Abstract
A new method for detecting underground obstacles, such as water pipes and power transmission cables, during excavation works is proposed in this paper. The studied method is based on the concept of sensor fusion and incorporates of visual information and force sensor data. The resistive force which acts on the bucket of an excavator, during excavation , is closely related to the changes in the shape of the ground caused by the excavator . During an excavation process , when the bucket of the excavator comes close to some underground obstacles or touches them, the relationship between the resistive force and the changes in the shape of the ground varies. So, using the sensed resistive forces and the visual data of the changes in the shape of the ground, an excavator robot can detect if the bucket is getting close to some underground obstacles or touches them. Fig.1 shows the image of our proposed method.
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