• 한국전산구조공학회:학술대회논문집
• /
• 한국전산구조공학회 2007년도 정기 학술대회 논문집
• /
• pp.74-77
• /
• 2007

In this paper, we propose a system which can display panoramic-stereopic image for tele-operating excavator. the system was implemented by using center-viewpoint corresponding algorithm and image mosaic process. We could obtain remarkable result from the survey among the ex-pert of excavator. We also design a control station with RF transfer module, H.264 codec module and suggested algorithm. Especially, our system shows a superb performance on cubic effect and presence sense of a field of excavating work.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2000년도 하계학술대회 논문집 D
• /
• pp.2763-2765
• /
• 2000

The interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition. operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a fuzzy logic controller (FLC) which controls the position of excavator's attachment. This approach enables the transfer of human heuristics and expert knowledge to the controller. Expeiments are carried out to check the performance of the FLC.

• 드라이브 ㆍ 컨트롤
• /
• 제16권3호
• /
• pp.16-22
• /
• 2019

Due to the rise in energy consumption and natural resource prices, the demand to improve energy efficiency in the construction machine has been highlighted. Even though many researchers have contributed to the development of the technology, CO2 gas emissions of heavy machinery remains high. One of the most significant problems of the novel excavator with internal combustion engines is the emission of harmful gas. To reduce emissions in the construction machine, it is necessary to replace the internal combustion engines with the alternative one. To overcome those problems, this paper focuses on the adoption of PEMFC hybrid engine for the excavator system. An internal combustion engine is replaced by new structures with fuel cell, battery and ultra capacitor. The proposed system has been designed and modeled using Simcenter Amesim software and compared with the conventional one through simulation results.

• 드라이브 ㆍ 컨트롤
• /
• 제15권4호
• /
• pp.91-100
• /
• 2018

This study focuses on the energy saving of construction machinery, especially excavators and wheel loaders coming on a backdrop of energy shortage and environment pollution. Due to the problem of the low energy efficiency and the pollution of conventional hydraulic excavators, hybrid hydraulic excavators were developed to solve this challenge. Firstly, this paper discusses the different configurations of the hybrid hydraulic excavator and recent research trend of hybrid hydraulic excavator is reviewed. Secondly, the productions and research of the construction machine companies were analyzed and finally, the future challenges of hybrid technology to the hydraulic excavator were discussed.

• 한국정밀공학회지
• /
• 제25권7호
• /
• pp.95-102
• /
• 2008

Since the processes of dismantling are very dangerous, there have been many studies to develop remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling equipment that is usually an excavator, a novel concept of tole-operated device is proposed. Operators who use this device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the remote controller, its workspace is analyzed and the workspace mapping from the device to the excavator is explored. Second, after 7 steps of the excavating processes are defined, the kinematics which deals with the conversion from the 3 dimensional position information of the device to the joint variable information of the backhoe is included in this paper. Lastly, 3D graphical simulation of both remote controller and the backhoe will be shown. This new design of the remote control device tan be easily manufactured and gives the workers very convenient and transparent remote control capability.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1995년도 하계학술대회 논문집 B
• /
• pp.705-709
• /
• 1995

The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it was used as a commanded feedforward input generator. A PD feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the excavator as well as the PD feedback error. By using the BP network as a feedforward controller, no a priori knowledge on system dynamics is need. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbancen and performance improvement with the on-line learning in the position control of excavator attachment.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.398-398
• /
• 2000

Since there is a blind zone in driver's view around the excavator, industrial accidents between the equipment and the workers within the zone have been occurred frequently. The purpose of this paper is to develop a obstacle recognition system which can prevent such an accident by providing the driver with the information on direction and distance of the obstacle within the blind zone. We designed the ultrasonic sensor based obstacle recognition system which consists of sensor arrays and a control unit connected via CAN(controller area network). The Cross-correlation technique and histogramic probability distribution method are used as a reliable obstacle detection algorithms to remove the environmental noise. The experimental results using a real excavator show the effectiveness of the system.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2012년도 춘계학술대회 논문집
• /
• pp.205-206
• /
• 2012

• 드라이브 ㆍ 컨트롤
• /
• 제20권3호
• /
• pp.1-8
• /
• 2023

The purpose of this study was to investigate and compare the impact of engine load on the emission characteristics of excavator engines, with the aim of improving the method for calculating the emission inventory of construction machinery. The engine load in excavators is directly correlated with the operational workload, and variations in the load factor (LF) can significantly influence the emission inventory. Thus, on-board diagnostic (OBD) data from an excavator at a construction site were systematically collected to measure engine output and emissions. The results revealed discernible differences in emissions based on engine load, even when the average excavator engine performance remained constant. This highlights the significant influence of the type and characteristics of the work being carried out on emission characteristics. Making realistic adjustments to the LF used in emission calculation formulas emerges as a crucial strategy for environmental improvement. Moreover, the analysis of the effects of engine load on emissions from excavators provides valuable insights for enhancing environmental protection measures.

• 드라이브 ㆍ 컨트롤
• /
• 제19권2호
• /
• pp.11-16
• /
• 2022

It is important to measure the excavator's work productivity that estimates the bucket's payloads on a process. If the bucket isn't filled at every working cycle, the excavator's operator has to drive the machine more to achieve his work quota. If bucket is filled over with the load, the other way around, the transferred object has to spread out on the workplace. That causes additional work to clean the site. This paper proposes a method that can estimate the bucket's payload to improve the excavator's work productivity. This method assumes that the excavator is a lumped mass system. And it uses a 3 points angle (boom link, arm link, swing) and 2 points pressure (boom cylinder's input port and output port) of measurable data. Depending on assumptions, the bucket's payload can be calculated by the payload's motion equation. And this suggested method can be verified by simple experiments.