WO2018151549A1 - Dozer control method and dozer control apparatus of construction machine - Google Patents

Abstract

A dozer control method of a construction machine comprising a dozer enables: deriving the position of a dozer by analyzing an around view monitor (AVM) image; when the position of the dozer corresponds to the front, configuring a target dozer height on the basis of dozer leveling mode information; and controlling the height of the dozer so that same reaches the target dozer height.

Description

Dozer Control Method and Dozer Control Device of Construction Machinery

The present invention relates to a construction machine. More specifically, the present invention relates to a dozer control method and a dozer control device for a construction machine.

The construction machine may include a dozer, and may perform a flattening operation of flattening the ground using a dozer, an operation of moving a loaded work object, and the like. To this end, the doser may be stopped or raised at a certain height depending on the operation of the user of the construction machine.

The user needs to precisely position the doser using the lever to perform the desired action. For example, when the dozer position is below ground level, land may be dug or construction machinery may be lifted. On the other hand, when the doser position is located above the ground surface, the leveling operation desired by the user may not be performed. Therefore, the user frequently performs the operation for positioning the doser repeatedly, and even during the flattening operation, the user must stop and operate the equipment to adjust the doser height. Accordingly, the efficiency of the planarization work may be lowered. In addition, since the user manually manipulates the doser height, there is a disadvantage in that a proficiency for the planarization operation is required.

One object of the present invention is to provide a dozer control method of a construction machine capable of automatically controlling the height of the doser.

Another object of the present invention is to provide a dozer control device for performing the dozer control method of the construction machine.

However, the object of the present invention is not limited to the above objects, and may be variously expanded within a range without departing from the spirit and scope of the present invention.

In order to achieve the above object of the present invention, a dozer control method of a construction machine including a dozer according to exemplary embodiments of the present invention determines whether the dozer is located in front of the construction machine. Detecting, when it is determined that the doser is located in front of the construction machine, identifying a selected dozer flattening mode among at least one dozer flattening mode, and setting a target doser height based on the doser flattening mode information And controlling the height of the doser to reach the target dozer height.

In an exemplary embodiment, the doser derives a target dozer angle corresponding to the target dozer height from an angle data store, and a dozer electronic proportional control valve such that the angle of the doser reaches the target dozer angle. The target doser height can be reached by providing a current to the Electronic Proportional Pressure Reduce Valve (EPPR Valve).

In example embodiments, the height of the doser may be controlled to increase the speed at which the height of the doser changes as the difference between the measured dozer height and the target dozer height increases.

In example embodiments, the dozer flattening mode information includes information about a preset first reference height, wherein the first reference height is a height at which the bottom of the doser is disposed equal to the bottom of the wheel of the construction machine. Can be.

In example embodiments, the dozer flattening mode information includes a user set height, the user set height is a height of a doser set separately by a user, and the target dozer height is one of the user set height and the first reference height. It may be any one selected.

In example embodiments, the dozer planarization mode information includes information about a sensor measurement surface height, wherein the sensor measurement surface height is a relative height of the surface measured by a sensor, and the target dozer height is the first reference height. And the sensor measurement surface height.

In example embodiments, the position detection of the doser may be performed through image analysis of the doser included in an around view monitor (AVM) image.

In example embodiments, the dozer position may be determined based on a first position of the wheel of the construction machine derived from the AVM image and a second position of the doser.

In example embodiments, the dozer control method of the construction machine may further include setting the target dozer height to a second predetermined reference height when the dozer position corresponds to the rear side.

In example embodiments, the dozer control method of the construction machine may further include generating a warning alarm when the dozer position does not correspond to the front or the rear.

In order to achieve the above object of the present invention, a dozer control device for a construction machine according to an exemplary embodiment of the present invention, a dozer position detection device for detecting whether the dozer is located in front of the construction machine, the dozer A doser electronic proportional control valve for controlling the height of the target, and when the dozer is detected by the dozer position detecting device to be located in front of the construction machine, a target dozer height is set based on dozer flattening mode information, and the target It may include a main controller for providing a current to the doser electromagnetic proportional control valve to reach the doser height.

In example embodiments, the dozer control device may further include an angle sensor configured to sense an angle of the doser, and an angle data storage configured to store a relationship between the angle of the doser and the height of the doser. have.

In an exemplary embodiment, the main controller derives a target doser angle corresponding to the target dozer height from the angle data storage, and the doser electronic proportional control valve so that the angle of the doser reaches the target dozer angle. To provide current.

In example embodiments, the main controller may control the doser electromagnetic proportional control valve to increase the speed at which the height of the doser changes as the difference between the measured dozer height and the target dozer height increases.

In example embodiments, the target dozer height may be determined as one of a predetermined first reference height, a user set height, and a sensor measurement surface height according to the dozer flattening mode information.

In example embodiments, when the doser position corresponds to the rear side, the main controller may set the target dozer height to a second predetermined reference height.

In example embodiments, the dozer position detecting apparatus includes an AVM system that generates an AVM (Around View Monitor) image based on an image received from a camera, and the AVM system includes the doser included in the AVM image. The location of the doser may be detected by analyzing an image of the doser.

The dozer control method of a construction machine according to exemplary embodiments may determine whether a dozer position corresponds to a forward direction of the construction machine by using an AVM image, and automatically control a dozer height according to the dozer position. In addition, since the target dozer height can be controlled in various ways according to the dozer flattening mode information, as the dozer height is set according to the flattening working environment of the construction machine, the flattening work can be efficiently performed and the fuel efficiency of the construction machine can be improved. have.

The dozer control device of the construction machine according to the exemplary embodiments may automatically control the doser height by an electronic signal using a dozer Electronic Proportional Pressure Reduce Valve (EPPR Valve).

However, the effects of the present invention are not limited to the above-mentioned effects, and may be variously expanded within a range without departing from the spirit and scope of the present invention.

1 is a diagram illustrating a construction machine including a doser according to exemplary embodiments.

FIG. 2 is a block diagram illustrating a dozer control device included in the construction machine of FIG. 1.

FIG. 3 is a block diagram illustrating an example of a structure in which a height of a doser is controlled using a doser electromagnetic proportional control valve included in the dozer control device of FIG. 2.

4 is a graph showing an example in which the flow rate of the doser spool is controlled by using a lever.

5 and 6 are graphs illustrating an example in which the flow rate of the doser spool is controlled by using a doser electromagnetic proportional control valve.

7 is a graph illustrating an example of a doser height change speed according to a difference between a measured doser height and a target dozer height.

8 is a flowchart illustrating a dozer control method of a construction machine according to exemplary embodiments.

FIG. 9 is a flowchart illustrating an example of a method of controlling a doser height according to a flattening mode in the dozer control method of the construction machine of FIG. 8.

10A to 10C are diagrams for describing an example in which the height of a doser is controlled according to the dozer planarization mode.

With respect to the embodiments of the present invention disclosed in the text, specific structural to functional descriptions are merely illustrated for the purpose of describing embodiments of the present invention, embodiments of the present invention may be implemented in various forms and It should not be construed as limited to the embodiments described in.

As the inventive concept allows for various changes and numerous modifications, particular embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between. Other expressions describing the relationship between components, such as "between" and "immediately between," or "neighboring to," and "directly neighboring to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "having" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof that is described, and that one or more other features or numbers are present. It should be understood that it does not exclude in advance the possibility of the presence or addition of steps, actions, components, parts or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. .

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. The same reference numerals are used for the same elements in the drawings, and duplicate descriptions of the same elements are omitted.

1 is a diagram illustrating a construction machine including a doser according to exemplary embodiments. FIG. 2 is a block diagram illustrating a dozer control device included in the construction machine of FIG. 1.

1 and 2, the construction machine 1000 may include a dozer control device 100, a dozer 200, a lower frame 300, and an upper frame 400. For example, the construction machine 1000 may include a lower frame 300 on which wheels and a dozer 200 are mounted, and an upper frame 400 on which attachments for work are mounted. The upper frame 400 of the construction machine 1000 may perform a turning operation on the lower frame 300. To this end, the upper frame 400 and the lower frame 300 may be connected to each other by a turning device (not shown).

The doser 200 may perform a planarization operation of planarizing a work object such as soil or earth and sand located on the ground. The doser 200 may be adjusted in height by being lifted or lowered by the doser control device 100 positioned in the lower frame 300 and / or the upper frame 400. In addition, the doser 200 may be changed in position by the relative rotation of the upper frame 400 and the lower frame 300. The doser 200 may be positioned at the front of the driver's seat (not shown) installed at the upper frame 400 or at the rear of the upper frame 400. Hereinafter, for convenience of description, the front of the driver's seat is referred to as the front of the construction machine, and the rear of the driver's seat is referred to as the rear of the construction machine. In addition, the virtual axis extending the front and rear of the driver's seat is referred to as the central axis of the upper frame 400, the virtual axis extending the front wheel and the rear wheel of the lower frame 300 may be referred to as the central axis of the lower frame 300. have. Since the doser 200 is connected to the lower frame 300, when the upper frame 400 pivots so that the center axis of the upper frame 400 and the center axis of the lower frame 300 are arranged to be parallel to each other, the doser 200 is disposed. ) May be located at either the front or the rear of the construction machine.

When the doser 200 is located in the forward direction and the doser flattening mode is selected, the height of the doser 200 may be automatically adjusted. For example, the dozer control device 100 checks whether the dozer 200 is located in front of the construction machine through the dozer position detection device, and the construction machine dozer 200 is located in front of the construction machine. Once determined, the doser height can be controlled automatically. The dozer position detection can be detected in a variety of ways. For example, when the upper frame 400 is turned, it may be possible through a sensor installed in the turning device, may be possible through image analysis acquired by an AVM (Around View Monitor) system, which is described later, and the upper frame using GPS It may also be possible to detect the posture of the 400 or through mathematical analysis of a signal received when operating or driving a construction machine. In addition, a method of installing a separate camera that can check the doser position on one side of the boom or the upper body can also be used. In this embodiment, a case of detecting the position of the doser 200 using an AVM system installed for monitoring the surroundings of construction machinery will be described as an example.

The dozer control apparatus 100 may automatically control the doser height by an electronic signal using a dozer electronic proportional pressure reduce valve (EPPR valve) 20. In one embodiment, the target dozer height is predetermined as one of the first reference height, the user set height, and the sensor measurement surface height according to the dozer flattening mode information, and the height of the doser 200 is controlled to reach the determined target dozer height. Can be.

As shown in FIG. 2, the doser control device 100 includes a main controller 10, a doser electromagnetic proportional control valve 20, a display device 30, a laser sensor 40, an angle sensor 50, and angle data. Storage unit 60, and AVM system 70.

The main controller 10 may automatically control the doser height by controlling the doser electromagnetic proportional control valve 20 based on the doser position and the dozer flattening mode information. In one embodiment, the main controller 10 derives the doser position by analyzing the AVM image, sets the target doser height based on the dozer flattening mode information when the dozer is located forward, and the dozer electronics to reach the target dozer height. A current can be provided to the proportional control valve 20. Here, the target dozer height may be determined as one of a first reference height, a user set height, and a sensor measurement surface height that are predetermined according to the dozer flattening mode information. In one embodiment, when the doser is located at the rear, the main controller 10 may set the target doser height to a second predetermined reference height. A detailed method of controlling the door by the main controller 10 will be described in detail with reference to FIGS. 8 and 9.

The doser electronic proportional control valve 20 may control the height of the doser 200 based on the electronic signal. For example, the doser electromagnetic proportional control valve 20 may be controlled by the main controller 10 to control the height of the doser by determining the flow rate provided to the doser spool.

The display device 30 may provide an image including the dozer control information to the user. For example, the user can measure the doser height measured by the angle sensor 50 via the display device 30, the relative height of the earth surface measured by the laser sensor 40 (ie, the sensor measurement surface height), and the doser flattening. Mode information, etc. can be checked. In one embodiment, the display device 30 may include a touch screen panel. For example, the user may set the doser flattening mode and set a desired doser height without an additional input device through the display device 30 including the touch screen panel.

The laser sensor 40 can derive the sensor measurement surface height. That is, a laser sensor 40 may be attached to the construction machine 1000 to accurately derive the distance between the ground surface and the current dozer height (ie, the measured dozer height measured using the angle sensor 50). For example, the laser sensor 40 may be attached to the lower frame 300 or the upper frame 400 adjacent to the doser and derive the sensor measurement ground surface height by measuring the distance to the ground surface.

The angle sensor 50 may sense a dozer angle to derive the measured dozer height. Here, the dozer angle means the angle between the lower frame (or link) and the doser. Dozer height may be determined according to the dozer angle for each construction machine. For example, the measured dozer height corresponding to the measured dozer angle may be derived from the angle data storage 60.

The angle data storage unit 60 may store the relationship between the angle of the doser and the height of the doser. Since the relationship between the angle of the doser and the height of the doser varies depending on the model, tire type, and the like of the construction machine 1000, each construction machine 1000 shows the relationship between the angle of the doser and the height of the doser. Can be stored at 60. For example, the height of the doser may be 700 mm when the dozer angle is 0 degrees, the height of the doser may be 0 mm when the dozer angle is 90 degrees, and the height of the doser may be −200 mm when the dozer angle is 120 degrees. In one embodiment, the main controller 10 derives a target dozer angle corresponding to the target doser height from the angle data storage 60, and the doser electronic proportional control valve 20 so that the angle of the doser reaches the target dozer angle. To provide current.

The AVM system 70 may generate an AVM image based on the image received from the camera. The AVM system 70 may generate an AVM image by combining images taken from a plurality of cameras arranged in various directions of the construction machine 1000 into one. For example, the AVM system 70 may generate, as an AVM image, a top view image displayed as viewed from the top of the construction machine 1000 to grasp a 360 degree situation around the construction machine 1000. . The AVM image may also include an image of a doser. Therefore, the dozer control apparatus 100 may analyze the AVM image generated by the AVM system 70 to determine whether the doser is located in the forward direction or the backward direction without having an additional sensor.

In addition, the dozer control device 100 may further include an inclination sensor for determining the inclination of the construction machine such that the height of the doser may be maintained based on the wheel bottom surface.

FIG. 3 is a block diagram illustrating an example of a structure in which a height of a doser is controlled using a doser electromagnetic proportional control valve included in the dozer control device of FIG. 2. 4 is a graph showing an example in which the flow rate of the doser spool is controlled by using a lever. 5 and 6 are graphs illustrating an example in which the flow rate of the doser spool is controlled by using a doser electromagnetic proportional control valve. 7 is a graph illustrating an example of a doser height change speed according to a difference between a measured doser height and a target dozer height.

3 to 7, the height of the doser may be adjusted by user operation using a lever or electronically / automatically according to the dozer flattening mode using the dozer electronic proportional control valve 20.

As shown in FIG. 3, the spool movement distance of the doser spool 21 may be determined according to the flow rate determined by the lever valve 90 or the doser electromagnetic proportional control valve 20. In one embodiment, the user can manually adjust the height of the doser by deactivating the doser flattening mode and manipulating the lever. For example, as shown in FIG. 4, the flow rate of the doser spool 21 can be exponentially increased by the lever valve 90 as the lever operating distance increases in the lever operating section. In another embodiment, the user may activate the doser flattening mode and set the height of the doser to be automatically adjusted according to the set dozer flattening mode. For example, as shown in FIG. 5, the driving of the doser electromagnetic proportional control valve 20 may be controlled by the main controller 10 to reach a target doser height determined according to the dozer planarization mode. The dosing spool 21 is moved by the drive control of the doser electromagnetic proportional control valve 20 so that hydraulic oil can be supplied to the doser cylinder 22. As shown in FIG. 6, since the flow rate of the doser spool 21 and the spool movement distance may be proportional to each other, the doser cylinder 22 may be driven by the hydraulic oil supplied through the doser spool 21 to adjust the height of the doser. have. The doser 200 is rotatably connected to the lower frame 300, and both ends of the doser cylinder 22 are rotatably connected to the doser 200 and the lower frame 300, respectively. When the expansion and contraction, the doser 200 may be rotated based on the lower frame 300. The rotation of the doser 200 may enable the doser 200 to be lifted and linked to the lower frame 300. Therefore, the height of the doser 200 may be adjusted according to the driving of the electromagnetic proportional control valve 20.

In one embodiment, as shown in FIG. 7, the main controller increases the rate at which the height of the doser changes as the difference between the measured dozer height and the target dozer height (ie, the dozer height adjustment distance) increases. The control valve can be controlled. That is, when the difference between the measured dozer height and the target dozer height is relatively large, the control speed may be increased to enable fast movement. On the other hand, when the difference between the measured doser height and the target doser height is relatively small, the control speed may be lowered to minimize vibrations caused by stoppage or vibrations caused by the impact of the surface and the doser.

8 is a flowchart illustrating a dozer control method of a construction machine according to exemplary embodiments.

Referring to FIG. 8, a dozer control method of a construction machine derives a doser position using an AVM image, and when the dozer position corresponds to a forward direction of the construction machine, the dozer flattening mode information is used by using a dozer electronic proportional control valve. Therefore, the height of the doser can be controlled electronically.

In detail, it may be determined whether the dozer planarization mode is activated (S100). When the dozer flattening mode is deactivated, the user may manually adjust the height of the doser using the lever (S150). On the other hand, when the doser flattening mode is activated, the height of the doser may be controlled according to the dozer flattening mode information by using the doser electromagnetic proportional control valve.

When the doser flattening mode is activated, an interface for selecting the doser flattening mode is output to the display device, and the user may select the doser flattening mode (S200). For example, the doser flattening mode may include a first mode for setting the target doser height to a predetermined first reference height identical to the wheel of a construction machine, a second mode for setting the target doser height to a height according to a user setting, and a sensor. It may include a third mode for setting the target dozer height to the ground surface height measured using.

The doser position may be derived by analyzing the AVM image (S300). In one embodiment, the dozer position may be determined based on the first position of the wheel of the construction machine derived from the AVM image and the second position of the doser. For example, the AVM image is a top view image displayed as viewed from the top of the construction machine, and the doser position may be derived based on the angle between the central axis of the upper frame 400 and the doser.

Whether the dozer is located in the front (S400), whether the location is in the rear (S410) can be determined respectively. For example, when the angle formed between the central axis of the upper frame 400 and the doser is less than or equal to the first angle (eg, 10 degrees), the doser may be determined to be located at the front or the rear. If it is determined that the dozer is located in front, the dozer height may be controlled according to the dozer flattening mode information (S500). On the other hand, if it is determined that the dozer is located in the rear, the height of the doser is increased to a height that does not come in contact with the ground surface so as not to interfere with the construction machine movement (S430), the distance between the ground surface and the dozer can maintain a certain distance Can be set to In addition, when the angle between the central axis of the upper frame 400 and the doser is equal to or greater than the first angle, the warning alarm S420 may be controlled to sound. The construction machine may be inclined with the central axis of the upper frame 400. When traveling, the flattening operation may be difficult because the construction machine travels in an inclined direction from the driver's point of view, so in this case (for example, the second angle between the wheel and the dozer is set to an angle greater than the first angle). In case of abnormality), it is determined that normal flattening operation is difficult and the height of the doser can be automatically raised.

FIG. 9 is a flowchart illustrating an example of a method of controlling a doser height according to a flattening mode in the dozer control method of the construction machine of FIG. 8. 10A to 10C are diagrams for describing an example in which the height of a doser is controlled according to the dozer planarization mode.

9, 10A, 10B, and 10C, a user may select a dozer flattening mode suitable for a flattening working environment of a construction machine, and the height of the doser may be controlled according to the dozer flattening mode information.

The dozer control apparatus may check the set dozer planarization mode type (S510). In one embodiment, the dozer flattening mode is a first mode (MODE1) for setting the target doser height to a predetermined first reference height equal to the wheel of the construction machine, a second mode for setting the target dozer height to the height according to the user setting And a third mode MODE3 for setting the target doser height to the ground surface height measured using the sensor.

In the first mode MODE1, the target dozer height may be set to a reference height that is the same height as the bottom surface of the wheel of the construction machine (S520). For example, as shown in FIG. 10A, the target doser height is set to a first reference height RH that is the same height as the bottom of the wheel of a construction machine in a terrain where the ground surface is relatively flat, and the measured dozer height CH The doser height may be adjusted by a first height difference H1 which is a difference between the first reference height RH and the first reference height RH.

In the second mode MODE2, the user set height UH may be received at step S530, and the target doser height may be set at the user set height UH at step S531. For example, as shown in FIG. 10B, a user sets a target doser height to a user set height UH which is a desired doser height, and a second that is a difference between the measured dozer height CH and the user set height UH. The doser height can be adjusted by the height difference H2.

In the third mode MODE3, the doser control device may receive a height measurement request from the user in operation S540, and measure the surface height LH using the laser sensor 40 in response to the height measurement request in operation S541. have. Whether or not the measured ground surface height LH is a range that can be set as the target dozer height may be checked (S542), and if settable, the measured ground surface height LH may be set to the target dozer height (S543). For example, as shown in FIG. 10C, the target doser height is set to the ground surface height LH measured using a laser sensor in a terrain where the surface is relatively rugged, and the measurement dozer height CH and the measurement surface height are measured. The doser height may be adjusted by a third height difference H3 which is a difference of LH. When the third height difference H3 is smaller than the first height difference H1, the control speed may be relatively lowered to minimize vibration due to the impact between the surface and the doser.

The height of the currently located doser is measured (that is, the measured dozer height) (S550), and whether the target dozer height and the measured dozer height are the same (S560). When the target dozer height is different from the measured dozer height, the dozer height may be controlled (S570) such that the height of the doser reaches the target dozer height. Therefore, the doser height can be automatically controlled so that the height of the doser is maintained at the target doser height. When the difference between the target dozer height and the measured dozer height is large, the main controller 10 may control the lifting speed so that the dozer 200 can ascend and descend quickly by relatively increasing the control speed.

Although the above has been described with reference to the embodiments of the present invention, those skilled in the art will be able to variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. It will be appreciated.

<Description of the code>

10: main controller 20: dozer EPPR valve

30: display device 40: laser sensor

50: angle sensor 60: angle data storage

70: AVM system 100: dozer control unit

200: doser 300: lower frame

400: upper frame 1000: construction machinery

Claims (15)

In the dozer control method of a construction machine comprising a dozer, Detecting whether the doser is located in front of the construction machine; If it is determined that the dozer is located in front of the construction machine, identifying a dozer flattening mode selected from at least one dozer flattening mode; Setting a target doser height based on the selected dozer flattening mode information; And And controlling the height of the doser to reach the target dozer height. The electronic dosing proportional control valve of claim 1, wherein the doser derives a target dozer angle corresponding to the target dozer height from an angle data storage unit, and the angle of the doser reaches the target dozer angle. A dozer control method for a construction machine, wherein the target dozer height is reached by providing a current to a proportional pressure reduce valve (EPPR valve). The dozer control method of claim 1, wherein the height of the doser is controlled to increase as the difference between the measured dozer height and the target dozer height increases. The dozer flattening mode information of claim 1, wherein the dozer flattening mode information includes information about a preset first reference height, wherein the first reference height is a height at which the bottom of the doser is disposed equal to the bottom of the wheel of the construction machine. Dozer control method for a construction machine characterized in that. The method of claim 4, wherein the dozer flattening mode information includes a user set height, the user set height is a height of a doser set separately by a user, and the target dozer height is any one selected from the user set height and the first reference height. Dozer control method of a construction machine, characterized in that one. The method of claim 4, wherein the dozer planarization mode information includes information about a sensor measurement surface height, wherein the sensor measurement surface height is a relative height of the surface measured by a sensor, and the target doser height is the first reference height and the height. Dozer control method of a construction machine, characterized in that any one selected from the height of the sensor measurement surface. The method of claim 1, wherein the position detection of the doser is performed through image analysis of the doser included in an AVM (Around View Monitor) image. According to claim 1, And when the doser position corresponds to the rear side, setting the target dozer height to a second predetermined reference height. According to claim 1, And generating a warning alarm if the doser position does not correspond to the front or rear side. In the dozer control device of a construction machine comprising a dozer, A doser position detecting device for detecting whether the doser is located in front of the construction machine; A doser electromagnetic proportional control valve controlling the height of the doser; And When the doser is detected by the dozer position detecting device to be located in front of the construction machine, the target dozer height is set based on the dozer flattening mode information, and the dozer electromagnetic proportional control valve is reached to reach the target dozer height. Dozer control device for a construction machine comprising a main controller for providing a current to the. The method of claim 10, An angle sensor for sensing an angle of the doser; And An angle data storage unit for storing a relationship between an angle of the doser and a height of the doser; The main controller derives a target dozer angle corresponding to the target dozer height from the angle data storage unit, and provides a current to the doser electromagnetic proportional control valve so that the angle of the doser reaches the target dozer angle. Control device of construction machinery. The construction machine according to claim 10, wherein the main controller controls the doser electromagnetic proportional control valve so that the speed at which the height of the doser is changed increases as the difference between the measured dozer height and the target dozer height increases. Dozer control device. The dozer control apparatus of claim 10, wherein the target dozer height is determined by one of a first reference height, a user set height, and a sensor measurement surface height that are predetermined according to the dozer flattening mode information. The dozer control apparatus of claim 10, wherein the main controller sets the target dozer height to a second predetermined reference height when the dozer position corresponds to the rear side. The apparatus of claim 10, wherein the doser position detecting apparatus comprises an AVM system that generates an AVM (Around View Monitor) image based on an image received from a camera, wherein the AVM system comprises an image of the doser included in the AVM image. Dozer control device for a construction machine, characterized in that for detecting the position of the doser by analyzing the.

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