DOI QR코드

DOI QR Code

Tele-Operation System for Excavator using LTE Communication

LTE 통신을 사용한 건설용 굴삭기 원격조종시스템 개발

  • Received : 2021.05.16
  • Accepted : 2021.06.21
  • Published : 2021.08.31

Abstract

In this research, a real-time tele-operation system for unmanned excavator using the LTE communication system is suggested. The distance between the operator and the excavator is limitless as long as the LTE communication available. The motion and video data of the excavator is synchronized using the Vehicle Control Unit (VCU) and streamed to the operator for immersion feeling. The video is played on the operator's monitor and the motion data is used to regenerate the excavator movement on the developed master platform. In general, a excavator is tele-operated using RF signal and the maximum distance for direct control is limited to within a hundred meter. In this research, the immersion tele-operation system is suggested for excavator operation within an 100ms time delay using the developed master platform, the VCU and LTE communication. A successful test run of the suggested tele-operation system has already been performed between an operator in Songpa (Seoul) and a excavator in Ansan (Gyeonggi-do) which is approximately 35 km apart.

Keywords

Acknowledgement

This work was supported by Korea Institute of Police Technology (KIPoT) grant funded by the Korea government (KNPA) (No.092021C29S02000, Development of on-site control technology for road traffic network control in the event of an incident or disaster)

References

  1. S. S. Moon and Y. S. Kim, "R&D Strategy for Development of Smart Construction Technology," Construction Engineering and Management, vol. 19, no. 6, pp. 33-36, 2018, [Online], https://scienceon.kisti.re.kr/srch/selectPORSrchArticle.do?cn=JAKO201811459665030&dbt=NART.
  2. D. N. Kim, K. Y. Oh, N. H. Kim, D. H. Hong, Y. K. Kim, and S. H. Hong, "Design and Control of Remote Controller for Excavator," Korean Society for Precision Engineering Spring Conference, Jeju, Korea, pp. 273-274, 2009, [Online], https://scienceon.kisti.re.kr/srch/selectPORSrchArticle.do?cn=NPAP08511126.
  3. E. Rohmer, K. Yoshida, and E. Nakano, "A Novel Distributed Telerobotic System for Construction Machines Based on Modules Synchronization," 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 4199-4024, 2006, DOI: 10.1109/IROS.2006.281913.
  4. T. Y. Lim, "A Study on Development of Automatic Excavator system and Verify the System," Ph.D. dissertation, Ulsan University, Ulsan, Korea, [Online], https://scienceon.kisti.re.kr/srch/selectPORSrchArticle.do?cn=DIKO0012506120.
  5. "Development of An Intelligent Excavating System," Doosan Infracore, Inchon, Korea, August 30, 2010, DOI: 10.23000/TRKO201600003720.
  6. S. Tafazoli, S. E. Salcudean, K. Hashtrudi-Zaad, and P. D. Lawrence, "Impedance Control of a Teleoperated Excavator," IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, vol. 10, no. 3, pp. 355-367, May, 2002, DOI: 10.1109/87.998021.
  7. D. Kim, K. W. Oh, D. Hong, Y. K. Kim, and S.-H. Hong, "Motion Control of Excavator with Tele-Operated System," 26th International Symposium on Automation and Robotics in Construction (ISARC 2009), Austin, USA, pp. 341-347, 2009, DOI: 10.22260/ISARC2009/0055.
  8. J. Yoon and A. Manurung, "Development of an intuitive user interface for a hydraulic backhoe," Automation in Construction, vol. 19, no. 6, Oct., 2010, DOI: 10.1016/j.autcon.2010.04.002.
  9. T. Sasaki and K. Kawashima, "Remote control of backhoe at construction site with a pneumatic robot system," Automation in Construction, vol. 17, no. 8, Nov., 2008, DOI: 10.1016/j.autcon.2008.02.004.
  10. T. Hirabayashi, J. Akizono, T. Yamamoto, H. Sakai, and H. Yano, "Teleoperation of construction machines with haptic information for underwater applications," Automation in Construction, vol. 15, no. 5, Sept., 2006, DOI: 10.1016/j.autcon.2005.07.008.
  11. J. B. Jeong and K. S. Kim, "A Study on Driving Algorithm and Communication Characteristics for Remote Control of Mini Excavator," Journal of Drive and Control, vol. 15, no. 4, pp. 81-90, 2018, DOI: 10.7839/ksfc.2018.15.4.081.
  12. S. H. Kim and B. H. Kang, "Kinematic Analysis of 4-axis Parallel Mechanism Simulator for T runk Control," Journal of Institute of Control, Robotics and Systems, vol. 26, no. 1, 2020, DOI : 10.5302/J.ICROS.2020.19.0201.
  13. B. H. Kang, "Real-time Tele-operated Drone System with LTE Communication," Journal of The Institute of Internet, Broadcasting and Communication, vol. 19, no. 6, pp. 35-40, 2019, DOI: 10.7236/JIIBC.2019.19.6.35.