KR20090015354A - Excavating system for excavator and excavating method excavator thereby - Google Patents

Abstract

An excavation system for an excavator and an excavation method of an excavator using the same are provided to let a worker with little experience of earthwork perform an excavation work safely and effectively by guiding remotely and progressing an excavation work of an excavator by stages according to the preset work plan through a communications net. An excavation system for an excavator comprises a stereoscopic image data generator(10) photographing the topographical shape of a construction site and the work situation of an excavator(1) and processing the photographed image, and then generating a three-dimensional stereoscopic image data, a DB server(20) receiving the stereoscopic image data from the stereoscopic image data generator and storing, a terminal(30) receiving the stored stereoscopic image data in the DB server and setting up an excavation work of the excavator by stages on the basis of the received stereoscopic image data, and transferring the data on the excavation work set by stages to the excavator, and a data supplier(40) receiving the data on the excavation work by stages from the terminal and supplying to the excavator to make an excavator perform an excavation work by stages.

Description

Excavator Excavation System and Excavator Excavation Method {EXCAVATING SYSTEM FOR EXCAVATOR AND EXCAVATING METHOD EXCAVATOR THEREBY}

The present invention relates to an excavation system for an excavator and an excavation method of an excavator, which can set the excavator excavation step by step to guide the operation of the excavator remotely according to the setting step, as well as computerized management of the excavator's work results The present invention relates to an excavation system for excavators and an excavation method of an excavator thereby.

In particular, the present invention relates to an excavator excavation system that can not only remotely guide an optimized step-by-step operation of an excavator using a communication network, but also to computerize and manage the performance of the excavator.

In general, excavators are mainly used in construction work, and earthwork is performed by the intuitive judgment and experience of the operator. Excavator which performs earthwork work performs earthwork work in dangerous working environment, so it is necessary to quickly and precisely cope with operation (driving).

However, the excavation work of the excavator is carried out only by the intuition and experience of the driver, so the safety is not effectively guaranteed and productivity is not uniform. That is, the general excavator has a problem that the excavation work is not only dangerous because the earthwork is dependent on the driver's experience, the productivity is irregular, the productivity is low.

In particular, since the general excavator can only visually check the hourly, daily or weekly or monthly productivity, there is a problem that it is not only practically impossible to manage the performance and improve the efficiency of earthworks.

That is, the general excavator can not accurately check the work performance numerically, it is impossible to manage the work performance, there is a problem that can not predict the amount of work.

The present invention was created in order to solve the conventional problems as described above, by setting the work plan of the excavator in advance step by step can be carried out by remotely instructing the excavator's excavation work in accordance with the work plan set through the communication network The purpose is to provide an excavation system for an excavator.

In addition, it provides automatic excavator excavation system that automatically checks the earthwork volume of excavators that are carrying out excavation work step by step through the communication network, and calculates the performance of the excavator as needed by comparing the scheduled work load with the actual work load. Another purpose is to:

In addition, another object of the present invention is to provide an excavation method of an excavator that can control the excavation work of the excavator by using the excavating system for the excavator as described above.

Excavator excavation system according to the present invention for achieving the object of the present invention, in the excavator excavation system for guiding the excavation work of the excavator in accordance with the set step by setting the excavation work of the excavator step by step, A three-dimensional image data generator installed in the excavator to capture the topographical shape of the construction site and the working condition of the excavator, and process the captured image to generate three-dimensional stereoscopic image data; A DB server for receiving and storing stereoscopic image data from the stereoscopic image data generator; A terminal for receiving the stereoscopic image data stored from the DB server and setting the excavation work of the excavator in stages based on the received stereoscopic image data, and transmitting the set excavation work data to the excavator; It is installed on the excavator so that the excavator to perform the excavation step by step, the data providing unit for receiving the step-by-step excavation work data from the terminal to provide to the excavator.

On the other hand, the excavator excavation system according to the present invention, in the excavator excavation system for guiding the excavation work of the excavator remotely according to the set step by setting the excavation work of the excavator in stages, the construction site is installed on the excavator A stereoscopic image data generator for capturing the topography of the site and the working situation of the excavator and processing the captured image to generate three-dimensional stereoscopic image data; A DB server for receiving and storing stereoscopic image data from the stereoscopic image data generator; A terminal for receiving the stereoscopic image data stored from the DB server and setting the excavation operation of the excavator in stages based on the received stereoscopic image data, and transmitting the set excavation operation data to the excavator; It is installed on the excavator so that the excavator to perform the step-by-step excavation work, a data providing unit for receiving the step-by-step excavation work data from the terminal to provide to the excavator; including, while receiving the step-by-step excavation work data by the data providing unit It includes a; workload calculation unit for calculating the work performance of the excavator by comparing the predetermined work amount and the actual work amount of the excavator to perform the excavation work.

On the other hand, in the excavation method of the excavator according to the present invention, the excavation of the excavator to perform the excavation work using the excavator excavation system for setting the excavation work of the excavator in stages and guide the excavation work of the excavator according to the set step A method, comprising: a planning step of establishing an excavation plan of the excavator; A data conversion step of converting a plan established in the planning step into data and storing the data in a terminal; A stereoscopic image data generation step of capturing the topographical shape of the construction site and processing the three-dimensional stereoscopic image data to compare the excavation work situation of the excavator with the establishment plan data converted in the data conversion step; A data transmission step of transmitting the stereoscopic image data generated in the stereoscopic image data generation step to a DB server; A second data transmission step of transmitting stereoscopic image data transmitted to the DB server by the data transmission step to the terminal so that the excavation work of the excavator is set step by step; An excavation work setting step of setting excavation work of the excavator in stages based on the stereoscopic image data transmitted by the secondary data transmission step; An excavation plan transmission step of transmitting excavation plan data set in the excavation work setting step to a data providing unit of the excavator; An excavator moving step of moving the excavator to an initial excavation position according to the step set by the step-by-step excavation plan data transmitted by the excavation plan transmission step; An update step of real-time updating the situation of the work area to the terminal by photographing and transmitting the work area of the excavator moved by the excavator moving step to the terminal; And an excavation step of excavating a work area by operating the excavator when the update is completed by the update step.

Excavator excavation system according to the present invention as described above, by setting the work plan of the excavator in advance step by step according to the work plan set through the communication network to remotely guide the excavation work of the excavator to proceed, Even inexperienced drivers can safely and efficiently carry out excavation work.

In addition, since the surrounding situation of the excavator is provided in the form of image data in real time, it is possible not only to automatically check the earthwork amount of the excavator to perform the excavation work step by step, it is also effective to manage the amount of work per excavator.

In addition, the excavation method using such an excavator excavation system can control the excavator step by step, not only can manage the excavation work of the excavator, but also has the effect of improving the productivity of the excavator through the excavation work management have.

Hereinafter, with reference to the accompanying drawings, an excavation system for an excavator and an excavation method of an excavator according to the present invention will be described as follows. 2 is a schematic block diagram showing a detailed configuration of the components shown in FIG. 1, FIG. 3 is a conceptual diagram illustrating a workload calculation method of the workload calculator shown in FIG. 2, and FIG. It is a flowchart showing the excavation method of the excavator according to the embodiment of the present invention.

Referring to FIG. 1, an excavation system for an excavator according to an embodiment of the present invention includes a stereoscopic image data generator 10; DB server 20; A terminal 30; It includes a data provider 40. The following describes these components in more detail.

First, the three-dimensional image data generator 10 described above is installed in the excavator 1 as shown in the image to capture the terrain shape of the construction site and the working conditions of the excavator (1). The stereoscopic image data generator 10 processes the captured image to generate and store three-dimensional stereoscopic image data. That is, the stereoscopic image data generator 10 is an apparatus for photographing a moving image from the excavator 1 and processing the stereoscopic image data.

The three-dimensional image data generator 10 can be installed in the boom of the excavator 1 as shown, otherwise the enlarged view in the drawing as shown in the "A" vertical bar (10a) to the excavator 1 After installing it may be installed on top of this vertical rod (10a). Of course, the stereoscopic image data generator 10 may be installed on the roof of the driver's seat when the driver's seat having a roof is installed in the excavator 1.

On the other hand, the stereoscopic image data generator 10 has a box-shaped case as shown. That is, the stereoscopic image data generator 10 is protected inside by a box-shaped case. Such a box-shaped case may be provided with a buffer member not shown. Such a shock absorbing member can be constructed by, for example, a cushion material such as a sponge or a spring not shown in the case. Thus, the shock absorbing member installed in the case absorbs the vibration generated by the excavator (1). Thus, the stereoscopic image data generator 10 is protected from vibration.

Next, the above-described DB server 20 interfaces the data with the 3D image data generator 10 through a communication network as shown. The DB server 20 receives and stores stereoscopic image data stored in the stereoscopic image data generator 10. That is, the DB server 20 receives and stores the stereoscopic image data generated in the stereoscopic image data generator 10.

Next, the terminal 30 described above interfaces data with the DB servo 20 through a communication network as shown. The terminal 30 receives the stereoscopic image data stored in the DB server 20, and sets the excavation work of the excavator 1 step by step based on the received stereoscopic image data.

In addition, the terminal 30 transmits the set excavation work data to the excavator 1 through the data providing unit 40 to be described later. In this case, the terminal 30 may transmit the excavation work data for each step to the excavator 1 via the DB server 20, as shown, may be directly transmitted to the excavator (1). Such a terminal 30 not only controls the excavation work of the excavator 1 through the data providing unit 40 but also manages the excavation work of the excavator 1.

In this case, the terminal 30 may be formed of, for example, a personal computer, a PDA, or a device such as a PMP or a notebook computer.

Lastly, the above-described data providing unit 40 is installed in the excavator 1 so that the excavator 1 performs the excavation work step by step, and receives the excavation work data for each step from the terminal 30 and provides it to the excavator 1. do.

The data providing unit 40 may be configured as, for example, a PC-type terminal as shown in the enlarged view "B" to be installed in the driver's seat of the excavator 1, not shown. Or it may be configured as a portable terminal such as a notebook or a mobile phone. On the contrary, when the excavator 1 is configured to have an unmanned adjustment, the data provider 40 may be installed in the driving control unit of the excavator 1 not shown in the form of an IC chip.

Referring to FIG. 2, the above-described stereoscopic image data generator 10 includes, for example, a stereo vision 11 as shown; Matching unit 13; Memory 15; A communication unit 17; Control unit 19; can be configured to include. The following describes these components in more detail.

First, the above-described stereo vision 11 has a plurality of cameras (not shown) for three-dimensionally imaging the construction site and the working conditions of the excavator (1) at the top of the excavator (1). That is, the stereo vision 11 three-dimensionally captures the working site site and the working conditions of the excavator 1 with a plurality of cameras.

Next, the matching unit 13 is provided with the image is enhanced from the stereo vision (11). Of course, the stereo vision 11 transmits the images captured by the plurality of cameras to the matching unit 13, respectively. The matching unit 13 generates a three-dimensional stereoscopic image data by finding a corresponding point of each of the received images and matching them to one three-dimensional stereoscopic image. That is, the matching unit 13 processes the captured image into a three-dimensional image data unit.

Next, the above-described memory 15 stores the stereoscopic image data generated by the matching unit 13. In this case, the memory 15 stores the stereoscopic image data in packet units so that the stereoscopic image data can be transmitted. The memory 15 transmits the stored stereoscopic image data to the communication unit 17 to be described later.

Subsequently, the communication unit 17 extracts the stereoscopic image data stored in the memory 15 and transmits the stereoscopic image data to the DB server 20. At this time, the communication unit 17 transmits stereoscopic image data using a wireless communication method such as Bluetooth or Wireless Lan, Wi-fi, Zigbee or Wibro. Since this wireless communication method is well known to those skilled in the art, detailed description thereof will be omitted.

Finally, the controller 19 controls the operations of the stereo vision 11, the matching unit 13, the memory 15, and the communication unit 17 described above. The control unit 19 is in conjunction with the operation of the excavator (1) so that the situation of the construction site with the surrounding situation of the excavator 1 in real time to the DB server 20, the stereo vision 11 and the matching unit ( 13 and it is preferable to control the operation of the memory 16 and the communication unit 17. That is, the stereo vision 11, the matching unit 13, the memory 16, and the communication unit 17 are linked to the operation of the excavator 1 by the control unit 19.

On the other hand, the DB server 20 described above, for example, as shown in the communication unit 22; A data separator 24; DB storage unit 26; can be configured to include. The following describes these components in more detail.

First, the communication unit 22 receives 3D stereoscopic image data generated by the 3D image data generator 10 and transmits the 3D stereoscopic image data to the terminal 30. Of course, the communication unit 22 receives the stereoscopic image data from the communication unit 17 of the above-described stereoscopic image data generator 10.

Next, the aforementioned data separator 24 separates and stores the 3D image data received by the communication unit 22 according to time zones or characteristics. In other words, the data separating unit 24 receives the stereoscopic image data received by the communication unit 22, the stereoscopic image data obtained by photographing the work site before the excavation operation of the excavator 1, and the excavation operation. The work situation is separated into three-dimensional image data captured. That is, the data separating unit 24 separates the stereoscopic image data into "working site stereoscopic image data" for grasping the topographical shape of the work site, and "real-time stereoscopic image data" for grasping the progress of the excavation work. .

Finally, the DB storage unit 26 stores the stereoscopic image data separated by the data separator 24 for each characteristic. When the stereoscopic image data is requested from the terminal 30, the DB storage unit 26 extracts necessary stereoscopic image data from the stereoscopic image data stored for each characteristic and transmits the stereoscopic image data to the communication unit 22. Therefore, the communication unit 22 transmits the extracted stereoscopic image data to the terminal 30.

On the other hand, the above-described terminal 30, for example, as shown in the communication unit 31; DB storage unit 33; An update unit 35; A display unit 37; Setting unit 39; It can be configured to include an input unit (IP). The following describes these components in more detail.

First, the communication unit 31 receives the stereoscopic image data from the DB server 20 and applies it to the DB storage unit 33. In addition, when the excavation work data of the excavator 1 is set by the setting unit 39 to be described later, the communication unit 31 sends the excavation work data of the set excavator 1 to the above-described data providing unit 40. send. Of course, the data provider 40 manifests the transmitted excavation work data to the excavator 1.

Next, the above-described DB storage unit 33 stores the received stereoscopic image data of the communication unit 31. The DB storage unit 33 transmits the stereoscopic image data stored at the request of the setting unit 39 to be described later to the display unit 37 to be described later.

Here, the DB storage unit 33 stores the stereoscopic image data received by the communication unit 31 by characteristics or sequentially. In this case, the stereoscopic image data for each characteristic may be, for example, "working site stereoscopic image data" in which the work site is photographed before the excavation work of the excavator 1 is performed, and "real time" in which the working situation is captured in real time while the excavation work is performed. Stereoscopic image data ".

Next, when the new stereoscopic image data is received by the communicator 31, the updater 35 compares the stereoscopic image data stored in the DB storage unit 33 with the new stereoscopic image data and stores the DB storage unit 33. Update the stereoscopic image data stored in). At this time, the new stereoscopic image data is stereoscopic image data transmitted in real time, and the stereoscopic image data stored in the DB storage unit 33 is stereoscopic image data before the new stereoscopic image data is transmitted. The update unit 35 updates according to the set time.

Subsequently, the display unit 37 described above displays the stereoscopic image data updated by the updater 35. The display unit 37 may be configured as, for example, a monitor that outputs stereoscopic image data as an image. That is, the display unit 37 is a device that displays an image captured by the stereo vision 11 of the stereoscopic image data generator 10.

Subsequently, the setting unit 39 sets the excavation work for each stage of the excavator 1 based on the stereoscopic image data displayed on the display unit 37. The setting unit 39 sets the step-by-step excavation work by the content input to the input unit IP to be described later.

Finally, the input unit IP described above inputs the step-by-step content of the excavation work to the setting unit 39 as described above. That is, the input unit IP transmits the input content to the setting unit 39. Therefore, the setting unit 39 sets the excavation work step by step based on the input content transmitted.

Here, the contents of the above-described stepped excavation work may be, for example, a work order for each excavator 1 when the terminal 30 collectively manages multiple excavators 1. That is, the content of the above-described step-by-step excavation work may be an individual driving instruction message of each excavator (1).

To explain in more detail, the contents of the step-by-step excavation work, when digging a construction site with multiple excavators (1), by setting the excavation position of each excavator (1) respectively, each excavator (1) is the appropriate position In, it may be to instruct to start the excavation in a state suitable for the previously excavated earthwork (for example, the position of the bucket).

On the contrary, the contents of the step-by-step excavation work may be indicative of the excavation position and the excavation state of the excavator 1 in consideration of the excavation volume and the shape of the construction site site previously carried out by one excavator 1.

On the other hand, the above-described data providing unit 40, for example, as shown, the receiving unit 42; A data processor 44; And a display unit 46. The following describes these components in more detail.

First, the above-described receiver 42 receives the step-by-step excavation work data from the terminal 30. That is, the receiver 42 receives the excavation work data for each step from the communication unit 31 of the terminal 30 described above. The receiver 42 transmits the stepped excavation work data received by the data processor 44 to be described later.

Next, the above-described data processing unit 44 displays the stepwise excavation work data received by the receiving unit 42 to be manifested. That is, the data processor 44 converts the received step-by-step excavation work data into a signal that can be displayed on the display unit 46 to be described later.

Finally, the display unit 46 described above represents the excavation work data for each step processed by the data processor 44. Such a display unit 46 can be configured, for example, as a monitor for outputting stepwise excavation work data as an image.

On the other hand, the terminal 30 may be configured to further include a workload calculation unit (AW) as shown. The workload calculation unit AW calculates the performance of the excavator 1 by comparing the actual workload with the scheduled workload of the excavator 1 performing the excavation work while receiving the step-by-step excavation data by the data providing unit 40. do. That is, the workload calculation unit AW calculates the hourly or daily or weekly or monthly performance of the excavator 1.

Such a workload calculation unit (AW) is, for example, not shown calculation unit; Comparator and; It can be configured to include an output unit. In more detail, these components are as follows.

First, the above-described calculator calculates the actual workload of the excavator 1 by using the stereoscopic image data provided by the stereoscopic image data generator 10. That is, the calculation unit analyzes the image captured in real time by the stereo vision 11 of the stereoscopic image data generator 10 to calculate the actual workload of the excavator 1.

Next, the above-described comparison unit compares the actual amount of work calculated by the calculating unit with the estimated amount of excavation work set by the terminal 30. That is, the comparison unit compares the actual amount of work calculated by the calculation unit with the expected amount of excavation of the step-by-step excavation work set by the setting unit 39 of the terminal 30.

Finally, the output unit visually outputs the result value (value) obtained by the comparison of the comparison unit. Such an output unit may be configured as, for example, a monitor expressing the result value as an image. Alternatively, the output unit may be configured as a printer expressing the result value on the ground.

Referring to FIG. 3, the workload calculation unit AW of the terminal 30 forms the subject of the captured image as a combination of triangle shapes using a point cloud method as shown in the drawing. As shown in the drawing, the triangles of the combination are separated and extracted two-dimensionally, and then three-dimensionally added to calculate the volume.

Therefore, the workload calculation unit AW calculates the workload of the excavator 1 by summing the pyramidal triangular pyramidal subject pieces that are three-dimensionally summed.

Referring to Figure 4, the excavation method of an excavator according to an embodiment of the present invention using the excavator system for excavators as described above, planning step (S10) as shown; Data conversion step (S19); Stereoscopic image data generation step (S20); Data transmission step (S32); Secondary data transmission step (S34); Excavation work setting step (S40); Excavation plan transmission step (S52); Excavator moving step (S54); An update step S60; Excavation step (S80); includes. That is, the above-described excavator excavation system is operated by the steps shown in FIG. These steps are described in more detail below.

First, the above-described planning establishment step (S10) is a step of establishing an excavation plan of the excavator (1) for the efficient operation of the above-described excavator (1) when the work site is designated. This planning step (S10) is a geological survey step (S12) for examining the geology of the site of the construction site to be excavated excavator (1); A design drawing preparation step (S14) for creating an excavation design drawing (excavation completed virtual drawing) in consideration of the investigation result by the geological investigation step (S12); The process drawing creation step (S16) which prepares a work process drawing (work order of an excavator) according to the design drawing of this design drawing production step S14; can be comprised. At this time, the schematic drawing created in the schematic drawing step S14 and the flowchart of the flowchart drawing step S116 can be created by the terminal 30 described above.

Next, the above-described data conversion step S19 is a step of converting the plan established in the above-described plan establishment step S1 into data and storing it in the aforementioned terminal 30. That is, the data conversion step (S19) is a step of storing the data on the terminal 30 so that the geological survey contents (geological survey results), excavation design contents and work process diagrams can be viewed on a computer.

Next, the above-described three-dimensional image data generation step (S20) is to capture the topographical shape of the construction site to compare the excavation work situation of the excavator 1 with the establishment plan data converted in the data conversion step (S19) 3 It is a step of processing into three-dimensional stereoscopic image data. That is, it is a step of securing the topographical shape of the construction site as three-dimensional data.

The three-dimensional image data generation step (S20), for example, the excavator driving step (S22) for driving the above-mentioned excavator (1) along the construction site site; An imaging step (S24) of imaging the construction site using the above-described stereo vision (11) installed on the excavator (1) traveling by the excavator traveling step (S22); An image matching step (S26) of generating three-dimensional stereoscopic image data by matching the plurality of images captured in the imaging step (S24) into one; And a storage step (S28) of storing the stereoscopic image data generated in the image matching step (S26). That is, the three-dimensional image data generation step (S20) is a step of storing the three-dimensional image of the construction site site by the stereo vision 11 during the driving of the excavator 1 to store the three-dimensional image data.

Here, the above-described imaging step (S24) is to photograph the construction site using a plurality of cameras installed in the above-described stereo vision (11). In the image matching step S26, the image is matched through the matching unit 13 of the stereoscopic image data generator 10 described above. In addition, the above-described storage step (S28) stores the stereoscopic image data generated through the memory 15 of the stereoscopic image data generator 10 described above.

As described above, the three-dimensional image data generation step (S20) does not use the excavator 1 and the stereo vision 11, and uses three-dimensional three-dimensional image data by using a scanner that scans the construction site in three dimensions. You can also create Such screening can measure, for example, the height or height of protrusion of the construction site using a laser.

In addition, the data transmission step (S32) described above is a step of transmitting the stereoscopic image data generated in the stereoscopic image data generation step (S20) to the DB server 20 described above. That is, the stereoscopic image data generated in the above-described stereoscopic image data generation step S20 is transmitted to the DB server 20 described above. At this time, the stereoscopic image data generated in the stereoscopic image data generating step (S20) is transmitted to the DB server 20 described above by the communication unit 17 of the stereoscopic image data generator 10 described above. Of course, the DB server 20 receives the stereoscopic image data transmitted through the above-described communication unit 22, and then the "working site stereoscopic image in which the initial state of the construction site was imaged through the above-described data separating unit 24. Data " and " real-time stereoscopic image data " for grasping the progress of the excavation work, and then store the data in the above-described DB storage 26.

Subsequently, the above-described secondary data transmission step (S34) is the DB server 20 described above by the above-described data transmission step (S32) so that the excavation work of the above-described excavator 1 to excavate the construction site site is set step by step. Is transmitted to the terminal 30 described above. That is, the secondary data transmission step S34 is a step of transmitting the stereoscopic image data stored in the DB server 20 to the terminal 30 described above. At this time, the DB server 20 transmits the stereoscopic image data stored through the communication unit 22 described above to the terminal 30 described above. The terminal 30 receives stereoscopic image data from the DB server 20 through the communication unit 31 described above.

Subsequently, the above-mentioned excavation setting step (S40) is a step of setting the excavation operation of the above-described excavator (1) step by step based on the stereoscopic image data transmitted by the above-described secondary data transmission step (S34). That is, the excavation work setting step (S40) is a step of setting the excavation work of the excavator 1 in accordance with the three-dimensional shape of the construction site site.

Such excavation work setting step (S40) may include, for example, an area division step (S42) of dividing a construction site site into a plurality of work areas based on the stereoscopic image data transmitted by the above-described secondary data transmission step (S34); An excavation position setting step (S44) of setting an initial excavation position of the above-described excavator 1 based on the work area divided in this area division step (S42); Considering the position set in the excavation position setting step (S44), the work order setting step (S46) for setting the work order of the excavator 1 described above; can be configured. That is, the excavation work setting step (S40) is a step of dividing the construction site, setting the initial excavation position of the excavator (1), and determines the excavation work order of the excavator (1) according to the characteristics of the divided work area.

Here, in the above-described region division step S42, the three-dimensional image of the construction site site is displayed on the display unit 37 of the terminal 30, and then the mouse of the aforementioned input unit IP of the terminal 30 After dividing the construction site into a plurality of construction site through the keyboard, the work area is divided, and the divided work area is stored by the setting unit 39. And after setting the initial position of the above-mentioned excavator 1 for every work order divided | segmented through the above-mentioned input part IP, the initial position of the excavator 1 is set to the above-mentioned setting part 39. FIG. In addition, after inputting the work order of the excavator 1 through the above-described input unit IP in consideration of the characteristics of each divided work area, the work order is stored through the above-described setting unit 39. Therefore, the excavation work setting step (S40) can set the excavation work of the excavator 1 for excavating the construction site site by step.

Subsequently, the aforementioned excavation plan transmission step S52 is a step of transmitting the excavation plan data set in the above-described excavation work setting step S40 to the data providing unit 40 of the excavator 1 described above. That is, the excavation plan transmission step (S52) is a step of transmitting the excavation plan data for each step to the above-described data providing unit 40. At this time, the terminal 30 transmits the excavation plan data stored in the aforementioned setting unit 39 to the aforementioned data providing unit 40 through the communication unit 31 described above. In addition, the above-described data providing unit 40 receives the step-by-step excavation plan data through the above-described receiver 42 and displays the step-by-step excavation plan data on the display unit 46 through the above-described data processor 44. . Here, for example, the display unit 46 displays the entire construction site site or the divided work area, and displays the initial working position and the work order of the excavator 1.

Subsequently, the above-described excavator moving step S54 moves the above-mentioned excavator 1 to the initial excavator position according to the step set by the step-by-step excavation plan data transmitted by the above-mentioned excavation plan transmitting step S52. Step. The excavator moving step S54 is preferably configured such that the above-described excavator 1 moves by a driver who is familiar with the contents of the display unit 46 of the data providing unit 40 described above.

Still further, the update step S60 described above captures the work area of the above-described excavator 1 moved by the above-described excavator movement step S54 and transmits it to the above-mentioned terminal 30, thereby reducing the work area. It is a step of updating the situation to the terminal 30 in real time. That is, the updating step (S60) is a step of updating in real time the surrounding situation of the above-described excavator 1 which performs excavation in the allocated divided work area. At this time, the stereovision 11 of the above-described stereoscopic image data generator 10 generates stereoscopic image data by capturing the surrounding situation of the excavator 1, and then generates the stereoscopic image data as described above. Transmission to the terminal 30 described above. The terminal 30 updates the situation of the work area in real time using the 3D image data transmitted.

This update step (S60), for example, using the above-described stereo vision 11 installed on the upper part of the excavator 1 moving by the above-described excavator moving step (S54), the construction site and the above-described excavator An imaging step (S61) of imaging the surrounding situation in (1) in real time; An image matching step (S63) of generating three-dimensional stereoscopic image data by matching the plurality of images captured in the imaging step (S61) into one; A storage step (S65) of storing the stereoscopic image data generated in the image matching step (S63); A data transmission step S67 for transmitting the stereoscopic image data stored in the storage step S65 to the DB server 20 described above; And a secondary data transmission step S69 for transmitting the stereoscopic image data transmitted to the above-described DB server 20 to the terminal 30 by the data transmission step S67.

Here, the above-described imaging step (S61) is the image of the periphery of the above-described excavator 1 by using a plurality of cameras not shown in the stereo vision 11 described above. In other words, the imaging step S61 captures the surroundings of the excavator 1 in real time. In the above-described image matching step S63, three-dimensional image data is generated by matching a plurality of captured images to one through the matching unit 13 of the above-described three-dimensional image data generator 10. In addition, the above-described storage step (S65) stores the stereoscopic image data generated through the memory 15 of the stereoscopic image data generator 10 described above. In addition, the above-described transmission step (S67) transmits the three-dimensional image data stored in the memory 15 through the communication unit 17 of the three-dimensional image data generator 10 described above to the DB server 20 described above. In addition, in the above-described secondary data transmission step (S69), the stereoscopic image data transmitted to the above-described DB server 20 is stored in the DB server 20 as "real-time stereoscopic image data" and then stored, and stored in "real-time stereoscopic image." Video data "to the terminal 30 described above. Of course, the terminal 30 uses the transmitted "real-time stereoscopic image data" to update the above-mentioned situation of the excavator 1 in real time.

Finally, the above-described excavation step (S80) is a step of excavating the work area by operating the above-described excavator 1 when the update of the terminal 30 is completed by the above-described update step (S60). This excavation step (S80) is performed as the excavation start signal is provided to the above-described data providing unit 40 through the terminal 30 described above.

On the other hand, the excavation method of the excavator according to an embodiment of the present invention can be configured to further include a workload calculation step (S90) as shown. This work calculation step (S90) is a step of calculating the work amount by comparing the earthwork amount of the work area excavated by the above-mentioned excavation step (S80) with the establishment planning data stored in the above-described data conversion step (S19). That is, the workload calculation step S90 is a step of calculating the excavation amount (earth volume) of the excavator 1 described above.

Such a work amount calculation step (S90) is, for example, as compared to the excavation amount comparing the excavated amount set in the excavation amount set by the above-described planing step (S10) and the earthwork amount of the work area excavated by the above-described excavation step (S80) Step S92; An excavation amount determination step (S94) for determining whether the earthwork amount compared by the excavation amount comparison step (S92) is greater than or equal to the expected excavation amount; It can be configured to include; a performance record extraction step (S96) for extracting and outputting the excavation amount determined by the excavation determination step (S94) to be displayed.

Here, the above-described excavation comparison step (S92) is a value of calculating the actual excavation amount (earth excavation amount) by analyzing the three-dimensional image data transmitted in real time in a point cloud (Point Cloud) method, and the above-described planning establishment step (S10) ) Is a step of comparing the calculated value of the predetermined excavation designed in the design drawing step (S14). In addition, the above-described excavation amount determination step (S94) is a step of determining whether the actual excavation amount (earth excavation amount) compared in the above-described excavation amount comparison step (S92) is greater than or equal to the predetermined excavation amount. In addition, the above-described work performance extraction step (S96) is a step of expressing the value determined in the above-described determination step (S92) to a device such as a printer or a monitor. Here, the above-mentioned excavation amount comparison, determination or output is performed by the workload calculation unit AW of the terminal 30 described above. Therefore, the above-mentioned excavator 1 can calculate a workload at any time as needed. That is, the excavator 1 can be managed by the amount of work computed.

Since the above embodiments are merely illustrative of preferred embodiments of the present invention, the scope of application of the present invention is not limited to the above, and appropriate modifications are possible within the scope of the same idea. Therefore, since the shape and structure of each component shown in the embodiment of the present invention can be carried out by deformation, it is natural that the modification of the shape and structure belong to the appended claims of the present invention.

1 is a schematic diagram schematically showing the configuration of an excavator excavation system according to an embodiment of the present invention;

FIG. 2 is a block diagram showing the detailed configuration of the components shown in FIG. 1; FIG.

3 is a conceptual diagram illustrating a work amount calculation method of the work amount calculator shown in FIG. 2; And

4 is a flowchart illustrating an excavation method of an excavator according to an embodiment of the present invention.

<Description of Major Symbols in Drawing>

10: stereoscopic image data generator

20: DB server

30: terminal

40: data provider

Claims (15)

In the excavation system for excavators for guiding the excavation work of the excavator (1) remotely according to the set step by setting the excavation work of the excavator (1) step by step, A stereoscopic image data generator (10) installed in the excavator (1) for capturing the terrain shape of the construction site and the working condition of the excavator (1), and processing the captured image to generate three-dimensional stereoscopic image data; A DB server 20 for receiving and storing stereoscopic image data from the stereoscopic image data generator 10; Receiving the three-dimensional image data stored from the DB server 20 to set the excavation work of the excavator 1 step by step based on the received stereoscopic image data, and transmits the set excavation work data to the excavator (1) Terminal 30; And It is installed on the excavator (1) so that the excavator (1) to perform the excavation work step by step, the data providing unit 40 for receiving the excavation work data from the terminal 30 to provide to the excavator (1); includes Excavation system for excavator. In the excavation system for excavators for guiding the excavation work of the excavator (1) remotely according to the set step by setting the excavation work of the excavator (1) step by step, A stereoscopic image data generator (10) installed in the excavator (1) to capture the topographical shape of the construction site and the working condition of the excavator (1), and to process the captured image to generate three-dimensional stereoscopic image data; A DB server 20 for receiving and storing stereoscopic image data from the stereoscopic image data generator 10; Receiving the three-dimensional image data stored from the DB server 20 to set the excavation work of the excavator 1 step by step based on the received stereoscopic image data, and transmits the set excavation work data to the excavator (1) Terminal 30; And It is installed on the excavator (1) so that the excavator (1) to perform the excavation work step by step, the data providing unit 40 for receiving the excavation work data from the terminal 30 to provide to the excavator (1); includes , Work amount calculation unit (AW) for calculating the work performance of the excavator (1) by comparing the actual work amount with the scheduled work amount of the excavator (1) performing the excavation work while receiving the step-by-step excavation work data by the data providing unit Excavation system for an excavator further comprising. The work load calculation unit (AW) according to claim 2, An operation unit configured to calculate an actual workload of the excavator 1 by using the stereoscopic image data provided by the stereoscopic image data generator 10 which generates three-dimensional stereoscopic image data by capturing the working condition of the excavator 1; A comparison unit comparing an actual work amount calculated by the calculating unit with a predetermined amount of excavation work set by the terminal 30; And An output unit for reproducibly outputting the result value obtained by the comparison unit; Excavation system for an excavator comprising a. According to claim 1 or 2, wherein the stereoscopic image data generator 10, A stereo vision (11) having a plurality of cameras for stereoscopically capturing the construction site and working conditions of the excavator (1) at the top of the excavator (1); Matching unit 13 to find the corresponding points of the images respectively received from the plurality of cameras of the stereo vision (11) to match the three-dimensional stereoscopic image to generate three-dimensional stereoscopic image data; A memory 15 for storing stereoscopic image data generated by the matching unit 13; A communication unit 17 for transmitting stereoscopic image data stored in the memory 15 to the DB server 20; And And a control unit (19) for controlling the operation of the stereo vision (11), matching unit (13), memory (15), and communication unit (17). The method of claim 4, wherein the control unit 19, The stereovision 11 and the matching unit 13 in conjunction with the operation of the excavator 1 so that the situation of the construction site together with the surrounding situation of the excavator 1 is provided to the DB server 20 in real time. Excavator system, characterized in that for controlling the operation of the memory and the communication unit (17). The method of claim 1 or 2, wherein the DB server 20, A communication unit 22 receiving 3D stereoscopic image data generated by the stereoscopic image data generator 10 and transmitting 3D image data to the terminal 30 as necessary; A data separator 24 for separating stereoscopic image data received by the communication unit 22 according to data characteristics; And Excavator system comprising a; DB storage unit 26 for storing each of the three-dimensional image data separated by the data separator 24. The method of claim 1 or 2, wherein the terminal 30, A communication unit 31 for receiving stereoscopic image data from the DB server 20 and transmitting excavation work data for each stage of the excavator 1 set as necessary; DB storage unit 33 for storing the received stereoscopic image data of the communication unit 31; An update unit 35 for comparing stereoscopic image data stored in the DB storage unit 33 and stereoscopic image data newly received by the communication unit 31 to update stereoscopic image data stored in the DB storage unit 33; A display unit 37 for displaying stereoscopic image data updated by the updater 35; A setting unit 39 for setting a stepwise excavation work of the excavator 1 based on the stereoscopic image data displayed on the display unit 37; And Excavator system comprising an; input unit (IP) for inputting the step-by-step content of the excavation operation to the setting unit (39). The method of claim 1 or 2, wherein the data providing unit 40, Receiving unit 42 for receiving the step-by-step excavation work data from the terminal 30; A data processor 44 for processing the stepwise excavation work data received by the receiver 42 to be manifest; And Excavator system comprising a; display unit 46 for displaying the step-by-step excavation work data processed by the data processing unit (44). In the excavation method of the excavator for setting the excavation work of the excavator (1) step by step, and performing the excavation work using the excavator excavation system for guiding the excavation work of the excavator (1) according to the set step, Planning establishment step (S10) for establishing an excavation plan of the excavator (1); A data conversion step (S19) of converting the plan established in the planning establishment step (S1) into data and storing it in the terminal 30; To generate the three-dimensional image data to process the three-dimensional three-dimensional image data by taking the topographical shape of the construction site to compare the excavation work situation of the excavator 1 with the establishment plan data converted in the data conversion step (S19) Step S20; A data transmission step (S32) of transmitting the stereoscopic image data generated in the stereoscopic image data generation step (S20) to the DB server 20; Secondary data transmission step of transmitting the stereoscopic image data transmitted to the DB server 20 by the data transmission step (S32) to the terminal 30 so that the excavation work of the excavator (1) is set in stages ( S34); An excavation work setting step (S40) of setting an excavation work of the excavator 1 step by step based on the stereoscopic image data transmitted by the secondary data transmission step (S34); An excavation plan transmission step (S52) of transmitting the excavation plan data set in the excavation work setting step (S40) to the data providing unit 40 of the excavator (1); An excavator moving step (S54) of moving the excavator (1) to an initial excavation position according to the step set by the step-by-step excavation plan data transmitted by the excavation plan transmission step (S52); Updating step (S60) of real-time updating the situation of the working area to the terminal 30 by imaging the working area of the excavator 1 moved by the excavator moving step (S54) and transmitting it to the terminal (30). ); And Excavation step (S80) to operate the excavator (1) when the update is completed in the update step (S70) to excavate the working area (S80). The method of claim 9, wherein the planning step (S10), A geological survey step (S12) of investigating the geology of the site of the construction site where the excavator 1 will be excavated; Design drawing step (S14) for creating an excavation design in consideration of the survey results by the geological survey step (12); And Excavation method of the excavator comprising a; process drawing step (S16) for creating a work flow chart according to the design drawing of the design drawing step (14). The method of claim 9, wherein the three-dimensional image data generation step (S20), An excavator driving step (S22) for driving the excavator (1) along a construction site; An imaging step (S24) of photographing a construction site using cameras of the stereo vision (11) installed on the excavator (1) traveling by the excavator driving step (S22); An image matching step (S26) of generating three-dimensional stereoscopic image data by matching the plurality of images captured in the imaging step (S24) into one; And And a storage step (S28) of storing the stereoscopic image data generated in the image matching step (S26). The method of claim 9, wherein the excavation work setting step (S40), An area division step (S42) of dividing the construction site into a plurality of work areas based on the stereoscopic image data transmitted by the secondary data transmission step (S34); An excavation position setting step (S44) of setting an initial excavation position of the excavator (1) based on the work area divided in the area division step (S42); And And a work order setting step (S46) for setting a work order of the excavator (1) in consideration of the position set in the excavator position setting step (S44). The method of claim 9, wherein the updating step (S60), Imaging step of real-time imaging of the construction site site and the surrounding situation of the excavator 1 by using the cameras of the stereo vision 11 installed on the excavator 1 moving by the excavator movement step (S54) (S61); An image matching step (S63) of generating three-dimensional stereoscopic image data by matching the plurality of images captured in the imaging step (S61) into one; A storage step (S65) of storing the stereoscopic image data generated in the image matching step (S63); A data transmission step (S67) of transmitting the stereoscopic image data stored by the storage step (S65) to the DB server (20); And And a secondary data transmission step (S69) for transmitting the stereoscopic image data transmitted to the DB server (20) to the terminal (30) by the data transmission step (S67). The method according to any one of claims 9 to 13, Excavation method (S80) further comprises a; the amount of work calculation step (S90) to calculate the amount of work compared with the earthwork amount of the work area excavated by the excavation step (S80) and the data conversion step (S19); The method of claim 14, wherein the workload calculation step (S90), An excavation amount comparing step (S92) for comparing the excavated amount of excavation set by the planing step (S10) with the earthwork amount of the work area excavated by the excavating step (S80); Excavation amount determination step (S94) for determining whether the earthwork amount compared by the excavation amount comparison step (S92) is greater than or equal to the expected excavation amount (S94); And Excavation amount extraction step (S96) for extracting the output of the excavation determined by the excavation determination step (S94) to be outputted (S96); Excavation method of an excavator comprising a.

Images