We are developing the automatic excavation system by caisson shovels operating in high air pressure and narrow underground space. Here, we implement the sensors into the caisson shovel with five DOFs to measure three rotary joint angles and two prismatic joint lengths and reproduce the trajectory of soil mountain removal by a skilled human operator. Additionally, we assess the trajectory tracking performance and the motion characteristics.
References:
. Kazumasa TAKADA, Renato SATO, Shoma SATO, Morito ITO, Ryota TSUCHIYA, Koki KIKUCHI, Masahiro SHINDO, Akira KAMEI, and Toshihiro KONDO: Autonomous Operation System of Caisson Shovels in Narrow Underground Space at High Air Pressure (Development of a Job Scheduling Algorithm using a 1/10 Caisson Platform)，JSDE, Vo.57, No.8, (2022), pp.381-396.
. Toshitaka TSUNEKI, Naoto NEGISHI, Ryota TSUCHIYA, Koki KIKUCHI, Toshihiro KONDO, Tetsuya KOYO, Akira KAMEI, and Keigo HAYAKAWA, A Study on Autonomous Operation System of Caisson Shovels in High Air Pressure and Narrow Underground Space (Development of a 1/10 Test Platform and the Demonstration), JSDE, The 4rd International Conference on Design Engineering and Science: ICDES2017, (Sep. 2017), Aachen, Germany.
. Akira KAMEI, Koki KIKUCHI, Tetsuya KOYO and Toshihiro KONDO, A Study on Autonomous Operation System of Caisson Shovels in High Air Pressure and Narrow Underground Space (Terrain Mapping by RGB- and Depth-sensing Camera Mounted on the Shovel), JSDE, The 4rd International Conference on Design Engineering and Science: ICDES2017, (Sep. 2017), Aachen, Germany.
Links:
1)
Oriental Shiraishi Corporation: Pneumatic Caisson
3) i-Construction of Ministry of Land, Infrastructure, Transport and Tourism
Acknowledgement:
The part of this project was supported by an “R&D for Construction Technology” grant from the Ministry of Land, Infrastructure, Transport, and Tourism of Japan and a grant from the “Sentan Sangyo Souzou Project (Saitama Prefecture)”.