掘削消費エネルギーの低減化を可能とする曲線的貫入軌道の提案と爪先進入方向の導出

抄録

Fuel consumption reduction is required at drilling sites in order to realize a decarbonized society. In this study, we focused on the penetration area, where energy consumption is particularly high, and derived a suitable trajectory using curvilinear penetration. As a result, it was suggested that it is possible to secure the target excavation volume and reduce energy consumption at the same time by adopting a toe entry direction that does not cause soil crushing. A possible application of this research is to integrate it with an automatic excavation system. By introducing a suitable trajectory into an automated excavation system, it is possible to simultaneously reduce both the cost and energy consumption of excavation by automating excavation.