Development of autonomous excavation technology for hydraulic excavators

Author

Yamamoto, Hiroshi ; Moteki, Masaharu ; Shao, Hui ; Ootuki, Takashi

Author_Institution

Minist. of Land, Infrastruct., Transp. & Tourism, Japan

fYear

2009

fDate

18-21 Aug. 2009

Firstpage

2226

Lastpage

2229

Abstract

Because extensive dangerous and grueling work is still performed at disaster restoration work sites, research and development of unmanned execution technologies for use to enhance safety has been undertaken. This report presents an outline of research and development concerning autonomous excavation by hydraulic excavator performed by applying an IT execution system. As a result of the verification of the excavation motion, finishing excavation was confirmed that the difference between the planned trajectory and the trajectory of the actual movement of the tip of the bucket can be kept within 0.1 m. It also achieved autonomous loading of the crawler dump truck.

Keywords

construction equipment; excavators; hydraulic systems; research and development; IT execution system; actual movement trajectory; autonomous excavation technology; autonomous loading; construction machine; crawler dump truck; dangerous work; disaster restoration work site; excavation motion verification; grueling work; hydraulic excavator; planned trajectory; unmanned execution technology; Automatic control; Communication system control; Control systems; Electronic mail; Motion control; Motion measurement; Position measurement; Research and development; Sensor systems; Time measurement; Autonomous Control; Excavation; Hydraulic excavator; IT; Loading;

fLanguage

English

Publisher

ieee

Conference_Titel

ICCAS-SICE, 2009

Conference_Location

Fukuoka

Print_ISBN

978-4-907764-34-0

Electronic_ISBN

978-4-907764-33-3

Type

conf

Filename

5335241