Experimental Investigation of Optimum and Allowable Range of Side Views for Teleoperated Digging and Release Works by Using Actual Construction Machinery

Abstract

One of the most crucial problems associated with unmanned construction is low work efficiency due mainly to lack of visual information. External side views are necessary for efficient manipulation, but the optimum and allowable pan and tilt angles of side views have not been investigated. We thus conducted experiments using a scale model. However, experiments using actual construction machinery are necessary to confirm that these experimental results using a scale model can be applied to actual machines. Thus, the purpose of the present study is to investigate the optimum and allowable ranges of pan and tilt angles by using actual construction machinery. We focus on digging and releasing because these manipulation tasks require external views considering that precise operation is necessary. We conduct experiments based on a model task, including digging, which involves hook a target object, and releasing it in a designated area. The results suggest that the optimum pan angle for digging is 60°, and the allowable range is $45 ^{\circ} - 90 ^{\circ}$. Moreover, the results indicate that the optimum tilt angle is 60°, and the allowable range is $45 ^{\circ} - 90 ^{\circ}$.