油圧ショベルによる土中岩石の自動掘削のための岩石パラメータ推定

抄録

The automation of construction machine is deemed necessary due to the lack of labor and low productivity in construction industry. In this paper, we aimed to estimate the parameters of an under-ground rock for automatic excavation of subsurface rock by hydraulic excavator. Using physics model, we proposed method for estimating the rock’s weight and depth by pushing the rock or lifting the rock. We also proposed a method for collision detection with rock sides during horizontal pulling motion and estimation of a rock’s weight during scooping motion. We conducted experiments of these estimations and detection with a manipulator. The result showed that estimation by pushing the rock was more accurate than lifting the rock. Also, we found that collision detection and estimation during scooping show good results.