First Trial of Underwater Excavator Work Supported by Acoustic Video Camera

Taketsugu Hirabayashi; Kazuki Abukawa; Tomoo Sato; Sayuri Matsumoto; Muneo Yoshie

doi:10.20965/jrm.2016.p0138

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JRM Vol.28 No.2 pp. 138-148

doi: 10.20965/jrm.2016.p0138

(2016)

Paper:

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First Trial of Underwater Excavator Work Supported by Acoustic Video Camera

Taketsugu Hirabayashi, Kazuki Abukawa, Tomoo Sato, Sayuri Matsumoto, and Muneo Yoshie

Port and Airport Research Institute
3-1-1 Nagase, Yokosuka, Kanagawa 239-0826, Japan

Received:

October 16, 2015

Accepted:

December 22, 2015

Published:

April 20, 2016

Keywords:

real-time 3D imaging, acoustic video camera, underwater excavator

Abstract

External recognition is important for underwater machinery works. However, acquisition of external field information from optical camera images may not be possible, owing to muddiness of water caused by such work. Furthermore, in order to improve the workability of machines in the scenario of their remote operation, it is important to know the positional relation information between a target object and the end effector. To solve these problems, an acoustic video camera was developed and performance test experiments were conducted at a caisson dockyard. In the experiments, a prototype of acoustic video camera was used to measure and to recognize a target objects and an underwater construction machine. And the feasibility of monitoring for underwater construction using the acoustic videos was evaluated. As a result, it was found that despite the lower accuracy of shape recognition on account of a resolution problem, the positional relation could be recognized satisfactorily since the video images could be presented from an arbitrary viewpoint.

The experiment of recognition by acoustic video camera

Cite this article as:

T. Hirabayashi, K. Abukawa, T. Sato, S. Matsumoto, and M. Yoshie, “First Trial of Underwater Excavator Work Supported by Acoustic Video Camera,” J. Robot. Mechatron., Vol.28 No.2, pp. 138-148, 2016.

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References

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[2] T. Hisatake, “Construction utilizing information and communication technology, and use of radio waves,” Construction machinery and equipment, June 2000 issue, pp. 20-25, 2000 (in Japanese).
[3] T. Hirabayashi, T. Yamamoto, H. Yano, and H. Iwata, “Experiment on Teleoperation of Underwater Backhoe with Haptic Information,” Int. Symposium on Automation and Robotics in Construction (ISARC2006), pp. 36-41, 2006.
[4] T. Hirabayashi, H. Yasuta, H. Yano, and H. Iwata, “Evaluation of Operativeness Concerning Interface of Remote Controlled Backhoe,” Int. Symposium on Automation and Robotics in Construction (ISARC2006), pp. 52-55, 2006.
[5] T. Hirabayashi, J. Akizono, T. Yamamoto, and H. Yano, “Teleoperation of Construction Machines with Haptic Information for Underwater Applications,” An Int. Research J. of Automation In Construction, Vol.15, No.5, pp. 563-570, 2006.
[6] M. Fujii, “Actual feeling of operating unmanned construction machines in Unzen Fugendake,” Construction machinery and equipment, pp. 40-43, 2000 (in Japanese).
[7] H. Yamada, K. Takeichi, and T. Muto, “Master-Slave Control for Tele-operation Construction Robot System,” Trans. of the Japan Society of Mechanical Engineers (Edition C), Vol.66, No.651, pp. 140-147, 2000 (in Japanese).
[8] S. Matsumoto, K. Katakura, N. Yoshizumi, M. Nanri, N. Suzuki, and T. Noguchi, “Prototype Three Dimensional Sonar System for Underwater Acoustic Imaging,” J. Marine Acoust. Soc. Jpn, Vol.36, No.2, pp. 91-94, 2009 (in Japanese).
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[13] K. Katakura, “Acoustic transducer device for investigation of underwater objects,” Japanese Unexamined Patent Application Publication No.Sho47-26160, 1972.
[14] K. Katakura, Y. Tannaka, M. Kobayashi, and T. Koshikawa, “Underwater Acoustic Imaging by Frequency Controlled Beam Steering,” J. Acoustic. Soc. Jpn, Vol.31, pp. 716-724, 1975 (in Japanese).
[15] S. Takano, “Proposal of Spherically Acoustic Lens for 3D Imaging SONAR,” J. Marine Acoust. Soc. Jpn, Vol.41, No.1, pp. 26-31, 2014.
[16] Advanced Construction Technology Center, “Guidebook to emergency unmanned execution,” pp. 14-15, 2001 (in Japanese).
[17] Y. Yanagisawa, H. Yamamoto, and H. Shao, “Research on a man-machine interface for remote operation of work machinery,” Papers for the symposium of the construction practice and machine, pp. 77-82, 2007 (in Japanese).
[18] T. Yamaguchi, T. Ishimatsu, and H. Yamamoto, “Research on man-machine interface for remotely-operated construction,” Papers for fiscal 2005 symposium of the construction practice and machine, pp. 145-148, 2005 (in Japanese).
[19] T. Hirabayashi, “Examination of Information Presentation Method for Teleoperation Excavator,” J. of Robotics and Mechatronics, Vol.24, No.6, pp. 967-976, 2012.
[20] H. Shao and H. Yamamoto, “Automatic Excavation Planning of Hydraulic Excavator,” Intelligent Robotics and Applications (ICIRA 2008), pp. 1201-1211, 2008.
[21] Y. Ito and K. Yoshimoto, “Presentation of Movement Parallax on a Fixed Display,” Transactions of the Japan Society of Mechanical Engineers, C, Vol.63, No.613, pp. 3094-3100, 1997 (in Japanese).
[22] T. Tanimoto, R. Fukano, K. Shinohara, H. Yoshinada, K. Kurashiki, and D. Kondo, “Superimposed Terrain Model on the Operators View Image of Teleoperation,” The 15th Symposium on Construction Robotics in Japan, 2015 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] H. Kaneyama, “Cost-cutting measures with underwater construction machine “underwater excavator: Big Crab”,” Summary of the 16th port technology presentations, 1999 (in Japanese).

[2] [2] T. Hisatake, “Construction utilizing information and communication technology, and use of radio waves,” Construction machinery and equipment, June 2000 issue, pp. 20-25, 2000 (in Japanese).

[3] [3] T. Hirabayashi, T. Yamamoto, H. Yano, and H. Iwata, “Experiment on Teleoperation of Underwater Backhoe with Haptic Information,” Int. Symposium on Automation and Robotics in Construction (ISARC2006), pp. 36-41, 2006.

[4] [4] T. Hirabayashi, H. Yasuta, H. Yano, and H. Iwata, “Evaluation of Operativeness Concerning Interface of Remote Controlled Backhoe,” Int. Symposium on Automation and Robotics in Construction (ISARC2006), pp. 52-55, 2006.

[5] [5] T. Hirabayashi, J. Akizono, T. Yamamoto, and H. Yano, “Teleoperation of Construction Machines with Haptic Information for Underwater Applications,” An Int. Research J. of Automation In Construction, Vol.15, No.5, pp. 563-570, 2006.

[6] [6] M. Fujii, “Actual feeling of operating unmanned construction machines in Unzen Fugendake,” Construction machinery and equipment, pp. 40-43, 2000 (in Japanese).

[7] [7] H. Yamada, K. Takeichi, and T. Muto, “Master-Slave Control for Tele-operation Construction Robot System,” Trans. of the Japan Society of Mechanical Engineers (Edition C), Vol.66, No.651, pp. 140-147, 2000 (in Japanese).

[8] [8] S. Matsumoto, K. Katakura, N. Yoshizumi, M. Nanri, N. Suzuki, and T. Noguchi, “Prototype Three Dimensional Sonar System for Underwater Acoustic Imaging,” J. Marine Acoust. Soc. Jpn, Vol.36, No.2, pp. 91-94, 2009 (in Japanese).

[9] [9] S. Matsumoto, K. Katakura, and N. Yoshizumi, “Development of Underwater Three-Dimensional Imaging SONAR System with Acoustic Lens,” Report of the port and airport research institute, Vol.48, No.4, pp. 53-70, 2009 (in Japanese).

[10] [10] S. Matsumoto, K. Katakura, N. Yoshizumi, K. Nishihira, M. Nanri, N. Takeyama, N. Suzuki, and T. Noguchi, “Development of Three-Dimensional Sonar System for Underwater Acoustic Imaging,” J. Marine Acoust. Soc. Jpn, Vol.37, No.1, pp. 13-24, 2010 (in Japanese).

[11] [11] T. Noguchi, N. Suzuki, S. Matsumoto, N. Yoshizumi, K. Katakura, and T. Shiraishi, “Development of Four-Dimensional Imaging and Surveying Sonar System with Underwater Acoustic Lens,” Proc. of civil engineering in the ocean, Vol.26, pp. 1293-1298, 2010 (in Japanese).

[12] [12] S. Matsumoto, N. Yoshizumi, and K. Katakura, “Development of Four-dimensional Wide-angle Imaging and Surveying Sonar,” Report of the port and airport research institute, Vol.50, No.3, pp. 3-41, 2011 (in Japanese).

[13] [13] K. Katakura, “Acoustic transducer device for investigation of underwater objects,” Japanese Unexamined Patent Application Publication No.Sho47-26160, 1972.

[14] [14] K. Katakura, Y. Tannaka, M. Kobayashi, and T. Koshikawa, “Underwater Acoustic Imaging by Frequency Controlled Beam Steering,” J. Acoustic. Soc. Jpn, Vol.31, pp. 716-724, 1975 (in Japanese).

[15] [15] S. Takano, “Proposal of Spherically Acoustic Lens for 3D Imaging SONAR,” J. Marine Acoust. Soc. Jpn, Vol.41, No.1, pp. 26-31, 2014.

[16] [16] Advanced Construction Technology Center, “Guidebook to emergency unmanned execution,” pp. 14-15, 2001 (in Japanese).

[17] [17] Y. Yanagisawa, H. Yamamoto, and H. Shao, “Research on a man-machine interface for remote operation of work machinery,” Papers for the symposium of the construction practice and machine, pp. 77-82, 2007 (in Japanese).

[18] [18] T. Yamaguchi, T. Ishimatsu, and H. Yamamoto, “Research on man-machine interface for remotely-operated construction,” Papers for fiscal 2005 symposium of the construction practice and machine, pp. 145-148, 2005 (in Japanese).

[19] [19] T. Hirabayashi, “Examination of Information Presentation Method for Teleoperation Excavator,” J. of Robotics and Mechatronics, Vol.24, No.6, pp. 967-976, 2012.

[20] [20] H. Shao and H. Yamamoto, “Automatic Excavation Planning of Hydraulic Excavator,” Intelligent Robotics and Applications (ICIRA 2008), pp. 1201-1211, 2008.

[21] [21] Y. Ito and K. Yoshimoto, “Presentation of Movement Parallax on a Fixed Display,” Transactions of the Japan Society of Mechanical Engineers, C, Vol.63, No.613, pp. 3094-3100, 1997 (in Japanese).

[22] [22] T. Tanimoto, R. Fukano, K. Shinohara, H. Yoshinada, K. Kurashiki, and D. Kondo, “Superimposed Terrain Model on the Operators View Image of Teleoperation,” The 15th Symposium on Construction Robotics in Japan, 2015 (in Japanese).