굴착기 작업 중 협착⋅충돌사고 예방기법의 효과성 및 현장 적용성 분석 김우인1

김우인,오태근 한국구조물진단유지관리공학회 2026 한국구조물진단유지관리공학회 논문집 Vol.30 No.3

본 연구는 건설현장 굴착기 작업 중 발생할 수 있는 협착⋅충돌사고를 줄이기 위한 예방기법의 효과성과 현장 적용성을 분석하는것을 목적으로 한다. 이를 위해 굴착기 관련 작업 경험이 있는 현장관리자, 안전관리자, 신호수, 일반작업자 및 장비운전원을 대상으로 설문조사를 실시하였다. 주요 예방기법은 LED 라이트, 신호수, 경보기, 구획설정, 후방카메라로 설정하였으며, 각 기법은 위험구역 인지, 접근 억제, 현장 적용 용이성 측면에서 평가하였다. 분석 결과, 응답자들은 굴착기 주변 협착⋅충돌 위험에 대한 인식이 매우 높았으며, 접근 통제와 시각적 위험구역 표시의 필요성을 강하게 인식하는 것으로 나타났다. 예방기법별 평가에서는 구획설정이 종합적으로 가장 높은 효과성을 보였으며, 특히 근로자의 위험구역 접근을 억제하는 데 효과적인 것으로 나타났다. LED 라이트는 굴착기 주변 위험구역을 시각적으로 표시하는 데효과적이었으며, 야간, 시야 제한, 고소음 환경에서 활용성이 높은 것으로 분석되었다. 반면 후방카메라는 작업자의 접근을 직접적으로 억제하는 기법이라기보다 운전원의 시야 확보를 보조하는 장치로 활용하는 것이 적합한 것으로 나타났다. 이러한 결과는 굴착기 협착⋅충돌사고 예방을 위해 현장 조건에 따라 공간적 분리, 시각적 경고, 청각적 경고, 신호체계를 복합적으로 적용할 필요가 있음을 시사한다. This study analyzes the effectiveness and field applicability of preventive methods for reducing caught-in and collision accidents during excavator operations on construction sites. A questionnaire survey was conducted among field practitioners with experience in excavator-related work, including site supervisors, safety managers, signal persons, general workers, and equipment operators. Five preventive methods—LED lights, signal persons, warning alarms, work-zone demarcation, and rear cameras—were evaluated in terms of hazardous-zone recognition, access prevention, and ease of field application. The results showed that respondents had a very high awareness of caught-in and collision risks around excavators and strongly recognized the need for access control and visual hazard identification. Among the evaluated methods, work-zone demarcation showed the highest overall effectiveness, particularly in preventing worker access to hazardous zones, while LED lights were highly effective for visualizing hazardous zones under nighttime, low-visibility, and high-noise conditions. In contrast, rear-view cameras were considered more suitable as operator-assistance devices than as direct access-prevention methods. These findings suggest that excavator-related caught-in and collision accidents should be prevented through site-specific combinations of spatial separation, visual warnings, auditory warnings, and signal communication.

굴착기 전자제어 컨트롤 밸브 신뢰성 평가 장비 구축

김영빈(Young Bin Kim),강대영(Dae Young Kang),유형민(Hyung Min Yu),한승오(Seung Oh Han),김수인(Su In Kim),권지운(Ji Woon Kwon),조용근(Yong Geun Cho) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.4

본 논문은 굴착기용 전자제어 컨트롤 밸브의 신뢰성 평가를 위한 장비개발 방안을 기술하였다. 현재 개발 중인 굴착기 전자제어 컨트롤 밸브 신뢰성 평가 장비는 100 톤 급 이하 굴착기에 장착되는 컨트롤 밸브에서 발생되는 고장을 파악하기 위해 내구수명 시험과 압력 손실, 내·외부 누유, 스풀 습동, EPPR Valve 응답성, Relief Valve 특성 및 미터링 특성의 성능시험 등이 가능하다. 본 신뢰성 평가 장비 개발 연구를 통해 국산 컨트롤 밸브의 신뢰성 확보를 위한 기초 자료로 활용할 예정이다. This paper describes an equipment development plan for the reliability evaluation of electronic control valves for excavators. Excavator electronic control valve reliability evaluation equipment currently under development is a durability test and pressure loss, internal/external oil leakage, spool sliding, EPPR valve responsiveness, and relief to identify failures occurring in control valves mounted on excavators below 100ton class. It is possible to perform performance tests of valve characteristics and metering characteristics. This reliability evaluation equipment development study will be used as basic data for securing the reliability of domestic control valves.

굴착기 버킷의 진동 제어를 위한 기초 설계

정황훈(H. H. Jeong),김갑태(K. T. Kim) 유공압건설기계학회 2020 유공압건설기계학회 학술대회논문집 Vol.2020 No.7

A hydraulic cylinder system usually has characteristics of 1st order system because it was driven by hydraulic oil that fills an internal volume of actuator. But hydraulic cylinder in excavator system also has an undamped system’s characteristics due to relatively huge mass and spring constant. Input shaper is a command generation method that can remove the residual vibration by cancellation. So this command generation method can not be used in damped system such as hydraulic system. But, in this case, input shaper can be used in excavator’s hydraulic system to reduce a vibration. This paper deals with an input shaper’s utility on hydraulic excavator system. For this purpose, firstly, kinematics of excavator and inverse kinematics of this system was induced. This analysis was used to confirm that a problem of bucket position control is same as hydraulic cylinder control. And then input shaper was designed to reduce the residual vibration. Boom cylinder has residual vibration when bucket cylinder was moved even if this system has a damping effect. A residual vibration can be assumed a 2nd order system and it can be cancelled by input shaper command. Finally, utility of suggested controller was vitrified by simulation result’s analysis.

굴착기의 음향파워레벨 회귀분석

구진회(Gu, Jin-Hoi),이재원(Lee, Jae-Won),서충열(Seo, Chung-Youl),장성기(Jang, Seong-Ki),최경희(Choi, Kyung-Hee),한진석(Han, Jin-Seok) 한국소음진동공학회 2012 한국소음진동공학회 논문집 Vol.22 No.3

The noise emitted from an excavator has long been a cause of environmental disputes, while causing displeasure to the nearby residents. So, the ministry of environment adopted the construction machinery noise labeling system to encourage the construction machinery manufacturing companies to develop the low noise construction machinery voluntarily. But, as the quality of life improves, a growing number of people desire the comfortable and quite environment to live in. Under the situation, noise from the construction machinery has been a major cause for stress and complaints. When the noise dispute happened in the construction site, the sound pressure level of the construction machinery like a excavator was measured at the lot boundary of the noise victim's residence to judge how much noise damage occur. But the sound pressure level of the construction machinery is measured differently according to the acoustic environment of construction site and the measuring position, respectively, which makes it difficulty to judge whether the noise damage occur or not. As the sound power level of noise source is not affected by the acoustic environment of construction site and the measuring position, if we use the information of the sound power level, it will be easy to judge whether the noise damage occur and to establish the soundproofing measures. Therefore, we derive the sound power level regression model of the excavator to judge whether the noise emitted from the excavator damages to residents near the construction site. Also, the sound power level regression model of the excavator drawn in this paper will help construction companies to plan the noise reduction program in the construction sites.

굴착 영역 지형 데이터에 기반한 굴착 경로 계획

임철환,배장호,박진우,김선우,홍대희 한국정밀공학회 2024 한국정밀공학회지 Vol.41 No.11

Excavators are crucial heavy equipment on construction sites, performing diverse earthwork tasks. The construction worksite is experiencing a labor shortage due to an aging workforce. Training new operators requires significant time and resources. Furthermore, the construction environment is hazardous, with a higher rate of excavator-related accidents. Autonomous excavators offer an effective solution by reducing the need for operators in risky environments and substituting skilled workers. Trajectory planning algorithms are vital for autonomous excavators, with skilled operators’ paths serving as important references. However, many studies do not adequately consider skilled operators’ methods or the actual excavation environment. This paper introduced a rule-based algorithm for excavation trajectory planning using terrain data. Based on analysis results of skilled operators’ paths, the proposed algorithm categorizes the excavation process into three stages, depending on the usage rate of the excavator's joints. Terrain data were derived by projecting point clouds from a stereo depth camera onto a side plane. The path was modified if the excavation volume exceeded a set limit to avoid excessive load. The algorithm was tested with a 30-ton excavator, demonstrating validation of operability and efficiency similar to that of skilled operators.

무인 굴착기 자율 제어 시스템 개발

박민철(Mincheol Park),정우용(Wooyong Jung),양승만(Seungman Yang),홍희승(Heeseung Hong),홍성훈(Seonghun Hong),이희진(Heejin Lee),김창묵(Changmook Kim),문지현(Jihyun Moon),강민성(Minsung Kang),김영준(Youngjoon Kim),유근수(Geunsu You),김 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7

The global construction industry is becoming smart as it moves away from the traditional labor-intensive. Doosan Infracore presented a business model that maximizes efficiency and productivity via Concept-x demonstration. This paper introduces the autonomous excavator control system, which was developed by Doosan Infracore Corporation to participate in the Concept-X Project. The unmanned excavator has perception, planning, and control system. In perception system, the unmanned excavator recognizes the surrounding environment and classify the obstacle using various sensors installed on the excavator. In planning system, the excavator estimates work sequence plans, operation trajectory and driving routes. In control system, the unmanned excavator performs work safely and accurately. The performance of the control system is verified with experimental data obtained from Concept-X demonstration scenario.

실차의 거동한계를 고려한 굴착기의 굴착 경로설계 연구

신대영(Dae Young Shin) 유공압건설기계학회 2021 드라이브·컨트롤 Vol.18 No.2

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.

강화학습 알고리즘을 활용한 Co-Simulation 기반 유압 굴착기 시스템의 위치 제어 및 동력 최적화에 관한 연구

이태엽(T. Y. Lee),박형준(H.J.Park),강만곤(M.K.Kang),구자춘(J.C.Koo) 유공압건설기계학회 2024 유공압건설기계학회 학술대회논문집 Vol.2024 No.10

This paper presents an advanced control framework for hydraulic excavators, focusing on position and pump flow control through co-simulation using Simcenter Amesim and Simulink. The excavator system, including hydraulic pumps, control valves, and front attachment dynamics, is modeled in Simcenter Amesim to accurately replicate real-world excavator behavior, while the control strategies are designed in Simulink. Two control strategies are implemented and compared: a conventional Proportional-Integral-Derivative (PID) controller and a Deep Deterministic Policy Gradient (DDPG) reinforcement learning controller. The Simcenter Amesim-Simulink co-simulation enables real-time analysis of the excavator’s dynamic response to various control inputs, providing a robust environment for validating performance. The PID controller demonstrates precise tracking of boom and arm cylinder strokes, as well as effective pump flow control. In contrast, the DDPG controller sacrifices flow rate accuracy, resulting in a MAPE of over 330%, to achieve a 22% reduction in power consumption while maintaining stable trajectory tracking by reducing excessive pump flow. This leads to a cycle time similar to that of the PID controller, resulting in more stable and energy-efficient operation. This study underscores the value of co-simulation for validating control strategies and highlights the use of reinforcement learning in balancing control accuracy and energy efficiency in hydraulic excavator automation. Future work will focus on refining the DDPG reward function to improve flow control without compromising power efficiency.

무인 굴착기의 자동화 굴착 작업을 위한 유압실린더 제어 시스템 개발

김세모,이민수,조기용,강래형 대한기계학회 2024 대한기계학회논문집A Vol.48 No.6

본 연구에서는 무인 굴착기의 자동화 굴착 작업을 위한 유압실린더 제어 시스템 개발을 진행하였다. 무인 굴착기의 제어를 위하여 붐, 암, 버킷 축 유압실린더 힌지에 각도 센서를 장착하여 실제 각도를 측정하였고, 실제 각도와 명령 각도의 오차를 기반으로 한 PI 제어 알고리즘을 사용하였다. 굴착 작업에 적합하도록 붐과 버킷 축은 회전 방향에 따라 분할하여 제어가 되도록 알고리즘을 구축하였고, 안정적인 굴착 작업을 위하여 P와 I값에 대하여 최적화를 진행하였다. 최적화 결과 붐 축의 P는 상승 방향은 9, 하강 방향으로는 3.5로 설정하였으며, 버킷 축의 P값은 안쪽 방향은 2.5, 바깥쪽 방향은 2.0, I값은 1.0으로 최적화하였다. 최적화를 통하여 안정적인 굴착 작업이 가능한 것을 확인하였다. In this study, we focused on developing a hydraulic cylinder control system for the automated excavation operations of an unmanned excavator. The control system implemented a proportional–integral (PI) control algorithm. To align with the specific requirements of excavation tasks, control was individually applied to the boom and bucket axes according to their respective directions. After optimization, the P gain for the boom axis was configured at 9 for upward movement and 3.5 for downward movement. Additionally, the P gain for the bucket axis was optimized to 2.5 for inward movement and 2.0 for outward movement. The I gain value was fine-tuned to 1.0. This optimization process successfully confirmed the feasibility of stable excavation work.

버킷의 운동 방정식을 이용한 굴착기 작업량의 추정

정황훈(Hwang Hun Jeong),이민수(Min Su Lee),신영일(Young Il Shin),조기용(Gi Yong Cho) 유공압건설기계학회 2021 유공압건설기계학회 학술대회논문집 Vol.2021 No.11

It is important to measure the excavator’s work productivity that estimates bucket’s payloads on a process. If bucket wasn’t filled at every working cycles, excavator’s operator has to drive the machine more to achieve his work quota. If bucket was filled over with load, the other way around, transferred object has to spread out on workplace. That causes another work to clean the site. This paper concerns about a method that can estimates bucket’s payload to improve the excavator’s work productivity. This method assumes that excavator is lumped mass system and 3 points angle(boom link, arm link, swing) and 2 points pressure(boom cylinder’s input port and output port) are measurable. Depending on assumptions, bucket’s payload can be calculated by payload’s motion equation.