Apparatus and method for generating path for automated construction equipment

Abstract

The present invention relates to an apparatus and a method for generating a path for automated construction equipment. The method for generating a path for automated construction equipment according to an embodiment of the present invention is performed by a computing device and comprises the steps of: generating a data terrain model through 3D mapping of a predetermined terrain including a construction site (S100); generating a target model in the form of a 3D map representing a terrain of the construction site, on the basis of the data terrain model and construction design information (S200); and generating an autonomous driving and operation path for each piece of construction equipment on the basis of the target model (S300).

Description

Automated construction equipment path generation device and method

[0001] The present invention relates to an automated construction equipment path generation device and method, and more specifically, to a technology for generating a path for autonomous driving and operation of construction equipment.

[0002]

[0003] With the recent advent of the Fourth Industrial Revolution, the development of automation technologies for certain construction equipment, such as unmanned excavators, is actively underway through the convergence of smart technologies. Additionally, control systems capable of integrating multiple automated construction machines have been developed, and construction automation is being implemented using remote control technologies for construction equipment through these systems. Earthwork accounts for the largest proportion of construction work. Currently, traditional earthwork processes are criticized for their high dependence on construction machinery, re-measurement and re-construction due to surveying errors, and inefficient operation of construction equipment. It is expected that these problems can be resolved through construction equipment automation technology.

[0004] In operating such automated construction equipment, path generation for autonomous driving and operation is crucial. Conventional path generation technology for construction equipment determines the area where the equipment can move through geometry analysis and generates the optimal path to reach the destination based on this. However, since this conventional technology merely calculates the shortest distance based on obstacles, it is impossible to generate autonomous driving and work paths that reflect the specific specifications and operational characteristics of each piece of construction equipment.

[0005] Accordingly, there is an urgent need for measures to resolve the problems of conventional path generation technology for automated construction equipment.

[0006]

[0007] The present invention aims to solve the problems of the aforementioned prior art. One aspect of the present invention is to provide an apparatus and method for generating an autonomous driving and work path for automated construction equipment by considering the specifications, redundancy, safety distance, etc. of the construction equipment and reflecting the work pattern algorithm of a skilled worker in a real environment.

[0008]

[0009] The method for generating an automated construction equipment path according to an embodiment of the present invention comprises: (a) a step of generating a data terrain model by 3D mapping a predetermined terrain including a construction site; (b) a step of generating a target model in the form of a 3D map representing the terrain of the construction site based on the data terrain model and construction design information; and (c) a step of generating an autonomous driving and work path for each construction equipment based on the target model.

[0010] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, step (a) may include: acquiring point cloud data (PCD) for the predetermined terrain; and generating a triangular irregular network (TIN) model based on the acquired point cloud data.

[0011] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, the construction design information includes a design drawing for the construction site, and step (b) can generate the target model by matching the data terrain model with the design drawing.

[0012] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, the construction equipment may include one or more selected from the group consisting of a dozer, a roller, and a grader.

[0013] In addition, in a method for generating a path for automated construction equipment according to an embodiment of the present invention, when the construction equipment is the bulldozer, step (c) comprises: arranging M×N cells along M (M is a natural number greater than or equal to 1) rows and N (N is a natural number greater than or equal to 1) columns based on the blade width of the bulldozer and a preset redundancy to partition the target model into a grid form; calculating a minimum number of allocated cells based on the minimum advance distance of the bulldozer and the minimum distance between two adjacent inflection points among a plurality of inflection points forming the centerline of the target model; and for one column among the N columns, allocating the cells according to the calculated minimum number of allocated cells to sequentially set a plurality of adjacent one-column work zones. The method may include the step of setting multiple 2-to-N column work zones corresponding to each of the multiple 1-column work zones by assigning the cell to each of the 2-to-N columns so as to have the same work pattern as the work pattern of the doser for each of the multiple 1-column work zones; and the step of generating a path of the doser to pass through the center of the cell within the mutually corresponding 1-to-N column work zones.

[0014] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, the cell may be in the shape of a square with a side length of an effective width calculated according to [Equation 1] below.

[0015] [Mathematical Formula 1]

[0016]

[0017] (Here, EW is the effective width, M is the overlap, and BW is the blade width of the dozer.)

[0018] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, the minimum allocation cell count may be an integer obtained by rounding up the value obtained by dividing the minimum forward distance by the minimum distance.

[0019] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, the work pattern of the bulldozer may be a number of work repetitions calculated as an integer obtained by rounding up the value obtained by dividing the amount of cut and fill soil within the first row work area by the blade capacity of the bulldozer.

[0020] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, step (c) further includes a step of calculating the number of line change cells for changing the work line from one of two adjacent columns to the other; and in the dozer path generation step, a reverse path can be generated for the number of line change cells calculated.

[0021] In addition, in the method for generating an automated construction equipment path according to an embodiment of the present invention, when the construction equipment is the roller or the grader, step (c) may include: a step of calculating an effective width based on the drum width of the roller or the blade width of the grader, the width of the construction equipment, the width of the target model, and a safety distance; a step of generating nodes at intervals of the calculated effective width and the safety distance along the width direction of the target model; and a step of generating a path of the construction equipment by connecting the nodes along the length direction of the target model.

[0022] Meanwhile, the automated construction equipment path generation device according to an embodiment of the present invention comprises: a terrain model generation unit that generates a data terrain model by 3D mapping a predetermined terrain including a construction site; a target model generation unit that generates a target model in the form of a 3D map representing the terrain of the construction site based on the data terrain model and construction design information; and a planned path generation unit that generates an autonomous driving and work path for each construction equipment based on the target model.

[0023] In addition, in the automated construction equipment path generation device according to an embodiment of the present invention, the data terrain model may be a Triangular Irregular Network (TIN) model generated based on Point Cloud Data (PCD) for the predetermined terrain.

[0024] In addition, in an automated construction equipment path generation device according to an embodiment of the present invention, the construction design information includes a design drawing for the construction site, and the target model generation unit can generate the target model by matching the data terrain model with the design drawing.

[0025] In addition, in the automated construction equipment path generation device according to an embodiment of the present invention, the construction equipment may include one or more selected from the group consisting of a dozer, a roller, and a grader.

[0026]

[0027] The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

[0028] Prior to this, terms and words used in this specification and claims should not be interpreted in their ordinary and dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0029]

[0030] According to the present invention, an optimal path for autonomous driving and operation of construction equipment can be generated by considering various influencing factors present at the actual site. The driving and operation path of the automated construction equipment generated in this way is applied to a construction equipment navigator (C-Map Navigator) to guide the driver along the travel path.

[0031] Furthermore, the construction equipment-specific routes generated according to the present invention can increase productivity and work speed by operating multiple automated machines simultaneously. Moreover, issues arising in actual work environments with construction equipment operators, such as wage and skill levels, can also be resolved through the autonomous driving and operation of automated construction equipment.

[0032]

[0033] FIG. 1 is a flowchart of an automated construction equipment path generation method according to an embodiment of the present invention.

[0034] Figure 2 is a diagram illustrating the process of creating a data terrain model.

[0035] Figures 3 to 5 are monitor screens illustrating the process of creating a target model for road design.

[0036] Figures 6 to 8 are monitor screens illustrating the process of creating a target model for site design.

[0037] Figure 9 is a flowchart of the autonomous driving and work path generation process of the dozer.

[0038] Figure 10 is a diagram illustrating the target model partitioning process of Figure 9.

[0039] Figure 11 is a diagram illustrating the process of setting the work area of ​​Figure 9.

[0040] Figure 12 is a monitor screen illustrating the path generation process of Figure 9.

[0041] Figure 13 is a flowchart of the autonomous driving and work path generation process of a roller / grader.

[0042] Figure 14 is a diagram illustrating the node creation process of Figure 13.

[0043] Figure 15 is a diagram illustrating the path generation process of Figure 13.

[0044] FIG. 16 is a configuration diagram of an automated construction equipment path generation device according to an embodiment of the present invention.

[0045]

[0046] The objects, specific advantages, and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings. It should be noted that in assigning reference numbers to the components of each drawing in this specification, identical components are assigned the same number whenever possible, even if they are shown in different drawings. Furthermore, terms such as "first," "second," etc., are used to distinguish one component from another, and the components are not limited by these terms. In the following description of the present invention, detailed descriptions of related prior art that could unnecessarily obscure the essence of the invention are omitted.

[0047] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0048]

[0049] FIG. 1 is a flowchart of a method for generating an automated construction equipment path according to an embodiment of the present invention, and FIG. 2 is a diagram explaining the process of generating a data terrain model. FIG. 3 to 5 are monitor screens explaining the process of generating a target model for road design, and FIG. 6 to 8 are monitor screens explaining the process of generating a target model for site design.

[0050] As illustrated in FIGS. 1 to 8, the method for generating an automated construction equipment path according to an embodiment of the present invention comprises, in the method for generating an automated construction equipment path performed by a computing device, a step of generating a data terrain model by 3D mapping a predetermined terrain including a construction site (S100); a step of generating a target model in the form of a 3D map representing the terrain of the construction site based on the data terrain model and construction design information (S200); and a step of generating an autonomous driving and work path for each construction equipment based on the target model (S300).

[0051]

[0052] The present invention is a technology for generating paths for autonomous driving and operation of automated construction equipment. Conventional technology merely calculates the shortest distance based on obstacles and has the problem of being unable to generate autonomous driving and operation paths that reflect the specifications and operational characteristics of each construction equipment. The present invention was devised to solve this problem.

[0053] Specifically, the method for generating an automated construction equipment path according to an embodiment of the present invention is performed by a computing device and includes a data terrain model generation step (S100), a target model generation step (S200), and a path generation step for each construction equipment (S300).

[0054]

[0055] The data terrain model generation step (S100) is a process of generating a data terrain model by 3D mapping a predetermined terrain including a construction site. Here, the predetermined terrain includes the actual construction site and the terrain around it, and the construction site refers to a construction site where earthworks, etc. are performed by construction equipment.

[0056] The data terrain model may be a Triangular Irregular Network (TIN) model based on Point Cloud Data (PCD). For example, a point cloud can be acquired for a specific terrain using a drone and a scanner, and then a TIN model can be generated based on it. A point cloud is a set cloud of multiple points spread across a three-dimensional space, and by scanning a specific area, a point cloud map representing the geometric structure, shape, and spatial relationships of that area can be obtained. Here, unnecessary terrain features can be removed by denoising the point cloud map, and an SMRF filter can be used as a means for this. By forming a TIN surface from such a point cloud map, a data terrain model in the form of a 3D map can be formed.

[0057]

[0058] The target model generation step (S200) is a process of generating a target model in the form of a 3D map representing the terrain of a construction site using the data terrain model generated above. At this time, the target model can be generated by mapping construction design information onto the data terrain model. The target model is a 3D map of a work area where work is performed by actual construction equipment. In one embodiment, the construction design information includes design drawings for the construction site, and the target model can be generated by matching the data terrain model with the design drawings. For example, regarding a TIN terrain model based on a point cloud map, the target model can be generated by forming a corridor, which is a 3D object, by combining centerlines, longitudinal profiles, and transverse profiles based on design drawings. The target model can be generated in two main ways, such as road design and site design.

[0059] The creation of a target model for road design can involve the processes of road longitudinal design, road cross-sectional design, and road model cell generation. Longitudinal design can be performed by generating longitudinal inflection points and inputting coordinate values ​​of a station based on an actual field longitudinal section (see Fig. 3). Cross-sectional design can be performed based on the longitudinal inflection points. Input parameters used for cross-sectional design include slope, road width, and gradient, and can be generated based on the design cross-sectional drawing (see Fig. 4). Based on the longitudinal and cross sections generated in this way, a corridor is formed to generate a ground surface (TIN), thereby designing the road model (see Fig. 5).

[0060] The creation of a target model for site design may involve the processes of site outline design, site slope creation, and site model design. Site outline design can generate the site outline in a polygonal shape by creating inflection points along the site's contour. Input parameters required for creating the site outline may include the coordinates and slopes of each inflection point, and the outline can be created based on the site design drawing (see Fig. 6). The site slope can be formed based on the angles input into the data terrain model along the generated outermost contour (see Fig. 7). Based on the outline and slope information generated in this way, the surface of the site model (TIN) can be created (see Fig. 8).

[0061]

[0062] The path generation step for each piece of construction equipment (S300) is a process of generating autonomous driving and work paths for each piece of construction equipment based on a target model. Here, an optimal work path is generated in a form similar to the actual paths of the equipment, depending on the type of construction equipment and the type of work. The construction equipment may include one or more selected from a group consisting of a bulldozer, a roller, and a grader. The path for each piece of equipment can be generated according to the type of construction equipment and the type of work, and the planned path can be distinguished by considering the earthwork volume. While the planned path for a bulldozer considers the cut and fill volumes, rollers and graders can generate paths based on patterned work without considering cut and fill volumes because they operate based on a leveled work area due to their work characteristics. Cut and fill volumes are divided into cut volume and fill volume; cut volume refers to the amount of soil to be cut away, and fill volume refers to the amount of soil to be piled up.

[0063] Below, the path generation step (S300) for each construction equipment is explained by distinguishing between the bulldozer, roller, and grader.

[0064] FIG. 9 is a flowchart of the autonomous driving and work path generation process of a bulldozer, and FIG. 10 is a diagram explaining the target model partitioning process of FIG. 9. FIG. 11 is a diagram explaining the work area setting process of FIG. 9, and FIG. 12 is a monitor screen explaining the path generation process of FIG. 9.

[0065] As illustrated in FIGS. 9 to 12, when the construction equipment is a bulldozer, a planned path can be generated by considering the specifications of the equipment, such as blade capacity, blade width, and equipment width, as well as the working direction, obstacles, and redundancy of the target model. Specifically, the path generation step (S300) for the bulldozer may include a target model partitioning step (S311), a minimum allocation cell count calculation step (S312), a 1st column work area setting step (S313), a 2nd to Nth column work area setting step (S314), and a path generation step (S315).

[0066] The target model partitioning step (S311) is a process of partitioning the target model into a grid in which a plurality of cells are arranged adjacently. Here, the target model can be partitioned into a grid by arranging M×N cells along (M is a natural number greater than or equal to 1) rows and N (N is a natural number greater than or equal to 1) columns. The cells can be formed in a square shape, and the length of one side is equal to the effective width calculated according to [Equation 1] below.

[0067] [Mathematical Formula 1]

[0068]

[0069] Here, EW is the effective width, M is the overlap, and BW is the blade width of the dozer. The dozer performs the task of pushing the soil forward while advancing sequentially along the above columns. That is, it performs the task while advancing along one column, then retracts along that column, changes the work line to the adjacent next column, and performs the task again while advancing along that column. Here, when the dozer advances along one work line, it pushes the soil forward by the blade width; however, when working on an adjacent work line, the blade is positioned to overlap a certain portion with the previously worked area, so the overlap is considered when calculating the effective width of the cell. For example, the overlap can be 1 to 10%, but is not necessarily limited to this. If multiple cells are partitioned, an index number can be assigned to each cell according to the direction of work, and obstacles within the target model can also be set.

[0070] The step of calculating the minimum allocation cell count (S312) is a process of calculating the minimum allocation cell count based on the minimum forward distance of the bulldozer and the minimum distance between two adjacent inflection points among a plurality of inflection points forming the centerline of the target model. Here, the minimum forward distance of the bulldozer is a preset value and is the minimum distance required for the bulldozer to perform work while advancing. Meanwhile, when creating the target model, longitudinal inflection points are created to define the centerline as shown in FIG. 3, and the minimum allocation cell count is calculated using the minimum distance between two adjacent inflection points among a plurality of inflection points. The minimum allocation cell count can be determined as the smallest integer obtained by rounding up the value obtained by dividing the minimum forward distance by the minimum distance. For example, if the minimum forward distance of the bulldozer is 5m and the minimum distance between adjacent inflection points forming the centerline of the target model is 2.5m, the minimum allocation cell count is 2 cells. This minimum allocation cell count provides regularity to the path generation algorithm.

[0071] In the step of setting the first column work area (S313), for one of the N columns, cells are allocated according to the calculated minimum number of allocated cells. As cells are allocated in this way, multiple first-column work areas are established sequentially in adjacent order. In the above example, when the minimum number of allocated cells is 2, multiple first-column work areas can be established by allocating 2 cells to each column, as shown in the first-column dotted box of FIG. 11. At this time, if there is an obstacle in a cell, the first-column work area can be established by excluding the cell containing the obstacle, taking the obstacle into consideration. Additionally, when excluding cells containing obstacles, it is acceptable to allocate fewer cells than the minimum number of allocated cells.

[0072] In the step of setting work zones from 2 to N columns (S314), multiple work zones from 2 to N columns are set corresponding to each of the multiple 1-column work zones. Here, cells can be assigned to each of the 2 to N columns so as to have the same work pattern as the work pattern of the bulldozer for each of the multiple 1-column work zones. At this time, the work pattern of the bulldozer may be the number of work repetitions. The number of work repetitions can be calculated as a minimum integer greater than or equal to the value obtained by dividing the cut and fill volume within the 1-column work zone by the blade capacity of the bulldozer. For example, based on construction design information, the cut and fill volume is determined for each of the M×N cells as shown in FIG. 11 (in FIG. 11, blue represents the cut volume and red represents the fill volume), and when the blade capacity is 6 m³, the cut volume of the 1-column work zone (dotted box) is 10.59 m³ (5.86 + 4.73), so the number of work repetitions is 2. In the case of the next work section, column 2, cells are assigned such that the sum of the cut and fill volumes per cell equals 2 repetitions. In Fig. 11, the sum of the cut volumes from section (2,1) to (2.5) is 10.41 m³, which corresponds to 2 repetitions; thus, up to 5 cells can be set as the 2nd column work area. However, in that case, too many cells are assigned compared to column 1, so a limit may be placed on the difference in the number of cells. In Fig. 11, the maximum possible number of cells assigned relative to the minimum number of assigned cells is set to 2, and cells are assigned as the work area only up to the section (2,1) to (2.5). Work areas from column 3 to column N can be set in the same way. Here, when summing the cut and fill volumes of the cells, the cut volume is summed as (+) and the fill volume as (-); however, if the assigned cells contain only fill volume, the cut and fill volume is calculated as an absolute value. For example, in the case of column 4 of Fig. 11, since the cut volume and fill volume are mixed in the section from (4,1) to (4,4), the cut volume is added as (+) and the fill volume as (-), but the cut and fill volume in the section from (4,5) to (4,6) becomes │-0.69-0.93│= 1.62㎥.In this way, work zones are sequentially set from column 1 to column N, and then work zones are set by sequentially assigning cells up to column N based on the work zone of the next column 1. Here, if there is an obstacle in a cell, the work zone can be set by considering the cells containing the obstacle. For example, the work zone can be set only up to the cell before the cell containing the obstacle.

[0073] In the path generation step (S315), the path of the dozer can be generated to pass through the center of the cells within the corresponding work zones from column 1 to column N. For example, the cells indicated by dotted lines from columns 1 to 4 in Fig. 11, which correspond to each other, can be generated as a primary work path, and then the cells corresponding to the work zones from columns 1 to 4 can be generated as a secondary work path. Here, the planned path of the dozer can be generated using the center point coordinates of the upper and lower corners of the cells assigned within the work zones from column 1 to column N. At this time, the planned path can be generated sequentially by referencing the index determined for each cell.

[0074] Meanwhile, since the dozer performs work while advancing and changes the work line after reversing, it is necessary to calculate the number of cells required for the line change. Accordingly, the path generation step (S300) for the dozer may further include a step of calculating the number of line change cells to change the work line from one of two adjacent columns to the other, and may generate a reverse path equal to the number of line change cells calculated in the path generation step (S315). Here, the number of line change cells can be calculated using the distance required for the line change and the minimum distance between two adjacent inflection points among a plurality of inflection points forming the centerline of the target model. At this time, the distance required for the line change and the minimum distance may be pre-set. Specifically, the number of line change cells can be calculated as an integer obtained by rounding up the value obtained by dividing the distance required for the line change by the minimum distance.

[0075]

[0076] FIG. 13 is a flowchart of the autonomous driving and work path generation process of a roller / grader, FIG. 14 is a diagram explaining the node generation process of FIG. 13, and FIG. 15 is a diagram explaining the path generation process of FIG. 13.

[0077] As illustrated in FIGS. 13 to 15, when the construction equipment is a roller or a grader, a planned path can be generated by considering the width of the roller's drum or the grader's blade, the width of the equipment, the radius of rotation, the degree of overlap, the safety distance, and the working direction of the target model, obstacles, etc. Specifically, the path generation step (S300) for the roller or grader may include an effective width calculation step (S321), a line count calculation and node generation step (S322), and a path generation step (S323).

[0078] In the effective width calculation step (S321), the effective width can be calculated based on the drum width of the roller or the blade width of the grader, the width of the construction equipment, the width of the target model, and the safety distance. In one embodiment, the minimum overlap can be calculated as in [Equation 2] below, and the effective width can be calculated using [Equation 3] below.

[0079] [Mathematical Formula 2]

[0080]

[0081] Here, Mmin is the minimum overlap, TW is the width of the target model, FG is the larger value between the roller drum width (or grader blade width) and the width of the construction equipment, SL is the safety distance, BW is the roller drum width (or grader blade width), and M is the overlap.

[0082] [Mathematical Formula 3]

[0083]

[0084] Here, EW is the effective width, Mmin is the minimum overlap, and BW is the drum width of the roller (or blade width of the grader).

[0085] In the line count calculation and node creation step (S322), nodes are created by offsetting the distance between the inflection points of the target model centerline and the intersection point of the target model's outline line by the effective width in the direction of the centerline. Additionally, the number of lines is calculated as the number of lines created by connecting the generated nodes in the longitudinal direction.

[0086] In the path generation step (S323), the nodes generated above are connected according to a line change pattern to generate a planned path. Line change patterns include change after reversing, change during reversing (see Fig. 15), and the 3-point rotation method. Here, unlike a grader, the roller can generate a planned path by taking into account the number of cycles.

[0087]

[0088] Below, an automated construction equipment path generation device is described as a computing device that performs the aforementioned automated construction equipment path generation method.

[0089] FIG. 16 is a configuration diagram of an automated construction equipment path generation device according to an embodiment of the present invention.

[0090] As illustrated in FIG. 16, the automated construction equipment path generation device according to an embodiment of the present invention includes a terrain model generation unit (10) that generates a data terrain model by 3D mapping a predetermined terrain including a construction site, a target model generation unit (20) that generates a target model in the form of a 3D map representing the terrain of the construction site based on the data terrain model and construction design information, and a planned path generation unit (30) that generates an autonomous driving and work path for each construction equipment based on the target model.

[0091] As the method for generating an automated construction equipment path performed by the automated construction equipment path generation device according to an embodiment of the present invention has been described above, explanations regarding overlapping matters are omitted or described only briefly. Specifically, the automated construction equipment path generation device according to an embodiment of the present invention may include a terrain model generation unit (10), a target model generation unit (20), and a planned path generation unit (30).

[0092]

[0093] The terrain model generation unit (10) generates a data terrain model through 3D mapping of a predetermined terrain including a construction site and the surrounding terrain. Here, the data terrain model may be a Triangular Irregular Network (TIN) model generated based on Point Cloud Data (PCD) for the predetermined terrain. The terrain model generation unit (10) may receive point cloud data for the predetermined terrain generated by a separate drone and scanner from an external source, or receive terrain data obtained through a drone and scanner and process the terrain data to generate point cloud data, and may generate a TIN model from the cloud data. Additionally, the terrain model generation unit (10) may remove unnecessary terrain shapes by removing noise from the point cloud map using an SMRF filter.

[0094]

[0095] The target model generation unit (20) generates a target model in the form of a 3D map representing the terrain of a construction site based on a data terrain model and construction design information. The construction design information may include design drawings for the construction site, and the target model can be generated by matching the data terrain model with the design drawings. The target model is a 3D map of a work area where work is performed by actual construction equipment, and the target model can be generated by forming a corridor, which is a 3D object, by combining a centerline, longitudinal section, and transverse section based on the design drawings with a TIN terrain model based on a point cloud map. The target model can be generated in two main ways, such as road design and site design.

[0096]

[0097] The planned path generation unit (30) generates an autonomous driving and work path for each construction equipment based on a target model, and the construction equipment may include one or more selected from a group consisting of a dozer, a roller, and a grader.

[0098] Routes for each piece of equipment can be generated based on the type of construction equipment and work type, and the planned routes can be distinguished by considering the volume of earthwork. While the planned route for a bulldozer considers cut and fill volumes, rollers and graders can generate routes based on patterned operations without considering cut and fill volumes, as they operate based on leveled work areas due to their operational characteristics.

[0099]

[0100] Here, the terrain model generation unit (10), the target model generation unit (20), and the planned path generation unit (30) may be all or part of different processors, or each module included in a program executed on a single processor.

[0101]

[0102] In summary, according to the present invention, an optimal route for the autonomous driving and operation of construction equipment can be generated by considering various influencing factors present at the actual site. The driving and operation route of the automated construction equipment generated in this way is applied to a construction equipment navigator (C-Map Navigator) to guide the operator along the route. Furthermore, the route for each piece of construction equipment generated according to the present invention can increase productivity and work speed by operating multiple pieces of automated equipment simultaneously. Moreover, issues arising in the actual work environment with construction equipment operators, such as issues regarding operator wages and skill levels, can also be resolved through the autonomous driving and operation of automated construction equipment.

[0103]

[0104] Although the present invention has been described in detail through specific embodiments, this is for the purpose of specifically explaining the invention, and the invention is not limited thereto. It is evident that modifications or improvements can be made by those skilled in the art within the technical scope of the invention.

[0105] All simple variations or modifications of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be clarified by the appended claims.

[0106]

[0107] The present invention is an apparatus and method for generating autonomous driving and work paths for automated construction equipment by considering the specifications, redundancy, safety distance, etc. of the construction equipment and reflecting the work pattern algorithm of a skilled worker in a real environment, and is recognized as having industrial applicability.

Claims

1. In a method for generating an automated construction equipment path performed by a computing device, (a) A step of generating a data terrain model by 3D mapping a predetermined terrain including a construction site; (b) a step of generating a target model in the form of a 3D map representing the terrain of the construction site based on the above data terrain model and construction design information; and (c) a step of generating autonomous driving and work paths for each construction equipment based on the above target model; comprising an automated construction equipment path generation method.

2. In Claim 1, The above step (a) is, A step of acquiring point cloud data (PCD) for the above-mentioned predetermined terrain; and A method for generating an automated construction equipment path, comprising the step of generating a TIN (Triangular Irregular Network) model based on the acquired point cloud data.

3. In Claim 1, The above construction design information includes design drawings for the above construction site, and The above step (b) is, Automated construction equipment path generation method for generating the target model by matching the above data terrain model and the above design drawing.

4. In Claim 1, The above construction equipment is, An automated construction equipment path generation method comprising one or more selected from the group consisting of a dozer, a roller, and a grader.

5. In Claim 4, If the above construction equipment is the above bulldozer, the above step (c) is, A step of dividing the target model into a grid shape by arranging M×N cells along M (where M is a natural number greater than or equal to 1) rows and N (where N is a natural number greater than or equal to 1) columns based on the blade width of the dozer and a preset redundancy; A step of calculating the minimum number of allocated cells based on the minimum advance distance of the dozer and the minimum distance between two adjacent inflection points among a plurality of inflection points forming the centerline of the target model; For one column among the N columns, a step of allocating cells equal to the calculated minimum allocation number to sequentially set up a plurality of adjacent one-column work zones; A step of setting multiple 2-to-N column work zones corresponding to each of the multiple 1-column work zones by assigning the cell to each of the 2-to-N columns so as to have the same work pattern as the work pattern of the doser for each of the multiple 1-column work zones; and A method for generating an automated construction equipment path, comprising the step of generating a path of the dozer to pass through the center of the cell within the corresponding 1 to N column work zones.

6. In Claim 5, The above cell is a square shape with a side length of the effective width calculated according to [Mathematical Formula 1] below, a method for generating an automated construction equipment path. [Mathematical Formula 1] (Here, EW is the effective width, M is the overlap, and BW is the blade width of the dozer.) 7. In Claim 5, The above minimum allocation cell count is, A method for generating an automated construction equipment path, wherein the value obtained by dividing the minimum forward distance by the minimum distance is rounded up to an integer.

8. In Claim 5, The operating pattern of the above-mentioned dozer is, A method for generating an automated construction equipment path, wherein the number of work repetitions is calculated as an integer obtained by rounding up the value obtained by dividing the cut and fill volume within the above-mentioned 1-row work area by the blade capacity of the above-mentioned bulldozer.

9. In Claim 5, The above step (c) is, The method further includes the step of calculating the number of line change cells for changing the work line from one of two adjacent columns to the other; In the above dozer path generation step, Automated construction equipment path generation method for generating a reverse path equal to the number of line change cells calculated above.

10. In Claim 4, If the above construction equipment is the roller or the grader, the above step (c) is, A step of calculating an effective width based on the drum width of the roller or the blade width of the grader, the width of the construction equipment, the width of the target model, and a safety distance; A step of creating nodes at intervals of the calculated effective width and the safety distance along the width direction of the target model; and An automated construction equipment path generation method comprising the step of generating a path of the construction equipment by connecting the nodes along the length direction of the target model.

11. A terrain model generation unit that generates a data terrain model by 3D mapping a predetermined terrain including a construction site; A target model generation unit that generates a target model in the form of a 3D map representing the terrain of the construction site based on the above data terrain model and construction design information; and An automated construction equipment path generation device comprising: a planned path generation unit that generates autonomous driving and work paths for each construction equipment based on the above target model.

12. In Claim 11, The above data terrain model is, An automated construction equipment path generation device, which is a Triangular Irregular Network (TIN) model generated based on Point Cloud Data (PCD) for the aforementioned predetermined terrain.

13. In Claim 11, The above construction design information includes design drawings for the above construction site, and The above target model generation unit is, An automated construction equipment path generation device that generates the target model by matching the above data terrain model and the above design drawing.

14. In Claim 11, The above construction equipment is, An automated construction equipment path generation device comprising one or more selected from the group consisting of a dozer, a roller, and a grader.

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