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Lee, Seung Chol;Kang, Byoung Hun
- The Journal of Korea Robotics Society
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- v.16 no.3
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- pp.232-237
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- 2021
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.
https://doi.org/10.7746/jkros.2021.16.3.232 인용 PDF KSCI

Yang, S.S.;Jin, S.M.;Choi, J.J.;Lee, C.D.;Kim, Y.S.
- Transactions of The Korea Fluid Power Systems Society
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- v.6 no.4
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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.
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