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Open AccessArticle

Development of Unmanned Excavator Vehicle System for Performing Dangerous Construction Work

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Innovative Durable Building and Infrastructure Research Center, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea
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Department of Architectural Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea
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Department of Mechatronics Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea
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Department of Robot Engineering, Hanyang University, 55 Hanyangdaehak-ro, Sangnok-gu, Ansan-si, Gyeonggi-do 15588, Korea
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Authors to whom correspondence should be addressed.
This paper is an extended version of our paper published in: Lee, J.; Kim, B.; Sun, D.; Han, C.; Ahn, Y. Modelling and Controlling Unmanned Excavation Equipment on Construction Sites. In Proceedings of the ASCE International Conference on Computing in Civil Engineering 2019, Atlanta, GA, USA, 17–19 June 2019.
Sensors 2019, 19(22), 4853; https://doi.org/10.3390/s19224853
Received: 11 September 2019 / Revised: 4 November 2019 / Accepted: 6 November 2019 / Published: 7 November 2019
(This article belongs to the Section Intelligent Sensors)
Of all the machinery and equipment used on construction sites, excavators are responsible for the greatest number of fatal accidents. Excavation is an inherently risky process due to imprecise work processes and the unstable external environment on most work sites. The resulting accidents cause serious injuries that threaten the lives of not only the excavator pilots but also those working around them. In this study, we propose a mechanical device that is capable of operating the excavator remotely from a nearby safe location such as a site office. To ensure worker safety and at the same time boost the productivity of excavation operations, data from 3D scanners, cameras, and sensors were combined to create a detailed 3D picture of the area surrounding the excavation site to guide a remotely operated excavating system. Rather than modifying the excavator itself, a removable manipulator was mounted on the joystick in the excavator’s cockpit. Our proposed system was tested on a standard commercial excavator to verify its performance for a real-world excavation task. View Full-Text
Keywords: unmanned excavator vehicle system; excavator; remote controlled manipulator unmanned excavator vehicle system; excavator; remote controlled manipulator
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Lee, J.; Kim, B.; Sun, D.; Han, C.; Ahn, Y. Development of Unmanned Excavator Vehicle System for Performing Dangerous Construction Work. Sensors 2019, 19, 4853.

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