# US 10,865,544 B2 · Travel control system for construction machinery and travel control method for construction machinery

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- Number: US 10,865,544 B2
- Document ID: US10865544B2
- Status: Granted
- Kind: B2
- Application number: 16/665,204
- Filed: 2019-10-28
- Published: 2020-04-30
- Granted: 2020-12-15
- Earliest claimed: 2018-10-29
- Assignees: Doosan Infracore Co., Ltd.
- Applicants: Doosan Infracore Co., Ltd.
- Inventors: Kiyong Kim; Changmook Kim; Youngmin Seo; Taeseob Jeong
- Web page: https://patentgrep.com/patent/US10865544B2

## CPC

- E02F 9/2225: {using pressure-compensating valves}
- E02F 9/2242: {including an electronic controller}
- E02F 9/225: {Control of steering, e.g. for hydraulic motors driving the vehicle tracks (steering in general B62D)}
- E02F 9/2253: {Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission}
- E02F 9/2267: {Valves or distributors (position of valves arrangements on upper-structures E02F9/0875)}
- E02F 9/2271: {Actuators and supports therefor and protection therefor}
- E02F 9/2285: {Pilot-operated systems}
- E02F 9/2292: {Systems with two or more pumps}
- F15B 15/18: Combined units comprising both motor and pump
- F15B 15/202: {Externally-operated valves mounted in or on the actuator}
- F16H 61/4078: Fluid exchange between hydrostatic circuits and external sources or consumers
- F16H 61/4148: Open loop circuits
- F16H 61/44: with more than one pump or motor in operation
- F15B 2211/20576: with multiple pumps
- F15B 2211/30595: with additional valves between the groups of valves for multiple output members
- F15B 2211/7053: Double-acting output members
- F15B 2211/7058: Rotary output members
- F15B 2211/7135: Combinations of output members of different types, e.g. single-acting cylinders with rotary motors
- F15B 2211/7142: the output members being arranged in multiple groups
- F15B 2211/782: Concurrent control, e.g. synchronisation of two or more actuators
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F16H: GEARING

## Abstract

A travel control system for construction machinery includes first and second hydraulic pumps, a first travel motor and a second travel motor operable by a working oil discharged from the first hydraulic pump or the second hydraulic pump, at least one actuator operable by the working oil discharged from the first hydraulic pump or the second hydraulic pump, a straight travel valve to be switched between a first position and a second position, first and second travel motor control valves configured to control amounts of the working oil supplied to the first and second travel motors, first and second spool displacement adjusting valves supplying pilot signal pressures to the spools of the first and second travel motor control valves respectively, and a controller configured to output a control signal to each of the first and second spool displacement adjusting valves corresponding to a manipulation signal of an operator.

## Claims

### Claim 1

A travel control system for construction machinery, comprising:
first and second hydraulic pumps;
a first travel motor operable by a working oil discharged from the first hydraulic pump;
a second travel motor operable by the working oil discharged from the first hydraulic pump or the second hydraulic pump;
at least one actuator operable by the working oil discharged from the first hydraulic pump or the second hydraulic pump;
a straight travel valve to be switched between a first position and a second position, wherein the straight travel valve is switched to the first position such that the working oil discharged from the first hydraulic pump is supplied to the first travel motor and the working oil discharged from the second hydraulic pump is supplied to the second travel motor, and the straight travel valve is switched to the second position such that the working oil discharged from the first hydraulic pump is supplied to the first and second travel motors and the working oil discharged from the second hydraulic pump is supplied to the actuator;
first and second travel motor control valves configured to control amounts of the working oil supplied to the first and second travel motors according to a displacement amount of a spool therein respectively;
first and second spool displacement adjusting valves supplying pilot signal pressures to the spools of the first and second travel motor control valves respectively in proportion to an inputted control signal to control the displacement amounts of the spools of the first and second travel motor control valves; and
a controller configured to output the control signal to each of the first and second spool displacement adjusting valves corresponding to a manipulation signal of an operator, and configured to adjust the displacement amounts of the spools of the first and second travel motor control valves to be limited according to a manipulation signal of the actuator when the manipulation signal of the actuator is received during a travelling operation of the first and second travel motors,
wherein the controller comprises:
a calculator calculating the amounts of the working oil to be supplied to the first and second travel motors from an inputted travel manipulation signal for the first and second travel motors and the inputted manipulation signal of the actuator;
a pedal displacement converter converting an inputted pedal displacement amount for the first and second motors into a secondary pedal displacement amount corresponding to the calculated working oil amount; and
an output portion outputting the control signal for controlling the pilot signal pressure in proportion to the secondary pedal displacement amount.

### Claim 2 (depends on 1)

The travel control system for construction machinery of claim 1, wherein the controller adjusts change rates of the spool displacement amounts of the first and second travel motor control valves according to a change rate of the manipulation signal of the actuator.

### Claim 3 (depends on 2)

The travel control system for construction machinery of claim 2, wherein reduction rates of the spool displacement amounts of the first and second travel motor control valves are increased as the change rate of the manipulation signal of the actuator is increased.

### Claim 4 (depends on 1)

The travel control system for construction machinery of claim 1, wherein the spool displacement amounts of the first and second travel motor control valves have a first maximum spool displacement amount during the single travelling operation of the first and second travel motors, and the spool displacement amounts of the first and second travel motor control valves have a second maximum spool displacement amount less than the first maximum spool displacement amount when the manipulation signal of the actuator is received during the travelling operation of the first and second travel motors.

### Claim 5 (depends on 1)

The travel control system for construction machinery of claim 1, wherein the first and second spool displacement adjusting valves include an electro proportional pressure reducing valve (EPPRV).

### Claim 6 (depends on 1)

The travel control system for construction machinery of claim 1, wherein the actuator includes at least one of a boom cylinder, an arm cylinder and a bucket cylinder.

### Claim 7

A travel control method for construction machinery, comprising:
providing a hydraulic system including a first travel motor operable by a working oil discharged from a first hydraulic pump, a second travel motor operable by the working oil discharged from the first hydraulic pump or a second hydraulic pump, at least one actuator operable by the working oil discharged from the first hydraulic pump or the second hydraulic pump and first and second travel motor control valves configured to control operations of the first and second travel motors;
receiving a travel manipulation signal of the first and second travel motors to supply the working oil discharged from the first hydraulic pump to the first travel motor and the working oil discharged from the second hydraulic pump to the second travel motor, thereby performing a travelling operation of the first and second travel motors;
receiving a manipulation signal of the actuator during the travelling operation of the first and second travel motors to supply the working oil discharged from the first hydraulic pump to the first and second travel motors and the working oil discharged from the second hydraulic pump to the actuator; and
adjusting spool displacement amounts of the first and second travel motor control valves according to the manipulation signal of the actuator,
wherein adjusting the spool displacement amounts of the first and second travel motor control valves comprises:
calculating the amounts of the working oil to be supplied to the first and second travel motors from the inputted travel manipulation signal for the first and second travel motors and the inputted manipulation amount for the actuator;
converting the inputted pedal displacement amount for the first and second motors into a secondary pedal displacement amount corresponding to the calculated working oil amount; and
adjusting the spool displacement amounts of the first and second travel motor control valves according to the secondary pedal displacement amount.

### Claim 8 (depends on 7)

The method of claim 7, wherein adjusting the spool displacement amounts of the first and second travel motor control valves further comprises adjusting the spool displacement amounts of the first and second travel motor control valves to be limited according to the manipulation signal of the actuator.

### Claim 9 (depends on 8)

The method of claim 8, wherein adjusting the spool displacement amounts of the first and second travel motor control valves to be limited according to the manipulation signal of the actuator comprises
adjusting the spool displacement amounts of the first and second travel motor control valves to have a first maximum spool displacement amount during the travelling operation of the first and second travel motors; and
adjusting the spool displacement amounts of the first and second travel motor control valves to have a second maximum spool displacement amount less than the first maximum spool displacement amount when the manipulation signal of the actuator is received during the travelling operation of the first and second travel motors.

### Claim 10 (depends on 7)

The method of claim 7, wherein adjusting the spool displacement amounts of the first and second travel motor control valves according to the secondary pedal displacement amount comprises supplying pilot signal pressures to the spools of the first and second travel motor control valves using an electro proportional pressure reducing valve (EPPRV).

### Claim 11 (depends on 7)

The method of claim 7, wherein the actuator includes at east one of a boom cylinder, an arm cylinder and a bucket cylinder.