Excavator and method and device for controlling excavator

Abstract

According to an embodiment, a method for controlling an excavator is provided, the method comprising: determining a first angle which is an angle of an arm, at which a volume of an object contained in a bucket is a preset value; moving the arm such that the angle of the arm corresponds to the first angle; rotating the bucket connected to the arm, according to the angle of the arm corresponding to the first angle; and moving a boom, as an angle of the bucket corresponds to a second angle according to the rotation of the bucket.

1 . A method of controlling an excavator, the method comprising:
 determining a first angle that is an angle of an arm at which a volume of an object contained in a bucket is a preset value;   moving the arm so that the angle of the arm corresponds to the first angle;   rotating a bucket connected to the arm in response to the angle of the arm corresponding to the first angle; and   moving a boom in response to an angle of the bucket corresponding to a second angle through the rotation of the bucket.   
     
     
         2 . The method of  claim 1 , wherein the determining of the first angle includes determining the first angle based on a trend line determined according to a slope of a terrain including the object. 
     
     
         3 . The method of  claim 1 , wherein the moving of the arm includes rotating the arm so that an angle between the arm and a direction of gravity corresponds to the first angle. 
     
     
         4 . The method of  claim 1 , wherein the rotating of the bucket includes rotating the bucket in a direction in which an angle between the arm and the bucket decreases. 
     
     
         5 . The method of  claim 1 , wherein the moving of the boom includes rotating the boom until a difference value between a lowermost height that the bucket reaches and an uppermost height of a load carrier adjacent to the excavator corresponds to a preset value. 
     
     
         6 . The method of  claim 1 , wherein the rotating of the bucket includes:
 sensing a pressure applied to the arm; and   rotating the boom in a direction in which the bucket raises in a state in which a hydraulic pressure applied to the arm and the bucket is maintained when the pressure applied to the arm corresponds to a first pressure.   
     
     
         7 . The method of  claim 6 , wherein the rotating of the boom in the direction in which the bucket raises includes stopping the rotation of the boom when the pressure applied to the arm corresponds to a second pressure, and
 the second pressure is smaller than the first pressure.   
     
     
         8 . The method of  claim 1 , wherein the moving of the arm includes rotating the arm in a direction in which the arm approaches a body of the excavator in a state in which the bucket and the boom are stopped. 
     
     
         9 . The method of  claim 1 , wherein the rotating of the bucket includes simultaneously rotating the arm and the bucket in a state in which the boom is stopped. 
     
     
         10 . The method of  claim 1 , wherein the moving of the boom includes simultaneously rotating the arm, the bucket, and the boom. 
     
     
         11 . The method of  claim 2 , wherein the first angle is determined based on a point at which a projection area of the bucket and the trend line overlap each other. 
     
     
         12 . A device for controlling an excavator, the device comprising:
 a reception unit configured to acquire information on a terrain including an object; and   a processor configured to   determine a first angle, which is an angle of an arm at which a volume of the object contained in a bucket is a preset value, based on the information on the terrain,   move the arm so that the angle of the arm corresponds to the first angle,   rotate the bucket connected to the arm in response to the angle of the arm corresponding to the first angle, and   move a boom in response to an angle of the bucket corresponding to a second angle through the rotation of the bucket.   
     
     
         13 . The device of  claim 12 , wherein the processor determines the first angle based on a trend line determined according to a slope of the terrain including the object. 
     
     
         14 . The device of  claim 12 , wherein the processor rotates the arm so that an angle between the arm and a direction of gravity corresponds to the first angle. 
     
     
         15 . The device of  claim 12 , wherein the processor rotates the bucket in a direction in which an angle between the arm and the bucket decreases. 
     
     
         16 . The device of  claim 12 , wherein the processor rotates the boom until a difference value between a lowermost height that the bucket reaches and an uppermost height of a load carrier adjacent to the excavator corresponds to a preset value. 
     
     
         17 . The device of  claim 12 , wherein the processor senses a pressure applied to the arm and rotates the boom in a direction in which the bucket raises in a state in which a hydraulic pressure applied to the arm and the bucket is maintained when the pressure applied to the arm corresponds to a first pressure. 
     
     
         18 . The device of  claim 17 , wherein the processor stops the rotation of the boom when the pressure applied to the arm corresponds to a second pressure, and
 the second pressure is smaller than the first pressure.   
     
     
         19 . (canceled) 
     
     
         20 . (canceled) 
     
     
         21 . An excavator comprising:
 a boom;   an arm connected to the boom;   a bucket connected to the arm; and   a controller configured to determine a first angle which is an angle of the arm at which a volume of an object contained in the bucket is a preset value, control the arm so that the angle of the arm corresponds to the first angle, control the bucket so that the bucket connected to the arm rotates in response to the angle of the arm corresponding to the first angle, and control the boom so that the boom moves in response to an angle between the arm and the bucket corresponding to a second angle through the rotation of the bucket.   
     
     
         22 . A computer-readable recording medium on which a program for executing the method of  claim 1  in a computer is recorded.