorithm of a method of automatically controlling construction equipment based on a hydraulic joystick control according to the second exemplary embodiment of the present invention.

(52) Referring to FIG. 6, in a method of automatically controlling construction equipment based on a hydraulic joystick control according to second first exemplary embodiment of the present invention, a pilot signal by an operation of the hydraulic joystick lever of a construction work apparatus is converted into an electric signal by a worker and input (operation S100).

(53) Next, the lever signal of the joystick operated by the worker is converted into a speed signal of the construction work apparatus (operation S200).

(54) Next, an automatic excavation function of the construction work apparatus is selected by the lever signal of the joystick, which has been converted into the speed signal of the construction work apparatus (operation S300).

(55) In this case, a button or a kind of switch, or a separate predetermined operation button 740 or kind of switch is further provided at the hydraulic joystick 100 so as to select the automatic excavation function, so that an automatic excavation performance selection signal is input into the control unit 700 (see FIG. 5).

(56) The operation button 740 may be input through a monitoring unit, input by a switch mounted in a separate console, and input by a switch mounted in the hydraulic joystick.

(57) Next, when the automatic excavation function of the construction work apparatus is selected, an operation signal of the hydraulic joystick lever is stored (operation S400).

(58) In this case, when the automatic excavation function of the construction work apparatus is not selected, control signals of the pump and the electronic hydraulic valve are generated according to the lever signal of the hydraulic joystick (operation S600′), so that the actuators are driven.

(59) In the meantime, when the operation signal of the hydraulic joystick lever is stored, the construction work apparatus automatically performs excavation (operation S500).

(60) Next, when the construction work apparatus automatically performs the excavation, control signals of a pump and an electronic hydraulic valve are generated according to the pre-stored lever signal of the hydraulic joystick (operation S600).

(61) Last, when the control signals of the pump and the electronic hydraulic valve are generated according to the lever signal of the hydraulic joystick, the actuators are finally driven (operation S700).

(62) Here, when the automatic excavation of the construction work apparatus is not performed, the method returns to the operation of selecting the automatic excavation function of the construction work apparatus.

(63) That is, the method of automatically controlling construction equipment based on a joystick control according to the second exemplary embodiment of the present invention implements the teach & play back function, which is capable of converting an operation quantity of the hydraulic joystick into a speed of the construction work apparatus, selecting to store the speed of the construction work apparatus as data, reproducing the stored speed signal of the construction work apparatus according to a selection switch, and repeatedly and automatically controlling the construction work apparatus.

(64) The present invention has been described based on the exemplary embodiment, but it is obvious to those skilled in the art that the technical spirit of the present invention is not limited thereto, and a modification and a change may be made within the scope of the claims, and the modification belongs to the accompanying claims.