土工現場用CPSプラットフォームROS2-TMS for Constructionの開発

抄録

The civil engineering and construction industry has seen an increase in occupational accidents in recent years. Although several systems to improve the efficiency of earthwork operations have been developed, they have not directly involved in improving safety. The objective of this study is to explore the use of a cyber-physical system (CPS) to improve both the efficiency and safety of earthwork operations. The CPS platform should have a function to store and manage environmental information in a database. The ROS2-TMS, which is the CPS platform for service robots, satisfies this requirement. However, the ROS2-TMS cannot handle environmental information specific to earthwork sites, such as terrain and ground data. Therefore, in this research, we developed an improved version of ROS2-TMS named ROS2-TMS for Construction that can store and manage site-specific environmental information in a database. Additionally, we developed a VR interface to visualize the stored environmental information.