원격 굴삭시스템에 햅틱 인터페이스의 적용을 위한 유압신호 보상에 대한 연구

Abstract

The domestic construction industry should solve problems such as lack of skilled workers, safety matters, and weakened competitiveness of construction technology. These problems can be addressed by “Construction Automation”. There are limits not only to operating construction equipment in dangerous places, but also to working in these places, because operators can be exposed there to dangerous environment. Therefore, construction automation is definitely needed for the safe use of construction equipment. Excavators are widely used in public works and construction sites. Semi-automated or automated excavators are also being developed. They are used for very dangerous tasks such as slopes, soft ground, building dismantlement, and disaster restoration. Under difficult circumstances, it is more efficient to use an excavator operated with a remote control system. Many researches are underway to develop this kind of system. Conventional remote control systems have been mostly dependent on two-dimensional images. In this study, this system was used, which made it difficult to measure the depth of the excavation location and it took a long time to complete the work. That is why there have not been many practical cases of utilization of tele-operated excavators. Because of these limitations, the haptic technology is proposed that enables recognition of bucket-reflected force and its passing on to the operator. The research was conducted to overcome these difficulties of using two-dimensional images, by developing a force-feedback joystick that efficiently detects the underground condition and applies it to a tele-operated excavator.