System and method for controlling automatic leveling of heavy equipment

A method for controlling automatic leveling of construction equipment with a lower frame, an upper frame, and a tilting means including a sensor unit, a control unit, and a driving unit, the lower frame having traveling means, the upper frame tiltably and swingably connected to the lower frame, and the tilting means being for tiltably connecting the upper frame to the lower frame, the method comprising the steps of:

• (A) sensing, by the sensor unit, twist angles of the lower frame and the upper frame against a reference horizontal surface as an inclination sensor mounted on the lower frame and the upper frame, and measuring a traveling speed of the heavy equipment as a traveling sensor;
• (B) limiting, by the control unit, an operation time to a predetermined reference operation time in a standstill state of the heavy equipment or the traveling means of the heavy equipment while calculating a corrected angle to which the upper frame is to be tilted based on the twist angle, without limiting the operation time, in a traveling state thereof, generating a control signal for controlling actuators for performing a leveling control of the upper frame in accordance with the corrected angle, and transmitting the control signal to the driving unit;
• and
• (C) performing, by the driving unit, a leveling control by operating the actuators on the basis of the control signal;
• wherein the step (B) comprises the steps of:
• (b1) setting the sensed tilting angle of the upper frame as a first twist angle, and calculating a corrected angle for tilting the upper frame from the first twist angle;
• (b2) if the corrected angle is “0”, returning to the step (b1), while if the corrected angle is not “0”, calculating a second twist angle, and if the second twist angle is less than or exceeds the maximum allowable twist angle range, terminating the tilting control;
• (b3) if the second twist angle is within the maximum allowable twist angle range, generating a control signal for controlling the actuators for tilting in accordance with the corrected angle and the second twist angle;
• (b4) if the equipment is in a traveling state, returning to the step (b1);
• (b5) if the equipment is not in a traveling state in step (b4), starting counting of the operation time;
• (b6) performing the steps (b1) to (b3) after the step (b5), if the corrected angle is “0°” in step (b2), terminating the tilting control, judging whether the equipment is in a traveling state after step (b3), and if the equipment is in a traveling state, returning to the step (b1);
• and
• (b7) if the equipment is not in a traveling state in step (b6) and the operation time exceeds the predetermined reference operation time, terminating the tilting control, while if the operation time is less than the reference operational time, returning to the step (b6).