Development of bulldozer sensor system for estimating the position of blade cutting edge

Kim, Sang-Ho; Lee, Yong Seok; Sun, Dongik; Lee, Sangkeun; Yu, Bo-Hyun; Jang, Sang Ock; Kim, Wansoo; Han, Chang-Soo

doi:10.1016/j.autcon.2019.102890

Cited by 22 publications

(10 citation statements)

References 5 publications

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“…To address the aforementioned problem (1), the OODA (observe-orient-decide-act) loop fits well with the idea of dynamic assessment and control in this process; it was invented by Boyd and used in the field of military operations [6]. This concept only distinguishes and sorts the modules in the process but does not specify the composition of each module in detail [30].…”

Section: Related Workmentioning

confidence: 99%

“…Effective levelling quality control plays a crucial role in increasing the productivity of earth-rock dam construction [5]. At existing earth-rock dam construction sites, the bulldozer is used for levelling work, which frequently comprises a series of operations such as cutting, carrying, spreading, and simple grading [6]. A typical levelling method is presented in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

“…Sensors 2021, 21, x FOR PEER REVIEW 2 of 23 as cutting, carrying, spreading, and simple grading [6]. A typical levelling method is presented in Figure 1.…”

Section: Introductionmentioning

confidence: 99%

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Assessment and Feedback Control of Paving Quality of Earth-Rock Dam Based on OODA Loop

Wang

Chen

et al. 2021

Sensors

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Paving thickness and evenness are two key factors that affect the paving operation quality of earth-rock dams. However, in the recent study, both of the key factors characterising the paving quality were measured using finite point random sampling, which resulted in subjectivity in the detection and a lag in the feedback control. At the same time, the on-site control of the paving operation quality based on experience results in a poor and unreliable paving quality. To address the above issues, in this study, a novel assessment and feedback control framework for the paving operation quality based on the observe–orient–decide–act (OODA) loop is presented. First, in the observation module, a cellular automaton is used to convert the location of the bulldozer obtained by monitoring devices into the paving thickness of the levelling layer. Second, in the orient module, the learning automaton is used to update the state of the corresponding and surrounding cells. Third, in the decision module, an overall path planning method is developed to realise feedback control of the paving thickness and evenness. Finally, in the act module, the paving thickness and evenness of the entire work unit are calculated and compared to their control thresholds to determine whether to proceed with the next OODA loop. The experiments show that the proposed method can maintain the paving thickness less than the designed standard value and effectively prevent the occurrence of ultra-thick or ultra-thin phenomena. Furthermore, the paving evenness is improved by 21.5% as compared to that obtained with the conventional paving quality control method. The framework of the paving quality assessment and feedback control proposed in this paper has extensive popularisation and application value for the same paving construction scene.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Assessment and Feedback Control of Paving Quality of Earth-Rock Dam Based on OODA Loop

Wang

Chen

et al. 2021

Sensors

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“…Therefore, the computation system can receive the updated value about the warning zone and obstacle image on a cycle. The details about the configurations of sensor system can be also found in [42,43]. The specifications of the sensor system for measuring the pose of the machine are very similar to those used in the experiments in this paper.…”

Section: Experimental Setup: Sensors Communication System Excavatorsmentioning

confidence: 99%

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

et al. 2020

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Many solutions about the teleoperation of unmanned robotic excavators have been studied continuously. However, if excavators that are remotely controlled were employed, the probability of an accident would be higher. For this reason, there have been many ways proposed to attempt to reduce accidents in these dangerous situations. In this paper, a novel methodology will be introduced with a focus on the multiple excavators themselves. The proposed method details how one excavator can be generated or expressed as an obstacle in the Configuration-Space (C-space) with respect to another excavator’s side for collision avoidance each other. This method is based on kinematics information which is measurable and given. Therefore, this method can be used or applied independently by using widely used pose sensors and wireless communication devices. The phase of mathematical derivation about obstacle sets is described in detail. The results are shown in accompanying figures and tables for demonstrating that the proposed method detected the proximity and found the collision-free zone accurately. The proposed system can be powerful when applied to a teleoperation system, where it would be particularly useful and helpful to the operator.

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“…Construction robots have become a revolutionary construction technology. Robotized transformation of existing construction equipment is a shortcut to develop construction robot technology and quickly put it into applications, such as in excavators, bulldozers, road rollers, muck trucks [1][2][3]. Construction robots can be based on remote operation, autonomous navigation and obstacle avoidance, path planning and motion control, intelligent environment perception, unmanned driving and other technologies [4,5].…”

Section: Introductionmentioning

confidence: 99%

Robotic Worker in Construction Industry

Zhang¹,

2020

ARME

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During the period when the COVID-19 occurred, China built two hospitals, "Huoshenshan" and "Leishenshan", in a short time, which created a miracle in the construction industry. For this miracle, construction robots are an indispensable part, which also has drawn attention from academic and technical circles to the construction industry. Construction robots have experienced more than one hundred years of development, and have experienced two generations regarding mechanical transmission and hydraulic pressure. The now robotized construction machinery is called the third generation, which is a milestone in the development of construction machinery. It can be controlled remotely, automatically and semi-automatically, and can perform a variety of operations, in which natural operation is the primary feature. With the development of robot technology, highly reliable and efficient construction robots have entered the market and have broad development and application prospects.

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Development of bulldozer sensor system for estimating the position of blade cutting edge

Cited by 22 publications

References 5 publications

Assessment and Feedback Control of Paving Quality of Earth-Rock Dam Based on OODA Loop

Assessment and Feedback Control of Paving Quality of Earth-Rock Dam Based on OODA Loop

Creation of One Excavator as an Obstacle in C-Space for Collision Avoidance during Remote Control of the Two Excavators Using Pose Sensors

Robotic Worker in Construction Industry

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