物理シミュレーションを活用した油圧ショベル掘削効率化に関する研究

抄録

Hydraulic excavators are widely used over worldwide construction scenes, and with the decrease in the workforce, research is being conducted to automate it. In the previous research, excavation testing machines were mainly used, but they have problems such as limited quantity and quality of acquired data and difficulty in maintaining the same environment. In this study, we investigate the possibility of improving the efficiency of excavation work by using two types of physical simulators. A commercial physical simulator is used to optimize the excavation trajectory to maximize the excavation volume.Next, we examine whether the simulation model developed by the author using the distinct element method can improve the efficiency of the hydraulic system.