KR-20260063590-A - A METHOD AND AN APPARATUS FOR GENERATING OPTIMAL PATH OF A CRAWLER EXCAVATOR

KR20260063590AKR 20260063590 AKR20260063590 AKR 20260063590AKR-20260063590-A

Abstract

The present disclosure relates to a method and apparatus for generating an optimal movement path for a crawler excavator. According to one embodiment of the present disclosure, a method for generating an optimal movement path for equipment may include: determining a drivable area of equipment within a work area; generating a plurality of candidate paths from a current location of equipment to a target location based on the drivable area; and determining one of the candidate paths as the optimal movement path based on the cost for each of the candidate paths.

Inventors

강훈

Assignees

에이치디한국조선해양 주식회사
에이치디현대인프라코어 주식회사
에이치디건설기계 주식회사

Dates

Publication Date: 20260507
Application Date: 20241030

Claims (15)

A step of determining the drivable area of equipment within the workplace; A step of generating a plurality of candidate paths from the current position of the equipment to a target position based on the above drivable area; and A step of determining one of the candidate paths as the optimal travel path based on the cost for each of the candidate paths; A method for generating an optimal movement path for equipment within a workplace, including
In Article 1, The above method is, A step of simplifying each of the above candidate paths through path smoothing; A method that further includes.
In Article 2, The above simplification step is, A step of determining the maximum deviation point among a plurality of points included in each of the above candidate paths that is furthest from the straight line connecting the current position and the target position; and A step of performing path smoothing by comparing the distance of the maximum deviation point with the straight line with a predetermined threshold value; A method that further includes.
In Article 1, The step of determining the above-mentioned drivable area is, A step of receiving information about at least one of a first area where work is completed within the workplace, a second area with a slope, and a third area where obstacles exist, at a predetermined time interval; and A step of determining the area within the above-mentioned workplace, excluding at least one of the first to third areas, as the drivable area; A method including
In Article 1, The step of generating the above candidate paths is, A step of setting at least one branch point between the current position and the target position based on the above drivable area; and A step of generating the candidate paths using the above at least one branch point; A method including
In Article 5, The step of generating the above candidate paths is, A method for generating candidate paths that pass through the intermediate points by setting some of the above-mentioned at least one branch point as intermediate points.
In Article 1, The above-mentioned determining step is, A step of calculating the cost using at least one of a first element for the travel distance of each of the above candidate paths, a second element for the risk of obstacle intrusion, a third element for the rotation angle of the equipment, and a fourth element for the number of rotations of the equipment; A method including
In Paragraph 7, The step of calculating the above costs is, A method for calculating the cost by applying a weight to at least one of the first to fourth elements.
In Article 1, The above method is, A step of controlling the equipment so that it moves from the current location to the target location along the optimal movement path; A method that further includes.
At least one memory; and Includes at least one processor; and The above at least one processor is, A computing device that determines a drivable area of equipment within a workplace, generates a plurality of candidate paths from the current position of the equipment to a target position based on the drivable area, simplifies each of the candidate paths through path smoothing, and determines one of the simplified candidate paths as the optimal path based on the cost for each of the simplified candidate paths.
In Article 10, Generating the above candidate paths is, A computing device that sets at least one branch point between the current location and the target location based on the above drivable area, and generates the candidate paths using the at least one branch point.
In Article 10, The above decision is, A computing device comprising calculating the cost using at least one of a first element for the travel distance of each of the simplified candidate paths, a second element for obstacle intrusion, a third element for the rotation angle of the equipment, and a fourth element for the number of rotations of the equipment.
In Article 12, Calculating the above costs is, A computing device that calculates the cost by applying a weight to at least one of the first to fourth elements.
In Article 10, The above processor is, A computing device that controls the equipment to move along the optimal movement path from the current location to the target location.
A computer-readable recording medium having a program for executing the method according to claim 1 on a computer.

Description

A method and apparatus for generating an optimal path of a crawler excavator The present disclosure relates to a method and apparatus for generating an optimal movement path for a crawler excavator. Equipment for work at construction sites has continuously been improved and developed. The equipment used at construction sites is designed to be operated directly by skilled personnel who board the equipment as operators to perform tasks. However, the industry is facing difficulties due to a shortage of skilled workers, and profitability continues to deteriorate due to safety management issues and rising wages for skilled laborers. Furthermore, it is challenging to ensure uniformity in construction quality due to variations in the skill levels of individual workers. Recently, active research is being conducted on automated unmanned construction/drying equipment capable of addressing issues such as the absence of skilled workers, safety management, and profitability. The unmanned operation of construction and building equipment necessitates autonomous driving; however, unlike ordinary roads, construction sites feature undulating terrain, making it difficult to apply conventional autonomous driving technologies. Consequently, there is a need for technology capable of preventing rollover accidents caused by uneven terrain and avoiding obstacles. Furthermore, due to the nature of the equipment constantly changing surrounding terrain, it is essential to apply technology that recognizes terrain changes and plans routes accordingly. The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as prior art disclosed to the general public prior to the filing of the present invention. FIG. 1 is a conceptual diagram illustrating a method for generating an optimal movement path of equipment according to one embodiment. FIG. 2 is a block diagram of a path generation device according to one embodiment. FIG. 3 is an exemplary configuration diagram of a system including a path generation device and an external device according to one embodiment. FIG. 4 is a flowchart illustrating a method for generating an optimal movement path of equipment according to one embodiment. FIG. 5 is an exemplary drawing for explaining a method for determining a drivable area according to one embodiment. FIG. 6 is an exemplary diagram illustrating a method for generating a candidate path according to one embodiment. FIG. 7 is an exemplary diagram illustrating a method for generating a plurality of candidate paths using branching points according to one embodiment. FIG. 8 is an exemplary diagram illustrating a method for simplifying a candidate path according to one embodiment. FIG. 9 is an exemplary diagram illustrating a method for calculating costs for each candidate path according to one embodiment. The advantages and features of the present invention, and the methods for achieving them, will become clear by referring to the embodiments described in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but can be implemented in various different forms and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention. The embodiments presented below are provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. In describing the present invention, detailed descriptions of related known technologies are omitted if it is determined that such detailed descriptions may obscure the essence of the present invention. The terms used in this application are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Some embodiments of the present disclosure may be represented by functional block configurations and various processing steps. Some or all of these functional blocks may be implemented by various numbers of hardware and/or software configurations that perform specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors or by circuit configurations for a specific function. Additionally, for example, the functional blocks of the present disclosure may be