Leveling control system and method for heavy equipment

A leveling control system for controlling automatic leveling of heavy equipment with a lower frame and an upper frame, the lower frame having traveling means, and the upper frame tiltably and swingably connected to the lower frame, the leveling control system comprising:

• a sensor unit, provided in the equipment, for measuring twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment, and detecting working state information of working devices;
• a control unit for receiving the twist angles, the traveling speed, and the working state information, calculating a correction angle for the leveling control of the upper frame, and generating a control signal for instructing an operation of an actuator in accordance with the correction angle, the control unit including an auto leveling mode module for performing the leveling against a reference horizontal surface, a re-leveling mode module for performing the leveling against the reference horizontal surface in a standstill state of the equipment for a limited time, and a track leveling mode module for performing the leveling against the lower frame;
• and
• a driving unit for performing the leveling through the actuator in accordance with the control signal received therein;
• wherein the control unit comprises:
• a receiving module for receiving the twist angles against a reference horizontal surface, the traveling speed, and the working state information from the sensor unit;
• a correction angle calculation module for setting the twist angle of the upper swing structure as a first twist angle, and calculating the correction angle, at which the upper swing structure is to be rotated, based on the first twist angle;
• a control signal generation module for generating the control signal in accordance with a region, in which the actuator is to be operated, based on the correction angle;
• an output module for transmitting the control signal to the driving unit;
• a time limit module for counting an operation time in a standstill state of the lower frame, comparing the counted operation time with a predetermined reference operation time, and terminating the leveling control if the operation time is more than the reference operation time;
• and
• a display signal generation module for generating a display signal for displaying the twist angles of the lower frame and the upper swing structure through a display unit provided with an image display device.