Method and system for controlling excavator

Abstract

A method and system for controlling an excavator having an automatic bucket filling support function, according to the present disclosure, analyzes the height of excavated material contained in a bucket after a digging operation, and moves an arm tip or a bucket tip to control the excavated material protruding beyond the bucket's open surface, such that the excavated material is automatically filled into an empty space below the bucket's open surface, thereby allowing work efficiency and operator convenience to be improved.

Description

Method and system for controlling an excavator

[0001] The present disclosure generally relates to a method and system for controlling an excavator. In particular, the present disclosure relates to a method and system for controlling an excavator with an automatic bucket filling support function for evenly filling the bucket with excavated material. The present disclosure may be applied to large vehicles, such as trucks, buses, and construction equipment, among other vehicle types. While the present disclosure may be described with respect to a specific vehicle, the present disclosure is not limited to any particular vehicle.

[0002] An excavator is a type of construction machine that performs various tasks, such as digging work to dig the ground at construction sites, dumping work to transport the excavated soil and dump it into a load receiver, excavating work to create a foundation, crushing work to dismantle a building, grading work to prepare the ground, and leveling work to level the ground.

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

[0004] For these excavators, digging and dumping are their most critical functions. During digging, the bucket may not be filled evenly with material. If the operator initiates the swing and boom-up motions for dumping while the bucket is still unevenly filled, the material inside the bucket may overflow. This makes the digging and dumping cycle inefficient and requires the operator to clean up the overflowing material, which is inconvenient.

[0005] The present disclosure is intended to solve the problems of the prior art described above, and the purpose of the present disclosure is to provide a method and system for controlling an excavator so that excavated materials can be evenly filled inside the bucket by using an automatic bucket filling support function after completion of a digging operation.

[0006] A first aspect of the present disclosure is a method for controlling an excavator having an automatic bucket filling support function for evenly filling the inside of a bucket with excavated material excavated by a bucket, comprising the steps of: obtaining information necessary for performing the automatic bucket filling support function in a sensor unit; calculating a plane equation of a bucket opening surface as a reference plane based on the obtained information; dividing the bucket opening surface into a plurality of sections; comparing a height of excavated material in each section with the plane equation of the bucket opening surface, and setting the section as an upper section if the height of excavated material in each section exceeds the bucket opening surface, and setting the section as a lower section if the height of excavated material is lower than the bucket opening surface; calculating an average height of excavated material exceeding the bucket opening surface for the upper sections and determining whether the average height is higher than a preset height; calculating a volume of excavated material exceeding the bucket opening surface for the upper sections and a volume of empty space falling short of the bucket opening surface for the lower sections if the average height is higher than the preset height; A method for controlling an excavator is provided, comprising: a step of determining whether a difference in a volume of an empty space is within a preset range; a step of calculating a center (C1) of a volume of an empty space that falls short of the bucket opening face and a center (C2) of a volume of an excavated material that exceeds the bucket opening face if the difference in the volume is within the preset range; a step of setting a first path plan including a first path from C1 to C2; a step of setting a second path plan by translating the first path plan so that the first path plan can start from a bucket tip or an arm tip; and a step of moving the bucket tip or the arm tip according to the second path plan so that an excavated material is filled in the empty space that falls short of the bucket opening face.

[0007] In some examples, optionally including at least one preferred example, the method for controlling an excavator may be characterized in that the plane equation of the bucket opening surface is calculated using coordinates (X1, Y1, Z1) to (X4, Y4, Z4) of four vertices of the bucket.

[0008] In some examples, optionally including at least one preferred example, a method for controlling an excavator may be provided, characterized in that, in the step of setting the first path plan, the first path plan is set by moving in parallel so that it can start from the bucket tip, and when the bucket tip is moved according to the preliminary path plan, it is determined whether the bucket tip enters the inside of the pile of the excavation target, and if it is determined that the bucket tip enters the inside of the pile of the excavation target, a second path in the opposite direction to the first path is set with C1 as a starting point, and the first path plan is determined to include the second path preceding the first path.

[0009] In some examples, optionally including at least one preferred example, the method of controlling the excavator may be characterized in that the distance of the second path is a distance over which the bucket tip enters the inside of the pile of the excavation object multiplied by a margin value greater than 1.

[0010] In some examples, optionally including at least one preferred example, a method for controlling an excavator may be provided, characterized in that, in the step of moving according to the second path plan, the bucket tip or the arm tip is moved at different speed commands depending on the type of excavated material inside the bucket.

[0011] In some examples, optionally including at least one preferred example, a method for controlling an excavator may be provided, characterized in that in the case of a sticky type excavator, the bucket tip or the arm tip is moved at a speed command of 80% or more of the maximum moving speed, and in the case of a dry type excavator, the bucket tip or the arm tip is moved at a speed command of 60% or more of the maximum moving speed.

[0012] In some examples, optionally including at least one preferred example, a method of controlling an excavator may further include the step of selecting and activating an automatic bucket filling support function in a display controller.

[0013] A second aspect of the present disclosure is a system for controlling an excavator having an automatic bucket filling support function to ensure that excavated material excavated by a bucket is evenly filled inside the bucket, the system comprising a sensor unit for acquiring information necessary for performing the automatic bucket filling support function and a control unit for performing the automatic bucket filling support function based on the acquired information, wherein the control unit calculates a plane equation of a bucket opening surface as a reference plane based on the acquired information, divides the bucket opening surface into a plurality of sections, and compares the height of the excavated material in each section with the plane equation of the bucket opening surface, and if the height of the excavated material in each section exceeds the bucket opening surface, sets the section as an upper section, and if it is lower than the bucket opening surface, sets the section as a lower section, calculates an average height of the excavated material exceeding the bucket opening surface for the upper sections, determines whether the average height is higher than a preset height, and if the average height is higher than the preset height, calculates a volume of the excavated material exceeding the bucket opening surface for the upper sections and a volume of an empty space lower than the bucket opening surface for the lower sections, and sets the bucket opening surface as a reference plane. A system for controlling an excavator is provided, which determines whether a difference between a volume of excavated material exceeding the bucket opening and a volume of an empty space below the bucket opening is within a preset range, and if the difference in volume is within the preset range, calculates a center (C1) of the volume of the empty space below the bucket opening and a center (C2) of the volume of excavated material exceeding the bucket opening, sets a first path plan including a first path from C1 to C2, sets a second path plan by translating the first path plan so that the first path plan can start from the bucket tip or the arm tip, and moves the bucket tip or the arm tip according to the second path plan so that excavated material is filled in the empty space below the bucket opening.

[0014] In some examples, optionally including at least one preferred example, the system for controlling the excavator may be characterized in that the plane equation of the bucket opening surface is calculated using coordinates (X1, Y1, Z1) to (X4, Y4, Z4) of the four vertices of the bucket.

[0015] In some examples, optionally including at least one preferred example, the control unit may be a system for controlling an excavator, characterized in that the control unit sets a preliminary path plan by moving the bucket tip in parallel so that the first path plan can start from the bucket tip, determines whether the bucket tip enters the inside of the pile of the excavation target when the bucket tip is moved according to the preliminary path plan, and if it is determined that the bucket tip enters the inside of the pile of the excavation target, sets a second path in the opposite direction to the first path with C1 as a starting point, and determines that the first path plan includes the second path preceding the first path.

[0016] In some examples, optionally including at least one preferred example, the system for controlling the excavator may be characterized in that the distance of the second path is a distance over which the bucket tip enters the inside of the pile of the excavation object multiplied by a margin value greater than 1.

[0017] In some examples, optionally including at least one preferred example, the sensor unit may be configured to determine the type of excavated material inside the bucket, and the control unit may be configured to move the bucket tip or the arm tip at different speed commands depending on the type of excavated material inside the bucket.

[0018] In some examples, optionally including at least one preferred example, the control unit may be a system for controlling an excavator, characterized in that the control unit moves the bucket tip or the arm tip at a speed command of 80% or more of the maximum moving speed in the case of a sticky type excavator, and moves the bucket tip or the arm tip at a speed command of 60% or more of the maximum moving speed in the case of a dry type excavator.

[0019] In some examples, optionally including at least one preferred example, a system for controlling an excavator may further include a display controller as an input / output interface for receiving operator input or outputting information, the display controller activating an automatic bucket filling support function.

[0020] A method and system for controlling an excavator having an automatic bucket filling support function according to the present disclosure can improve work efficiency and operator convenience by automatically filling excavated materials exceeding the bucket opening surface into an empty space below the bucket opening surface after a digging operation.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] The example is described in more detail below with reference to the attached drawings.

[0025] Figure 1 is a schematic drawing of an excavator according to one aspect of the present disclosure.

[0026] FIG. 2 is a block diagram schematically illustrating the configuration of a system for controlling an excavator according to one aspect of the present disclosure.

[0027] FIG. 3 is a flowchart of a method for controlling an excavator having an automatic bucket filling support function according to one aspect of the present disclosure.

[0028] FIG. 4 is a conceptual diagram schematically illustrating obtaining necessary information from a sensor unit after a digging operation according to one aspect of the present disclosure.

[0029] FIGS. 5 to 12 are drawings for explaining step-by-step a method and system for controlling an excavator having an automatic bucket filling support function according to one aspect of the present disclosure.

[0030] 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.

[0031] 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.

[0032] 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."

[0033] 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.

[0034] 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.

[0035] Hereinafter, one aspect of the present disclosure will be described in detail with reference to the attached drawings.

[0036] FIG. 1 is a drawing showing a driving unit of an excavator according to one aspect of the present disclosure, and FIG. 2 is a block diagram schematically showing the configuration of a system for controlling an excavator according to one aspect of the present disclosure.

[0037] Referring to FIGS. 1 and 2, 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.

[0038] In one embodiment, the excavator may be implemented by including a computing device that operates through a computer program to realize the functions described herein, and in another embodiment, may be controlled according to a control signal of a control unit.

[0039] A system (1000) for controlling an excavator having an automatic bucket filling support function according to one aspect of the present disclosure includes a driving unit (100), a sensor unit (200), a display controller (300), a control unit (400), and an operating unit (500).

[0040] In general, the excavation operation of an excavator is performed as one cycle including a digging operation to place the excavated material into the bucket at the digging position, a swing operation to move the excavated material inside the bucket to the dumping position, a dumping operation to dump the excavated material inside the bucket onto the load receiver at the dumping position, and a return operation to return to the digging position.

[0041] The automatic bucket filling assist function automatically fills the bucket with excavated material evenly after a digging operation, even without the operator individually operating the boom, arm, and bucket. A control system with this automatic bucket filling assist function controls the excavator to ensure that the bucket is evenly filled with excavated material after a digging operation, thereby preventing the excavated material from flowing out of the bucket during subsequent swinging and dumping operations.

[0042] The driving unit (100) is configured to include an upper swing body (120) that is supported so as to be able to swing on a lower driving body (110), and a work device connected to the upper swing body (120). The work device may include, for example, a boom (130), an arm (140), and a bucket (150).

[0043] The lower drive body (110) is configured to support the load of the upper slewing body (120), boom (130), arm (140), and bucket (150), and move the excavator forward and backward or left and right for work purposes.

[0044] 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.

[0045] 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.

[0046] For example, the arm (140) is connected to a boom (130) which is connected to the upper slewing body (120) of the excavator at one end, and is connected to a bucket (150) at the other end, and each of the boom (130), the arm (140) and the bucket (150) can rotate about one or more axes by the boom cylinder, the arm cylinder and the bucket cylinder, and the bucket (150) can contain an excavation target (e.g., soil) on the ground inside according to the rotation, and the control unit (400) can control the entire operation.

[0047] 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).

[0048] The driving unit (100) may be configured as, for example, an electro-hydraulic system, and the driving may be electronically controlled by the control unit (400).

[0049] The sensor unit (200) is configured to acquire various information necessary to perform the automatic bucket filling support function.

[0050] For example, the sensor unit (200) may include, but is not limited to, inertial measurement units (IMUs) (210), an environment perception system (220), a swing angle sensor, and a pressure sensor.

[0051] Inertial Measurement Units (IMUs) (210) are configured to measure displacement and / or position and / or attitude of one or more of the upper swivel body (120), boom (130), arm (140), and bucket (150) that constitute the driving unit (100). For example, in order to calculate the angles of the boom (130), arm (140), and bucket (150) that operate when performing the automatic bucket filling support function, the inertial measurement units (210) that detect displacements of the boom (130), arm (140), and bucket (150) and output detection signals to the control unit (400) may be installed in the boom (130), arm (140), and bucket (150) links, respectively.

[0052] The Environment Perception System (220) is configured to detect the external environment and the excavated material inside the bucket (150), and may include one or more sensors such as a camera, radar, lidar, etc. This Environment Perception System (220) can identify the type of excavated material contained inside the bucket (150), and can also measure the volume of the excavated material contained inside the bucket (150).

[0053] The swing angle sensor is a configuration for measuring the swing angle of the upper swing body (120). That is, a swing angle sensor that detects the swing angle of the upper swing body (120) and outputs a detection signal to the control unit (400) may be installed in the upper swing body (120).

[0054] A pressure sensor can measure the weight of the excavated material contained inside the bucket by a digging operation. That is, a pressure sensor that detects the weight of the excavated material inside the bucket (150) and outputs a detection signal to the control unit (400) can be installed on the boom (130).

[0055] This sensor unit (200) can obtain information necessary to perform the automatic bucket filling support function, such as information on the terrain including the excavation target, displacement and / or position and / or attitude, information on the type and / or shape and / or volume of the excavation material contained in the bucket, etc. Here, the excavation target may include all types of target materials that can be loaded or transported by an excavator, such as soil during soil transport work, building debris during building demolition work, and ground debris during ground clearing work.

[0056] The sensor unit (200) may receive information necessary to perform the automatic bucket filling support function from another device (e.g., a server) or another component (e.g., memory, sensor, etc.), and may include a wired or wireless communication device that is connected to another device via a network and can transmit and receive various pieces of information described throughout the specification.

[0057] The sensor unit (200) can generate information in real time through sensing of information required to perform the automatic bucket filling support function. For example, the sensor unit (200) can generate information in real time including displacement and / or position and / or attitude of the boom (130), the arm (140), and the bucket (150), the type and / or shape and / or volume of the excavated material contained inside the bucket, external terrain, etc., as the boom (130), the arm (140), and the bucket (150) move, through the inertial measurement device (210) and the terrain detection system (220) including a camera, radar, and lidar.

[0058] The display controller (300) is an input / output interface for receiving user input or outputting information. The display controller (300) activates the automatic bucket filling support function and displays information acquired by the sensor unit (200) (e.g., the shape of the excavated material contained in the bucket) on the display. That is, the operator can activate or deactivate the automatic bucket filling support function through the display controller (300). For example, the operator can activate or deactivate the automatic bucket filling support function with a simple touch gesture on the display controller (300) screen that provides a touchscreen function.

[0059] The operating unit (500) may be a hydraulic joystick or an electric joystick, and preferably, may be an electric joystick that generates an electric signal proportional to the amount of operation of the operator and provides it to the control unit (400).

[0060] This operating unit (500) may be equipped with an input unit, for example, a button, that receives an operator input to initiate the automatic bucket filling support function. Accordingly, the driver can activate the automatic bucket filling support function on the display controller (300) and then push the button on the operating unit (500) to initiate the automatic bucket filling support function.

[0061] The control unit (400) processes information acquired by the sensor unit (200), signals from the display controller (300) and the operation unit (500), etc., and controls the driving unit (100) to automatically perform the necessary operations.

[0062] This control unit (400) performs an automatic bucket filling support function by controlling the driving unit (100) based on information obtained from the sensor unit (200) so that excavated materials exceeding the bucket opening surface can be evenly filled in the empty space below the bucket opening surface.

[0063] Specifically, the control unit (400) calculates a plane equation of the bucket opening surface as a reference plane based on the information obtained from the sensor unit (200), divides the bucket opening surface into a plurality of sections, compares the height of the excavated material in each section with the plane equation of the bucket opening surface, sets the section as an upper section if the height of the excavated material in each section exceeds the bucket opening surface, and sets the section as a lower section if the height of the excavated material is lower than the bucket opening surface, calculates an average height of the excavated material exceeding the bucket opening surface for the upper sections, determines whether the average height is higher than a preset height, and if the average height is higher than the preset height, calculates a volume of the excavated material exceeding the bucket opening surface for the upper sections and a volume of empty space below the bucket opening surface for the lower sections, determines whether a difference between the volume of the excavated material exceeding the bucket opening surface and the volume of the empty space below the bucket opening surface is within a preset range, and if the difference in volume is within a preset range, calculates a center (C1) of the volume of the empty space below the bucket opening surface and the bucket A center of gravity (C2) of the volume of the excavated material exceeding the open surface is calculated, a first path plan including a first path (R1) from C1 to C2 is set, a second path plan is set by translating the first path plan so that the first path plan can start from the bucket tip or the female tip, and the bucket tip or the female tip is moved according to the second path plan so that the excavated material is filled in the empty space below the bucket open surface.

[0064] The above-described series of operations will be described in detail below with reference to FIGS. 3 to 12.

[0065] Throughout the specification, it will be understood by those skilled in the art that the excavator may further include general-purpose components other than those illustrated in FIGS. 1 and 2. For example, the excavator may further include various types of actuators for the movement of each of the boom (130), arm (140), and bucket (150), an actuator control module for detailed control thereof, pipes, a memory for storing data used throughout the operation, and the like.

[0066] FIG. 3 is a flowchart of a method for controlling an excavator having an automatic bucket filling support function according to one aspect of the present disclosure, FIG. 4 is a conceptual diagram schematically showing acquisition of necessary information from a sensor unit after a digging operation according to one aspect of the present disclosure, and FIGS. 5 to 12 are drawings for explaining step-by-step a method and system for controlling an excavator having an automatic bucket filling support function according to one aspect of the present disclosure.

[0067] Referring to FIG. 3, a method (S2000) for controlling an excavator having an automatic bucket filling support function for evenly filling the inside of a bucket with excavated material excavated by a bucket includes a step (S2100) of selecting and activating an automatic bucket filling support function in a display controller (300), a step (S2200) of acquiring information necessary for performing the automatic bucket filling support function in a sensor unit (200), and a step (S2300) of performing the automatic bucket filling support function in a control unit (400) based on the acquired information so that excavated material exceeding the bucket opening surface is filled into an empty space falling short of the bucket opening surface.

[0068] In step S2100, if the automatic bucket filling support function is selected in the display controller (300), the function is activated. For example, if the operator selects and activates the automatic bucket filling support function in the display controller (300) after a digging operation and pushes a button on the operating unit (500), the decision-making system for the automatic bucket filling support function is started.

[0069] In step S2200, as illustrated in FIG. 4, the sensor unit (200) detects a bucket (150) containing excavated material after a digging operation, and can obtain information necessary to perform an automatic bucket filling support function, such as bucket attitude information, position information of the four corners of the bucket for defining the bucket opening surface, and type, shape, and volume information of excavated material contained inside the bucket.

[0070] Meanwhile, the environmental recognition system (220) of the sensor unit (200) can determine the type of excavated material contained inside the bucket (150) after the digging operation, and the control unit (400) maintains the automatic bucket filling function in an active state only when the type of excavated material is a soft material such as soil or gravel.

[0071] In step S2300, the control unit (400) performs an automatic bucket filling support function based on the acquired information so that the excavated material exceeding the bucket opening surface is filled into the empty space below the bucket opening surface.

[0072] The step (S2300) of performing the automatic bucket filling support function includes detailed steps S2310 to S2380.

[0073] Referring to FIG. 5, in step S2310, the plane equation ax+by+cz=d of the bucket opening surface (BP) that will become the reference plain is calculated based on the information acquired by the sensor unit (200).

[0074] As an example, the plane equation of the bucket opening surface (BP) can be calculated using the coordinates of the four vertices of the bucket (150), P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), and P4 (X4, Y4, Z4). Here, the coordinates P1 to P4 of the four vertices of the bucket can be calculated using the forward kinematics of the excavator, and the posture data can be provided by the inertial measurement device (210) installed in the driving unit (100). However, the present invention is not limited thereto, and various methods for calculating the plane equation of the bucket opening surface (BP) can be applied.

[0075] In step S2320, the bucket opening surface (BP) is divided into a plurality of sections. For example, the bucket opening surface (BP) may be divided into a plurality of sections such that each section has a size of 10 cm X 10 cm.

[0076] In step S2330, the height of the excavated material in each section is compared with the plane equation of the bucket opening face (BP). If the height of the excavated material in each section exceeds the bucket opening face (BP), the section is set as the higher section, and if it is less than the bucket opening face (BP), the section is set as the lower section. Here, point cloud data of each section can be calculated in the environmental recognition system (220).

[0077] In step S2340, the average height of the excavated material exceeding the bucket opening surface (BP) for the upper sections is calculated, and it is determined whether the average height is higher than the preset height (Hm).

[0078] At this time, as shown in FIGS. 6 and 7, if the average height of the excavated material exceeding the bucket opening surface (BP) does not exceed the preset height (Hm), there is a low possibility that the excavated material will overflow excessively to the bottom during the swinging and dumping operations following the digging operation even if the automatic bucket filling support function is not performed, and therefore, the subsequent steps are not performed and this is notified to the operator.

[0079] In step S2350, if the average height of the excavated material exceeding the bucket opening surface (BP) is higher than the preset height (Hm), the volume (Va) of the excavated material exceeding the bucket opening surface (BP) for the upper sections and the volume (Vb) of the empty space below the bucket opening surface (BP) for the lower sections are calculated.

[0080] At this time, as illustrated in FIG. 8, even if the average height of the excavated material exceeding the bucket opening surface (BP) exceeds the preset height (Hm), if the difference between the volume (Va) of the excavated material exceeding the bucket opening surface (BP) and the volume (Vb) of the empty space below the bucket opening surface (BP) is outside the preset range, the possibility of the excavated material overflowing excessively to the bottom during the swinging and dumping operations following the digging operation is low even if the automatic bucket filling support function is not performed, and therefore the subsequent steps are not performed and this is notified to the operator. In one example, the preset range may be within 10%.

[0081] Referring to FIGS. 9 and 10, in step S2360, if the difference between the volume (Va) of the excavated material exceeding the bucket opening surface (BP) and the volume (Vb) of the empty space falling short of the bucket opening surface (BP) is within a preset range, the center (C1) of the volume of the empty space falling short of the bucket opening surface (BP) and the center (C2) of the volume of the excavated material exceeding the bucket opening surface (BP) are calculated, and a first path plan (Path_1) including a first path (R1) from C1 to C2 is set. Here, the position coordinates of C1 may be (X5, Y5, Z5), the position coordinates of C2 may be (X6, Y6, Z6), and the path plan may be expressed as a vector value.

[0082] For example, as illustrated in FIG. 9, if the distance between the X-axis coordinates of C1 and C2 is less than the value obtained by multiplying the bucket width (Bw) by the margin value (e.g., 0.25, 25%), that is, if ABS(X5-X6)<bucket width (BW)Xmargin value (e.g., 0.25, 25%), C1 may be moved to C1' and C2 may be moved to C2' to simplify the first path plan (Path_1). Here, the position coordinates of C1', which is the starting point of the simplified first path plan, may be (XC, Y5, Z5), and the position coordinates of C2', which is the ending point of the first path plan (Path_1), may be (XC, Y6, Z6), and XC may be calculated as (X1+X2) / 2.

[0083] As shown in Fig. 10, if the distance between the X-axis coordinates of C1 and C2 is greater than the value obtained by multiplying the bucket width (Bw) by the margin value (e.g., 0.25, 25%), i.e., if ABS(X5-X6) > bucket width (BW) X margin value (e.g., 0.25, 25%), the first path plan (Path_1) is maintained.

[0084] Meanwhile, referring to FIGS. 11 and 12, after setting the first path plan (Path_1), the first path plan (Path_1) is moved in parallel so that it can start from the bucket tip, thereby setting a preliminary path plan (Path_3). Then, when the bucket tip is moved according to the preliminary path plan (Path_3), it is determined whether the bucket tip enters the inside of the pile of the excavation target.

[0085] If it is determined that the bucket tip does not enter the pile of the excavation target, the first path plan (Path_1) including only the first path (R1) is maintained as shown in Fig. 11.

[0086] If it is determined that the bucket tip enters the inside of the pile of the excavation target, as illustrated in Fig. 12, a second path (R2) in the opposite direction to the first path (R1) is set with C1 as the starting point, and the first path plan (Path_1) is determined to include the second path (R2) preceding the first path (R1). Here, the distance of the second path (R2) can be determined as a value obtained by multiplying the distance (Din) at which the bucket tip enters the inside of the pile of the excavation target by a margin value greater than 1 (e.g., 1.5).

[0087] Referring to FIGS. 11 and 12, in step S2370, the first path plan (Path_1) is translated in parallel to establish a second path plan (Path_2) so that the first path plan (Path_1) can start from the arm tip. Here, the arm tip can be replaced with a bucket tip.

[0088] Here, the first path (R1) of the first path plan (Path_1) can be translated parallel to the third path (R3) of the second path plan (Path_2), and the second path (R2) of the first path plan (Path_1) can be translated parallel to the fourth path (R3) of the second path plan (Path_2).

[0089] In step S2380, the female tip is moved according to the second path plan (Path_2) so that the excavated material is filled in the empty space below the bucket opening surface (BP). Here, the female tip can be replaced with a bucket tip.

[0090] For example, in the step of moving according to the second path plan, the bucket tip or arm tip can be moved at different speed commands depending on the type of excavated material inside the bucket. The type of excavated material can be classified using CNN (Convolutional Neural Networks) or other classification methods in the sensor unit (200).

[0091] Here, when moving along the third path (R3) among the second path plans, in the case of sticky excavated materials such as mud or wet soil, the bucket tip or the arm tip can be moved with a speed command of, for example, 80% or more of the maximum moving speed, and in the case of dry excavated materials such as gravel or dry soil, the bucket tip or the arm tip can be moved with a speed command of, for example, 60% or more of the maximum moving speed. In other words, for sticky excavated materials that are relatively difficult to move, the bucket tip or the arm tip can be moved at a relatively faster speed, and for dry excavated materials that are relatively easy to move, the bucket tip or the arm tip can be moved at a relatively slower speed, so that the excavated materials can be efficiently filled into the empty space inside the bucket.

[0092] Meanwhile, when moving along the fourth path (R4) of the second path plan, for smooth operation, regardless of the type of excavated material, the bucket tip or arm tip can be moved with a speed command of, for example, 20% or more of the maximum moving speed.

[0093] When the movement of the bucket tip or the arm tip according to the second path plan (Path_2) is completed, the automatic bucket filling support function is terminated and this is notified to the operator through the display controller (300).

[0094] In this way, the method and system for controlling an excavator having an automatic bucket filling support function of the present disclosure can improve work efficiency and operator convenience by automatically filling excavated materials exceeding the bucket opening surface into an empty space below the bucket opening surface after a digging operation.

[0095] 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.

[0096]

[0097] Description of the symbol

[0098] System to control 1000 excavators

[0099] 100 drive unit

[0100] 110 lower drivetrain

[0101] 120 upper swivel

[0102] 130 Boom

[0103] 140 Aam

[0104] 150 buckets

[0105] 200 sensor section

[0106] 210 Inertial Measurement Unit

[0107] 220 Environmental Awareness System

[0108] 300 display controller

[0109] 400 Control Unit

[0110] 500 control panel

Claims

1. A method for controlling an excavator having an automatic bucket filling support function to ensure that excavated material excavated by the bucket is evenly filled inside the bucket, A step of acquiring information required to perform an automatic bucket filling support function in the sensor unit; A step of calculating a plane equation of the bucket opening surface as a reference plane based on the acquired information; A step of dividing the above bucket opening surface into a plurality of sections; A step of comparing the height of the excavated material in each section with the plane equation of the bucket opening surface, and setting the section as an upper section if the height of the excavated material in each section exceeds the bucket opening surface, and setting the section as a lower section if the height of the excavated material is less than the bucket opening surface; A step of calculating an average height of the excavated material exceeding the bucket opening surface for the above upper sections and determining whether the average height is higher than a preset height; If the average height is higher than the preset height, calculating the volume of excavated material exceeding the bucket opening surface for the upper sections and the volume of empty space falling short of the bucket opening surface for the lower sections; A step of determining whether the difference between the volume of excavated material exceeding the bucket opening surface and the volume of empty space falling short of the bucket opening surface is within a preset range; If the difference in the above volumes is within a preset range, a step of calculating the center (C1) of the volume of the empty space that falls short of the bucket opening surface and the center (C2) of the volume of the excavated material that exceeds the bucket opening surface, and setting a first path plan including a first path from C1 to C2; A step of setting a second path plan by translating the first path plan so that the first path plan can start from the bucket tip or the arm tip; and A method for controlling an excavator, comprising the step of moving the bucket tip or the arm tip according to the second path plan so that the excavated material is filled in the empty space that is shorter than the bucket opening surface.

2. In paragraph 1, A method for controlling an excavator, characterized in that the plane equation of the above bucket opening surface is calculated using the coordinates (X1, Y1, Z1) to (X4, Y4, Z4) of the four vertices of the bucket.

3. In paragraph 1, In the step of setting the first route plan, Set up a preliminary path plan by moving parallel so that the first path plan can start from the bucket tip, When the bucket tip is moved according to the above preliminary path plan, it is determined whether the bucket tip enters the inside of the pile of the excavation target, If it is determined that the bucket tip enters the pile of the excavation target, a second path opposite to the first path is set with C1 as the starting point, A method for controlling an excavator, characterized in that the first path plan is determined to include the second path preceding the first path.

4. In paragraph 3, A method for controlling an excavator, characterized in that the distance of the second path is a value obtained by multiplying the distance at which the bucket tip enters the inside of the pile of the excavation object by a margin value greater than 1.

5. In paragraph 1, In the step of moving according to the above second route plan, A method for controlling an excavator, characterized in that the bucket tip or arm tip is moved at different speed commands depending on the type of excavated material inside the bucket.

6. In paragraph 5, A method for controlling an excavator, characterized in that, in the case of sticky type excavated material, the bucket tip or arm tip is moved with a speed command of 80% or more of the maximum moving speed, and in the case of dry type excavated material, the bucket tip or arm tip is moved with a speed command of 60% or more of the maximum moving speed.

7. In paragraph 1, A method of controlling an excavator, characterized in that it further comprises the step of selecting and activating an automatic bucket filling support function in a display controller.

8. A system for controlling an excavator having an automatic bucket filling support function to ensure that the excavated material excavated by the bucket is evenly filled inside the bucket. A sensor unit that acquires information necessary to perform an automatic bucket filling support function; and Includes a control unit that performs an automatic bucket filling support function based on the acquired information, The above control unit, Based on the above information obtained, the plane equation of the bucket opening surface as a reference plane is calculated, Divide the above bucket opening surface into multiple sections, The height of the excavated material in each section is compared with the plane equation of the bucket opening surface, and if the height of the excavated material in each section exceeds the bucket opening surface, the section is set as the upper section, and if it is less than the bucket opening surface, the section is set as the lower section. Calculate the average height of the excavated material exceeding the bucket opening surface for the above upper sections, and determine whether the average height is higher than the preset height, If the above average height is higher than the preset height, the volume of excavated material exceeding the bucket opening surface for the upper sections and the volume of empty space below the bucket opening surface for the lower sections are calculated, Determine whether the difference between the volume of excavated material exceeding the bucket opening surface and the volume of empty space below the bucket opening surface is within a preset range, If the difference in the above volumes is within a preset range, the center of the volume of the empty space (C1) that falls short of the bucket opening surface and the center of the volume of the excavated material (C2) that exceeds the bucket surface are calculated, and a first path plan including a first path from C1 to C2 is set, A second path plan is set by translating the first path plan so that the first path plan can start from the bucket tip or the arm tip, and A system for controlling an excavator, which moves the bucket tip or arm tip according to the second path plan so that the excavated material is filled in the empty space that is shorter than the bucket opening surface.

9. In paragraph 7, A system for controlling an excavator, characterized in that the plane equation of the above bucket opening surface is calculated using the coordinates (X1, Y1, Z1) to (X4, Y4, Z4) of the four vertices of the bucket.

10. In paragraph 7, The above control unit, Set up a preliminary path plan by moving parallel so that the first path plan can start from the bucket tip, When the bucket tip is moved according to the above preliminary path plan, it is determined whether the bucket tip enters the inside of the pile of the excavation target, If it is determined that the bucket tip enters the pile of the excavation target, a second path opposite to the first path is set with C1 as the starting point, A system for controlling an excavator, characterized in that the first path plan determines to include the second path preceding the first path.

11. In paragraph 9, A system for controlling an excavator, characterized in that the distance of the second path is a value obtained by multiplying the distance at which the bucket tip enters the inside of the pile of the excavation object by a margin value greater than 1.

12. In paragraph 7, The above sensor unit determines the type of excavated material inside the bucket, A system for controlling an excavator, characterized in that the control unit moves the bucket tip or arm tip with different speed commands depending on the type of excavated material inside the bucket.

13. In paragraph 11, A system for controlling an excavator, characterized in that the control unit moves the bucket tip or the arm tip with a speed command of 80% or more of the maximum moving speed in the case of sticky type excavated material, and moves the bucket tip or the arm tip with a speed command of 60% or more of the maximum moving speed in the case of dry type excavated material.

14. In paragraph 7, A system for controlling an excavator, characterized in that it further includes a display controller that activates an automatic bucket filling support function as an input / output interface for receiving operator input or outputting information.

Images