• Title/Summary/Keyword: 원격 굴삭기

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A Study on Tracking Control of Remote Operated Excavator for Field Robot (필드로봇용 원격 굴삭 시스템의 궤적제어에 관한 연구)

  • Yang, S.S.;Jin, S.M.;Choi, J.J.;Lee, C.D.;Kim, Y.S.
    • Transactions of The Korea Fluid Power Systems Society
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    • v.6 no.4
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    • pp.9-15
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    • 2009

  • Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.

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A Path Generation Method Considering the Work Behavior of Operators for an Intelligent Excavator (운전자의 작업행태를 고려한 지능형 굴삭기의 이동경로 생성 방법)

  • Kim, Sung-Keun;Koo, Bonsang
    • KSCE Journal of Civil and Environmental Engineering Research
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    • v.30 no.4D
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    • pp.433-442
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    • 2010

  • Recent decrease in the availability of experienced skilled labor and a corresponding lack of new entrants has required the need for automating many of the construction equipment used in the construction industry. In particular, excavators are widely used throughout earthwork operations and automating its tasks enables work to be performed with higher productivity and safety. This paper introduces an optimal path generation method which is one of the core technologies required to make "Intelligent" excavators a reality. The method divides a given earthwork area into unit cells, identifies networks created by linking these cells, and identifies the optimal path an excavator should follow to minimize its total transportation costs. In addition, the method also accounts for drainage direction and path continuity to ensure that the generated path considers site specific conditions.

  • https://doi.org/10.12652/Ksce.2010.30.4D.433 인용 PDF KSCI

A Study for Safety Work Control System in the Narrow Space (협소 공간 작업을 위한 안전제어 시스템에 관한 연구)

  • Cho, Y.S.;Kim, H.S.;Song, I.S.;Jeong, C.S.;Yang, S.Y.
    • 유공압시스템학회:학술대회논문집
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    • 2010.06a
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    • pp.62-65
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    • 2010

  • Field robot represented by excavator can be applied for various working in manufacturing, construction, agriculture etc. Because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. Since the excavator operates in the hazardous working circumstance, operators exposed in harmful environment. Therefore, automation system has been investigated to protect from the harmful environment. In this paper, the method to construct the remote control system is proposed. The remote control system is consisted of a manual and auto mode. Manual mode controls a hydraulic cylinder as open loop control. and auto mode controls the end effecter of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.

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Design of a Remote Controller for Dismantling Processes Using Excavator (굴삭기를 이용한 해체 장비용 원격 조종 장치 설계)

  • Kim, Dong-Nam;Oh, Kyeong-Won;Hong, Dae-Hie;Park, Jong-Hyup;Hong, Suk-Hie
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.7
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    • pp.95-102
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    • 2008

  • Since the processes of dismantling are very dangerous, there have been many studies to develop remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling equipment that is usually an excavator, a novel concept of tole-operated device is proposed. Operators who use this device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the remote controller, its workspace is analyzed and the workspace mapping from the device to the excavator is explored. Second, after 7 steps of the excavating processes are defined, the kinematics which deals with the conversion from the 3 dimensional position information of the device to the joint variable information of the backhoe is included in this paper. Lastly, 3D graphical simulation of both remote controller and the backhoe will be shown. This new design of the remote control device tan be easily manufactured and gives the workers very convenient and transparent remote control capability.

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