WO2022005096A1

WO2022005096A1 - Autonomous working construction machine and operation method thereof

Info

Publication number: WO2022005096A1
Application number: PCT/KR2021/007924
Authority: WO
Inventors: 박민철; 김동목
Original assignee: 두산인프라코어 주식회사
Priority date: 2020-06-30
Filing date: 2021-06-23
Publication date: 2022-01-06
Also published as: KR20220001777A

Abstract

Embodiments of the present disclosure relate to an autonomous working construction machine and an operation method thereof. According to an embodiment, an autonomous driving-based construction machine comprises: a communication device configured to transmit and receive a signal; a positioning device configured to collect information related to the location of the construction machine; and a processor electrically connected to the communication device and the positioning device, wherein the processor may obtain a work processing point within a working area, on the basis of a work instruction obtained via an external device or the communication device, obtain a work path to the work processing point, obtained on the basis of the information related to the location of the construction machine, obtain a movement trajectory of the construction machine for moving to the work processing point, on the basis of the work path, and control the construction machine to operate on the basis of the movement trajectory.

Description

Autonomous working construction machine and method of operation thereof

Various embodiments of the present disclosure relate to autonomous work of a construction machine, and more specifically, determine a driving route to and within the work area, and drive the construction machine by using the travel path and information obtained through a sensor It relates to an autonomous working construction machine for controlling a construction machine and an operation method thereof.

Equipment for earthworks at construction sites has been continuously improved and developed. Construction machinery used in construction sites is designed to be operated by a skilled operator as a manipulator, riding on the construction machine and directly controlling it.

However, it is experiencing difficulties due to the absence of skilled craftsmen, and profitability continues to deteriorate due to safety management problems and an increase in the wages of skilled craftsmen. In addition, it is difficult to secure uniformity of construction quality due to differences in the skill level of each craftsman.

In recent years, an automated system capable of solving problems of the absence of skilled craftsmen, safety management, and profitability has been actively studied. As part of such an automation system, a site manager may generate a target drawing using work environment modeling, and a construction machine operator may perform a task according to the generated target drawing.

However, the above-described operation is to allow the construction machine operator to establish himself/herself by referring only to the target drawings, and the quality and speed of the operation are inevitably dependent on the skill level of the operator.

An object of the present disclosure is to provide an autonomous construction machine and an operating method thereof for enabling autonomous operation to be performed.

The problem to be solved by the present disclosure is to determine a driving route up to and within the work area, and control the driving of the construction machine by using the travel route and information obtained through a sensor, and an operating method thereof is to provide

The technical problems to be achieved in the present disclosure are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. There will be.

An autonomous work construction machine according to various embodiments of the present disclosure includes a communication device configured to send and receive signals, a positioning device configured to collect information related to the location of the construction machine, and a processor electrically connected to the communication device and the positioning device Including, wherein the processor, based on a work instruction obtained through an external device or the communication device, obtains a work processing point for a work area, and is obtained based on information related to the location of the construction machine, the work Obtain a work path to the processing point, obtain a motion trajectory of the construction machine for moving to the work processing point based on the work path, and control the construction machine to be driven based on the motion trajectory .

An operation method of an autonomous work construction machine according to various embodiments of the present disclosure includes an operation of obtaining a work processing point for a work area based on a work instruction obtained through an external device or the construction machine, and a location of the construction machine An operation of obtaining a work path to the work processing point obtained based on information related to an operation of obtaining a motion trajectory of the construction machine for moving to the work processing point based on the work path, It may include an operation of controlling the driving of the construction machine based on the.

The autonomous work construction machine according to the embodiments of the present disclosure determines the driving route and controls the driving using the driving route and information obtained through the sensor, thereby enabling the automation of the work and improving the work quality and work speed. can

Effects obtainable in the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. will be.

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

2A is a view for explaining a construction machine according to various embodiments of the present disclosure.

2B is a view for explaining a sensor provided in a construction machine.

3 is a view conceptually illustrating an excavator according to various embodiments of the present disclosure.

4A and 4B are diagrams for explaining an operation of determining a work processing point in an excavator.

5 is a view for explaining an operation of determining a motion trajectory in the excavator.

6 is a flowchart illustrating an operation method of an excavator according to various embodiments of the present disclosure;

7 is a flowchart illustrating an operation of determining a work path in an excavator according to various embodiments of the present disclosure;

8 is a flowchart illustrating an operation of determining a motion trajectory in an excavator according to various embodiments of the present disclosure;

9 is a flowchart illustrating an operation of controlling driving in an excavator according to various embodiments of the present disclosure;

10 is a flowchart illustrating an operation of processing a job in an excavator according to various embodiments of the present disclosure;

11 is a flowchart illustrating an operation of processing an emergency control event in an excavator according to various embodiments of the present disclosure;

12A to 12C are diagrams illustrating running performance of an excavator according to various embodiments of the present disclosure;

Advantages and features of the present disclosure, and apparatus and methods for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the present embodiments allow the disclosure of the present disclosure to be complete, and common knowledge in the art to which the present disclosure belongs It is provided to fully inform those who have the scope of the disclosure, and the present disclosure is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

When one component is referred to as “connected to” or “coupled to” with another component, it means that it is directly connected or coupled to another component or intervening another component. including all cases. On the other hand, when one component is referred to as “directly connected to” or “directly coupled to” with another component, it indicates that another component is not interposed therebetween. “and/or” includes each and every combination of one or more of the recited items.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present disclosure. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” refers to the presence of one or more other components, steps, operations, and/or elements mentioned. or addition is not excluded.

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

Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present disclosure. Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which this disclosure belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

The term 'unit' or 'module' used in this embodiment means software or hardware components such as FPGA or ASIC, and 'unit' or 'module' performs certain roles. However, 'unit' or 'module' is not meant to be limited to software or hardware. A 'unit' or 'module' may be configured to reside on an addressable storage medium or may be configured to reproduce one or more processors. Thus, 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. Components and functionality provided within 'units' or 'modules' may be combined into a smaller number of components and 'units' or 'modules' or additional components and 'units' or 'modules' can be further separated.

Steps of a method or algorithm described in connection with some embodiments of the present disclosure may be directly implemented in hardware executed by a processor, a software module, or a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of recording medium known in the art. An exemplary recording medium is coupled to the processor, the processor capable of reading information from, and writing information to, the storage medium. Alternatively, the recording medium may be integral 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 machine (or autonomous work construction machine) 120 to 150 .

According to various embodiments, the construction machines 120 to 150 refer to machines that perform autonomous work at the civil engineering or building construction site, and as shown in FIG. 1, a mixer truck 120, It may include a dump truck 130 , a bulldozer 140 , and an excavator 150 . However, this is only an example, and the construction machine may include various machines such as a drilling machine, a crane, a wheel loader, a scraper, and the like. Autonomous work may mean including both an operation in which the working machines 120 to 150 autonomously move without a user's manipulation, an operation to autonomously perform a task that can be performed by the construction machines 120 to 150, and the like. .

According to an embodiment, the construction machines 120 to 150 may perform autonomous work according to a work instruction received from the control center 110 . The work instruction may include information related to a work area in which the construction machine must work, a work to be performed in the work area, and the like. For example, the construction machines 120 to 150 may move to a work area and perform work according to a work instruction without a user's manipulation. Construction machines 120 to 150, as will be described later with reference to FIG. 2A, may be provided with various sensors, and based on the information obtained through the sensors, detect the state of the construction machine and / or the surrounding environment of the construction machine, , the detection result can be taken into account in performing the task.

According to various embodiments, the control center 110 may be a system for managing at least one construction machine 120 to 150 input to a work site. According to an embodiment, the control center 110 may instruct work to at least one construction machine 120 to 150 . For example, the control center 110 may generate a work instruction defining a work area and a work to be performed in the work area, and transmit it to the at least one construction machine 120 to 150 .

2A is a view for explaining a construction machine according to various embodiments of the present disclosure. And, Figure 2b is a view for explaining the sensor provided in the construction machine. In the following description, an excavator among the construction machines shown in FIG. 1 will be described as an example, but the construction machine is not limited to the excavator.

Referring to FIG. 2A , the excavator 200 includes a lower body 210 serving as a movement, an upper body 220 mounted on the lower body 210 and rotating 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 embodiment of the present disclosure is 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 ) may be added.

According to various embodiments, the upper body 220 may be provided with an internal space (not shown) in which a cab 222 that a driver can ride and operate is built-in and a power generating device (eg, an engine) can be mounted. have. The cab 222 may be provided in a portion close to the work area. The work area is a space in which the excavator 200 works, and is located in front of the excavator 200 . For example, in consideration of the position where the driver on board works under the secured field of view and 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) may be located in a biased position to one side.

According to various embodiments, the front working device 230 is mounted on the upper surface of the upper body 220 and may be a device for excavating land or transporting a heavy object. According to one embodiment, the front working device 230 is a boom 231 rotatably coupled to the upper body 220 , a boom cylinder 232 for rotating the boom 231 , and rotation at the tip of the boom 231 . Arm 233 rotatably coupled to arm 233, arm cylinder 234 for rotating arm 233, bucket 235 rotatably coupled to the distal end of arm 233, bucket cylinder 236 for rotating bucket 235 ) may be included. During the operation of 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. . The aforementioned front working device 230 is known in many documents, and 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 a caterpillar. The traveling body can implement the forward, backward, left, and right movements of the excavator by using the power generated by the power generating device as a driving force. According to an 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 is capable of performing unmanned automation, that is, autonomous operation, and may include a plurality of sensors.

According to an embodiment, the plurality of sensors may include a first sensor for detecting the state of the excavator 200 . For example, the state of the excavator 200 may include the rotational state of the upper body 220 (or the lower body 210 ). The first sensor is disposed at the center joint to detect the rotational state of the upper body 220 . In addition, the state of the excavator 200 may include the rotational state of the front working device 230. The first sensor is at each of the boom 231, the arm 233, and the bucket 235. disposed or disposed at an articulation (eg, a hinge connection) of the boom 231 , the arm 233 , and the bucket 235 to sense a rotational state for at least each of the boom 231 , the arm 233 , and the bucket 235 . The location of the above-described first sensor is an example, and the present disclosure is not limited thereto, and the first sensor may be disposed at various locations capable of detecting the state of the excavator 200 .

According to an 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 in which the excavator works, and may be located in front of the excavator 200 . The second sensor may be disposed on a portion of the upper body 220 close to the work area, for example, at one side close to the front work device 230 on the upper surface of the cab 222 to detect the work area. However, this is only an example, and the position of the second sensor is not limited thereto. For example, a second sensor may be disposed on the front work device 230 , for example arm 233 or bucket 235 to additionally or selectively sense the work area.

According to an embodiment, the plurality of sensors may include a third sensor for detecting an obstacle around the excavator 200 . The third sensor may be disposed at the front, side, and rear of the upper body 220 to detect obstacles around the excavator. 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 disposed at various locations 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 configured as at least one of an angle sensor, an inertial sensor, or a rotation sensor, and the second sensor and the third sensor may be configured as at least one of an electromagnetic wave sensor, a camera sensor, a radar, a lidar, or an ultrasonic sensor. can For example, as indicated by reference numeral 240 of FIG. 2B , 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. In addition, as shown in reference numeral 250 of FIG. 2b, a lidar disposed on the front of the excavator 200, ultrasonic sensors disposed on the side and rear surfaces of the excavator 200 as shown in reference numeral 260 of FIG. 2b, or reference numeral 270 of FIG. 2b , camera sensors disposed on the front, side, and rear of the excavator 200 may be used as the third sensor. Additionally or alternatively, when the image sensor is used as the second sensor and the third sensor, it may be configured as a stereo vision system capable of acquiring an image for identifying the distance information of the object.

In addition, each of the first sensor, the second sensor, and the third sensor may perform the same or similar operation as other sensors. For example, by using the third sensor for detecting an obstacle around the excavator 200 , the operation of the second sensor for detecting a work area in which the excavator 200 performs work may be performed.

According to various embodiments, the excavator 200 may be capable of performing unmanned automation, that is, autonomous operation, and may include at least one positioning device.

According to an embodiment, a global navigation satellite system (GNNS) module capable of receiving a satellite signal may be used as the positioning device, and a real time kinematic (RTK) 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 .

3 is a diagram conceptually illustrating an excavator 300 according to various embodiments of the present disclosure. 4A and 4B are views for explaining an operation of determining a work processing point in the excavator 300 , and FIG. 5 is a view for explaining an operation of determining a motion trajectory in the excavator 300 . In the following description, the excavator 300 is described as an example of a construction machine, but the present disclosure is not limited to the excavator 300 .

Referring to FIG. 3 , the excavator 300 may include a processor 310 , a communication device 320 , a storage device 330 , a sensor device 340 , and an operation control device 350 . However, this is only an example, and the embodiment of the present disclosure is not limited thereto. For example, at least one of the above-described components of the excavator 300 may be omitted or one or more other components (eg, an input device, an output device, etc.) may be added as a configuration of the excavator 300 .

According to various embodiments, the processor 310 may be configured to control the overall operation of the excavator 300 . According to an embodiment, the processor 310 executes software (eg, a program) stored in the storage device 330, and a component connected to the processor 310 (eg, the communication device 320); At least one component of the storage device 330 , the sensor device 340 , or the job control device 350 may be controlled, and various data processing or calculations may be performed. For example, as at least part of data processing or operation, the processor 310 stores instructions or data received from other components in the storage device 330 , processes the instructions or data stored in the storage device 330 , and , the result data may be stored in the storage device 330 . The processor 310 may include a main processor and an auxiliary processor that can operate independently of or together with the main processor. According to an embodiment, the processor 310 includes the above-described components (eg, the communication device 320 , the storage device 330 , the sensor device 340 or the operation control device 350 ) and a controller area (CAN). Network) communication may be performed, but the present disclosure is not limited thereto.

According to various embodiments, the communication device 320 may transmit/receive data to and from an external device using a wireless communication technology. The external device may include a control center 110 and other construction machines 120 to 150 . For example, the communication device 320 may receive a work instruction from an external device, and transmit job-related information (eg, a job result) to the external device. At this time, the communication technology used by the communication device 320 includes GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless- Fidelity), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), and the like. Also, as described above with reference to FIG. 2 , the communication device 320 may include at least one positioning device.

According to various embodiments, the storage device 330 includes at least one component of the excavator 300 (eg, the processor 310 , the communication device 320 , the sensor device 340 , or the operation control device 350 ). ) can store various data used by According to an embodiment, the storage device 330 may store specifications (eg, model name, unique number, basic specifications) of the excavator 300 , map data, and the like. For example, 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 sensor device 340 may collect information related to at least one of the state of the excavator 300 , the work area of the excavator 300 , or obstacles around the excavator 300 using various sensors. . As described above with reference to FIG. 2 , the sensor device 340 may include a first sensor, a second sensor, and a third sensor. For example, at least one of an angle sensor, an inertial sensor, or a rotation sensor for collecting information related to the state of the excavator 300 may be used as the configuration of the sensor device 340 , and the working area and surroundings of the excavator 300 . At least one of an electromagnetic wave sensor, a camera sensor, a radar, a lidar, or an ultrasonic sensor for collecting information related to an obstacle may be used as a configuration of the sensor device 340 . However, this is only an example, and the embodiment of the present disclosure is not limited thereto. For example, various types of sensors capable of collecting information related to the state of the excavator 300 , the work area of the excavator 300 , or obstacles around the excavator 300 may be used as the configuration of the sensor device 340 .

According to various embodiments, the operation control device 350 may control the operation of the excavator 300 . For example, the job control device 350 may include a job planning unit 352 and a driving control unit 354 .

According to various embodiments, the work control device 350 may receive a work instruction from the control center 110 and/or the excavator 300 .

According to an embodiment, the work instruction may include a work area and a work type (or work content) to be performed in the work area. The type of work is a digging work that can be performed by the excavator 300, a digging work, a trench work, a leveling work, a breaking work, a dumping work to lift the excavated soil, It may include a swing operation for rotating the upper body 220 , a moving operation for changing the position of the excavator 300 , and the like. In addition, the work area is a part of a work site, and may be an area (eg, an excavation area, a planarization area, etc.) in which at least one work is to be performed. Additionally, the work instruction may include a movement path for guiding the excavator 300 waiting out of the work site to the work site. In this case, the excavator 300 may move from the waiting area to the work site based on the movement path.

According to various embodiments of the present disclosure, the work control device 350 (or the work plan establishment unit 352 ) may establish a work plan based on the work instruction. The work plan may include work processing points for the work area, ie the stopping positions of the traveling body (eg wheels, caterpillar tracks). For example, the work control device 350 (or the work plan establishment unit 352 ) may determine different work processing points in the same work area to ensure work efficiency and safety according to work types.

According to one embodiment, when the operation (eg, excavation or hopper operation) accompanied by the swing operation and the dumping operation is instructed, the operation control device 350 (or the operation planning unit 352 ) is the excavator 300 . The work processing point may be determined as the first point of the work area in consideration of the working radius (eg, the rotation radius of the upper body 220 or the front working device 230 ). As for the working radius, specifications of the excavator 300, safety of work, etc. may be considered. For example, the work control device 350 (or the work plan establishment unit 352) is a virtual area 401 having _{the horizontal excavation distance L h of the excavator 300 as a radius as shown in FIG. 4A (eg,} : After setting the virtual circle), the area 403 inscribed in the virtual area is determined based on _{the rotation radius (L s} ) of the upper body 220 of the excavator 300 and the movement distance (L _{c ) for the operation} ) (eg, the area of a rectangle) can be determined as the processing point. For example, the horizontal excavation distance (L _h ) is the height from the ground to the center joint (L _g _{) based on the horizontal maximum reach (L max} ) of the excavator 300, as in the example of FIG. 4A and <Equation 1> below ) and the end point of the bucket _{can be calculated from the point in contact with the ground through the depth (L d} ) that can be excavated vertically, and the moving distance of the excavator 300 moving for work is as shown in the example of <Equation 2> below, It may be calculated through the horizontal excavation distance (L _h ) and the rotation radius (L _{s ) of the upper body 220 of the excavator 300 .}

According to another embodiment, when a task (eg, a flattening operation) not accompanied by a swing operation and a dumping operation is instructed, the operation control device 350 (or the operation planning unit 352 ) determines the width of the bucket L _bk ) can be used to determine the work processing point. For example, as shown in FIG. 4B, after dividing the work space based on the width of the bucket, the second point of the work area can be determined as the work processing point so that the bucket is located in one of the divided spaces. have.

In addition, the work control device 350 (or the work plan establishment unit 352 ) may determine a processing order of the work to be performed by the excavator 300 in the work area as part of the work plan. For example, when it is instructed to work on a plurality of work areas within the work site, the work control device 350 (or work plan establishment unit 352 ) sets the work area to be processed with priority and the work area to be processed with the next priority. can be decided As another example, when a plurality of tasks are instructed in one work area, the work control device 350 (or the work plan establishment unit 352 ) plans a task to be processed with priority and a task to be processed with the next priority in the work area can do. However, this is only an example, and the present disclosure is not limited thereto. For example, at least a part of the work plan, for example, the processing order of the work may be specified by the control center 110 and provided to the excavator 300 .

According to various embodiments, the job control device 350 (or the job plan establishment unit 352 ) may acquire a job path for job processing based on the job plan. The work path is a path through which the excavator 300 must move to the work area (or work processing point), and is distinguished from the moving path provided by the control center 110 described above. According to an embodiment, the work path may determine a work path with the position of the excavator 300 in the work site as a starting point and the work processing point as a destination. For example, the job control device 350 (or the job plan establishment unit 352 ) uses the location information obtained through the communication device 320 (eg, a positioning device) and the map data stored in the storage device 330 . Accordingly, a work path including waypoints of the first interval (eg, approximately 1 m) may be determined. The midpoint may be identification information for various objects disposed on a work path on which the excavator 300 moves for work. In addition, the midpoint may include the name, type, location, direction, etc. of the object. However, this is only an example, and the embodiment of the present disclosure is not limited thereto. For example, the working path may be determined by an external device. In this case, the job control device 350 (or the job plan establishment unit 352 ) may receive the job route from the external device.

According to an embodiment, when a plurality of work areas exist within the work site, the work control device 350 (or work plan establishment unit 352 ) passes through the plurality of work areas to a stopover and a destination based on the work processing sequence. You can also decide which work path to take. According to another embodiment, when a plurality of work processing points exist in one work area, the work control device 350 (or the work plan establishment unit 352 ) performs a plurality of work processing points based on the work processing sequence. It is also possible to determine a work route with a waypoint and a destination.

According to various embodiments of the present disclosure, the work control device 350 (or the driving controller 354 ) may determine a motion trajectory of the excavator 300 based on the work path. The motion trajectory may mean the movement of the excavator 300 to move along the work path. According to an embodiment, the work control device 350 (or the driving controller 354 ) may determine an intermediate point close to the excavator 300 among intermediate points included in the work path as a part of the motion trajectory.

For example, the work control device 350 (or the drive control unit 354 ) may convert the work path into a precision work path in order to determine a precise motion trajectory, and among intermediate points included in the precision work path, the excavator A midpoint close to (300) can be selected. Referring to FIG. 5 , the job control device 350 (or the drive control unit 354 ) performs 520 linear interpolation on the working path 510 including the midpoint of the first interval (eg, approximately 1 m) using linear interpolation. It may be converted into a precision work path 530 including a midpoint of a second interval (eg, approximately 0.1 m). Thereafter, the operation control device 350 (or the driving control unit 354 ) may check ( 550 ) an intermediate point close to the excavator 300 . According to an embodiment, the job control device 350 (or the driving control unit 354 ) is a midpoint close to the excavator 300 among midpoints included in the precision work path based on the K-Dimensional Tree technique 540 . can be checked (550). The K-Dimensional Tree technique is a technique for structuring points in the k-dimensional space based on the comparison of the magnitudes of the x-coordinate and y-coordinate. can In this case, the job control device 350 (or the driving control unit 354 ) may determine the position and direction of the midpoint by calculating the slope of the midpoint. This is just one example for improving the followability to the midpoint while reducing the amount of computation for determining the motion trajectory, and various techniques may be applied to determine the motion trajectory.

According to various embodiments, the operation control device 350 (or the driving controller 354 ) may acquire steering information of the excavator 300 based on the motion trajectory. According to an embodiment, the operation control device 350 (or the driving control unit 354 ) may acquire steering information for following the midpoint determined as the motion trajectory. The steering information may include a steering speed, a steering angle, and the like. For example, the operation control device 350 (or the drive control unit 354 ) may include sensor information (eg, information related to the state of the excavator 300 ) obtained through the sensor device 340 (eg, an inertial sensor) or Excavator 300 (eg, lower body) based on at least one of information (eg, information related to the position and/or direction of the excavator 300 ) obtained through the communication device 320 (eg, RTK GNSS module) The position and direction of 210 ) may be determined, and the steering information may be obtained by comparing it with the determined position and direction of the midpoint.

According to various embodiments of the present disclosure, the operation control device 350 (or the driving controller 354 ) may determine control information for controlling the excavator 300 based on the steering information. According to an embodiment, the operation control device 350 (or the driving control unit 354 ) may convert the steering information into a driving control value based on the specifications of the excavator 300 . For example, the operation control device 350 (or the driving control unit 354 ) converts the steering information into a speed control value and a direction control value for the traveling body of the excavator 300 based on the specifications of the excavator 300 . can do. Also, the operation control device 350 (or the driving control unit 354 ) may control the left and right driving bodies (eg, wheels, caterpillar tracks) so that the excavator 300 is driven according to the converted control value.

In the above-described embodiment, the processor 310 and the job control device 350 have been described as being separated from each other, but this is only an example, and the present disclosure is not limited thereto. For example, the job control device 350 and the processor 310 may be designed as one configuration. In addition, at least a portion of the configuration of the above-described processor 310 may be designed as a configuration separated from the excavator. For example, at least a part of the configuration of the processor 310 may be configured as a configuration of an external device.

An autonomous working construction machine (eg, excavator 300) according to various embodiments is a communication device (eg, communication device 320) configured to send and receive signals, a positioning device configured to collect information related to the location of the construction machine , and a processor (eg, a processor 310) electrically connected to the communication device and the positioning device, wherein the processor is configured to: Obtaining (or determining) a work processing point, obtaining a work route to the work processing point obtained based on information related to the location of the construction machine, and moving to the work processing point based on the work path It is possible to obtain (or determine) the motion trajectory of the construction machine for the purpose, and control the construction machine to be driven based on the motion trajectory.

According to various embodiments, the work instruction includes the work area and a work type to be performed in the work area, and the processor may control to obtain the work processing point based on the work type.

According to various embodiments, the construction machine includes an unmanned excavator, and the processor obtains the work processing point in consideration of the working radius of the unmanned excavator when a work involving a swing operation and a dumping operation is instructed, and , when a task that does not involve the swing operation and the dumping operation is instructed, it is possible to control to obtain the work processing point based on the width of the bucket of the unmanned excavator.

According to various embodiments, the working path includes midpoints of a first interval, and the processor converts the working path into a precision working path including midpoints of a second interval narrower than the first interval, It is possible to control to obtain the motion trajectory composed of the midpoints satisfying a specified condition among the midpoints of the second interval.

According to various embodiments, the processor may control to convert the working path into the precise working path based on a linear interpolation method.

According to various embodiments, the processor may control to select a midpoint having a predetermined distance from the construction machine from among the midpoints of the second interval. According to an embodiment, the processor may select a midpoint based on a K-Dimensional Tree technique.

According to various embodiments, the work instruction includes a plurality of work areas and a type of work to be performed in each of the plurality of work areas, and the processor determines a work processing sequence based on the work instruction, and the work It is possible to control to obtain the job processing point according to the processing order.

According to various embodiments, the processor may obtain steering information for following the motion trajectory, and control to drive the construction machine based on the steering information.

According to various embodiments, the construction machine further includes a sensor device (eg, the sensor device 340 ) configured to collect information related to the state of the construction machine, wherein the processor includes information related to the location of the construction machine. Alternatively, it is possible to obtain at least one piece of information among the information related to the state of the construction machine, and control to obtain the steering information based on the at least one piece of information and the motion trajectory.

According to various embodiments, further comprising a traveling body configured to implement the movement of the construction machine, wherein the processor converts the steering information into a control value of the traveling body based on the specifications of the construction machine, and Based on the control value, it is possible to control the traveling body.

According to various embodiments of the present disclosure, when receiving an emergency control event through the communication device, the processor may control to stop the operation of the construction machine and perform an operation corresponding to the emergency control event.

6 is a flowchart illustrating an operation method of the excavator 300 according to various embodiments of the present disclosure. In the following embodiment, each operation may be performed sequentially, but is not necessarily performed sequentially. In addition, the following operations may be performed by the processor 310 of the excavator 300 or implemented as instructions executable by the processor 310 .

Referring to FIG. 6 , the excavator 300 according to various embodiments may receive a work instruction from the control center 110 in operation S610 . The work instruction may include information related to a work area in which the excavator 300 must work, a work type (or work content) to be performed in the work area, and the like. In addition, the work instruction may include a command for controlling the starting of the excavator (300). In this case, the excavator 300 may operate the power generating device in response to the work instruction. According to an embodiment, the work instruction may be received from other construction machines 120 to 150 in addition to the control center 110 .

According to various embodiments, the excavator 300 may determine (or acquire) a work processing point based on a work instruction in operation S620 . The work processing point may be a location at which a traveling body (eg, a wheel, a caterpillar track) must stop in order to perform work processing in the work area as part of the above-described work plan. The efficiency and stability of the work may be determined by the work processing point where the excavator 300 is located. Accordingly, in order to ensure work efficiency and safety, the excavator 300 may determine an appropriate position in which the traveling body of the excavator 300 should be located in the work area based on the work details. For example, as described above, the work processing point of the excavator 300 for performing the work accompanying the swing motion and the dumping action may be determined in consideration of the working radius of the excavator 300, and the swing action and the dumping action are not involved. A work processing point of the excavator 300 performing a non-operation (eg, a flattening operation) may be determined based on the width of the bucket.

According to various embodiments of the present disclosure, the excavator 300 may acquire a work path to a work processing point in operation S630 . The work path may be a travel path with the current location of the excavator 300 in the work area as a starting point and the work processing point as a destination. For example, the excavator 300 determines (or acquires) a work path including waypoints of a first interval (eg, 1 m) based on the stored map data and the location information obtained through the positioning device. )can do. As another example, the working path may be determined by another external device, and the excavator 300 may acquire the working path from the external device.

According to various embodiments of the present disclosure, in operation S640 , the excavator 300 may determine (or acquire) a motion trajectory of the excavator 300 based on the work path. The motion trajectory may mean the movement of the excavator 300 to move along the work path. According to an embodiment, the excavator 300 may select an intermediate point close to the excavator 300 from among the intermediate points included in the work path, and determine the selected intermediate points as a part of the motion trajectory.

According to various embodiments of the present disclosure, in operation S650 , the excavator 300 may control the driving of the excavator 300 based on the motion trajectory. According to an embodiment, the excavator 300 may acquire steering information of the excavator 300 based on a motion trajectory to control driving. The steering information is information for following the midpoint determined by the motion trajectory, and may include a steering speed, a steering angle, and the like. The excavator 300 may determine the state (eg, the position and direction of the lower body 210 ) of the excavator 300 based on the sensor information obtained through the sensor device 340 , and the position and direction of the determined intermediate point By comparing with , steering information may be obtained, for example, the excavator 300 may move to a work processing point while controlling driving.

In the above-described embodiment, the excavator 300 has been described as controlling a work processing point determination, a work path determination, a motion trajectory determination and driving, but the present disclosure is not limited thereto. For example, at least one operation among the operations disclosed through the above-described embodiment may be performed by an external device (eg, the control center 110 ). In addition, in relation to the method of operating the excavator 300 according to various embodiments, at least one operation among the disclosed operations may be omitted or another operation may be added.

7 is a flowchart illustrating an operation of determining a work path in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 7 described below may represent various embodiments of operations S610 to 630 of FIG. 6 . In addition, in the following embodiments, each operation is not necessarily performed sequentially, and at least one operation among the disclosed operations may be omitted or another operation may be added.

Referring to FIG. 7 , the excavator 300 according to various embodiments of the present disclosure may acquire (or determine) a work processing sequence, as in operation S710 . As described above, the work instruction may include information related to a work area in which the excavator 300 needs to work, work content to be performed by the excavator 300 in the work area, and the like. According to an embodiment, when an operation for a plurality of work areas within the work site is received, the excavator 300 may determine a work area to be processed with priority and a work area to be processed with a next priority. According to another embodiment, when instructed to process a plurality of tasks in one work area, the excavator 300 may plan a task to be processed with priority and a task to be processed with the next priority within the work area. The work processing order may be determined based on work characteristics such as a moving distance in the work area, work time, work type, and the like.

According to various embodiments of the present disclosure, in operation S720 , the excavator 300 may acquire (or determine) a work processing point at which each work is to be performed based on a work instruction. As described above, in order to ensure work efficiency and safety, the excavator 300 determines an appropriate position where the traveling body (eg, wheels, caterpillar track) of the excavator 300 should be located in the work area based on the work content. can decide

According to various embodiments of the present disclosure, in operation S730 , the excavator 300 may determine a work path to the work processing point based on the work processing order. According to an embodiment, the excavator 300 may acquire (or determine) a work route having a plurality of work processing points as a stopover and a destination, based on the work processing order.

As described above, the working path may be determined by an external device. Accordingly, at least one of operations S710 to S730 illustrated in FIG. 7 may be performed by an external device.

8 is a flowchart illustrating an operation of determining a motion trajectory in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 8 described below may represent various embodiments of the operation S640 of FIG. 6 . In addition, in the following embodiments, each operation is not necessarily performed sequentially, and at least one operation among the disclosed operations may be omitted or another operation may be added.

Referring to FIG. 8 , the excavator 300 according to various embodiments of the present disclosure may convert a work path into a precision work path, as in operation S810 . The precision work path may be a work path that includes midpoints more precisely spaced than the work path. According to an embodiment, the excavator 300 includes a midpoint of a second interval (eg, approximately 0.1 m) to a working path including a midpoint of a first interval (eg, approximately 1 m) using a linear interpolation method It can be converted to a precision work path that

According to various embodiments of the present disclosure, in operation S820 , the excavator 300 may select an intermediate point that satisfies a condition among intermediate points included in the precision work path. The midpoint may be identification information for various objects disposed in a space (eg, a work path) in which the excavator 300 moves. According to an embodiment, the excavator 300 may select an intermediate point close to the excavator 300 from among intermediate points included in the precision work path based on the K-Dimensional Tree technique. At this time, the excavator 300 takes into account the driving characteristics of the excavator 300 , for example, the driving characteristics in which a driving delay occurs as driving is controlled by hydraulic pressure, and a midpoint separated by a certain distance or more based on the excavator 300 . can be selected.

According to various embodiments of the present disclosure, in operation S830 , the excavator 300 may acquire (or determine) a motion trajectory based on the selected intermediate points. The motion trajectory may mean the movement of the excavator 300 to move along the work path.

9 is a flowchart illustrating an operation of controlling driving in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 8 described below may represent various embodiments of the operation S650 of FIG. 6 . In addition, in the following embodiments, each operation is not necessarily performed sequentially, and at least one operation among the disclosed operations may be omitted or another operation may be added.

Referring to FIG. 9 , the excavator 300 according to various embodiments may acquire steering information based on a motion trajectory as in operation S910 . The steering information is information for following the midpoint determined by the motion trajectory, and may include a steering speed, a steering angle, and the like. According to an embodiment, the excavator 300 may determine the position and direction of the excavator 300 based on sensor information obtained through the sensor device 340 , and by comparing this with the position and direction of the midpoint, steering information can be obtained. Additionally, the excavator 300 may use information (eg, information related to the position and/or direction of the excavator 300 ) obtained through the communication device 320 to obtain clause information.

According to various embodiments, the excavator 300 may acquire (or generate) control information based on the steering information in operation S920 . The control information may be control information of the excavator 300 to be controlled to travel according to the steering information. For example, the excavator 300 transmits steering information to the traveling body of the excavator 300 based on the specifications (eg, the width of the traveling body, the length of the traveling body, the rotational speed of the traveling body, etc.) of the excavator 300 . Control information converted into a speed control value and a direction control value can be generated.

According to various embodiments, the excavator 300 may control driving based on control information in operation S930. For example, the excavator 300 may control the left and right driving bodies (eg, wheels and caterpillar tracks) to drive the excavator 300 according to the converted control value.

10 is a flowchart illustrating an operation of processing a job in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 10 described below may represent various embodiments of the operation S650 of FIG. 6 . In addition, in the following embodiments, each operation is not necessarily performed sequentially, and at least one operation among the disclosed operations may be omitted or another operation may be added.

Referring to FIG. 10 , the excavator 300 according to various embodiments may move to a work processing point and perform work (or autonomous work), as in operation S1010 . According to an embodiment, the excavator 300 may move to a work processing point and perform a work instructed by the control center 110 .

According to various embodiments of the present disclosure, the excavator 300 may determine whether the work at the work processing point is completed in operation S1020 .

According to various embodiments of the present disclosure, when the work at the work processing point is completed, the excavator 300 may determine whether the work at all the work processing points is completed in operation S1030 .

According to various embodiments of the present disclosure, if the work at all the work processing points is not completed, the excavator 300 may move to the next work processing point and perform the work in operation S1040. According to an embodiment, the excavator 300 determines a work path for work processing based on the next work processing point in order to move to the next work processing point (eg, operation S630 in FIG. 6 ), on the work path At least one of an operation for determining the motion trajectory of the construction machine based on (eg, operation S640 of FIG. 6 ) or an operation for controlling driving based on the motion trajectory (eg, operation S650 of FIG. 6 ) may be performed .

According to various embodiments, the excavator 300 may report work completion to the control center 110 in operation S1050 when the work at all work processing points is completed.

11 is a flowchart illustrating an operation of processing an emergency control event in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 11 described below may represent various embodiments of operations S1010 to S1050 of FIG. 10 . In addition, in the following embodiments, each operation is not necessarily performed sequentially, and at least one operation among the disclosed operations may be omitted or another operation may be added.

Referring to FIG. 11 , the excavator 300 according to various embodiments may determine whether an emergency control event is detected while performing an autonomous operation, as in operation S1110 . The emergency control event may include a first event of changing the operation of the excavator 300 to a operation based on the control of the control center 110 and a second event of temporarily stopping the autonomous operation of the excavator 300 .

According to various embodiments, the excavator 300 may maintain an autonomous operation without detecting an emergency control event.

According to various embodiments of the present disclosure, when detecting an emergency control event, the excavator 300 may stop the autonomous operation as in operation S1120 and switch to an operation mode corresponding to the emergency event. According to an embodiment, in response to the occurrence of the first event, the excavator 300 may switch to a remote operation mode for controlling the operation of the excavator 300 based on control information received from the control center 110 . . According to another embodiment, in response to the occurrence of the second event, the excavator 300 may stop work and switch to a standby mode. In this case, the excavator 300 may maintain a standby state until a separate instruction is received from the control center 110 . According to another embodiment, in response to detecting the emergency control event, the driver may switch to a manual operation mode in which the operation of the excavator 300 is directly controlled.

12A to 12C are diagrams illustrating driving performance of the excavator 300 according to various embodiments of the present disclosure.

As illustrated by reference numeral 1230 of FIG. 12A , it can be confirmed that the autonomous driving path 1220 of the excavator 300 and the actual working path 1210 are quite similar. This can be seen that the excavator 300 determines an appropriate working position based on the work instruction, generates a working path to the determined working position, and moves by accurately following the generated working path.

In addition, as shown by reference numeral 1240 of FIG. 12B , in the stationary rotation section, the left traveling body and the right traveling body are driven in opposite directions to accurately follow the work path, and as shown by reference numeral 1250 of FIG. 12C , , it can be seen as following the work path while maintaining the correct direction so that yaw errors do not occur.

The operation method of the autonomous work construction machine (eg, the excavator 300) according to various embodiments acquires (or determines) a work processing point for a work area based on a work instruction obtained through an external device or the construction machine ), the operation of obtaining a work route to the work processing point obtained based on information related to the location of the construction machine, and the motion of the construction machine for moving to the work processing point based on the work path It may include an operation of acquiring (or determining) a trajectory and an operation of controlling the driving of the construction machine based on the motion trajectory.

According to various embodiments, the work instruction includes the work area and a work type to be performed in the work area, and the work processing point may be obtained based on the work type.

According to various embodiments, the construction machine includes an unmanned excavator, and the operation of obtaining the work processing point may include a swing operation and a dumping operation in consideration of the working radius of the unmanned excavator when an instruction is received. When an operation for obtaining a work processing point and a work that does not involve the swing operation and the dumping operation are instructed, the method may include an operation of obtaining the work processing point based on a width of a bucket of the unmanned excavator.

According to various embodiments, the working path includes the midpoints of the first interval, and the operation of obtaining the motion trajectory includes converting the working path into a precision working path including the midpoint of the second interval; and obtaining the motion trajectory composed of midpoints satisfying a specified condition among midpoints of the second interval.

According to various embodiments, the working path may be converted into the precise working path based on linear interpolation.

According to various embodiments, a midpoint having a predetermined distance to the construction machine may be selected from among the midpoints of the second interval. According to an embodiment, a midpoint having a predetermined distance from the construction machine may be selected from among the midpoints of the second interval based on the K-Dimensional Tree technique.

According to various embodiments, the work instruction includes a plurality of work areas and a type of work to be performed in each of the plurality of work areas, and the operation of obtaining the work processing point includes: a work processing sequence based on the work instruction It may include an operation of determining , and an operation of acquiring the job processing point according to the job processing order.

According to various embodiments, the operation of controlling the driving may include acquiring steering information for following the motion trajectory and controlling driving of the construction machine based on the steering information.

According to various embodiments, the obtaining of the steering information may include obtaining at least one of information related to the location of the construction machine or information related to the state of the construction machine, and the at least one information and the motion. and obtaining the steering information based on the trajectory.

According to various embodiments, the construction machine further includes a traveling body configured to implement a movement, and the operation of controlling the driving may include converting the steering information into a control value of the traveling body based on the specifications of the construction machine. It may include an operation of controlling the traveling body based on the converting operation and the control value.

According to various embodiments, the method of operating the autonomous construction machine further includes, when receiving an emergency control event from the external device, stopping the operation of the construction machine and performing an operation corresponding to the emergency control event. may include

The method of operating the excavator 300 according to the embodiments of the present disclosure may be implemented with instructions that are stored in a computer-readable storage medium and executed by a processor (eg, the processor 310 ).

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

Although the present disclosure has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and those of ordinary skill in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present disclosure will have to be determined by the technical spirit of the appended claims.

Claims

An autonomous construction machine comprising:

a communication device configured to send and receive signals;

a positioning device configured to collect information related to the location of the construction machine; and

a processor electrically connected to the communication device and the positioning device;

The processor is

Based on the work instruction obtained through the external device or the communication device, obtain a work processing point for the work area,

Obtaining a work route to the work processing point, obtained on the basis of the information related to the location of the construction machine,

obtaining a motion trajectory of the construction machine for moving to the work processing point based on the work path;

A construction machine for controlling the construction machine to be driven based on the motion trajectory.
The method of claim 1,

The work instruction includes the work area and the type of work to be performed in the work area,

and the processor controls to acquire the work processing point based on the type of work.
3. The method of claim 2,

The construction machine includes an unmanned excavator,

The processor is

When an operation involving a swing operation and a dumping operation is instructed, the operation processing point is acquired in consideration of the operation radius of the unmanned excavator,

A construction machine for controlling to acquire the work processing point based on a width of a bucket of the unmanned excavator when an instruction is received for a work not accompanied by the swing operation and the dumping operation.
The method of claim 1,

the working path includes midpoints of a first interval;

The processor is

converting the working path into a precision working path including the midpoint of the second interval;

A construction machine for controlling to acquire the motion trajectory composed of midpoints satisfying a specified condition among midpoints of the second interval.
5. The method of claim 4,

The processor is

A construction machine for controlling to convert the working path into the precise working path based on a linear interpolation method.
5. The method of claim 4,

The processor is

A construction machine for controlling to select a midpoint having a predetermined distance from the construction machine from among the midpoints of the second interval.
The method of claim 1,

The work instruction includes a plurality of work areas and a type of work to be performed in each of the plurality of work areas,

The processor is

determining a work processing sequence based on the work instruction;

A construction machine for controlling to obtain the work processing point according to the work processing sequence.
The method of claim 1,

The processor is

Acquire steering information for following the motion trajectory,

A construction machine for controlling to drive the construction machine based on the steering information.
The method of claim 1,

a sensor device configured to collect information related to the state of the construction machine;

The processor is

A construction machine for acquiring at least one of information related to a location of the construction machine and information related to a state of the construction machine, and controlling to acquire the steering information based on the at least one information and the motion trajectory.
9. The method of claim 8,

Further comprising a traveling body configured to implement the movement of the construction machine,

The processor is

converting the steering information into a control value of the traveling body based on the specifications of the construction machine;

Based on the control value, a construction machine for controlling to control the traveling body.
acquiring a work processing point for a work area based on a work instruction obtained through an external device or a construction machine;

obtaining a work route to the work processing point obtained based on information related to the location of the construction machine;

obtaining a motion trajectory of the construction machine for moving to the work processing point based on the work path; and

and controlling the driving of the construction machine based on the motion trajectory.
12. The method of claim 11,

The work instruction includes the work area and the type of work to be performed in the work area,

The method of operating an autonomous work construction machine, wherein the work processing point is obtained based on the work type.
13. The method of claim 12,

The construction machine includes an unmanned excavator,

The operation of obtaining the work processing point is,

acquiring the work processing point in consideration of the working radius of the unmanned excavator when a work involving a swing motion and a dumping motion is instructed; and

and acquiring the work processing point based on a width of a bucket of the unmanned excavator when an operation that does not involve the swing operation and the dumping operation is instructed.
12. The method of claim 11,

the working path includes midpoints of a first interval;

The operation of obtaining the motion trajectory is

converting the working path into a precision working path including a midpoint of a second interval; and

and acquiring the motion trajectory composed of a midpoint satisfying a specified condition among the midpoints of the second interval.
15. The method of claim 14,

The operation of converting the working path into a precision working path including the midpoint of the second interval,

and converting the working path into the precision working path based on a linear interpolation method.
15. The method of claim 14,

The operation of obtaining the motion trajectory consisting of an intermediate point that satisfies a specified condition among the intermediate points of the second interval comprises:

and acquiring the motion trajectory composed of a midpoint having a predetermined distance from the construction machine among the midpoints of the second interval.
12. The method of claim 11,

The work instruction includes a plurality of work areas and a type of work to be performed in each of the plurality of work areas,

The operation of obtaining the work processing point is,

determining a work processing sequence based on the work instruction; and

and acquiring the work processing point according to the work processing sequence.
12. The method of claim 11,

The operation of controlling the driving is,

obtaining steering information for following the motion trajectory; and

and controlling the driving of the construction machine based on the steering information.
19. The method of claim 18,

The operation of obtaining the steering information includes:

obtaining at least one of information related to the location of the construction machine and information related to the state of the construction machine; and

and acquiring the steering information based on the at least one piece of information and the motion trajectory.
19. The method of claim 18,

The construction machine further includes a traveling body configured to implement movement,

The operation of controlling the driving is,

converting the steering information into a control value of the traveling body based on the specifications of the construction machine; and

and controlling the traveling body based on the control value.