Auxiliary cleaning system for construction machinery and auxiliary cleaning control method for construction machinery

Abstract

Disclosed in one aspect of the present disclosure is an auxiliary cleaning system for construction machinery, the system comprising: a lower driving body including a dozer; an upper rotating body rotatably coupled to the lower driving body; a boom, an arm, and a bucket mounted on the upper rotating body; and a sensor for scanning the area in front of the construction machinery, wherein the auxiliary cleaning system for construction machinery comprises: an operation unit for controlling the operation of the construction machinery; a control unit for processing information on the area in front, scanned by the sensor, and wherein the control unit comprises a memory for storing information about areas having more cleaning targets and contour lines of the cleaning targets on the basis of the information on the area in front obtained via the sensor, and a second processor for calculating a moving distance for the lower driving body and a rotation angle for the upper rotating body on the basis of the information of the memory, and the control unit sets the positions of the boom, the arm, the bucket, and the dozer, and moves the lower driving body and rotates the upper rotating body on the basis of the information calculated via the second processor.

Description

Cleaning assistance system for construction machinery and cleaning assistance control method for construction machinery

[0001] The present disclosure relates generally to construction machinery. In certain aspects, the present disclosure relates to a cleaning assistance system for construction machinery and a cleaning assistance control method for construction machinery. The present disclosure may be applied to large vehicles such as trucks, buses, and construction equipment. While the present disclosure may be described with respect to specific vehicles, the present disclosure is not limited to any particular vehicle.

[0002] In general, an excavator is a type of construction machine that performs various tasks such as digging the ground at construction sites, loading work to transport soil, excavation work to create foundations, demolition work to dismantle buildings, grading work to prepare the ground, or leveling work to level the ground.

[0003] Meanwhile, in the stationary work, it is essential for workers to understand the terrain structure of the target area in real time and build the necessary data.

[0004] Until now, the stopping work has been done manually by workers, which has led to the problem that the stopping work is complex and time-consuming, and the work results are achieved differently depending on the worker.

[0005] According to a first aspect of the present disclosure, a cleaning assistance system for a construction machine is provided, which includes an undercarriage including a dozer, an upper swivel body rotatably coupled to the undercarriage, a boom, an arm, a bucket mounted on the upper swivel body, and a sensor for scanning a front area, the cleaning assistance system comprising: an operating unit for operating the construction machine; a control unit for processing information on a front area scanned by the sensor; and the control unit, based on information on the front area obtained by the sensor, includes a memory for storing information on an area with more cleaning targets and a contour line of the cleaning targets; and a processor for calculating a moving distance of the undercarriage and a rotation angle of the upper swivel body based on information in the memory; and based on information calculated by the processor, the cleaning assistance system sets positions of the boom, the arm, the bucket, and the dozer, moves the undercarriage, and rotates the upper swivel body. The technical advantage is that the upper slewing body, including the boom, arm, and bucket, is automatically controlled without requiring separate operation by the operator, enabling the construction machine to completely clean the cleaning target, and improving the precision and efficiency of the construction machine's cleaning work.

[0006] In one embodiment, the front area scanned by the sensor is configured as a rectangle whose horizontal length is an integer multiple of the width of the construction machine and whose vertical length is the length of the construction machine, and the front area is divided into a plurality of rectangles whose horizontal length is the width of the construction machine and whose vertical length is the length of the construction machine, and among the plurality of rectangles, an area having the largest number of cleaning targets can be set as a priority front area.

[0007] In one embodiment, the operating unit may include a lever for determining whether to rotate and the direction of rotation, and a driving pedal for moving the lower body. The technical advantage is that the operator can determine the rotation direction of the upper body in a desired direction.

[0008] In one embodiment, the construction machine further includes a display unit that activates the cleaning assistance system, and the display unit can display planar information about the construction machine and the cleaning target obtained from the sensor. The technical advantage is that the operator can understand the forward area in advance through the display, and the construction machine can perform cleaning operations based on the planar information about the forward area.

[0009] In one embodiment, the processor may set the dozer to be positioned on the ground before the cleaning operation, set the boom, arm, and bucket to be positioned in front of the dozer, perform the cleaning operation after the upper swivel of the construction machine rotates, and return the boom, arm, bucket, and dozer to their original positions after the cleaning operation is completed.

[0010] In one embodiment, the processor controls the construction machine to be positioned in a priority forward area, generates a virtual driving centerline passing through a rotation axis of the construction machine, generates a first virtual line parallel to the virtual driving centerline at a first vertex of the bucket, and rotates the upper swivel body so that the first virtual line contacts the lowest part of a contour line to be cleaned.

[0011] In one embodiment, the processor generates second virtual lines to fourth virtual lines parallel to the virtual driving center line from the second to fourth vertices of the bucket, rotates the upper body so that the second to fourth virtual lines do not intersect the contour line of the cleaning target, and defines an angle rotated by the rotation as the existing rotation angle. The technical advantage is that the bucket does not come into contact with the cleaning target due to the rotation of the upper body, so that the cleaning operation of the construction machine is not hindered by the bucket and the cleaning target.

[0012] In one embodiment, the processor sets a reference volume of the cleaning target, and if a cleaning target exceeding the reference volume is located in the priority forward area, the upper swivel body can be rotated further than the existing rotation angle. The technical advantage is that even if the cleaning target volume is large, the cleaning operation of the construction machine is not hindered by the bucket and the cleaning target.

[0013] According to a second aspect of the present disclosure, a cleaning auxiliary control method for a construction machine is provided, which includes an undercarriage including a dozer, an upper swing body rotatably coupled to the undercarriage, a boom, an arm, a bucket mounted on the upper swing body, and a sensor for scanning a front area, the cleaning auxiliary control method comprising a step (S100) of the sensor scanning the front area to determine information on the amount of a cleaning target and a contour line of the cleaning target, a step (S200) of determining a rotation direction of the upper swing body through an operating unit and completing a cleaning operation, and a step (S300) of returning the construction machine including the boom, the arm, the bucket, and the dozer to an original position after the cleaning operation is completed.

[0014] In one embodiment, step S100 may include a step (S110) of activating a cleaning auxiliary control function.

[0015] In one embodiment, step S100 may further include a step of setting the horizontal length of the front region as a rectangle that is an integer multiple of the width of the construction machine and the vertical length as the length of the construction machine (S110), a step of setting the region with the largest number of cleaning targets among the front regions as a priority front region (S120), and a step of confirming the lowest part of the cleaning target contour of the priority front region (S130).

[0016] In one embodiment, step S200 may include a step of determining whether to rotate and the direction of rotation (S210), a step of checking whether the direction of rotation is appropriate (S220), a step of changing the direction of rotation using a lever if the direction of rotation is not appropriate (S230), and a step of completing a cleaning operation of the construction machine if the direction of rotation is appropriate (S240).

[0017] In one embodiment, in step S240, the method may include a step of controlling the construction machine to be positioned in a priority forward area (S241), a step of generating a virtual driving center line passing through a rotation axis of the construction machine (S242), a step of generating a first virtual line to a fourth virtual line parallel to the virtual driving center line from a first vertex to a fourth vertex of the bucket (S243), and a step of rotating the upper swivel body such that the first virtual line contacts the lowest part of a contour line to be cleaned and the second virtual line to the fourth virtual line do not meet the contour line to be cleaned (S244).

[0018] In one embodiment, in step S240, a reference volume of a cleaning target is set, and if a cleaning target exceeding the reference volume is in a priority front area, the upper body may rotate more than the rotation angle calculated by the processor.

[0019] In one embodiment, after the cleaning operation is completed in step S300, the priority front area can be reset to perform additional cleaning operations.

[0020] The above-described aspects, appended claims, and / or examples disclosed herein above and hereinafter may be suitably combined with one another as would be apparent to one of ordinary skill in the art.

[0021] 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 from the foregoing or may be recognized by practicing the teachings herein.

[0022] With reference to the accompanying drawings, a more detailed description of embodiments of the present disclosure, cited as examples, follows below.

[0023] Figure 1 is a schematic drawing showing a construction machine according to one embodiment of the present invention.

[0024] FIG. 2 is a block diagram showing the basic configuration of a cleaning auxiliary system for a construction machine according to one embodiment of the present invention.

[0025] FIG. 3 is a schematic diagram showing communication between a construction machine and a display unit according to one embodiment of the present invention.

[0026] FIG. 4 is a drawing for explaining the length of a construction machine, the width of the construction machine, the height of a dozer, the width of the dozer, and the width of a bucket according to one embodiment of the present invention.

[0027] FIG. 5 is a drawing for explaining the front area of ​​a cleaning assistance system of a construction machine according to one embodiment of the present invention.

[0028] FIG. 6(a) is a drawing for explaining the rotation angle of a cleaning assistance system for a construction machine according to one embodiment of the present invention. FIG. 6(b) is a drawing for explaining the rotation angle of a cleaning assistance system for a construction machine according to one embodiment of the present invention when the cleaning target exceeds a reference volume.

[0029] FIG. 7 is a schematic diagram illustrating a state before the start of cleaning work of a cleaning assistance system for a construction machine according to one embodiment of the present invention.

[0030] FIG. 8 is a schematic diagram illustrating a cleaning operation of a cleaning assistance system of a construction machine according to one embodiment of the present invention when cleaning a priority front area.

[0031] FIG. 9 is a schematic diagram illustrating a cleaning operation of a cleaning assistance system for a construction machine according to one embodiment of the present invention after cleaning a priority front area.

[0032] FIG. 10 is a drawing schematically illustrating a process of preparing a cleaning operation for a next priority front area after a cleaning operation for a priority front area of ​​a cleaning assistance system for a construction machine according to one embodiment of the present invention is completed.

[0033] Figure 11 is a step diagram showing a cleaning auxiliary control method for construction machinery.

[0034] Fig. 12 is a step diagram showing a step of scanning a front area among cleaning auxiliary control methods of construction machinery to determine information on the amount of a cleaning target and the contour line of the cleaning target.

[0035] Figure 13 is a step diagram showing a step of determining the rotation direction of the upper rotating body through an operating unit and completing the work among the cleaning auxiliary control methods of construction machinery.

[0036] Figure 14 is a step diagram showing the steps for completing the cleaning operation of the construction machine when the rotation direction is appropriate.

[0037] 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.

[0038] 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.

[0039] 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."

[0040] 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.

[0041] 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.

[0042] Hereinafter, one aspect of the present disclosure will be described in detail with reference to the attached drawings.

[0043] Fig. 1 is a schematic drawing of a construction machine according to one embodiment of the present invention. Fig. 2 is a block diagram illustrating the basic configuration of a cleaning auxiliary system of a construction machine according to one embodiment of the present invention.

[0044] Cleaning work can include all work that changes the terrain structure by identifying the terrain structure in real time, such as detailed ground preparation work and leveling work.

[0045] A cleaning assistance system for a construction machine (100) according to one aspect of the present disclosure includes a control unit (200) for controlling the construction machine (100), a display unit (300) for activating the cleaning assistance system of the construction machine, and an operation unit (400) for manipulating the operation of the construction machine (100). The construction machine (100), the control unit (200), the display unit (300), and the operation unit (400) 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] Referring to FIGS. 1 and 2, a construction machine (100) such as an excavator includes a lower body (110), an upper body (120) that is swivellably installed on the lower body (110), a boom (130), an arm (140), and a bucket (150) mounted on the upper body (120), and a dozer (160) and a sensor (170) mounted on the lower body (110).

[0048] The lower drive unit (110) supports the load of the upper swivel body (120), boom (130), arm (140), and bucket (150), and is configured to move the excavator for work purposes. The lower drive unit (110) includes a pair of left and right driving units, and can drive in a straight line in the forward and backward direction, turn left and right by steering, or change direction in the opposite direction of driving by turning. The driving unit of the lower drive unit (110) may be, for example, a caterpillar or wheel type. And, depending on the driving direction of the driving unit, the construction machine (100) can drive forward or backward.

[0049] The upper swivel body (120) may include a rotation axis (121). (See Fig. 6)

[0050] In addition, the upper swivel body (120) is configured to be supported on the lower driving body (110) and is designed to rotate on the lower driving body (110) by a swivel device including a rotation motor, a rotation reduction gear, etc.

[0051] In addition, a virtual driving center line (Cl) can be generated from the rotation axis (121) toward the front region (F) through the processor (220). (See Fig. 6)

[0052] 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 operated by a hydraulic cylinder.

[0053] 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 accommodate an object (e.g., soil) on the ground inside according to the rotation, and the control unit (200) can control the entire operation.

[0054] 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) rotates, the boom (130), arm (140) and bucket (150) rotate together with the upper swivel body (120) around the rotation axis (121).

[0055] The construction machine (100) may be configured with, for example, an electro-hydraulic system, and the operation of the construction machine (100) may be electronically controlled by a controller.

[0056] Referring to FIG. 6, each vertex in the plan view of the bucket (150) may be referred to as a first vertex (151), a second vertex (152), a third vertex (153), and a fourth vertex (154), in that order. Here, the first vertex (151) may refer to the right vertex inside the construction machine (100), the second vertex (152) may refer to the right vertex outside the construction machine (100), the third vertex (153) may refer to the left vertex outside the construction machine (100), and the fourth vertex (154) may refer to the left vertex inside the construction machine (100). Here, the first to fourth vertices (151, 152, 153, 154) can be used to explain the case where the control unit (200) controls the rotation of the upper swivel body (120) in the cleaning assistance system of the construction machine described later.

[0057] The dozer (160) is installed at the front of the lower body (110) and can operate in an up-and-down direction. Therefore, it does not rotate in accordance with the rotation of the upper swivel body (120). This dozer (160) can be used to clean a cleaning target (T) during a cleaning operation.

[0058] FIG. 3 is a schematic diagram showing communication between a construction machine and a display unit according to one embodiment of the present invention.

[0059] A sensor (170) is installed on one side of a construction machine (100) and is used to scan the road surface condition of the front area (F) of the construction machine (100) and to obtain location information of the construction machine (100). The area scanned by the sensor (170) is called the front area (F), and the scanned target material to be cleaned is called the cleaning target (T).

[0060] The sensor may include one or more terrain detection sensors, such as a camera or lidar, and a location information acquisition sensor, such as a Global Navigation Satellite System (GNSS).

[0061] The sensor (170) may be, as an example, a plurality of image sensors mounted on a construction machine (100) to capture images of the surrounding area of ​​the construction machine (100). These sensors (170) capture images of the front, rear, left, and right sides of the construction machine (100) during driving and operation, and transmit the captured images to the control unit (200). Referring to FIG. 3, the captured images are output to the display unit (300) as described below.

[0062] FIG. 4 is a drawing for explaining the length of a construction machine, the width of the construction machine, the dozer height, the dozer length, and the bucket length according to one embodiment of the present invention.

[0063] The length (M_L) of the construction machine may be defined as the maximum distance between the upper swivel body (120) and the bucket (150). The width (M_W) of the construction machine may refer to the maximum width of the construction machine (100). This may be the larger of the width of the lower body (110) or the width of the dozer (160). The length (M_L) and the width (M_W) of the construction machine may be used when explaining the front area (F) described below.

[0064] The width of the doser (D_W) refers to the horizontal width of the doser (160). The height of the doser (D_H) refers to the height of the doser (160). The width of the bucket (B_W) refers to the horizontal width of the bucket (150). The width of the doser (D_W), the height of the doser (D_H), and the width of the bucket (B_W) can be used when explaining the reference volume of the cleaning target (T) to be described later.

[0065] FIG. 5 is a drawing for explaining the front area of ​​a cleaning assistance system of a construction machine according to one embodiment of the present invention.

[0066] Referring to FIG. 5, the front area (F) scanned by the sensor (170) is rectangular, and the horizontal length may be an integer multiple of the width (M_W) of the construction machine, and the vertical length may be the length (M_L) of the construction machine.

[0067] For example, the front area (F) may be rectangular, with a horizontal length equal to three times the width (M_W) of the construction machine and a vertical length equal to the length (M_L) of the construction machine. The front area (F) of the present disclosure may be described as a rectangle as described above, but is not limited thereto.

[0068] In detail, the construction machine (100) is spaced apart from the front area (F) by a certain distance and may be placed at the rear of the front area (F). In detail, it may be located at the center of the rear of the front area (F). At this time, as shown in Fig. 5, if the front area (F) is a rectangle whose length is three times the width (M_W) of the construction machine and whose length is the length (M_L) of the construction machine, the left area (F L ), central area (F C ), right area (F R ) can be referred to as.

[0069] The control unit (200) may include a memory (210) and a processor (220). More specifically, the control unit (200) is configured by an operation processing device (a single-core processor, a multi-core processor, or a processor core constituting the same), reads necessary data and software from a storage device such as the memory (210), and executes operation processing according to the processor (220) on the data.

[0070] The memory (210) stores information about the road surface condition of the front area (F) and the location of the construction machine (100) obtained from the sensor (170). Specifically, the road surface condition of the front area (F) may include the location and status of the cleaning target (T), information about the area with more cleaning targets (T), and information about the contour lines of the cleaning targets (T).

[0071] FIG. 6(a) is a drawing for explaining the rotation angle of a cleaning assistance system for a construction machine according to one embodiment of the present invention. FIG. 6(b) is a drawing for explaining the rotation angle of a cleaning assistance system for a construction machine according to one embodiment of the present invention when the cleaning target exceeds a reference volume.

[0072] Referring to FIG. 6, the processor (220) can calculate the required movement distance of the lower body (110) and the required rotation angle of the upper body (120) based on the information obtained from the memory (210).

[0073] First, the processor (220) moves the lower body (110) so that more cleaning targets (T) can be cleaned during cleaning work based on the road surface information of the front area (F) and the location information of the construction machine (100).

[0074] At this time, if the area with the largest number of cleaning targets (T) among the front areas (F) is called the priority front area (F1), the cleaning target (T) existing in the priority front area (F1) becomes the priority cleaning target (T1).

[0075] After this, the processor sets the dozer (160) to be positioned on the ground before starting the cleaning operation, and sets the boom (130), arm (140) and bucket (150) to be positioned in front of the dozer (160).

[0076] After this, the upper swivel body (120) is rotated based on the road surface information of the priority front area (F1). At this time, the processor (220) determines the lowest point of the contour line of the priority cleaning target (T1) and rotates the upper swivel body (120) based on this, so that the construction machine (100) can perform the cleaning work using the dozer (160) without the cleaning work being hindered by the boom (130), arm (140), and bucket (150).

[0077] Specifically, when a virtual driving center line (Cl) passing through the rotation axis (121) of the construction machine (100) is created and a first virtual line parallel to the virtual driving center line (Cl) passing through the first vertex (151) of the bucket (150) is created, the upper rotating body (120) can rotate so that the first virtual line comes into contact with the lowest part of the contour line of the priority cleaning target (T1).

[0078] In addition, when a second virtual line to a fourth virtual line parallel to the virtual driving center line (Cl) are generated at the second to fourth vertices (152, 153, 154) of the bucket (150), the upper swivel body (120) can rotate so that the second to fourth virtual lines do not meet the contour line of the cleaning target (T).

[0079] At this time, the angle at which the upper swivel body (120) rotates can be defined as the existing rotation angle (θ1).

[0080] However, when the rotation is determined based on the first vertex (151), when the upper rotating body (120) rotates counterclockwise, the cleaning operation can be prevented from being interfered with by the bucket (150), but when the rotation direction of the upper rotating body (120) is clockwise, the cleaning operation cannot be prevented from being interfered with by the bucket.

[0081] That is, the rotation of the above construction machine (100) is described based on the case where the upper rotating body (120) rotates counterclockwise, and when the upper rotating body (120) rotates clockwise, the fourth vertex (154) can play the role of the first vertex (151).

[0082] However, if the volume of the cleaning target (T1') is large, there is a possibility that the cleaning operation may be hindered by the bucket (150) even if the upper rotating body (120) rotates by the existing rotation angle (θ1) as described above.

[0083] Therefore, by setting a reference volume, when the volume of the cleaning target (T1') exceeds the reference volume, the upper rotating body (120) can rotate more than the existing rotation angle (θ1).

[0084] For example, the reference volume may be half the product of the width of the dozer (D_W), the height of the dozer (D_H), and the width of the bucket (B_W). In this case, an angle that is rotated more than the existing rotation angle (θ1) is called an additional rotation angle (θ2). In the present disclosure, the reference volume is described as half the product of the width of the dozer (D_W), the height of the dozer (D_H), and the width of the bucket (B_W), but is not limited thereto.

[0085] Due to the additional rotation angle (θ2) as described above, the bucket (150) and the cleaning target (T1') have an additional distance (D) between the two configurations. A ) can be secured, so that the cleaning operation can proceed without interference regardless of the size of the cleaning target (T1').

[0086] For example, the additional rotation angle (θ2) may be 20% of the existing rotation angle (θ1). In the present disclosure, the additional rotation angle (θ2) is described as being 20% ​​of the existing rotation angle (θ1), but is not limited thereto.

[0087] FIG. 7 is a schematic diagram illustrating a state before the start of a cleaning operation of a cleaning assistance system for a construction machine according to an embodiment of the present invention. FIG. 8 is a schematic diagram illustrating a state when a cleaning operation of a cleaning assistance system for a construction machine according to an embodiment of the present invention cleans a priority front area. FIG. 9 is a schematic diagram illustrating a state after a cleaning operation of a cleaning assistance system for a construction machine according to an embodiment of the present invention cleans a priority front area.

[0088] Referring to FIGS. 7 to 9, the cleaning operation for the priority front area (F1) can be identified.

[0089] Before performing a cleaning operation, the construction machine (100) rotates the upper swivel body (120) to fit the cleaning target (T1) in the priority forward area (F1). After the rotation of the upper swivel body (120) is completed, the construction machine (100) moves the cleaning target (T1) out of the forward area (F) using the dozer (160). After this, the construction machine (100) returns to its original position.

[0090] FIG. 10 is a drawing schematically illustrating a process of preparing a cleaning operation for a next priority front area after a cleaning operation for a priority front area of ​​a cleaning assistance system for a construction machine according to one embodiment of the present invention is completed.

[0091] Referring to Fig. 10, after completing the cleaning work for the priority front area (F1), the construction machine (100) can move to the next priority front area (F2) with the largest number of cleaning objects (T), and after moving, it performs the same cleaning work as the cleaning work in the priority front area (F1).

[0092] When the cleaning operation is complete, the boom (130), arm (140), bucket (150) and dozer (160) can be returned to their original positions.

[0093] Referring again to FIG. 3, the display unit (300) outputs a captured image of a surrounding area captured by a sensor (170) of the construction machine (100), and may include one or more displays.

[0094] In detail, the display unit (300) can display plane information about the construction machine (100), the front area (F) and the cleaning target (T) obtained from the sensor, and can serve to activate the cleaning assistance system of the construction machine.

[0095] The operating unit (400) includes a lever (410) and a driving pedal (420) that operate the operation of the construction machine (100). That is, the operating unit (400) is operated to rotate the upper rotating body (120) and move the lower driving body (110) equipped with a pair of left and right driving units of the construction machine (100).

[0096] Specifically, the lever (410) may serve to determine the direction of rotation. For example, the lever (410) may include one or more buttons, and a rotation command may be issued through the buttons on the lever (410). In addition, the direction of rotation may be changed to a desired direction through the buttons on the lever (410).

[0097] However, the construction machine (100) can also determine the rotation direction without a separate operation by the user through the lever (410). For example, depending on the scan contents of the front area (F), the upper rotating body (120) can rotate in the direction in which the cleaning target (T) is smaller.

[0098] Additionally, even if the rotation direction is determined without separate operation, the user can change the rotation direction using the lever (410).

[0099] Additionally, the driving pedal (420) may mean a lever for moving the lower driving body (110), which may be manually operated by a worker.

[0100] Below, a cleaning auxiliary control method for a construction machine according to one embodiment of the present invention is described.

[0101] Fig. 11 is a step diagram showing a cleaning auxiliary control method of a construction machine. Fig. 12 is a step diagram showing a step of scanning a front area to determine information about the amount of a cleaning target and the contour lines of the cleaning target among the cleaning auxiliary control methods of a construction machine. Fig. 13 is a step diagram showing a step of determining the rotation direction of the upper rotating body through an operating unit among the cleaning auxiliary control methods of a construction machine and completing the work.

[0102] Referring to FIGS. 11 to 13, a cleaning auxiliary control method for a construction machine including a lower body including a dozer, an upper swivel body rotatably coupled to the lower body, a boom, an arm, a bucket mounted on the upper swivel body, and a sensor for scanning a front area may be provided, the method including a step (S100) of the sensor scanning the front area to determine information on the amount of a cleaning target and a contour line of the cleaning target, a step (S200) of determining a rotation direction of the upper body through an operating unit and completing a cleaning operation, and a step (S300) of returning the construction machine including the boom, the arm, the bucket, and the dozer to the original position after the cleaning operation is completed.

[0103] In addition, the step (S100) of having the sensor scan the front area and determine information about the amount of cleaning targets and the contour lines of the cleaning targets may further include a step (S110) of activating a cleaning auxiliary control function, a step (S120) of setting the horizontal length of the front area to a rectangle that is an integer multiple of the width of the construction machine and a vertical length to the length of the construction machine, a step (S130) of setting the area with the largest number of cleaning targets among the front areas as a priority front area, and a step (S140) of confirming the lowest part of the cleaning target contour line of the priority front area.

[0104] In addition, the step (S200) of determining the rotation direction of the upper swivel body through the operating unit and completing the cleaning operation may include a step (S210) of determining whether to rotate and the rotation direction, a step (S220) of checking whether the rotation direction is appropriate, a step (S230) of changing the rotation direction through a lever if the rotation direction is not appropriate, and a step (S240) of completing the cleaning operation of the construction machine if the rotation direction is appropriate.

[0105] The step (S210) of determining whether to rotate may be performed automatically by the construction machine or by a user. When the construction machine automatically determines whether to rotate and the direction of rotation, for example, the upper swivel body (120) may rotate in a direction with fewer cleaning targets (T) based on the scanned contents of the front area (F).

[0106] Figure 14 is a step diagram showing the steps for completing the cleaning operation of the construction machine when the rotation direction is appropriate.

[0107] Referring to FIG. 14, more specifically, when the rotation direction is appropriate, the step (S240) of completing the cleaning operation of the construction machine may include the step (S241) of controlling the construction machine to be positioned in a priority front area, the step (S242) of generating a virtual driving center line passing through the rotation axis of the construction machine, the step (S243) of generating a first virtual line to a fourth virtual line parallel to the virtual driving center line from the first vertex to the fourth vertex of the bucket, and the step (S244) of rotating the upper rotating body such that the first virtual line touches the lowest part of the cleaning target contour line and the second virtual line to the fourth virtual line do not meet the cleaning target contour line.

[0108] In addition, when the rotation direction is appropriate, in the step (S240) of completing the cleaning operation of the construction machine, a reference volume of the cleaning target is set, and when a cleaning target exceeding the reference volume is in the priority front area, the upper swivel body may rotate further than the rotation angle calculated by the processor. For example, the reference volume may be half the product of the width of the dozer, the height of the dozer, and the width of the bucket.

[0109] In addition, after the cleaning work is completed, in the step (S300) where the construction machine including the boom, arm, bucket and dozer returns to its original position, the construction machine (100) can reset the priority front area after the cleaning work is completed and perform additional cleaning work.

[0110] Using the aforementioned cleaning assistance system and cleaning assistance method for construction machinery, the construction machinery can identify the forward area through the display and then proceed with cleaning operations. At this time, the upper swivel body, including the boom, arm, and bucket, is automatically controlled without requiring any separate operator intervention, enabling the construction machinery to thoroughly clean the cleaning target. Consequently, the precision and efficiency of the construction machinery's cleaning operations can be improved.

[0111] In addition, the operator can determine the desired rotation direction and perform cleaning work using the construction machine without being disturbed by the bucket and the cleaning object regardless of the volume of the cleaning object.

[0112] 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.

Claims

1. A cleaning auxiliary system for a construction machine, comprising: an undercarriage including a dozer; an upper swing body rotatably coupled to the undercarriage; a boom, an arm, a bucket, and a sensor for scanning the front area mounted on the upper swing body; An operating unit for controlling the operation of the above construction machine; A control unit for processing information about the front area scanned through the above sensor; The above control unit, A memory for storing information on areas with more cleaning targets and contour lines of the cleaning targets based on information on the front area obtained through the above sensor; A processor for calculating the movement distance of the lower body and the rotation angle of the upper body based on the information of the above memory; A cleaning assistance system for construction machinery that sets the positions of a boom, arm, bucket, and dozer, moves the lower body, and rotates the upper body based on information calculated through the above processor.

2. In paragraph 1, The front area scanned by the above sensor is composed of a rectangle whose horizontal length is an integer multiple of the width of the construction machine and whose vertical length is the length of the construction machine. A cleaning assistance system for a construction machine, which divides the front area into a plurality of rectangles whose horizontal length is the width of the construction machine and whose vertical length is the length of the construction machine, and sets the area with the largest number of cleaning targets among the plurality of rectangles as the priority front area.

3. In paragraph 1, The above operating part, A lever that determines whether to rotate and in what direction; and A cleaning assistance system for a construction machine, comprising a driving pedal for moving the lower driving body.

4. In paragraph 1, Further comprising a display unit for activating the cleaning assistance system of the above construction machine, The above display unit, A cleaning assistance system for a construction machine, which displays plane information about the construction machine and the cleaning target obtained from the above sensor.

5. In paragraph 1, The above processor, Before cleaning, the dozer is set to be positioned on the ground, with the boom, arm and bucket positioned in front of the dozer. After the upper rotating body of the above construction machine rotates, cleaning work is performed. A cleaning auxiliary system for construction machinery that returns the boom, arm, bucket and dozer to their original positions after cleaning work is completed.

6. In paragraph 2, The above processor, Control the above construction equipment to be positioned in the priority forward area, A virtual driving center line passing through the rotation axis of the construction machine is created, and a first virtual line parallel to the virtual driving center line is created at the first vertex of the bucket, A cleaning auxiliary system for a construction machine, wherein the first virtual line rotates the upper rotating body so that it comes into contact with the lowest part of the contour line to be cleaned.

7. In paragraph 6, The above processor, Generate a second virtual line to a fourth virtual line parallel to the virtual driving center line from the second to fourth vertices of the bucket, The second virtual line to the fourth virtual line rotate the upper body so that it does not meet the contour line of the cleaning target. A cleaning auxiliary system for construction machinery, which defines the angle rotated by the above rotation as the existing rotation angle.

8. In paragraph 7, The above processor, Set the existing volume of the cleaning target, A cleaning auxiliary system for a construction machine, which rotates the upper rotating body further than the existing rotation angle when a cleaning target exceeding the existing volume is in the priority front area.

9. A cleaning auxiliary control method for a construction machine including a lower body including a dozer, an upper swivel body rotatably coupled to the lower body, a boom, an arm, a bucket and a sensor scanning the front area mounted on the upper body, A step (S100) in which the above sensor scans the front area to determine information about the amount of the cleaning target and the contour of the cleaning target; Step (S200) of determining the rotation direction of the upper rotating body through the control unit and completing the cleaning operation; and A cleaning auxiliary control method for a construction machine, comprising a step (S300) in which the construction machine, including a boom, an arm, a bucket and a dozer, returns to its original position after the cleaning operation is completed.

10. In paragraph 9, At stage S100, A cleaning auxiliary control method for a construction machine, comprising a step (S110) of activating a cleaning auxiliary control function.

11. In paragraph 10, At step S100, A step (S120) in which the horizontal length of the front area is set to a rectangle that is an integer multiple of the width of the construction machine and the vertical length is set to a rectangle that is the length of the construction machine; Step (S130) of setting the area with the largest number of cleaning targets among the above front areas as the priority front area; and A cleaning auxiliary control method for a construction machine, further comprising a step (S140) of checking the lowest part of the cleaning target contour of the priority front area.

12. In paragraph 9, At S200 stage, Step for determining whether to rotate and the direction of rotation (S210); Step for checking whether the rotation direction is correct (S220); If the rotation direction is not appropriate, a step of changing the rotation direction through a lever (S230); and A cleaning auxiliary control method for a construction machine, comprising a step (S240) of completing a cleaning operation of the construction machine when the rotation direction is appropriate.

13. In paragraph 12, At step S240, A step (S241) of controlling the above construction machine to be positioned in the priority front area; A step of generating a virtual driving center line passing through the rotation axis of the above construction machine (S242); A step (S243) of generating a first virtual line to a fourth virtual line parallel to the virtual driving center line from the first to fourth vertices of the bucket; and A cleaning auxiliary control method for a construction machine, comprising a step (S244) in which the upper rotating body rotates so that the first virtual line touches the lowest part of the contour line to be cleaned, and the second to fourth virtual lines do not touch the contour line to be cleaned.

14. In paragraph 13, At step S240, The existing volume of the cleaning target is set, A cleaning auxiliary control method for a construction machine, wherein the upper rotating body rotates more than the rotation angle calculated by the processor when a cleaning target exceeding the above existing volume is in the priority front area.

15. In paragraph 9, At S300 level, A cleaning auxiliary control method for a construction machine, wherein after completing a cleaning operation, the priority front area is reset to perform additional cleaning operations.

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