Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
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A Study on Excavation Path Design of Excavator Considering Motion Limits

실차의 거동한계를 고려한 굴착기의 굴착 경로설계 연구

  • Received : 2021.01.27
  • Accepted : 2021.04.14
  • Published : 2021.06.01
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Abstract

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

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Acknowledgement

본 논문은 기계산업핵심기술개발사업의 "에너지 15% 절감 굴삭기용 HILS 기반 전자유압 제어기술개발(과제번호: 10063469)"로 수행되었음을 밝힙니다.

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