Excavation device using stereo camera and angle sensors to position bucket

An excavation device comprising:

• an upper swing body supported by a base,
• a boom interconnected with the upper swing body,
• a bucket configured to perform excavation,
• an arm interconnecting the bucket and the boom such that the bucket is vertically movable by the arm and the boom,
• angle sensors to measure a position of the bucket, and
• an external recognition device located between the arm and the upper swing body, the external recognition device including:
• a stereo camera;
• a means for recognizing the bucket from an image photographed by the stereo camera and measuring a position of the bucket;
• a means for recognizing an excavated material from the image photographed by the stereo camera and measuring a position of the excavated material;
• a means for measuring a positional relationship between the bucket and the excavated material in an identical screen;
• and
• an angle sensor measurement unit receiving input from the angle sensors, wherein
• when the bucket is present outside the photographing range of the stereo camera, position information measured using a sensor other than the stereo camera is used as the position of the bucket, and the bucket is moved using the input from the angle sensors to a position at which the bucket can be photographed, and
• when the bucket is present inside the photographing range of the stereo camera, position information measured by the stereo camera is used as the position of the bucket, and the bucket is moved using the input from the angle sensors.