WO2022005132A1

WO2022005132A1 - Autonomous work construction machine and operation method thereof

Info

Publication number: WO2022005132A1
Application number: PCT/KR2021/008089
Authority: WO
Inventors: 박민철; 김동묵
Original assignee: 두산인프라코어 주식회사
Priority date: 2020-06-30
Filing date: 2021-06-28
Publication date: 2022-01-06

Abstract

Embodiments of the present disclosure relate to an autonomous work construction machine and an operation method thereof. According to an embodiment, the autonomous work construction machine comprises: a communication device configured to transmit and receive a signal; a sensor device configured to collect information related to the state of the construction machine and the surrounding environment; and a processor electrically connected to the communication device and the sensor device. The processor can control the construction machine to: acquire, from an external device, work instructions that include an instructed task and are for executing the instructed task on the basis of an autonomous work mode; acquire a work plan determined on the basis of the work instructions and composed of work required to execute the instructed task among work that can be executed by the construction machine; and operate in an autonomous work mode to execute the instructed task according to the work plan.

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 particularly, to an autonomous work construction machine for determining an optimal action while performing a work, and an operating 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.

An object of the present disclosure is to provide an autonomous working construction machine for determining an optimal behavior while performing a job, and an operating method thereof.

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 sensor device configured to collect information related to a state of the construction machine and a surrounding environment, and the communication device and the sensor device electrically A connected processor, wherein the processor obtains, from an external device, a work instruction including an instruction task and causes the instruction task to be performed based on an autonomous work mode, determined based on the work instruction, and performed by the construction machine It is possible to obtain a work plan composed of tasks necessary to perform the instruction task among possible tasks, operate in the autonomous work mode, and control the setting machine to perform the instruction task according to the work plan.

A method of operating an autonomous work construction machine according to various embodiments of the present disclosure includes an operation of obtaining a work instruction from an external device including an instruction task and performing the instruction task based on an autonomous work mode, based on the work instruction The operation of obtaining a work plan composed of tasks necessary to perform the instruction task among tasks that are determined and performed in the construction machine and the operation in the autonomous work mode to perform the instruction task according to the work plan It can include actions.

By controlling the autonomous construction machine according to the embodiments of the present disclosure to determine the optimal behavior while performing the work, the work quality and work speed are improved by enabling the automation of work and flexibly responding to accidents occurring during work can do it

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 is a view for explaining a work plan according to various embodiments of the present disclosure;

4B is a view for explaining a work plan of an excavator according to various embodiments of the present disclosure;

5A is a flowchart illustrating a method of operating an excavator according to various embodiments of the present disclosure;

5B is a flowchart illustrating a method of performing a task of an excavator according to various embodiments of the present disclosure;

6 is a flowchart illustrating a method for diagnosing a state in an excavator according to various embodiments of the present disclosure;

7 is a flowchart illustrating a method of processing a control command in an excavator according to various embodiments of the present disclosure;

8 is a flowchart illustrating a method of resuming an instruction operation in an excavator according to various embodiments of the present disclosure;

9 is a flowchart illustrating a method of switching an operation mode in an excavator according to various embodiments of the present disclosure;

10 is a flowchart illustrating an emergency control method of an excavator according to various embodiments of the present disclosure;

11 is a flowchart illustrating an operation monitoring method 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 may implement the forward, backward, left, and right movements of the excavator 200 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 rotation state of the upper body 220 (or the lower body 210 ). The first sensor may be disposed at the center joint to detect the rotational state of the upper body. Also, the state of the excavator 200 may include a rotation state of the front working device 230 . The first sensor is disposed on each of the boom 231 , the arm 233 , and the bucket 235 , or is disposed on an articulation (eg, a hinge connection part) of the boom 231 , the arm 233 , and the bucket 235 to at least It is also possible to detect the rotational state for 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 working area is a space in which the excavator 200 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 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 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. And, FIG. 4A is a view for explaining a work command according to various embodiments of the present disclosure, and FIG. 4B is a view for explaining a work plan of the excavator 300 according to various embodiments of the present disclosure. 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 includes a first sensor for collecting information related to the state of the excavator 300 , a second sensor for collecting information related to the working area of the excavator 300 , and A third sensor for collecting information related to obstacles around the excavator 300 may be included. 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 status check unit 352 , an operation control unit 354 , and an operation monitoring unit 356 .

According to various embodiments, the operation control device 350 (or the state check unit 352 ) may control to diagnose the operating state of the excavator 300 . The operating state is a communication state between the excavator 300 and an external device (eg, the control center 110, other construction machines 120 to 150) and between each component provided in the excavator 300, for example, a processor It may include a communication state between the 310 (or the job control device 350 ) and the sensor device 340 . According to an embodiment, the job control device 350 (or the status check unit 352 ) may diagnose the communication status by transmitting/receiving a predetermined signal to/from the external device based on the first communication. Also, the job control device 350 (or the status check unit 352 ) may diagnose a communication state with the sensor device 340 by transmitting and receiving a predetermined signal to and from the sensor device 340 based on the second communication. For example, the first communication may include at least one of the aforementioned wireless communication technologies, and the second communication may include the aforementioned CAN communication. However, this is only an example, and the operation control device 350 (or the state check unit 352 ) may diagnose the operating state of the excavator 300 using various communications.

According to various embodiments, the operation control device 350 (or the operation control unit 354 ) operates in a normal state in which an operation is possible, that is, in a normal state in which communication with an external device is possible and communication with the sensor device 340 is possible. It can be controlled to receive work instructions from the device.

According to an embodiment, the work instruction may include an operation mode and work command of the excavator 300 , as will be described later. However, this is only an example, and various information necessary for the autonomous work excavator 300 to perform a work may be included in the work instruction.

The operation mode of the excavator 300 includes an autonomous operation mode in which the excavator 300 autonomously controls the operation without operator manipulation, a remote operation mode in which the operation of the excavator 300 is controlled based on control information received from an external device, and a driver It may include a manual operation mode for directly controlling the operation of the excavator 300 .

In addition, as shown in FIG. 4A , the work command may include work area information 410 , at least one task information 422 to be performed in the corresponding work area, task execution order information 420 , and the like. . The work area information 410 may include information on geographic information, size information, and ground information (eg, road surface characteristics, etc.) of the work area. The at least one task may include a leveling task for flattening the ground of the work area, a digging task for excavating straight and long in the ground of the work area, and a digging task for digging the ground of the work area to a predetermined depth.

According to various embodiments of the present disclosure, the job control device 350 (or the operation controller 354 ) may acquire a work plan corresponding to a work instruction to perform a task. The work plan may be determined (or established) by the work control device 350 (or the operation control unit 354 ) or an external device based on the work instruction. When the work plan is determined by the external device, the work control device (or the operation control unit 354) may acquire the work plan as a part of the work instruction. Alternatively, the job control device (or the operation control unit 354) may acquire a job plan from an external device separately from the job instruction. For example, the work plan may be determined as a combination of tasks required to perform a mission among tasks that may be performed by the excavator 300 . The work that can be performed by the excavator 300 is a preparation work, a digging work, a trenching work, a leveling work, a breaking work, a loader for loading excavated soil A (dumping) operation, a swing operation of rotating the upper body 220 , a moving operation of changing the position of the excavator 300 may be included. According to an embodiment, as shown in FIG. 4B , the operation control device 350 (or the operation control unit 354 ) performs a flattening (grading) task, a rotating (Swing) operation, a flattening operation (Grading) , it is possible to obtain a combined work plan 432 as a moving task. According to another embodiment, the operation control device 350 (or the operation control unit 354) is a rotating (Swing) operation, a digging operation, a lifting operation (Dumping) operation, movement in order to perform a digging task. A combined work plan 434 may be obtained as a (Moving) operation. Additionally or alternatively, job control device 350 (or motion control 354 ) may, as part of a job plan, condition for each job, eg, condition 441 for rotating jobs to perform a leveling task. , it is also possible to obtain the rotation direction (eg, clockwise rotation and counterclockwise rotation) and rotation angle.

According to various embodiments of the present disclosure, upon obtaining the work plan, the work control device 350 (or the operation control unit 354 ) may perform an instructed task (or work) based on the work order and the work plan. According to an embodiment, the job control device 350 may control to perform an instruction task based on the indicated operation mode. As described above, the excavator 300 may be assigned an operation mode and a work area through a work instruction. Accordingly, when the autonomous operation mode is instructed, the operation control device 350 (or the operation control unit 354 ) controls the excavator based on the information collected through the sensor device 340 and the map data stored in the storage device 330 . Moving to the work area while sensing the position of 300 and surrounding obstacles, it is possible to control the task to be performed according to the work plan.

According to various embodiments of the present disclosure, the job control device 350 (or the operation controller 354 ) may control to process a control command received from an external device while performing a task. The control command may include a standby command instructing to temporarily suspend a mission in progress, a mode switching command instructing to switch an operation mode being performed in the excavator 300 to another operation mode, and the like. According to an embodiment, the job control device 350 (or the operation controller 354 ) may control to stop a task being performed and process a control command. For example, in response to receiving the standby command, the job control device 350 (or the operation controller 354 ) may control to perform a standby mode in which the task is suspended until a standby release command is received. . In addition, in response to receiving the mode change command, the operation control device 350 (or the operation controller 354 ) may control the operation mode of the excavator 300 to be switched according to the instruction. In this case, when the operation control device 350 (or the operation controller 354 ) receives an instruction to switch to the remote operation mode, it may receive a drive command from an external device and control the operation to be performed according to the drive command. In addition, when the operation control device 350 (or the operation control unit 354 ) is instructed to switch to the manual mode, it receives a driving command through a manipulation device controlled by the driver (or operator) and performs a job according to the driving command can be controlled to proceed.

According to various embodiments, the job control device 350 (or the operation controller 354 ) performs a task while the sensor device 340 (eg, at least one of a first sensor, a second sensor, or a third sensor) Based on information collected (or acquired) through The work situation is a situation in which an obstacle is detected within a certain range (eg, working range) with respect to the excavator 300, and an area where the excavator 300 is restricted (eg, a hazardous area within the working area such as a cliff, etc., work by other construction machines) It may include a situation of entering the area in which this progresses, etc.).

According to an embodiment, when detecting an obstacle within a predetermined range, the job control device 350 (or the operation controller 354 ) may control to stop the task and notify the result of detecting the obstacle to an external device. In this case, the operation control device 350 may receive a response instruction for an obstacle from an external device, and may control the operation according to the corresponding instruction. The instruction to respond to the obstacle may include a standby instruction to wait until the obstacle is removed, an instruction to avoid the obstacle and perform a mission, and the like.

According to another embodiment, when the excavator 300 enters the restricted area, the operation control device 350 (or the operation control unit 354 ) controls to stop the mission and notify the entry into the restricted area to an external device. can In this case, the job control device 350 may receive a corresponding instruction for the restricted area from the external device, and may control the operation according to the corresponding instruction. The corresponding instruction for the restricted area may include an avoidance instruction instructing to deviate from the restricted area.

According to various embodiments, the job control device 350 (or the operation monitoring unit 356 ) may control to perform monitoring while performing a task. Monitoring may include monitoring the position of the excavator 300 , a movement path, a work progress state, and the like. As described above, it is possible to receive a work instruction including a work area, a task to be performed in the work area, and a task execution order from an external device, and obtain a work plan corresponding to the work order. According to an embodiment, the operation control device 350 (or the operation monitoring unit 356 ) may detect the operation of the excavator 300 through at least one sensor, and the excavator 300 performs a work plan in the work area. It can be controlled to monitor whether the mission is performed according to the According to another embodiment, the operation control device 350 (or the operation monitoring unit 356 ) monitors the state of the excavator 300 (eg, fuel state, whether parts are abnormal, working time, etc.) or the operation of the excavator 300 . You can also monitor your surroundings. The monitoring result may be stored in the excavator 300 (eg, the storage device 330) or provided as an external device.

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 processing configuration of the excavator 300 described above may be performed by an external device (eg, a control server or other construction machine). (300).

Autonomous work construction machine (eg, excavator 300) according to various embodiments is a communication device (eg, communication device 320) configured to send and receive signals, to collect information related to the state of the construction machine and the surrounding environment It may include a configured sensor device (eg, the sensor device 340 ) and a processor (eg, the processor 310 ) electrically connected to the communication device and the sensor device. According to an embodiment, the processor includes an instruction task, and an external device (eg, the control center 110 , other construction machines 120 to 150 ) provides a work instruction to perform the instruction task based on the autonomous operation mode. ), obtain a work plan consisting of tasks necessary to perform the instruction task among the tasks that are determined based on the work instruction and that can be performed in the construction machine, and operate in the autonomous work mode, The construction machine may be controlled to perform the instruction task according to the plan.

According to various embodiments, the work instruction obtained from the external device may include task information to be performed or task execution order information.

According to various embodiments, the mission information may include at least one of a planarization mission, a scavenger mission, and an excavation mission.

According to various embodiments, the instruction task may be determined based on work area information.

According to various embodiments, when the control command is received from the external device while the command task is being performed, the processor may control the construction machine to stop performing the command task and process the control command.

According to various embodiments, the work instruction may include an operation mode and work plan of the construction machine.

According to various embodiments of the present disclosure, the processor transmits a predetermined first signal to the external device, diagnoses an operating state of the communication device based on receiving a response to the first signal, and performs a predetermined second Transmitting a signal to the sensor device, diagnosing an operating state of the sensor device based on receiving a response to the second signal, and performing the instruction task when the communication device and the sensor device operate normally It is possible to control the construction machine to do so.

According to various embodiments, the control command includes a mission standby command, and in response to receiving the mission standby command, the processor stops the execution of the instruction task until it receives a standby release command from the external device. You can control the construction machine.

According to various embodiments, the processor, upon receiving the standby release command, requests the external device to resume the task, and in response to receiving the task resume instruction from the external device, resumes the execution of the instruction task You can control the construction machine.

According to various embodiments, the control command includes a mode switching command, and the processor may control the construction machine to switch to a remote working mode or a manual working mode in response to receiving the mode switching command.

According to various embodiments, the processor detects the situation of the construction machine based on the information collected through the sensor device, and when it is determined that a situation requiring emergency control is determined, the construction machine stops performing the instruction task. can control

According to various embodiments, the processor is configured to determine at least one of a situation in which an obstacle is detected within a certain range with respect to the construction machine or a situation in which the construction machine enters a restricted area as a situation requiring the emergency control. You can control construction machinery.

According to various embodiments of the present disclosure, the processor may control the construction machine to notify the external device of a situation requiring the emergency control and receive a response instruction from the external device.

According to various embodiments, the processor, while performing the instruction task, detects an operation of the construction machine based on information collected through a sensor device, and the construction machine performs the instruction task according to the work instruction It is possible to control the construction machine to monitor whether the performance. According to an embodiment, the processor may control the construction machine to provide a monitoring result to an external device.

5A 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. 5A , the excavator 300 according to various embodiments may diagnose an operating state of the excavator 300 in operation S510 . The operating state is a communication state between the excavator 300 and an external device (eg, the control center 110, other construction machines 120 to 150) and a component provided in the excavator 300, for example, the processor 310 ) and the communication state between the sensor device 340 .

According to various embodiments of the present disclosure, in operation S520 , the excavator 300 may receive a work instruction in a normal state where a work is possible. The normal state in which the operation is possible may be a state in which communication with an external device is possible and communication between components provided in the excavator 300 is possible. In addition, the work instruction may include an operation mode and work command of the excavator 300, and the work command, as described with reference to FIG. 4A, includes work area information, at least one task information to be performed in the corresponding work area, It may include task execution order information, and the like. The work instruction may be received through at least one external device.

According to various embodiments of the present disclosure, in operation S530 , the excavator 300 may acquire a work plan for performing a mission based on a work instruction. The work plan, as described with reference to FIG. 4b , may be determined by a combination of tasks required for performing a mission among tasks that may be performed by the excavator 300 . According to an embodiment, the excavator 300 may determine (or establish) a work plan based on the work instruction. According to another embodiment, the work plan may be determined by an external device. In this case, the excavator 300 may acquire the work plan determined by the external device through the communication device 320 . For example, when the leveling task is instructed, the excavator 300 may acquire a work plan combined with a rotation work, a flattening work, and a moving work in order to perform the task. As another example, when an excavation task is instructed, the excavator 300 may acquire a work plan combined with a rotating work, an excavating work, a loading work, and a moving work in order to perform the task.

According to various embodiments, the excavator 300 may perform a task according to a work instruction and a work plan in operation S540 . According to one embodiment, when the autonomous operation mode is instructed, the excavator 300 is based on the information collected through the sensor device 340 and the map data stored in the storage device 330, the position of the excavator 300 and It can move to the work area while sensing surrounding obstacles, and control it to perform the assigned task according to the work plan.

5B is a flowchart illustrating a method of performing a task of the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 5B described below may represent various embodiments of the operation S540 of FIG. 5A . 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. 5B , in operation S550 , the excavator 300 according to various embodiments may determine whether a control command is received while performing a mission. The control command may include a standby command instructing to temporarily suspend a work in progress, a mode switching command instructing to switch the operation mode being performed in the excavator 300 to another operation mode, and the like.

According to various embodiments of the present disclosure, when a control command is received, the excavator 300 may process an instruction operation stop and a control command in response to the control command in operation S560 . According to an embodiment, the excavator 300 may perform the standby mode until the standby command is released in response to the standby command, as will be described later with reference to FIGS. 7 and 8 . According to another embodiment, the excavator 300 may switch the operation mode of the excavator 300 to another operation mode in response to a mode change command, as will be described later with reference to FIG. 9 .

According to an embodiment, when the control command is not received, the excavator 300 may continuously perform the task instructed according to the work plan in operation S570.

6 is a flowchart illustrating a method of diagnosing a state in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 6 described below may represent various embodiments of the operation S510 of FIG. 5 . 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. 6 , in operation S610 , the excavator 300 according to various embodiments may check a communication state with an external device based on the first communication. The first communication may include wireless communication. According to an embodiment, the excavator 300 may transmit a predetermined signal to an external device based on the first communication and determine whether a response to the transmission is received. In this case, when a response to transmission is received within a specified time, the excavator 300 may determine that communication with an external device is possible in a normal state. In addition, when a response to transmission is not received within a specified time, the excavator 300 may determine that communication with an external device is not possible in an abnormal state.

According to various embodiments of the present disclosure, in operation S620 , the excavator 300 may check a communication state with the sensor device based on the second communication. The second communication may include CAN communication. According to an embodiment, the excavator 300 may transmit a predetermined signal to each component based on the second communication and determine whether a response to the transmission is received. In this case, the excavator 300 may determine a normal state in which communication with the component is possible when a response to the transmission is received within a specified time. In addition, when the response to the transmission is not received within the specified time, the excavator 300 may determine that the communication between the components is not possible in an abnormal state.

According to various embodiments, in operation S630 , the excavator 300 may determine whether the operation is in a normal state based on the result of checking the communication state. The working state may be a state in which communication between the excavator 300 and an external device is possible, and communication between the components of the excavator 300 may be possible. In other words, when at least one of communication between the excavator 300 and an external device or communication between the components of the excavator 300 is impossible, the operation may become impossible.

According to various embodiments, in operation S640 , the excavator 300 may wait for a work instruction in response to the determination of the normal state. According to an embodiment, when it is determined that the normal state is normal, the excavator 300 may perform operations S530 to S540 of FIG. 5A described above.

According to various embodiments of the present disclosure, in operation S650 , the excavator 300 may notify an external device that the operation is impossible in response to the determination of the abnormal state.

7 is a flowchart illustrating a method of processing a control command in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 7 described below may represent various embodiments of the operation S560 of FIG. 5B . 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 , in operation S710 , the excavator 300 according to various embodiments may determine whether a mission standby command is received while performing a mission. The standby order may be an order instructing to suspend a mission in progress.

According to various embodiments, in operation S720 , the excavator 300 may perform an instruction mission in response to not receiving a mission standby command. According to an embodiment, the excavator 300 may move to a work area according to a work command and perform an assigned task according to a work plan.

According to various embodiments, the excavator 300 may perform a standby mode in response to a work standby command in operation S730. According to an embodiment, the excavator 300 may stop moving and performing a mission according to a work plan.

According to various embodiments of the present disclosure, the excavator 300 may determine whether a standby release command is received in operation S740 .

According to various embodiments, the excavator 300 may release the standby mode and resume mission performance in response to the standby release command in operation S750.

According to various embodiments of the present disclosure, the excavator 300 may maintain a standby mode in which the instruction operation is stopped until the standby release command is received when the standby release command is not received in operation S750 .

8 is a flowchart illustrating a method of resuming an instruction operation 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 S750 of FIG. 7 . 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 , in operation S810 , the excavator 300 according to various embodiments may maintain a standby for temporarily suspending mission performance even when a standby release command is received. In other words, even when the excavator 300 receives the standby release command, the excavator 300 may maintain the mission standby until it receives the mission resumption command from the external device. In this case, the excavator 300 may request resumption of the mission with an external device.

According to various embodiments of the present disclosure, in operation S820 , the excavator 300 may determine whether a mission resumption command is received.

According to various embodiments of the present disclosure, the excavator 300 may resume the instructed mission in response to the mission resumption command in operation S830. According to an embodiment, the excavator 300 may perform a task while releasing the standby mode and processing the work according to the work plan.

9 is a flowchart illustrating a method of switching an operation mode in the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 9 described below may represent various embodiments of the operation S560 of FIG. 5B . 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 , in operation S910 , the excavator 300 according to various embodiments may determine whether a mode change command is received while performing an instruction task. According to an embodiment, the excavator 300 may determine whether a mode change command instructing to switch to another operation mode is received while operating in the autonomous operation mode.

According to various embodiments of the present disclosure, in operation S920 , in operation S920 , in response to not receiving a mode change command, the excavator 300 may perform an instruction operation according to a work plan while operating in an autonomous operation mode.

According to various embodiments of the present disclosure, in operation S930 , the excavator 300 may identify an operation mode to be switched in response to a mode change command. For example, the excavator 300 may determine whether the mode change command received through the external device is a switch to a remote operation mode or a switch to a manual mode.

According to various embodiments of the present disclosure, in operation S940 , the excavator 300 may receive a driving command from at least one external device through the communication device 320 in response to an instruction to switch to the remote operation mode. The driving command may be a command for controlling the movement of the excavator 300 and the operation of the excavator 300 .

According to various embodiments of the present disclosure, in operation S940 , the excavator 300 may receive a driving command through the manipulation device in response to an instruction to switch to the manual operation mode.

According to various embodiments of the present disclosure, in operation S960 , the excavator 300 may perform a task based on a driving command received through at least one external device or a manipulation device.

10 is a flowchart illustrating an emergency control method of the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 10 that will be described below include various operations for operation S540 of FIG. 5A , operation S560 and operation S570 of FIG. 5B , operation S750 of FIG. 7 , operation S830 of FIG. 8 , operation S950 of FIG. 9 and operation S960 of FIG. 9 . Examples may be shown. 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 collect information through at least one sensor while performing an instruction operation in operation S1010. At least one sensor, as described above, at least one first sensor for detecting the state of the excavator 300, at least one second sensor for detecting a work area in which the excavator 300 performs work, and At least one third sensor for detecting an obstacle around the excavator 300 may be included.

According to various embodiments of the present disclosure, in operation S1020 , the excavator 300 may determine whether a situation requiring emergency control is detected based on the collected information. Situations requiring emergency control include a situation in which an obstacle is detected within a certain range (eg, work range) based on the excavator 300, and a restricted area (eg, a dangerous area within the work area such as a cliff), other It may include a situation of entering an area where work is being performed by a construction machine, etc.).

According to various embodiments of the present disclosure, in operation S1030 , the excavator 300 may stop an instruction task in response to a situation requiring emergency control and notify the detection result to an external device.

According to various embodiments of the present disclosure, in operation S1040 , the excavator 300 may receive a corresponding instruction from an external device in response to the notification of the detection result. The response instruction may include an instruction instructing to temporarily suspend the operation until the obstacle is removed, an instruction instructing the operation to avoid the obstacle or the restricted area, and the like.

According to various embodiments of the present disclosure, in operation S1050 , the excavator 300 may control the operation of the excavator 300 based on a corresponding instruction.

11 is a flowchart illustrating an operation monitoring method of the excavator 300 according to various embodiments of the present disclosure. The operations of FIG. 11 that will be described below are various for operation S540 of FIG. 5A , operation S560 and operation S570 of FIG. 5B , operation S750 of FIG. 7 , operation S830 of FIG. 8 , operation S950 of FIG. 9 and operation S960 of FIG. 9 . Examples may be shown. 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 , in operation S1110 , the excavator 300 according to various embodiments may detect an operation of the excavator 300 based on information collected through at least one sensor. At least one sensor, as described above, at least one first sensor for detecting the state of the excavator 300, at least one second sensor for detecting a work area in which the excavator 300 performs work, and At least one third sensor for detecting an obstacle around the excavator 300 may be included.

According to various embodiments, the excavator 300 may monitor a task to be performed based on the work plan and the detected motion in operation S1120 . The mission monitoring may include monitoring a position, a movement path, and a work progress state of the excavator 300 . Additionally or alternatively, the excavator 300 may monitor the state of the excavator 300 (eg, fuel state, whether parts are abnormal, working time, etc.) or monitor the surrounding conditions of the excavator 300 .

According to various embodiments, the excavator 300 may notify the monitoring result to an external device in operation S1130. Accordingly, the external device may determine whether the excavator 300 performs a task according to the work plan in the work area based on the monitoring result, and may instruct the mission to be stopped if the task is not performed according to the work plan. In addition, the external device may determine the state of the excavator 300 based on the monitoring result, and when determining that the operation is impossible, may instruct the mission to be stopped. According to another embodiment, the operation of determining whether the task is being performed according to the work plan may be performed by the excavator 300 .

The method of operating an autonomous work construction machine (eg, the excavator 300 ) according to various embodiments of the present disclosure includes an instruction task and provides a work instruction to an external device (eg, a control center) to perform the instruction task based on the autonomous work mode. (110), the operation obtained from the other construction machines (120 to 150)), determined based on the work instruction, and among the tasks that can be performed in the construction machine, a work plan consisting of tasks necessary to perform the instruction task and operating in the autonomous work mode to perform the instruction task according to the work plan.

According to various embodiments of the present disclosure, in the method of operating the autonomous construction machine, when a control command is received from the external device while the instruction task is being performed, stopping the execution of the instruction task and processing the control instruction may further include.

According to various embodiments, an operation of diagnosing an operation state of a communication device based on transmitting a predetermined first signal to the external device and receiving a response to the first signal and a second predetermined signal are transmitted to the sensor device and diagnosing an operation state of the sensor device based on receiving a response to the second signal, and sending the work instruction to an external device when the communication device and the sensor device operate normally. The operation of acquiring from the device, the operation of acquiring the work plan, and the operation of performing the instruction task may be performed.

According to various embodiments, the control command includes a mission standby command, and the processing of the control command may include, in response to receiving the mission standby command, the command task until a standby release command is received from the external device. It may include an operation to stop the execution of

According to various embodiments, the stopping of the task may include, when receiving the standby release command, requesting task resumption from the external device and receiving the task resumption instruction from the external device. It may include an operation to resume execution.

According to various embodiments, the control command includes a mode switching command, and the operation of processing the control command may include switching to a remote operation mode or a manual operation mode in response to receiving the mode switching command. can

According to various embodiments, in the method of operating the autonomous construction machine, when it is determined based on the information collected through the sensor device that the operation of detecting the situation of the construction machine and the situation requiring emergency control are determined, the instruction task is performed. It may further include an operation of stopping.

According to various embodiments, the situation requiring the emergency control may include at least one of a situation in which an obstacle is detected within a certain range based on the construction machine or a situation in which the construction machine enters a restricted area.

According to various embodiments, the method of operating the autonomous work-based construction machine may further include an operation of notifying the external device of a situation requiring the emergency control, and an operation of receiving a response instruction from the external device.

According to various embodiments, in the method of operating the autonomous work-based construction machine, the operation of detecting the operation of the construction machine based on information collected through a sensor device while the instruction task is performed, and the construction machine performing the work The method may further include monitoring whether the instruction task is performed according to the instruction.

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

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

The processor is

Obtaining a work instruction including an instruction task and allowing the instruction task to be performed based on an autonomous work mode from an external device;

Obtaining a work plan, which is determined based on the work instruction and consists of tasks necessary to perform the instruction task, among tasks that can be performed in the construction machine,

A construction machine that operates in the autonomous work mode and controls to perform the instruction task according to the work plan.
The method of claim 1,

The work instruction is a construction machine including task information or task execution order information to be performed.
3. The method of claim 2,

The mission information is a construction machine comprising at least one of a flattening mission, a scavenger mission, and an excavation mission.
The method of claim 1,

The instruction task is a construction machine, characterized in that determined based on the work area information.
The method of claim 1,

The processor is

While the instruction task is being performed, when a control command is received from the external device, the construction machine stops the execution of the instruction task and controls to process the control command.
The method of claim 1,

The processor is

Transmitting a predetermined first signal to the external device and diagnosing an operating state of the communication device based on receiving a response to the first signal,

Transmitting a predetermined second signal to the sensor device, and diagnosing an operating state of the sensor device based on receiving a response to the second signal,

When the communication device and the sensor device operate normally, the construction machine controls to perform the instruction task.
6. The method of claim 5,

The control command includes a mission standby command,

The processor is

In response to the reception of the task standby command, the construction machine controls to stop the execution of the instruction task until a standby release command is received from the external device.
6. The method of claim 5,

The control command includes a mode change command,

The processor is

In response to receiving the mode switching command, a construction machine for controlling to switch to a remote working mode or a manual working mode.
The method of claim 1,

The processor is

Detect the situation of the construction machine based on the information collected through the sensor device,

A construction machine that controls to stop performing the instruction task when a situation requiring emergency control is determined.
The method of claim 1,

The processor is

While performing the instruction task, on the basis of the information collected through the sensor device to detect the operation of the construction machine,

A construction machine controlling to monitor whether the construction machine performs the instruction task according to the work instruction.
A method of operating an autonomous construction machine, comprising:

obtaining, from an external device, a work instruction including an instruction task and allowing the instruction task to be performed based on an autonomous operation mode;

obtaining a work plan determined based on the work instruction and including tasks necessary to perform the instruction task among tasks that can be performed by the construction machine; and

and operating in the autonomous working mode to perform the directed task according to the work plan.
12. The method of claim 11,

The work instruction includes task information to be performed or task execution order information.
13. The method of claim 12,

The mission information includes at least one of a leveling mission, a scavenger mission, and an excavation mission.
12. The method of claim 11,

The method of claim 1 , wherein the instruction task is determined based on work area information.
12. The method of claim 11,

and if a control command is received from the external device while the command task is being performed, stopping execution of the command task and processing the control command.
12. The method of claim 11,

transmitting a predetermined first signal to the external device and diagnosing an operating state of the communication device based on receiving a response to the first signal; and

Transmitting a predetermined second signal to the sensor device, and diagnosing an operation state of the sensor device based on receiving a response to the second signal,

When the communication device and the sensor device operate normally, obtaining the work instruction from an external device, obtaining the work plan, and performing the instruction task.
16. The method of claim 15,

The control command includes a mission standby command,

The operation of processing the control command is

and in response to receiving the task standby command, stopping execution of the instruction task until a standby release command is received from the external device.
16. The method of claim 15,

The control command includes a mode change command,

The operation of processing the control command is

and switching to a remote operation mode or a manual operation mode in response to receiving the mode switching command.
12. The method of claim 11,

detecting the condition of the construction machine based on information collected through a sensor device; and

The method further comprising the operation of stopping the execution of the instruction task when it is determined that the emergency control is required.
12. The method of claim 11,

detecting the operation of the construction machine based on information collected through a sensor device while performing the instruction task; and

The method further comprising the operation of monitoring whether the construction machine performs the instruction task according to the work instruction.