KR20220010220A - Excavator EARTH VOLUME EVALUATION SYSTEM USING BLOCK GROUND MODELING AND METHOD THEREOF - Google Patents

Abstract

The present invention relates to an excavator earthwork amount evaluation system using block ground modeling, which applies the bucket tooth coordinates of an excavator to modeling by which a terrain, which is an object to be constructed, is built into a module in the form of a unit block, by using the coordinates obtained through a GPS and an angle sensor mounted on the excavator and using block ground modeling, thereby calculating the amount of earthwork resulting from changes in the coordinates of the bucket tooth of the excavator, and a method thereof. The excavator earthwork amount evaluation system comprises: a boom angle sensor mounted on a boom connected to a revolving body to detect an angle of the boom; an arm angle sensor mounted on an arm connected to the boom to detect the angle of the arm; a bucket angle sensor mounted on a bucket pin for supporting a bucket connected to the arm to detect the angle of the bucket; a communication unit mounted on the revolving body to receive excavator location information; a display panel mounted on the revolving body to display information on a three-dimensional block, into which coordinates are entered, and the bucket tooth of the excavator; and a control unit which grasps the coordinates of the bucket tooth with the boom angle sensor, the arm angle sensor, and the bucket angle sensor, calculates the three-dimensional block, into which the coordinates are entered, based on the location information received by the communication unit, and calculates the amount of earthwork as the color of the three-dimensional block, with which the coordinates of the bucket tooth are overlapped, changes.

Description

Excavator EARTH VOLUME EVALUATION SYSTEM USING BLOCK GROUND MODELING AND METHOD THEREOF

The present invention relates to an excavator earthwork volume calculation system and method using block ground modeling, and more particularly, to a terrain as a construction object using block ground modeling using coordinates obtained through a GPS and an angle sensor mounted on an excavator. It relates to an excavator earthwork volume calculation system and method using block ground modeling that calculates earthwork volume according to the coordinate change of the bucket tooth of the excavator by applying the bucket tooth coordinates of the excavator to modeling composed of a block-type module.

Generally. In earthmoving work of construction work, the soil distribution and transport plan is established by the empirical judgment of the construction designer, earthworks will be carried out.

However, in the case of establishment by the empirical judgment of the construction designer or general surveying, it is impossible to check how much earthwork (excavation, filling, cutting, flattening) per day, and the equipment can be efficiently installed according to the daily workload. There was a problem that it could not be checked whether it was operated properly.

In order to solve the above problems, as disclosed in prior art 1 (Korean Patent Publication No. 10-2017-0119066 (2017. 10. 26)), GPS location based on coordinate data on a plan surface for earthworks By comparing the coordinate data of the earthworks work surface that measures the information and the work coordinates information of the bucket, the volume according to the earthworks can be calculated, thereby unifying the earthmoving work types including the surveying work and shortening the construction period at the same time, In the case of filling and cutting construction, it is impossible to check how much the three-dimensional modeled unit blocks have been cut or how much each unit block has been piled up. is occurring

Republic of Korea Patent Publication No. 10-2017-0119066 (published on October 26, 2017)

Therefore, an object of the present invention is to solve the above problems, and by applying the bucket tooth coordinates of the excavator to modeling in which the terrain, which is a construction object, is composed of a module in the form of a unit block using block ground modeling, the bucket tooth An object of the present invention is to provide an excavator earthwork volume calculation system and method using block ground modeling that can calculate the earthwork volume by using the color change of the block of the block ground modeling according to the coordinate change of

An excavator earthwork amount calculation system using block ground modeling according to the present invention includes: a boom angle sensor mounted on a boom connected to a revolving body to detect an angle of the boom; an arm angle sensor mounted on an arm connected to the boom to detect an angle of the arm; a bucket angle sensor mounted on a bucket pin for supporting a bucket connected to the arm to detect an angle of the bucket; a communication unit mounted on the revolving body to receive excavator location information; a display panel mounted on the revolving body to display information of a three-dimensional block inputted with coordinates and a bucket tooth of an excavator; and the boom angle sensor, the arm angle sensor, and the bucket angle sensor determine the coordinates of the bucket tooth, calculate the three-dimensional block to which the coordinates are input based on the position information received by the communication unit, and the coordinates of the bucket tooth The color of the overlapping three-dimensional block is changed to include a control unit for calculating the amount of earthwork.

An excavator earthwork quantity calculation method using block ground modeling according to the present invention comprises: displaying a three-dimensional block with coordinates inputted on a display panel; obtaining coordinate values of the bucket tooth through calculations on the angle of the boom, the angle of the arm, and the angle of the bucket; displaying the coordinates of the bucket tooth on a display panel on which the three-dimensional block into which the coordinates are input is displayed; and calculating the amount of earthworks by the area of the three-dimensional block whose color has changed.

As described above, in the excavator earthwork volume calculation system and method using block ground modeling according to the present invention, the coordinates of each block module that are three-dimensionalized on the ground and the coordinates of the changing bucket tooth are measured and displayed according to the coordinate change of the bucket tooth. Among the three-dimensional blocks in which the coordinates displayed on the panel are input, the color of the three-dimensional block overlapping the coordinates of the bucket tooth and the coordinates of the bucket tooth is changed, and the amount of earthwork can be calculated by the area of the three-dimensional block whose color is changed.

In addition, with only the excavator, earthmoving work including surveying can be performed, thereby reducing costs, shortening the construction period, and calculating a clear earthwork amount in the earthmoving work section, thereby greatly improving work efficiency.

In addition, there is an advantage that the process progress rate can be aggregated by the earthwork amount of each excavator, and the entire process table can be calculated accordingly.

1 is a diagram illustrating an excavator equipped with an excavator earthwork volume calculation system using block ground modeling according to the present invention.
Figure 2 is an explanatory view of a method of measuring the coordinates of the joint pin of Figure 1;
Fig. 3 is an explanatory view of a method of measuring the coordinates of a third joint pin of the arm of Fig. 1;
Fig. 4 is an explanatory view of a method of measuring the coordinates of the bucket tooth of Fig. 1;
5 and 5 are detailed views of a method of measuring the coordinates of the bucket tooth of FIG.
5 is a block diagram of the excavator earthwork amount calculation system of FIG. 1 .
7 is a block diagram of the TMS of FIG. 6
8 is a flowchart of an excavator earthwork amount calculation method using block ground modeling according to the present invention.
9 is a conceptual diagram illustrating the operation of an excavator equipped with an excavator earthwork volume calculation system using block ground modeling according to the present invention.

Hereinafter, an excavator earthwork volume calculation system and method using block ground modeling according to the present invention will be described in more detail through detailed description of embodiments with reference to the drawings. In describing the present invention, if it is determined that a detailed description of a related known technology or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. And, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a client, an operator, or a user. Therefore, the definition should be made based on the content throughout this specification.

Like reference numerals refer to like elements throughout the drawings.

Hereinafter, with reference to FIG. 1, an excavator equipped with an excavator earthwork volume calculation system using block ground modeling according to the present invention will be looked at.

1, the excavator equipped with the excavator earthwork calculation system using block ground modeling according to the present invention is a traveling body 510, a revolving body 520, a vehicle connection part 530, a boom 100, an arm 200, bucket 300, boom cylinder 150, arm cylinder 250, boom cylinder pin 120, first arm cylinder pin 221, second arm cylinder pin 222, bucket link 400 ), first joint pin 11, second joint pin 22, third joint pin 33, bucket pin 44, boom angle sensor 701, arm angle sensor 702, bucket angle sensor ( 703 ) and EPOS 600 . Here, the bucket 300 may include a plurality of bucket teeth 340 , and the EPOS 600 is an electronic control system for an excavator that controls the excavator.

The vehicle connection unit 530 interconnects the traveling body 510 and the revolving body 520 . The revolving body 520 is rotatably connected to the vehicle connection part 530 . For example, the revolving body 520 may rotate 360 degrees around the vehicle connection part 530 .

The first joint 101 of the boom 100 is rotatably connected to the revolving body 520 . The second joint 102 of the boom 100 is rotatably connected to the first joint 201 of the arm 200 . The first joint 101 of the boom 100 may be disposed at one end of the boom 100 , and the second joint 102 of the boom 100 may be disposed at the other end of the boom 100 . The swing body 520 and the first joint 101 of the boom 100 may be connected in a hinge manner by a first joint pin 11 , and the second joint 102 and the arm 200 of the boom 100 . The first joint 201 of the may be connected in a hinge manner by a second joint pin 22 .

The first joint 201 of the arm 200 is rotatably connected to the second joint 102 of the boom 100 . The second joint 202 of the arm 200 is connected to the joint 301 of the bucket 300 . The first joint 201 of the arm 200 may be disposed at one end of the arm 200 , and the second joint 202 of the arm 200 may be disposed at the other end of the arm 200 . The second joint 202 of the arm 200 and the joint 301 of the bucket 300 may be hingedly connected by a third joint pin 33 .

The joint 301 of the bucket 300 is rotatably connected to the second joint 202 of the arm 200 . The joint 301 of the bucket 300 may be disposed at one end of the bucket 300 . Meanwhile, a plurality of bucket teeth 340 may be disposed at the other end of the bucket 300 .

One end of the boom cylinder 150 is connected to the cylinder connecting portion 110 of the boom 100 . At this time, one end of the boom cylinder 150 is connected to the cylinder connecting portion 110 of the boom 100 through the boom cylinder pin 120 . One end of the boom cylinder 150 is rotatably connected to the cylinder connection part 110 of the boom 100 .

The other end of the boom cylinder 150 is connected to the first cylinder connecting portion 211 of the arm 200 . At this time, the other end of the boom cylinder 150 is connected to the first cylinder connecting portion 211 of the arm 200 through the first arm cylinder pin 221 . The other end of the boom cylinder 150 is rotatably connected to the first cylinder connecting portion 211 of the arm 200 .

One end of the arm cylinder 250 is connected to the second cylinder connecting portion 212 of the arm 200 . At this time, one end of the arm cylinder 250 is connected to the second cylinder connecting portion 212 of the arm 200 through the second arm cylinder pin 222 . One end of the arm cylinder 250 is rotatably connected to the second cylinder connecting portion 212 of the arm 200 .

The other end of the arm cylinder 250 is connected to the bucket link 400 . At this time, the other end of the arm cylinder 250 is connected to the cylinder connecting portion 410 of the bucket link 400 and the bucket 300 through the bucket pin (44). The other end of the arm cylinder 250 is rotatably connected to the bucket link 400 and the cylinder connecting portion 410 of the bucket 300 .

One end of the bucket link 400 is rotatably connected to the third joint 203 of the arm 200 , and the other end of the bucket link 400 is the other end of the arm cylinder 250 and the bucket 300 . It is rotatably connected to the cylinder connection part 410 .

On the other hand, the boom angle sensor 701 may be disposed on the boom 100, preferably mounted on the outside of the first joint pin 11, the angle of the boom 100 according to the rotation of the boom 100 can be detected.

In addition, the arm angle sensor 702 may be disposed on the arm 200 , and is preferably mounted on the outside of the second joint pin 22 , to measure the angle of the arm 200 according to the rotation of the arm 200 . can be detected.

In addition, a bucket angle sensor 703 may be disposed on the bucket 300 , preferably a bucket pin 44 connecting one end of the bucket link 400 and the third joint 203 of the arm 200 . It is mounted on the outside of the can detect the angle of the bucket 300 according to the rotation of the bucket (300).

In addition, the EPOS 600 determines the height at the ground 900 of the second joint pin 22 through the boom angle sensor 701 and the ground level of the third joint pin 33 through the arm angle sensor 702 ( It is possible to calculate the height at 900 and the height at the ground 900 of the bucket tooth 340 through the bucket angle sensor 703 . For reference, reference numeral 380 in FIG. 1 denotes a bucket bag of the bucket 300 .

Hereinafter, a method of measuring the coordinates of the second joint pin of FIG. 1 will be described with reference to FIG. 2 .

As shown in FIG. 2, the coordinates of the second joint pin 22 of FIG. 1 are mounted on the boom 100 based on the coordinates of the first joint pin 11 described above to determine the angle of the boom 100. It can be calculated by the boom angle sensor 701 to detect.

The coordinates of the second joint pin 22 may be calculated by the above-described EPOS 600 .

That is, if the coordinates of the first joint pin 11 are the reference points, for example, coordinates (χ, у), the inclination angle θ _boom can be measured through the boom angle sensor 701 mounted on the boom 100, , the coordinates of the second joint pin 22 obtained through the relationship with the fixed value χ _{boom are (χ + χ boom} , у + у _boom ), and χ _boom = l _boom x cosθ _boom , у _boom = l _boom x sinθ _boom . The position (distance and height) of the boom 100 is calculated from the reference point by the calculated coordinates of the second joint pin 22 .

Here, l _boom represents the length of the first imaginary line segment connecting the first joint pin 11 and the second joint pin 22, and θ _boom represents the angle between the imaginary horizontal line and the imaginary first line segment, An imaginary horizontal line extends from the first joint pin 11 toward the front of the revolving body 520 and represents a line perpendicular to the direction of gravity, у _boom is It represents the length of a line segment perpendicular to the gravity direction from the second joint pin 22 to an imaginary horizontal line, and χ _boom is a line perpendicular to the gravity direction from the second joint pin 22 in the first joint pin 11 . It represents the length of the line segment to the point where it intersects with the imaginary horizontal line. In this case, χ _boom is a fixed value as described above, but this χ _boom may vary depending on the model of the excavator.

Now, with reference to FIG. 3, a method of measuring the coordinates of the third joint pin of FIG. 1 will be described.

The coordinates of the third joint pin 33 of FIG. 1 are mounted on the arm 200 on the basis of the coordinates of the second joint pin 22 described above, and an arm angle sensor 702 that detects the angle of the arm 200 . can be calculated by

The coordinates of the third joint pin 33 may be calculated by the above-described EPOS 600 .

That is, the coordinates of the second joint pin 22 are as described above (χ + χ _boom , у + у _boom ) In this case _{, the inclination angle θ arm} can be measured through the arm angle sensor 702 mounted on the arm 200, and the coordinates of the third joint pin 33 obtained through the relationship between _{fixed values χ boom} and χ _{arm are} (χ + χ _boom + χ _arm , у + у _boom - у _arm ), χ _arm = l _arm x sinθ _arm , у _arm = l _arm x is the cosθ _arm . The position (distance and height) of the arm 200 is calculated from the reference point by the calculated coordinates of the third joint pin 33 .

Here, l _arm represents the length of the imaginary first line segment connecting the second joint pin 22 and the third joint pin 33, and θ _arm represents the angle between the imaginary vertical line and the imaginary first line segment, An imaginary vertical line represents a line perpendicular to the direction of gravity from the second joint pin 22, and у _arm is The virtual vertical line represents the distance to the point where the virtual horizontal line intersects, and the virtual horizontal line extends from the third joint pin 33 toward the front of the revolving body 520 and draws a line perpendicular to the direction of gravity. , and χ _arm represents the distance to the point where the imaginary horizontal line intersects the imaginary vertical line. At this time, χ _arm is a fixed value as described above, but this χ _arm may vary depending on the model of the excavator.

Hereinafter, a method of measuring the coordinates of the bucket tooth of FIG. 1 will be described with reference to FIG. 4 .

The coordinates of the bucket tooth 340 of FIG. 1 are mounted on the bucket pin 44 on the basis of the coordinates of the third joint pin 33 described above to the bucket angle sensor 703 that detects the angle of the bucket 300. can be calculated by

The coordinates of the bucket tooth 340 may be calculated by the above-described EPOS 600 .

That is, the coordinates of the third joint pin 33 are (χ + χ _boom + If χ _arm , у + у _boom - у _{arm ), the inclination angle θ bucket} can be measured through the bucket angle sensor 703 mounted on the bucket pin 44, and fixed values χ _boom , χ _arm and coordinates of the bucket tooth 340 is determined by the relationship between the _bucket is l (χ + χ _boom + χ _arm + χ _bucket , у + у _boom - у _arm - у _bucket ), χ _bucket = l _bucket x sinθ _tooth , у _bucket = l _bucket x It is a cosθ _tooth . The position (distance and height) of the bucket tooth 340 is calculated from the reference point by the calculated coordinates of the bucket tooth 340 .

Here, l _bucket represents the length of the first virtual line segment connecting the third joint pin 33 and the bucket tooth 340, and θ _bucket represents the angle between the virtual vertical line and the first virtual line segment, The vertical line represents a line perpendicular to the direction of gravity from the third joint pin 33, and у _bucket is The virtual vertical line represents the distance to the point where the virtual horizontal line intersects, and the virtual horizontal line extends from the bucket tooth 340 toward the front of the revolving body 520 and represents a line perpendicular to the direction of gravity, χ _bucket represents the distance to the point where the imaginary horizontal line intersects the imaginary vertical line. At this time, l _bucket is a fixed value as described above, but this l _bucket may vary depending on the model of the excavator.

_{Here, in order to obtain a θ tooth} using the θ _bucket measured through the bucket angle sensor 703, a series of calculation processes are required. Hereinafter, it will be described with reference to FIGS. 5A and 5B.

Now, a method of measuring the coordinates of the bucket tooth of FIG. 1 will be described in more detail with reference to FIGS. 1 to 4 and FIGS. 5A and 5B described above.

For reference, when the bucket 300 moves away from the reference coordinates (χ, у) of the excavator, the χ coordinate increases, and when the bucket 300 approaches the reference coordinates (χ, у) of the excavator, the χ coordinate decreases. In addition, when the bucket 300 of the excavator rises from the ground, the у coordinate increases, and when the bucket 300 of the excavator approaches the ground, the у coordinate decreases.

5a and 5b, the one end point and the other end point of the bucket link 400 are referred to as points A and B, respectively, and the one end point and the other end point of the upper end of the bucket 300 are respectively a point D and It is called point C, and if the end point of the bucket tooth 340 is point E, the distance between point A and point B is χAB, the distance between point B and point C is χBC, the distance between point C and point D is χCD, and A The distance between points D and D is χAD, the distance between points D and E is χDE, and the distance between points C and E is χCE.

Here, χAB, χBC, χCD, χAD, and χDE are fixed values, but χAB, χBC, χCD, χAD and χDE may vary depending on the model of the excavator.

In addition, the point A, which is one end point of the bucket link 400, is the point at which the bucket pin 44 equipped with the bucket angle sensor 703 is inserted, and the point B, which is the other end point of the bucket link 400, is a separate A point at which the bucket pin 44 is inserted, and a point D, which is an end point on one side of the upper end of the bucket 300, is a point at which the third joint pin 33 is inserted.

In addition, a straight line connecting the point where the second joint pin 22 is inserted and the point D is referred to as an extension line, an angle sign above the extension line is referred to as (+), and an angle sign below the extension line is referred to as (-).

Meanwhile, in FIG. 5B , the dotted line is an arbitrary line drawn horizontally on the ground from the point A, and is a dotted line drawn for convenience in calculating the angle.

As described above, the coordinates of the bucket tooth 340 are (χ + χ _boom + χ _arm + χ _bucket , у + у _boom - у _arm - у _bucket ), where χ _bucket = l _bucket x sinθ _tooth , у _bucket = l _bucket x It is a cosθ _tooth .

However, _{you need to know the value of the θ tooth} to know the coordinates of the bucket tooth 340, and the θ _tooth is, as shown in FIGS. 5A and 5B, θ _tooth = θ _arm + θ _real.bucket , where θ _real.bucket = π- (θ ₁ + θ ₂ + θ ₃ + θ ₄ ).

Therefore, to obtain _{θ real.bucket} , you need to know the values of _{θ 1} , θ ₂ , θ ₃ , and θ _{4 .}

Here, θ ₁ is a fixed value that is always mechanically fixed no matter how the boom, arm, and bucket move, so there is no need to _{separately obtain θ 1 .}

Also, θ ₂ may be obtained as follows by applying the second cosine law with reference to FIGS. 5A and 5B .

In addition, θ ₃ may be obtained as follows by applying the second cosine law with reference to FIGS. 5A and 5B .

Also, θ ₄ may be obtained as follows by applying the second cosine law with reference to FIGS. 5A and 5B .

_{In addition, in order to know the values of θ 2} , θ ₃ , and θ ₄ in the equations obtained as described above, it is necessary to know the χBD value, and this χBD value can be obtained as follows.

Here, θ _arm is measured through the arm angle sensor 702 mounted on the arm 200 as described above _{, and} θ _bucket is It is measured through the bucket angle sensor 703 .

That is, when when the angle sensor to θ _arm and θ _bucket is measured and found to θ _arm value and θ _bucket value, knowing the θarm value and θbucket value is learned χBD values using the equation, know χBD value θ _2, The values of θ ₃ , θ ₄ are known, and when the values of θ ₂ , θ ₃ , θ ₄ are known, the value of θ _real.bucket is known by the above equation, and when the value of _{θ real.bucket is known,} The θ _tooth value is known, and _the θ _tooth value is known. The coordinates of the bucket tooth 340 are known.

Now, with reference to FIG. 6, an excavator earthwork volume calculation system according to the present invention will be described.

As shown in FIG. 6, the excavator earthwork calculation system according to the present invention includes a boom angle sensor 701 that is mounted on the boom 100 to detect the angle of the boom 100, and the arm 200 is mounted on the arm ( 200), an arm angle sensor 702 for detecting the angle, a bucket angle sensor 703 mounted on the bucket pin 44 to detect the angle of the bucket 300, and a revolving body 520 mounted on the excavator A GPS receiver 704 for receiving GPS signals regarding the current location and altitude, a gyro sensor 706 mounted on the revolving body 520 to measure a change in the orientation of the excavator, and a gyro sensor 706 mounted on the revolving body 520 to be described later A display panel 707 on which the coordinates are inputted and the coordinates of the bucket tooth of the excavator are displayed, and TMS (Telematics System, 710) that is mounted on the revolving body 520 to aggregate the excavator operation rate and operation data, and the boom angle EPOS connected to the sensor 701 , the arm angle sensor 702 , the bucket angle sensor 703 , the GPS receiver 704 , the gyro sensor 706 , the display panel 717 , and the TMS 710 to control them (600).

Now, we will look at the TMS with reference to FIG. 7 .

As shown in FIG. 7 , the TMS 710 includes a three-dimensional block display unit 711 for indicating a three-dimensional block to which coordinates are input on the display panel 707, and a type of work (filling) on the display panel 707 . , excavation, cutting, flattening) The type of operation is selected by the mode selection unit 713 and the mode selection unit 713 for displaying the data processing unit ( 715 ) and a data analysis unit 717 for analyzing the data processed by the data processing unit 715 .

According to this configuration, the type of work is selected from among fill, excavation, and cut work by the mode selection unit 713, and the coordinates of the three-dimensional block and the excavator bucket tooth 340 are inputted on the display panel 707. appears, and the coordinates of the excavator bucket tooth 340, which are changed as the work progresses, are processed as data by the data processing unit 715 and transmitted to the data analysis unit 717 to change the coordinates of the excavator bucket tooth 340. The earthwork volume is calculated accordingly.

Here, by the coordinates of the three-dimensional block and the excavator bucket tooth 340 to which the coordinates shown on the display panel 707 are input, the operator can accurately fill, excavate, and cut the construction site.

In addition, the coordinates and bucket tooth of the three-dimensional block among the three-dimensional blocks to which the work selected by the mode selection unit 713 is performed and the coordinates displayed on the display panel 707 are input by the data analyzed by the data analysis unit 717 The color of the three-dimensional block on which the coordinates of 340 are overlapped changes, so that the operator can grasp the current work situation.

On the other hand, as an example in which the type of work is selected by the mode selector 713 , when a flattening work mode is selected from among the types of work by the mode selector 713 , a planarization work for leveling the ground is performed. The flattening operation is performed by displaying the point where the coordinates of the bucket tooth 340 are connected to the guide line for guiding the flattening operation on the display panel 707, and by matching the point where the coordinates of the guide line and the bucket tooth 340 are connected do. Here, when the point where the coordinates of the guide line and the bucket tooth 340 are connected coincide, the points where the coordinates of the bucket tooth 340 are connected are continuously accumulated and displayed, and the coordinates of the guide line and the bucket tooth 340 are connected If one point does not match, the points connecting the coordinates of the bucket tooth 340 are continuously compared with the guide line without accumulating and displaying the points connecting the coordinates of the bucket tooth 340 . Measurement of the amount of flattening work may be performed on the basis of the point where the coordinates of the bucket teeth 340 displayed cumulatively are connected.

In addition, although not shown, it is wirelessly connected to an external process analysis server to determine the amount of work so far, remaining work, today's work, this week's work, and this month's work, so that the process progress rate can be aggregated and thus the entire process table can be calculated. have.

Hereinafter, with reference to FIG. 8, the flow of the excavator earthwork volume calculation method using block ground modeling according to the present invention will be described.

First, when the key is inserted into the key hole (not shown) mounted on the revolving body 520 of the excavator and rotated to turn the key on, the boom angle sensor 701, the arm angle sensor 702, the bucket angle The sensor 703 , the GPS receiver 704 , the EPOS 600 , the gyro sensor 706 , the display panel 717 , and the TMS 710 are operated ( S901 ).

Thereafter, a three-dimensional block in which a work type is selected by the mode selection unit 713 and coordinates are inputted on the display panel 707 by the TMS 710 is displayed ( S902 ).

After that, the angle of the boom 100, the arm 200, and the bucket 300 measured through the boom angle sensor 701, the arm angle sensor 702, and the bucket angle sensor 703, respectively, is the swivel body 520. It is mounted on the EPOS 600 to control the excavator (S903).

Thereafter, the χ2 value of the point E is obtained through calculations on the angle of the boom, the angle of the arm, and the angle of the bucket transmitted to the EPOS 600 (S904). Here, the operation is the same as described above with reference to FIG. 4 and FIGS. 5A and 5B .

Thereafter, the coordinates of the bucket tooth 340 are displayed on the display panel 707 on which the three-dimensional block to which the coordinates are input by the χ2 value of the point E is displayed (S906).

Thereafter, the coordinates of the excavator bucket tooth 340, which are changed according to the change in the coordinates of the bucket tooth 340, are processed into data by the data processing unit 715 and transmitted to the data analysis unit 717 (S907).

Thereafter, according to the data analyzed by the data analysis unit 717 , the coordinates of the three-dimensional block among the three-dimensional blocks to which the coordinates displayed on the display panel 707 are input, and the coordinates of the bucket tooth 340 overlap the color of the corresponding three-dimensional block is changed (S908).

Thereafter, the amount of earthwork is calculated by the area of the three-dimensional block whose color has changed (S909).

On the other hand, after step S904, the step S905 of initially setting the χ2 value of the obtained point E in the all-around view monitor or setting in a previously completed matching table (S905) may be further included. The χ2 value of the point E is displayed on the display panel 707 .

The process progress rate can be aggregated by the earthwork amount of each excavator obtained in this way, and thus the entire process table can be calculated.

Now, with reference to FIG. 9, a screen display example of the all-around view monitor-based excavator monitoring apparatus according to the present invention will be described.

As shown in FIG. 9 , the coordinates of the bucket tooth 340 of the excavator are displayed on the three-dimensional block in which the coordinates on the display panel 707 are input, and the display panel 707 according to the coordinate change of the bucket tooth 340 The color of the three-dimensional block in which the coordinates of the three-dimensional block and the coordinates of the bucket tooth 340 are overlapped among the three-dimensional blocks in which the coordinates shown in are changed, and the amount of earthwork is calculated by the area of the three-dimensional block in which the color is changed.

As described above, in the excavator earthwork volume calculation system and method using block ground modeling according to the present invention, the coordinates of each block module that is three-dimensionalized on the ground and the coordinates of the changing bucket tooth are measured, and according to the coordinate change of the bucket tooth Among the three-dimensional blocks in which the coordinates displayed on the display panel are input, the color of the three-dimensional block overlapping the coordinates of the bucket tooth and the coordinates of the bucket tooth is changed, and the amount of earthwork can be calculated by the area of the three-dimensional block in which the color is changed. In addition, with only the excavator, earthworks, including surveying, can be performed to reduce costs, shorten the construction period, and significantly improve work efficiency by calculating a clear amount of earthworks in the earthmoving work section. In addition, the process progress rate can be aggregated by the earthwork amount of each excavator, and thus the entire process table can be calculated.

As described above, the present invention has been described based on the preferred embodiments, but these embodiments are intended to illustrate, not to limit the present invention. Various changes, modifications, or adjustments to the examples are possible. Therefore, the protection scope of the present invention should be construed to include all examples of changes, modifications, or adjustments belonging to the spirit of the present invention.

11: first joint pin 22: second joint pin
33: third joint pin 44: bucket pin
100: boom 200: arm
300: bucket 120: boom cylinder pin
150: boom cylinder 250: arm cylinder
340: bucket tooth 400: bucket link
600: EPOS 701: boom angle sensor
702: arm angle sensor 703: bucket angle sensor
704: GPS receiver 706: gyro sensor
707: display panel 710: TMS
711: three-dimensional block display unit 713: mode selection unit
715: data processing unit 717: data analysis unit
900: floor

Claims (8)

a boom angle sensor mounted on a boom connected to a revolving body to detect an angle of the boom;
an arm angle sensor mounted on an arm connected to the boom to detect an angle of the arm;
a bucket angle sensor mounted on a bucket pin for supporting a bucket connected to the arm to detect an angle of the bucket;
a communication unit mounted on the revolving body to receive excavator location information;
a display panel mounted on the revolving body to display information of a three-dimensional block inputted with coordinates and a bucket tooth of an excavator;
and
Determine the coordinates of the bucket tooth with the boom angle sensor, the arm angle sensor, and the bucket angle sensor, calculate the three-dimensional block to which the coordinates are input based on the position information received by the communication unit, and the coordinates of the bucket tooth are Excavator earthwork volume calculation system using block ground modeling including a control unit that calculates the earthwork quantity of the overlapped three-dimensional block.
2. The method of claim 1
Excavator earthwork volume calculation system in which the color of the corresponding three-dimensional block is changed on the display panel.
The method of claim 1,
a GPS receiver mounted on the revolving body to receive a GPS signal;
and
Excavator earthwork volume calculation system using block ground modeling further comprising a gyro sensor mounted on the revolving body to measure a change in orientation of the excavator.
The method of claim 1,
a mode selection unit for displaying a type of work on the display panel;
and
Excavator earthwork volume calculation system using block ground modeling comprising a data processing unit for processing the amount of work generated as the work progresses as data is selected by the mode selection unit.
The method of claim 1,
The control unit is an excavator earthwork volume calculation system using block ground modeling for detecting the coordinates of the second joint pin, the third joint pin, and the bucket tooth.
displaying a three-dimensional block into which coordinates are input on a display panel;
obtaining coordinate values of the bucket tooth through calculations on the angle of the boom, the angle of the arm, and the angle of the bucket;
displaying the coordinates of the bucket tooth on a display panel on which the three-dimensional block into which the coordinates are input is displayed;
and
Excavator earthwork calculation method using block ground modeling, comprising the step of calculating the earthwork amount by the area of the corresponding three-dimensional block in which the coordinates of the three-dimensional block and the coordinates of the bucket tooth overlap among the three-dimensional blocks to which the coordinates are input.
7. The method of claim 6,
In the step of displaying the three-dimensional block to which the coordinates are input on the display panel,
An excavator earthwork volume calculation method using block ground modeling in which the type of work is selected by the mode selection unit.
7. The method of claim 6,
The excavator earthwork calculation method further comprising; changing the color of the corresponding three-dimensional block on the display panel.

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