Practical Full Automation of Excavation and Loading for Hydraulic Excavators in Indoor Environments
Abstrak
We propose an autonomous operation system for hydraulic excavators that fully automatizes the sequence of excavation and loading in indoor environments at actual shield-tunneling construction sites. This system possesses all the components and functions necessary for excavation and loading. It also consists of an architecture composed of a networked control system. This architecture enables the system to mitigate the physical limitations of sensors and computers such as installation locations and computing power. We also devised practical engineering solutions that make our system highly accurate and efficient for actual construction sites, such as prediction control concerning hydraulic and mechanical delays and an external actuator that requires no special modifications to construction machinery.
Topik & Kata Kunci
Penulis (4)
H. Yoshida
Tatsuya Yoshimoto
Daiki Umino
Naoki Mori
Akses Cepat
PDF tidak tersedia langsung
Cek di sumber asli →- Tahun Terbit
- 2021
- Bahasa
- en
- Total Sitasi
- 15×
- Sumber Database
- Semantic Scholar
- DOI
- 10.1109/CASE49439.2021.9551504
- Akses
- Open Access ✓