EP3757299B1 - Vorrichtung zur erzeugung von umgebungsdaten um bauausrüstung herum und bauausrüstung damit - Google Patents

Vorrichtung zur erzeugung von umgebungsdaten um bauausrüstung herum und bauausrüstung damit Download PDF

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Publication number
EP3757299B1
EP3757299B1 EP20182034.7A EP20182034A EP3757299B1 EP 3757299 B1 EP3757299 B1 EP 3757299B1 EP 20182034 A EP20182034 A EP 20182034A EP 3757299 B1 EP3757299 B1 EP 3757299B1
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EP
European Patent Office
Prior art keywords
data
environment data
construction equipment
environment
coordinate
Prior art date
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Active
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EP20182034.7A
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English (en)
French (fr)
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EP3757299A1 (de
Inventor
Hee Seung Hong
Dong Mok Kim
Hee Jin Lee
Hyung Do Nam
Chi Won Roh
Soo Jun Lee
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
POTENIT CO Ltd
HD Hyundai Infracore Co Ltd
Original Assignee
Potenit Co Ltd
Hyundai Doosan Infracore Co Ltd
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Publication of EP3757299A1 publication Critical patent/EP3757299A1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the present disclosure relates to an apparatus for generating environment data around a construction equipment and the construction equipment including the same.
  • Patent Literature WO 2013/170348 A1 provides an apparatus for installation on a vehicle suitable for mining excavation including at least a first and second camera configured to capture digital images of at least a portion of the mining excavation.
  • an apparatus for generating environment data around a construction equipment and particularly, an apparatus for generating environment data representing a portion excluding a portion of the construction equipment among the environment around the construction equipment is provided, as defined by independent claim 1.
  • An environment data generating apparatus for generating environment data representing environment around a construction equipment includes a member position data generating module which generates member position data including a coordinate of a member of the construction equipment, an environment data generating module which generates first environment data representing the environment around the construction equipment, and a data processing module which generates second environment data representing the exclusion of the member of the construction equipment among the surrounding environment by converting the coordinate comprised in the first environment data into the relative coordinate to the construction equipment and excluding data representing the member of the construction equipment among the first environment data based on the member position data.
  • a construction equipment capable of performing construction in construction work includes a moving part configured to move the construction equipment, a work part configured to perform construction, and an environment data generating apparatus configured to generate environment data representing environment around the construction equipment
  • the environment data generating apparatus includes a member position data generating module which generates member position data including the coordinate of the member of the construction equipment, an environment data generating module which generates first environment data representing the environment around the construction equipment, and a data processing module which generates second environment data representing the exclusion of the member of the construction equipment among the surrounding environment by excluding data representing the member of the construction equipment among the first environment data based on the member position data.
  • a method for generating environment data representing environment around a construction equipment includes generating member position data including the coordinate of a member of the construction equipment, generating first environment data representing environment around the construction equipment, and generating second environment data representing the environment around the construction equipment excluded the member of the construction equipment by converting the coordinate comprised in the first environment data into the relative coordinate to the construction equipment and excluding data representing the member of the construction equipment among the first environment data based on the member.
  • the environment data generating apparatus and the construction equipment including the same generates the environment data representing only the portion excluding the construction equipment among the environment around the construction equipment, thereby reducing the subsequent processing of the environment data as well as acquiring more accurate information about the surrounding environment.
  • FIG. 1 is a diagram illustrating an excavator, which is an example of a construction equipment according to exemplary embodiments of the present disclosure.
  • an excavator which is an example of a construction equipment according to exemplary embodiments of the present disclosure.
  • FIG. 1 is a diagram illustrating an excavator, which is an example of a construction equipment according to exemplary embodiments of the present disclosure.
  • the construction equipment refers to equipment used in civil engineering works or building construction.
  • an excavator 1 may include a lower traveling body 10 which is movable along the ground, an upper rotating body 20 which is rotatably provided on the upper portion of the lower traveling body 10, a boom 30 which is rotatably coupled to the upper rotating body 20, a boom cylinder 40 which rotates the boom 30, an arm 50 which is rotatably coupled to the front end of the boom 30, an arm cylinder 60 which rotates the arm 50, a bucket 70 which is rotatably coupled to the front end of the arm 50, and a bucket cylinder 80 which rotates the bucket 70.
  • Each component 10, 20, 30, 40, 50, 60, 70, and 80 of the excavator 1 may be referred to as an excavator member (hereinafter, member).
  • the excavator 1 may operate the boom 30 by using the boom cylinder 40, operate the arm 50 by using the arm cylinder 60, and operate the bucket 70 by using the bucket cylinder 80, thereby performing work such as digging or mowing the ground.
  • FIG. 1 illustrates only the excavator 1 as an example of the construction equipment, but it is natural that exemplary embodiments of the present disclosure are not limited to the excavator 1, but may be applied to various construction equipments used in the construction work. However, for convenience of description, the excavator 1 will be described below as an example of the construction equipment.
  • FIG. 2 is a diagram illustrating an environment data generating apparatus according to exemplary embodiments of the present disclosure.
  • an environment data generating apparatus 100 may be coupled to the excavator 1.
  • the respective components of the environment data generating apparatus 100 may be included in the excavator 1, attached to the excavator 1, or electrically connected to the excavator 1.
  • the environment data generating apparatus 100 may sense the environment around the excavator 1, and generate environment data representing the surrounding environment according to the sensed result. Particularly, the environment data generating apparatus 100 according to exemplary embodiments of the present disclosure may generate environment data representing only a portion excluding the excavator among the sensed surrounding environment.
  • the environment data generating apparatus 100 may include a sensor module 110, a member position data generating module 120, an environment data generating module 130, a data processing module 140, and a memory 150.
  • a module mentioned in the present specification refers to hardware, software, or hardware including software which may perform at least one function. That is, the specific module described in the present specification may mean software, a device, or a circuit which may perform a corresponding function, or a device in which software capable of performing the function is executed.
  • the sensor module 110 may include a plurality of sensors. According to exemplary embodiments, the sensor module 110 may recognize the surrounding environment of the excavator 1, measure the position of the excavator 1, and measure a kinetic position including the position and posture of each member of the excavator 1.
  • the sensor module 110 may include at least one among a camera, a lidar, a radar, an infrared sensor, an ultrasonic sensor, a position sensor (GPS or a real time kinetic global navigation satellite system (RTK GNSS)), an intertia measurement unit (IMU) sensor, a gyro sensor, and machine guidance.
  • the sensor module 110 may include two position sensors, and each of the two position sensors may be attached to different positions of the upper rotating body 20. Further, the sensor module 110 may include the IMU sensor, and the IMU sensor may be attached to each member 10, 20, 30, 40, 50, 60, 70, and 80 of the excavator 1. For example, the IMU sensor may be attached to the link of the excavator 1.
  • the sensor module 110 may generate sensing data.
  • the member position data generating module 120 generates member position data of the excavator 1.
  • the member position data generating module 120 may generate member position data representing the position of the member of the excavator 1 by using the information transmitted from the sensor module 110.
  • the member position data may be generated on-the-fly.
  • the member position data generating module 120 may calculate the relative coordinate to a reference point of each of the member of the excavator 1 by using the IMU sensor included in the sensor module 110. According to exemplary embodiments, the member position data generating module 120 may calculate a posture of the reference point of the member by using an inertia value of the member measured by the IMU sensor and the dimensions of the member of the excavator 1, and calculate the coordinate of the member by using the posture and the coordinates of the reference point of the excavator 1. At this time, the posture may be calculated as a Denavit-Hartenberg (DH) parameter.
  • DH Denavit-Hartenberg
  • the member position data generating module 120 may calculate the absolute coordinate of the reference point of the excavator 1 (for example, the center point of the excavator 1) by using the position sensor, and also calculate the absolute coordinate of the member by using the calculated absolute coordinate of the reference point and the relative coordinate of the member.
  • the member position data generating module 120 may generate member position data including the absolute coordinate of the member. That is, the member position data includes the coordinate of the member of the excavator 1.
  • the environment data generating module 130 generates first environment data representing the environment around the excavator 1.
  • the first environment data may include information about an object or a terrain which is positioned around the excavator 1.
  • the first environment data may include information about coordinates, colors, sizes, and the like of the objects around the excavator 1.
  • the first environment data may be generated in real time.
  • the environment data generating module 130 may measure the environment around the excavator 1 by using at least one among a camera, a lidar, a radar, an infrared sensor, and an ultrasonic sensor, and calculate the coordinate of the object or the terrain which is positioned around the excavator 1 according to the measured result, and generate the first environment data including the coordinate of the object or the terrain.
  • the coordinate may also be the absolute coordinate, but may also be the relative coordinate to the reference point of the excavator 1.
  • the first environment data generated by the environment data generating module 130 may also include information about the member of the excavator 1. That is, not only the environment around the excavator 1 measured by the sensor module 110 but also the member (for example, boom, arm, or bucket) of the excavator 1 may also be measured. In this case, since the information about the excavator 1 is not information about the intended surrounding environment, the information needs to be removed.
  • the member of the excavator 1 may be a front work part, and the front work part not only forms a dynamic trajectory which continuously moves during the excavation, but also protrudes outward from the excavator, thereby being recognized as environment data by the sensor module 110.
  • this front work part may also act as noise to interfere with a trajectory planner algorithm. Accordingly, by removing data corresponding to the member such as the front work part of the excavator 1 upon generating the environment data and establishing the excavator trajectory plan in advance, it is possible to shorten the time required to generate the environment data and establish the plan.
  • PCD Point Cloud Data
  • the calculation time may be reduced according to the removal process, and the storage space may be optimally used.
  • the data processing module 140 may generate second environment data representing only the portion excluding the excavator 1 or a portion of the excavator 1 among the environment around the excavator 1. That is, the second environment data does not include information about all or parts of the excavator 1.
  • the second environment data may be generated in real time.
  • the data processing module 140 generates the second environment data from the first environment data by using the first environment data and the member position data. According to exemplary embodiments, the data processing module 140 generates the second environment data by excluding the portion representing the member of the excavator 1.
  • the data processing module 140 may generate the second environment data by excluding, from the first environment data, data having the coordinate adjacent to the coordinate included in the member position data among the first environment data. For example, the data processing module 140 may generate the second environment data by selecting a position value included in the member position data and a position value within a reference range among position values included in the first environment data, and removing the data corresponding to the selected position value from the first environment data.
  • the data processing module 140 may define a three-dimensional area centered on the member based on the member position data.
  • the data processing module 140 may generate the second environment data by removing, from the first environment data, data having a position value included in the area among the first environment data.
  • the three-dimensional area may be a cuboid shape or a sphere shape, but is not limited thereto.
  • the data processing module 140 may acquire the posture information of the front work part from the angles or coordinate values of the boom, the arm, and the bucket, and define the three-dimensional area of the boom, the arm, and the bucket from the acquired posture information. Further, in order to shorten the calculation time of the three-dimensional area of the front work part having a complicated shape, the data processing module 140 may calculate the coordinate values of the three-dimensional area of the front work part by simplifying the three-dimensional area to a rigid body with the three-dimensional effect. Further, the data processing module 140 may calculate the coordinate values of the three-dimensional area by using a kinematic equation from the angles of the boom, the arm, and the bucket.
  • the data processing module 140 may generate the second environment data by selecting portion data representing an object positioned closer than the outermost member of the excavator 1 from the excavator 1 among the first environment data, and excluding, from the portion data, the data having the position value adjacent to the position value included in the member position data in order to save resources.
  • the outermost member of the excavator 1 may be a tip of the bucket 70 or a joint portion between the boom and the arm, but is not limited thereto.
  • the data processing module 140 may generate the second environment data from the first environment data according to an absolute coordinate system or a relative coordinate system (with respect to the excavator 1). For example, based on the relative coordinate system, the data processing module 140 generates the second environment data from the first environment data by converting the coordinate of the surrounding objects included in the first environment data into the relative coordinate to the reference point of the excavator 1, and through the aforementioned process after the conversion.
  • the environment data generating apparatus 100 may generate the environment data representing only the portion excluding the construction equipment among the environment around the construction equipment, thereby reducing the subsequent processing for the environment data as well as acquiring more accurate information about surrounding environment.
  • the memory 150 may store data necessary for operating the environment data generating apparatus 100. According to exemplary embodiments, the memory 150 may include information about the dimension of the excavator 1. At this time, the member position data generating module 120 may calculate the coordinate of the member of the excavator 1 based on the output from the IMU sensor and the dimensions of the excavator 1.
  • FIGS. 3 to 5 are diagrams exemplarily illustrating a three-dimensional area centered on the member according to exemplary embodiments of the present disclosure.
  • the data processing module 140 may define a three-dimensional area (REG) which is formed based on the boom 30, and calculate the coordinate values of the three-dimensional area (REG).
  • the data processing module 140 may simplify the three-dimensional area (REG) centered on the boom to a rigid body with the three-dimensional effect, and calculate the coordinate values of the three-dimensional area (REG) from the simplified rigid body.
  • the data processing module 140 may define the three-dimensional area (REG) including points which are spaced by at least a predetermined distance apart from each coordinate of the boom 30 while including the boom 30.
  • FIG. 3 exemplarily illustrates the three-dimensional area (REG) having a cuboid shape, exemplary embodiments of the present disclosure are not limited thereto.
  • the data processing module 140 may define the three-dimensional area (REG) which is formed with respect to the arm 50, and calculate the coordinate values of the three-dimensional area (REG).
  • the data processing module 140 may simplify the three-dimensional area (REG) centered on the arm 50 to the rigid body with the three-dimensional effect, and calculate the coordinate values of the three-dimensional area (REG) from the simplified rigid body.
  • the data processing module 140 may define the three-dimensional area (REG) including points which are spaced by at least a predetermined distance apart from each coordinate of the arm 50 while including the arms 50.
  • FIG. 4 exemplarily illustrates the three-dimensional area (REG) having a cuboid shape, exemplary embodiments of the present disclosure are not limited thereto.
  • the data processing module 140 may define the three-dimensional area (REG) which is formed with respect to the bucket 70, and calculate the coordinate values of the three-dimensional area (REG).
  • the data processing module 140 may simplify the three-dimensional area (REG) centered on the bucket 70 to the rigid body with the three-dimensional effect, and calculate the coordinate values of the three-dimensional area (REG) from the simplified rigid body.
  • the data processing module 140 may define the three-dimensional area (REG) including points which are spaced by at least a predetermined distance apart from the coordinate of the bucket 70 while including the bucket 70.
  • the three-dimensional area (REG) may exist outside the bucket 70, and exist on each surface of the bucket 70.
  • the three-dimensional area (REG) may include at least one surface configuring the bucket 70.
  • FIG. 3 exemplarily illustrates the three-dimensional area (REG) having a cuboid shape, exemplary embodiments of the present disclosure are not limited thereto.
  • FIG. 6 is a diagram illustrating a method for generating surrounding environment data according to exemplary embodiments of the present disclosure.
  • the environment data generating apparatus 100 generates member position data of members of a construction equipment (S110).
  • the environment data generating apparatus 100 generates first environment data representing the environment around the construction equipment (S120).
  • the environment data generating apparatus 100 generates second environment data representing surrounding environment which excludes the member based on the member position data and the first environment data (S130).
  • FIG. 7 is a diagram illustrating the method for generating the surrounding environment data according to exemplary embodiments of the present disclosure.
  • the environment data generating apparatus 100 generates member position data of members of a construction equipment (S210).
  • the environment data generating apparatus 100 generates first environment data representing the environment around the construction equipment (S220).
  • the environment data generating apparatus 100 may define a three-dimensional area centered on the member based on the member position data (S230). According to exemplary embodiments, when there exist portion data representing an object positioned closer than the outermost member of the construction equipment from the construction equipment among the first environment data, the environment data generating apparatus 100 may define the three-dimensional area.
  • the environment data generating apparatus 100 may generate second environment data by removing, from the first environment data, data having a position value included in the three-dimensional area among the first environment data (S240).
  • the environment data generating apparatus and the method for generating the environment data may be implemented by instructions stored in a computer-readable storage medium and executed by a processor.
  • the storage medium may store a relational database, a non-relational database, an in-memory database, or data regardless of whether it is direct and/or indirect, or whether it is in a raw state, a formatted state, an organized state, or any other accessible state, and include a database which includes a distributed type, such as other suitable databases capable of allowing access to such data through a storage controller.
  • the storage medium may include a primary storage, a secondary storage, a tertiary storage, an offline storage, a volatile storage, a nonvolatile storage, a semiconductor storage, a magnetic storage, an optical storage, a flash storage, a hard disk drive storage, a floppy disk drive, a magnetic tape, or any type of storage such as other suitable data storage medium.
  • the instructions may be any one among assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or a source code or an object code written in any combination of one or more programming languages including an object-oriented programming language such as Smalltalk or C ++, and conventional procedural programming languages such as a "C" programming language or similar programming languages.
  • ISA instruction-set-architecture
  • machine instructions machine-dependent instructions
  • microcode firmware instructions
  • state setting data or a source code or an object code written in any combination of one or more programming languages including an object-oriented programming language such as Smalltalk or C ++, and conventional procedural programming languages such as a "C" programming language or similar programming languages.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Claims (9)

  1. Umgebungsdaten-Erzeugungsvorrichtung (100) zum Erzeugen von Umgebungsdaten, die eine Umgebung um eine Baumaschine darstellen, wobei die Umgebungsdaten-Erzeugungsvorrichtung (100) umfasst:
    ein Elementpositionsdaten-Erzeugungsmodul (120), das Elementpositionsdaten erzeugt, die eine Koordinate eines Elements der Baumaschine umfassen;
    ein Umgebungsdaten-Erzeugungsmodul (130), das erste Umgebungsdaten erzeugt, welche die Umgebung um die Baumaschine darstellen; und
    ein Datenverarbeitungsmodul (140), das zweite Umgebungsdaten erzeugt, welche die Umgebung um die Baumaschine, ausgeschlossen das Element der Baumaschine, darstellen, indem es die Koordinate, die in den ersten Umgebungsdaten enthalten ist, in die relative Koordinate zu der Baumaschine umwandelt und die Daten, die das Element der Baumaschine unter den ersten Umgebungsdaten darstellen, basierend auf den Elementpositionsdaten ausschließt.
  2. Umgebungsdaten-Erzeugungsvorrichtung (100) nach Anspruch 1,
    wobei das Elementpositionsdaten-Erzeugungsmodul (120) eine Stellung der Baumaschine zu einem Referenzpunkt unter Verwendung eines IMU-Sensors oder eines Winkelsensors, der an der Baumaschine angebracht ist, berechnet und die Elementpositionsdaten basierend auf der Stellung erzeugt.
  3. Umgebungsdaten-Erzeugungsvorrichtung (100) nach Anspruch 1,
    wobei das Element einen Ausleger (30) und/oder einen Arm (50) und/oder eine Schaufel (70) umfasst.
  4. Umgebungsdaten-Erzeugungsvorrichtung (100) nach Anspruch 1,
    wobei das Umgebungsdaten-Erzeugungsmodul (130) die ersten Umgebungsdaten unter Verwendung eines Lidar-Sensors und/oder eines GPS-Sensors und/oder einer Kamera erzeugt.
  5. Umgebungsdaten-Erzeugungsvorrichtung (100) nach Anspruch 1,
    wobei das Datenverarbeitungsmodul (140) die zweiten Umgebungsdaten erzeugt, indem es von den ersten Umgebungsdaten Daten ausschließt, die eine Koordinate benachbart zu der Koordinate, die in den Elementpositionsdaten enthalten ist, unter den ersten Umgebungsdaten aufweisen.
  6. Umgebungsdaten-Erzeugungsvorrichtung (100) nach Anspruch 1,
    wobei das Datenverarbeitungsmodul (140) unter den ersten Umgebungsdaten Abschnittsdaten auswählt, die ein Objekt darstellen, das näher positioniert ist als das äußerste Element der Baumaschine von der Baumaschine, und die zweiten Umgebungsdaten erzeugt, indem es von den ersten Umgebungsdaten Daten ausschließt, die das Element der Baumaschine unter den Abschnittsdaten darstellen.
  7. Umgebungsdaten-Erzeugungsvorrichtung (100) nach Anspruch 1,
    wobei das Datenverarbeitungsmodul (140) die zweiten Umgebungsdaten erzeugt, indem es einen dreidimensionalen Bereich, der auf dem Element zentriert ist, basierend auf den Elementpositionsdaten definiert, und von den ersten Umgebungsdaten Daten ausschließt, die einen Positionswert, der in dem dreidimensionalen Bereich enthalten ist, unter den ersten Umgebungsdaten aufweisen.
  8. Umgebungsdaten-Erzeugungsvorrichtung (100) nach Anspruch 7,
    wobei der dreidimensionale Bereich eine Quaderform aufweist.
  9. Verfahren zum Erzeugen von Umgebungsdaten, die eine Umgebung um eine Baumaschine darstellen, wobei das Verfahren umfasst:
    Erzeugen (S110) von Elementpositionsdaten, die eine Koordinate eines Elements der Baumaschine umfassen;
    Erzeugen (S120) von ersten Umgebungsdaten, die eine Umgebung um die Baumaschine darstellen; und
    Erzeugen (S130) von zweiten Umgebungsdaten, welche die Umgebung um die Baumaschine, ausgeschlossen das Element der Baumaschine, darstellen, indem die Koordinate, die in den ersten Umgebungsdaten enthalten ist, in die relative Koordinate zu der Baumaschine umgewandelt wird und die Daten, die das Element der Baumaschine unter den ersten Umgebungsdaten darstellen, basierend auf den Elementpositionsdaten ausgeschlossen werden.
EP20182034.7A 2019-06-25 2020-06-24 Vorrichtung zur erzeugung von umgebungsdaten um bauausrüstung herum und bauausrüstung damit Active EP3757299B1 (de)

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KR1020190075928A KR20210000593A (ko) 2019-06-25 2019-06-25 건설기계 주변의 환경 데이터를 생성하기 위한 장치 및 이를 포함하는 건설기계

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Publication number Priority date Publication date Assignee Title
EP4343479A1 (de) * 2022-09-20 2024-03-27 Sandvik Mining and Construction Oy Umgebungsbezogene datenverwaltung für ein mobiles bergbaufahrzeug
WO2024061996A1 (en) * 2022-09-20 2024-03-28 Sandvik Mining And Construction Oy Environment related data management for a mobile mining vehicle

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EP3757299A1 (de) 2020-12-30
CN112127417A (zh) 2020-12-25
KR20210000593A (ko) 2021-01-05

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