http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
무인 굴착기 버츄얼 검증을 위한 자율 작업 시뮬레이션 기술 개발
이철훈(Chulhoon Lee),이제필(Jepil Lee),박흥근(Heungkeun Park),김창묵(Changmook Kim),김동목(Dongmok Kim) 한국자동차공학회 2020 한국자동차공학회 학술대회 및 전시회 Vol.2020 No.11
In addition to the recent development of autonomous vehicles, technologies for automation and unmanned construction equipment are being actively developed in order to increase work efficiency in the field of construction site as well as solve the problem of lack of skilled workers in construction equipment operation. Doosan Infracore is actively developing unmanned/automated equipment and site management solution called X-center as shown in Concept-X demonstrations in 2019. As part of this solution development, we are also developing a simulation technology for virtual verification of autonomous equipment. The unmanned excavator recognizes the work terrain and the surrounding environment of the equipment from the results sensed by Lidar and SVC (Stereo Vision Camera), and trajectory planner controller generates the work command of the excavator according to the work mode such as digging and loading, trenching and grading. Since the automated work is carried out in several stages and the system configuration is complicated, virtual verification through simulation before the actual vehicle test can increase the development efficiency and product reliability. In this paper, we developed the simulation technology and the process for autonomous Excavator by coupling perception system, trajectory planner controller, vehicle dynamics model, and virtual sensor and terrain.
박민철(Mincheol Park),정우용(Wooyong Jung),양승만(Seungman Yang),홍희승(Heeseung Hong),홍성훈(Seonghun Hong),이희진(Heejin Lee),김창묵(Changmook Kim),문지현(Jihyun Moon),강민성(Minsung Kang),김영준(Youngjoon Kim),유근수(Geunsu You),김 한국자동차공학회 2020 한국자동차공학회 부문종합 학술대회 Vol.2020 No.7
The global construction industry is becoming smart as it moves away from the traditional labor-intensive. Doosan Infracore presented a business model that maximizes efficiency and productivity via Concept-x demonstration. This paper introduces the autonomous excavator control system, which was developed by Doosan Infracore Corporation to participate in the Concept-X Project. The unmanned excavator has perception, planning, and control system. In perception system, the unmanned excavator recognizes the surrounding environment and classify the obstacle using various sensors installed on the excavator. In planning system, the excavator estimates work sequence plans, operation trajectory and driving routes. In control system, the unmanned excavator performs work safely and accurately. The performance of the control system is verified with experimental data obtained from Concept-X demonstration scenario.