地下高気圧狭隘空間における堀削重機の自動運転システムに関する研究

―1/10実機による再現実験及び最適制御―

抄録

In this study, we propose an autonomous operating system using caisson excavator in deep underground. A pneumatic caisson method is performed by many teleoperated excavators so far, but the teleoperation deteriorates the efficiency due to the narrow view field of camera image and additionally even the simple routine task such as removal of excavated soil mountains needs many human operators. Here, we analyzed the motions by two excavation methods: direct on-board operation and teleoperation based on camera image, and simulated them using the fabricated 1/10 excavator model. The result by the image analysis showed that the excavator by direct on-board operation removed the soil by extending the arm 88% longer than that of teleoperation. On the other hand, the simulation result by the 1/10 excavator model showed that the excavation quantity by direct on-board operation was 28% more than that of teleoperation.