Practical Full Automation of Excavation and Loading for Hydraulic Excavators in Indoor Environments

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...

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Bibliographic Details
Published in2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) pp. 2153 - 2160
Main Authors Yoshida, Hiroshi, Yoshimoto, Tatsuya, Umino, Daiki, Mori, Naoki
Format Conference Proceeding
LanguageEnglish
Published IEEE 23.08.2021
Subjects
Automation
Computer architecture
Excavation
Hydraulic systems
Loading
Mechanical sensors
Networked control systems
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Summary: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.
ISSN:2161-8089
DOI:10.1109/CASE49439.2021.9551504