In Japan, expectations for the automation of construction machines are increasing to solve the labor shortage in the construction industry. In this research, a robotization method by retrofitting a robot to conventional construction machines is introduced to lower the introduction barrier for regional construction companies. The target machine is a six-wheeled dump truck. With a retrofitted internal sensor unit and derived kinematics of six-wheeled articulated dump truck, a conventional Global Navigation Satellite System (GNSS)-based path tracking method was implemented on it. In addition, to ensure safety during operation, an emergency stop function was installed on the dump truck with three-dimensional Light Detection and Ranging (3D LiDAR). Initial experiments of forward and backward path tracking with an actual dump truck confirmed the validity of the method, and the maximum tracking error was 1 m. Further, in an emergency stop experiment, the dump truck detected the obstacle and stopped immediately after obstacle detection within the emergency-stop region, i.e., 25 m x 3 m in front of the dump truck. Based on the initial experiments, the authors concluded that even the retrofitted conventional dump truck could perform basic functions for autonomous driving, such as path tracking and emergency stop.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Driving of Six-Wheeled Dump Truck with a Retrofitted Robot


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Ishigami, Genya (Herausgeber:in) / Yoshida, Kazuya (Herausgeber:in) / Komatsu, Tomohiro (Autor:in) / Konno, Yota (Autor:in) / Kiribayashi, Seiga (Autor:in) / Nagatani, Keiji (Autor:in) / Suzuki, Takahiro (Autor:in) / Ohno, Kazunori (Autor:in) / Suzuki, Taro (Autor:in) / Miyamoto, Naoto (Autor:in)


    Erscheinungsdatum :

    2021-01-13


    Format / Umfang :

    14 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Autonomous Driving of Six-Wheeled Dump Truck with a Retrofitted Robot

    Komatsu, Tomohiro / Konno, Yota / Kiribayashi, Seiga et al. | TIBKAT | 2021


    DUMP TRUCK DUMP BODY, AND DUMP TRUCK

    YABE YOUSUKE | Europäisches Patentamt | 2019

    Freier Zugriff

    Dump Truck Dump Body, and Dump Truck

    YABE YOUSUKE | Europäisches Patentamt | 2018

    Freier Zugriff

    Dump truck dump body, and dump truck

    YABE YOUSUKE | Europäisches Patentamt | 2020

    Freier Zugriff

    DUMP TRUCK DUMP BODY, AND DUMP TRUCK

    YABE YOUSUKE | Europäisches Patentamt | 2017

    Freier Zugriff