Apparatus and method for controlling remote-controlled excavator for preventing overload

Patent metadata

Field	Value
Publication number	US-11459728-B2
Application number	US-201917417931-A
Country	US
Kind code	B2
Filing date	Nov 11, 2019
Priority date	Dec 27, 2018
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

Disclosed are an apparatus and method for controlling a remote-controlled excavator for preventing overload. The apparatus for controlling a remote-controlled excavator according to an embodiment of the present invention comprises: inertial sensors provided in the excavator; a communication unit for receiving a remote control signal from a remote control apparatus; and a control unit for driving the excavator in response to the remote control signal, wherein the control unit stops driving the excavator when a difference between an expected posture of the excavator estimated on the basis of the remote control signal and an actual posture of the excavator measured by using the inertial sensors exceeds an allowable value.

First claim

The invention claimed is:

1. A remote-controlled excavator, comprising:
inertial sensors provided in an excavator;
a communication unit configured to receive a remote control signal from a remote control device; and
a control unit configured to drive the excavator in response to the remote control signal,
wherein the control unit stops driving of the excavator when a difference between an expected posture of the excavator estimated based on the remote control signal and an actual posture of the excavator measured using the inertial sensors exceeds an allowable value,
wherein the allowable value is determined by at least a work environment including temperature and humidity,
wherein the control unit includes:
a drive unit configured to output a drive signal to the excavator in response to the remote control signal;
a memory configured to store a current posture of the excavator;
a posture estimation unit configured to estimate the expected posture based on the current posture and a posture change value corresponding to the remote control signal;
a posture measurement unit configured to measure the actual posture based on sensing values; and
an overload detection unit configured to output a drive stop signal to the drive unit when the difference between the expected posture and the actual posture exceeds the allowable value,
wherein the drive unit blocks the drive signal in response to the drive stop signal,
wherein the remote-controlled excavator further comprises a pressure sensor provided in an attachment of the excavator,
wherein the pressure sensor measures a reaction force as a pressure applied to the attachment,
wherein the control unit adjusts the allowable value according to a magnitude of the reaction force measured by the pressure sensor, and
wherein the control unit reduces a case of overload by extending a range of the allowable value when the magnitude of the reaction force is larger than a preset value.

2. The remote-controlled excavator of claim 1 , wherein the inertial sensors include:
a first inertial sensor provided in a main body of the excavator;
a second inertial sensor provided in a boom of the excavator;
a third inertial sensor provided in an arm of the excavator; and
a fourth inertial sensor provided in an attachment of the excavator.

3. The remote-controlled excavator of claim 2 , wherein the attachment includes a bucket, a breaker, a vibrator, a fork, a crusher, or a grapple.

4. The remote-controlled excavator of claim 1 , wherein, when the difference between the expected posture and the actual posture exceeds the allowable value, the communication unit transmits an overload occurrence signal to the remote control device.

5. A remote-controlled excavator, comprising:
inertial sensors provided in an excavator;
a communication unit configured to receive a remote control signal from a remote control device; and
a control unit configured to drive the excavator in response to the remote control signal,
wherein the control unit stops driving of the excavator when a difference between an expected posture of the excavator estimated based on the remote control signal and an actual posture of the excavator measured using the inertial sensors exceeds an allowable value,
wherein the control unit includes:
a drive unit configured to output a drive signal to the excavator in response to the remote control signal;
a posture change amount measurement unit configured to measure an actual posture change amount of the excavator based on sensing values received from the inertial sensors;
a posture change amount estimation unit configured to calculate an expected posture change amount corresponding to the remote control signal, wherein the posture change amount is determined by at least a work environment including temperature and humidity; and
an overload detection unit configured to output a drive stop signal to the drive unit when a difference between the actual posture change amount and the expected posture change amount exceeds the allowable value while the excavator is driven,
wherein the drive unit blocks the drive signal in response to the drive stop signal,
wherein the remote-controlled excavator further comprises a pressure sensor provided in an attachment of the excavator,
wherein the pressure sensor measures a reaction force as a pressure applied to the attachment,
wherein the control unit adjusts the allowable value according to a magnitude of the reaction force measured by the pressure sensor, and
wherein the control unit reduces a case of overload by extending a range of the allowable value when the magnitude of the reaction force is larger than a preset value.

6. The remote-controlled excavator of claim 1 , wherein the communication unit transmits the actual posture of the excavator to the remote control device.

7. A method for controlling a remote-controlled excavator, comprising:
measuring a current posture of an excavator and storing the current posture in a memory as a current posture information;
calculating a posture change value corresponding to a control signal received from a remote control device, wherein the posture change value is determined by at least a work environment including temperature and humidity;
estimating an expected posture by adding the posture change value to the current posture information stored in the memory;
driving the excavator by outputting a drive signal to the excavator in response to the control signal and measuring an actual posture of the excavator based on sensing values received from inertial sensors provided in the excavator;
stopping driving of the excavator when a difference between the expected posture and the actual posture exceeds an allowable value by outputting a drive stop signal to the excavator;
measuring a reaction force as a pressure applied to an attachment of the excavator;
adjusting the allowable value according to a magnitude of the reaction force; and
reducing a case of overload by extending a range of the allowable value when the magnitude of the reaction force is larger than a preset value.

8. The method for controlling the remote-controlled excavator of claim 7 , further comprising updating the current posture using the actual posture.

9. The method for controlling the remote-controlled excavator of claim 7 , further comprising transmitting an overload signal to the remote control device when the difference between the expected posture and the actual posture exceeds the allowable value.

Assignees

• Iucf Hyu Erica Campus

Inventors

• Han Chang Soo
• Kim Sang Ho
• Lee Yong Seok
• Sun Dong Ik
• Lee Sang Keun

Classifications

• E02F3/963

  Arrangements on backhoes for alternate use of different tools (backhoes per se E02F3/30; quick-acting devices to connect tools to arms E02F3/3609, for arms to tractors or the like E02F3/627) · CPC title

• E02F9/24

  Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} · CPC title

• E02F9/205 Primary

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• G05D3/20

  using a digital comparing device · CPC title

• G05D3/125

  using discrete position sensor · CPC title