Method and system for controlling excavator

Abstract

One aspect of the present disclosure provides a method for controlling an excavator in order to automatically perform a dumping motion of a bucket for loading an object, the method comprising the steps of: selecting and activating, by a display controller, an automatic dumping motion function; detecting, by a receiving unit, a load receiver and acquiring information necessary for performing the automatic dumping motion; and performing, by a control unit, a first automatic dumping motion such that the object in the bucket is loaded on the load receiver 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 a dumping motion to efficiently load an object onto a load receiver. The present disclosure may 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 purpose of the present disclosure is to provide a method and system for automatically controlling a dumping motion so as to efficiently load an object onto a load receiver.

[0007] A first aspect of the present disclosure provides a method for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object, the method comprising: a step of selecting and activating an automatic dumping motion function in a display controller; a step of detecting a load receiver in a receiving unit and obtaining information necessary for performing an automatic dumping motion; and a step of performing a first automatic dumping motion in a control unit to load an object contained in the bucket onto the load receiver based on the obtained information.

[0008] In some examples, optionally including at least one preferred example, the step of performing the first automatic dumping motion comprises the steps of calculating a first dumping point (Xd1, Yd1, Zr1) as a loading start position and a second dumping point (Xd2, Yd2, Zr2) as a loading completion position based on the rotation axis center of the bucket, establishing a path plan of the boom, the arm, the bucket and the upper swivel body from the first dumping point (Xd1, Yd1, Zr1) to the second dumping point (Xd2, Yd2, Zr2) including a speed command, 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 based on the path plan, and moving at least one of the boom, the arm and the bucket or swinging the upper swivel body while moving at least one of the boom, the arm and the bucket to perform the automatic dumping motion function based on the target rotation angle and the target swing angle. It could be a way to control an excavator.

[0009] In some examples, optionally including at least one preferred example, a method for controlling an excavator may further include a step of performing a second automatic dumping motion by the control unit to evenly load an object onto the load receiver after the first automatic dumping motion.

[0010] In some examples, optionally including at least one preferred example, the step of performing the second automatic dumping motion may be a method for controlling an excavator, characterized in that it comprises the steps of: detecting, by a receiving unit, a volume of an object loaded on the load receiver by the first automatic dumping motion for each section; determining a compensation value for each section based on the detected volume of the object for each section; calculating a compensated speed command for each section by applying the compensation value to the speed command in the first automatic dumping motion; and establishing a path plan of a boom, an arm, a bucket, and an upper slewing body from the first dumping point to the second dumping point, including the compensated speed command.

[0011] Optionally, for any one section, if the volume of the object in the section is smaller than the average of the volumes of the objects in each section, the compensated speed command in the section is smaller than the speed command in the first automatic dumping motion, and if the volume of the object in the section is larger than the average of the volumes of the objects in each section, the compensated speed command in the section is larger than the speed command in the first automatic dumping motion.

[0012] In some examples, optionally including at least one preferred example, a method for controlling an excavator may be provided, characterized in that a compensation value for each section, C(i), is determined through the following [Formula 1], and a compensated speed command for each section, VCcom(i), is determined through the following [Formula 2].

[0013] [Formula 1]

[0014]

[0015] [Formula 2]

[0016]

[0017] Here, VL(i) is the volume of the object in section i, VLaverage is the average of the volume of the object in each section, and VC(i) is the velocity command in section i in the first automatic dumping motion.

[0018] In some examples, optionally including at least one preferred example, a method for controlling an excavator may further include a step of determining in the control unit whether the center of rotation axis of the bucket has reached the second dumping point.

[0019] In some examples, 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 center of the rotation axis of the bucket has reached the second dumping point, if it is determined that the second dumping point has been reached within a preset time, the automatic dumping motion function is completed and displayed on the display controller, and if it is determined that the second dumping point has not been reached within a preset time, it is regarded as an error and displayed on the display controller, but the automatic dumping motion function is performed until the second dumping point is reached.

[0020] A second aspect of the present disclosure provides a system for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object, the system comprising: a driving unit including a boom, an arm, a bucket, and an upper slewing body; a receiving unit for detecting a load receiver and obtaining information necessary for performing an automatic dumping motion function; an input / output interface for receiving a user input or outputting information, the display controller activating the automatic dumping motion function and displaying the information obtained by the receiving unit; and a control unit for controlling the driving unit to load an object contained in the bucket onto the load receiver based on the obtained information, thereby performing a first automatic dumping motion function.

[0021] In some examples, including at least one preferred example, the control unit may be a system for controlling an excavator, characterized in that the control unit calculates a first dumping point (Xd1, Yd1, Zr1) as a loading start position and a second dumping point (Xd2, Yd2, Zr2) as a loading completion position based on the center of the rotation axis of the bucket, establishes a path plan of the boom, the arm, the bucket and the upper slewing body from the first dumping point (Xd1, Yd1, Zr1) to the second dumping point (Xd2, Yd2, Zr2) including a speed command, calculates a target rotation angle of at least one of the boom, the arm and the bucket and a target swing angle of the upper slewing body based on the path plan, and moves at least one of the boom, the arm and the bucket, or swings the upper slewing body while moving at least one of the boom, the arm and the bucket, to perform an automatic dumping motion function based on the target rotation angle and the target swing angle.

[0022] In some examples, optionally including at least one preferred example, the control unit may be a system for controlling an excavator, characterized in that, after the first automatic dumping motion, the control unit performs a second automatic dumping motion to evenly load the object onto the load receiver.

[0023] In some examples, optionally including at least one preferred example, the receiving unit detects the volume of the object loaded on the load receiver by the first automatic dumping motion for each section, the control unit determines a compensation value for each section based on the detected volume of the object by each section, applies the compensation value to the speed command in the first automatic dumping motion, calculates a compensated speed command for each section, and establishes a path plan of the boom, the arm, the bucket, and the upper slewing body from the first dumping point to the second dumping point, including the compensated speed command.

[0024] Optionally, for any one section, if the volume of the object in the section is smaller than the average of the volumes of the objects in each section, the compensated speed command in the section is smaller than the speed command in the first automatic dumping motion, and if the volume of the object in the section is larger than the average of the volumes of the objects in each section, the compensated speed command in the section is larger than the speed command in the first automatic dumping motion.

[0025] In some examples, optionally including at least one preferred example, a system for controlling an excavator may be provided, characterized in that a compensation value for each section, C(i), is determined through [Formula 1] below, and a compensated speed command for each section, VCcom(i), is determined through [Formula 2] below.

[0026] [Formula 1]

[0027]

[0028] [Formula 2]

[0029]

[0030] Here, VL(i) is the volume of the object in section i, VLaverage is the average of the volume of the object in each section, and VC(i) is the velocity command in section i in the first automatic dumping motion.

[0031] The method and system for controlling an excavator according to the present disclosure can improve work efficiency and operator convenience by automatically performing a dumping motion of a bucket for dumping an object.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] The example is described in more detail below with reference to the attached drawings.

[0036] Figure 1 is a drawing showing a driving unit of an excavator according to one aspect of the present disclosure.

[0037] 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.

[0038] Figures 3 to 5 are flowcharts illustrating a method for controlling an excavator according to one embodiment.

[0039] FIG. 6 is a diagram showing information of a load receiver required to perform an automatic dumping motion function according to one embodiment.

[0040] FIGS. 7 and 8 are conceptual diagrams showing the movement trajectory of a bucket performing an automatic dumping motion function according to one embodiment.

[0041] FIG. 9 is a diagram illustrating steps for calculating a dumping point according to one embodiment.

[0042] FIG. 10 is a drawing for explaining a step of calculating a swing angle according to one embodiment.

[0043] FIG. 11 is a drawing showing an object loaded on a load receiver after performing a first automatic dumping motion according to one embodiment.

[0044] Figures 12 (a) to (c) are drawings for explaining a step of detecting the volume of an object loaded on a load receiver section by section in a step of performing a second automatic dumping motion according to one embodiment.

[0045] (a) to (c) of FIG. 13 are drawings for explaining a step of determining a compensation value for a speed command in a step of performing a second automatic dumping motion according to one embodiment.

[0046] Figures 14 (a) and (b) are drawings showing a speed command to which a compensation value is applied according to one embodiment.

[0047] 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.

[0048] 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.

[0049] 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."

[0050] 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.

[0051] 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.

[0052] Hereinafter, one aspect of the present disclosure will be described in detail with reference to the attached drawings.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] A system (1000) for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object according to one aspect of the present disclosure includes a driving unit (100), a receiving unit (200), a display controller (300), a control unit (400), and an operating unit (500).

[0057] 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).

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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).

[0063] 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).

[0064] The receiving unit (200) is configured to acquire various information necessary to perform the automatic dumping motion function.

[0065] 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).

[0066] 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.

[0067] 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).

[0068] The Environment Perception Sensors (230) are configured to sense the external environment and may include one or more terrain detection sensors such as a camera, radar, lidar, etc. Through these Environment Perception Sensors (230), it is possible to identify and measure information about the shape and / or position of a load receiver (e.g., dump truck, hopper, crusher), the amount and / or shape and / or position of an excavation target contained in a bucket, the amount and / or shape and / or position of an excavation target loaded on a load receiver, the amount and / or shape and / or position of an excavation target in the external environment, the shape and / or position of an obstacle located within a maximum swing radius, etc.

[0069] This receiving unit (200) can obtain information necessary to perform the automatic dumping motion function, for example, 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, amount and / or shape and / or position information of the excavation target loaded on the load receiver, 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.

[0070] The receiving unit (200) may receive information necessary to perform the automatic dumping motion 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.

[0071] The receiving unit (200) can generate the information in real time through sensing the information required to perform the automatic dumping motion 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 the 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.

[0072] The display controller (300) is an input / output interface for receiving user input or outputting information. The display controller (300) activates the automatic dumping motion function and displays information acquired by the receiver (200) (e.g., the position of the load receiver, the amount and shape of the excavation target loaded on the load receiver, etc.) on the display. That is, the driver can activate or deactivate the automatic dumping motion function by selecting the automatic dumping motion function through the display controller (300). For example, the driver can activate or deactivate the automatic dumping motion function by selecting the automatic dumping motion function on the screen of the display controller (300) that provides a touchscreen function.

[0073] 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).

[0074] This operating unit (500) may be equipped with an input unit, for example, a button, that receives user input for initiating the automatic dumping motion function. Accordingly, the driver can activate the automatic dumping motion function by selecting the automatic dumping motion function on the display controller (300) and start the automatic dumping motion function by pushing the button on the operating unit (500).

[0075] 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 the desired operation.

[0076] This control unit (400) performs an automatic dumping motion function by controlling the driving unit (100) to load the object contained in the bucket (150) onto the load receiver based on the information acquired by the receiving unit (200).

[0077] The control unit (400) calculates a first dumping point (Xd1, Yd1, Zr1) which is a loading start position and a second dumping point (Xd2, Yd2, Zr2) which is a loading completion position based on the center of the rotation axis of the bucket (150), establishes a path plan of the boom (130), the arm (140), the bucket (150) and the upper swivel body (120) from the first dumping point (Xd1, Yd1, Zr1) to the second dumping point (Xd2, Yd2, Zr2) including a speed command, and calculates a target rotation angle of at least one of the boom (130), the arm (140) and the bucket (150) and a target swing angle of the upper swivel body (120) based on the path plan, and performs an automatic dumping motion function based on the target rotation angle and the target swing angle. and swing the upper swivel body (120) while moving one or more of the buckets (150), or moving one or more of the boom (130), arm (140) and bucket (150).

[0078] The above-described series of operations will be described in detail below with reference to FIGS. 3 to 14.

[0079] 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.

[0080] FIGS. 3 to 5 are flowcharts showing a method for controlling an excavator according to one embodiment, FIG. 6 is a diagram showing information of a load receiver required to perform an automatic dumping motion function according to one embodiment, FIGS. 7 and 8 are conceptual diagrams showing a movement trajectory of a bucket performing an automatic dumping motion function according to one embodiment, FIG. 9 is a diagram for explaining a step of calculating a dumping point according to one embodiment, FIG. 10 is a diagram for explaining a step of calculating a swing angle according to one embodiment, FIG. 11 is a diagram showing an object loaded on a load receiver after a step of performing a first automatic dumping motion according to one embodiment, FIGS. 12 (a) to 12 (c) are diagrams for explaining a step of detecting a volume of an object loaded on a load receiver by section in a step of performing a second automatic dumping motion according to one embodiment, and FIGS. 13 (a) to 13 (c) are diagrams for explaining a step of determining a compensation value for a speed command in a step of performing a second automatic dumping motion according to one embodiment, and FIGS. 14 (a) and (b) is a drawing showing a speed command to which a compensation value is applied according to one embodiment.

[0081] Referring to FIG. 3, a method (S2000) for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object includes a step (S2100) of selecting and activating an automatic dumping motion function in a display controller (300), a step (S2200) of detecting a load receiver in a receiving unit (200) and obtaining information necessary for performing an automatic dumping motion, and a step (S2300) of performing a first automatic dumping motion in a control unit (400) to load an object contained in the bucket (150) onto the load receiver based on the obtained information.

[0082] In step S2100, if the automatic dumping motion function is selected in the display controller (300), the automatic dumping motion function is activated. For example, the driver can activate the automatic dumping motion function by selecting the automatic dumping motion function in the display controller (300).

[0083] In step S2200, the receiving unit (200) detects the load receiver on which the excavation object is loaded, and obtains information necessary for performing an automatic dumping motion, such as information on the terrain including the object, displacement and / or angle and / or position information of each driving unit (100), and in particular, information on the load receiver.

[0084] Referring to FIGS. 6 and 7, 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 automatic dumping motion function is deactivated.

[0085] In step S2300, the control unit (400) performs a first automatic dumping motion to load the object contained in the bucket (150) onto the load receiver (600) based on the information obtained from the receiving unit (200). At this time, the automatic dumping motion function can be started by the driver pushing the start button of the operating unit (500).

[0086] Referring to FIGS. 4, 7 to 10, step S2300 of performing the first automatic dumping motion includes detailed steps S2310, S2320, S2330 and S2340.

[0087] In step S2310, the control unit (400) calculates a first dumping point (660) (Xd1, Yd1, Zr1), which is a dumping start position, and a second dumping point (670) (Xd2, Yd2, Zr2), which is a dumping completion position, based on the center of the rotation axis of the bucket (150).

[0088] FIG. 7 illustrates a bucket (150) positioned on the top of a load receiver (600) and a load receiver (600) capable of dumping an object contained in the bucket (150). The receiving unit (200) senses a first height (Zd), which is a distance between the ground and the uppermost position of the load receiver (600), and the control unit (400) sets a target value of a second height (Zt), which is a lowest height that the bucket (150) can reach, so as to have a margin of a preset value (e.g., 50 cm) or more than the first height (Zd). Accordingly, the boom (130) can be raised by sensing the second height (Zt) in real time during the process of rotating the boom until the difference value (Zm) between the second height (Zt) and the first height (Zd) reaches a preset value (e.g., 50 cm).

[0089] In one embodiment, the control unit (400) can determine a first dumping point (660) (Xd1, Yd1, Zr1), which is a dumping start position, and a second dumping point (670) (Xd2, Yd2, Zr2), which is a dumping completion position, based on at least one of a difference value (Zm) between a first height (Zd) and a second height (Zt), a length (Wb) of a bucket (150), and a center position of a load receiver (600). For example, as illustrated in FIG. 7, the lowest height that the bucket (150) must reach is determined so that the difference value (Zm) between the second height (Zt) and the first height (Zd) reaches a preset value (e.g., 50 cm), and the length (Wb) of the bucket (150) is added to the determined lowest height so that the bucket (150) can sufficiently rotate more than the preset angle (e.g., 90 degrees) during the process of dumping the object into the load receiver, thereby determining the Zr1 point of the first dumping point (660) and the Zr2 point of the second dumping point (670). In addition, the center position (650) (Xd, Yd) of the load receiver (600) is detected in the X-axis direction and the Y-axis direction, and the Xd1 point, Yd1 point of the first dumping point (660) and the Xd2 point, Yd2 point of the second dumping point (670) are determined to be located within a preset distance margin based on the center position (650) (Xd, Yd) of the load receiver (600), thereby determining the position coordinates of the first dumping point (660) and the second dumping point (670).

[0090] In one embodiment, referring to FIG. 7, when dumping a light material such as gravel, the position coordinates (Xd1, Yd1, Zr1) of the first dumping point (660) may be determined based on at least one of the following mathematical expressions 1 and 2, and the position coordinates (Xd2, Yd2, Zr2) of the second dumping point (670) may be determined based on at least one of the following mathematical expressions 3 and 4, but are not limited thereto.

[0091] [Mathematical Formula 1]

[0092] X1 = Wb + Xm

[0093] Xd1 = Xd - [(Ld / 2) - X1]

[0094] Z1 = Wb + Zm

[0095] Zr1 = Max(Zd3, Zd4) + Z1

[0096] L1 = abs(Xd - Xd1)

[0097] [Equation 2]

[0098] Yd1 = Yd + Ym

[0099] [Equation 3]

[0100] X2 = (Ld / 2) - Xm

[0101] Xd2 = Xd + [X2 - Wb*cos(θ)]

[0102] Z2 = Wb + Zm

[0103] Zr2 = Max(Zd1, Zd2) + Z1

[0104] L2 = abs(Xd2 - Xd)

[0105] [Equation 4]

[0106] Yd2 = Yd + Ym

[0107] Here, Xm, Ym and Zm represent the preset first margin, second margin and third margin in the X-axis direction, Y-axis direction and Z-axis direction, respectively, Wb represents the length of the bucket (150), Xd and Yd represent the center positions of the load receiver (600) in the X-axis direction and Y-axis direction, Zd1 to Zd4 represent the Z-axis positions of the first corner (610) to the fourth corner (640) of the load receiver (600), L1 represents the distance between the Xd point and the Xd1 point, and L2 represents the distance between the Xd point and the Xd2 point.

[0108] In another embodiment, referring to FIG. 8, when dumping a heavy material such as a rock, among the position coordinates (Xd1, Yd1, Zr1) of the first dumping point (660), Zr1 may be determined based on the following mathematical expression 5, and among the position coordinates (Xd2, Yd2, Zr2) of the second dumping point (670), Zr2 may be determined based on the following mathematical expression 6, but is not limited thereto.

[0109] [Equation 5]

[0110] Z1 = Wb - Zm

[0111] Zr1 = Max(Zd3, Zd4) + Z1

[0112] [Equation 6]

[0113] Z2 = Wb - Zm

[0114] Zr2 = Max(Zd1, Zd2) + Z1

[0115] Here, Xm, Ym and Zm represent the preset first margin, second margin and third margin in the X-axis direction, Y-axis direction and Z-axis direction, respectively, Wb represents the length of the bucket (150), Xd and Yd represent the center positions of the load receiver (600) in the X-axis direction and Y-axis direction, Zd1 to Zd4 represent the Z-axis positions of the first corner (610) to the fourth corner (640) of the load receiver (600), L1 represents the distance between the Xd point and the Xd1 point, and L2 represents the distance between the Xd point and the Xd2 point.

[0116] According to one embodiment, whether the excavation target is a light material or a heavy material can be detected by an environmental recognition sensor (230), and when the excavation target is a heavy material, the Z-axis direction dumping point can be lowered as shown in FIG. 8 only during the first dumping, and from the second dumping, the dumping can be performed in the same manner as when the excavation target is a light material, as shown in FIG. 7.

[0117] Meanwhile, FIG. 9 shows a method for additionally calculating the first dumping point (660) (Xd1, Yd1, Zr1) and the second dumping point (670) (Xd2, Yd2, Zr2) by considering whether the dumping progress direction (X2) from the first dumping point (660) (Xd1, Yd1, Zr1) to the second dumping point (670) (Xd2, Yd2, Zr2) and the longitudinal axis (X1) of the load receiver (600) are coincident. Here, (a) of FIG. 9 shows a case where the directions of X1 and X2 are coincident, as in FIGS. 7 and 8, and (b) and (c) of FIGS. 9 show a case where the directions of X1 and X2 are not coincident.

[0118] Referring to (b) and (c) of FIG. 9, when the directions of X1 and X2 do not match (θh>0 or θh<0), the position coordinates (Xd1, Yd1) of the first dumping point (660) and the position coordinates (Xd2, Yd2) of the second dumping point (670) can be additionally determined based on mathematical expression 7, but are not limited thereto.

[0119] [Equation 7]

[0120] Xd1 = Xd + L1*sin(abs(θh))

[0121] Yd1 = Yd + (L1-L1*cos(abs(θh)))

[0122] Xd2 = Xd - L2*sin(abs(θh))

[0123] Yd2 = Yd - (L2-L2*cos(abs(θh)))

[0124] In step S2320, the control unit (400) establishes a path plan of the boom (130), the arm (140), the bucket (150), and the upper swivel body (120) from the first dumping point (Xd1, Yd1, Zr1) to the second dumping point (Xd2, Yd2, Zr2) including a velocity command. Here, the velocity command may be a speed at which the dumping motion is performed, and the control unit (400) may determine the velocity command to perform the dumping motion at a constant velocity or may determine the velocity command to perform the dumping motion at different velocities for each section depending on the amount of the object loaded on the load receiver (600).

[0125] In step S2330, the control unit (400) calculates a target rotation angle of one or more of the boom (130), the arm (140), and the bucket (150), and a target swing angle of the upper swivel body (120) based on the established path plan.

[0126] 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.

[0127] FIG. 10 illustrates a method for calculating a target swing angle (θs) of an upper swivel body (120) during a dumping motion from a first dumping point (660) to a second dumping point (670) according to one embodiment.

[0128] Referring to FIG. 10, when the position coordinates (Xd1, Yd1, Zr1) of the first dumping point (660) and the position coordinates (Xd2, Yd2, Zr2) of the second dumping point (670) are determined, the target swing angle (θs) of the upper swing body (120) can be determined based on mathematical expression 8, but is not limited thereto.

[0129] [Equation 8]

[0130] θs = atan(Xd2 / Yd2) - atan(Xd1 / Yd1)

[0131] Fig. 11 shows a path for performing the first automatic dumping motion and a profile of an object (T) loaded on a load receiver (600) after the first automatic dumping motion.

[0132] In step S2340, the control unit (400) moves at least one of the boom (130), the arm (140), and the bucket (150) to perform an automatic dumping motion function based on the target rotation angle and the target swing angle, or swings the upper swivel body (120) while moving at least one of the boom (130), the arm (140), and the bucket (150). At this time, according to an example, as illustrated in FIG. 11, boom down, arm out, bucket out, and swing operations of the upper swivel body (120) may be performed to dump the object (T) onto the load receiver (600).

[0133] Meanwhile, a method (S2000) for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object may further include a step (S2400) in which, after the first automatic dumping motion, the control unit (400) performs a second automatic dumping motion to evenly load the object (T) onto the load receiver (600).

[0134] Hereinafter, the second automatic dumping motion will be described with reference to FIGS. 5, 11 to 14, focusing on the differences from the first automatic dumping motion.

[0135] The step (S2400) of performing the second automatic dumping motion includes detailed steps S2410, S2420, S2430 and S2440.

[0136] In step S2410, the receiver (200), more specifically, the environmental recognition sensor (230), detects the volume of the object (T) loaded on the load receiver (600) by section by the first automatic dumping motion.

[0137] Fig. 12 (a) shows that, according to one embodiment, the object (T) loaded on the load receiver (600) is detected by dividing it into sections S1 to S10 in the X-axis direction, and Fig. 12 (b) and (c) are diagrams showing the volume (Volume, VL(i)) of the object (T) for each section in a table and a graph. Here, the dumping motion is performed in the direction from section S1 to S10.

[0138] In step S2420, the control unit (400) determines a compensation value (Compensatrd value, C(i)) for each section based on the volume (VL(i)) of the detected section-specific object (T).

[0139] Figures 13 (a) to (c) illustrate a process of determining a compensation value (C(i)) from the volume of the target object (T) for each section after the first automatic dumping motion, and applying the compensation value (C(i)) for each section to the velocity command (VC(i)) for each section in the first automatic dumping motion to determine a compensated velocity command (VCcom(i)) for each section in the second automatic dumping motion.

[0140] This compensation value (C(i)) is intended to compensate for the speed command (VC(i)) in the first automatic dumping motion to evenly load the object (T) in the load receiver (600), and may be determined by mathematical expression 9, for example, but is not limited thereto.

[0141] [Equation 9]

[0142]

[0143] In step S2430, the control unit (400) applies a compensation value (C(i)) to the speed command (VC(i)) in the first automatic dumping motion to calculate a compensated speed command (VCcom(i)) for each section. In one example, the compensated speed command (VCcom(i)) may be determined by mathematical expression 10, but is not limited thereto.

[0144] [Equation 10]

[0145]

[0146] In step S2440, the control unit (400) establishes a path plan of the boom (130), the arm (140), the bucket (150) and the upper swivel body (120) from the first dumping point (660) to the second dumping point (670) including the compensated speed command (VCcom(i)).

[0147] That is, when the object (T) loaded on the load receiver (600) is divided into a plurality of sections, for one section, if the volume of the object in the section is smaller than the average of the volumes of the objects in each section, the compensated speed command in the section can be configured to be smaller than the speed command in the first automatic dumping motion, and if the volume of the object in the section is larger than the average of the volumes of the objects in each section, the compensated speed command in the section can be configured to be larger than the speed command in the first automatic dumping motion.

[0148] Through this process, unlike the first automatic dumping motion that performs the dumping motion with the same speed command for each section within the load receiver, the second automatic dumping motion performs the dumping motion with a compensated speed command, so that the dumping motion is performed relatively slowly in sections where the volume of the object is small, and the dumping motion is performed relatively quickly in sections where the volume of the object is large, so that the object can be evenly loaded throughout the load receiver.

[0149] Fig. 14 (a) is a drawing showing the volume of the object in the load receiver for each section after the first automatic dumping motion, and Fig. 14 (b) is a drawing comparing the speed command in the first automatic dumping motion and the compensated speed command in the second automatic dumping motion.

[0150] As illustrated in FIG. 14, unlike the first automatic dumping motion where dumping was performed with a constant speed command, the second automatic dumping motion performed dumping with a compensated speed command. It can be confirmed that in the second automatic dumping, in a section where the volume of the object is small, the compensated speed command is smaller than the speed command in the first dumping, and in a section where the volume of the object is large, the compensated speed command is larger than the speed command in the first dumping.

[0151] Meanwhile, a method (S2000) for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object may further include a step (S2500) of determining in the control unit (400) whether the center of rotation axis of the bucket (150) has reached the second dumping point (670).

[0152] In step S2500, if the control unit (400) determines that the rotation axis center of the bucket (150) has reached the second dumping point (670), it displays on the display controller (300) that the automatic dumping motion function has been completed. In addition, if the control unit (400) determines that the rotation axis center of the bucket (150) has not reached the second dumping point (670) within a preset time, it considers it an error and displays this on the display controller (300), but performs the automatic dumping motion function until the rotation axis center of the bucket (150) reaches the second dumping point (670).

[0153] Meanwhile, when the driver no longer needs to use the automatic dumping motion function, he / she disables the automatic dumping motion function through the display controller (300) to terminate the automatic dumping motion function.

[0154] In this way, the method and system for controlling the excavator of the present disclosure can improve work efficiency and operator convenience by automatically performing the dumping motion of the bucket for dumping the target object.

[0155] 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.

[0156]

[0157] Description of the symbol

[0158] System to control 1000 excavators

[0159] 100 drive unit

[0160] 110 lower drive body

[0161] 120 upper swivel

[0162] 130 Boom

[0163] 140 Aam

[0164] 150 buckets

[0165] 200 receiver

[0166] 210 Inertial Measurement Unit

[0167] 220 swing angle sensor

[0168] 230 environmental awareness sensors

[0169] 400 Control Unit

[0170] 500 control panel

[0171] 600 rod receiver

[0172] 610 First Corner

[0173] 620 2nd corner

[0174] 630 Third Corner

[0175] 640 4th corner

[0176] The center of the 650 rod receiver

[0177] 660 First dumping point

[0178] 670 Second Dumping Point

[0179] Volume of each section in the VL load receiver

[0180] VLaverage Average volume of each section within the load receiver

[0181] C compensation value

[0182] Speed ​​command in VC 1st automatic dumping motion

[0183] Compensated speed command in VCcom 2nd automatic dumping motion

Claims

1. A method for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object, Step 1: Select and activate the automatic dumping motion function in the display controller; A step of detecting a load receiver in a receiving unit and obtaining information necessary to perform an automatic dumping motion; and A method for controlling an excavator, comprising the step of performing a first automatic dumping motion in a control unit to load an object contained in the bucket onto the load receiver based on the acquired information.

2. In paragraph 1, The step of performing the above first automatic dumping motion is: A step of calculating a first dumping point (Xd1, Yd1, Zr1), which is a loading start position, and a second dumping point (Xd2, Yd2, Zr2), which is a loading completion position, based on the center of the rotation axis of the bucket; A step of establishing a path plan of the boom, arm, bucket and upper slewing body from the first dumping point (Xd1, Yd1, Zr1) to the second dumping point (Xd2, Yd2, Zr2) including speed commands; Based on the above path plan, 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; and A method for controlling an excavator, characterized in that it comprises the step of moving at least one of the boom, the arm and the bucket to perform an automatic dumping motion function based on the target rotation angle and the target swing angle, or swinging the upper slewing body while moving at least one of the boom, the arm and the bucket.

3. In paragraph 2, A method for controlling an excavator, characterized in that it further includes a step of performing a second automatic dumping motion by a control unit to evenly load an object onto the load receiver after the first automatic dumping motion.

4. In paragraph 3, The step of performing the above second automatic dumping motion is: A step of detecting the volume of an object loaded onto the load receiver section by section by the first automatic dumping motion in the receiving unit; A step of determining a compensation value for each section based on the volume of the above-detected object for each section; A step of calculating a compensated speed command for each section by applying the compensation value to the speed command in the first automatic dumping motion; and A method for controlling an excavator, characterized by comprising the step of establishing a path plan of a boom, an arm, a bucket and an upper slewing body from the first dumping point to the second dumping point, including the compensated speed command.

5. In paragraph 4, A method for controlling an excavator, characterized in that, for any one section, if the volume of the object in the section is smaller than the average of the volumes of the objects in each section, the compensated speed command in the section is smaller than the speed command in the first automatic dumping motion, and if the volume of the object in the section is larger than the average of the volumes of the objects in each section, the compensated speed command in the section is larger than the speed command in the first automatic dumping motion.

6. In paragraph 5, A method for controlling an excavator, characterized in that a compensation value for each section, C(i), is determined through [Formula 1] below, and a compensated speed command for each section, VCcom(i), is determined through [Formula 2] below. [Formula 1] [Formula 2] Here, VL(i) is the volume of the object in section i, VLaverage is the average of the volume of the object in each section, and VC(i) is the velocity command in section i in the first automatic dumping motion.

7. In paragraph 2, A method for controlling an excavator, characterized in that the control unit further comprises a step of determining whether the center of rotation axis of the bucket has reached the second dumping point.

8. In paragraph 7, In the step of determining whether the center of rotation axis of the above bucket has reached the second dumping point, If it is determined that the second dumping point has been reached within the preset time, the automatic dumping motion 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 second dumping point is not reached within a preset time, it is regarded as an error and this is displayed on the display controller, but an automatic dumping motion function is performed until the second dumping point is reached.

9. A system for controlling an excavator to automatically perform a dumping motion of a bucket for loading an object, Drive unit including boom, arm, bucket and upper swivel body; A receiving unit for detecting a load receiver and obtaining information necessary to perform an automatic dumping motion function; An input / output interface for receiving user input or outputting information, wherein the display controller activates an automatic dumping motion 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 load an object contained in the bucket onto the load receiver based on the acquired information, thereby performing a first automatic dumping motion function.

10. In paragraph 9, The above control unit, Based on the center of rotation axis of the above bucket, the first dumping point (Xd1, Yd1, Zr1), which is the loading start position, and the second dumping point (Xd2, Yd2, Zr2), which is the loading completion position, are calculated. Establish a path plan of the boom, arm, bucket and upper swivel body from the first dumping point (Xd1, Yd1, Zr1) to the second dumping point (Xd2, Yd2, Zr2) including speed commands, Based on the above path plan, a target rotation angle of one or more of the boom, arm and bucket, and a target swing angle of the upper swivel body are calculated, and A system for controlling an excavator, characterized in that it moves at least one of the boom, the arm and the bucket to perform an automatic dumping motion function based on the target rotation angle and the target swing angle, or swings the upper slewing body while moving at least one of the boom, the arm and the bucket.

11. In paragraph 10, The above control unit, A system for controlling an excavator, characterized in that after the first automatic dumping motion, a second automatic dumping motion is performed to evenly load an object onto the load receiver.

12. In paragraph 11, The above receiver, The volume of the object loaded on the load receiver is detected section by section by the first automatic dumping motion, The above control unit, Based on the section-wise volume of the detected object, a compensation value for each section is determined, By applying the compensation value to the speed command in the first automatic dumping motion, the compensated speed command is calculated for each section, and A system for controlling an excavator, characterized in that it establishes a path plan of a boom, an arm, a bucket and an upper slewing body from the first dumping point to the second dumping point including the above compensated speed command.

13. In paragraph 12, A system for controlling an excavator, characterized in that, for any one section, if the volume of the object in the section is smaller than the average of the volumes of the objects in each section, the compensated speed command in the section is smaller than the speed command in the first automatic dumping motion, and if the volume of the object in the section is larger than the average of the volumes of the objects in each section, the compensated speed command in the section is larger than the speed command in the first automatic dumping motion.

14. In paragraph 13, A system for controlling an excavator, characterized in that a compensation value for each section, C(i), is determined through [Formula 1] below, and a compensated speed command for each section, VCcom(i), is determined through [Formula 2] below. [Formula 1] [Formula 2] Here, VL(i) is the volume of the object in section i, VLaverage is the average of the volume of the object in each section, and VC(i) is the velocity command in section i in the first automatic dumping motion.

Images