3D surround local sensing system H/W for intelligent excavation robot (IES)

Abstract

The recently developed intelligent excavation robot in Korea is a fully automated excavator equipped with global 3D modeling capabilities for an entire earthwork site and an intelligent task planning system. The intelligent excavation robot includes features such as autonomous driving, 3D surround modeling, autonomous excavation, loading, etc. An intelligent excavation robot features technology that allows for accurate recognition of objects near the excavator, including the terrain of surrounding environments, location of obstacles in the excavator's path, and any approaching trucks and moving people. Such technology is critical to ensuring work quality and safety. In this study, we develop the hardware for a 3D surround laser sensing system that enables 3D image modeling of the terrain surrounding an intelligent excavation robot. By mounting a sensor onto an intelligent excavation robot, we conducted performance tests to determine the robot's 3D modeling capabilities of the terrains and obstacles at an actual earthwork site. The experimental results are applied to an object recognition system for detecting the properties of the terrain of the workspace around the excavator, any approaching people, trucks, obstacles, etc. The proposed hardware includes a wide range of applications in the development of future automated construction equipment.

Problems of using haptic feedback to control manipulator tools

“…a device scanning the area around the working machine using laser scanners. This solution is designed to locate and recognize objects around the working machine [13]. Another operator support technology is the distance sensing system to detect obstacles in the path of the working tool [14].…”

Object-level complete coverage path planning for excavators in earthwork construction

“…At present, almost all earthworks are dealt by construction personnel operating large machineries in relatively harsh environments 1 – 3 .In order to cope with the complex working environment and improve efficiency 4 , the application of cutting-edge technologies such as robotics, sensor technology and communication technology have become the mainstream of development 5 , 6 . Excavators are one of the most common equipment in earthworks, which can perform a variety of tasks such as stacking, loading, cutting, leveling 7 . Unlike other transport-oriented machines such as ships, aircrafts and buses, there are two main types of task planning for excavators: object-level task planning and manipulator-level task planning 8 .…”

Development of Integrative Methodologies for Effective Excavation Progress Monitoring

“…An excavator is one of the most significant pieces of equipment in the construction industry, and is used for earthworks since they can perform various tasks such as loading, leveling, cutting, and grading earth [ 1 ]. During the operation of excavation, operators use their sense together with reasoning-based knowledge and experience to monitor and control the excavation process.…”