Development of a 3D local terrain modeling system of intelligent excavation robot

Abstract

In Korea, an intelligent excavation robot has been recently developed in an effort to reduce fuel consumption by improving the work efficiency and automating operation of conventional excavator in earthwork. It is a fully automated excavation robot based on a new paradigm of being able to manage and perform self-driving, three-dimensional (3D) modeling of the local terrain, automated excavation, loading, and 3D global modeling of the entire earthwork site, as well as adopt an intelligent task plan system. The intelligent excavation robot scans the 3D terrain of the excavation site through a sensor and processes the virtual scan image to implement the earthwork plan in the same manner as a human worker would. The purpose of this study is to develop a 3D local terrain modeling system with a 2D laser scanner that can rapidly and economically model the 3D local terrain for the intelligent excavation robot. The developed sensor system is installed in the intelligent excavation robot to test its performance in an actual earthwork site, and its field test result is also presented in this study as well. Finally, conclusions are made concerning the value of implementing and practically using the proposed 3D local terrain modeling system in earthwork.