Testing the excavator performance (using Topcon 3d Excavator X63 System) especially for navigation and earthwork
Abstract
Construction sites commonly utilize bulldozers, wheel loaders, excavators, scrapers, and graders. Among these, excavators are versatile hydraulic heavy-duty equipment operated by humans. They are employed for various tasks like digging, levelling the ground, transporting and dumping loads, as well as providing straight traction. However, certain hazardous environments, such as nuclear disasters or earthquakes, are not suitable for human on-site work. To enhance productivity, accuracy, and profitability in excavation projects, the adoption of 3D machine control is recommended. The Topcon 3D Excavator X63 System offers advanced and precise GNSS positioning technology, coupled with Hidromek with Assist and an intuitive software interface, to significantly improve excavation operations. In this study, the accuracy of the coordinates of the route followed by the Excavator was checked by using RTK GNSS method by using P1 reference point. While the differences obtained in horizontal coordinates are 2–2.5 cm and 4–6 cm in vertical coordinates. In addition, excavation calculations of the earthwork area were performed and checked with the number of bucket of the excavator. The differences obtained from the earthwork were calculated as 0.8 cubic meters for each bucket.
Keyword : excavator, RTK GNSS, volume, route, accuracy
This work is licensed under a Creative Commons Attribution 4.0 International License.
References
Bernold, L. E. (1993). Motion and path control for robotic excavation. Journal of Aerospostale Engineering, 6(1), 1–18. https://doi.org/10.1061/(ASCE)0893-1321(1993)6:1(1)
Dadhich, S., Bodin, U., & Andersson, U. (2016). Key challenges in automation of earth-moving machines. Automation in Construction, 68, 212–222. https://doi.org/10.1016/j.autcon.2016.05.009
Ha, Q., Santos, M., Nguyen, Q., Rye, D., & Durrant-Whyte, H. (1996). Robotic excavation in construction automation. IEEE Robotics & Automation Magazine, March, 9(1), 20–28. https://doi.org/10.1109/100.993151
Hidromek. (2020). https://www.hidromek.com.tr/3/u/paletli-ekskavatorler
Ji, C. U., Han, C. S., Gil, M. S., Kang, M. S., & Jang, S. H. (2020). The study on stabilized estimation method of real-time bucket trajectory for remote excavation system. In Proceedings of the Korean Society of Precision Engineering Conference (pp. 71–72). Retrieved May 19, 2020, from http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE06692853
Kim, D., Oh, K. W., Hong, D., Park, J., & Hong, S. (2008, October). Remote control of excavator with designed haptic device. In Proceedings of International Conference on Control, Automation and Systems, Seoul, Korea (pp. 1830–1834).
Kim, J. H., Lee, S. S., Seo, J. W., & Kamat, V. R. (2018). Modular data communication methods for a robotic excavator. Automation in Construction, 90, 166–177. https://doi.org/10.1016/j.autcon.2018.02.007
Lawrence, P. D., Salcudean, S. E., Sepehri, N., Chan, D., Bachmann, S., Parker, N., Zhu, M., & Frenette, R. (1995, June). Coordinated and force-feedback control of hydraulic excavators. In Proceedings of the 4th International Symposium on Experimental Robotics, Stanford, California.
Lee, J. S., Kim, B., Sun, D. I., Han, C. S., & Ahn, Y. H. (2019). Modelling and controlling unmanned excavation equipment on construction sites. ASCE International Conference on Computing in Civil Engineering, 2019, 305–311. https://doi.org/10.1061/9780784482438.039
Lu, Z., & Goldenberg, A. A. (1995). Robust impedance control and force regulation: Theory and experiment. International Journal of Robotics Research, 14(3), 225–254. https://doi.org/10.1177/027836499501400303
Parker, N. R., Salcudean, S. E., & Lawrence, P. D. (1993, May). Application of force feedback to heavy duty hydraulic machines. In Proceedings IEEE International Conference on Robotics and Automation, Atlanta, USA. IEEE.
Shi, Y., Xia, Y., Zhang, Y., & Yao, Z. (2020). Intelligent identification for working-cycle stages of excavator based on main pump pressure. Automation in Construction, 109, 102991. https://doi.org/10.1016/j.autcon.2019.102991
Shimano, Y., Kami, Y., & Shimokaze, K. (2020). Development of PC210LCi-10/PC200i-10 machine control hydraulic excavator. Retrieved May 18, 2020, from https://home.komatsu/en/company/tech-innovation/report/pdf/167-E01.pdf
Singh, S. (1995). Synthesis of tactical plans for robotic excavation [PhD dissertation]. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
Sun, D., Ji, C., Jang, S., Lee, S., No, J., Han, C., Han, J., & Kang, M. (2020a). Analysis of the position recognition of the bucket tip according to the motion measurement method of excavator boom, stick and bucket. Sensors, 20(10), 2881. https://doi.org/10.3390/s20102881
Sun, D., Hwang, S., Kim, B., Ahn, Y., Lee, J., & Han, J. (2020b). Creation of one excavator as an obstacle in c-space for collision avoidance during remote control of the two excavators using pose sensors. Remote Sensing, 12(7), 1122. https://doi.org/10.3390/rs12071122
Tafazoli, S., Salcudean, S. E., Hashtrudi-Zaad, K., & Lawrence, P. D. (2002). Impedance control of a teleoperated excavator. IEEE Transactions on Control Systems Technology, 10(3), 355–367. https://doi.org/10.1109/87.998021
Topcon Positioning System. (2022). GPS+Machine Control for Excavators X63/X63i. https://www.topcon.co.jp/en/positioning/products/product/mc/X63_E.html
Yuan, C., Li, S., & Cai, H. (2016). Vision-based excavator detection and tracking using hybrid kinematic shapes and key nodes. Journal of Computing in Civil Engineering, 31(1), 04016038. https://doi.org/10.1061/(ASCE)CP.1943-5487.0000602