Analysis of the position recognition of the bucket tip according to the motion measurement method of excavator boom, stick and bucket

Abstract

On modern construction sites, guidance and automation systems are increasingly applied to excavators. Recently, studies have been actively conducted to compare the estimation results of the bucket tip with the motion measurement method of the boom, stick, and bucket and the sensor selection. This study selected the method of measuring the cylinder length of boom, stick, and bucket, and the method of directly measuring the boom, arm, and bucket, which are commonly used in guidance and automation systems. A low-cost sensor that can be attached and detached to the excavator in modular form was selected to apply the above methods to commercial excavator. After the sensor selection, hardware and excavator simulation models for sensor measurements were constructed. Finally, the trajectory of the bucket tip was compared and analyzed through graphs and simulation results when the boom, stick, and bucket were independently rotated one by one, or together. The results gives a guideline on what kinds of sensors would be better in machine guidance or controlling an excavator according to given external environments.