AUTONOMOUS WORK EXCAVATOR AND OPERATION METHOD THEREOF

1 . An excavator comprising:

a front work device including an arm, a boom, and a bucket;

a sensor device configured to collect state information of the excavator and information related to surrounding environment; and

a processor electrically connected to the front work device and the sensor device,

wherein the processor is configured to:

perform a digging operation such that soil is loaded in the bucket based on a work instruction;

calculate a zero-moment point (ZMP) of a force acting on the excavator based on mass information on at least a portion of the front work device after the digging operation has been performed; and

obtain a work trajectory for processing the soil loaded in the bucket by using the ZMP and the information related to surrounding environment.

2 . The excavator of claim 1 , wherein the processor is configured to:

obtain a rotation trajectory for at least a portion of the front work device based on the state information of the excavator and the information related to surrounding environment;

obtain the work trajectory using the rotation trajectory and the ZMP; and

perform a rotation operation of moving the bucket from a digging point to a vicinity of a loading container according to the work trajectory.

3 . The excavator of claim 2 , wherein the processor is configured to obtain the work trajectory to follow the rotation trajectory in a minimum time.

4 . The excavator of claim 1 , wherein the processor is configured to:

obtain a dumping position where a tip of the bucket is to be located based on the state information of the excavator and the information related to surrounding environment;

obtain a dumping trajectory for at least a portion of the front work device such that the soil is loaded at the dumping position;

obtain the dumping trajectory using the rotation trajectory and the ZMP; and

perform a dumping operation of loading the soil stored in the bucket into a loading container according to the work trajectory.

5 . The excavator of claim 4 , wherein the processor is configured to obtain the work trajectory to follow the dumping trajectory in a minimum time.

6 . The excavator of claim 4 , wherein the processor is configured to control at least a portion of the front working device such that a position of the tip of the bucket is maintained at the dumping position while the dumping operation is performed.

7 . The excavator of claim 4 , wherein the processor is configured to obtain the dumping position based on a state of the soil loaded in the loading container.

8 . The excavator of claim 1 , wherein the processor is configured to:

process the soil based on the work trajectory;

monitor a collision between the at least a portion of the front work device and an obstacle based on the state information of the excavator and the information related to surrounding environment while the soil is being processed; and

update the work trajectory when a collision between the at least a portion of the front work device and the obstacle is detected.

9 . The excavator of claim 8 , wherein the processor is configured to:

obtain a repulsion force and a contraction force for a portion of the work trajectory where the collision with an obstacle occurs;

obtain a collision avoidance point based on the repulsion force and the contraction force; and

update the work trajectory based on the collision avoidance point.

10 . The excavator of claim 1 , wherein the processor is configured to:

obtaining a return trajectory for the front work device based on the state information of the excavator and the information related to surrounding environment;

recalculate a ZMP (Zero-moment Point) of the force acting on the excavator based on the mass information of the at least a portion of the front work device;

obtain the work trajectory using the return trajectory and the recalculated ZMP; and

perform a return operation of returning the bucket to a digging point according to the work trajectory.

11 . The excavator of claim 1 , wherein the mass information includes weight measurement information of the bucket.

12 . An operation method of an excavator comprising:

performing a digging operation based on a work instruction;

calculating a zero-moment point (ZMP) of a force acting on the excavator based on mass information on at least a portion of a front work device including an arm, a boom, and a bucket after the digging operation has been performed;

obtaining a work trajectory for processing soil loaded in the bucket using the ZMP; and

performing a rotation operation of moving the bucket from a digging point to a vicinity of a loading container according to the work trajectory.

13 . The excavator of claim 12 , wherein the obtaining of the work trajectory comprises:

obtaining a rotation trajectory for at least a portion of the front work device based on the state information of the excavator and the information related to surrounding environment; and

obtaining the work trajectory using the rotation trajectory and the ZMP.

14 . The excavator of claim 12 ,

wherein the obtaining of the work trajectory comprises:

obtaining a dumping position where a tip of the bucket is to be located based on the state information of the excavator and the information related to surrounding environment;

obtaining a dumping trajectory for at least a portion of the front work device such that the soil is loaded at the dumping position; and

obtaining the work trajectory using the dumping trajectory and the ZMP; and

wherein the method further comprises:

performing a dumping operation of loading the soil stored in the bucket into a loading container according to the work trajectory.

15 . The excavator of claim 12 , further comprising:

processing the soil based on the work trajectory;

monitoring a collision between the at least a portion of the front work device and an obstacle based on the state information of the excavator and the information related to surrounding environment while the soil is being processed; and

updating the work trajectory when a collision between the at least a portion of the front work device and the obstacle is detected.

16 . The excavator of claim 15 , wherein the updating of the work trajectory comprises:

obtaining a repulsion force and a contraction force for a portion of the work trajectory where the collision with an obstacle;

obtaining a collision avoidance point based on the repulsion force and the contraction force; and

updating the work trajectory based on the collision avoidance point.

17 . The excavator of claim 12 , wherein the obtaining of the work trajectory comprises:

obtaining a return trajectory for the front work device based on the state information of the excavator and the information related to surrounding environment; and

obtaining the work trajectory using the return trajectory and the ZMP,

wherein a return operation of returning the bucket to a digging point is performed according to the work trajectory.