• Proceedings of the Korean Institute Of Construction Engineering and Management
• /
• 2008.11a
• /
• pp.364-367
• /
• 2008

Earthwork is very equipment-intensive task and researches related to automated excavation have been conducted. There is an issue to secure the safety for an automated excavating system. Therefore, this paper focuses on how to improve safety for semi- or fully-automated backhoe excavation. The primary objective of this research is to develop object detection algorithm for automated safety system in excavation work. In order to satisfy the research objective, a diverse sensing technologies are investigated and analysed in terms of functions, durability, and reliability and verified its performance by several tests. The authors developed the objects detecting algorithm for user interface program using laser sensor. The results of this study would be the basis for developing the automated object detection system.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.33 no.1
• /
• pp.363-375
• /
• 2013

Today, a shortage of the skilled operator has been intensified gradually and the necessity of an earthwork in extreme environment operators are difficult to access is increasing for the purpose of resource development and new living space creation. For this reason, an effort to develop an unmanned excavation robot for fully automated earthwork system is continuing globally. In Korea, a research consortium called 'Intelligent Excavation System' has been formed since 2006 as a part of Construction Technology Innovation Program of Ministry of Land, Transport and Maritime Affairs of Korea. Among detailed technologies of the Task Planning System is one of the core technologies of IES, this paper explains research and development process of the Local Area Design Module, which provides informatization unit to create automated excavators' work command information at operation level such as location, range, target, and sequence for excavation work. Designing of Local Area should be considered various influential factors such as excavator's specification, working mechanism, heuristics, and structural stability to create work plan guaranteed safety and effectiveness. For this research, conceptual and detail design of the Local Area is performed for analyzing design element and variable, and quantization method of design specification corresponding with heuristics and structural safety is generated. Finally, module is developed through constructed algorithm and developed module is verified.

• 한국방재학회:학술대회논문집
• /
• 2008.02a
• /
• pp.609-612
• /
• 2008

Since most of the industries have adopted automation system, the industrial disaster has been declined sharply. Also automation system has offered many benefits such as productivity and assured quality. However, the construction industry is still relying on man power and because of this there are many victims occurring due to the industrial disaster. Construction industry has to overcome uncertainty of incidents and changing natural surroundings to actualize automation. Therefore, the efficient working plan and intelligent decision making process are needed to run more developed techniques and automations. Specially to decline the rate of industrial accidents occurred in basic construction in earth work, the automation via excavator is necessary and also the development of planning process system is too. This research is to establish Task Planning System to prevent disaster which is used for planning automated earth work.

• Korean Journal of Construction Engineering and Management
• /
• v.12 no.6
• /
• pp.130-141
• /
• 2011

The intelligent excavating system(IES), the development in South Korea of which has been underway since 2006, aims for the full-scale automation of the excavation process that includes a series of tasks such as movement, excavation and loading. The core elements to ensure the quality and safety of the automated excavation equipment include 3D modeling of terrain that surrounds the excavating robot and the technology for detecting objects accurately(i.e., for detecting the location of nearby loading trucks and humans as well as of obstacles positioned on the movement paths). Therefore the purpose of this research is to ensure the quality and safety of automated excavation detecting the objects surrounding the excavating robot via a 3D laser scanning system. In this paper, an algorithm for estimating the location, height, width, and shape of objects in the 3D-realized terrain that surrounds the location of the excavator was proposed. The performance of the algorithm was verified via tests in an actual earthwork field.