Remote control system for construction machine having moving path guidance function

Abstract

One aspect of the present disclosure relates to a remote control system for a construction machine having a moving path guidance function, including a construction machine having a pair of left and right driving units, and a remote control device for remotely controlling the construction machine, the remote control system comprising: a photographing unit mounted on the construction machine that photographs a surrounding area of the construction machine; a sensor unit mounted on the construction machine that scans a road surface condition of a front area and a rear area of the construction machine; a remote display unit that outputs a photographed image of the surrounding area photographed by the photographing unit; a remote control unit having a left driving lever and a right driving lever that remotely control the driving of the construction machine; and a control unit that superimposes a pair of path display images for guiding a moving path of the pair of driving units onto the photographed image on the basis of a driving operation command of the remote control unit, wherein the control unit determines whether the road surface is a flat road surface or a rough road surface through three-dimensional visual information of the road surface that has been generated on the basis of scan data of the sensor unit, and adjusts the size of the path display images on the basis of at least one of the determined road surface condition and the driving situation of the construction machine.

Description

Remote control system for construction machinery with path guidance function

[0001] The present disclosure relates to a remote control system for construction machinery having a movement path guidance function. In a specific aspect, the present disclosure relates to a remote control system for construction machinery having a movement path guidance function that displays the movement direction of the construction machinery on a remote display at a remote control site when the operator operates a remote control device, thereby allowing the operator to easily recognize the movement direction of the construction machinery. The present disclosure can be applied to large vehicles such as trucks, buses, and construction equipment, among other vehicle types. While the present disclosure may be described with respect to a specific vehicle, the present disclosure is not limited to any particular vehicle.

[0002] One of the biggest challenges in tele-operation systems for construction machinery is the 2D display. This is because it is difficult for operators operating construction machinery from a remote operation site to obtain a 3D view of the object in front of the station display.

[0003] In particular, when construction equipment is moving, the absence of visual information on the station display for 3D recognition can lead to dangerous situations, such as when going uphill or downhill. Furthermore, tall objects and potholes can cause the equipment to overturn.

[0004] Therefore, when operating a remote control device, it is important to provide 3D image information on the current movement direction of the construction machine on the display at the remote control site so that the operator can easily recognize the work situation.

[0005] The purpose of the present disclosure is to provide a remote control system for a construction machine that displays a path indication image guiding the driving direction or road surface condition of the construction machine on a remote display that outputs a captured image when an operator operates a remote control device.

[0006] A first aspect of the present disclosure provides a remote control system for a construction machine having a movement path guidance function, including a construction machine having a pair of left and right driving units and a remote control device for remotely controlling the construction machine, the system comprising: a photographing unit mounted on the construction machine for photographing a surrounding area of ​​the construction machine; a sensor unit mounted on the construction machine for scanning a road surface condition of a front area and a rear area of ​​the construction machine; a remote display unit for outputting a photographed image of the surrounding area photographed by the photographing unit; a remote control unit having a left driving lever and a right driving lever for remotely controlling the driving of the construction machine; and a control unit for superimposing a pair of path display images for guiding a movement path of the pair of driving units on the photographed image based on a driving operation command of the remote control unit, wherein the control unit determines whether the road surface is a flat road surface or a rough road surface through three-dimensional visual information on the road surface generated based on scan data of the sensor unit, and adjusts the size of the path display images based on at least one of the determined road surface condition and the driving situation of the construction machine.

[0007] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that if a vertex of a specific area on the road surface is higher than a positive preset height, the vertex is defined as a positive vertex, if a vertex of a specific area on the road surface is lower than a negative preset height, the vertex is defined as a negative vertex, if the number of the positive vertices and the negative vertices is greater than a preset number, the road surface is determined as a rough road surface, and if the number of the positive vertices and the negative vertices is less than a preset number, the road surface is determined as a flat road surface.

[0008] In some examples, including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, if the directions of the driving operation command of the left driving lever and the driving operation command of the right driving lever are the same but the difference between them is within a preset range, the driving situation is determined as a straight driving situation, if the directions of the driving operation command of the left driving lever and the driving operation command of the right driving lever are the same but the difference between them is outside the preset range, the driving situation is determined as a steering situation, and if the directions of the driving operation command of the left driving lever and the driving operation command of the right driving lever are opposite, the driving situation is determined as a turning situation.

[0009] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that the width of the path indication image on the rough road surface is displayed to be larger than the width of the path indication image on the flat road surface.

[0010] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, when the road surface is a flat road surface and in a straight driving situation, a left path indication image and a right path indication image having a first width and a first length are displayed on the remote display unit, and the first width is larger than the width of the driving unit.

[0011] In some examples, including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, when the road surface is a flat road surface and in a steering situation, a path display image according to a relatively larger driving operation command among the left and right sides is displayed on the remote display unit so as to have a second width and a second length, and a path display image according to a relatively smaller driving operation command is displayed on the remote display unit so as to have a second width and a third length, wherein the second width is larger than the first width, and the second length is shorter than the first length but longer than the third length.

[0012] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, when the road surface is a rough road surface and a straight driving situation is performed, a left path indication image and a right path indication image having a third width and a first length are displayed on the remote display unit, and the third width is larger than the second width.

[0013] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, when the road surface is a rough road surface and in a steering situation, a path display image according to a relatively larger driving operation command among the left and right sides is displayed on the remote display unit so as to have a third width and a second length, and a path display image according to a relatively smaller driving operation command is displayed on the remote display unit so as to have a third width and a third length, wherein the third width is larger than the second width, and the second length is shorter than the first length but longer than the third length.

[0014] In some examples, including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, in a turning situation, a path display image according to a forward driving operation command among the left and right sides is displayed on a first display among the remote display units that outputs a front area capture image, and a path display image according to a backward driving operation command is simultaneously displayed on the first display among the remote display units that outputs a front area capture image and the second display that outputs a rear area capture image.

[0015] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, when the road surface is a flat road surface and in a turning situation, a path indication image having a second width and a second length according to a forward driving operation command is displayed on the first display, and a path indication image having a second width and a second length according to a backward driving operation command is displayed on the second display, while simultaneously displaying a path indication image having the second width and a preset minimum length according to the backward driving operation command on the first display, and the second width is larger than the first width, and the second length is shorter than the first length.

[0016] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that, when the road surface is a rough road surface and in a turning situation, a path indication image having a third width and a second length according to a forward driving operation command is displayed on the first display, and a path indication image having a third width and a second length according to a backward driving operation command is displayed on the second display, and a path indication image having a third width and a preset minimum length according to a backward driving operation command is simultaneously displayed on the first display, and the third width is larger than the second width, and the second length is shorter than the first length.

[0017] In some examples, optionally including at least one preferred example, the control unit may be a remote control system for a construction machine having a movement path guidance function, characterized in that it superimposes three-dimensional visual information about the height of the road surface on the path display image based on scan data of the sensor unit.

[0018] In some examples, optionally including at least one preferred example, the three-dimensional visual information may be a remote control system for a construction machine having a movement path guidance function, characterized in that it is a contour map.

[0019] In some examples, optionally including at least one preferred example, the three-dimensional visual information may be a remote control system for a construction machine having a movement path guidance function, characterized in that the three-dimensional visual information is a colored contour map.

[0020] In some examples, optionally including at least one preferred example, the three-dimensional visual information may be a remote control system for a construction machine having a movement path guidance function, characterized in that the three-dimensional visual information is a contour map in which colors are applied only to areas having a height greater than a positive threshold or areas having a height less than a negative threshold.

[0021] A remote control system for a construction machine having a movement path guidance function according to the present disclosure displays a path indication image guiding the driving direction of the construction machine on a remote display that outputs a captured image when an operator operates a remote control device, and adjusts the size of the path indication image according to at least one of a road surface condition and a driving situation, thereby allowing the operator to easily grasp the driving situation. In addition, the remote control system for a construction machine having a movement path guidance function according to the present disclosure superimposes three-dimensional visual information about the height of the road surface on the path indication image guiding the driving direction of the construction machine, thereby allowing the operator to easily grasp the road surface condition.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The example is described in more detail below with reference to the attached drawings.

[0026] FIG. 1 is a drawing illustrating a construction machine according to one aspect of the present disclosure.

[0027] FIG. 2 is a block diagram schematically illustrating the configuration of a remote control system for a construction machine having a movement path guidance function according to one aspect of the present disclosure.

[0028] FIG. 3 is a drawing showing a part of a configuration of a remote control device according to one aspect of the present disclosure.

[0029] FIG. 4 and FIG. 5 are drawings for explaining a method for determining a road surface condition according to one embodiment of the present disclosure.

[0030] FIG. 6 is a drawing exemplifying a path display image according to one aspect of the present disclosure.

[0031] FIG. 7 is a drawing showing a path display image when driving in a straight line on a flat road according to one aspect of the present disclosure.

[0032] FIG. 8 is a drawing showing a path display image when driving in a straight line on a rough road surface according to one aspect of the present disclosure.

[0033] FIG. 9 is a drawing showing a path display image when steering on a flat road surface according to one aspect of the present disclosure.

[0034] FIG. 10 is a drawing showing a path display image when steering on a rough road surface according to one aspect of the present disclosure.

[0035] FIG. 11 is a drawing showing a path display image when turning on a flat road surface according to one aspect of the present disclosure.

[0036] FIG. 12 is a drawing showing a path display image when turning on a rough road surface according to one aspect of the present disclosure.

[0037] FIGS. 13 and 14 illustrate path display images in which three-dimensional visual information on the height of a road surface is superimposed according to one aspect of the present disclosure.

[0038] 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.

[0039] 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.

[0040] 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."

[0041] 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.

[0042] 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.

[0043] Hereinafter, one aspect of the present disclosure will be described in detail with reference to the attached drawings.

[0044] FIG. 1 is a drawing showing a construction machine according to one aspect of the present disclosure, FIG. 2 is a block diagram schematically showing the configuration of a remote control system of a construction machine having a movement path guidance function according to one aspect of the present disclosure, and FIG. 3 is a drawing showing a part of the configuration of a remote control device according to one aspect of the present disclosure.

[0045] A remote control system (1000) for a construction machine having a movement path guidance function according to one aspect of the present disclosure includes a construction machine (100) and a remote control device (200) for remotely controlling the construction machine (100). The construction machine (100) and the remote control device (200) are configured to be able to communicate with each other through a common or separate network.

[0046] A construction machine (100) according to one aspect of the present disclosure may be, for example, an excavator. While the present disclosure may be described with respect to an excavator, it is not limited thereto. An 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.

[0047] A construction machine (100) is configured to include an upper swivel body (120) that is supported so as to be able to swing on a lower travel body (110), and a work device connected to the upper swivel body (120). The work device may include, for example, a boom (130), an arm (140), and a bucket (150).

[0048] 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 to move the excavator for work purposes. The lower drive body (110) includes a pair of left and right drive sections (111, 112), and can drive in a straight line in the forward and backward direction, change direction left and right by steering, or change direction in the opposite direction of driving by turning.

[0049] 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.

[0050] 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.

[0051] 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 hold an object (e.g., soil) on the ground inside as it rotates.

[0052] 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).

[0053] The construction machine (100) may be configured with, for example, an electro-hydraulic system, and its drive may be electronically controlled by a controller.

[0054] Meanwhile, the construction machine (100) may further include a photographing unit (160), a sensor unit (170), a wireless communication unit (180), and a machine control unit (190).

[0055] The camera unit (160) is mounted on the construction machine (100) and includes a number of cameras that capture the surrounding area of ​​the construction machine (100). This camera unit (160) captures images of the front, rear, left, and right sides of the construction machine (100) during driving and operation, and transmits the captured images to the remote control device (200). The captured images are output to the remote display unit (220) of the remote control device (200), as described below.

[0056] The sensor unit (170) is mounted on a construction machine (100) and is configured to obtain 3D visual information necessary to perform a movement path guidance function.

[0057] In particular, the sensor unit (170) is for scanning the road surface conditions of the front and rear areas of the construction machine (100) and obtaining location information of the construction machine, and may include one or more terrain detection sensors such as lidar and location information obtaining sensors such as GNSS (Global Navigation Satellite System).

[0058] The machine control unit (190) is configured by an operation processing unit (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes operation processing according to the software on the data.

[0059] The machine control unit (190) can use the data scanned by the sensor unit (170) to create a map indicating the road surface conditions of the front and rear areas of the construction machine (100). For example, the machine control unit (190) can create a contour map using point cloud data. Through this, the remote control system (1000) of the construction machine having a movement path guidance function can determine whether the road surface of the front and rear areas of the construction machine (100) is a flat road surface or a rough road surface.

[0060] Meanwhile, the remote control device (200) may be placed at a different location from the construction machine (100) and may include the construction machine (100), a remote operation unit (210), a remote display unit (220), a wireless communication unit (230), and a remote control unit (240).

[0061] The remote control unit (210) includes a left driving lever (211) and a right driving lever (212) for remotely controlling the driving of the construction machine (100). That is, the left driving lever (211) and the right driving lever (212) are operated to move the lower driving body (110) provided with a pair of left and right driving units (111, 112) of the construction machine (100). These driving levers (211, 212) may also function as driving pedals. For example, a driving pedal may be installed at the lower end of the driving levers (211, 212). Each of the driving levers (211, 212) constituting the remote control unit (210) may be arranged around a seat (not shown) for an operator to sit on.

[0062] The remote display unit (220) outputs a captured image of a surrounding area captured by the shooting unit (160) of the construction machine (100), and may include one or more displays.

[0063] For example, the remote display unit (220) may include a first display (221) arranged in front of the seat, a second display (222) arranged above the first display (221), a third display (223) arranged on the left side of the first display (221), a fourth display (224) arranged on the right side of the first display (221), and a fifth display (225) arranged below the first display (221).

[0064] Here, the first display (221) can output a captured image for the front view of the construction machine (100), the second display (222) can output captured images for the rear view and upper view of the construction machine (100), the third display (223) can output a captured image for the left mirror view of the construction machine (100), the fourth display (224) can output a captured image for the right mirror view of the construction machine (100), and the fifth display (225) can output a captured image for the lower view of the construction machine (100).

[0065] The remote control unit (240) is configured by an operation processing unit (a single-core processor or a multi-core processor or a processor core constituting the same), reads necessary data and software from a storage device such as a memory, and executes operation processing according to the software on the data.

[0066] The remote control unit (240) superimposes a pair of path display images (RL, RR) that guide the movement path of a pair of driving units (111, 112) on the captured image of the remote display (220) based on the driving operation command of the remote control unit (210).

[0067] FIG. 4 and FIG. 5 are drawings for explaining a method for determining a road surface condition according to one embodiment of the present disclosure, and FIG. 6 is a drawing exemplarily showing a path display image according to one aspect of the present disclosure.

[0068] Hereinafter, a method for performing a movement path guidance function in a remote control system (1000) for construction machinery will be described with reference to FIGS. 4 to 6. In addition, the control unit of the remote control system (1000) for construction machinery described below may be a concept that includes both the machine control unit (190) of the aforementioned construction machinery (100) and the remote control unit (240) of the remote control device (200).

[0069] First, when the operator selects the movement path guidance function on the control display (not shown) of the construction machine's remote control system (1000), the movement path guidance function is activated. At this time, even when the movement path guidance function is activated, when a driving operation command is input to the control unit, path guidance information including a path display image is displayed on the remote display unit (220).

[0070] When the movement path guidance function is activated, the remote control system (1000) of the construction machine scans the road surface of the front and rear areas of the construction machine (100) through the sensor unit (170) before generating a path display image (STEP1).

[0071] At this time, as illustrated in FIG. 4, the scan area for each area may be Twscan X TL1. Here, Twscan may be, for example, a value obtained by adding a 15% margin to the width of the construction machine (100), and TL1 may be, for example, a value obtained by adding a 5% margin to the maximum digging reach length of the construction machine (100). These Twscan and TL1 may be adjusted by the operator.

[0072] The control unit of the remote control system (1000) of the construction equipment determines whether the road surface is flat or rough through three-dimensional visual information about the road surface generated based on scan data of the sensor unit (170) (STEP2).

[0073] As illustrated in FIG. 5, the control unit may define a vertex of a specific area on the road surface as a positive vertex point if the vertex is higher than a positive preset height (Thh), and may define a vertex of a specific area on the road surface as a negative vertex point if the vertex is lower than a negative preset height (-Thh). Here, the positive preset height (Thh) and the negative preset height (-Thh) may be determined based on the ground on which the construction equipment is currently located. For example, Thh may be the height of the driving unit (111, 112) X 0.3, but may be adjusted by the operator.

[0074] The control unit determines the road surface as a rough road surface if the number of positive and negative vertices is greater than the preset number, and determines the road surface as a flat road surface if the number of positive and negative vertices is less than the preset number.

[0075] The control unit of the remote control system (1000) of the construction machine can adjust the size of the path display image (RL, RR) based on at least one of the determined road surface condition and the driving situation of the construction machine (100) (STEP3).

[0076] For example, the control unit can display the width of the path indication image (RL, RR) on a rough road surface to be larger than the width of the path indication image (RL, RR) on a flat road surface.

[0077] The control unit can determine the driving situation as a straight driving situation if the directions of the travel operation command of the left travel lever (211) and the travel operation command of the right travel lever (212) are the same, but the difference between them is within a preset range. In addition, the control unit can determine the driving situation as a steering situation if the directions of the travel operation command of the left travel lever (211) and the travel operation command of the right travel lever (212) are the same, but the difference between them is outside the preset range. In addition, the control unit can determine the driving situation as a turning situation if the directions of the travel operation command of the left travel lever (211) and the travel operation command of the right travel lever (212) are opposite.

[0078] As illustrated in FIG. 6, the control unit can adjust the width of the path display image to a first width (TW1), a second width (TW2), and a third width (TW3) based on at least one of the road surface condition and the driving situation, and can adjust the length of the path display image to a first length (TL1), a second length (TL2), a third length (TL3), and a minimum length (TLmin).

[0079] For example, when TW is the width of the driving section (111, 112), the first width (TW1) is the width of the path indication image displayed when driving in a straight line on a flat road surface, and may be a value obtained by adding a 5% margin to TW. The second width (TW2) is the width of the path indication image displayed when steering on a flat road surface, and may be a value obtained by adding a 10% margin to TW. The third width (TW3) is the width of the path indication image displayed when driving in a straight line or steering on a rough road surface, and may be a value obtained by adding a 20% margin to TW.

[0080] Additionally, for example, the first length (TL1) is the length of the path display image displayed when driving in a straight line, and may be a value obtained by adding a 5% margin to the maximum digging reach length of the construction machine (100). The second length (TL2) is the length of the path display image displayed when steering, and may be a value obtained by multiplying the first length (TL1) by 0.7. The minimum length (TLmin) is the length of the path display image displayed at a minimum when turning.

[0081] FIG. 7 is a drawing showing a path display image when driving in a straight line on a flat road according to one aspect of the present disclosure.

[0082] Referring to FIG. 7, in a straight driving situation where the road surface is flat and the difference between the driving operation command of the left driving lever (211) and the driving operation command of the right driving lever (212) is within a preset range (e.g., ±5%), both the left path display image (RL) and the right path display image (RR) have a first width (TW1) and a first length (TL1).

[0083] That is, when the road surface is flat and the vehicle is driving in a straight line, the control unit displays a left path indication image (RL) and a right path indication image (RR) having a first width (TW1) and a first length (TL1) on the remote display unit (220).

[0084] FIG. 8 is a drawing showing a path display image when driving in a straight line on a rough road surface according to one aspect of the present disclosure.

[0085] Referring to FIG. 8, in a straight driving situation where the road surface is rough and the difference between the driving operation command of the left driving lever (211) and the driving operation command of the right driving lever (212) is within a preset range (e.g., ±5%), both the left path display image (RL) and the right path display image (RR) have a third width (TW3) and a first length (TL1).

[0086] That is, when the road surface is rough and the driving situation is straight, the control unit displays a left path indication image (RL) and a right path indication image (RR) having a third width (TW3) and a first length (TL1) on the remote display unit (220).

[0087] FIG. 9 is a drawing showing a path display image when steering on a flat road surface according to one aspect of the present disclosure.

[0088] Referring to FIG. 9, in a steering situation where the road surface is flat and the difference between the driving operation command of the left driving lever (211) and the driving operation command of the right driving lever (212) is outside a preset range (e.g., ±5%), a path display image according to a relatively larger driving operation command among the left and right has a second width (TW2) and a second length (TL2), and a path display image according to a relatively smaller driving operation command has a second width (TW2) and a third length (TL3). Here, the second length (TL2) may be longer than the third length (TL3) and shorter than the first length (TL1). Also, here, the third length (TL3) may be a value obtained by multiplying the second length (TL2) by a relative ratio of the left and right driving operation commands (a value less than 1, for example, if the right driving operation command is greater, it is obtained by left driving operation command / right driving operation command, and if the left driving operation command is greater, it is obtained by right driving operation command / left driving operation command). If this is expressed as a formula, the length of the path display image according to the relatively larger driving operation command among the left and right can be expressed as TL2*Bigger_travel_command, and the length of the path display image according to the relatively smaller driving operation command among the left and right can be expressed as TL2*Cmd_diff (wherein, Cmd_diff: Smaller_travel_command / Bigger_travel_command).

[0089] That is, the control unit displays a path display image according to a relatively larger driving operation command among the left and right sides on the remote display unit (220) when the road surface is flat and in a steering situation, and displays a path display image according to a relatively smaller driving operation command on the remote display unit (220) to have a second width (TW2) and a third length (TL3).

[0090] FIG. 10 is a drawing showing a path display image when steering on a rough road surface according to one aspect of the present disclosure.

[0091] Referring to FIG. 10, in a steering situation where the road surface is rough and the difference between the driving operation command of the left driving lever (211) and the driving operation command of the right driving lever (212) is outside the preset range (e.g., ±5%), the path display image according to the driving operation command that is relatively larger among the left and right has a third width (TW3) and a second length (TL2), and the path display image according to the driving operation command that is relatively smaller has a third width (TW3) and a third length (TL3).

[0092] That is, the control unit displays a path display image according to a relatively larger driving operation command among the left and right sides on the remote display unit (220) in the case of a rough road surface and a steering situation, and displays a path display image according to a relatively smaller driving operation command on the remote display unit (220) in the case of a rough road surface and a steering situation, ...

[0093] FIG. 11 is a drawing showing a path display image when turning on a flat road surface according to one aspect of the present disclosure.

[0094] When the control unit is in a turning situation, the path display image according to the forward driving operation command among the left and right is displayed on the first display (221) that outputs the front area shooting image among the remote display unit (220), and the path display image according to the reverse driving operation command is simultaneously displayed on the first display (221) that outputs the front area shooting image among the remote display unit (220) and the second display (222) that outputs the rear area shooting image.

[0095] More specifically, referring to FIG. 11, when the road surface is flat and a turning situation is in progress, the control unit displays a path display image having a second width (TW2) and a second length (TL2) according to a forward driving operation command on the first display (221), and displays a path display image having a second width (TW2) and a second length (TL2) according to a reverse driving operation command on the second display (222), but simultaneously displays a path display image having a second width (TW2) and a preset minimum length (TLmin) according to a reverse driving operation command on the first display (221).

[0096] FIG. 12 is a drawing showing a path display image when turning on a rough road surface according to one aspect of the present disclosure.

[0097] Referring to FIG. 12, if the road surface is rough and in a turning situation, the control unit displays a path display image having a third width (TW3) and a second length (TL2) according to a forward driving operation command on the first display (221), and displays a path display image having a third width (TW3) and a second length (TL2) according to a reverse driving operation command on the second display (222), but simultaneously displays a path display image having a third width (TW3) and a preset minimum length (TLmin) according to a reverse driving operation command on the first display (221).

[0098] FIGS. 13 and 14 illustrate path display images in which three-dimensional visual information on the height of a road surface is superimposed according to one aspect of the present disclosure.

[0099] Referring to FIGS. 13 and 14, the control unit can superimpose three-dimensional visual information on the height of the road surface on the path display image (RL, RR) based on the scan data of the sensor unit (170).

[0100] For example, the three-dimensional visual information about height may be a contour map, as illustrated in FIG. 13, or a contour map with colors applied according to height.

[0101] Additionally, as an example, the 3D visual information may be a contour map in which colors are applied only to areas having a height greater than a preset positive threshold or areas having a height less than a preset negative threshold, as illustrated in FIG. 14.

[0102] However, 3D visual information is not limited to this, and various methods can be applied, such as a gradient method in which colors gradually change according to height.

[0103] In this way, the remote control system (1000) for a construction machine having a movement path guidance function of the present disclosure displays a path indication image (RL, RR) that guides the driving direction of the construction machine (100) on a remote display (220) that outputs a captured image when the operator operates the remote control device, and adjusts the size of the path indication image (RL, RR) according to at least one of the road surface condition and the driving situation, thereby allowing the operator to easily grasp the driving situation. In addition, the remote control system (1000) for a construction machine having a movement path guidance function of the present disclosure superimposes three-dimensional visual information about the height of the road surface on the path indication image that guides the driving direction of the construction machine (100), thereby allowing the operator to easily grasp the road surface condition.

[0104] 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.

[0105]

[0106] Description of the symbol

[0107] Remote control system for construction machinery with 1000 movement path guidance function

[0108] 100 construction equipment

[0109] 110 lower drive body

[0110] 111 Left driving section

[0111] 112 Right driving section

[0112] 120 upper swivel

[0113] 130 Boom

[0114] 140 Aam

[0115] 150 buckets

[0116] 160 Filming Department

[0117] 170 sensor section

[0118] 180 Wireless Communications Department

[0119] 190 Machine Control Unit

[0120] 200 remote control devices

[0121] 210 Remote Control Unit

[0122] 211 Left drive lever

[0123] 212 Right drive lever

[0124] 220 remote display unit

[0125] 221 First display

[0126] 222 Second display

[0127] 223 Third display

[0128] 224 4th Display

[0129] 225 5th Display

[0130] 230 Wireless Communications Department

[0131] 240 Remote Control Unit

[0132] RL left path display image

[0133] RR right path sign image

Claims

1. A remote control system for a construction machine having a movement path guidance function, including a construction machine having a pair of left and right driving parts and a remote control device for remotely controlling the construction machine, A photographing unit mounted on the above construction machine to photograph the surrounding area of ​​the above construction machine; A sensor unit mounted on the construction machine to scan the road surface conditions in the front and rear areas of the construction machine; A remote display unit that outputs a captured image of a surrounding area captured by the above-mentioned shooting unit; A remote control unit having a left driving lever and a right driving lever for remotely controlling the driving of the above construction machine; and A control unit is provided to superimpose a pair of path display images on the photographed image to guide the movement path of the pair of driving units based on a driving operation command of the remote control unit, The above control unit, Based on the scan data of the sensor unit, the three-dimensional visual information on the road surface is generated to determine whether the road surface is flat or rough. A remote control system for a construction machine having a movement path guidance function that adjusts the size of the path display image based on at least one of the determined road surface condition and the driving situation of the construction machine.

2. In paragraph 1, The above control unit, If a vertex of a specific area on the above road surface is higher than a positive preset height, the vertex is defined as a positive vertex, and if a vertex of a specific area on the above road surface is lower than a negative preset height, the vertex is defined as a negative vertex. A remote control system for a construction machine having a movement path guidance function, characterized in that if the number of the positive vertices and the negative vertices is greater than a preset number, the road surface is determined to be a rough road surface, and if the number of the positive vertices and the negative vertices is less than a preset number, the road surface is determined to be a flat road surface.

3. In paragraph 1, The above control unit, If the direction of the driving operation command of the left driving lever and the driving operation command of the right driving lever are the same, but the difference is within the preset range, the driving situation is determined as a straight driving situation, If the direction of the driving operation command of the left driving lever and the driving operation command of the right driving lever are the same, but the difference is outside the preset range, the driving situation is determined as a steering situation, A remote control system for a construction machine having a movement path guidance function, characterized in that when the directions of the driving operation command of the left driving lever and the driving operation command of the right driving lever are opposite, the driving situation is determined as a turning situation.

4. In paragraph 3, The above control unit, A remote control system for a construction machine having a movement path guidance function, characterized in that the width of the path indication image on the rough road surface is displayed to be larger than the width of the path indication image on the flat road surface.

5. In paragraph 4, The above control unit, If the above road surface is a flat road surface and a straight driving situation is present, a left path indication image and a right path indication image having a first width and a first length are displayed on the remote display unit, A remote control system for a construction machine having a movement path guidance function, characterized in that the first width is larger than the width of the driving section.

6. In paragraph 5, The above control unit, If the above road surface is a flat road surface and in a steering situation, a path display image according to a relatively larger driving operation command among the left and right is displayed on the remote display unit to have a second width and a second length, and a path display image according to a relatively smaller driving operation command is displayed on the remote display unit to have a second width and a third length. A remote control system for a construction machine having a movement path guidance function, characterized in that the second width is greater than the first width, and the second length is shorter than the first length but longer than the third length.

7. In paragraph 6, The above control unit, If the above road surface is a rough road surface and a straight driving situation is present, a left path indication image and a right path indication image having a third width and a first length are displayed on the remote display unit, A remote control system for a construction machine having a movement path guidance function, characterized in that the third width is larger than the second width.

8. In paragraph 6, The above control unit, If the above road surface is a rough road surface and in a steering situation, a path display image according to a relatively larger driving operation command among the left and right is displayed on the remote display unit to have a third width and a second length, and a path display image according to a relatively smaller driving operation command is displayed on the remote display unit to have a third width and a third length. A remote control system for a construction machine having a movement path guidance function, characterized in that the third width is larger than the second width, and the second length is shorter than the first length but longer than the third length.

9. In paragraph 5, The above control unit, A remote control system for a construction machine having a movement path guidance function, characterized in that, in a turning situation, a path display image according to a forward driving operation command among the left and right is displayed on a first display among the remote display units that outputs a front area capture image, and a path display image according to a reverse driving operation command is simultaneously displayed on a first display among the remote display units that outputs a front area capture image and a second display that outputs a rear area capture image.

10. In paragraph 9, The above control unit, If the road surface is a flat road surface and in a turning situation, a path display image having a second width and a second length according to a forward driving operation command is displayed on the first display, and a path display image having a second width and a second length according to a reverse driving operation command is displayed on the second display, but a path display image having a second width and a preset minimum length according to a reverse driving operation command is simultaneously displayed on the first display. A remote control system for a construction machine having a movement path guidance function, characterized in that the second width is greater than the first width and the second length is shorter than the first length.

11. In paragraph 10, The above control unit, If the road surface is a rough road surface and in a turning situation, a path display image having a third width and a second length according to a forward driving operation command is displayed on the first display, and a path display image having a third width and a second length according to a reverse driving operation command is displayed on the second display, but a path display image having a third width and a preset minimum length according to a reverse driving operation command is simultaneously displayed on the first display. A remote control system for a construction machine having a movement path guidance function, characterized in that the third width is greater than the second width and the second length is shorter than the first length.

12. In paragraph 1, The above control unit, A remote control system for a construction machine having a movement path guidance function, characterized in that three-dimensional visual information about the height of the road surface is superimposed on the path display image based on scan data of the sensor unit.

13. In paragraph 12, A remote control system for a construction machine having a movement path guidance function, characterized in that the above three-dimensional visual information is a contour map.

14. In paragraph 12, A remote control system for a construction machine having a movement path guidance function, characterized in that the above three-dimensional visual information is a color-applied contour map.

15. In paragraph 12, A remote control system for a construction machine having a movement path guidance function, characterized in that the above three-dimensional visual information is a contour map in which colors are applied only to areas having a height greater than a positive threshold or an area having a height less than a negative threshold.

Images