KR101695914B1 - Excavator 3-dimensional earthwork bim system for providing realtime shape information of excavator in executing earthwork construction - Google Patents

Abstract

Based on the 3D BIM technique, it is possible to enhance the productivity of the earthworking work by providing real-time shape information to the excavator pilot by expressing the earthwork work performed by the excavator in 3D graphic, and to provide the shape information in the existing 2D or 3D form It is possible to provide a variety of visual information desired by an excavator manipulator by providing real-time real-time shape information of an excavator. Also, it is a real-time earthwork information system which can easily use not only a skilled equipment pilot but also an unskilled equipment pilot. A 3D excavation BIM system is provided which provides excavator shape information in real time during soil excavation work, which can improve the productivity of equipment control based on visual information and data information by providing a system.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavator, a 3D earth boring system, an excavator, and an excavator,

The present invention relates to an excavator 3D earth boring system (BIM) system, and more particularly, to a 3D excavator BIM system, in which a 3D BIM (Building Information Modeling) technique applied to a fixed building design and construction is applied to excavator earthworks (BIM) for earthwork so that it can be extended and applied, and an excavator 3D earthwork BIM system that provides the shape information of an excavator in real time during earthwork construction.

Generally, various construction equipments such as excavator, dozer, payloader, dump truck are put into earthwork construction of construction work. In particular, among these various construction equipments, excavators perform important functions in excavation, stopping, and loading work.

Specifically, these excavators are used for excavation work for digging the ground at civil engineering sites, construction sites and construction sites, loading work for transporting soil to dump trucks, crushing work for dismantling buildings and stones, It is a construction machine that can hang up a heavy object or pick up an object by using a forceps.

The excavator is divided into a lower traveling body, a upper swing body mounted on the upper swinging part and rotating 360 degrees, and a working device attached to the front side of the upper swinging body. The upper swinging body is mounted on an excavator It has a cab (cabin). Among these, the working device is connected to the boom and the arm, and the bucket is attached to the tip of the boom. The connecting device is connected to the end of the bucket cylinder through a link and is operated by the cylinder to perform the bucket operation.

In this way, the excavator used mainly in the construction work performs earthwork by the driver's intuitive judgment and experience. Excavators that carry out soil excavation work as earthworks work in dangerous work environment, and it is necessary to take prompt and precise action in case of danger.

In addition, such an excavator suffers from difficulties due to the absence of skillful craftsmen, because an expert is carried on an excavator as a pilot and directly manages the work, and the safety management problem and the profitability due to the increase in wages of skilled workers are continuously deteriorated have. In addition, it is difficult to obtain uniformity of construction quality depending on the skill level of each skilled worker.

Recently, the development of an intelligent excavating system capable of solving the problems of lack of skilled workers, safety management, and profitability in excavation work has been actively researched. Such an intelligent excavating system is a method of remotely adjusting the excavator under the excavation work plan generated using the 3D work environment modeling, but in order to integrally manage the excavation work plan generated with the excavator, There are various and complex problems such as determination of travel route, transmission of excavation work execution command, grasp of current situation of excavator, stop command of excavator when obstacle is detected, and the like.

On the other hand, the excavator according to the related art uses a rear sensor or a rear camera as an auxiliary device for work and driving safety. However, due to the characteristics of an excavator in which the upper body is rotated by a conventional rear sensor or a rear camera, it is not sufficient for the excavator operator to visually judge an obstacle within a radius of rotation, There are many difficulties in the work such as the risk of occurrence.

As a prior art for solving the above-mentioned problems, Korean Patent No. 10-1144727 discloses an invention entitled " Excavation Operation Support System Using Stereo Vision Technology ", which will be described with reference to FIG.

1 is a view showing an installation state of a digging operation support system using stereo vision technology according to a conventional technique.

Referring to FIG. 1, in a digging operation support system using stereo vision technology according to the related art, an excavator 10 includes a body 11 having a cabin on which an excavator pilot is mounted, a boom 12, , An arm (13), and a bucket (14). The excavator can perform a digging operation such as a treadmill or a bottom surface.

The excavation work support system using the stereo vision technology according to the related art includes a stereo vision 21, a global positioning system 22, an attitude control sensor 23 and a joint angle sensor 24 A plan drawing storage unit, a virtual reality engine, a user interface (GUI), and a microcomputer.

Accordingly, in the case of the excavation operation support system using the stereo vision technology according to the related art, if a three-dimensional image of the excavation work surface is provided to the excavator pilot through the stereo vision 21, It is possible to confirm the progress of the excavation work compared to the final excavation depth of the dimension plan drawing, so that it is possible to carry out the digging operation without the help of the instrument operator or the work inducer.

In addition, the excavation work support system using the stereovision technology according to the related art provides realism through the virtual reality engine in displaying the progress status of excavation work through a user interface having a display function. At this time, The absolute position of the excavator 10 provided through the satellite navigation device 22 and the attitude of the excavator 10 measured through the attitude control sensor 23 can be reflected.

In the case of a digging operation support system using stereo vision technology according to the related art, the angles of the boom 12, the arm 13, and the bucket 14 are measured through the joint angle sensor 24, The position and angle of the bucket 14 are predicted and provided to the excavator pilot operator so that the bottom surface picking operation in which the work must be performed within a fine error range of about 5 cm can be performed by the excavator pilot alone.

According to the excavation work support system using the stereo vision technology according to the related art, the system using the stereo vision technique can provide the excavator operator with information on the progress of the excavation during the excavation work, So that excavation work time can be shortened and the occurrence of a safety accident can be prevented.

As another prior art, Korean Patent Laid-Open Publication No. 2013-97913 discloses an invention entitled "an excavator having a safety system in which a panoramic image is provided ", which will be described with reference to FIG.

2 is a view showing an installation position of an angle sensor in an excavator having a safety system in which a panoramic image according to the related art is provided.

2, an excavator having a safety system provided with a panoramic image according to the related art includes a lower traveling body 31 and an upper swing body 32 rotatably mounted on the lower traveling body 31 A driver's seat 33 fixed to the upper swing body 32 and a work device connected to the bucket 36 via the boom 34 and the arm 35. [

An excavator having a safety system provided with a panoramic image according to the related art is provided with three or more cameras on the side and rear of the upper revolving body 32 as an imaging unit for providing a panoramic image. At this time, each camera is mounted so as to obtain images superimposed on neighboring cameras.

 In the case of an excavator having a safety system in which a panoramic image according to the related art is provided, the image around the excavator is photographed using an image pickup unit. At this time, distortion correction values and superimposing correction values And a panorama image around the excavator is generated through the panorama image generation unit.

As shown in the figure, each of the connecting shafts of the upper swing body 32 and the boom 34, the boom 34 and the arm 35, and the connecting shaft of the arm 35 and the bucket 36, Sensors 41, 42, and 43 are mounted.

In this way, by using the angle information measured by the angle sensors 41, 42 and 43, the working radius guide, that is, the working safety range, from the rotation center of the excavator upper revolving body 32 to the bucket 36 The radius can be calculated through the job radius guideline generator.

According to the excavator having the safety system provided with the panoramic image according to the related art, the safety system in which the panoramic image is provided, the image information around the excavator taken by the plurality of cameras is converted into the panoramic image through the panoramic image generation unit And visual information of the working radius determined by the angle sensor attached to the working device such as the arm and the bucket is superimposed on the panoramic image and displayed on the display unit of the driver's seat to minimize the angle generated to the excavator pilot The stability can be improved.

In recent years, a system for providing shape information in the form of 2D or 3D has been developed and applied to the field in order to express construction equipment. Such a system is applied to the construction equipment only in a fixed form such as 3D section, X section, Y section Shape information can be provided.

Meanwhile, BIM (Building Information System) is intended to produce and manage information in various fields throughout the life cycle of planning, designing, construction and maintenance phases of buildings, and is mainly active in the construction field. The reason for this is that the BIM is applied to the facilities in the building sector because the project is mainly focused on the facilities. However, earthwork BIM (Earthwork BIM) generates 3D models for structures in the field of construction or civil engineering, and 3D BIM for dynamically changing objects is a new area to be studied. In particular, the 3D earthwork BIM can provide a 3D graphical model environment for the earthwork work, thereby enhancing the effect of earthwork work.

Accordingly, the 3D BIM (Building Information Modeling) technique applied to the fixed structure design and construction according to the conventional technology is extended to the earthwork work of the construction equipment in which the environmental change is continuously generated. There is a need.

Korean Patent No. 10-928836 filed on Aug. 8, 2007, entitled "Excavating System for Excavator & Korean Patent No. 10-913690 filed on October 26, 2007, entitled "3-D Modeling System and 3-D Modeling Method for Remote Control of Intelligent Excavating Equipment" Korean Patent No. 10-1144727 filed on May 12, 2009, entitled "Excavation Support System Using Stereo Vision Technology" Korean Patent No. 10-1265746 filed on November 8, 2011, entitled "Method for Automatic Matching of 3-D Scan Data for Intelligent Digging System" Korean Patent No. 2012-4132 (Publication date: January 12, 2012), title of the invention: "Excavator automation system and its integrated management method" Korean Patent Publication No. 2013-97913 (Publication date: September 4, 2013), title of the invention: "Excavator with safety system provided with panoramic image" Korean Patent No. 10-1583034 filed on December 14, 2011, entitled "METHOD AND SYSTEM FOR TRANSMITTING BIM DATA TO MOBILE DEVICE USING DISTRIBUTED SERVER" Korean Patent No. 10-1572759 filed on Apr. 23, 2014, entitled "Autonomous Optimized Excavator System and Control Method Using It" Korean Publication No. 2016-41281 (Publication date: April 18, 2016) Title of invention: "BIM-based construction management system and management method"

Technical Solution According to an aspect of the present invention, there is provided a 3D BIM method for providing a real-time shape information to an excavator pilot by expressing the earthwork work performed by an excavator in 3D graphics, The present invention is to provide an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthwork construction.

Another object of the present invention is to provide an excavator 3D earthwork BIM system capable of realizing real time and real time shape information of an excavator to provide various visual information desired by an excavator operator, .

It is another object of the present invention to provide an earthwork BIM system as a real-time earthwork information system which can easily use not only an experienced equipment operator but also an unskilled equipment operator, And to provide an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthworks work.

As a means for achieving the above-mentioned technical object, an excavator 3D earthwork BIM system for providing shape information of an excavator in real time during earthworks work according to the present invention includes: an upper swing body of an excavator for performing earthwork work; A sensor module attached to each of the buckets to detect angles of the upper revolvers, the boom angles, the arm angles, and the bucket angles to provide angle information for each member; A work position tracking module installed in the excavator and tracking and confirming position information corresponding to a moving path of the excavator in the field to provide excavator position information; And a user terminal mounted in the excavator, wherein the user terminal receives 3D terrain information from a digital map, receives excavator location information provided by the work location tracking module, and provides angle information of each member detected by the sensor module and information The excavator shape information, the excavator position information, and the 3D terrain information are used as attribute information to perform a real-time 3D graphic simulation according to the attribute information, thereby displaying a 3D modeling image. Wherein the earthwork BIM user terminal realizes earthwork work of an excavator in 3D graphics in real time when earthworks work is performed based on the 3D BIM technique.

Here, the sensor module may include: a first sensor module attached to an upper revolving body of the excavator and sensing an angle of the upper revolving body; A second sensor module attached to a boom of the excavator to detect an angle of the boom; A third sensor module attached to the arm of the excavator and sensing an angle of the arm; And a fourth sensor module attached to the bucket of the excavator to sense the angle of the bucket.

Here, the first to fourth sensor modules include an angle sensor for detecting an angle of each excavator member, and a short-range wireless communication module for wirelessly transmitting angle information of each member sensed by the angle sensor to the earth-borne BIM user terminal can do.

Here, the earthwork BIM user terminal may be provided with an earthwork BIM shape information providing unit for generating and providing excavator shape information according to member angle information detected by the sensor module and member specifications provided by an excavator manufacturer; A terrain BIM terrain information providing unit for generating and providing 3D terrain information corresponding to the planned ground level and the current ground level from the digital map; A real-time 3D graphic simulation module that receives excavator position information provided by the working position tracking module and performs real-time 3D graphic simulation according to the excavator shape information, excavator position information, and 3D terrain information; And an earthwork BIM display for displaying a 3D modeling image according to a simulation result performed in the real-time 3D graphics simulation module.

Here, the earthwork BIM shape information providing unit may include a script control module that controls a script to be displayed in a 3D space using information on the member provided by the excavator maker and angle information on each member transmitted from the sensor module; And an excavator shape information generator for generating excavator shape information representing the excavator, the upper revolving body, the lower traveling body, the boom, the arm, and the bucket in real time according to the control of the script control module.

Here, the earthwork BIM topographical information providing unit extracts the planar ground from the planar ground DB, generates 3D plan ground elevation, extracts the current ground elevation from the current ground elevation DB to generate 3D current ground elevation, And provides it as earthwork BIM topographical information.

Here, the real-time 3D graphic simulation module may include a data matching unit that receives the excavator shape information, excavator position information, and 3D terrain information, and matches the data to perform real-time 3D graphic simulation; A 3D modeling unit for performing 3D modeling according to the excavator shape information, excavator position information, and 3D terrain information registered in the data matching unit; And a view-specific 3D modeling image generating unit for generating a 3D modeling image for each view according to the result of the 3D modeling performing unit.

Here, the view-specific 3D modeling images generated by the view-specific 3D modeling image generator may include a 3D view, an upper view, a front view, and a side view.

Here, excavator position information provided by the working position tracking module is converted from relative coordinates to absolute coordinates.

Here, the excavator attribute information is characterized by defining an interrelationship by creating an ERD (Entity Relation Diagram) so that the database can be stored and inquired quickly.

According to the present invention, the earthwork work performed by the excavator based on the 3D BIM technique can be expressed in 3D graphics, and real-time shape information can be provided to the excavator pilot, thereby enhancing the productivity of the earthwork work.

According to the present invention, the shape information of an excavator can be real-time and real-time compared to a system that provides shape information in the conventional 2D or 3D form, thereby providing various visual information desired by the excavator pilot.

According to the present invention, productivity of maneuvering equipment can be improved on the basis of visual information and data information by providing the earthwork BIM system as a real-time earthwork information system that can easily use not only skilled equipment pilots but also unskilled equipment pilots.

1 is a view showing an installation state of a digging operation support system using stereo vision technology according to a conventional technique.
2 is a view showing an installation position of an angle sensor in an excavator having a safety system in which a panoramic image according to the related art is provided.
3 is a block diagram of an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthwork construction according to an embodiment of the present invention.
FIG. 4 is a view showing a sensor module installed in an excavator in an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthwork work according to an embodiment of the present invention.
5 is a specific configuration diagram of the sensor module and the earthwork BIM shape information providing unit shown in FIG.
FIG. 6 is a detailed configuration diagram of the earthwork BIM topographical information providing unit and the real-time 3D graphic simulation module shown in FIG.
7 is a diagram illustrating a result of 3D graphics simulation according to the 3D graphics simulation module shown in FIG.
FIG. 8 is a view showing the shape of an excavator corresponding to excavator shape information provided in the earthwork BIM shape information providing unit shown in FIG. 5. FIG.
FIG. 9 is a diagram illustrating conversion of relative coordinates to absolute coordinates corresponding to the position of the excavator according to the working position tracking module shown in FIG.
10 is a diagram illustrating an ERD for converting excavator property information of an excavator 3D earthwork BIM into a database according to an embodiment of the present invention.
11 is a view illustrating an earthwork 3D view generated by the 3D modeling image generation unit for each view shown in FIG.
FIG. 12 is a diagram illustrating the results of a field experiment and an excavator 3D earthwork BIM simulation in an excavator 3D earthwork BIM system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the term "part" or the like, as described in the specification, means a unit for processing at least one function or operation, and may be implemented by hardware, software, or a combination of hardware and software.

First, the government is actively promoting BIM for design technology development. In this BIM environment, the construction manager can review not only visual information but also cost and time so that the progress of the construction work, the related cost execution status and the process schedule can be reviewed. However, existing BIM is mostly applied to the design and construction of fixed structures such as buildings and bridges. However, BIM extends its functions to apply not only to fixed structures but also to earthworks where environmental changes are continuously generated. System can be built.

The excavator 3D earthwork BIM system according to the embodiment of the present invention provides three-dimensional data of the changed terrain in cooperation with a construction equipment such as an excavator to provide the current state information of the earthwork work. At this time, It is possible to find the property information necessary for applying to earthwork, and present the user screen of earthwork BIM based on this information. Here, the earthwork BIM refers to the environment of the 3D graphic model in which the function of the BIM is applied to the earthwork, and there is a difference in that it is expressed dynamically in comparison with the general BIM expressing the structure planned in the design. In other words, earthwork BIM should express the shape of equipment and terrain that change in real time.

In other words, since the earthwork BIM has to show graphical simulation of the earthwork work proceeding as amorphous, unlike general BIM, it is necessary to simultaneously express the equipment shape and the topography shape based on the topography information of the construction site. At this time, the plan for earth and cut soil during earthwork shows the final geomorphic shape which is the target of design, and the earthwork work to be carried out is carried out according to the judgment of the excavating equipment pilot.

Hereinafter, an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthwork construction according to an embodiment of the present invention will be described in detail with reference to FIG. 3 and FIG.

[Excavator 3D earthwork BIM system]

3 is a block diagram of an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthwork construction according to an embodiment of the present invention.

3, an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthwork work according to an embodiment of the present invention includes an excavator 100, a sensor module 200, a work location tracking module 300 and an earthwork BIM user terminal 400. The earthwork BIM user terminal 400 includes a earthwork BIM shape information providing unit 410, a earthwork BIM topography information providing unit 420, a real time 3D graphics simulation module 430 And a earthwork BIM display 440.

The excavator 100 includes a lower traveling body 120, an upper swing body 32 rotatably mounted on the lower traveling body 120, and a cabin and a boom fixed to the upper swing body 32. [ And a work device to which the bucket 36 is connected via the arm 34 and the arm 35.

The sensor module 200 is attached to the upper swivel body 110, the boom 130, the arm 140 and the bucket 150 of the excavator 100 so that the upper swivel angle, the boom angle, the arm angle, And provides angular information for each member.

The work position tracking module 300 is installed in the excavator 100 and tracks and confirms the position information corresponding to the in-situ movement path of the excavator 100 to provide excavator position information. At this time, the excavator position information provided by the working position tracking module 300 may be converted from absolute coordinates to absolute coordinates.

The earthwork BIM user terminal 400 is a user terminal mounted in the excavator 100. The user terminal 400 receives 3D terrain information from a digital map and receives excavator location information provided by the work location tracking module 300, The excavator shape information is generated according to member-specific angle information detected from the module 200 and member specifications provided by the excavator maker, and the excavator shape information, the excavator position information, and the 3D terrain information are used as attribute information, Real-time 3D graphic simulation is performed to display a 3D modeling image. Accordingly, the earthwork BIM user terminal 400 can represent earthwork work of an excavator in 3D graphics in real time when earthworks work is performed based on the 3D BIM technique.

3, the earthwork BIM shape information providing unit 410 of the earthwork BIM user terminal 400 may include angle information of each member detected from the sensor module 200, The excavator shape information is generated and provided according to the specification.

The earthwork BIM topography information providing unit 420 of the earthwork BIM user terminal 400 generates and provides 3D terrain information corresponding to the planned ground height and the current ground height from the digital map.

The real-time 3D graphic simulation module 430 of the earth-borne BIM user terminal 400 receives the excavator location information provided by the operation location tracking module 300 and displays the excavator information based on the excavator shape information, excavator location information, Real-time 3D graphics simulation is performed. Although the excavator 100 is illustrated as an excavating machine in the excavator 3D earthwork BIM system according to the embodiment of the present invention, a real-time 3D graphic simulation of excavator and dump truck can be performed together with a dump truck as excavation equipment You may.

The earthwork BIM display 440 of the earthwork BIM user terminal 400 displays a 3D modeling image according to a simulation result performed by the real-time 3D graphic simulation module 430.

In the excavator 3D earthwork BIM system according to the embodiment of the present invention, the 3D BIM technique is applied to the earthworks work of the construction equipment, the excavator shape information is expressed in the 3D space, and the shape information of the excavator can be expressed in various forms. In addition, the excavator 3D earthwork BIM system according to the embodiment of the present invention provides realistic shape information of an excavator in comparison with a system that provides shape information in the conventional 2D or 3D form, thereby providing various visual information desired by the excavator pilot have.

Meanwhile, FIG. 4 is a view showing that a sensor module is installed in an excavator in an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthworks work according to an embodiment of the present invention, and FIG. 5 is a cross- Sensor module and the earthwork BIM shape information providing unit, and FIG. 6 is a detailed configuration diagram of the earthwork BIM topographical information providing unit and the real time 3D graphic simulation module shown in FIG.

Referring to FIG. 4, in an excavator 3D earthwork BIM system that provides shape information of an excavator in real time during earthworks work according to an embodiment of the present invention, an excavator 100 includes an upper swivel body 110, a lower travel body 120, A boom 130, an arm 140 and a bucket 150. The sensor modules 210, 220, and 220 are attached to the upper swivel body 110, the boom 130, the arm 140, and the bucket 150, respectively. 230, and 240 are attached. Also, a work location tracking module 300 is installed on the excavator 100, and an earthwork BIM user terminal 400 is mounted.

4 shows the installation of the angle sensor and the data input for the excavator shape information processing. At this time, the sensor modules 210 to 240 are attached to the respective members of the excavator 100, To the BIM user terminal (400).

Specifically, the first sensor module 210 is attached to the upper revolving structure 110 of the excavator 100 to sense the angle of the upper revolving structure 110, and the second sensor module 220 senses the angle of the upper revolving structure 110, 100 to detect an angle of the boom 130. The boom 130 is mounted on the boom 130, The third sensor module 230 is attached to the arm 140 of the excavator 100 to detect the angle of the arm 140 and the fourth sensor module 240 senses the angle of the arm 140 of the excavator 100. And is attached to a bucket 150 to sense the angle of the bucket 150.

5, each of the first through fourth sensor modules 210-240 includes an angle sensor 200a for detecting an angle and data detected by the angle sensor 200a, And a short range wireless communication module 200b for wirelessly transmitting to the earth mobile BIM user terminal 400. [ For example, the short range wireless communication module 200b may be a Bluetooth module, but is not limited thereto.

In addition, the excavator 3D earthwork BIM system according to the embodiment of the present invention includes a numerical map database representing the present ground height and the planned ground height to process the geographical information. At this time, the members of the excavator 100 are each composed of a 3D model. The sensor attached to each member of the excavator transmits the angle information of each member to each member during excavator excavation work. Accordingly, in the excavator 3D earthwork BIM system according to the embodiment of the present invention, the script control module can express the excavator shape information in real time in the 3D space using the transmitted individual member angle information.

Referring to FIG. 5, the earthwork BIM shape information providing unit 410 includes a script control module 411 and an excavator shape information generating unit 412. At this time, the earthwork BIM shape information providing unit 410 may include a Bluetooth receiver for receiving the angle information of each member from the Bluetooth module which is the near field wireless communication module 200b.

The script control module 411 of the earthwork BIM shape information providing unit 410 uses the member specifications provided by the excavator manufacturer and the angle information of each member transmitted from the near field wireless communication module 200b of the sensor module 200 And controls the script to be displayed in 3D space.

The excavator shape information generation unit 412 of the earthwork BIM shape information providing unit 410 controls the excavator 100, the upper revolving structure 110, the lower traveling structure 120, Thereby generating excavator shape information representing the boom 130, the arm 140, and the bucket 150 in real time.

6, the earthwork BIM topographical information providing unit 420 includes a plan bottom DB 421, a current bottom DB 422, a plan ground elevation extracting unit 423, a current ground elevation extracting unit 424, A 3D plan ground elevation generation unit 425, and a 3D current ground elevation generation unit 426.

In the case of the earthwork BIM topography information providing unit 420, the plan ground elevation extracting unit 423 extracts the plan height elevation from the plan height elevation DB 421, the 3D plan height elevation creating unit 425 creates the 3D plan height elevation, In addition, after the current ground elevation extracting unit 424 extracts the current ground level from the current ground level DB 422, the 3D current ground level generating unit 426 generates the 3D current ground level, and accordingly, the 3D ground elevation and the 3D current ground elevation It can be provided as BIM topographical information.

6, the real-time 3D graphic simulation module 430 may include a data matching unit 431, a 3D modeling unit 432, and a 3D modeling image generation unit 433. FIG.

The data matching unit 431 receives the excavator shape information, the excavator position information, and the 3D terrain information, and matches the data to perform real-time 3D graphic simulation.

The 3D modeling unit 432 performs 3D modeling according to the excavator shape information, excavator position information, and 3D terrain information registered in the data matching unit 431.

The 3D modeling image generation unit 433 generates a 3D modeling image for each view according to the result of the 3D modeling unit 432. [ At this time, the view-specific 3D modeling images generated by the view-specific 3D modeling image generator 433 may include a 3D view, an upper view, a front view, and a side view.

 FIG. 7 is a diagram illustrating the result of 3D graphic simulation according to the 3D graphic simulation module shown in FIG. 6, and may output various simulation results as shown in FIGS. 7A to 7H.

Meanwhile, in order to implement the excavator 3D earthwork BIM system according to the embodiment of the present invention, 3D modeling is performed using the topographic information, excavator shape information, and excavator position information as attribute information. For example, for terrain information, the topography of the earthwork site must be modeled, excavator shape information is needed to represent the excavator work, excavator location information should utilize GPS data, and 3D modeling requires topographical information and excavators It should be simulated in 3D environment.

FIG. 8 is a view showing the shape of an excavator corresponding to excavator shape information provided in the earthwork BIM shape information providing unit shown in FIG. 5. FIG.

Construction equipment configuration information is needed to reflect the working form of the equipment to the excavator 3D earthwork BIM system. Among excavation equipments, excavators consist of boom, arm and bucket. In order to graphically embody such excavator shape, shape information such as length and angle of each member is required. At this time, the length of the member differs depending on the excavator equipment, so the specification (equipment specification) provided by the excavator manufacturer should be reviewed and applied.

In the case of an excavator, in order to obtain excavator shape information on site, an angle sensor can be used to track the trajectory generated during excavation. The boom, arm, and bucket will vary depending on the type of work during the excavation work, so sensors must be installed to obtain an angle. Once sensor values are obtained from the sensor, these sensor values can be used to track the position of the excavator member in real time using kinematic equations. Such shape information of the excavator trajectory can be processed as data values and reflected in the earthwork BIM.

FIG. 9 is a 3D graphic simulation screen showing the shape information of an excavator. When the position of the bucket end is designated, the 3D graphic simulation module automatically simulates the equipment shape as if the actual excavator moves using the kinematic calculation formula. As a result, the excavator pilot can simulate excavator work in advance using 3D graphic simulation.

FIG. 9 is a diagram illustrating conversion of relative coordinates to absolute coordinates corresponding to the position of the excavator according to the working position tracking module shown in FIG.

In the excavator 3D earthwork BIM system according to the embodiment of the present invention, the position information of the excavator tracks the position of the excavator on the 3D graphic model of the earthwork BIM system. In this case, the location information plays an important role in describing the 3D graphic model representing the shape of the excavator in real terms and also in expressing the meaningful information required by the excavator pilot. In particular, in the case of the dump truck 500 among the excavation equipment, it is necessary to be able to process the position information in real time by moving quickly.

Specifically, the location information of construction equipment is applied using GPS (Global Positioning System). For example, GPS is a system that calculates the location of ground, such as longitude, latitude and altitude, based on information from many GPS satellites located above the earth. For example, in GNSS, three-dimensional coordinates of X, Y, and Z are calculated by transmitting a visual signal from four or more satellites that can be observed from the ground and calculating the distance information using a receiver on the ground.

GPS system is recognized as an important technology for equipment management in the construction site, but general GPS system can deviate from the level required by earth - borne BIM in measurement error. In order to reduce such a measurement error, an expensive GPS receiver must be purchased, which leads to low economical efficiency. Accordingly, by applying GPS-RTK (Real Time Kinematic) technology to ensure the accuracy of the GPS system, accuracy in the unit of cm can be ensured.

In addition, location information of construction equipment requires orientation information as well as location information based on GPS. Orientation information of these excavation equipment informs the direction of the excavator on the 3D graphic model. For example, to apply the GPS-RTK technology, two antennas are required for the excavation equipment, and the direction of the excavator can be calculated by tracking the location information received from each antenna.

At this time, as shown in FIG. 9, the direction indicated by the relative coordinates must be converted into absolute coordinates. That is, the relative coordinate system can be converted into the absolute coordinate so that the direction of the excavator 100 is aligned on the 3D graphics simulation of the earthwork BIM according to the embodiment of the present invention.

Meanwhile, FIG. 10 is a diagram illustrating an ERD (Entity Relation Diagram) for converting excavator property information of excavator 3D earthwork BIM into a database according to an embodiment of the present invention.

The excavator 3D earthwork BIM system according to the embodiment of the present invention manages the excavator property information in a database in order to track the position of the excavator and manages the shape information and the position information of the excavator in association with the terrain information And the excavator execution process can be simulated after the earthwork operation. At this time, the reason for storing the attribute information of the earthwork BIM is that the trajectory of the excavator work can be tracked by using the stored value for each property, and it can be reproduced and implemented by 3D simulation if necessary.

That is, the excavator attribute information includes excavator shape information, excavator position information, and 3D terrain information. As shown in FIG. 10, an ERD (Entity Relation Diagram) The inquiry can be made quickly. Here, the ERD indicates an association of the database table using a primary key. Thus, by using the primary key to relate tables, the database can be lightened and data can be processed quickly. For example, such an ERD can be implemented to be stored in SQL, a commercial database.

As described above, the excavator 3D earthwork BIM system according to the embodiment of the present invention is based on the terrain information based on the digital map. At this time, the numerical map shows the status information about the earthwork area before the earthwork work. The difference between the current topographic information and the plan height can be calculated by the amount of the cut and the amount of the embankment.

Accordingly, in the excavator 3D earthwork BIM system according to the embodiment of the present invention, it is possible to provide information for solving a problem of securing a field of view generated in an actual site in an excavation work in terms of equipment control. Particularly, it is possible to provide a function of guiding the excavator pilot by combining Augmented Reality (AR) technique using the earthwork BIM information. In addition, in terms of the earthwork management, communication between the excavator 100 and the dump truck 500 can be improved and the effect of equipment utilization can be enhanced.

FIG. 11 is a view illustrating an earthwork 3D view generated by the view 3D modeling image generator shown in FIG. 6, and shows a 3D graphic simulation of excavator shape information.

The excavator shape information according to the embodiment of the present invention can be viewed from various angles such as a 3D view, an upper view, a front view, and a side view. In particular, as shown in FIGS. 12A and 12B, the 3D view can be adjusted to various angles by adjusting the angle of view, and the excavator pilot can increase the productivity in earthwork using various shape information.

12 is a diagram illustrating a field test and an excavator 3D earth boring BIM simulation result in an excavator 3D earthwork BIM system according to an embodiment of the present invention, wherein FIG. 12A is a photograph showing a field experiment, and FIG. 12B ) Is a diagram illustrating the results of the 3D earthwork BIM simulation. It can be seen that the field experiment and the excavator 3D earthwork BIM simulation result are the same.

As a result, according to the excavator 3D earthwork BIM system that provides the shape information of the excavator in real time during earthwork construction according to the embodiment of the present invention, the earthwork work performed by the excavator based on the 3D BIM technique is expressed in 3D graphics, By providing real-time shape information, productivity of earthwork can be increased. In addition, compared to a system that provides shape information in the conventional 2D or 3D form, the shape information of the excavator can be provided real-time in real time, thereby providing various visual information desired by the excavator pilot. In addition, by providing the earthwork BIM system as a real-time earthwork information system that can be used not only for experienced equipment operators but also for unskilled equipment pilots, productivity of equipment control can be improved based on visual information and data information.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Excavator
110: upper swivel
120: Lower traveling body
130: Boom
140: Arm
150: Bucket
200: Sensor module
210: first sensor module
220: second sensor module
230: Third sensor module
240: fourth sensor module
200a: Angle sensor
200b: short-range wireless communication module
300: Operation position tracking module
400: earthwork BIM user terminal
410: Earthwork BIM shape information providing service
420: Earthwork BIM topographical information provider
430: Real-time 3D graphics simulation module
440: Earthwork BIM display
411: Script control module
412: Excavator shape information generating unit
421: Planning DB
422: Current ground level DB
423:
424: Current ground elevation extracting unit
425: 3D planar ground height generation unit
426: 3D current ground level generating unit
431:
432: 3D modeling performing unit
433: view-by-view 3D modeling image generation unit 500: dump truck

Claims (10)

Boom 130, arm 140 and bucket 150 of the excavator 100 for excavating the excavator 100 to carry out the earthworks work so that the upper pivot angle, the boom angle, the arm angle, A sensor module 200 for sensing and providing angle information for each member;
A work position tracking module (300) installed in the excavator (100) and tracking and confirming the position information corresponding to a movement path of the excavator (100) in the field to provide excavator position information; And
A user terminal mounted in the excavator 100 receives 3D terrain information from a digital map and receives excavator position information provided by the working position tracking module 300, Excavator shape information is generated according to the star angle information and the specifications of the members provided by the excavator maker, real-time 3D graphic simulation is performed according to the attribute information using the excavator shape information, excavator position information, and 3D terrain information as attribute information And an earthwork BIM user terminal (400) for displaying a 3D modeling image,
The earth-borne BIM user terminal 400 real-time 3D-graphic representation of earthwork of an excavator during earthwork construction based on the 3D BIM technique,
The earthwork BIM user terminal 400 includes excavator BIM shape information providing unit 410 for generating and providing excavator shape information according to member angle information detected by the sensor module 200 and member specifications provided by an excavator maker ); A terrain BIM terrain information providing unit 420 for generating and providing 3D terrain information corresponding to the planned ground level and the current ground level from the digital map; A real-time 3D graphic simulation module 430 for receiving excavator position information provided by the working position tracking module 300 and real-time 3D graphic simulation according to the excavator shape information, excavator position information, and 3D terrain information; And an earth boring BIM display (440) for displaying a 3D modeling image according to a simulation result performed by the real-time 3D graphic simulation module (430), the excavator 3D earth boring system (BIM) system providing real time shape information of an excavator during earthworks work. The sensor module according to claim 1, wherein the sensor module (200)
A first sensor module 210 attached to the upper swing structure 110 of the excavator 100 to sense an angle of the upper swing structure 110;
A second sensor module 220 attached to a boom 130 of the excavator 100 to sense the angle of the boom 130;
A third sensor module 230 attached to the arm 140 of the excavator 100 to sense the angle of the arm 140; And
A fourth sensor module 240 attached to a bucket 150 of the excavator 100 for sensing the angle of the bucket 150,
The 3D excavation BIM system provides excavator shape information in real time during excavation work. 3. The method of claim 2,
Each of the first to fourth sensor modules 110 to 140 includes an angle sensor 200a for detecting an angle of each excavator member and angle information for each member sensed by the angle sensor 200a to the earthwork BIM user terminal 400 The excavator 3D earthwork BIM system provides real-time shape information of an excavator during earthworks work including a short-range wireless communication module 200b for wirelessly transmitting the excavator shape information. delete The method according to claim 1, wherein the earthwork BIM shape information providing unit (410)
A script control module 411 for controlling a script to be displayed on a 3D space by using member specifications provided by an excavator maker and angle information of each member transmitted from the sensor module 200; And
The excavator 100, the upper swivel body 110, the lower traveling body 120, the boom 130, the arm 140, and the bucket 150 according to the control of the script control module 411 An excavator shape information generation unit 412 for generating shape information,
The 3D excavation BIM system provides excavator shape information in real time during excavation work. The method according to claim 1,
The earthwork BIM topographical information providing unit 420 extracts a planar ground from the planar ground DB 421 to generate a 3D planar ground, extracts a current ground level from the current ground level DB 422 to generate a 3D current ground level, The 3D earthwork BIM system provides excavator shape information in real time during the earthwork construction, which is provided with 3D ground elevation and 3D current elevation elevation as earth boring BIM topography information. The method according to claim 1,
The real-time 3D graphic simulation module 430,
A data matching unit 431 that receives the excavator shape information, excavator position information, and 3D terrain information and matches the data to perform real-time 3D graphic simulation;
A 3D modeling unit 432 for performing 3D modeling according to the excavator shape information, excavator position information, and 3D terrain information registered in the data matching unit 431; And
And a view-specific 3D modeling image generating unit 433 for generating a 3D modeling image for each view in accordance with the result of the 3D modeling unit 432. In the excavator, 3D earthwork BIM system. 8. The method of claim 7,
The 3D modeling image generated by the view 3D modeling image generator 433 provides the shape information of the excavator in real time during earthwork construction including a 3D view, an upper view, a front view, and a side view. The method according to claim 1,
Wherein the excavator position information provided by the work position tracking module (300) is converted from relative coordinates to absolute coordinates. The excavator 3D earthwork BIM system provides real time shape information of an excavator during earthwork work. The method according to claim 1,
The excavator attribute information is created by creating an ERD (Entity Relation Diagram) so that the storage and inquiry of the database can be performed quickly. An excavator that provides the shape information of the excavator in real time during earthwork construction BIM system.

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