六自由度バケット位置姿勢推定法による地中建機用バケット一体型地中レーダシステム

抄録

In recent years, the number of the accident has increased, in which underground lifeline such as gas pipes, optical fiber cables or electric cables is damaged while excavating by a bucket of the underground construction equipment. GPR imaging system integrated with a bucket is a promising tool for detecting buried objects under the bucket. But, the estimation accuracy of antenna position is expected to be within 1cm. In this paper, we propose an estimation algorithm of 6 degrees of freedom of the bucket position and posture with 4 Tx and 4 Rx US transducer array system. We develop a down looking imaging radar system with a bucket integrated with the antennas and US transducer array. We experimentally show that a buried object under the moving bucket is successfully detected by the developed system.