KR20230163843A - Machine guidance program and excavator using it - Google Patents

Abstract

Embodiments of the present disclosure relate to construction equipment for providing information about a bucket in an excavator, and include a communication device configured to establish communication with a server, a storage device, and a processor electrically connected to the communication device and the storage device, , the processor may be configured to obtain pre-stored bucket data from the server after requesting a communication connection with the server, and control the execution of a machine guidance program based on the bucket data.

Description

Machine guidance program and excavator using the same {MACHINE GUIDANCE PROGRAM AND EXCAVATOR USING IT}

Various embodiments of the present disclosure relate to machine guidance programs and construction equipment using the same, and more specifically, to a method of applying information about accessories attached to construction equipment to a machine guidance program.

In general, excavators are used for excavation work at civil engineering sites, construction sites and construction sites, loading work to transport soil to dump trucks, crushing work to dismantle buildings and stones, clearing work to clear the ground, and hanging heavy objects. It is a construction equipment that can perform tasks such as lifting objects or using tongs.

These excavators are divided into a lower moving body that moves the equipment, an upper rotating body that is mounted on the top and rotates 360 degrees, and a work device attached to the front of the upper rotating body. The upper rotating body is a driver's seat where the excavator operator rides. It is equipped with (cabin).

The work device connects a boom and an arm and has a bucket mounted on its tip. It is connected to the end of the bucket cylinder through a connecting rod and link, and the bucket can perform work by means of the cylinder. Various tasks performed at construction sites are possible by replacing the bucket attached to the tip of the arm to suit the purpose of the work.

Meanwhile, recent construction equipment is equipped with systems or programs that can assist unskilled people, called machine guidance (MG), machine control (MC), etc. Such a system or program needs to have dimensional information about the accessories attached to construction equipment in order to accurately control them.

On the other hand, even when replacing actual construction equipment, existing accessories are often used as is to save costs. When attaching existing accessories to new construction equipment, information about the accessories must be properly applied so that they can be accurately applied to the machine guidance program. There was the inconvenience of having to re-enter the dimensional information of the accessories and perform calibration again.

Various embodiments of the present disclosure allow, when replacing construction equipment while using previously used accessories, the calibration information of the accessories performed on the previous construction equipment can be applied to the machine guidance program of the construction equipment after the replacement, The purpose is to provide construction equipment and its operation method that can shorten the reorganization time due to replacement of construction equipment.

The technical problems to be achieved by this disclosure are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

Construction equipment according to various embodiments of the present disclosure includes a communication device, a storage device, and a processor configured to communicate with a server, and the processor communicates information about at least one accessory previously stored in the server through the communication device. Obtain information, store information about the acquired at least one accessory in the storage device, execute a machine guidance program, and execute the machine guidance program based on the information about the at least one accessory stored in the storage device. Information on accessories attached to the above construction equipment can be applied.

According to various embodiments of the present disclosure, the processor may obtain a user's unique identification symbol and obtain information about accessories associated with the user's unique identification symbol from the server.

According to various embodiments of the present disclosure, the construction equipment further includes a sensor device, and the processor determines whether information on accessories corresponding to the accessories attached to the construction equipment is not stored in the storage device, Based on actual measurements and information obtained through the sensor device, information about accessories attached to the construction equipment can be obtained and applied to the machine guidance program.

According to various embodiments of the present disclosure, if information about accessories corresponding to the accessories attached to the construction equipment is not stored in the storage device, the processor stores the acquired information about the accessories attached to the construction equipment. It can be backed up by storing it in the storage device and transmitting information about accessories attached to the construction equipment to the server through the communication device.

According to various embodiments of the present disclosure, the processor acquires a user's unique identification symbol, and transmits information about accessories attached to the construction equipment and the user's unique identification symbol to the server through the communication device to uniquely identify the user. Information about accessories attached to the construction equipment can be backed up to be associated with identification symbols.

A method of operating construction equipment according to various embodiments of the present disclosure includes obtaining information about at least one accessory previously stored in a server through a communication device, and storing the acquired information about at least one accessory into a storage device. It may include an operation of storing, an operation of executing a machine guidance program, and an operation of applying information about accessories attached to the construction equipment to the machine guidance program based on information about at least one accessory stored in the storage device. there is.

According to various embodiments of the present disclosure, the operating method further includes an operation of obtaining a user unique identification symbol, and the operation of obtaining information about the at least one accessory is associated with the user unique identification symbol from the server. It may include an operation to obtain information about an existing accessory.

According to various embodiments of the present disclosure, when information about accessories corresponding to accessories attached to the construction equipment is not stored in the storage device, the operation method uses information obtained through the user's actual measurement and a sensor device. Based on this, it may further include an operation of acquiring information about accessories attached to the construction equipment and an operation of applying the obtained information about the accessories attached to the construction equipment to the machine guidance program.

According to various embodiments of the present disclosure, when information on accessories corresponding to the accessories attached to the construction equipment is not stored in the storage device, the operating method may be performed by obtaining information about the accessories attached to the construction equipment. It may further include an operation of storing information in the storage device and an operation of backing up information about accessories attached to the construction equipment by transmitting it to the server through the communication device.

According to various embodiments of the present disclosure, the operating method further includes an operation of obtaining a unique user identification symbol, and an operation of backing up information about accessories attached to the construction equipment by transmitting it to the server through the communication device. An operation of transmitting information about accessories attached to the construction equipment and the user's unique identification symbol to the server through the communication device to back up information about the accessories attached to the construction equipment to be associated with the user's unique identification symbol. may include.

According to various embodiments of the present disclosure, when replacing construction equipment except for a bucket, the calibration information of the bucket performed on the previous construction equipment is applied to the machine guidance program of the construction equipment after replacement, so that the construction equipment is reorganized according to the replacement. Time can be shortened.

In addition, according to various embodiments of the present disclosure, the machine guidance program can be operated only by downloading already constructed bucket data, so the scalability related to the operation and control of the machine guidance program is excellent.

The effects that can be obtained from the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is a diagram illustrating an autonomous work system according to various embodiments of the present disclosure.
2 is a diagram for explaining an excavator according to various embodiments of the present disclosure.
3 is a diagram conceptually showing construction equipment according to various embodiments of the present disclosure.
Figure 4 is a flowchart illustrating an operation in which construction equipment transmits information about accessories attached to construction equipment to a control center or server according to various embodiments of the present disclosure.
Figure 5 is a flowchart for explaining the operation of receiving information about accessories from a control center or server through construction equipment and storing it in a machine guidance program according to various embodiments of the present disclosure.
6A to 6D are diagrams illustrating guide screens provided by a machine guidance program and accessory data (or file) for generating an accessory list according to various embodiments of the present disclosure.
FIG. 7 is a diagram illustrating a conventional method of measuring some numerical values input to a machine guidance program when attaching a bucket to construction equipment.

The advantages and features of the present disclosure, and the apparatus and method for achieving them, will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and will be implemented in various different forms, but these embodiments only ensure that the disclosure of the present disclosure is complete and are within the scope of common knowledge in the technical field to which this disclosure pertains. It is provided to fully inform those who have the scope of the disclosure, and the disclosure is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

One component is said to be “connected to” or “coupled to” another component when it is directly connected or coupled to another component or with an intervening other component. Includes all cases. On the other hand, when one component is referred to as “directly connected to” or “directly coupled to” another component, it indicates that there is no intervening other component. “And/or” includes each and every combination of one or more of the mentioned items.

The terminology used herein is for the purpose of describing embodiments and is not intended to limit the disclosure. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used herein, “comprises” and/or “comprising” refers to the presence of one or more other components, steps, operations and/or elements. or does not rule out addition.

Although first, second, etc. are used to describe various components, these components are of course not limited by these terms. These terms are merely used to distinguish one component from another.

Accordingly, it goes without saying that the first component mentioned below may also be the second component within the technical spirit of the present disclosure. Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which this disclosure pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

The term 'unit' or 'module' used in this embodiment refers to software or hardware components such as FPGA or ASIC, and the 'unit' or 'module' performs certain roles. However, 'part' or 'module' is not limited to software or hardware. A 'unit' or 'module' may be configured to reside on an addressable storage medium and may be configured to run on one or more processors. Therefore, as an example, 'part' or 'module' refers to components such as software components, object-oriented software components, class components and task components, processes, functions, properties, May include procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functionality provided within components and 'parts' or 'modules' can be combined into smaller numbers of components and 'parts' or 'modules' or into additional components and 'parts' or 'modules'. Could be further separated.

Steps of a method or algorithm described in connection with some embodiments of the present disclosure may be implemented directly in hardware, software modules, or a combination of the two executed by a processor. Software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of recording medium known in the art. An exemplary recording medium is coupled to a processor, which can read information from the recording medium and write information to the storage medium. Alternatively, the recording medium may be integrated with the processor. The processor and recording medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal.

1 is a diagram illustrating an autonomous work system 100 according to various embodiments of the present disclosure.

Referring to FIG. 1, an autonomous work system 100 according to various embodiments may include a control center 110 and at least one construction equipment (or autonomous construction equipment) 120 to 150.

According to various embodiments, construction equipment (120 to 150) refers to a machine that performs work at a civil engineering or building construction site. As shown in FIG. 1, a mixer truck (120), a dump It may include a dump truck (130), a dozer (140), and an excavator (150). However, this is only an example, and construction equipment may include various machines such as cranes, wheel loaders, scrapers, etc.

According to one embodiment, the construction equipment 120 to 150 may perform work by the driver according to work instructions received from the control center 110. According to another embodiment, the construction equipment 120 to 150 may perform work autonomously without a driver. Work instructions may include information related to the work area in which the construction equipment must work, the work to be performed in the work area, etc. For example, the construction equipment 120 to 150 may move to the work area and perform work according to work instructions without or based on the user's operation.

Construction equipment (120 to 150) may be equipped with various sensors, and can detect the status of the construction equipment and/or the surrounding environment of the construction equipment based on information obtained through the sensors, and consider the detection results when performing work. .

Additionally, the construction equipment 120 to 150 may be equipped with an instrument panel that can display information about the construction equipment 120 to 150 or set control settings for the construction equipment 120 to 150. According to one embodiment, the instrument panel is equipped with a touch sensor capable of receiving a user's touch input, so that information about which image in the instrument panel the user touched to execute it can be obtained. Construction equipment (120 to 150) may collect the user's instrument panel touch information and transmit it to the control center (110).

According to various embodiments, the control center 110 may be a system that manages at least one piece of construction equipment 120 to 150 input to a work site. According to one embodiment, the control center 110 may instruct work with at least one construction equipment 120 to 150. For example, the control center 110 may generate a work instruction defining a work area and work to be performed in the work area, and transmit it to at least one construction equipment 120 to 150.

2 is a diagram for explaining an excavator according to various embodiments of the present disclosure. In the following description, the excavator among the construction equipment shown in FIG. 1 will be described as an example, but the construction equipment is not limited to the excavator.

Referring to FIG. 2, the excavator 200 includes a lower body 210 that plays a moving role, an upper body 220 that is mounted on the lower body 210 and rotates 360 degrees, and a front coupled to the front of the upper body 220. It may be configured as a working device 230. However, this is only an example, and the embodiments of the present disclosure are not limited thereto. For example, in addition to the components of the excavator 200 described above, one or more other components (eg, a plate coupled to the rear of the lower body 210, etc.) may be added.

According to various embodiments, the upper body 220 may have a built-in cab 222 that a driver can board and operate, and may be provided with an internal space (not shown) in which a power generating device (e.g., an engine) can be installed. there is. The operator station 222 may be provided close to the work area. The work area is a space where the excavator 200 works and is located in front of the excavator 200. For example, in consideration of the fact that the driver on board performs work under a secured field of view and the location where the front work device 230 is mounted, the cab 222 is close to the work area as shown in FIG. 2A and the upper body ( 220), it may be located in a place that is biased to one side.

According to various embodiments, the front work device 230 is mounted on the upper surface of the upper body 220 and may be a device for performing tasks such as excavating land or transporting objects with a large load. According to one embodiment, the front work device 230 includes a boom 231 rotatably coupled to the upper body 220, a boom cylinder 232 that rotates the boom 231, and a rotating member at the front end of the boom 231. An arm 233 that is rotatably coupled, an arm cylinder 234 that rotates the arm 233, a bucket 235 that is rotatably coupled to the front end of the arm 233, and a bucket cylinder 236 that rotates the bucket 235. ) may include. When working with the excavator 200, one end of the boom 231, one end of the arm 233, and one end of the bucket 235 each rotate individually to maximize the area that the bucket 235 can reach. . Since the above-described front work device 230 is known in many documents, detailed description thereof will be omitted.

According to various embodiments, the lower body 210 may be coupled to the lower surface of the upper body 220. The lower body 210 may include a traveling body formed of a wheel type using wheels or a crawler type using endless tracks. The traveling body can implement forward, left, and right movements of the excavator 200 using the power generated by the power generation device as a driving force. According to one embodiment, the lower body 210 and the upper body 220 may be rotatably coupled by a center joint.

According to various embodiments, the excavator 200 may include a plurality of sensors for collecting information related to the operation of the excavator and/or information related to the surrounding environment.

According to one embodiment, the plurality of sensors may include a first sensor for detecting the operation of the excavator 200. For example, the operation of the excavator 200 may include rotation of the upper body 220 (or the lower body 210). The first sensor is disposed at the center joint and can detect the rotational motion of the upper body 220. Additionally, the operation of the excavator 200 may include a rotational operation of the front work device 230. The first sensor is disposed on each of the boom 231, arm 233, and bucket 235, or is disposed on a joint portion (e.g., a hinge connection portion) of the boom 231, arm 233, and bucket 235 to be at least Rotational motion for each of the boom 231, arm 233, and bucket 235 may be detected. The position of the above-described first sensor is an example, and the present disclosure is not limited thereto, and the first sensor may be placed in various positions capable of detecting the state of the excavator 200.

According to one embodiment, the plurality of sensors may include a second sensor for detecting a work area in which the excavator 200 performs work. As described above, the work area is a space where the excavator 200 works and may be located in front of the excavator 200. The second sensor may be disposed in a part of the upper body 220 close to the work area, for example, on one side of the upper surface of the cab 222 and close to the front work device 230 to detect the work area. However, this is only an example, and the location of the second sensor is not limited to this. For example, a second sensor may additionally or alternatively be placed on the front work device 230, such as arm 233 or bucket 235, to sense the work area.

According to one embodiment, the plurality of sensors may include a third sensor for detecting obstacles around the excavator 200. The third sensor is disposed at the front, side, and rear of the upper body 220 and can detect obstacles around the excavator 200. The location of the above-described third sensor is an example, and the present disclosure is not limited thereto, and the third sensor may be placed in various positions capable of detecting obstacles around the excavator 200.

According to various embodiments, the various sensors described above may include an angle sensor, an inertial sensor, a rotation sensor, an electromagnetic wave sensor, a camera sensor, a radar, a LiDAR, or an ultrasonic sensor. For example, the first sensor may be comprised of at least one of an angle sensor, an inertial sensor, or a rotation sensor, and the second and third sensors may be comprised of at least one of an electromagnetic wave sensor, a camera sensor, a radar, a lidar, or an ultrasonic sensor. You can. For example, a camera sensor disposed on the upper surface of the cab 222 and the arm 233 of the excavator 200 may be used as the second sensor. Additionally, a lidar placed on the front of the excavator 200, an ultrasonic sensor placed on the side and rear of the excavator 200, or a camera sensor placed on the front, side, and rear of the excavator 200 may be used as the third sensor. Additionally or alternatively, when an image sensor is used as a second sensor or a third sensor, it may be configured as a stereo vision system capable of acquiring an image showing distance information of an object.

Additionally, each of the first sensor, second sensor, and third sensor may perform the same or similar operation as another sensor. For example, the third sensor for detecting obstacles around the excavator 200 may be used to perform the operation of the second sensor for detecting the work area where the excavator 200 performs work.

According to various embodiments, the excavator 200 is capable of performing unmanned automation, that is, autonomous work, and may include at least one positioning device or obtain positioning information from an external device.

According to one embodiment, the positioning device may use a GNNS (Global Navigation Satellite System) module capable of receiving satellite signals, and an RTK (Real Time Kinematic) GNSS module may be used for precise measurement. For example, at least one positioning device may be disposed on the upper body 220 of the excavator 200.

Figure 3 is a diagram conceptually showing construction equipment 300 according to various embodiments of the present disclosure. One of the construction equipment 300 described with reference to FIG. 3 may be the excavator 200 shown in FIG. 2 .

Referring to FIG. 3, construction equipment 300 may include a processor 310, a communication device 320, a storage device 330, an operation device 340, an output device 350, and a sensor device 360. there is. However, this is only an example, and the embodiments of the present disclosure are not limited thereto. For example, at least one of the components of the construction equipment 300 described above may be omitted, or one or more other components may be added to the construction equipment 300.

According to various embodiments, the communication device 320 can transmit and receive data with an external device using wireless communication technology. External devices may include the control center 110, other display devices (e.g., smartphones, laptops, tablets, etc.), and/or other construction equipment. At this time, the communication technologies used by the communication device 320 include GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), and Wi-Fi (Wireless- Fidelity), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), etc. Additionally, the communication device 320 may include at least one positioning device, as described above with reference to FIG. 2 .

According to various embodiments, the storage device 330 is at least one component of the construction equipment 300 (e.g., the processor 310, the communication device 320, the operating device 340, and the output device 350). Alternatively, various data used by the sensor device 360 may be stored. According to one embodiment, the storage device 330 may store specifications (e.g., model name, unique number, basic specifications), map data, etc. of the construction equipment 300. According to one embodiment, the storage device 330 may store design drawings on which the construction equipment 300 must work. The design drawing can be directly saved by the user in the storage device 330, or the construction equipment 300 is connected to the control center 110 through the communication device 320 to obtain the design drawing and stored in the storage device 330. You can also save it. Some information in the design drawing may be displayed on the guide screen, which will be explained later. According to one embodiment, the storage device 330 may include at least one of a non-volatile memory device and a volatile memory device.

According to various embodiments, the manipulation device 340 may receive commands or data to be used to control the operation of the construction equipment 300. When the construction equipment 300 is the excavator 200 of FIG. 2, the operating device 340 controls at least a portion of the front work device 230 (e.g., the boom 231, the arm 233, and the bucket 235). It may include a control lever for operation, a handle for manipulating the steering of the lower body 210, and a shift lever for manipulating the moving speed or forward and backward travel of the excavator 200. According to one embodiment, the operating device 340 may be provided in the driver's cabin 222 described above with reference to FIG. 2 .

According to various embodiments, the output device 350 may generate output related to the operation of the construction equipment 300. According to one embodiment, the output device 350 may include a display that outputs visual information, an audio data output device that outputs auditory information, and a haptic module that outputs tactile information. For example, the display may include a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, or a microelectromechanical system (MEMS) display, or electronic paper, etc. . Additionally, the audio data output device may be included in the construction equipment 300 or may include at least one of speakers, earphones, earsets, or headsets connected to the construction equipment 300 via wired or wireless means.

According to various embodiments, the sensor device 360 may include a first sensor for detecting the operation of the construction equipment 300, a second sensor for detecting the work area in which the construction equipment 300 performs work, and/or a construction equipment 360. A third sensor may be included to detect obstacles around the equipment 300. In addition, sensors necessary for the operation of construction equipment 300 may be added.

According to various embodiments, the processor 310 may be configured to control the overall operation of the construction equipment 300. According to one embodiment, the processor 310 executes software (e.g., a program) stored in the storage device 330, and components connected to the processor 310 (e.g., a communication device 320, At least one component of the storage device 330, the manipulation device 340, the output device 350, or the sensor device 360 can be controlled, and various data processing or calculations can be performed. For example, as at least part of data processing or computation, processor 310 stores instructions or data received from other components in storage device 330, processes instructions or data stored in storage device 330, and , the resulting data can be stored in the storage device 330. The processor 310 may be comprised of a main processor and a secondary processor that can operate independently or together with the main processor. According to one embodiment, the processor 310 includes the above-described components (e.g., communication device 320, storage device 330, manipulation device 340, output device 350, or sensor device 360). CAN (Controller Area Network) communication may be performed, but the present disclosure is not limited to this.

According to one embodiment, the construction equipment 300 may be installed with a machine guidance program to assist the driver, and the processor 310 executing the machine guidance program may be installed with a machine guidance program to assist the driver. The generated information can be displayed on a display device. For example, calibration information of a bucket attached to the construction equipment 300 can be displayed on the display device.

FIG. 4 is a flowchart illustrating an operation in which the construction equipment 300 transmits information about accessories attached to the construction equipment 300 to the control center 110 or a server according to various embodiments of the present disclosure. And, Figure 5 is a flowchart for explaining the operation of receiving information about accessories from the control center 110 or the server through the construction equipment 300 according to various embodiments of the present disclosure and storing it in a machine guidance program.

In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. Additionally, the following operations may be performed by the processor 310 of the construction equipment 300 or implemented as instructions executable by the processor 310. In the following description, an excavator is described as an example of the first and second construction equipment, but the present disclosure is not limited to the excavator.

According to one embodiment, in order to perform necessary work or due to a breakdown, etc., the first construction equipment may be replaced with the second construction equipment. At this time, accessories such as a bucket attached to the first construction equipment can be transferred and attached to the second construction equipment for use. And when the construction equipment is equipped with a machine guidance program, in order for the machine guidance program to operate correctly, information about the accessories newly attached to the second construction equipment needs to be stored in the machine guidance program.

To facilitate this, the first construction equipment can transmit information about accessories to the control center 110 or the server according to the operation shown in FIG. 4, and the second construction equipment can transmit information about the accessories to the control center 110 or the server according to the operation shown in FIG. 5. (110) Alternatively, information about the corresponding accessory may be received from the server and stored in the storage device 330 or the machine guidance program of the second construction equipment.

Referring to FIG. 4, the processor 310 of the first construction equipment may perform calibration of the accessories in operation S410.

For example, precise positioning of accessories may be required to perform precision work. Position control of accessories can be performed based on information obtained by sensors mounted on accessories, and the information obtained by these sensors may have errors or be affected by various factors possessed by the sensors. Therefore, a calibration process is essential for accurate position control of accessories. If work is performed without calibration of the accessories, errors may occur in the stopping positions of the accessories, which can cause significant differences from the design drawings at construction sites that require precise work. To prevent this, the processor 310 of the construction equipment 300 may perform calibration for the attached accessories.

According to one embodiment, when a signal instructing calibration of an accessory is input, the processor 310 may execute the calibration logic stored in the storage device 330. Additionally, according to various embodiments, the processor 310 may perform calibration by considering the wear state of accessories. Since the above-described calibration method is known in many documents, detailed description thereof will be omitted.

The processor 310 according to various embodiments may store information about the accessory in the storage device 330 after calibration is completed in operation S420. For example, when the accessory is a bucket, information about the accessory stored in the storage device 330 may include information about the type of bucket, the specification of the bucket, the wear state of the bucket, etc. Additionally, information such as storage date, whether dimension measurement has been completed, whether calibration has been completed, and parameters for coordinate calculation can also be stored. However, this is only an example, and the embodiment of the present disclosure is not limited to this, and other information deemed necessary may be further included.

The processor 310 according to various embodiments may back up information about accessories by transmitting it to the control center 110 or a server in operation S430. According to one embodiment, the processor 310 may create a database of information about accessories based on the user's unique identification symbol (ID) and transmit it to the control center 110 or the server.

Referring to FIG. 5, the processor 310 provided in the second construction equipment may transmit the user's unique identification symbol (ID) to the control center 110 or the server in operation S510. A user unique identification symbol (ID) may be user information input through a user interface. According to one embodiment, information about at least one accessory corresponding to the user's unique identification symbol (ID) may be stored in advance in the control center 110 or the server.

The processor 310 according to various embodiments may receive information about accessories from the control center 110 or the server in operation S520 and store it in a machine guidance program. According to one embodiment, information about accessories may be accessory data (or files) stored in the control center 110 or the server based on the user's unique identification symbol (ID). According to one embodiment, the processor 310 may generate a list of accessories based on data (or files) of accessories. The accessories list may refer to a list of accessories previously used in construction equipment, including first construction equipment and second construction equipment.

The processor 310 according to various embodiments may execute a machine guidance program, display a list of accessories, and apply the accessories selected by the user to the machine guidance program in operation S530. Accordingly, the processor 310 can use information on accessories used in the first construction equipment by applying it to the machine guidance program of the second construction equipment.

6A to 6D are diagrams illustrating guide screens provided by a machine guidance program and accessory data (or file) for generating an accessory list according to various embodiments of the present disclosure. The guide screen configuration example shown in FIGS. 6B to 6D is an example of an embodiment and may be configured in a different shape, and additional components may be included or some components may be removed.

Referring to FIG. 6A, the processor 310 of the construction equipment 300 may generate a file 610 containing information about the accessory for each accessory and store the file 610 in the storage device 330. According to one embodiment, the name of each file 610 may be set to the type and serial number of the accessory. And the processor 310 may transmit the generated file 610 to the control center 110 or the server. Additionally, according to one embodiment, the processor 310 may download the file 610 from the control center 110 or the server through the communication device 320 and store it in the storage device 330.

Referring to the guide screen 620 in FIG. 6B, in order to allow the user to select a bucket among the accessories attached to the construction equipment 300, the machine guidance program displays a guide screen for bucket selection on the display of the output device 350. (620) can be displayed. The guide screen 620 may include the file name 621 of the accessory included in the accessory list and an icon 622 indicating the type of accessory. In addition, the guide screen 620 may further display a selection button 623 next to each file name 621 for selecting an accessory corresponding to the file name.

Referring to the guide screens 630 and 640 of FIGS. 6C and 6D, the guide screens 630 and 640 may display information about the accessory selected by the user.

According to one embodiment, as the "Bucket01" file in FIG. 6B is selected, the guide screen 630 displays an icon 631 indicating the type of bucket based on the information contained in the file, and whether to input the dimensions of the bucket ( 632), whether bucket calibration is performed (633), and a wear setting value (634) indicating the wear state of the bucket can be displayed.

The guide screen 640 is a screen that can be displayed when the user selects the dimension input 632 of the guide screen 630, and may display dimension information obtained and input from the “Bucket01” file. According to one embodiment, the guide screen 640 displays a length value 641 from the end of the arm (D) to the end of the link connecting the bucket cylinder and the bucket (G), and the end of the bucket tip from the end of the arm (D) ( Length value to N) (642), length value from the end of the arm (D) to the starting point (Q) of the bucket back (643), length value from the tip of the bucket tip (N) to the starting point (Q) of the bucket back. (644), and may include the bucket width value (645).

As described above, according to the present invention, when construction equipment is replaced and accessories such as buckets used in the previous construction equipment are used as is in the replaced construction equipment, information about the bucket from the previous construction equipment is stored in the replaced construction equipment. By directly applying it to the equipment's machine guidance program, reorganization time due to replacement of construction equipment can be shortened.

Below, a conventional method of measuring some numerical values input into a machine guidance program when attaching a bucket to construction equipment will be described. This shows that the method of using the information stored in the server proposed in this disclosure can significantly shorten the reorganization time due to replacement of construction equipment because it does not require the conventional measurements as described below.

FIG. 7 is a diagram illustrating a conventional method of measuring some numerical values input to a machine guidance program when attaching a bucket to construction equipment.

As a new bucket is attached to construction equipment, information about the bucket (e.g. numerical information) must be newly registered in the machine guidance program. To achieve this, the necessary numerical information can be obtained by measuring with a tape measure, and the angle can be obtained by performing a calibration process.

The example in Figure 7 explains the process for acquiring each GDN. To obtain each GDN, 1) First, use a plumb bob to make the line segment DN (710) perpendicular to the horizon (720).

2) Obtain the size of each CDL, the length of the line segment LK, the line segment DL, and the line segment KG that can be stored in the storage device 330 as predetermined design values according to the type of each construction equipment.

3) The user measures the length of the line segment DG with a tape measure and enters it.

4) Obtain the output value of the first IMU sensor attached to the arm and the output value of the second IMU sensor attached to the bucket.

5) Obtain the size of each DLK based on the output values of the IMU sensors and the size of each CDL.

6) Obtain the length of the line segment DK based on the length of the line segment LK, the length of the line segment DL, and the size of each DLK.

7) Obtain the size of each LDK based on the length of the line segment LK, the length of the line segment DL, and the length of the line segment DK.

8) Obtain the size of each KDG based on the length of the line segment KG, the length of the line segment DG, and the length of the line segment DK.

9) Finally, each GDN is obtained based on the output value of the first IMU sensor, the size of each CDL, the size of each LDK, and the size of each KDG.

As described above, in order to obtain each GDN, significant calculations must be performed using user measurements and measurements from sensors attached to construction equipment, and therefore, a considerable amount of time is required for reorganization.

However, by obtaining information about the attached bucket from the control center 110 or the server and using this, each GDN can be calculated immediately, thereby reducing the time for reorganization.

The machine guidance program and guide screen or user interface (UI) of the construction equipment 300 according to embodiments of the present disclosure are implemented as instructions that can be executed by a processor (e.g., processor 310) and are stored in computer-readable form. It can be stored in a medium, and the processor can display the UI or guide screen constructed by reading and executing the corresponding instructions from the storage medium on the display.

Storage media, whether directly and/or indirectly, in a raw, formatted, organized or any other accessible state, may include relational databases, non-relational databases, in-memory databases, Or, it may include a database, including distributed, such as any other suitable database capable of storing data and allowing access to such data through a storage controller. In addition, storage media include primary storage, secondary storage, tertiary storage, offline storage, volatile storage, non-volatile storage, semiconductor storage, magnetic storage, optical storage, and flash. It may include any type of storage device, such as a storage device, hard disk drive storage device, floppy disk drive, magnetic tape, or other suitable data storage medium.

The present disclosure has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will understand that various modifications and other equivalent embodiments are possible therefrom. Therefore, the true technical protection scope of the present disclosure should be determined by the technical spirit of the attached registration claims.

Claims (11)

In construction equipment,
A communication device configured to communicate with a server;
storage device; and
Includes a processor,
The processor,
Obtain information about at least one accessory pre-stored in the server through the communication device,
Store information about the at least one accessory acquired in the storage device,
Run the machine guidance program,
Applying information about accessories attached to the construction equipment to the machine guidance program based on information about at least one accessory stored in the storage device,
Construction equipment.
The method of claim 1, wherein the processor:
Obtain a unique user identifier,
Obtaining information about accessories associated with the user's unique identification symbol from the server,
Construction equipment.
According to claim 1,
Further comprising a sensor device,
The processor,
If information about accessories corresponding to the accessories attached to the construction equipment is not stored in the storage device, information about the accessories attached to the construction equipment is based on the user's actual measurements and information obtained through the sensor device. Obtaining and applying to the machine guidance program,
Construction equipment.
According to claim 3,
The processor,
If information about accessories corresponding to the accessories attached to the construction equipment is not stored in the storage device, the acquired information about the accessories attached to the construction equipment is stored in the storage device and attached to the construction equipment. Backing up information about the used accessories by transmitting them to the server through the communication device,
Construction equipment.
According to claim 4,
The processor,
Obtain a unique user identifier,
Backing up information about accessories attached to the construction equipment and transmitting the user's unique identification symbol to the server through the communication device to be associated with the user's unique identification symbol,
Construction equipment.
In the method of operating construction equipment,
An operation of obtaining information about at least one accessory previously stored in a server through a communication device;
An operation of storing acquired information about the at least one accessory in a storage device;
The act of executing a machine guidance program; and
Comprising the operation of applying information about accessories attached to the construction equipment to the machine guidance program based on information about at least one accessory stored in the storage device,
How construction equipment operates.
According to claim 6,
Further comprising the operation of obtaining a unique user identification symbol,
The operation of obtaining information about the at least one accessory includes:
Comprising the operation of obtaining information about an accessory associated with the user's unique identification symbol from the server,
How construction equipment operates.
According to claim 6,
If information on accessories corresponding to the accessories attached to the construction equipment is not stored in the storage device,
An operation of acquiring information about accessories attached to the construction equipment based on the user's actual measurement and information obtained through a sensor device; and
Further comprising the operation of applying the obtained information about accessories attached to the construction equipment to the machine guidance program,
How construction equipment operates.
According to claim 8,
If information on accessories corresponding to the accessories attached to the construction equipment is not stored in the storage device,
An operation of storing acquired information about accessories attached to the construction equipment in the storage device; and,
Further comprising backing up information about accessories attached to the construction equipment by transmitting it to the server through the communication device.
How construction equipment operates.
According to clause 9,
Further comprising the operation of obtaining a unique user identification symbol,
The operation of backing up information about accessories attached to the construction equipment by transmitting it to the server through the communication device,
An operation of backing up information about accessories attached to the construction equipment by transmitting information about accessories attached to the construction equipment and the user's unique identification symbol to the server through the communication device to be associated with the user's unique identification symbol. containing,
How construction equipment operates.
In a processor-readable storage medium,
storing a program for performing the method according to any one of claims 6 to 10,
Processor-readable storage media.

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