KR102079399B1 - Method and Apparatus for Controlling Output of Construction Equipment Using Vision System - Google Patents

Abstract

The present invention relates to a method and apparatus for controlling output of construction equipment using a vision system, comprising: photographing an image using a plurality of cameras; Determining whether to work by using images captured by the plurality of cameras; Adjusting an engine speed corresponding to a preset operation mode according to whether the work is performed; And controlling the engine according to the adjusted engine speed.
According to the present invention, by providing a method and apparatus for controlling output of construction equipment using a vision system to determine the operation of construction equipment using a vision system to optimize the operation mode, it is possible to improve the fuel economy of construction equipment, construction It can lower the maintenance cost of equipment.

Description

Method and device for controlling output of construction equipment using vision system {Method and Apparatus for Controlling Output of Construction Equipment Using Vision System}

The present invention relates to a method and apparatus for controlling output of construction equipment using a vision system.

In general, most excavators use a fixed RPM to control the operating mode, regardless of the load on the machine. That is, the excavator subdivided the operation mode into a standard mode, a power mode and an ecological mode according to the working situation, and operates according to a fixed RPM. This method has a problem in that the excavator operates the same regardless of the presence or absence of work due to the overall mode setting for the work situation.

In recent years, due to the nature of the construction equipment has to be carried out continuously, the fuel cost is increasing, the fuel consumption is very important. Therefore, there is an urgent need for an operation mode control method for improving fuel efficiency.

On the other hand, another method for optimizing fuel economy is to analyze the load of the equipment to control the operation mode. This method raises the output when the equipment is under load and decreases the output when the load is released. In this method, the output of the machine is determined by the control of the engine / hydraulic system. The output torque of the engine does not immediately rise with the power command, but a slight delay occurs depending on the engine dynamics. At this time, increasing the output of the engine under high load can be difficult to the engine, it is difficult to maximize fuel efficiency. In addition, poor responsiveness of the equipment may cause user dissatisfaction.

The present specification has been made to solve the above problems, to provide a method and apparatus for output control of construction equipment that can efficiently manage the operation mode by determining the operation of construction equipment using a vision system to The purpose is.

In order to achieve the above object, according to the first embodiment of the present disclosure, a method for controlling output of construction equipment using a vision system according to the present disclosure includes: capturing an image using a plurality of cameras; Determining whether to work by using images captured by the plurality of cameras; Adjusting an engine speed corresponding to a preset operation mode according to whether the work is performed; And controlling the engine according to the adjusted engine speed.

According to a second embodiment of the present disclosure, an output control apparatus for construction equipment using a vision system according to the present disclosure may include a plurality of cameras for photographing an image; A job determination unit determining whether a job is performed using the images photographed using the plurality of cameras; A vehicle controller configured to adjust an engine speed corresponding to a preset operation mode according to a determination result of the work determination unit; And an engine controller for controlling the engine according to the engine speed adjusted by the vehicle controller.

As described above, according to the present specification, by providing a method and apparatus for controlling output of construction equipment using a vision system that optimizes an operation mode by determining whether work is performed on construction equipment by using a vision system, thereby improving fuel economy of construction equipment. Can lower the maintenance cost of construction equipment.

1 is a block diagram showing a schematic configuration of an output control device for construction equipment using a vision system according to an embodiment of the present invention,
2 is a flowchart illustrating a method for controlling output of construction equipment using a vision system according to an exemplary embodiment of the present invention.

Technical terms used herein are merely used to describe particular embodiments, it should be noted that it is not intended to limit the present invention. In addition, the technical terms used in the present specification should be interpreted as meanings generally understood by those skilled in the art to which the present invention belongs, unless specifically defined otherwise in the present specification. It shall not be construed in the sense of or in the sense of being excessively reduced. In addition, when the technical terms used herein are incorrect technical terms that do not accurately express the spirit of the present invention, it should be replaced with technical terms that can be properly understood by those skilled in the art. In addition, the general terms used in the present invention should be interpreted as defined in the dictionary or according to the context before and after, and should not be interpreted in an excessively reduced sense.

Also, the singular forms used herein include the plural forms unless the context clearly indicates otherwise. In the present application, terms such as “consisting of” or “comprising” should not be construed as necessarily including all of the various components, or various steps described in the specification, and some of the components or some steps It should be construed that it may not be included or may further include additional components or steps.

In addition, the suffixes "module" and "unit" for the components used herein are given or mixed in consideration of ease of specification, and do not have distinct meanings or roles from each other.

In addition, terms including ordinal numbers, such as first and second, as used herein may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals and redundant description thereof will be omitted.

In addition, in describing the present invention, when it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easily understanding the spirit of the present invention and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

In the present invention, a system for capturing an image of a workplace using a plurality of cameras and combining the photographed images to determine whether work on construction equipment is called a 'vision system'.

1 is a block diagram showing a schematic configuration of an output control device for construction equipment using a vision system according to an embodiment of the present invention.

Referring to FIG. 1, an output control apparatus of construction equipment according to the present invention includes a plurality of cameras 110, a job determination unit 120, a vehicle control unit 130, an engine control unit 140, and the like.

The plurality of cameras 110 photographs an image of a workplace. To this end, the plurality of cameras 110 may be installed on the boom and the arm of the excavator to check the working state of the construction equipment, that is, the excavator. Usually two cameras are used to analyze the position of construction equipment, one camera mounted on the bottom of the boom and the other camera mounted on the inside of the arm. In addition, at least three or more cameras may be used to obtain more accurate information.

In addition, in order to analyze the location of the construction equipment, although not shown in the drawings may be used in conjunction with a plurality of cameras 110, a distance measuring sensor (not shown).

The job determination unit 120 is an image processing system, which combines images captured by using a plurality of cameras 110 to measure the location of the bucket and the location of the workplace to which the bucket approaches, and the measured location of the bucket and the location of the workplace. The distance between the bucket and the workplace is measured using the location, and the measured distance between the bucket and the workplace is used to determine whether to work.

That is, when the distance between the measured bucket and the work place is less than the predetermined distance, the work determination unit 120 determines that the work is started and transmits a work start command to the vehicle controller 130. In addition, when the distance between the measured bucket and the workplace is greater than or equal to the predetermined distance, the operation determination unit 120 determines that the operation is finished and transmits the operation termination command to the vehicle controller 130. Here, the predetermined distance may be different for each operation of the construction equipment, the worker. There are many factors that determine this, but most importantly, the engine dynamics (1000RPM-> 1500RPM), the time required for the engine to produce torque / RPM corresponding to the command when commanded, and the position of the work lever of the worker For example, when the work lever is pulled quickly for slow operation and when the work lever is pulled slowly for slow motion, and an operation mode set by an operator (such as power mode, standard mode, and economy mode).

In general, when the operator starts the operation by setting the operation mode according to the work characteristics, as shown in Table 1 it is possible to adjust the engine output according to the engine speed corresponding to each operation mode.

Operation mode RPM (RPM)
Dig Mode

P + Mode work 1500-1600 P Mode work 1400-1450 S Mode work 1300-1350 E mode work 1300 Lift mode work 1200

The vehicle control unit 130 adjusts the engine speed corresponding to the operation mode preset by the operator as described above according to the command of the job determination unit 120.

That is, when the vehicle control unit 130 receives the job end command from the job determination unit 120, the vehicle control unit 130 reduces the engine speed corresponding to the preset operation mode by a predetermined reference value (within 30% of the set maximum rotation speed). . Here, the predetermined reference value may be determined according to the worker's work pattern and work characteristics.

When the vehicle control unit 130 receives a job start command from the job determination unit 120, the vehicle control unit 130 increases the engine speed reduced at the end of the job and returns it to its original state. If the previous control state is the start of work, the vehicle controller 130 maintains the existing engine speed.

In addition, the vehicle controller 130 analyzes the work characteristic (that is, accumulates the time between the start of the work and the end of the work), and when the time interval between the start of the work and the end of the work exceeds the preset time interval, the auto idle mode You can enter

The engine control unit 140 controls the engine according to the engine speed adjusted by the vehicle control unit 130.

2 is a flowchart illustrating a method for controlling output of construction equipment using a vision system according to an exemplary embodiment of the present invention.

Referring to FIG. 2, an image of a workplace is photographed using the plurality of cameras 110 (S210).

The location of the bucket and the location of the workplace are measured by combining images taken using the plurality of cameras 110 (S220).

Subsequently, the distance between the bucket and the workplace is measured using the measured position of the bucket and the workplace (S230). In the exemplary embodiment of the present invention, the distance between the bucket and the workplace is measured using the plurality of cameras 110, but the present invention is not limited thereto, and more accurate information using the distance measuring sensor together with the plurality of cameras 110 is provided. Can be obtained.

It is determined whether the distance between the measured bucket and the workplace is less than the predetermined distance (S240).

If the measured distance between the bucket and the workplace is greater than or equal to the predetermined distance, it is determined whether cargo is loaded in the bucket (S242). Step S242 may be omitted when the breaker is mounted during the attachment (attachment) to the construction equipment. Therefore, when the measured distance between the bucket and the workplace is more than the established distance, it may be determined that the work is finished.

When no load is loaded in the bucket, it is determined that the work is finished and the engine speed corresponding to the preset operation mode is reduced (S244). For example, in Table 1, the engine speed corresponding to the power mode is 1400 to 1450 RPM. According to the present invention, the engine speed corresponding to the power mode is reduced by 30% according to the present invention, and the engine speed corresponding to the power mode is 980. ~ 1015 RPM.

Then, the engine is controlled according to the reduced engine speed (S246).

When the cargo is loaded in the bucket, it is determined that the work is started, and the engine is controlled according to the engine speed corresponding to the preset operation mode (S250). For example, when the operator selects the power mode as the operation mode, as shown in Table 1, the engine is controlled to 1400 ~ 1450 RPM, which is the engine speed corresponding to the power mode.

If the previous work state is the end of work, the engine speed is controlled according to the engine speed corresponding to the original operation mode after increasing the reduced engine speed and returning it to its original state. For example, when the reduced engine speed is 980 to 1015 RPM as in the example of step S244, the reduced engine speed is increased to return the engine speed to the previous value of 1400 to 1450 RPM and then the engine to 1400 to 1450 RPM. To control.

On the other hand, when the distance between the measured bucket and the workplace is less than the predetermined distance, the engine is controlled according to the engine speed corresponding to the operation mode (S250).

If the previous work state is the end of work, the engine speed is controlled according to the engine speed corresponding to the original operation mode after increasing the reduced engine speed and returning it to its original state. For example, when the reduced engine speed is 980 to 1015 RPM as in the example of step S244, the reduced engine speed is increased to return the engine speed to the previous value of 1400 to 1450 RPM and then the engine to 1400 to 1450 RPM. To control.

The aforementioned method can be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of a hardware implementation, the method according to embodiments of the present invention may include one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), and Programmable Logic Devices (PLDs). It may be implemented by field programmable gate arrays (FPGAs), processors, controllers, microcontrollers and microprocessors.

In the case of an implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in a memory unit and driven by a processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor by various known means.

Embodiments disclosed herein have been described with reference to the accompanying drawings. As described above, the embodiments shown in each drawing should not be construed as limited, but may be combined with each other by those skilled in the art, and some components may be omitted.

Here, the terms or words used in the present specification and claims should not be construed as being limited to ordinary or dictionary meanings, but should be construed as meanings and concepts consistent with the technical spirit disclosed in the present specification.

Therefore, the embodiments described in the present specification and the configuration shown in the drawings are only one embodiment disclosed in the present specification, and do not represent all the technical ideas disclosed in the present specification. It should be understood that there may be equivalents and variations.

110: a plurality of cameras 120: job determination unit
130: vehicle control unit 140: engine control unit

Claims (9)

Capturing an image using a plurality of cameras;
Determining whether to work by using images captured by the plurality of cameras;
Adjusting an engine speed corresponding to a preset operation mode according to whether the work is performed; And
And controlling the engine according to the adjusted engine speed.
Determining whether the operation is,
The output control method of the construction equipment using a vision system, characterized in that the job is determined based on the distance between the bucket and the workplace measured using the photographed image and whether or not the cargo load of the bucket confirmed from the photographed image. .
The method of claim 1,
In the step of adjusting the engine speed,
When the operation is started, the engine is controlled by the engine speed corresponding to the preset operation mode.
When the job is finished, the engine is controlled by a low engine speed reduced by a predetermined reference value from the engine speed corresponding to the preset operation mode.
A method for controlling output of construction equipment using a vision system that increases the low engine speed decreased at the end of work to return to the engine speed corresponding to a preset operation mode when the work is switched from the end of work to the start of work.
Capturing an image using a plurality of cameras;
Determining whether to work by using images captured by the plurality of cameras;
Adjusting an engine speed corresponding to a preset operation mode according to whether the work is performed; And
Controlling the engine according to the adjusted engine speed;
In the step of adjusting the engine speed,
When the operation is started, the engine is controlled by the engine speed corresponding to the preset operation mode.
When the job is finished, the engine is controlled by a low engine speed reduced by a predetermined reference value from the engine speed corresponding to the preset operation mode.
A method for controlling output of construction equipment using a vision system that increases the low engine speed decreased at the end of work to return to the engine speed corresponding to a preset operation mode when the work is switched from the end of work to the start of work.
A plurality of cameras for taking an image;
A job determination unit determining whether a job is performed using the images photographed using the plurality of cameras;
A vehicle controller configured to adjust an engine speed corresponding to a preset operation mode according to a determination result of the work determination unit; And
And an engine controller for controlling the engine according to the engine speed adjusted by the vehicle controller.
The job determination unit,
Output control device of the construction equipment using the vision system to determine whether the operation based on the distance between the bucket and the workplace measured by using the photographed image and whether the load of the bucket confirmed from the photographed image.
The method of claim 4, wherein
The vehicle control unit,
When the operation is started, the engine is controlled by the engine speed corresponding to the preset operation mode.
When the job is finished, the engine is controlled by a low engine speed reduced by a predetermined reference value from the engine speed corresponding to the preset operation mode.
The output control device of the construction equipment using a vision system to switch from the end of work to the start of work, increasing the low engine speed reduced at the end of work to return to the engine speed corresponding to the preset operating mode.
delete A plurality of cameras for taking an image;
A job determination unit determining whether a job is performed using the images photographed using the plurality of cameras;
A vehicle controller configured to adjust an engine speed corresponding to a preset operation mode according to a determination result of the work determination unit; And
And an engine controller for controlling the engine according to the engine speed adjusted by the vehicle controller.
The vehicle control unit,
When the operation is started, the engine is controlled by the engine speed corresponding to the preset operation mode.
When the job is finished, the engine is controlled by a low engine speed reduced by a predetermined reference value from the engine speed corresponding to the preset operation mode.
The output control device of the construction equipment using a vision system to switch from the end of work to the start of work, increasing the low engine speed reduced at the end of work to return to the engine speed corresponding to the preset operating mode.
The method according to claim 5 or 7,
The vehicle control unit output control device of the construction equipment using the vision system to enter the auto-idle mode when the time interval between the start of work and the end of work exceeds a predetermined time interval. delete

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