Hydraulic shovel control system and hydraulic shovel control method

Abstract

An oil hydraulic shovel control system according to an embodiment is for an oil hydraulic shovel including a bucket, and includes a processing circuit. The processing circuit divides topographical data of a dig area (80) that can be dug without moving the oil hydraulic shovel into a plurality of regions (9) arranged in a grid pattern, and calculates an average ground surface height of each region (9). Further, the processing circuit determines a digging step in such a manner that the bucket passes through all of the regions (9) when a deviation between a minimum value and a maximum value of the average ground surface heights of the regions (9) is less than a prescribed value, and in such a manner that the bucket passes through at least one region (9) in which the average ground surface height is relatively high among the regions (9) when the deviation is greater than the prescribed value.

Description

Technical Field

[0001] This disclosure relates to a hydraulic excavator control system and a hydraulic excavator control method. Background Technology

[0002] In the past, excavation operations were carried out using hydraulic excavators. A hydraulic excavator includes: a rotating body, a boom that pitches relative to the rotating body, a stick that is oscillatingly connected to the end of the boom, and a bucket that is oscillatingly connected to the end of the stick.

[0003] For example, Patent Document 1 describes a method for dividing the excavation site into grid-like excavation areas and determining the order in which to excavate each excavation area for an excavation operation using a hydraulic excavator. For example, the excavation order is determined to be from the excavation area on the same side as the operator's seat of the hydraulic excavator toward the excavation area on the opposite side, and from the excavation area at a higher position toward the excavation area at a lower position.

[0004] Existing technical documents: Patent documents: Patent document 1: Japanese Patent Application Publication No. 11-247230. Summary of the Invention

[0005] The problem the invention aims to solve: In the method for determining the excavation sequence in Patent Document 1, it can be inferred that "the excavation sequence from the higher excavation area to the lower excavation area" refers to the assumption that the excavation site as a whole is a slope. In contrast, in actual terrain, there are uneven areas in each excavation area. Therefore, it is desirable to determine an appropriate excavation sequence suitable for the terrain shape.

[0006] The purpose of this disclosure is to provide a hydraulic excavator control system and a hydraulic excavator control method capable of determining appropriate excavation steps suitable for the terrain shape.

[0007] Solution methods: This disclosure provides, from one perspective, a hydraulic excavator control system for a hydraulic excavator including a bucket, a control system having a processing loop. The processing loop is configured to divide terrain data of an excavation area that the hydraulic excavator can excavate without moving into multiple grid-like regions, calculate the average surface height of each of the multiple regions, and, if the deviation between the minimum and maximum values ​​of the average surface height of the multiple regions is less than a predetermined value, determine the excavation step by having the bucket pass through all the regions; if the deviation is greater than the predetermined value, determine the excavation step by having the bucket pass through at least one region among the multiple regions with a relatively higher average surface height.

[0008] This disclosure provides, from another perspective, a control method for a hydraulic excavator, specifically a hydraulic excavator including a bucket. The method divides terrain data of the excavation area, which the hydraulic excavator can excavate without moving, into multiple grid-like regions. It calculates the average surface height of each of the multiple regions. If the deviation between the minimum and maximum values ​​of the average surface height of the multiple regions is less than a predetermined value, the bucket is used to determine the excavation step by passing through all the regions. If the deviation is greater than the predetermined value, the bucket is used to determine the excavation step by passing through at least one region among the multiple regions with a relatively higher average surface height.

[0009] Invention effects: According to this disclosure, a hydraulic excavator control system and a hydraulic excavator control method are provided, which are capable of determining appropriate excavation steps suitable for the terrain shape. Attached Figure Description

[0010] Figure 1 This is a schematic side view of a hydraulic excavator. Figure 2 A diagram illustrating the hydraulic circuit assembled in the hydraulic excavator; Figure 3 This is a schematic structural diagram of a hydraulic excavator control system according to one embodiment; Figure 4 A flowchart for determining the excavation steps for the processing loop of the control system; Figure 5 To show a top view of the excavation area divided into multiple zones; Figure 6 middle Figure 6 Figures A and 6B are examples illustrating the first step of the excavation process; Figure 7 middle Figure 7 Figures A to 7C illustrate an example of the second step in the excavation process; Figure 8 middle Figure 8 A and 8B are diagrams showing the excavation area of ​​the modified example. Detailed Implementation

[0011] Figure 1 The image shows a hydraulic excavator 1. Figure 3 The control system 4 for a hydraulic excavator 1 is shown. The hydraulic excavator 1 includes: a traveling body 11, a rotating body 12 rotatably supported on the traveling body 11, a boom 13 pitching relative to the rotating body 12, a stick 14 pivotally connected to the tip of the boom 13, and a bucket 15 pivotally connected to the tip of the stick 14. In this embodiment, the traveling body 11 includes a pair of tracks, but the traveling body 11 may also include multiple wheels.

[0012] In addition, hydraulic excavator 1, such as Figure 2 As shown, the system includes: travel motors 31 and 32 that drive a pair of tracks respectively; a rotary motor 33 that rotates the rotating body 12; a boom cylinder 34 that pitches the boom 13; a stick cylinder 35 that swings the stick 14; and a bucket cylinder 36 that swings the bucket 15. These hydraulic actuators, together with the pump unit 21, constitute the hydraulic circuit 2. More specifically, the pump unit 21 is connected to a valve unit 22, to which the hydraulic actuators are connected.

[0013] In this embodiment, the pump unit 21 includes a variable-capacity hydraulic pump 21a with an adjustable tilt angle and a regulator 21b for adjusting the tilt angle of the hydraulic pump 21a. For example, the hydraulic pump 21a is an axial piston type swashplate pump or swashplate pump. The hydraulic pump 21a is driven by an engine or electric motor mounted on the hydraulic excavator 1. Furthermore, in this embodiment, the output flow rate of the pump unit 21 is controlled by electrical positive control. However, the output flow rate of the pump unit 21 can also be controlled by other methods such as hydraulic negative control or load sensing.

[0014] Valve unit 22 includes: two travel control valves 23 and 24, a slewing control valve 25, a boom control valve 26, a stick control valve 27, and a bucket control valve 28. The two travel control valves 23 and 24 control the flow of working oil supplied from pump 21 to travel motors 31 and 32, respectively. The slewing control valve 25 controls the flow of working oil supplied from pump 21 to slewing motor 33. The boom control valve 26 controls the flow of working oil supplied from pump 21 to boom cylinder 34. The stick control valve 27 controls the flow of working oil supplied from pump 21 to stick cylinder 35. The bucket control valve 28 controls the flow of working oil supplied from pump 21 to bucket cylinder 36.

[0015] Control valve devices 23 to 28 may, for example, each include a pilot-operated spool valve and a pair of electromagnetic proportional valves that output pilot pressure to the spool valve. In this case, valve unit 22 includes: a housing, a plurality of valve cores slidably held in the housing, and a plurality of electromagnetic proportional valves mounted in the housing corresponding to a plurality of pilot chambers formed in the housing. The housing may be a single block or divided into multiple blocks. Alternatively, control valve devices 23 to 28 may each be an electromagnetic spool valve.

[0016] like Figure 3As shown, the control system 4 for the hydraulic excavator 1 includes: multiple attitude angle sensors 5, external sensors 6, and a controller 7. The controller 7 controls the aforementioned pump unit 21 and control valve units 23 to 28. The attitude angle sensors 5, external sensors 6, pump unit 21, and control valve units 23 to 28 are connected to the controller 7 via wired or wireless means. Alternatively, when the pump unit 21 is controlled via hydraulic load control or load sensing, the pump unit 21 may not be controlled by the controller 7.

[0017] The posture angle sensor 5 detects the posture of the hydraulic excavator 1 as posture information. In this embodiment, the posture angle sensor 5 includes: a body posture angle sensor 51, a rotation posture angle sensor 52, a boom posture angle sensor 53, a stick posture angle sensor 54, and a bucket posture angle sensor 55.

[0018] External sensor 6 is mounted on rotating body 12. External sensor 6, as... Figure 5 As shown, the terrain of the excavation area 80, located in front of the rotating body 12 at the excavation site 8, which can be excavated by the hydraulic excavator 1 without moving, is measured, and terrain data of the excavation area 80 is obtained. The excavation area 80 is an area that can be excavated by a combination of the pull-back operation of the bucket 15 (the pull-back operation of the bucket 15 is achieved by the movement of the bucket 15, the stick 14, and the boom 13) and rotation when the hydraulic excavator 1 is in a fixed position. In this embodiment, the outline of the excavation area 80 is rectangular.

[0019] The terrain data is a collection of point data representing the three-dimensional coordinates of locations on a grid at specified intervals (e.g., 10 cm) within the excavation area 80. External sensors 6 include, for example, LiDAR (Light Detection and Ranging) and stereo cameras.

[0020] return Figure 3 The controller 7 includes a processing loop 70. The processing loop 70 acquires attitude information from multiple attitude angle sensors 5 and terrain data from external sensors 6, and generates control commands for output to the controlled object based on the acquired attitude information and terrain data.

[0021] Processing loop 70 includes a processor 71, system memory 72, and storage memory 73. Processor 71 may include a CPU. System memory 72 may include RAM. Storage memory 73 may include a hard disk, flash memory, or a combination thereof. Storage memory 73 stores program 73a.

[0022] The controller 7 may also include at least one user interface 74. The user interface 74 may be configured on a control panel. For example, the user interface 74 may include input and output interfaces. For example, the input interface may be a touchscreen, a handheld device, a joystick, a switch, etc. For example, the output interface may be a display.

[0023] The controller 7 may also include at least one communication interface 75. The communication interface 75 includes an interface that can be connected to external devices and the controller 7 via wired or wireless communication. The communication interface 75 may also include an interface that can be connected to communication networks such as the Internet via wired or wireless communication.

[0024] In this embodiment, the program 73a stored in the storage memory 73 contains an automatic digging program. The automatic digging program is a program that enables the hydraulic excavator 1 to perform digging operations through automatic driving. The processor executes the automatic digging program read from the storage memory 73, thereby the processing loop 70 performs automatic digging processing.

[0025] In this embodiment, the processing circuit 70 is for Figure 5 The excavation steps are defined for each excavation area shown in Figure 80. Figure 4 A flowchart for determining the excavation steps for processing loop 70.

[0026] First, the processing loop 70 divides the terrain data of the excavation area 80 obtained from the external sensor 6 into multiple grid-like regions 9 (step S1). When the direction from the excavation area 80 towards the hydraulic excavator 1 is taken as the longitudinal direction, and the direction orthogonal to the longitudinal direction is taken as the transverse direction, the number of longitudinal and transverse regions 9 can be appropriately determined. In this embodiment, the number of longitudinal regions 9 is three, and the number of transverse regions 9 is three.

[0027] The longitudinal length L of each zone 9 is less than the maximum digging distance of the hydraulic excavator 1, and the lateral width W of each zone 9 is less than or equal to the width Wb of the bucket 15 of the hydraulic excavator 1. For example, the longitudinal length L of each zone 9 is half the maximum digging distance of the hydraulic excavator 1, and the lateral width W of each zone 9 is equal to the width Wb of the bucket 15. Furthermore, in Figure 4 In the middle, the lateral width W of each region 9 is about 2 / 3 of the width Wb of the bucket 15.

[0028] Next, the processing loop 70 calculates the average surface height H of each of the multiple regions 9 (step S2). That is, the average surface height H of each region 9 is the value obtained by dividing the sum of the height coordinates of the point data of that region 9 by the number of point data.

[0029] Next, the processing loop 70 calculates the deviation ΔH (=Hmax-Hmin) between the maximum and minimum average surface height H of the multiple regions 9 constituting the excavation area 80, and compares the calculated deviation ΔH with a predetermined value V (step S3). The predetermined value V is an indicator used to determine whether the unevenness within the excavation area 80 is gentle or severe. For example, the predetermined value V is a value within the range of 50cm to 100cm.

[0030] If the deviation ΔH is less than the specified value V (NO in step S3), the processing loop 70 determines the excavation step as the first step; if the deviation ΔH is greater than the specified value V (YES in step S3), the processing loop 70 determines the excavation step as the second step. Additionally, Figure 4 In the process, step S4 is entered when ΔH = V, but step S5 can also be entered when ΔH = V.

[0031] When the deviation ΔH is less than the specified value V, in other words, when the excavation area within 80° is relatively flat, the first step is as follows: Figure 6 As shown in A and 6B, these are the steps for bucket 15 to pass through all areas 9. More detailed, along... Figure 6 As shown by line 81 in diagram A, the bucket 15 is pulled back while rotating; and along... Figure 6 As shown by line 82 in section B, the bucket 15 is pulled back during rotation. Alternatively, if the bucket 15 can pass through all areas 9 by pulling back the bucket 15 at multiple rotational positions, it is not necessary to pull back the bucket 15 during rotation.

[0032] In this embodiment, such as Figure 6 As shown by the shading in A, during the pullback operation of bucket 15 along the longitudinal line 81 while rotating, approximately two-thirds of the left-side areas 91, 94, and 98, and the left side of the central areas 92, 95, and 98, were excavated. Also, as... Figure 6 As shown by the shaded line in B, during the pullback operation of the bucket 15 while rotating along the longitudinal line 82, the entire right column regions 93, 97, and 99 and approximately the right 1 / 3 of the central column regions 92, 95, and 98 (approximately the central 1 / 3 has already been excavated in the previous operation) are excavated. Alternatively, the pullback operation of the bucket 15 along the longitudinal line 82 can be performed first, followed by the pullback operation of the bucket 15 along the longitudinal line 81.

[0033] When the deviation ΔH is greater than the specified value V, in other words, when the excavation area within 80° is severely uneven, the second step is as follows: Figure 7As shown in A to 7C, the steps involve the bucket 15 passing through at least one region 9 with a relatively high average ground surface height H. For example, region 91 inside the left column, regions 95 and 98 in the center and in front of the center column, and region 96 in the center of the right column are designated as regions 9 with relatively high average ground surface height H. At this time, along... Figure 7 As shown by line A 83, the bucket 15 is pulled back while rotating; along... Figure 7 As shown by line 84 in section B, the bucket 15 is pulled back without rotation; and along... Figure 7 As shown by line 85 in C, the bucket 15 is pulled back while rotating.

[0034] like Figure 7 As shown by the shaded line in A, during the pullback operation of the bucket 15 while rotating along the longitudinal line 83, approximately two-thirds of the left side of the inner area 91 of the left column and the left side of the inner area 92 of the central column are excavated. (See image below.) Figure 7 As shown by the shaded line in B, during the non-rotating pullback operation of the bucket 15 along the longitudinal line 84, the entire area 95 and 98 in the center and front of the central column, approximately one-third of the right side of the area 94 and 96 in the center and front of the left column, and approximately one-third of the left side of the area 96 and 99 in the center and front of the right column are excavated. Figure 7 As shown by the shaded line in C, during the pullback operation of the bucket 15 while rotating along the longitudinal line 85, approximately two-thirds of the right side of the central area 96 in the right column (approximately one-third of the left side of this area 96 and approximately two-thirds of the right side of the central area 95 in the middle column have been excavated in the previous operation) are excavated. Furthermore, the pullback operation of the bucket 15 along the longitudinal lines 83 to 85 can be performed in any order.

[0035] in addition, Figure 7 Regions A to 7C (91, 95, 96, 98) are examples of regions 9 with relatively high average surface height H. However, there can only be one region 9 with relatively high average surface height H. That is, a region 9 with relatively high average surface height H is selected sequentially from the regions 9 with the highest average surface height H, where the average surface height H is higher than the average obtained by dividing the sum of the average surface height H of all regions 9 by the number of regions 9. Furthermore, the number of regions 9 selected is appropriately determined based on the excavation conditions. Alternatively, if there are regions 9 with relatively high average surface height H in the same column as the region 9 with the highest average surface height H, the bucket 15 can be set to pass through all the excavation trajectories of these regions 9.

[0036] The processing circuit 70 drives the hydraulic excavator 1 to excavate the excavation area 80 according to the determined excavation steps. Specifically, the processing circuit 70 controls the pump device 21, the slewing control valve device 25, the boom control valve device 26, the stick control valve device 27, and the bucket control valve device 28 in order to execute the determined excavation steps. Afterward, the processing circuit 70 repeats the above-described steps S1 to S5 for adjacent excavation areas 80.

[0037] As explained above, in this embodiment, since the excavation steps for the excavation area 80 are determined based on the average surface height H of the multiple areas 9 constituting the excavation area 80, it is possible to determine appropriate excavation steps suitable for the terrain shape. Therefore, unnecessary excavation can be eliminated, improving construction efficiency. Furthermore, improved construction efficiency refers to a reduction in cycle time, or, in the case of an engine in the hydraulic excavator 1, a reduction in fuel consumption, etc.

[0038] Furthermore, since the longitudinal length L of each region 9 is less than the maximum digging distance of the hydraulic excavator 1, and the lateral width W of each region 9 is less than or equal to the width Wb of the bucket 15 of the hydraulic excavator 1, the dimensions of each region 9 are appropriately set. Therefore, it is possible to formulate an action plan that is optimally suited to the shape of the bucket 15. As a result, it is possible to achieve effects such as reducing the number of digging operations and obtaining a smooth construction surface.

[0039] Furthermore, since the hydraulic excavator 1 is driven to excavate the excavation area 80 according to the determined excavation steps, it can operate automatically with high construction efficiency.

[0040] <Variation Example> This disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of this disclosure.

[0041] For example, the control system 4 may include, in addition to the controller 7, a server that can communicate with the controller 7 via a network, and the server’s processing loop functions as the aforementioned processing loop 70.

[0042] Furthermore, the control system 4 does not necessarily need to include external sensors 6; the overall terrain data of the excavation site 8 can also be pre-stored in the storage memory 73 of the controller 7. Alternatively, the processing loop 70 can also obtain the overall terrain data of the excavation site 8 from a server via a network.

[0043] The outline of excavation area 80 does not have to be rectangular. For example, the outline of excavation area 80 can be as follows: Figure 8 The trapezoidal shape with sloping sides as shown in Figure A can also be like... Figure 8 It has a trapezoidal shape with sloping longitudinal sides, as shown in Figure B.

[0044] The functions of the elements disclosed in this specification can be performed using a general-purpose processor, a special-purpose processor, an integrated circuit, an ASIC (Application Specific Integrated Circuit), existing circuitry, and / or combinations thereof that are configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it contains transistors or other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the listed functions, or hardware programmed to perform the listed functions. The hardware can be the hardware disclosed in this specification, or other known hardware programmed or configured to perform the listed functions. When the hardware is considered a processor, a type of circuit, the circuit, means, or unit is a combination of hardware and software used in the configuration of the hardware and / or processor.

[0045] The programs disclosed in this specification can be stored on a computer-readable storage medium. The storage medium is a non-transitory and tangible medium. The storage medium can be built into or externally connected to a computer (e.g., a mobile information terminal, personal computer, server, etc.). The storage medium includes RAM, ROM, EEPROM, and other memory, such as a hard disk, flash memory, or optical disk. The program stored on the storage medium can be executed on a computer directly connected to the storage medium, or on a computer connected to the storage medium via a communication network (e.g., the Internet).

[0046] <Summary> As a first aspect, this disclosure provides a hydraulic excavator control system for a hydraulic excavator including a bucket, which has a processing circuit configured to divide terrain data of an excavation area that the hydraulic excavator can excavate without moving into multiple grid-like regions, calculate the average surface height of each of the multiple regions, and, if the deviation between the minimum and maximum values ​​of the average surface height of the multiple regions is less than a predetermined value, determine the excavation step by having the bucket pass through all the regions; if the deviation is greater than the predetermined value, determine the excavation step by having the bucket pass through at least one region among the multiple regions with a relatively higher average surface height.

[0047] Based on the above structure, since the excavation steps for the excavation area are determined based on the average surface height H of the multiple areas constituting the excavation area, it is possible to determine appropriate excavation steps suitable for the terrain shape. Therefore, unnecessary excavation can be eliminated, improving construction efficiency. Furthermore, improved construction efficiency refers to a reduction in cycle time, or, in the case of a hydraulic excavator equipped with an engine, a reduction in fuel consumption, etc.

[0048] Alternatively, in the second embodiment, as in the first embodiment, when the direction from the excavation area toward the hydraulic excavator is taken as the longitudinal direction and the direction orthogonal to the longitudinal direction is taken as the transverse direction, the longitudinal length of each of the plurality of regions is less than the maximum excavation distance of the hydraulic excavator, and the transverse width of each of the plurality of regions is less than the width of the bucket. According to this structure, since the dimensions of each region are appropriately set, it is possible to formulate an action plan optimally suited to the shape of the bucket. As a result, effects such as reducing the number of excavations and obtaining a smooth construction surface can be achieved.

[0049] Alternatively, in the third configuration, or in the first or second configuration, the processing circuit drives the hydraulic excavator to excavate the excavation area according to predetermined excavation steps. This configuration enables automated operation with high construction efficiency.

[0050] As a fourth form, it could also be any of the first to third forms. For example, the above-mentioned hydraulic excavator control system further includes an external sensor for measuring the terrain of the excavation area, and the processing loop acquires the terrain data from the external sensor.

[0051] As a fifth aspect, this disclosure provides a hydraulic excavator control method from another perspective. This method is for a hydraulic excavator including a bucket. It divides the terrain data of the excavation area, which the hydraulic excavator can excavate without moving, into multiple grid-like regions. It calculates the average surface height of each of the multiple regions. If the deviation between the minimum and maximum values ​​of the average surface height of the multiple regions is less than a predetermined value, the bucket is used to determine the excavation step by passing through all the regions. If the deviation is greater than the predetermined value, the bucket is used to determine the excavation step by passing through at least one region among the multiple regions with a relatively higher average surface height.

[0052] Based on the above structure, since the excavation steps for the excavation area are determined based on the average surface height H of the multiple areas constituting the excavation area, it is possible to determine appropriate excavation steps suitable for the terrain shape. Therefore, unnecessary excavation can be eliminated, improving construction efficiency. Furthermore, the improvement in efficiency refers to a reduction in cycle time, or, in the case of a hydraulic excavator equipped with an engine, a reduction in fuel consumption.

[0053] As a sixth configuration, or alternatively, in the fifth configuration, when the direction from the excavation area toward the hydraulic excavator is taken as the longitudinal direction, and the direction orthogonal to the longitudinal direction is taken as the transverse direction, the longitudinal length of each of the plurality of regions is less than the maximum excavation distance of the hydraulic excavator, and the transverse width of each of the plurality of regions is less than the width of the bucket. According to this structure, since the dimensions of each region are appropriately set, it is possible to formulate an action plan optimally suited to the shape of the bucket. As a result, effects such as reduced excavation times and a smooth construction surface can be achieved.

[0054] Alternatively, in the seventh configuration, or in the fifth or sixth configuration, the hydraulic excavator can be driven to excavate the excavation area according to predetermined excavation steps. This configuration allows for automated operation with high construction efficiency.

[0055] As an eighth form, it could also be any of the fifth to seventh forms, for example, acquiring the terrain data from an external sensor that measures the terrain of the excavation area.

Claims

1. A hydraulic excavator control system, characterized in that, It is a control system for hydraulic excavators, including the bucket, that has a processing circuit. The processing loop is configured as follows: The terrain data of the excavation area, which can be excavated without the hydraulic excavator moving, is divided into multiple grid-like regions. Calculate the average surface height of each of the multiple regions. If the deviation between the minimum and maximum values ​​of the average surface height in the multiple regions is less than a specified value, then the excavation step is determined by traversing all regions using the bucket. If the deviation is greater than the specified value, the excavation step is determined by the bucket passing through at least one area with a relatively high average ground surface height among the plurality of areas.

2. The hydraulic excavator control system according to claim 1, characterized in that, When the direction from the excavation area toward the hydraulic excavator is taken as the longitudinal direction, and the direction orthogonal to the longitudinal direction is taken as the transverse direction... The longitudinal length of each of the plurality of regions is less than the maximum digging distance of the hydraulic excavator. The lateral width of each of the plurality of regions is less than or equal to the width of the bucket.

3. The hydraulic excavator control system according to claim 1 or 2, characterized in that, The processing circuit drives the hydraulic excavator to excavate the excavation area in accordance with the determined excavation steps.

4. The hydraulic excavator control system according to claim 1 or 2, characterized in that, It also has external sensors for measuring the terrain of the excavation area. The processing loop acquires the terrain data from the external sensors.

5. A hydraulic excavator control method, characterized in that, It is a control method used in hydraulic excavators, including the bucket. The terrain data of the excavation area, which can be excavated without the hydraulic excavator moving, is divided into multiple grid-like regions. Calculate the average surface height of each of the multiple regions. If the deviation between the minimum and maximum values ​​of the average surface height in the multiple regions is less than a specified value, then the excavation step is determined by traversing all regions using the bucket. If the deviation is greater than the specified value, the excavation step is determined by the bucket passing through at least one area with a relatively high average ground surface height among the plurality of areas.

6. The hydraulic excavator control method according to claim 5, characterized in that, When the direction from the excavation area toward the hydraulic excavator is taken as the longitudinal direction, and the direction orthogonal to the longitudinal direction is taken as the transverse direction... The longitudinal length of each of the plurality of regions is less than the maximum digging distance of the hydraulic excavator. The lateral width of each of the plurality of regions is less than or equal to the width of the bucket.

7. The hydraulic excavator control method according to claim 5 or 6, characterized in that, The hydraulic excavator is driven to excavate the excavation area in accordance with the determined excavation steps.

8. The hydraulic excavator control method according to claim 5 or 6, characterized in that, The terrain data is acquired from external sensors that measure the terrain of the excavation area.

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