Radar sensor system for construction equipment, construction equipment comprising same, and method for controlling construction equipment

Abstract

According to various embodiments of the present invention, construction equipment may comprise: first to third radar sensor units for outputting a first coordinate system-based sensing signal with respect to a zero point pre-set in each thereof; an integrated control unit for outputting a control signal that controls the swinging or traveling of the construction equipment on the basis of the first coordinate system-based sensing signal; and a construction equipment controller for detecting and controlling the travel speed and swing position of the construction equipment.

Description

Radar sensor system for construction equipment, construction equipment including the same, and method for controlling construction equipment

[0001] Various embodiments of the present disclosure relate to a radar sensor system for construction equipment, construction equipment including the same, and a method for controlling construction equipment, and more particularly, to a radar sensor system for construction equipment without a detection blind spot of the construction equipment, construction equipment including the same, and a method for controlling the construction equipment.

[0002]

[0003] Civil engineering work typically involves a variety of construction equipment, including excavators, dozers, payloaders, and dump trucks. Among these diverse types of construction equipment, excavators are crucial for performing essential functions such as excavation, leveling, and loading.

[0004] Specifically, excavators perform a variety of tasks, including digging the ground at civil engineering, construction, or building sites, loading work to transport soil to dump trucks, crushing work to dismantle buildings and rocks, clearing work to prepare the ground, and lifting heavy objects or using tongs to pick up objects.

[0005] The structure of these excavators is divided into a lower drive body that acts as a moving device, an upper slewing body mounted on top of the lower drive body that rotates 360 degrees, and a front working device attached to the front of the upper slewing body. The upper drive body is equipped with a driver's seat (cabin) where the excavator driver sits.

[0006] Recently, various safety solutions for construction equipment, such as wheel loaders and excavators, have been released for the purpose of preventing collisions between construction equipment.

[0007] Many construction equipment manufacturers are developing or mass-producing collision avoidance features, primarily utilizing cameras, radar, and infrared depth sensors for object detection.

[0008] Cameras are affected by weather, and infrared depth sensors only detect safety vests with reflectors. In contrast, radar sensors are unaffected by weather and have a long detection range.

[0009] Radar sensors have a wide left-right detection range and a narrow vertical detection range, so construction equipment manufacturers use radar sensors to detect people and other objects by installing them at a lower height than a person (typically around 1.6 m high). However, sensors installed at low locations on construction equipment have a high risk of damage, and it has been difficult to select a low-mounting location for large construction equipment weighing 70 tons or more.

[0010]

[0011] The present disclosure solves the above-described problem and provides a radar sensor system for construction equipment capable of detecting all areas of the construction equipment in all directions, including up, down, left, and right, a construction equipment including the same, and a method for controlling the construction equipment.

[0012] In addition, the present disclosure provides a radar sensor system for construction equipment capable of distinguishing a dangerous area around the construction equipment and notifying the operator thereof, a construction equipment including the same, and a method for controlling the construction equipment.

[0013] The technical problems to be achieved in the present disclosure are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by a person having ordinary skill in the technical field to which the present disclosure belongs from the description below.

[0014]

[0015] According to one embodiment, the construction equipment may include first to third radar sensor units each outputting a first coordinate system-based sensing signal based on a preset zero point, an integrated controller outputting a control signal for controlling turning or driving of the construction equipment based on the first coordinate system-based sensing signal, and a construction equipment controller detecting and controlling a driving speed and turning position of the construction equipment. The above integrated controller may include a coordinate conversion unit that receives the first coordinate system-based sensing signal and converts it into a second coordinate system-based sensing signal based on a zero point set in the construction equipment, a tracking data filter that receives the second coordinate system-based sensing signal and removes noise from a plurality of points indicated by the second coordinate system-based sensing signal to obtain a plurality of tracking points, a stop area variable unit that varies a stop area based on a driving and turning speed of the construction equipment, a stop determination unit that determines whether a stop of the construction equipment is necessary based on the plurality of tracking points and the stop area and outputs a stop signal indicating a stop of the construction equipment, and a speed control unit that outputs a control signal for controlling the driving and turning speed of the construction equipment to the construction equipment controller when the stop signal is received.

[0016] The first to third radar sensor units may be attached to the upper portions of the left side, right side, and rear of the construction equipment, respectively.

[0017] Each of the first to third radar sensor units may include a first long-range radar antenna, a second long-range radar antenna, and a short-range radar antenna.

[0018] The first long-range radar antenna and the second long-range radar antenna may be installed on both sides of the short-range radar antenna at an angle of 20 degrees with respect to the short-range radar antenna.

[0019] The above-mentioned stop zone variable part can expand the stop zone as the driving and turning speed of the construction equipment increases.

[0020] The above tracking data filter can remove the noise by classifying the plurality of points into a first plurality of tracking points related to the driving of the construction equipment and a second plurality of points related to the rotation of the construction equipment.

[0021] The construction equipment controller can detect and output the location of the construction equipment, and the tracking data filter can remove noise from the plurality of points based on the location and turning location of the construction equipment.

[0022] The above construction equipment may further include a display unit that displays the driving speed and turning position of the construction equipment.

[0023] According to one embodiment, a radar sensor system for construction equipment may include first to third radar sensor units each outputting a first coordinate system-based sensing signal based on a zero point preset therefor, and an integrated controller outputting a control signal for controlling turning or driving of the construction equipment based on the first coordinate system-based sensing signal. The integrated controller may include a coordinate conversion unit that receives the first coordinate system-based sensing signal and converts it into a second coordinate system-based sensing signal based on a zero point set in the construction equipment, a tracking data filter that receives the second coordinate system-based sensing signal and removes noise from a plurality of points indicated by the second coordinate system-based sensing signal to obtain a plurality of tracking points, a stop area variable unit that varies a stop area based on a driving and turning speed of the construction equipment, and a stop determination unit that determines whether stopping of the construction equipment is necessary based on the plurality of tracking points and the stop area and outputs a stop signal indicating stopping of the construction equipment.

[0024] According to one embodiment, a method for controlling construction equipment may include a step in which first to third radar sensor units output a first coordinate system-based sensing signal based on a zero point preset for each of the first to third radar sensor units, a step in which an integrated controller converts the first coordinate system-based sensing signal into a second coordinate system-based sensing signal based on a zero point set for the construction equipment, a step in which the integrated controller removes noise from a plurality of points indicated by the second coordinate system-based sensing signal to obtain a plurality of tracking points, a step in which the integrated controller varies a stop area based on a driving and turning speed of the construction equipment, a step in which the integrated controller determines whether a stop of the construction equipment is required based on the plurality of tracking points and the stop area, a step in which the integrated controller outputs a stop signal indicating a stop of the construction equipment if a stop of the construction equipment is required, and a step in which the integrated controller outputs a control signal for controlling a driving and turning speed of the construction equipment to a construction equipment controller according to the stop signal.

[0025] The step of outputting the plurality of tracking points may include a step of removing the noise by classifying the plurality of points into a first plurality of tracking points related to the driving of the construction equipment and a second plurality of points related to the rotation of the construction equipment by the integrated controller.

[0026] The step of outputting the plurality of tracking points may include a step of the integrated controller removing the noise from the plurality of points based on the position and turning position of the construction equipment.

[0027] The method may further include a step of displaying the driving speed and turning position of the construction equipment.

[0028]

[0029] According to various embodiments of the present disclosure, all areas of the construction equipment, up, down, left, and right, can be detected.

[0030] According to various embodiments of the present disclosure, a danger zone can be distinguished according to a detection distance of construction equipment, for example, an excavator, and notified to an operator, and the danger zone can be variably adjusted according to the turning and driving speed of the excavator to take into account a long braking distance when the excavator stops at a high speed.

[0031] According to various embodiments of the present disclosure, a hazardous area around construction equipment can be identified and notified to the driver.

[0032] The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects that are not mentioned can be clearly understood by a person having ordinary skill in the art to which the present disclosure belongs from the description below.

[0033]

[0034] FIG. 1 is a diagram illustrating an autonomous operation system according to various embodiments of the present disclosure.

[0035] FIG. 2 is a drawing for explaining an excavator according to various embodiments of the present disclosure.

[0036] FIG. 3 is a functional block diagram of an excavator according to various embodiments of the present disclosure.

[0037] FIG. 4 illustrates a configuration diagram of a radar sensor system for construction equipment according to various embodiments of the present disclosure.

[0038] Figure 5 is a block diagram of a radar sensor unit according to one embodiment of the present invention.

[0039] FIG. 6 is a drawing illustrating the FoV (Field of View) of the first to third radar sensor units according to one embodiment of the present invention.

[0040] FIG. 7 is a side view of a detection area when a radar sensor unit according to one embodiment of the present invention is mounted on the upper rear surface of a construction device.

[0041] FIG. 8 is a drawing for explaining a stationary area according to one embodiment of the present invention.

[0042] FIG. 9 is a flowchart illustrating a method for detecting construction equipment according to various embodiments of the present disclosure.

[0043]

[0044] The advantages and features of the present disclosure, as well as the devices and methods for achieving them, will become clearer with reference to the embodiments described below in detail together with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure is complete and to fully inform those skilled in the art of the scope of the disclosure, and the present disclosure is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

[0045] When one component is referred to as being "connected to" or "coupled to" another component, it includes both cases where it is directly connected or coupled to the other component, or cases where there is another component intervening therebetween. Conversely, when one component is referred to as being "directly connected to" or "directly coupled to" another component, it indicates that there is no other component intervening therebetween. "And / or" includes each and any combination of one or more of the mentioned items.

[0046] The terminology used herein is for the purpose of describing embodiments only and is not intended to be limiting of the present disclosure. As used herein, the singular also includes the plural unless the context clearly dictates otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components, steps, operations, and / or elements.

[0047] Although terms like "first," "second," etc. are used to describe various components, these components are not limited by these terms. These terms are used only to distinguish one component from another.

[0048] Accordingly, it should be understood that the first component mentioned below may also be a second component within the technical spirit of the present disclosure. Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with meanings commonly understood by those of ordinary skill in the art to which the present disclosure pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0049] The term 'part' or 'module' used in this embodiment means a software or hardware component such as an FPGA or ASIC, and the 'part' or 'module' performs certain roles. However, the 'part' or 'module' is not limited to software or hardware. The 'part' or 'module' may be configured to be on an addressable storage medium and may be configured to play one or more processors. Thus, as an example, the 'part' or 'module' may include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within the components and 'sub-components' or 'modules' may be combined into a smaller number of components and 'sub-components' or 'modules' or further separated into additional components and 'sub-components' or 'modules'.

[0050] The steps of a method or algorithm described in connection with some embodiments of the present disclosure may be implemented directly in hardware, a software module, or a combination of the two executed by a processor. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, such that the processor can read information from the storage medium, and write information to the storage medium. Alternatively, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application-specific integrated circuit (ASIC). The ASIC may reside in a user terminal.

[0051] FIG. 1 is a diagram illustrating an autonomous operation system (100) according to various embodiments of the present disclosure.

[0052] Referring to FIG. 1, an autonomous operation system (100) according to various embodiments may include a control center (110) and at least one piece of construction equipment (or autonomous operation construction equipment) (120 to 150).

[0053] According to various embodiments, construction equipment (120 to 150) refers to machines that perform work at civil engineering or construction sites, and may include a mixer truck (120), a dump truck (130), a dozer (140), and an excavator (150), as illustrated in FIG. 1. However, this is merely exemplary, and construction equipment may include various machines such as a crane, a wheel loader, a scraper, and the like.

[0054] In one embodiment, the construction equipment (120 to 150) can perform work by an operator according to work instructions received from the control center (110). In another embodiment, the construction equipment (120 to 150) can perform work autonomously without an operator. The work instructions may include information related to a work area in which the construction equipment is to perform work, work to be performed in the work area, etc. For example, the construction equipment (120 to 150) can move to a work area and perform work without or based on a user's operation according to the work instructions.

[0055] Construction equipment (120 to 150) may be equipped with various sensors, and based on information acquired through the sensors, the status of the construction equipment and / or the surrounding environment of the construction equipment may be detected, and the detection results may be considered in performing work.

[0056] In addition, the construction equipment (120 to 150) may be equipped with a dashboard that displays information about the construction equipment (120 to 150) or can set control settings for the construction equipment (120 to 150). According to one embodiment, the dashboard is equipped with a touch sensor that can receive a user's touch input, so that information can be obtained about which image image on the dashboard the user has touched to execute. The construction equipment (120 to 150) can collect the user's dashboard touch information and transmit it to the control center (110).

[0057] According to various embodiments, the control center (110) may be a system that manages at least one piece of construction equipment (120 to 150) deployed at a work site. In one embodiment, the control center (110) may direct work to at least one piece of construction equipment (120 to 150). For example, the control center (110) may generate a work order defining a work area and work to be performed in the work area, and transmit the work order to at least one piece of construction equipment (120 to 150).

[0058]

[0059] FIG. 2 is a drawing for explaining an excavator (200) according to various embodiments of the present disclosure. In the following description, the excavator among the construction equipment illustrated in FIG. 1 is used as an example, but the construction equipment is not limited to the excavator.

[0060] Referring to FIG. 2, the excavator (200) may be composed of a lower body (210) that functions as a mover, an upper body (220) that is mounted on the lower body (210) and rotates 360 degrees, and a front working device (230) coupled to the front of the upper body (220). However, this is merely exemplary, and the embodiments of the present disclosure are not limited thereto. For example, in addition to the components of the excavator (200) described above, one or more other components (e.g., a plate coupled to the rear of the lower body (210) may be added.

[0061] According to various embodiments, the upper body (220) may be provided with an interior space (not shown) in which a driver's cabin (222) is built and in which a power generation device (e.g., an engine) can be mounted. The driver's cabin (222) may be provided in a location close to the work area. The work area is a space in which the excavator (200) works and is located in front of the excavator (200). For example, considering that the driver on board performs work under a secured field of vision and the location where the front work device (230) is mounted, the driver's cabin (222) may be located in a location that is biased to one side from the upper body (220) while being close to the work area, as shown in FIG. 2.

[0062] According to various embodiments, the front work device (230) may be a device mounted on the upper surface of the upper body (220) and used for performing tasks such as excavating land or transporting heavy objects. According to one embodiment, the front work device (230) may include a boom (231) rotatably coupled to the upper body (220), a boom cylinder (232) for rotating the boom (231), an arm (233) rotatably coupled to the tip of the boom (231), an arm cylinder (234) for rotating the arm (233), a bucket (235) rotatably coupled to the tip of the arm (233), and a bucket cylinder (236) for rotating the bucket (235). When the excavator (200) is operating, one end of the boom (231), one end of the arm (233), and one end of the bucket (235) may each individually rotate to maximize the area that the bucket (235) can reach. The front working device (230) described above is known in many documents, so a detailed description thereof is omitted.

[0063] According to various embodiments, the lower body (210) may be coupled to the lower surface of the upper body (220). The lower body (210) may include a driving body formed as a wheel type using wheels or a crawler type using an infinite track. The driving body may implement forward, backward, left, and right movements of the excavator (200) using power generated by a power generation device as a driving force. According to one embodiment, the lower body (210) and the upper body (220) may be rotatably coupled by a center joint.

[0064] According to various embodiments, the excavator (200) may include a number of sensors for collecting information related to the operation of the excavator and / or information related to the surrounding environment.

[0065] According to one embodiment, the plurality of sensors may include a first sensor for detecting the motion of the excavator (200). For example, the motion of the excavator (200) may include a rotational motion of the upper body (220) (or the lower body (210)). The first sensor may be disposed at the center joint to detect the rotational motion of the upper body (220). Additionally, the motion of the excavator (200) may include a rotational motion of the front working device (230). The first sensor may be disposed at each of the boom (231), the arm (233), and the bucket (235), or at joints (e.g., hinge joints) of the boom (231), the arm (233), and the bucket (235) to detect the rotational motion of at least each of the boom (231), the arm (233), and the bucket (235). The location of the first sensor described above is not limited to one embodiment of the present disclosure, and the first sensor may be placed in various locations capable of detecting the status of the excavator (200).

[0066] According to one embodiment, the plurality of sensors may include a second sensor for detecting a work area in which the excavator (200) performs work. As described above, the work area is a space in which the excavator (200) performs work and may be located at the front of the excavator (200). The second sensor may be positioned on a portion of the upper body (220) close to the work area, for example, on a side of the upper surface of the cab (222) close to the front work device (230), to detect the work area. However, this is merely an example, and the location of the second sensor is not limited thereto. For example, the second sensor may be additionally or selectively positioned on the front work device (230), for example, the arm (233) or the bucket (235), to detect the work area.

[0067] According to one embodiment, the plurality of sensors may include a third sensor for detecting obstacles around the excavator (200). The third sensor may be positioned at the front, side, and rear of the upper body (220) to detect obstacles around the excavator (200). The location of the third sensor described above is not limited to one embodiment of the present disclosure, and the third sensor may be positioned at various locations capable of detecting obstacles around the excavator (200).

[0068] According to various embodiments, the various sensors described above may include an angle sensor, an inertial sensor, a rotation sensor, an electromagnetic wave sensor, a camera sensor, a radar, a lidar, or an ultrasonic sensor. For example, the first sensor may be composed of at least one of an angle sensor, an inertial sensor, or a rotation sensor, and the second sensor and the third sensor may be composed of at least one of an electromagnetic wave sensor, a camera sensor, a radar, a lidar, or an ultrasonic sensor. For example, a camera sensor disposed on the upper surface of the cab (222) and on the arm (233) of the excavator (200) may be used as the second sensor. In addition, a lidar disposed on the front of the excavator (200), an ultrasonic sensor disposed on the side and rear of the excavator (200), or a camera sensor disposed on the front, side, and rear of the excavator (200) may be used as the third sensor. Additionally or optionally, when the image sensor is used as the second sensor and the third sensor, it may be configured as a stereo vision system capable of acquiring images that can provide distance information of an object.

[0069] Additionally, each of the first, second, and third sensors may perform the same or similar operations as the other sensors. For example, the third sensor, which detects obstacles around the excavator (200), may be used to perform the operations of the second sensor, which detects the work area in which the excavator (200) is performing work.

[0070] According to various embodiments, the excavator (200) is capable of performing unmanned automation, that is, autonomous operations, and includes at least one positioning device or can obtain positioning information from an external device.

[0071] According to one embodiment, the positioning device may use a Global Navigation Satellite System (GNNS) module capable of receiving satellite signals, and an RTK (Real Time Kinematic) GNSS module may also be used for precise measurements. For example, at least one positioning device may be placed on the upper body (220) of the excavator (200).

[0072] FIG. 3 is a functional block diagram of an excavator (300) according to various embodiments of the present disclosure. The excavator (300) described in the following drawings may be the excavator (200) illustrated in FIG. 2.

[0073] Referring to FIG. 3, the excavator (300) may include a processor (310), a communication device (320), a storage device (330), an operating device (340), an output device (350), and a sensor device (360). However, this is merely exemplary, and the embodiments of the present disclosure are not limited thereto. For example, at least one of the components of the excavator (300) described above may be omitted, or one or more other components may be added to the configuration of the excavator (300).

[0074] According to various embodiments, the communication device (320) may transmit and receive data with an external device using wireless communication technology. The external devices may include a control center (120), other display devices (e.g., smartphones, laptops, tablets, etc.), and / or other construction machines. In this case, the communication technologies used by the communication device (320) include Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Long Term Evolution (LTE), 5G, Wireless LAN (WLAN), Wireless Fidelity (Wi-Fi), Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), ZigBee, Near Field Communication (NFC), etc. In addition, the communication device (320) may include at least one positioning device, as described above with reference to FIG. 2.

[0075] According to various embodiments, the storage device (330) can store various data used by at least one component of the excavator (300) (e.g., the processor (310), the communication device (320), the operating device (340), the output device (350), or the sensor device (360)). According to one embodiment, the storage device (330) can store specifications of the excavator (300) (e.g., model name, unique number, basic specifications), map data, etc. According to one embodiment, the storage device (330) may store design drawings that the excavator (300) is to operate. The design drawings may be directly stored in the storage device (330) by a user, or the excavator (300) may be connected to the control center (110) via the communication device (320) to obtain the design drawings and store them in the storage device (330). The storage device (330) may include at least one of a non-volatile memory device and a volatile memory device.

[0076] According to various embodiments, the operating device (340) may receive commands or data to be used for controlling the operation of the excavator (300). The operating device (340) may include an operating lever for operating at least a portion of the front working device (230) (e.g., boom (231), arm (233), and bucket (235)), a handle for operating the steering of the lower body (210), a gear lever for operating the moving speed or forward and backward travel of the excavator (300), and the like. According to one embodiment, the operating device (340) may be provided in the operator's cab (222) described above with reference to FIG. 2.

[0077] According to various embodiments, the output device (350) may generate output related to the operation of the excavator (300). According to one embodiment, the output device (350) may include a display that outputs visual information, an audio data output device that outputs auditory information, a haptic module that outputs tactile information, etc. For example, the display may include a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, a micro electro mechanical system (MEMS) display, or electronic paper. In addition, the audio data output device may include at least one of a speaker, earphone, earset, or headset included in the excavator (300) or connected to the excavator (300) via wired / wireless.

[0078] According to various embodiments, the sensor device (360) may include a first sensor for detecting the status of the excavator (300), a second sensor for detecting the work area in which the excavator (300) is performing work, and / or a third sensor for detecting obstacles around the excavator (300), as described above in FIG. 2. In addition, sensors necessary for the operation of the excavator (300) may be added.

[0079] According to various embodiments, the processor (310) may be configured to control the overall operation of the excavator (300). According to one embodiment, the processor (310) may execute software (e.g., a program) stored in the storage device (330) to control at least one of the components connected to the processor (310) (e.g., a communication device (320), a storage device (330), an operating device (340), an output device (350), or a sensor device (360)) and perform various data processing or calculations. For example, as at least a part of the data processing or calculation, the processor (310) may store commands or data received from other components in the storage device (330), process the commands or data stored in the storage device (330), and store result data in the storage device (330). The processor (310) may be configured as a main processor and a secondary processor that can operate independently or together with the main processor. According to one embodiment, the processor (310) may perform CAN (Controller Area Network) communication with the aforementioned components (e.g., communication device (320), storage device (330), operating device (340), output device (350), or sensor device (360)), but the present disclosure is not limited thereto.

[0080] FIG. 4 illustrates a configuration diagram of a radar sensor system for construction equipment according to various embodiments of the present disclosure.

[0081] Referring to FIG. 4, the radar sensor system (400) for construction equipment may be implemented within the construction equipment (300). Alternatively, the radar sensor system (400) for construction equipment may be implemented as a separate device.

[0082] A radar sensor system (400) for construction equipment may include first to third radar sensor units (410 to 430) that output sensing signals, an integrated controller (440) that outputs a control signal for controlling turning or driving of construction equipment based on the sensing signals, and a construction equipment controller (460) that detects and controls the driving speed and turning position of the construction equipment.

[0083] The radar sensor system (400) for construction equipment may further include a display unit (450) for displaying a stationary area related to the construction equipment, the location of the construction equipment, a driving speed, a turning speed, etc. The display unit (450) may be the instrument panel described in relation to FIG. 1. According to one embodiment, the instrument panel is equipped with a touch sensor capable of receiving a user's touch input, thereby obtaining information on which image on the instrument panel the user has touched to execute.

[0084] The first to third radar sensor units (410 to 430) may be attached to the upper portions of the left, right, and rear sides of the construction equipment, respectively. By mounting the first to third radar sensor units (410 to 430) on the upper portions of the left, right, and rear sides of the construction equipment, for example, an excavator, the non-detectable areas on the left, right, and rear sides of the construction equipment can be minimized. Accordingly, the radar sensor system (400) for construction equipment can secure a detection area of ​​10 m or more.

[0085] Each of the first to third radar sensor units (410 to 430) includes three antennas. The configuration of each of the first to third radar sensor units (410 to 430) is illustrated in FIG. 5.

[0086] Figure 5 is a block diagram of a radar sensor unit according to one embodiment of the present invention.

[0087] Referring to Fig. 5, the radar sensor unit includes first and second long-distance antennas (402, 404), a short-distance antenna (416), and a coordinate integrator (408). The radar sensor unit combines two long-distance detection antennas to expand the left and right detection range, and at the same time adds one more short-distance detection antenna, so that even when mounted on top of large construction equipment (excavators, wheel loaders, etc.), no blind spots in the short-distance detection occur.

[0088] The first and second long-distance antennas (402, 404) are installed on both sides of the short-distance antenna (416) at an angle of 20 degrees (20˚) with the short-distance antenna (416). The short-distance antenna (406) outputs a sensing signal having coordinates of (X1, Y1) to the coordinate integrator (408). The first long-distance antenna (402) outputs a sensing signal having coordinates of (X2, Y2) to the coordinate integrator (408). The second long-distance antenna (404) outputs a sensing signal having coordinates of (X3, Y3) to the coordinate integrator (408).

[0089] The coordinate integrator (408) integrates the coordinates of the sensing signals received from the first and second long-distance antennas (402, 404) and the short-distance antenna (416) into coordinates based on a coordinate system based on the corresponding radar sensor unit. The coordinate integrator (408) provides the integrated coordinates to the integrated controller (440). The coordinate integrator (408) is illustrated as being implemented in the radar sensor unit, but may be implemented in the integrated controller (440) of FIG. 4. In addition, although not illustrated, the radar sensor unit may include a power supply unit that supplies power to the first and second long-distance antennas (402, 404) and the short-distance antenna (406).

[0090] The radar sensor unit configured in this way can detect all areas in all directions, up, down, left, and right, so it can achieve the same effect as installing three conventional radars.

[0091] FIG. 6 is a drawing illustrating the FoV (Field of View) of the first to third radar sensor units according to one embodiment of the present invention.

[0092] Referring to FIG. 6, the first radar sensor unit (410) is mounted on the upper side of the left side of the construction equipment, the second radar sensor unit (420) is mounted on the upper side of the right side of the construction equipment, and the third radar sensor unit (430) is mounted on the upper side of the rear side of the construction equipment. Each of the first to third radar sensor units (410 to 430) includes three antennas as illustrated in FIG. 5, and can secure a left-right detection range of 180 degrees. In addition, each of the first to third radar sensor units (410 to 430) can maintain close-range detection performance even when mounted at a height of up to 3.5 m. The first to third radar sensor units (410 to 430) can be mounted on the upper side of construction equipment, such as a large excavator or a wheel loader, thereby minimizing the risk of damage to the sensors.

[0093] FIG. 7 is a side view of a detection area when a radar sensor unit according to one embodiment of the present invention is mounted on the upper rear surface of a construction device.

[0094] Referring to Fig. 7(a), the long-distance antennas (402, 404) of the radar sensor unit are responsible for detection in an area of ​​approximately 3 m to 13 m, and the short-distance antenna (406) is responsible for a detection area of ​​1 to 3 m. At this time, the left and right detection areas are 180 degrees.

[0095] Referring to Fig. 7(b), when the installation height of the radar sensor unit is 2.2 m or higher, the radar sensor unit may be installed so that the installation tilt angle of the radar sensor unit is 5 degrees (5˚). When the installation height of the radar sensor unit is less than 2.2 m, the radar sensor unit may be installed so that the installation tilt angle of the radar sensor unit is 0 degrees (0˚).

[0096] Referring again to FIG. 4, each of the first to third radar sensor units (410 to 430) outputs a first coordinate system-sensing signal based on the center of the corresponding radar sensor unit, as described above. For example, each of the first to third radar sensor units (410 to 430) outputs a first coordinate system-sensing signal based on a zero point preset for each unit.

[0097] That is, each of the first to third radar sensor units (410 to 430) can output a sensing signal based on a first coordinate system based on the center of the short-range antenna by integrating the coordinates output from two long-range antennas and the coordinates output from one short-range antenna. Accordingly, the zero point of the first coordinate system of each radar sensor unit may be different.

[0098] The integrated controller (440) can output a control signal for controlling turning or driving of the construction equipment based on sensing signals received from the first to third radar sensor units (410 to 430).

[0099] For this purpose, the integrated controller (440) may include a coordinate transformation unit (510), a tracking data filter (520), a stop determination unit (530), a stop area variable unit (540), and a speed control unit (550).

[0100] The coordinate conversion unit (510) receives a first coordinate system-based sensing signal from the first to third radar sensor units (410 to 430) and converts it into a second coordinate system-based sensing signal based on the construction equipment. The second coordinate system-based sensing signal may have coordinates that are obtained by correcting the first coordinate system-based sensing signal with the rotation center of the upper body of the construction equipment as the zero point, for example. For example, the coordinate conversion unit (510) receives the first coordinate system-based sensing signal and converts it into a second coordinate system-based sensing signal based on the zero point set in the construction equipment.

[0101] At this time, since the zero points of the first coordinate systems of the first to third radar sensor units (410 to 430) are different, the coordinate conversion unit (510) can correct the first coordinate system-based sensing signal to a second coordinate system-based sensing signal differently for each radar sensor unit.

[0102] The tracking data filter (520) can receive a second coordinate system-based sensing signal from the coordinate transformation unit (510). The tracking data filter (520) can remove noise from a plurality of points indicated by the second coordinate system-based sensing signal and output a plurality of tracking points. Specifically, the sensing signal can be composed of a plurality of points including information on the position of a sensed object in a two-dimensional or three-dimensional space of an environment surrounding the construction equipment. In this case, the sensing signal can include noise. Such noise can be caused by interference between the first to third radar sensor units (410 to 430).

[0103] Meanwhile, the tracking data filter (520) can receive the driving speed and turning position of the construction equipment (200) from the construction equipment controller (460). The tracking data filter (520) can classify a plurality of points indicated by the second coordinate system-based sensing signal into a first plurality of tracking points related to the driving of the construction equipment (200) and a second plurality of points related to the rotation of the construction equipment (200) to remove noise.

[0104] Additionally, the tracking data filter (520) can remove noise from the plurality of points based on the location and turning position of the construction equipment. The tracking data filter (520) can remove noise from the sensing signal to obtain a plurality of tracking points.

[0105] The stop area variable part (540) can vary the stop area based on the driving speed of the construction equipment (200). The stop area variable part (540) can output information about the varied stop area.

[0106] FIG. 8 is a drawing for explaining a stationary area according to one embodiment of the present invention.

[0107] Referring to FIG. 8, the surrounding area of ​​the construction equipment (200) can be divided into three areas. For example, the surrounding area of ​​the construction equipment (200) can be divided into a stop area (E-Stop area) (610), a warning area (Warning area) (620), and a watching area (Watching area) (630) according to the detection distance. The stop area (610), the warning area (620), and the watching area (630) can be displayed on the display unit (450). The driver of the construction equipment can determine whether a predetermined object (e.g., a person) exists in each area by looking at the display unit (450). The stop area (610) is the area closest to the construction equipment (200) and is an area where injury may occur if an object exists in the area. The warning area (620) is an area where the time in which an object in the area can enter the stop area (610) is short, so it is necessary to monitor the object or warn of the object. The cognitive area (630) is an area where objects in the area are unlikely to be harmed, but there is a possibility of being harmed depending on the movement of the legendary equipment.

[0108] The stop area variable part (540) can receive the turning speed or driving speed of the construction equipment (200) from the vehicle controller (460). The stop area variable part (540) can variably adjust the reference distance of the stop area (610) according to the turning speed or driving speed of the construction equipment (200). For example, since the construction equipment (200) is heavy, the braking distance becomes longer as the speed increases, so there is a need to adjust the variable distance of the stop (E-Stop) area.

[0109] For example, if the driving and turning speed of the construction equipment (200) is high, the stopping area (610) can be expanded. Alternatively, if the driving and turning speed of the construction equipment (200) is low, the stopping area (610) can be reduced. The stopping area variable unit (540) can output information about the stopping area (610) with the adjusted reference distance to the stopping determination unit (530).

[0110] The stop determination unit (530) can receive a plurality of tracking points from the tracking data filter (520). In addition, the stop determination unit (530) can receive information about a stop area from the stop area variable unit (540). The stop determination unit (530) can determine whether the construction equipment needs to be stopped based on the plurality of tracking points and the stop area. If the construction equipment (200) needs to be stopped, the stop determination unit (530) can output a stop signal indicating or instructing the stop of the construction equipment (200).

[0111] Additionally, the stop judgment unit (530) can notify the driver through the display unit (450) when the construction equipment (200) needs to be stopped.

[0112] When the speed control unit (550) receives a stop signal from the stop judgment unit (530), it can output a control signal to the construction equipment controller (460) to control the driving and turning speed of the construction equipment (200).

[0113] The construction equipment controller (460) can receive a control signal from the speed control unit (550). When the construction equipment controller (460) receives a control signal from the speed control unit (550), it can stop the driving or turning of the construction equipment (200) according to the control signal.

[0114] Meanwhile, the integrated controller (440) may be implemented as hardware, such as a separate ASIC, or as a software program. If implemented as a software program, it may be executed by the processor of the radar sensor system (400) for construction equipment or by the processor (310) of the construction equipment of FIG. 3.

[0115] The radar sensor system (400) for construction equipment according to the present embodiment may be entirely hardware, or may have aspects that are partially hardware and partially software. For example, the radar sensor system (400) for construction equipment and each module or section included therein may collectively refer to a device for transmitting and receiving data of a specific format and content via electronic communication, and software related thereto. In this specification, terms such as "unit," "module," "server," "system," "device," or "terminal" are intended to refer to a combination of hardware and software driven by the hardware. For example, the hardware herein may be a data processing device including a CPU or other processor. In addition, the software driven by the hardware may refer to a running process, an object, an executable, a thread of execution, a program, etc.

[0116] In addition, each part constituting the radar sensor system (400) for construction equipment is not necessarily intended to refer to a physically distinct and separate component. The coordinate transformation unit (510), the tracking data filter (520), the stop determination unit (530), the stop area variable unit (540), and the speed control unit (550) are depicted as separate blocks, but this is only a functional distinction based on the operations performed by the devices constituting the data processing system for fusion of multiple heterogeneous sensors.

[0117] Accordingly, depending on the embodiment, the coordinate transformation unit (510), the tracking data filter (520), the stop determination unit (530), the stop area variable unit (540), and the speed control unit (550) may be integrated in part or in whole within the same device, or one or more may be implemented as separate devices physically distinct from other units, or may be components that are communicatively connected to each other under a distributed computing environment.

[0118] FIG. 9 is a flowchart illustrating a method for detecting construction equipment according to various embodiments of the present disclosure.

[0119] The flowchart of FIG. 9 can be performed by dedicated hardware of the radar sensor system (400) for construction equipment of FIG. 4, or a dedicated processor, or a processor (310) of the construction equipment of FIG. 3.

[0120] In operation S710, the construction equipment (300) or the radar sensor system (400) for construction equipment may receive a first coordinate system-based sensing signal from the first to third radar sensor units (410 to 430). The first coordinate system may be a coordinate system in which the center of each radar sensor unit is set as the zero point. For example, the first coordinate system of each radar sensor unit may be a coordinate system in which the center of a short-range radar antenna is set as the zero point.

[0121] In operation S720, the construction equipment (300) or the radar sensor system (400) for construction equipment can convert a first coordinate system-based sensing signal into a second coordinate system-based sensing signal based on the construction equipment. For example, the second coordinate system may be a coordinate system having the rotation center of the upper body of the construction equipment as its zero point. At this time, since the zero points of the first coordinate systems of the first to third radar sensor units (410 to 430) are different, the first coordinate system-based sensing signal can be converted into a second coordinate system-based sensing signal differently for each radar sensor unit.

[0122] In operation S730, the construction equipment (300) or the radar sensor system (400) for construction equipment can output a plurality of tracking points by removing noise from a plurality of points indicated by a second coordinate system-based sensing signal. Specifically, the sensing signal can be composed of a plurality of points that include information about the position of a sensed object in a two-dimensional or three-dimensional space of the environment surrounding the construction equipment. In this case, the sensing signal can include noise. Such noise can be caused by interference between the first to third radar sensor units (410 to 430).

[0123] In operation S740, the construction equipment (300) or the radar sensor system (400) for construction equipment can vary the stopping area based on the driving speed or turning speed of the construction equipment (200). As described above, if the driving speed of the construction equipment (200) is high, the stopping area (610) can be expanded. Alternatively, if the driving speed of the construction equipment (200) is low, the stopping area (610) can be reduced.

[0124] In operation S750, the construction equipment (300) or the radar sensor system for construction equipment (400) can determine whether the construction equipment needs to be stopped based on a plurality of tracking points and a stop area.

[0125] In operation S760, the construction equipment (300) or the radar sensor system (400) for construction equipment may output a stop signal indicating or instructing the stop of the construction equipment (200) if the stop of the construction equipment (200) is required. In addition, the stop determination unit (530) may inform the driver through the display unit (450) if the stop of the construction equipment (200) is required.

[0126] In operation S770, the construction equipment (300) or the radar sensor system for construction equipment (400) can control the driving speed of the construction equipment (200) with the construction equipment controller (460) according to a stop signal to stop the driving or turning of the construction device (200).

[0127] As described above, according to the present invention, a danger zone can be distinguished according to the detection distance of construction equipment, such as an excavator, and the danger zone can be variably adjusted according to the turning and driving speed of the excavator in order to take into account the long braking distance when the excavator stops at a high speed.

[0128] Those skilled in the art should understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential characteristics thereof, and therefore, the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims below rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included within the scope of the present invention.

Claims

1. In construction equipment, First to third radar sensor units each outputting a first coordinate system-based sensing signal based on a preset zero point; An integrated controller that outputs a control signal for controlling turning or driving of the construction equipment based on the first coordinate system-based sensing signal; and Includes a construction equipment controller that detects and controls the driving speed and turning position of the above construction equipment, The above integrated controller, A coordinate conversion unit that receives the first coordinate system-based sensing signal and converts it into a second coordinate system-based sensing signal based on a zero point set in the construction equipment; A tracking data filter that receives the second coordinate system-based sensing signal and removes noise from a plurality of points indicated by the second coordinate system-based sensing signal to obtain a plurality of tracking points; A variable stopping area unit that varies the stopping area based on the driving and turning speed of the above construction equipment; A stop determination unit that determines whether the construction equipment needs to be stopped based on the plurality of tracking points and the stop area and outputs a stop signal indicating the stop of the construction equipment; and A construction equipment including a speed control unit that outputs a control signal for controlling the driving and turning speed of the construction equipment to the construction equipment controller when receiving the above stop signal.

2. In paragraph 1, A construction equipment in which the first to third radar sensor units are attached to the upper portions of the left side, right side, and rear of the construction equipment, respectively.

3. In paragraph 1, Each of the first to third radar sensor units above First long-range radar antenna; a second long-range radar antenna; and Construction equipment including a short-range radar antenna.

4. In paragraph 3, Construction equipment in which the first long-range radar antenna and the second long-range radar antenna are installed on both sides of the short-range radar antenna at an angle of 20 degrees with respect to the short-range radar antenna.

5. In paragraph 1, The above-mentioned stop zone variable part is a construction equipment that expands the stop zone as the driving and turning speed of the construction equipment increases.

6. In paragraph 1, A construction equipment wherein the above tracking data filter classifies the plurality of points into a first plurality of tracking points related to the driving of the construction equipment and a second plurality of points related to the rotation of the construction equipment to remove the noise.

7. In paragraph 1, The above construction equipment controller detects and outputs the location of the above construction equipment, The above tracking data filter is a construction equipment that removes the noise from the plurality of points based on the location and turning location of the construction equipment.

8. In paragraph 1, Construction equipment further comprising a display unit that displays the driving speed and turning position of the construction equipment.

9. In a radar sensor system for construction equipment, First to third radar sensor units each outputting a first coordinate system-based sensing signal based on a preset zero point; and An integrated controller that outputs a control signal for controlling turning or driving of the construction equipment based on the first coordinate system-based sensing signal, The above integrated controller, A coordinate conversion unit that receives the first coordinate system-based sensing signal and converts it into a second coordinate system-based sensing signal based on a zero point set in the construction equipment; A tracking data filter that receives the second coordinate system-based sensing signal and removes noise from a plurality of points indicated by the second coordinate system-based sensing signal to obtain a plurality of tracking points; A variable stopping area unit that varies the stopping area based on the driving and turning speed of the above construction equipment; A radar sensor system for construction equipment, comprising a stop determination unit that determines whether the construction equipment needs to be stopped based on the plurality of tracking points and the stop area and outputs a stop signal indicating the stop of the construction equipment.

10. In paragraph 9, Each of the first to third radar sensor units above First long-range radar antenna; a second long-range radar antenna; and Includes a short-range radar antenna, A radar sensor system for construction equipment, wherein the first long-range radar antenna and the second long-range radar antenna are installed on both sides of the short-range radar antenna at an angle of 20 degrees with respect to the short-range radar antenna.

11. In paragraph 9, A radar sensor system for construction equipment in which the above-mentioned stop zone variable part expands the stop zone as the driving and turning speed of the construction equipment increases.

12. In paragraph 9, A radar sensor system for construction equipment, wherein the tracking data filter classifies the plurality of points into a first plurality of tracking points related to the driving of the construction equipment and a second plurality of points related to the rotation of the construction equipment, thereby removing the noise.

13. In a method for controlling construction equipment, A step in which the first to third radar sensor units each output a first coordinate system-based sensing signal based on a preset zero point; A step in which the integrated controller converts the first coordinate system-based sensing signal into a second coordinate system-based sensing signal based on a zero point set in the construction equipment; A step of the integrated controller removing noise from a plurality of points indicated by the second coordinate system-based sensing signal to obtain a plurality of tracking points; A step in which the integrated controller varies the stopping area based on the driving and turning speeds of the construction equipment; A step in which the integrated controller determines whether the construction equipment needs to be stopped based on the plurality of tracking points and the stop area; A step for the integrated controller to output a stop signal indicating the stop of the construction equipment when the construction equipment needs to be stopped; and A method comprising a step of the integrated controller outputting a control signal for controlling the driving and turning speed of the construction equipment to the construction equipment controller according to the stop signal.

14. In paragraph 13, A method in which the first to third radar sensor units are attached to the upper portions of the left side, right side, and rear of the construction equipment, respectively.

15. In paragraph 13, Each of the first to third radar sensor units above First long-range radar antenna; a second long-range radar antenna; and A method comprising a short-range radar antenna.

16. In paragraph 15, A method in which the first long-range radar antenna and the second long-range radar antenna are installed on both sides of the short-range radar antenna at an angle of 20 degrees with respect to the short-range radar antenna.

17. In paragraph 13, A method in which the stopping area is expanded as the driving and turning speed of the above construction equipment increases.

18. In paragraph 13, The step of outputting the above multiple tracking points is A method comprising a step of removing the noise by classifying the plurality of points into a first plurality of tracking points related to the driving of the construction equipment and a second plurality of points related to the rotation of the construction equipment by the integrated controller.

19. In paragraph 13, The step of outputting the above multiple tracking points is A method comprising the step of removing the noise from the plurality of points based on the position and turning position of the construction equipment by the integrated controller.

20. In paragraph 13, A method further comprising the step of displaying the driving speed and turning position of the construction equipment.

Images