LiDAR SLAMを用いた建設機械の遠隔操縦の検討

抄録

The purpose of this study is to investigate the effect on work efficiency in remote control of construction machinery by using point cloud information of the surrounding environment by LiDAR SLAM in addition to the conventional camera image. In the proposed system, first, the fixed LiDAR mounted on the construction machine is used for localization and environmental map creation by NDT SLAM. In rotary LiDAR, the point cloud in front of the construction machine is acquired when SLAM is not possible. Then, the data is transmitted to the base station side by wireless communication, and the point cloud is displayed by the viewpoint of the cockpit, the bird’s-eye view, and the cross section of the ground with the developed software. In this report, remote control is performed by the above proposed system, and the results are described.