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Automatic Excavation Planning of Hydraulic Excavator

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5315))

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Abstract

This paper describes an efficient trajectory planning method for hydraulic excavator tasks including a complete excavation/loading work cycle. Also provided is an effective method for analyzing geometric trajectories satisfying mechanical-geometric constraints. Additionally, a continuous excavation and shaping method is introduced for trench digging. In order to improve excavation efficiency, we reduced the work cycle for rough excavation but increased the work cycle for finishing excavation (shaping) using similar digging trajectories. Experimental continuous excavation and shaping was conducted and the results were evaluated. The key quantifiable benefits of this automatic technology include the liberation of human workers from many of the work processes, potential increase in work productivity, and significant labor savings.

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References

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Author information

Authors and Affiliations

  1. Construction Technology Research Department, Advanced Technology Research Team. 1-6, Minamihara, Tsukuba-shi, Incorporated Administrative Agency Public Works Research Institute, Ibaraki, 305-8516, Japan

    Hui Shao, Hiroshi Yamamoto, Yuki Sakaida, Takashi Yamaguchi, Yuji Yanagisawa & Akira Nozue

Authors
  1. Hui Shao
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  2. Hiroshi Yamamoto
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  3. Yuki Sakaida
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  4. Takashi Yamaguchi
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  5. Yuji Yanagisawa
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  6. Akira Nozue
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong

  2. The Institute of Industrial Research, University of Portsmouth, UK

    Honghai Liu

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Yongan Huang  & Youlun Xiong  & 

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© 2008 Springer-Verlag Berlin Heidelberg

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Shao, H., Yamamoto, H., Sakaida, Y., Yamaguchi, T., Yanagisawa, Y., Nozue, A. (2008). Automatic Excavation Planning of Hydraulic Excavator. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_128

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  • DOI: https://doi.org/10.1007/978-3-540-88518-4_128

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88516-0

  • Online ISBN: 978-3-540-88518-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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