• 유공압시스템학회논문집
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• 제6권4호
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• pp.9-15
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• 2009

Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.587-588
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.405-406
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• 2011

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.246-248
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• 2005

The power plants have a loading dock and unloading device for the diverse kinds of fuel such as the bituminous coal and natural gas imported by the sea from all over the world. To unload the coal in the ship not only in the environment-friendly manner but also in the cost-effective way, the new type of heavy equipment loaded with additional features as well as excavator and the remote controller to maneuver this equipment are developed. This heavy equipment, which can be used to unload the coal in the ship in conjunction with CSU (Continuous Ship Unloader), and the remote controller are endorsed by the related code and laws. With the remote controller, the field workers can operate the unloading equipment at the remote place far from the equipment as well as in the cabin for themselves without tile remote controller.

• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.29-35
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• 2022

In this paper, we developed a workload index for monitoring the durability test using operation information of an excavator. First, the acceleration and cylinder pressure were selected as load factors by analyzing operation data. Through load correlation analysis according to each load factor, Root Mean Square (RMS) and Work Load Range (WLR) were respectively derived as a load feature representing mechanical load. In addition, the workload index was used to quantify load features. For applying the workload index to monitoring, a real-time monitoring system consisting of sensors and embedded controller was installed on the excavator and the system was integrated with a remote monitoring environment using a wireless network. Results of load monitoring and analysis verified that the developed workload index was effective from the viewpoint of the relative comparison of the workload.

• 한국정밀공학회지
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• 제28권1호
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• pp.48-55
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• 2011

Hydraulic excavator is one of the most widely used heavy machines in construction sites including dismantling. In the dismantling sites, the excavators equipped with crusher or breaker carry out dangerous operations, so drivers are always exposed to unexpected danger. For safety operation, remote control of the hydraulic excavator has been studied using proportional control valve, which requires an appropriate motion control of its bucket tip. In this case, kinematics and dynamics analysis have to be preceded through modeling of excavator. However, it is difficult to acquire reasonable results from the analysis due to insufficient information of physical parameters such as mass of each links and locations of mass centers, etc. This study deals with the trajectory control of bucket tip, which is based on experimental estimation of cylinder output force. The estimated forces are fed into the control of each cylinder in order to compensate gravitational and frictional effects in the cylinders. The control was applied to horizontal trajectories that are for flattening work.

• 대한기계학회논문집A
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• 제31권3호
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• pp.285-294
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• 2007

Previously, ASCI(Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.

• 드라이브 ㆍ 컨트롤
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• 제15권4호
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• pp.81-90
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• 2018

Indoor construction site such as building demolition sites, tunnel, vinyl house, and cattle shed are subject to various risk factors such as falling stones, soot and bad odors. However, most of the mini excavators have no cabin that can protect the driver from such risk factors. Therefore, researches on remote control technology of construction equipment are actively conducted as a method for protecting the driver from the risk factors occurring in the working environment. For effective remote control, it is necessary to be able to control the travelling and work using a portable small transmitter. However, due to the limitation of the size of the transmitter, complex operation control is required to control two or more actuators with a single joystick. Also, it is essential to check how remote control characteristics change in various environments such as distance, signal strength, obstacle. Therefore, in this study, an algorithm that can control two actuators simultaneously with a single joystick signal was developed, and a communication method suitable for indoor and outdoor mini construction equipment by analyzing experimentally how the remote control characteristics vary according to various work environments and telecommunication methods proposed.

• 한국산업융합학회 논문집
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• 제24권3호
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• pp.363-371
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• 2021

Forest operations like timber harvesting have already been mechanized to reduce hazards to the worker and increase productivity. However, timber harvesting operations have still been considered potentially dangerous and expensive on steep terrain. Teleoperation, to control the timber harvesting machine at a distance, has the potential to improve the safety, productivity and efficiency of harvesting operations on steep terrain. To verify the effects of teleoperation, an experimental prototype system of a monitor image-based teleoperation was constructed using a real forestry machine. In this study, the productivity of excavator based grapple loader, which is one of the most used mechanized harvesting equipment in the timber production, was analyzed using time-study method. Factors like skill and age of operators, influencing loader productivity in timber loading operation were also evaluated by statistical analysis. Productivity analysis results showed that less experienced operators were more productive than experienced operators for teleoperation through image of monitors in the operator cabin. These results are shown to be unfamiliar to the monitor image and different loading operation pattern by operators. According to the results, the monitor image-based teleoperation system of forestry machine need to improve the resolution and installation position of camera. It was expected that additional studies will be needed for real-time remote control of forestry machine in the future.