3次元点群データを基にした油圧ショベルの掘削動作制御の実装

抄録

In this study, we propose an algorithm for planning the bucket edge trajectory to automate the operation of the backhoe to excavate the ground. In proposed algorithm, the shape of the ground before start excavating operation is obtained based on point cloud data using 3D LiDAR and used for trajectory planning. This trajectory planning takes into account that the bucket is easy to penetrate at the start of excavation, the soil has the target volume at the end of excavation, and the soil does not easily spill from the bucket after excavation. The proposed method was implemented on an actual backhoe and experimented in the test field of Public Works Research Institute. These are described in this paper.