KR20090042678A - 3 dimension modeling systems and construction method of 3 dimension modeling for remote controlling of a intelligence excavator - Google Patents

Abstract

A three dimensional modeling system and a three dimensional modeling implementation method are provided to prevent an accident in a non-stable ground by recognizing an ground condition for excavation by using a three dimensional modeling system for a remote control of an intelligent excavation equipment. A 3D laser scanning apparatus(4) reads a rag ground and field environment. A telescoping apparatus(6) enlarges the rag ground. The telescoping apparatus transmits expanded rag ground information to 3D laser scanning apparatus. A GPS(Global Positioning System) apparatus(12) converts the relative distance coordinates of geomorphic data acquired from 3D laser scanning apparatus into an absolute distance coordinates. A CDMA(Code Division Multiple Access) RF transceiver(14) transmits and receives data with an external control station. A laptop computer(16) controls operations of a 3D laser scanning apparatus, the CDMA RF transceiver, and GPS apparatus.

Description

{3 dimension modeling systems and construction method of 3 dimension modeling for remote controlling of a intelligence excavator}

The present invention relates to a three-dimensional modeling system for the remote control of intelligent excavation equipment for the earthworks work environment, and more specifically, to the three-dimensional modeling obstacles scattered in the atypical ground and the site environment intelligent excavation system The present invention relates to a three-dimensional modeling system and a three-dimensional modeling construction method for remote control of an intelligent excavator that can transmit and receive wirelessly with a remote control device.

In general, construction vehicles have been widely used for various purposes. In particular, construction vehicles for certain applications, such as excavators, have been used to perform a certain work under a variety of conditions, and it is often very difficult for the operator to ride and maneuver depending on the work location, environment and conditions. there was. According to the survey on construction machinery-related accidents, about 20% of the accidents are related to excavators, followed by cranes, and about 50% of them are contact accidents around buckets. And setting a stop area to ensure safety.

Therefore, when work is performed under conditions such as a dangerous area or a harsh environment, an excavator that can perform normal work without the boarding of the operator has been required for the protection of the operator.

In response to these demands, a remote controlled excavator has been proposed that can be controlled without a direct boarder. In other words, when remote control, a remote control is known by attaching a special device that has the same effect as the control of the control lever directly to the power unit separately from the control lever, and is representatively used in construction vehicles using hydraulic power as a power source For this purpose, a remote control system for controlling hydraulic pressure by using a sub-motor separate from the control lever has been proposed.

Currently, the excavator remote control system, which is currently commercially available, is a one-way control system where the driver must adjust the various attachments (boom, arm, bucket, turning device) while watching the work situation of the excavator directly from the work phenomenon and the driver sends a work command. The excavator side receives the instruction and executes the work.

However, the unmanned excavator system should work in high-risk areas, such as mountainous areas or mines. When working in such a place, it is impossible to investigate the terrain and obstacles in the field. There was a problem that could fall or crash.

Accordingly, the present invention has been proposed to solve the above problems, using a 3D laser scanner and a high-tech device such as a camera, GPS, CDMA wireless transmission and reception equipment for rough terrain four-wheel drive vehicle to the unstructured ground and field environment The purpose is to provide a three-dimensional modeling system for remote control of intelligent excavator equipment that can wirelessly transmit and receive the result to the remote control device of the intelligent excavator equipment by modeling the scattered obstacles in three dimensions.

The present invention to achieve the above object, four-wheel drive vehicle for rough terrain; A 3D laser scanning device installed at an upper portion of the four-wheel drive vehicle and driving to read obstacles scattered in atypical ground and a site environment; A telescoping device connected to the 3D laser scanning device while being able to rotate 360 ° and expanding the atypical ground to the 3D laser scanning device; A GPS device installed on an upper portion of the four-wheel drive vehicle and configured to convert relative distance coordinates of terrain data acquired from a 3D laser scanning device into absolute distance coordinates; A CDMA wireless transceiver installed on an upper portion of the four-wheel drive vehicle for transmitting and receiving data with an external control station; Control means connected to the 3D laser scanning device, the GPS device, and the CDMA wireless transceiver to transmit and receive data, respectively, and control driving of each device; And a power supply unit receiving power from the four-wheel drive vehicle and supplying power to a 3D laser scanning device, a GPS device, a CDMA wireless transceiver, and a control unit, respectively. do.

In addition, the present invention comprises a first step of starting the four-wheel drive vehicle to supply power from the power supply to the general equipment for the three-dimensional modeling construction; Driving a 3D laser scanning device to scan a target area; A third step in which a GPS device communicates with a satellite and converts scanning data of the terrain of the target area acquired into absolute distance coordinates; A fourth step of inputting scan data into the notebook to measure point cloud data, image data, latitude and longitude data measured by a GPS device, and transmit the measured data to a data processing part; Analyzing the data in the data processing, and converting the final processed data into ASCII format or 3D CAD data format and outputting the converted data; And a sixth step of transmitting to the control station of the intelligent excavation system through the interface of the CDMA wireless transceiver.

According to the characteristics of the present invention as described above, by modeling the unstructured ground and obstacles for excavation in three dimensions, and wirelessly transmit and receive this three-dimensional data in conjunction with the remote control device of the intelligent excavation system, it recognizes the pre-excavation topography Even the terrain difficult to excavate can intelligently maintain the optimal digging posture through the three-dimensional modeling, there is an effect that can prevent the fall or rollover accident in the excavation process on the irregular ground.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to FIGS.

The three-dimensional modeling system and its three-dimensional modeling method for the remote control of intelligent excavator equipment according to the present invention modeling the unstructured ground and obstacles in three dimensions and provide them to the intelligent excavator system through wireless transmission, Excavation work can be carried out under optimized conditions according to the characteristics and characteristics.

The configuration of a three-dimensional modeling system for the remote control of intelligent excavator equipment according to a preferred embodiment of the present invention is shown in FIG.

The present invention, as shown in the drawings, rough terrain four-wheel drive vehicle (2) is made to be capable of traveling in the uneven workplace; A 3D laser scanning device (4) installed on an upper surface of the four-wheel drive vehicle (2) and configured to drive a CCD camera to read obstacles scattered in atypical ground and field environment; A telescoping device (6) connected to the 3D laser scanning device (4) while being able to rotate 360 °, and extending the atypical ground to the 3D laser scanning device (4); An inclination angle correction device (8) installed at the lower end of the 3D laser scanning device (4) and adapted to adjust the rotation and inclination angle of the 3D laser scanning device (4) by receiving power from the telescoping device (6); An electric loop (10) for the telescoping device (6) to open and close the upper opening of the four-wheel drive vehicle in association with the lifting operation into and out of the four-wheel drive vehicle (2); A GPS (Global Positioning System) device 12 installed above the four-wheel drive vehicle 2 and converting the relative distance coordinates of the terrain data acquired from the 3D laser scanning device 4 into absolute distance coordinates and inputting a site location. )Wow; A code division multiple access (CDMA) radio transceiver (14) mounted on an upper portion of the four-wheel drive vehicle (2) for transmitting and receiving data with an external control station; It is installed on the right side of the driver's seat of a four-wheel drive vehicle, and is connected to each of the 3D laser scanning device 4, the GPS device 12, and the CDMA wireless transmitter / receiver 6 by wired cables to receive data and to target the actual work site. A notebook 16 for establishing dimensional modeling and controlling the operation of the devices described above; And a power supply device 18 that receives power from the four-wheel drive vehicle 2 and supplies power to the 3D laser scanning device 4, the GPS device 12, and the CDMA wireless transceiver 14, respectively.

Here, the telescoping device 6 is performed by the driving motor 7 installed at one end side, that is, on the rear magnet floor of the four-wheel drive vehicle 2. In addition, the telescoping device 6 is controlled by interlocking with the electric loop 10 and one on / off switch.

The power supply device 18 typically includes a battery that outputs a 12v voltage, and a circuit having an overcharge function and an automatic voltage regulation function.

The notebook 16 has an application programming interface (API) for controlling the 3D laser scanning device 4, and the API includes a module for merging data of the GPS device 12. Therefore, 3D scanning can be performed on the actual work site using the API of the 3D laser scanning device 4, and the user can control the rotation range, vertical angle, scan rate, scan speed, etc. of the scanning. have.

According to the present invention configured as described above, a single driver can perform driving, scanning, and three-dimensional modeling work for a rough terrain four-wheel drive vehicle (2) in the field. It will be able to remotely control an intelligent digging system at a remote location by transmitting it through a transceiver.

Hereinafter, a method of constructing 3D modeling will be described with reference to FIGS. 2 and 3.

2 is data for converting into absolute distance coordinates through the GPS device 12, which is read through the 3D laser scanning device 4 according to the present invention, and transmitting them to an intelligent excavation equipment through the CDMA wireless transmitter and receiver 14. 3 is a flowchart illustrating a data processing for implementing a 3D modeling construction method for remote control of an intelligent excavator according to the present invention.

As shown in the figure, when the four-wheel drive vehicle 2 is first started, power is supplied from the power supply device 18 to the general equipment for constructing the three-dimensional modeling and is initialized (S11).

When the 3D laser scanning device 4 is driven to scan the target area, the GPS device 12 communicates with a satellite to convert the acquired scanning data of the terrain of the target area into absolute distance coordinates. (S12, S13). The terrain data scanned by the 3D laser scanning device 4 is input to the notebook 16. At this time, the notebook is provided with an API for controlling the 3D laser scanning device 4 so that the user can select the 3D laser scanning device. When driving (4), the rotation range, vertical angle, scan rate, scan speed, and the like of scanning are controlled. The data measured by the scan control portion of the notebook 16 are all three types: point cloud data for the measurement object and image data photographed by a CCD camera embedded in the 3D laser scanning device 1; Latitude and longitude data measured from the high-precision GPS device 5 are measured together and transmitted to the data processing part (S14).

The data processing portion requires some large data processing and high performance analysis, and therefore uses some specialized data processing and analysis libraries. The data processing includes a data filtering function of three-dimensional point group data, an automatic registration of scan data at various measurement positions, and the matched data in the form of a polygon mesh. Surface processing function, the function of stitching the image data automatically photographed at various positions by the CCD camera built in the 3D laser scanning device 4 into one image, the image bonded with the surface data of triangular network type Photogrammertry & image mapping, object recognition function to extract the shape of the ground and obstacles using a unique algorithm from the synthesized epddlxk, and the ground compared with the 3D CAD data input in advance This function automatically analyzes deviations.

In the data processing for performing the above function, the scan data is analyzed and three-dimensional modeling is established (S15).

The final processed data in the data processing part is converted into ASCII format or 3D CAD data format, and this data is automatically transmitted to the control station of the intelligent excavation system through the interface of the CDMA wireless transceiver 14 (S16, S17). ).

The present invention described above is not limited to the above-described embodiments and the accompanying drawings, and various substitutions, modifications, and changes can be made in the art without departing from the technical spirit of the present invention. It will be clear to those of ordinary knowledge.

Figure 1 is a schematic diagram showing an embodiment configuration of a three-dimensional modeling system for remote control of intelligent excavator equipment according to the present invention.

Figure 2 is a data flow diagram of a three-dimensional modeling system for remote control of intelligent excavator equipment according to the present invention.

Figure 3 is a data processing flow chart for implementing a three-dimensional modeling construction method for remote control of intelligent excavator equipment according to the present invention.

* Explanation of symbols for the main parts of the drawings

2: Rough terrain four-wheel drive vehicle 4: 3D laser scanning device

6: telescoping device 8: tilt angle correction device

10: electric loop 12: GPS device

14: CDMA wireless transceiver 16: notebook

18: power supply

Claims (9)

Four-wheel drive vehicles for rough terrain; A 3D laser scanning device installed at an upper portion of the four-wheel drive vehicle and driving to read obstacles scattered in atypical ground and a site environment; A telescoping device connected to the 3D laser scanning device while being able to rotate 360 ° and expanding the atypical ground to the 3D laser scanning device; A GPS device installed on an upper portion of the four-wheel drive vehicle and configured to convert relative distance coordinates of terrain data acquired from a 3D laser scanning device into absolute distance coordinates; A CDMA wireless transceiver installed on an upper portion of the four-wheel drive vehicle for transmitting and receiving data with an external control station; Control means connected to the 3D laser scanning device, the GPS device, and the CDMA wireless transceiver to transmit and receive data, respectively, and control driving of each device; And Power supply means for receiving power from the four-wheel drive vehicle to provide power to the 3D laser scanning device, GPS device, CDMA wireless transceiver and control means, respectively 3D modeling system for remote control of intelligent excavator equipment including a. The method of claim 1, Is installed on the lower end of the 3D laser scanning device, the three-dimensional modeling system for the remote control of the intelligent excavating equipment further comprises a tilt angle correction means for adjusting the rotation and the tilt angle of the 3D laser scanning device by the power of the telescoping device. The method of claim 1, A three-dimensional modeling system for remote control of intelligent excavator equipment further comprises an electric loop for opening and closing the upper opening of the four-wheel drive vehicle in conjunction with the lifting operation of the telescoping device. The method according to any one of claims 1 to 3, Three-dimensional modeling system for remote control of the intelligent excavator equipment, characterized in that the control means is a notebook.  The method according to any one of claims 1 to 3, The three-dimensional modeling system for the remote control of the intelligent excavating equipment including a battery having a power supply means outputs a 12v voltage, and an overcharge function and an automatic voltage control function. The method of claim 4, wherein The notebook includes an API (Application Programming Interface) for controlling the 3D laser scanning device, the API is a remote control of the intelligent excavation equipment, characterized in that the module that can integrate the data of the GPS device is built-in 3D modeling system. A first step of starting a four-wheel drive vehicle and supplying power from a power supply to an apparatus for three-dimensional modeling construction; Driving a 3D laser scanning device to scan a target area; A third step in which a GPS device communicates with a satellite and converts scanning data of the terrain of the target area acquired into absolute distance coordinates; A fourth step of inputting scan data into the notebook to measure point cloud data, image data, latitude and longitude data measured by a GPS device, and transmit the measured data to a data processing part; A fifth step of constructing analysis and three-dimensional modeling of the data in the data processing, and converting the final processed data into an ASCII format or a 3D CAD data format and outputting the converted data; And The sixth step of transmitting to the control station of the intelligent excavator system through the interface of the CDMA radio transceiver 3D modeling construction method for remote control of intelligent excavator equipment including a. The method of claim 7, wherein The second step is Remote control of an intelligent digging equipment, comprising the step of controlling the upper and lower angles of the scanning range, the scan rate, and the scan speed when the 3D laser scanning device is driven by using an API capable of controlling the 3D laser scanning device. How to build 3D modeling for steering. The method according to claim 7 or 8, The fourth step of data processing Data filtering of 3D point cloud data, automatic registration of scan data from various measurement locations, surface processing of matched data in the form of polygon mesh, 3D laser scanning The function of stitching the image data automatically captured from various locations by the CCD camera built into the device into a single image, and the function of composing the combined image with the triangular network type surface data (photogrammertry & image mapping). Object recognition function to extract the shape of the ground and obstacles using the unique algorithm from the synthesized epddlxk, and automatically analyzes the deviation of the ground by comparing it with 3D CAD data previously input 3D modeling construction method for remote control of intelligent excavator equipment, characterized in that to perform the function.

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