KR102109155B1 - Apparatus and method for safety control of excavator - Google Patents

Abstract

The present invention relates to an excavator safety control method and apparatus, according to an excavator safety control method according to an embodiment, detecting an object around the excavator by the object detection sensor to calculate the position data of the object; Calculating a working radius of the excavator by detecting the rotation angle of the boom, arm, and bucket of the excavator; Calculating a braking angle of the slewing body based on the rotation angle of the boom, the arm, and the bucket of the excavator and the turning speed of the upper slewing body of the excavator; And determining the risk of the object based on the calculated position data, the working radius of the excavator, and the braking angle of the slewing body; Disclosed is a method for controlling the safety of an excavator.

Description

Apparatus and method for safety control of excavator}

The present invention relates to a safety control device and method for an excavator, and more specifically, when an object is detected around the excavator, predicts a collision between the excavator and the object in advance to give an alarm to the driver and control to stop driving the excavator. It relates to an excavator safety control device and method.

Excavators are construction machines that perform works such as excavation work to dig the ground at civil engineering, construction, and construction sites, loading work to transport soil, crushing work to dismantle buildings, and stop work to clear the ground. It consists of a traveling body (such as a wheel or a track), an upper body portion mounted on the traveling body and rotating 360 degrees, and a boom, arm, and bucket coupled to the front of the body portion.

The demand for safety technology has been steadily raised as disaster accidents such as collisions with surrounding objects or people due to the driver's carelessness or blind spots around the excavator at the work site continue.

Recently, a safety control system has been proposed by mounting an ultrasonic sensor or a laser sensor on an excavator to detect the position of an object around the excavator and to automatically stop the excavator when a collision is expected.

However, such a conventional safety control system for an excavator is a system that detects only the presence or absence of an obstacle around an excavator, and there is a problem that it does not properly reflect the current operating state of the excavator or the degree of danger due to a change in the relative distance between the excavator and the object.

Patent Document 1: Korean Patent Publication No. 2011-0073639 (released on June 30, 2011) Patent Document 2: Korean Patent Publication No. 2011-0073637 (released on June 30, 2011)

The present invention is designed to solve the above problems, and calculates a braking angle at the time of emergency braking of the excavator according to the turning inertia of the slewing body according to the current posture of the excavator, and determines the risk of collision with an object based on the braking angle. The safety device and method for constructing the excavator are presented.

According to an embodiment of the present invention, an excavator safety control device, the first to third angle sensors are respectively mounted to the boom, arm, and bucket of the excavator to detect the rotation angle of the boom, arm, and bucket, respectively; At least one object detection sensor that detects objects around the excavator; A turning speed sensor detecting a turning speed of an upper turning body of the excavator including the boom, arm, and bucket; And a control unit that receives the detection data from the sensors and determines a danger level of an object around the excavator, wherein the control unit includes: a position data calculation unit that calculates position data of the object from the object detection sensor; A working radius calculator for calculating an excavator working radius based on angle data from the first to third angle sensors; A braking angle calculating unit that calculates a braking angle of the turning body based on the angle data and the turning speed data from the turning speed sensor; And a first risk determination unit that determines a risk of the object based on the calculated position data, an excavator working radius, and a swing angle braking angle.

According to an embodiment of the present invention, an excavator safety control method comprises: detecting an object around an excavator by an object detection sensor and calculating position data of the object; Calculating a working radius of the excavator by detecting the rotation angle of the boom, arm, and bucket of the excavator; Calculating a braking angle of the slewing body based on the rotation angle of the boom, the arm, and the bucket of the excavator and the turning speed of the upper slewing body of the excavator; And determining the risk of the object based on the calculated position data, the working radius of the excavator, and the braking angle of the slewing body; Disclosed is a method for controlling the safety of an excavator.

According to an embodiment of the present invention, by predicting the turning inertia and the turning braking angle according to the speed of the excavator's slewing body, and reflecting it in the criterion for collision risk of objects around the working radius of the excavator, the collision between the excavator and the object is effectively prevented to prevent a safety accident. Can be prevented.

1 is a block diagram illustrating an excavator safety control device according to an embodiment of the present invention,
Figure 2 is a block diagram of the components that perform the safety control operation of the excavator according to the first embodiment,
3 is a diagram for explaining a method of transforming coordinates of a detected object position,
3 is a view for explaining variables used in calculating the working radius of an excavator,
5 is a view for explaining variables used for calculating the turning inertia of the excavator,
6 is a view for explaining a method of calculating the braking angle of an excavator,
7 is a view for explaining a method of determining the risk of objects around the excavator according to an embodiment,
8 is a view for explaining a method for processing false senses according to an embodiment;
9 is a block diagram of components for performing an excavator safety control operation according to the second embodiment,
10 is a diagram for explaining a method of grouping objects according to an embodiment;
11 is a diagram for explaining a method of calculating the speed of an object according to an embodiment;
12 is a diagram illustrating a method of estimating an expected position of an object according to an embodiment.

The above objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments associated with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed contents are thorough and complete and that the spirit of the present invention is sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component, or a third component may be interposed between them. In addition, the thickness of the components in the drawings are exaggerated for effective description of the technical content.

In the present specification, when terms such as first and second are used to describe elements, these elements should not be limited by these terms. These terms are only used to distinguish one component from another component. The embodiments described and illustrated herein also include its complementary embodiments.

In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, 'comprise' and / or 'comprising' does not exclude the presence or addition of one or more other components.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing the specific embodiments below, various specific contents have been prepared to more specifically describe and understand the invention. However, a reader who has knowledge in this field to understand the present invention can recognize that it can be used without a variety of specific content. It should be noted that, in some instances, parts that are commonly known in describing the invention and that are not significantly related to the invention are not described in order to avoid confusion in describing the invention.

1 is a block diagram illustrating an excavator safety control device according to an embodiment of the present invention. Referring to the drawings, the excavator safety control device according to an embodiment includes a control unit 10, a plurality of angle sensors (21,22,23), one or more object detection sensors (31,32), turning speed sensor (33), It may include an alarm unit 41, and a hydraulic circuit control unit 42.

The angle sensors 21, 22, and 23 are mounted on the boom, arm, and bucket of the excavator, respectively, to detect rotation angles of the boom, arm, and bucket, respectively. Each angle sensor 21, 22, 23 can be installed at any position on the boom, arm, and bucket of the excavator.

The object detection sensors 31 and 32 are sensors that detect objects around the excavator, and for example, a LIDAR sensor may be used. The lidar sensor is a sensor that detects an object by emitting a laser light source of a specific wavelength and measuring the time it returns after being reflected by the object. Alternatively, other types of sensors such as an ultrasonic sensor or an infrared sensor may be used as the object detection sensor.

Since it is desirable to detect objects around 360 degrees of the excavator, it is preferable to install a plurality of object detection sensors to cover the surroundings of the excavator. In one embodiment of the present invention, two lidar sensors 31 and 32 are used, and as will be described later in FIGS. 4 or 10, the first lidar sensor 31 is located at the right front corner of the excavator body 100. By installing and installing the second lidar sensor 32 at the left rear corner of the main body 100, an object can be detected over all directions around the excavator. However, in an alternative embodiment, for example, four object detection sensors may be installed one on each of the front and rear and right and left surfaces of the main body 100, and thus the number or installation positions of the object detection sensors may vary according to specific embodiments.

The turning speed sensor 33 detects the turning speed of the upper turning body of the excavator. At this time, the 'swivel' of the excavator is a part that rotates in the excavator, for example, referring to Figure 4, the upper body portion 100 of the excavator and the boom 210, arm 220, and bucket 230 connected thereto It can contain. In one embodiment, the turning speed sensor 33 may be a gyroscope (a gyro sensor), but may also be implemented as a speed sensing sensor of any other method.

The control unit 10 may receive detection data from the above-described sensors 21, 22, 23, 31, 32, 33, and calculate and determine the risk of an object detected around the excavator based on the detection data. In addition, the control unit 10 may transmit a control signal to the alarm unit 41 and / or the hydraulic circuit control unit 42 according to the determined risk level. The alarm unit 41 may display the presence and danger of an object to a user (eg, an excavator driver) through a speaker or a display. The hydraulic circuit control unit 42 is a control unit that controls, for example, a hydraulic drive system for driving the swing body or boom, arm, and bucket of an excavator, based on a control signal received from the control unit 10, of the swing body, boom, arm, and bucket. The hydraulic circuit can be controlled to stop the operation.

In one embodiment, the control unit 10 may be implemented with an algorithm (software) programmed to calculate the risk of an object by receiving detection data of various sensors as described above, and hardware such as a processor and memory for executing the algorithm, Such hardware may be implemented by, for example, a microcontroller or a field-programmable gate array (FPGA).

Meanwhile, the above-described various sensors 21, 22, 23, 31, 32, 33 and the control unit 10 may communicate by any wired and / or short-range wireless communication method such as CAN communication or Ethernet.

2 is a block diagram showing components for performing an excavator safety control operation according to the first embodiment.

Referring to the drawings, an excavator safety control device according to an embodiment includes a first object position data calculation unit 110, a second object position data calculation unit 120, an excavator data calculation unit 130, and a location-based risk determination unit 140, and an alarm and valve control unit 150. In one embodiment, these components 110, 120, 130, 140, and 150 may be functional blocks constituting the control unit 10 of FIG. 1. Alternatively, some of these components 110, 120, 130, 140, 150 may be implemented in hardware and / or software separate from the controller 10.

The object position data calculators 110 and 120 receive detection data from the object detection sensors 31 and 32 and calculate object position data therefrom. The first object position data calculator 110 may receive data from the first object detection sensor 31 to detect an object and calculate data regarding the position of the object. The second object position data calculator 120 may receive data from the second object detection sensor 32 to detect the object and calculate data regarding the position of the object.

In the illustrated embodiment, the first object position data calculator 110 may include an object detector 111 and a coordinate converter 112. The object detection unit 111 processes data received from the first object detection sensor 31 to calculate data indicating the position of the object, and the coordinate conversion unit 112 centralizes the object position (swirl axis) of the excavator swing body. ) To a fixed coordinate system.

For example, as shown in FIG. 3, the object detection unit 111 calculates data (r1, θ1) indicating the position of the object in the coordinate system centered on the first object detection sensor 31, and the coordinate conversion unit 112 ) Can process this data (r1, θ1) and convert it to data (r, θ) in the coordinate system of the central axis of the excavator.

The second object position data calculation unit 120 may also include an object detection unit 121 and a coordinate conversion unit 122, and each of these components 121 and 122 is a corresponding component of the first object position data calculation unit 110 Since it performs the same or similar function as (111,112), the description is omitted.

In one embodiment, the excavator data calculation unit 130 receives data from the angle sensors 21, 22, 23 and the turning speed sensor 33, and generates data related to the excavator therefrom. In one embodiment, the excavator data calculating unit 130 may include a working radius calculating unit 131, a turning inertia calculating unit 132, and a braking angle calculating unit 133.

The working radius calculating unit 131 may calculate the working radius of the excavator based on the angle data received from the first to third angle sensors 21, 22 and 23. In this regard, FIG. 4 is a view for explaining variables used in calculating the working radius of the excavator. Referring to Figure 4, the boom 210, the arm 220, and the bucket 230 is coupled to the upper body portion 100 of the excavator. At this time, the length ( l _b ) between the two ends of the boom 210, the angle from the horizontal ( θ _b ), the distance between the two ends of the arm 220 ( l _a ), the angle of the arm 220 ( θ _a ), When the length ( l _k ) of the bucket 230 and the angle ( θ _k ) are defined as shown, the working radius r of the excavator can be obtained as in Equation 1 below.

The turning inertia calculating unit 132 calculates the turning inertia of the excavator turning body. The turning inertia may vary depending on the position (angle) of the boom 210, arm 220, and bucket 230 of the excavator. When the variable used for the inertia of the excavator's swivel body is defined as shown in FIG. 5, the swivel inertia (Js) of the swivel body can be obtained as in Equation 2 below.

In the above formula, Is, Ib, Ia, and Ik represent the inertia of the body portion 100, the boom 210, the arm 220, and the bucket 230, respectively, and the superscript "COG" is the center of gravity (Center of Gravity). ), For example, in the above formula, “ l _b ^COG ” is the length of the boom 210 to the center of gravity of the boom 210 and is “ θ _b ^COG ” from the horizontal to the center of gravity of the boom 210. Mean angle. Since the center of gravity of the body portion 100, the boom 210, the arm 220, and the bucket 230 is a known value, the pivot inertia calculation unit 132 is provided with first to third angle sensors 21, 22, 23 When the angle data ( θ _b , θ _a , θ _k ) is received from), it is possible to calculate the rotational inertia (Js) of the swing body.

Referring back to FIG. 2, the braking angle calculator 133 calculates the braking angle of the swing body. In general, the rotating body of the excavator rotates on the hydraulic motor, but even if the turning operation of the excavator is suddenly stopped, the rotating body of the excavator rotates by a certain angle and then stops. Here, the "braking angle" means the angle of movement (rotation) from the time the command is made to stop the turning operation to the hydraulic motor until the turning body actually stops the turning operation.

In one embodiment, the braking angle calculating unit 133 is the turning inertia (Js) of the turning body calculated by the turning inertia calculating unit 132, the turning speed (ω _s ) of the turning body detected by the turning speed sensor 33, and the turning The braking angle can be calculated based on the braking torque of the hydraulic system.

In this regard, FIG. 6 is a schematic diagram of the excavator's orbiting hydraulic system, and the flow rate discharged from the orbiting hydraulic motor passes through the relief valve when the orbiting body is suddenly stopped. The turning braking angle θd may be calculated according to Equation 3 below according to the turning inertia and turning speed of the rotating body.

In the above formula, Js is the turning inertia, ω _s is the turning speed, Ds is the motor volume of the turning hydraulic motor, Pr is the cracking pressure of the relief valve when fluid in the hydraulic motor is discharged through the relief valve, and N is the hydraulic motor. The gear ratio of the gears coupled between the swinging bodies means each.

Referring back to FIG. 2, the object position data calculated by the first and second object position data calculation units 110 and 120 and the excavator data calculated by the excavator data calculation unit 130 are the location-based risk determination unit 140 Is delivered to. At this time, the 'excavator data' may include, for example, a working radius of the excavator calculated by the working radius calculating unit 131 and a braking angle calculated by the braking angle calculating unit 133.

In one embodiment, the position-based risk determination unit 140 determines the risk of the object based on the object position data, the excavator working radius, and the angle of rotation of the swivel body. For example, the location-based risk determination unit 140 may set the danger area according to the excavator working radius and the braking angle, as shown in FIG. 7, and then determine the danger level of the object according to which area the object is located.

For example, FIG. 7 (a) shows, as an example, a danger zone that is set when the swing body including the excavator upper body portion 100, the boom 210, the arm 220, and the bucket 230 rotates clockwise. In the drawing, an area within the working radius r1 is basically indicated as a caution area over the entire circumference of the excavator, but an area within a predetermined distance r0 from the main body 100 and an area within a braking angle θd Marked as danger zone. Also, the area where the bucket 230 can extend the maximum while belonging to the braking angle θd is indicated as a caution area.

When the dangerous area and the attention area are set as described above, for example, if the object detected by the object detection sensors 31 and 32 is located in the attention area, an alarm may be given to the driver with a warning sound. If the object is located in the danger zone, the slewing vehicle can be stopped immediately with a beep. To this end, for example, the location-based risk determination unit 140 transmits the determined risk (ie, 'risk' or 'caution') to the alarm and valve control unit 150, and the alarm and valve control unit 150 determines the received risk level. Accordingly, a control signal for controlling an alarm or a hydraulic motor may be generated and transmitted to the alarm unit 41 and / or the hydraulic circuit control unit 42. Alternatively, the alarm and valve control unit 150 may be omitted, and the risk determination unit 140 may generate a control signal according to the risk level and directly transmit it to the alarm unit 41 or the hydraulic circuit control unit 42.

Also, in a preferred embodiment, a predetermined clearance angle θM may be further set from the braking angle θd to the turning direction of the swing body. When the object is within the braking angle (θd), even if the swivel body is suddenly braked, there is a high possibility of collision between the swivel body and the object. Therefore, if the object is in the position just before entering the braking angle (θd), the risk is increased higher than the general attention area. It may be desirable to set. Therefore, for example, by setting the clearance angle θM, when the object is positioned within the clearance angle θM, it can be configured to respond to, for example, a larger warning sound or a reduction in the speed of turning the swing body.

In one embodiment, the clearance angle θM may be set to an angle proportional to the speed of the swing body (eg, 50% of the braking angle θd, etc.), and a predetermined fixed angle (for example, regardless of the speed of the swing body) , 15 degrees or 20 degrees, etc.).

Fig. 7 (b) shows an example of a danger zone and a caution zone that are set when the swivel body rotates counterclockwise. Compared to Fig. 7 (a), only the turning direction of the swinging body is different, and the setting of the danger zone and the caution zone is the same, so the description is omitted.

As described above, according to an embodiment of the present invention, by predicting the turning inertia and the turning braking angle according to the speed of the excavator's slewing body and reflecting it in the criterion for collision risk of objects around the working radius of the excavator, the collision between the excavator and the object is effectively prevented. Safety accidents.

Meanwhile, referring to FIG. 2 again, in one embodiment, the excavator data calculation unit 130 may further include a device false detection processing unit 134. The erroneous detection processing unit 134 is a function unit for determining that the object detected by the object detection sensors 31 and 32 is a part of the excavator itself and detecting it as erroneous detection and excluding it from the risk determination object.

In one embodiment, for example, if the object detection sensors 31 and 32 are configured to detect an object by scanning the horizontal height of the sensor itself, it is determined whether a portion of the excavator is at a position lower than this scan plane. For example, based on the rotation angles of the booms, arms, and buckets detected by the first to third sensors 21, 22, 23, some of the booms, arms, and buckets scan the object detection sensors 31, 32 It is determined whether it is equal to or lower than the plane height. For example, as shown in FIG. 8 (a), the erroneous detection processing unit 134 uses the following Equation 4 to set predetermined points (①, ②, ③, of the boom 210, the arm 220, and the bucket 230). ④) It is possible to determine whether at least one of the scan planes is less than or equal to the height of the scan plane.

At this time, the first point (①) is the height of the end of the boom 210, the second point (② is the height of the end of the arm 220, the third point (③) is the height of the end of the bucket 230, and the fourth The points ④ indicate the heights of the bottom of the buckets 230. However, in alternative embodiments, the first to fourth points may be set to different positions, and the number of points may also vary.

The erroneous detection processing unit 134 may calculate Equation 4 to determine whether a part of the excavator is equal to or less than the height of the scan plane, and transmit the determination information to the risk determination unit 140. The risk determination unit 140 based on the object position data received from the position data calculation units 110 and 120 and the excavator working radius received from the excavator data calculation unit 130 and the determination information, the detected object is a part of the excavator You can judge cognition.

For example, when the risk determination unit 140 receives the determination information that one of the first to fourth points of the excavator is at a height equal to or lower than the scan plane, for example, the detected object is located within the working radius and FIG. 8 (b) If the Y-axis value in the range is ± w, the object may be determined as a part of the excavator, and the risk determination unit 140 may not perform the risk determination for the detected object.

Now, an excavator safety control device according to a second embodiment will be described with reference to FIGS. 9 to 12.

9 is a block diagram of components that perform an excavator safety control operation according to a second embodiment. Referring to the drawings, an excavator safety control device according to an embodiment includes a first object position data calculation unit 110, a second object position data calculation unit 120, an excavator data calculation unit 130, and a location-based risk determination unit 140, an object location prediction unit 160, a speed-based risk determination unit 170, and an alarm and valve control unit 180. Compared with the first embodiment of FIG. 2, the second embodiment further includes an object position prediction unit 160 and a speed-based risk determination unit 170, and the remaining components are each corresponding components of the first embodiment of FIG. Since it performs the same or similar function as the element, a detailed description will be omitted.

Referring to FIG. 9, the first and second object position data calculators 110 and 120 receive detection data from the object detection sensors 31 and 32 and calculate object position data therefrom, thereby determining the location-based risk level 140 To pass on.

Excavator data calculation unit 130 receives data from first to third sensors 21, 22, 23 and turning speed sensor 33 to calculate excavator data and transmits it to location-based risk determination unit 140 . At this time, the "excavator data" may include, for example, a working radius, a braking angle, and a result of false detection processing.

The location-based risk determination unit 140 receives the object location data and the excavator data and determines the danger level of the object based on this, and transmits a control signal such as a warning sound or sudden braking according to the danger level to the alarm and valve control unit 180 Can be.

The object position prediction unit 160 may predict a position after a predetermined time of the object. In one embodiment, the object position predicting unit 160 may detect a plurality of consecutive objects, group them into one object, and predict a position after a predetermined time of the grouped object.

In this regard, FIG. 10 shows an exemplary method of grouping consecutive objects. As shown in the figure, it is assumed, for example, that multiple objects are detected by continuous lines S1 and S2. In this case, that the objects are 'continuous' may mean, for example, a case in which the rate of change of distance (Δr / Δθ) according to the angle between the detected objects is equal to or less than a predetermined value.

Referring to FIG. 10, since the object line prediction unit 160 detects the first line S1 and the second line S2 discontinuously, the first line S1 is grouped as a first object and the second line ( S2) can be grouped as a second object. At this time, among the first line S1, a portion belonging to a region having a higher risk (ie, a dangerous region in the drawing) is grouped as a first object G1, and a region having a higher risk for the second line S2 ( That is, the part belonging to the attention region in the drawing) may be grouped as the second object G2.

After grouping continuously detected objects, the object position prediction unit 160 may perform an operation of predicting the position of the grouped objects. For example, the position of the object after the second predetermined time in the future may be predicted based on the displacement for the first predetermined time with respect to the center point of the grouped object.

In this regard, FIG. 11 schematically shows a method of calculating the velocity of a grouped object according to an embodiment. Each square in the figure represents a grouped object. At this time, for example, the leftmost object moved from the G _k-1 position to the G _k position for the first predetermined time, and the central point at that time was denoted by C _k-1 and C _k , respectively. In this case, the object position prediction unit 160 may calculate the speed (speed and direction) of the object from the position change of the object center point during the first predetermined time.

의 속도를 산출하였다면, 향후의 제2 소정 시간(Δt) 동안 이와 동일한 속도로 움직인다고 가정하여 제2 시간 후에 G_k+1의 위치에 도달할 것이라고 예측할 수 있다. Thereafter, the object position prediction unit 160 may predict the position of the object after the second predetermined time in the future based on the calculated speed. For example, referring to FIG. 12, the object moves from the G _k-1 position to the G _k position for the first predetermined time,

If the velocity of is calculated, it can be predicted that the position of G _{k + 1} will be reached after the second time, assuming that it moves at the same speed for the second predetermined time (Δt) in the future.

After the object position prediction unit 160 predicts the position of the object, the predicted position data may be transmitted to the speed-based risk determination unit 170, and the speed-based risk determination unit 170 may calculate the risk based on the predicted position of the object. Will judge. For example, if the current position of the object is the attention area, but the predicted position of the object is the danger area, the risk determination unit 170 increases the risk of the object to danger and controls the alarm and / or valve corresponding thereto You can perform the operation.

As described above, according to the second embodiment of the present invention, the turning inertia and the turning braking angle according to the speed of the excavator are predicted and reflected in the collision risk determination of objects around the working radius of the excavator, as well as considering the moving speed of the object. Since the risk of collision at the predicted position after time can also be determined, there is an advantage that the collision between the excavator and the object can be more effectively prevented.

As described above, exemplary embodiments of the present invention have been described with reference to the drawings, but those skilled in the art to which the present invention pertains will understand that various modifications and variations are possible from the description of these specifications. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the following claims, but also by the claims and equivalents.

10: control unit
21,22,23: Angle sensor
31,32: Object detection sensor
33: turning speed sensor
100: main body
110,120: object position data calculation unit
130: excavator data calculation unit
140: location-based risk determination unit
150, 180: alarm and valve control
160: object position prediction unit
170: speed-based risk determination unit
210: Boom
220: arm 230: bucket

Claims (15)

As an excavator safety control device,
First to third angle sensors mounted to the boom, arm, and bucket of the excavator, respectively, to detect rotation angles of the boom, arm, and bucket, respectively;
At least one object detection sensor that detects objects around the excavator;
A turning speed sensor detecting a turning speed of an upper turning body of the excavator including the boom, arm, and bucket; And
Includes a control unit for receiving the detection data from the sensors to determine the risk of objects around the excavator;
The control unit,
A position data calculation unit calculating position data of an object from the object detection sensor;
A working radius calculating unit for calculating an excavator working radius based on the angle data from the first to third angle sensors;
A braking angle calculating unit for calculating a braking angle of the turning body based on the angle data and the turning speed data from the turning speed sensor;
A first risk determination unit for determining a risk of the object based on the calculated position data, an excavator working radius, and a turning body braking angle; And
Includes; object position prediction unit for predicting the position of the object after a predetermined time,
The object position predicting unit, when an object detected by the object detection sensor is detected as a continuous line, groups the continuous line-shaped objects into one object, and a first predetermined time with respect to the center point of the grouped object Excavator safety control device, characterized in that configured to predict the position of the object based on the displacement during. According to claim 1,
And the brake angle calculating unit is configured to calculate the turning inertia of the turning body based on the angle data, and to calculate the braking angle based on the turning inertia and the turning speed. According to claim 2,
The braking angle calculating unit calculates the braking angle (θd) according to the following formula,

In the above formula, Js is the turning inertia, ωs is the turning speed, Ds is the motor volume of the hydraulic motor that swings the excavator, Pr is the cracking pressure of the relief valve when the fluid in the hydraulic motor is discharged through the relief valve, and N is an excavator safety control device, characterized in that the gear ratio of the gear coupled between the hydraulic motor and the swing body. The method of claim 1, wherein the control unit,
Based on the rotation angles of the booms, arms, and buckets detected by the first to third sensors, it is determined whether some of the booms, arms, and buckets are less than or equal to the scan height of the object detection sensor, and the determination information is removed. 1 Safety control device for an excavator, characterized in that it further comprises a mis-detection processing unit that delivers to the risk determination unit. The method of claim 4,
The first risk determination unit determines whether the detected object is part of the excavator based on the location data, the excavator working radius, and the determination information, and if it is part of the excavator, does not perform the risk determination for the detected object Excavator safety control device characterized in that it does not. According to claim 1,
And a second risk determination unit for determining, by the control unit, a danger level of the object based on the object position predicted by the object position prediction unit. The method of claim 6, wherein the object position prediction unit,
And detecting the displacement of the object for the first predetermined time through the object detection sensor, calculating the speed of the object, and calculating a position after the second predetermined time based on the calculated speed. Excavator safety control device. The method of claim 7,
The object position prediction unit, the excavator safety control device, characterized in that configured to group the objects into a single object when the distance change rate (Δr / Δθ) according to the angle between the detected objects is less than a predetermined value. As an excavator safety control method,
Detecting an object around the excavator by an object detection sensor and calculating position data of the object;
Calculating a working radius of the excavator by detecting the rotation angle of the boom, arm, and bucket of the excavator;
Calculating a braking angle of the slewing body based on the rotation angle of the boom, the arm, and the bucket of the excavator and the turning speed of the upper slewing body of the excavator; And
Includes; determining the risk of the object based on the calculated position data, the working radius of the excavator, and the braking angle of the swing body;
In the calculating of the braking angle, the turning inertia of the swing body is calculated based on the rotation angle of the boom, arm, and bucket, and the braking angle is calculated based on the turning inertia and the turning speed,
The braking angle is proportional to the rotational inertia (Js) and the rotational speed (ωs) and the motor volume (Ds) of the hydraulic motor that turns the excavator slewing body, and the relief valve when the fluid in the hydraulic motor is discharged through the relief valve. Excavator safety control method, characterized in that calculated according to the formula inversely proportional to the cracking pressure (Pr), and the gear ratio (N) of the gear coupled between the hydraulic motor and the swinging body. The method of claim 9,
The braking angle is an angle of rotation from the time the command to stop the turning operation to the hydraulic motor until the turning body actually stops the turning operation, characterized in that the excavator safety control method. The method of claim 10,
The step of calculating the braking angle calculates the braking angle (θd) according to the following formula,

In the above formula, Js is the turning inertia, ωs is the turning speed, Ds is the motor volume of the hydraulic motor that swings the excavator, Pr is the cracking pressure of the relief valve when fluid in the hydraulic motor is discharged through the relief valve, and N is an excavator safety control method characterized in that the gear ratio of the gear coupled between the hydraulic motor and the swing body. The method of claim 9,
And determining whether a portion of the boom, arm, and bucket is less than or equal to the scan height of the object detection sensor based on the rotation angle of the boom, arm, and bucket. The method of claim 12, wherein the step of determining the risk of the object,
Based on the determination information on whether some of the boom, arm, and bucket are below the scan height of the object detection sensor, the position data, and the working radius of the excavator, it is determined whether the detected object is part of the excavator, If the detected object is part of the excavator, the safety control method of the excavator, characterized in that do not perform a risk determination for this object. The method of claim 9,
Detecting a displacement of an object for a first predetermined time through the object detection sensor, and calculating a speed of the object;
Calculating a predicted position after a second predetermined time based on the calculated speed; And
And determining a danger level of the object based on the predicted position. The method of claim 14,
And before the step of calculating the speed of the object, if the object detected by the object detection sensor is detected as a continuous line, grouping the continuous line-shaped objects into one object. Safety control method for excavator.

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