Demonstration of Snow Removal Work by Wheel Loader in an Environment Surrounded by Obstacles

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-10-20 DOI:10.20965/jrm.2023.p1251

Hiroto Murayama, Tomohito Kawabe, Masahiro Inagawa, Keiichi Yoshizawa, Munehiro Ishibashi, Toshinobu Takei, Keiji Nagatani

引用次数: 0

Abstract

Snow removal work using construction equipment faces problems such as a shortage of skilled operators owing to the declining birthrate and aging population, work in dangerous areas, and accidents caused by a lack of concentration during long work hours. To improve the working environment, research and development of automation of construction equipment are actively conducted. Therefore, in this study, we aim to generate a driving path for wheel loaders for snow removal work in a work environment surrounded by obstacles, such as walls and fences. Furthermore, the proposed method considers the changing shape of the snow piles during the removal. We experimentally verified that snow removal could be performed using an actual wheel loader on the route generated by the proposed simulation.

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轮式装载机在有障碍物环境下的除雪工作演示

利用建筑设备进行的除雪工作面临着因出生率下降和高龄化而缺乏熟练操作人员、工作地点危险、工作时间长而注意力不集中造成事故等问题。为改善工作环境，积极开展施工设备自动化的研究和开发。因此，在本研究中，我们的目标是为轮式装载机在被障碍物(如墙壁和围栏)包围的工作环境中进行除雪工作生成一条行驶路径。此外，该方法还考虑了雪桩拆除过程中形状的变化。我们通过实验验证，可以使用实际的轮式装载机在拟议的模拟生成的路线上进行除雪。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.