Abstract
Of all the machinery and equipment used on construction sites, excavators are responsible for the greatest number of fatal accidents. Excavation is an inherently risky process due to imprecise work processes and the unstable external environment on most work sites. The resulting accidents cause serious injuries that threaten the lives of not only the excavator pilots but also those working around them. In this study, we propose a mechanical device that is capable of operating the excavator remotely from a nearby safe location such as a site office. To ensure worker safety and at the same time boost the productivity of excavation operations, data from 3D scanners, cameras, and sensors were combined to create a detailed 3D picture of the area surrounding the excavation site to guide a remotely operated excavating system. Rather than modifying the excavator itself, a removable manipulator was mounted on the joystick in the excavator’s cockpit. Our proposed system was tested on a standard commercial excavator to verify its performance for a real-world excavation task.
Highlights
Excavators, which are primarily used for digging foundations and moving soil on construction sites, are each controlled by an operator and frequently work in close proximity to other workers who are assisting with the excavation or performing other tasks nearby
Among the 632 deaths due to machinery and equipment accidents recorded on Korean construction sites from 2009 to 2015, 121 were killed by an excavator, the highest number of fatal accidents caused by any single type of construction machinery or equipment [2]
The findings findingsofofthis this study suggest thatunmanned an unmanned excavation canbeindeed be that overcomes the limitations of previous unmanned excavator research, ameliorating many of designed that overcomes the limitations of previous unmanned excavator research, ameliorating the hazards with operating an excavator on a construction site and preventing accidents
Summary
Excavators, which are primarily used for digging foundations and moving soil on construction sites, are each controlled by an operator and frequently work in close proximity to other workers who are assisting with the excavation or performing other tasks nearby. Kim et al [31] put forward the concept of a robotic excavator, utilizing a pre-defined work algorithm to guide an automated excavator They encountered difficulties in applying real-time information collection methods such as 3D Scan and Deep Learning to cope with the varied conditions and events encountered in the field, and there was a distance beyond which operations became impractical. These optimization and unmanned excavator studies developed a wide variety of methods to calculate the optimal arm and boom drive algorithm, albeit with the common limitation that either the excavator or its arm must be fully remodeled, making it difficult to accurately reflect rapidly changing field conditions in real time These drawbacks make it unfeasible to commercialize any of these proposed systems, as even if such a product were to be brought to market, its utility would be limited and the price uneconomically high. In this paper, we report the development of an innovative system whereby a manipulator is installed in the cockpit of a commercial excavator to enable remote operation from a safe nearby location, including an appropriate communication method between the remote control station and manipulator, and the associated remote control system
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