Method and system for controlling excavator

Abstract

One aspect of the present invention relates to a method for controlling an excavator to automatically return a bucket having loaded an object onto a load receiver to a digging position, the method comprising the steps of: setting position coordinates (Xrt, Yrt, Zrt) of a destination point, which is a digging position to which the bucket will return, by means of an operation unit; selecting and activating an automatic digging position return function by means of a display controller; detecting a load receiver or an obstacle within a maximum swing radius by means of a receiving unit and acquiring information necessary to perform the automatic digging position return function; and performing the automatic digging position return function by means of the control unit such that the bucket returns to the destination point on the basis of the acquired information.

Description

Method and system for controlling an excavator

[0001] The present disclosure generally relates to a method and system for controlling an excavator. In particular, the present disclosure relates to a method and system for controlling the movement of a bucket, an arm, a boom, and an upper slewing mechanism so that the bucket, having loaded an object onto a load receiver, can efficiently return to a digging position. The present disclosure can be applied to large vehicles, such as trucks, buses, and construction equipment, among other vehicle types. While the present disclosure may be described with respect to a specific vehicle, the present disclosure is not limited to any particular vehicle.

[0002] An excavator is a type of construction machine that performs various tasks, such as digging the ground at construction sites, loading the excavated soil into a load receiver, excavating to create a foundation, demolishing a building, leveling, and leveling.

[0003] An excavator may generally include a lower body that serves as a moving part of the equipment, an upper body that is swivellably mounted on the lower body, and a work device (boom, arm, bucket, etc.) mounted at the front of the upper body.

[0004] These excavators are generally controlled by manual operation of the operator for excavation work, loading work, etc., and there is a problem that the operation is complex and the driving skills of each operator are different, so the excavation and loading results are achieved differently depending on the operator.

[0005] Accordingly, there is an increasing demand for autonomous excavation and loading technology that can solve the above-mentioned problems and accurately determine excavation and loading trajectories.

[0006] The present disclosure is intended to solve the problems of the prior art described above, and the purpose of the present disclosure is to provide a method and system for controlling the movement of a bucket, an arm, a boom, and an upper swivel body so that a bucket that has loaded an object onto a load receiver can automatically return to a digging position.

[0007] A first aspect of the present disclosure provides a method for controlling an excavator to automatically return a bucket having loaded an object onto a load receiver to a digging position, the method comprising the steps of: setting position coordinates (Xrt, Yrt, Zrt) of a destination point, which is a digging position to which the bucket will return, in an operating unit; selecting and activating a digging position automatic return function in a display controller; detecting a load receiver or an obstacle within a maximum swing radius in a receiving unit and acquiring information necessary to perform the digging position automatic return function; and performing the digging position automatic return function in a control unit based on the acquired information so that the bucket returns to the destination point.

[0008] In some examples, optionally including at least one preferred example, the step of performing the digging position automatic return function includes: a step of calculating, based on the information of the acquired load receiver or the information of the obstacle, a swing angle θlr that can avoid interference with the load receiver or the obstacle during a swing operation of the upper swing body for returning to the digging position; a step of calculating, based on the position coordinates (Xrt, Yrt, Zrt) of the arrival point, a target rotation angle of at least one of the boom, the arm, and the bucket for the bucket to return to the position coordinates (Xrt, Yrt, Zrt) of the arrival point, and a target swing angle of the upper swing body; a step of moving the boom so that the lowermost part of the bucket is positioned higher than the uppermost point of the obstacle, when it is determined that the uppermost point of the obstacle is higher than the uppermost point of the load receiver; a step of swinging the upper swing body based on the target swing angle; and a step of determining that the swing angle of the upper swing body exceeds θlr and enters a swing braking section, A method for controlling an excavator may be provided, characterized in that it comprises a step of moving at least one of a boom, an arm and a bucket until the bucket arrives at the position coordinates (Xrt, Yrt, Zrt) of the destination point.

[0009] In some examples, optionally including at least one preferred example, a method for controlling an excavator may be provided, characterized in that, in the step of swinging the upper slewing body, when the swing angle of the upper slewing body does not reach the θlr, operation of the boom, arm and bucket is not permitted to prevent a collision with the load receiver or the obstacle.

[0010] In some examples, optionally including at least one preferred example, a method of controlling an excavator may further include a step of determining in the control unit whether the bucket has arrived at the destination.

[0011] In some examples, optionally including at least one preferred example, a method for controlling an excavator may be provided, characterized in that in the step of determining whether the bucket has arrived at the destination, if it is determined that the bucket has arrived at the destination within a preset time, the automatic digging position return function is completed, and if it is determined that the bucket has not arrived at the destination within a preset time, it is regarded as an error and this is displayed on the display controller, but the automatic digging position return function is performed until the bucket has arrived at the destination.

[0012] A second aspect of the present disclosure provides a system for controlling an excavator to automatically return a bucket that has loaded an object onto a load receiver to a digging position, the system comprising: an operating unit that sets position coordinates (Xrt, Yrt, Zrt) of a destination point, which is a digging position to which the bucket will return; a driving unit including a boom, an arm, a bucket, and an upper swivel body; a receiving unit that detects a load receiver or an obstacle within a maximum swing radius and acquires information necessary to perform an automatic digging position return function; an input / output interface for receiving a user input or outputting information, the system activating the automatic digging position return function and displaying the information acquired by the receiving unit; and a control unit that controls the driving unit to return the bucket to the destination point based on the information acquired by the receiving unit and the position coordinates (Xrt, Yrt, Zrt) of the destination point, thereby performing an automatic digging position return function.

[0013] In some examples, including at least one preferred example, the control unit calculates, based on the information of the acquired load receiver or the information of the obstacle, a swing angle θlr that can avoid interference with the load receiver or the obstacle during a swing operation of the upper swivel body for returning to the digging position, and calculates, based on the position coordinates (Xrt, Yrt, Zrt) of the destination, a target rotation angle of at least one of the boom, the arm, and the bucket for the bucket to return to the position coordinates (Xrt, Yrt, Zrt) of the destination, and a target swing angle of the upper swivel body, and when it is determined that the highest height point of the obstacle is higher than the highest height point of the load receiver, moves the boom so that the lowermost end of the bucket is positioned higher than the highest height point of the obstacle, swings the upper swivel body based on the target swing angle, and when it is determined that the swing angle of the upper swivel body exceeds the θlr and enters a swing braking section, the bucket moves to the position coordinates (Xrt, Yrt, Zrt) of the destination. A system for controlling an excavator may be characterized by moving at least one of a boom, an arm and a bucket until reaching (Xrt, Yrt, Zrt).

[0014] In some examples, optionally including at least one preferred example, the control unit may be a system for controlling an excavator, characterized in that it does not allow operation of the boom, arm and bucket to prevent a collision with the load receiver or the obstacle when the swing angle of the upper slewing body does not reach the θlr.

[0015] In some examples, optionally including at least one preferred example, the control unit may be a system for controlling an excavator, characterized in that the control unit determines whether the bucket has arrived at the destination, and if it is determined that the bucket has arrived at the destination within a preset time, it displays on the display controller that the digging position automatic return function has been completed, and if it is determined that the bucket has not arrived at the destination within a preset time, it considers it as an error and displays this on the display controller, but performs the digging position automatic return function until it arrives at the destination.

[0016] The method and system for controlling an excavator according to the present disclosure can improve work efficiency and operator convenience by performing a digging position automatic return function that automatically returns a bucket that has loaded an object onto a load receiver to a digging position.

[0017] The effects of the present disclosure are not limited to the effects described above, but should be understood to include all effects that can be inferred from the detailed description of the present disclosure or the composition of the disclosure described in the claims.

[0018] The disclosed aspects, embodiments (including any preferred embodiments), and / or accompanying claims may be suitably combined with one another as would be apparent to one skilled in the art.

[0019] Additional features and advantages are set forth in the following description, claims and drawings, and in part will be readily apparent to those skilled in the art or may be recognized by practicing the teachings herein.

[0020] The example is described in more detail below with reference to the attached drawings.

[0021] Figure 1 is a drawing showing a driving unit of an excavator according to one aspect of the present disclosure.

[0022] FIG. 2 is a block diagram schematically illustrating the configuration of a system for controlling an excavator according to one aspect of the present disclosure.

[0023] FIGS. 3 and 4 are flowcharts illustrating a method for controlling an excavator according to one embodiment.

[0024] FIGS. 5 and 6 are conceptual diagrams showing the movement trajectory of an excavator performing an automatic digging position return function according to one embodiment.

[0025] FIG. 7 is a diagram showing information of a load receiver required to perform an automatic digging position return function according to one embodiment.

[0026] FIG. 8 is a diagram for explaining a step of calculating θlr according to one embodiment.

[0027] The detailed description set forth below provides information and examples of the disclosed technology with sufficient detail to enable those skilled in the art to practice the present disclosure. However, the present disclosure may be implemented in many different forms and is therefore not limited to the aspects described herein. In addition, for the purpose of clearly illustrating the present disclosure, parts irrelevant to the description are omitted in the drawings, and like reference numerals are used throughout the specification to designate like parts.

[0028] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the present disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. The terms "comprises," "comprising," as used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0029] While terms such as "first" and "second" may be used herein to describe various elements, it is to be understood that these elements should not be limited by these terms. These terms are used solely to distinguish one element from another. For example, without departing from the scope of the present disclosure, a first element could be referred to as a "second element," and similarly, a second element could also be referred to as a "first element."

[0030] Relative terms such as "below" or "above" or "upper" or "lower" or "horizontal" or "vertical" may be used herein to describe one element's relationship to another, as illustrated in the drawings. It will be understood that these terms and the terms discussed above are intended to encompass different orientations of the device in addition to the orientations depicted in the drawings. When a component is referred to as being "connected" or "coupled" to another component, it will be understood that it may be directly connected or coupled to the other component, or that intervening components may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, no intervening elements are present.

[0031] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It should be further understood that terms used herein should be interpreted to have a meaning consistent with their meaning within the context of this specification and related technologies, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0032] Hereinafter, one aspect of the present disclosure will be described in detail with reference to the attached drawings.

[0033] FIG. 1 is a drawing showing a driving unit of an excavator according to one aspect of the present disclosure, and FIG. 2 is a block diagram schematically showing the configuration of a system for controlling an excavator according to one aspect of the present disclosure.

[0034] Referring to FIGS. 1 and 2, the excavator is a device capable of excavating an object, and may include various types of excavators capable of performing excavation work in various ways, such as soil transport work, building demolition work, and ground clearing work.

[0035] In one embodiment, the excavator may be implemented by including a computing device that operates through a computer program to realize the functions described herein, and in another embodiment, may be controlled according to a control signal of a control unit.

[0036] A system (1000) for controlling an excavator to automatically return a bucket that has loaded an object onto a load receiver according to one aspect of the present disclosure to a digging position includes a driving unit (100), a receiving unit (200), a display controller (300), a control unit (400), and an operating unit (500).

[0037] The driving unit (100) is configured to include an upper swing body (120) that is supported so as to be able to swing on a lower driving body (110), and a work device connected to the upper swing body (120). The work device may include, for example, a boom (130), an arm (140), and a bucket (150).

[0038] The lower drive body (110) is configured to support the load of the upper slewing body (120), boom (130), arm (140), and bucket (150), and move the excavator forward and backward or left and right for work purposes.

[0039] The upper swing body (120) is a structure supported on the lower driving body (110) and is designed to swing on the lower driving body (110) by a swing device including a swing motor, a swing reduction gear, etc.

[0040] The arm (140) is connected to the bucket (150) and the boom (130), respectively, and in one embodiment, the upper swivel body (120) is connected in the order of the boom (130), the arm (140), and the bucket (150) through joints, and each joint can be moved by a hydraulic cylinder.

[0041] For example, the arm (140) is connected to a boom (130) which is connected to the upper slewing body (120) of the excavator at one end, and is connected to a bucket (150) at the other end, and each of the boom (130), the arm (140) and the bucket (150) can rotate about one or more axes by the boom cylinder, the arm cylinder and the bucket cylinder, and the bucket (150) can contain an object (e.g., soil) on the ground inside according to the rotation, and the control unit (400) can control the entire operation.

[0042] Since the boom (130), arm (140) and bucket (150) are installed while being supported toward the front on the upper swivel body (120), when the upper swivel body (120) swings, the boom (130), arm (140) and bucket (150) swing together with the upper swivel body (120).

[0043] The driving unit (100) may be configured as, for example, an electro-hydraulic system, and the driving may be electronically controlled by the control unit (400).

[0044] The receiving unit (200) is configured to acquire various information necessary to perform the automatic digging position return function.

[0045] For example, the receiver (200) may include, but is not limited to, inertial measurement units (IMUs) (210), swing angle sensors (220), and environment perception sensors (230).

[0046] Inertial Measurement Units (IMUs) (210) are configured to measure displacement and / or position and / or attitude of one or more of the upper swivel body (120), boom (130), arm (140), and bucket (150) that constitute the driving unit (100). For example, in order to calculate the angles of the boom (130), arm (140), and bucket (150) that operate when performing the automatic loading position reaching function, the inertial measurement units (210) that detect displacements of the boom (130), arm (140), and bucket (150) and output detection signals to the control unit (400) may be installed in the boom cylinder, the arm cylinder, and the bucket cylinder.

[0047] The swing angle sensor (220) is configured to measure the swing angle of the upper swing body (120). That is, the swing angle sensor (220) that detects the swing angle of the upper swing body (120) and outputs a detection signal to the control unit (400) can be installed in the upper swing body (120).

[0048] The environment perception sensors (230) are configured to sense the external environment and may include one or more terrain detection sensors such as cameras, radars, lidars, etc. Through these environment perception sensors (230), information about the shape and / or position of a load receiver (e.g., a dump truck, a hopper, a crusher), an excavation target contained in a bucket, an excavation target loaded on a load receiver, an excavation target in the external environment, and the shape and / or position of an obstacle located within a maximum swing radius can be identified and measured.

[0049] This receiving unit (200) can obtain information necessary to perform the digging position automatic return function, such as information on the terrain including the target object, displacement and / or angle and / or position information of the driving unit, shape and / or position information of the load receiver, shape and / or position information of an obstacle, etc. Here, the target object is an excavation target of the excavator, and can include all types of target materials that can be loaded or transported by the excavator, such as soil during soil transport work, building debris during building demolition work, and ground debris during ground clearing work.

[0050] The receiving unit (200) may receive information necessary to perform the automatic digging position return function from another device (e.g., a server) or another component (e.g., memory, sensor, etc.), and may include a wired or wireless communication device that is connected to another device via a network and can transmit and receive various pieces of information described throughout the specification.

[0051] The receiving unit (200) can generate the information in real time through sensing the information required to perform the digging position automatic return function. For example, the receiving unit (200) can sense in real time information including the position, size, type of surrounding terrain, angle between the target object and surrounding terrain, shape or position of the load receiver, shape or position of an obstacle, etc. of an object (e.g., soil) within a target area that changes in real time as the boom (130), arm (140), or bucket (150) of the excavator moves through one or more terrain detection sensors such as a camera, radar, lidar, etc.

[0052] The display controller (300) is an input / output interface for receiving user input or outputting information. The display controller (300) activates the automatic digging position return function and displays information acquired by the receiver (200) (e.g., position of the load receiver, position of obstacles, terrain information, etc.) on the display. That is, the driver can activate or deactivate the automatic digging position return function by selecting the automatic digging position return function through the display controller (300). For example, the driver can activate or deactivate the automatic digging position return function by selecting the automatic digging position return function on the screen of the display controller (300) that provides a touchscreen function.

[0053] The operating unit (500) may be a hydraulic joystick or an electric joystick, and preferably, may be an electric joystick that generates an electric signal proportional to the amount of operation of the driver and provides it to the control unit (400).

[0054] The operation unit (500) can set the position coordinates (Xrt, Yrt, Zrt) of the destination point, which is the digging position to which the bucket will return. In addition, the operation unit (500) can be provided with an input unit, for example, a button, which receives a user input for starting the automatic loading position arrival function. Accordingly, the driver can set the position coordinates (Xrt, Yrt, Zrt) of the destination point, which is the digging position to which the bucket will return, on the operation unit (500), then select the automatic digging position return function on the display controller (300) to activate the automatic digging position return function, and push the button on the operation unit (500) to start the automatic digging position return function.

[0055] The control unit (400) processes information obtained by the receiving unit (200), signals from the display controller (300) and the operating unit (500), etc., and controls the driving unit (100) to automatically perform a desired operation.

[0056] This control unit (400) performs an automatic digging position return function by controlling the driving unit (100) so that the bucket (150) returns to the destination point based on the information obtained by the receiving unit (200) and the location coordinates (Xrt, Yrt, Zrt) of the destination point.

[0057] The control unit (400) calculates, based on the information of the acquired load receiver or information of the obstacle, a swing angle θlr that can avoid interference with the load receiver or the obstacle during the swing operation of the upper swivel body (120) for returning to the digging position, and calculates, based on the position coordinates (Xrt, Yrt, Zrt) of the destination, a target rotation angle of at least one of the boom (130), the arm (140), and the bucket (150) for returning the bucket (150) to the position coordinates (Xrt, Yrt, Zrt) of the destination, and a target swing angle of the upper swivel body (120), and if it is determined that the highest point of the obstacle is higher than the highest point of the load receiver, moves the boom (130) so that the lowermost end of the bucket (150) is positioned higher than the highest point of the obstacle, swings the upper swivel body (120) based on the target swing angle, and determines that the swing angle of the upper swivel body (120) is If it is determined that θlr is exceeded and the swing braking section has been entered, at least one of the boom (130), the arm (140), and the bucket (150) is moved until the bucket (150) reaches the position coordinates (Xrt, Yrt, Zrt) of the destination point.

[0058] The above-described series of operations will be described in detail below with reference to FIGS. 3 to 8.

[0059] Throughout the specification, it will be understood by those skilled in the art that the excavator may further include general-purpose components other than those illustrated in FIGS. 1 and 2. For example, the excavator may further include various types of actuators for the movement of each of the boom (130), arm (140), and bucket (150), an actuator control module for detailed control thereof, pipes, a memory for storing data used throughout the operation, and the like.

[0060] FIGS. 3 and 4 are flowcharts illustrating a method for controlling an excavator according to one embodiment, FIGS. 5 and 6 are conceptual diagrams illustrating a movement trajectory of an excavator performing an automatic digging position return function according to one embodiment, FIG. 7 is a diagram illustrating information of a load receiver required to perform an automatic digging position return function according to one embodiment, and FIG. 8 is a diagram for explaining a step of calculating θlr according to one embodiment.

[0061] Referring to FIG. 3, a method (S2000) for controlling an excavator to automatically return a bucket (150) that has loaded an object onto a load receiver to a digging position includes a step (S2100) of setting position coordinates (Xrt, Yrt, Zrt) of a destination point, which is a digging position to which the bucket (150) will return, in an operation unit (500), a step (S2200) of selecting and activating a digging position automatic return function in a display controller (300), a step (S2300) of detecting a load receiver or an obstacle within a maximum swing radius in a receiving unit (200) and acquiring information necessary to perform the digging position automatic return function, and a step (S2400) of performing the digging position automatic return function in a control unit (400) so that the bucket (150) returns to the destination point based on the acquired information.

[0062] In step S2100, the position coordinates (Xrt, Yrt, Zrt) of the destination point, which is the digging position to which the bucket will return, are set through the operating unit (500). For example, the driver can set the position coordinates (Xrt, Yrt, Zrt) of the destination point by pushing a button on the operating unit (500).

[0063] In step S2200, if the automatic digging position return function is selected in the display controller (300), the automatic digging position return function is activated. For example, the driver can activate the automatic digging position return function by selecting the automatic digging position return function in the display controller (300).

[0064] In step S2300, the receiving unit (200) detects a load receiver or an obstacle within the maximum swing radius, and obtains information necessary to perform an automatic digging position return function, such as information on the terrain including the target object, displacement and / or angle and / or position information of each driving unit (100), information on the load receiver and the obstacle, etc.

[0065] Referring to FIGS. 7 and 8, information about the load receiver (600) may include, for example, the shape of the load receiver (600), the position coordinates (X1, Y1, Zd1) to (X4, Y4, Zd4) of the first corner (610) to the fourth corner (640) of the load receiver (600), the position coordinates (Xd, Yd, Zd) of the center (650) of the load receiver (600), the length (Ld) and width (Lw) of the load receiver (600), the top height of the load receiver (600), the amount of the object loaded inside the load receiver (600), etc. This information about the load receiver (600) may be acquired by the receiving unit (200), more specifically, the environment recognition sensor (230). This environment recognition sensor (230) continuously detects the information until the digging position automatic return function is deactivated.

[0066] Also, referring to FIG. 8, information about an obstacle (700) may include, for example, whether an obstacle (700) exists within a maximum swing radius returning from a loading completion position to a digging position, an outline of the obstacle (700), position coordinates (Xro, Yro, Zro) of the highest point of the obstacle (700), etc.

[0067] In step S2400, the control unit (400) performs an automatic digging position return function so that the bucket (150) returns to the destination point, which is the digging position, based on the information obtained from the receiving unit (200). At this time, the automatic digging position return function can be started by the driver pushing the start button of the operating unit (500).

[0068] Referring to FIGS. 4, 5 and 6, step S2400 includes detailed steps S2410, S2420, S2430, S2440 and S2450.

[0069] In step S2410, the control unit (400) calculates a swing angle θlr that can avoid interference with the load receiver (600) or the obstacle (700) during the swing operation of the upper swing body (120) for returning to the digging position, based on the information of the acquired load receiver (600) or the information of the obstacle (700).

[0070] That is, the swing angle θlr means the angle at which the upper swivel body (120) must swing at a minimum without operation of the boom, arm, and bucket to prevent collision between any one of the boom, arm, and bucket and the load receiver (600) or obstacle (700) during the swing operation of the upper swivel body (120).

[0071] Referring to FIG. 8, according to one embodiment, a method of calculating a swing angle θlr when a bucket returns from a starting point (660), which is, for example, a loading completion position of the bucket, to a destination point (800), which is a digging position, is described.

[0072] In Fig. 8, during the process of swinging the upper body, the first corner (610), the third corner (630) of the load receiver (600) and the highest point (710) of the obstacle (700) are present on the left side with respect to the X-axis, and the second corner (620), the fourth corner (640) of the load receiver (600) and the highest point (710') of the obstacle (700') are present on the right side.

[0073] At this time, the position coordinates of the first corner (610) of the load receiver (600) are (X1, Y1, Zd1), the position coordinates of the second corner (620) are (X2, Y2, Zd2), the position coordinates of the third corner (630) are (X3, Y3, Zd3), the position coordinates of the fourth corner (640) are (X4, Y4, Zd4), the position coordinates of the highest point (710) of the left obstacle are (Xro, Yro, Zro), and the position coordinates of the highest point (710') of the right obstacle (710') are (Xro', Yro', Zro').

[0074] When the upper swing body (120) swings to the left, the control unit determines that Yi (Y1 and Y3) < 0 and Yro < 0, and calculates θ1, θ3, and θs as follows.

[0075] θ1 = atan(Y1 / X1),

[0076] θ3 = atan(Y3 / X3),

[0077] θs = atan(Yro / Xro).

[0078] At this time, θ1 is the swing angle from the starting point (660) to the first corner (610), θ3 is the swing angle from the starting point (660) to the third corner (630), and θs is the swing angle from the starting point (660) to the highest point (710) of the obstacle (700).

[0079] And, if there is no obstacle within the maximum swing radius to the destination, or if the Z-direction coordinate of the highest point of the obstacle is smaller than the Z-direction coordinate of the destination (Zro < Zrt), the control unit calculates θlr as follows.

[0080] θlr = Max(θ1, θ3) + θm.

[0081] Here, θm represents the preset margin angle for the load receiver.

[0082] Alternatively, if there is an obstacle within the maximum swing radius to the destination, and the Z-direction coordinate of the highest point of the obstacle is greater than or equal to the Z-direction coordinate of the destination (Zro' ≥ Zrt), the control unit calculates θlr as follows.

[0083] θlr = θs + θsm.

[0084] Here, θsm represents the preset margin angle for the obstacle.

[0085] When the upper swing body (120) swings to the right, the control unit determines that Yi (Y2 and Y4) > 0 and Yro' > 0, and calculates θ2, θ4, and θs as follows.

[0086] θ2 = atan(Y2 / X2),

[0087] θ4 = atan(Y4 / X4),

[0088] θs = atan(Yro' / Xro').

[0089] At this time, θ2 is the swing angle from the starting point (660) to the second corner (620), θ4 is the swing angle from the starting point (660) to the fourth corner (640), and θs is the swing angle from the starting point (660) to the highest point (710') of the obstacle (700').

[0090] And, if there is no obstacle within the maximum swing radius to the destination, or if the Z-direction coordinate of the highest point of the obstacle is smaller than the Z-direction coordinate of the destination (Zro' < Zrt), the control unit calculates θlr as follows.

[0091] θlr = Max(θ2, θ4) + θm.

[0092] Here, θm represents the preset margin angle for the load receiver.

[0093] Alternatively, if there is an obstacle within the maximum swing radius to the destination, and the Z-direction coordinate of the highest point of the obstacle is greater than or equal to the Z-direction coordinate of the destination (Zro' ≥ Zrt), the control unit calculates θlr as follows.

[0094] θlr = θs + θsm.

[0095] Here, θsm represents the preset margin angle for the obstacle.

[0096] In this way, the control unit (400) can calculate the swing angle θlr that can avoid interference with the load receiver (600) or the obstacle (700). In this way, the control unit (400) can prevent collision with the load receiver (600) or the obstacle (700) by not allowing the operation of the boom (130), the arm (140), and the bucket (150) when the swing angle of the upper swing body (120) does not reach the θlr.

[0097] In step S2420, the control unit (400) calculates a target rotation angle of at least one of the boom (130), the arm (140), and the bucket (150) for the bucket (150) to return to the position coordinates (Xrt, Yrt, Zrt) of the destination point (800), and a target swing angle (θt) of the upper swivel body, based on the position coordinates (Xrt, Yrt, Zrt) of the destination point (800).

[0098] The target rotation angle of one or more of the boom (130), arm (140), and bucket (150), and the target swing angle of the upper swivel body (120) can be calculated through an inverse kinematics model. The inverse kinematics model refers to a model that calculates the corresponding joint angle when the position and posture of the end are given.

[0099] In step S2430, if the control unit (400) determines that the uppermost point of the obstacle is higher than the uppermost point of the load receiver, it moves the boom (130) so that the lowermost point of the bucket (150) is positioned higher than the uppermost point of the obstacle.

[0100] That is, when the swing operation of the upper swivel body (120) is performed while the boom (130) is moved so that the lowest point of the bucket (150) is higher than the highest point of the obstacle, a collision between the bucket (150) and the obstacle can be prevented.

[0101] At this time, the control unit (400) can control the swing operation of the upper swivel body (120) not to be permitted when the movement of the boom (130) is not completed.

[0102] In step S2440, the control unit (400) swings the upper swing body (120) so that the bucket (150) reaches the destination (800) based on the calculated target swing angle (θt).

[0103] According to one embodiment, the swing section according to the target swing angle (θt) can be divided into a first section (R1) in which the upper swing body (120) accelerates to a preset swing speed or a maximum swing speed, and performs a uniform circular motion when the preset swing speed or the maximum swing speed is reached, and a second section (R2) which is a braking section in which the swing of the upper swing body (120) is braked.

[0104] The control unit (400) reduces the swing speed of the upper swing body (120) when the bucket (150) enters the second section (R2), which is a swing braking section, during the swing of the upper swing body (120). This swing braking section can be calculated by considering, for example, the moment of inertia of the upper swing body (120), the swing braking torque, and the current swing speed.

[0105] In step S2450, if the control unit (400) determines that the swing angle of the upper swing body (120) exceeds θlr and enters the swing braking section (R2), it moves at least one of the boom (130), the arm (140), and the bucket (150) until the bucket (150) arrives at the position coordinates (Xrt, Yrt, Zrt) of the destination point (800).

[0106] That is, the control unit (400) controls the operation of the boom (130), the arm (140), and the bucket (150), particularly the operation of the arm (140), to be activated only when the swing angle of the upper swing body (120) exceeds θlr and enters the swing braking section (R2).

[0107] In the process of returning the bucket (150) to the digging position, how quickly the upper swivel body (120) swings plays an important role in the automatic digging position return function. For example, if the operation of the arm (140) is activated in the first section (R1) where swing acceleration and constant velocity movement occur, hydraulic pressure distribution between the upper swivel body (120) and the arm (140) occurs, thereby slowing down the swing speed of the upper swivel body (120). Therefore, in order to obtain the fastest cycle time, it is preferable to prevent the operation of the boom (130), the arm (140), and the bucket (150), especially the operation of the arm (140), from being activated in the first section (R1) where swing acceleration and constant velocity movement occur.

[0108] Accordingly, as illustrated in FIG. 5, the control unit (400) controls the operation of the boom (130), the arm (140), and the bucket (150), particularly the operation of the arm (140), not to be activated if the swing angle of the upper swing body (120) exceeds θlr and the second section (R2) has not been entered.

[0109] In addition, as illustrated in FIG. 6, the control unit (400) controls the operation of the boom (130), the arm (140), and the bucket (150), particularly the operation of the arm (140), not to be activated if the swing angle of the upper swing body (120) does not exceed θlr even when entering the second section (R2).

[0110] Meanwhile, a method (S2000) for controlling an excavator to automatically return a bucket (150) that has loaded an object onto a load receiver to a digging position may further include a step (S2500) of determining in the control unit (400) whether the bucket (150) has reached the destination (800).

[0111] In step S2500, if the control unit (400) determines that the bucket (150) has reached the destination (800) within a preset time (e.g., 30 seconds), it displays on the display controller (300) that the digging position automatic return function has been completed. In addition, if the control unit (400) determines that the bucket (150) has not reached the destination (800) within the preset time, it considers it an error and displays this on the display controller (300), but performs the digging position automatic return function until the bucket (150) reaches the destination (800).

[0112] Meanwhile, after the automatic return to digging position function is performed once, if the driver pushes the start button of the operating unit (500) again to return the bucket (150) from the loading completion position to the digging position, the automatic return to digging position function starts from step S2400 (the automatic return to digging position function remains activated).

[0113] Meanwhile, when the driver no longer needs to use the automatic digging position return function, he / she disables the automatic digging position return function through the display controller (300) to terminate the automatic digging position return function.

[0114] In this way, the method and system for controlling the excavator of the present disclosure can improve work efficiency and operator convenience by performing an automatic digging position return function that automatically returns the bucket that has loaded the object to the digging position.

[0115] It should be understood that the present disclosure is not limited to the embodiments described above and illustrated in the drawings. Rather, those skilled in the art will recognize that numerous modifications and variations can be made within the scope of the present disclosure and the appended claims. In the drawings and specification, aspects are disclosed for illustrative purposes only, not for purposes of limitation, and the scope of the present disclosure is set forth in the claims below.

[0116]

[0117] Description of the symbol

[0118] System to control 1000 excavators

[0119] 100 drive unit

[0120] 110 lower drivetrain

[0121] 120 upper swivel

[0122] 130 Boom

[0123] 140 Aam

[0124] 150 buckets

[0125] 200 receiver

[0126] 210 Inertial Measurement Unit

[0127] 220 swing angle sensor

[0128] 230 environmental awareness sensors

[0129] 400 Control Unit

[0130] 500 control panel

[0131] 600 rod receiver

[0132] 610 First Corner

[0133] 620 2nd corner

[0134] 630 Third Corner

[0135] 640 4th corner

[0136] The center of the 650 rod receiver

[0137] 660 Starting point

[0138] 700, 700' obstacle

[0139] 800 destination

Claims

1. A method for controlling an excavator to automatically return a bucket that has loaded an object onto a load receiver to a digging position, A step for setting the position coordinates (Xrt, Yrt, Zrt) of the destination point, which is the digging position to which the bucket will return, in the operating unit; Step 1: Select and enable the auto return to digging position function in the display controller; A step of detecting a load receiver or obstacle within a maximum swing radius from a receiving unit and acquiring information necessary to perform an automatic return to the digging position function; and A method for controlling an excavator, comprising the step of performing an automatic digging position return function in a control unit so that the bucket returns to the destination point based on the acquired information.

2. In paragraph 1, The steps for performing the above-mentioned digging position automatic return function are: A step of calculating a swing angle θlr that can avoid interference with the load receiver or the obstacle during the swing operation of the upper swing body for returning to the digging position based on the information of the acquired load receiver or the information of the obstacle; A step of calculating a target rotation angle of at least one of the boom, the arm, and the bucket, and a target swing angle of the upper swivel body for the bucket to return to the position coordinates (Xrt, Yrt, Zrt) of the destination point based on the position coordinates (Xrt, Yrt, Zrt) of the destination point; A step of moving the boom so that the lowermost part of the bucket is positioned higher than the uppermost point of the obstacle, if it is determined that the uppermost point of the obstacle is higher than the uppermost point of the load receiver; A step of swinging the upper swing body based on the target swing angle; and A method for controlling an excavator, characterized in that it comprises the step of moving at least one of a boom, an arm, and a bucket until the bucket arrives at the position coordinates (Xrt, Yrt, Zrt) of the destination point when it is determined that the swing angle of the upper swing body exceeds the θlr and has entered a swing braking section.

3. In paragraph 2, In the step of swinging the upper swivel body, A method for controlling an excavator, characterized in that operation of the boom, arm and bucket is not permitted to prevent collision with the load receiver or the obstacle when the swing angle of the upper slewing body has not reached the θlr.

4. In paragraph 1, A method for controlling an excavator, characterized in that it further includes a step of determining in the control unit whether the bucket has arrived at the destination.

5. In paragraph 4, In the step of determining whether the above bucket has arrived at the destination, When it is determined that the above bucket has reached the above destination within the preset time, the digging position automatic return function is completed and is displayed on the display controller. A method for controlling an excavator, characterized in that if it is determined that the bucket has not arrived at the destination within a preset time, it is regarded as an error and this is displayed on the display controller, but an automatic digging position return function is performed until the bucket arrives at the destination.

6. A system for controlling an excavator to automatically return a bucket that has loaded an object onto a load receiver to a digging position. An operating unit for setting the position coordinates (Xrt, Yrt, Zrt) of the destination point, which is the digging position to which the above bucket will return; Drive unit including boom, arm, bucket and upper swivel body; A receiving unit for detecting a load receiver or obstacle within a maximum swing radius and obtaining information necessary to perform an automatic return to the digging position function; As an input / output interface for receiving user input or outputting information, a display controller that activates an automatic digging position return function and displays the information acquired by the receiving unit; and A system for controlling an excavator, comprising a control unit for controlling the driving unit to perform an automatic digging position return function by controlling the bucket to return to the destination point based on the information obtained by the receiving unit and the location coordinates (Xrt, Yrt, Zrt) of the destination point.

7. In paragraph 6, The above control unit, Based on the information of the acquired load receiver or the information of the obstacle, a swing angle θlr that can avoid interference with the load receiver or the obstacle during the swing operation of the upper swing body for returning to the digging position is calculated, Based on the position coordinates (Xrt, Yrt, Zrt) of the destination point, a target rotation angle of at least one of the boom, the arm, and the bucket, and a target swing angle of the upper swivel body are calculated for the bucket to return to the position coordinates (Xrt, Yrt, Zrt) of the destination point, If the highest point of the above obstacle is judged to be higher than the highest point of the above load receiver, the boom is moved so that the lowest point of the bucket is positioned higher than the highest point of the above obstacle, Swing the upper swing body based on the target swing angle, and A system for controlling an excavator, characterized in that when the swing angle of the upper slewing body exceeds the θlr and it is determined that the swing braking section has been entered, at least one of the boom, the arm, and the bucket is moved until the bucket reaches the position coordinates (Xrt, Yrt, Zrt) of the destination.

8. In paragraph 7, The above control unit, A system for controlling an excavator, characterized in that operation of the boom, arm and bucket is not permitted to prevent collision with the load receiver or the obstacle when the swing angle of the upper slewing body does not reach the θlr.

9. In paragraph 6, The above control unit, Determine whether the above bucket has arrived at the above destination, If it is determined that the above bucket has arrived at the destination within the preset time, the digging position automatic return function is completed and is displayed on the display controller. A system for controlling an excavator, characterized in that if it is determined that the bucket has not arrived at the destination within a preset time, it is regarded as an error and this is displayed on the display controller, but an automatic digging position return function is performed until the bucket arrives at the destination.

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