Safety for an Autonomous Bucket Excavator During Typical Landscaping Tasks

Zolynski, Gregor; Schmidt, Daniel; Berns, Karsten

doi:10.1007/978-3-319-05431-5_24

Cited by 8 publications

(14 citation statements)

References 4 publications

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“…The second stream approached the problem from the monitoring point of view and exploits the real-time information regarding the pose, state and speed characteristics of the equipment to determine the spaces around the equipment that need to be safeguarded to ensure a safe operation within a short time window [11,12,13,14,15,16,17], such spaces are called Dynamic Equipment Workspaces (DEW) in this paper.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, the dynamic equipment workspaces are merely designed as "the last line of defense" [16] to warn the operators against imminent collisions and, thus, are not able to provide the information and time window required for the path re-planning of the equipment. Accordingly, there is a need for a middle-level solution at the monitoring phase that is able to reliably predict the operation of the equipment for a long-enough time window to enable different pieces of equipment to adjust their planned paths and avoid collisions in near-real-time.…”

Section: Introductionmentioning

confidence: 99%

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Visibility and Proximity Based Risk Map of Earthwork Site Using Real-Time Simulation

Vahdatikhaki¹,

Hammad²

2015

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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Approximately 75% of struck-by fatalities in the construction industry are reported to have been caused by heavy equipment. Researchers have addressed the need for the enhanced safety of earthwork equipment using different approaches. However, none of these approaches enables the equipment to accurately predict the operation of other pieces of equipment for a long-enough time window to find a collision-free path using path replanning. Accordingly, the present paper proposes a novel method to generate the risk map of an earthwork site considering the visibility and proximity based hazards. The proposed method integrates the pose and state data of different pieces of equipment with the prediction about the potential paths of equipment, which comes from near-realtime simulation and script-based path planning, to quantify the risk value associated with different portions of the site. The generated risk map can further be used by individual equipment to ensure that their future path is safe or to perform path replanning if required. The proposed method is implemented and tested in a case study. In the light of the results of a case study, it is found that the proposed method is providing a reliable basis for the safety analysis of earthwork sites

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Visibility and Proximity Based Risk Map of Earthwork Site Using Real-Time Simulation

Vahdatikhaki¹,

Hammad²

2015

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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show abstract

“…The correlation between the two types of workspace is that an activity workspace must be the envelope that contains all the DEWs generated by the fleet assigned to that activity over the scheduled period. Although DEWs are alternatively termed in the literature as "safety envelopes" [10,15] or "safety zones" [16], the authors believe that, given the above correlation, it is preferable to use the unified term "workspaces" for both activity and equipment.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, other researchers considered systems that generate warning against dangerous proximities based on the data of Real-time Location Systems (RTLSs) such as Global Positioning System (GPS), Radio Frequency Identification (RFID), and Ultra Wideband (UWB) [10,11,12,13,14,15]. These methods are applied at the monitoring phase aiming to ensure that different pieces of equipment do not collide with one another.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Equipment Workspace Generation for Improving Earthwork Safety Using Equipment Pose and State Data

Vahdatikhaki¹,

Hammad²

2015

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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In the period between 1992 and 2002, struck by vehicles and struck by objects (e.g., vehicle parts, vehicle loads, or falling vehicles) were identified as the causes of 30% and 24% of deaths on excavations sites, respectively. It is therefore of a paramount importance to improve the safety of construction sites by increasing the peripheral awareness of the operators of earthwork equipment. The existing collision avoidance systems often detect collisions based on the workspaces that only account for the geometry and the degrees of freedom of the equipment, and thus disregard the job-site-andstate-dependent characteristics of equipment. This results in reserving a large space for every piece of equipment. Therefore, this paper proposes a novel method for generating dynamic equipment workspaces based on the continuous monitoring of a spectrum of equipment-related information, i.e., the current pose/state of the equipment, and the speed characteristics of each movement. This method uses the required operation stoppage time to determine how much space needs to be reserved for each piece of equipment. A case study is conducted to validate the proposed method. It is shown that the proposed method has a strong potential in capturing the hazardous areas around the equipment and triggering warnings in view of the impending movements of various pieces of equipment.

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Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials

Gonon

Jud

Fankhauser

et al. 2017

Field and Service Robotics

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We present a novel and intrinsically safe collision avoidance method for torque-or force-controlled robots. We propose to insert a dedicated module after the nominal controller into the existing feedback loop to blend the nominal control signal with repulsive forces derived from an artificial potential. This blending is regulated by the system's mechanical energy in a way that guarantees collision avoidance and at the same time allows navigating close to collisions. Although using well-known ingredients from previous reactive methods, our approach overcomes their limitations in respect of achieving reliability without significantly restricting the set of reachable configurations. We demonstrate the fitness of our approach by comparing it to a standard potential-based method in simulated experiments with a walking excavator.

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Safety for an Autonomous Bucket Excavator During Typical Landscaping Tasks

Cited by 8 publications

References 4 publications

Visibility and Proximity Based Risk Map of Earthwork Site Using Real-Time Simulation

Visibility and Proximity Based Risk Map of Earthwork Site Using Real-Time Simulation

Dynamic Equipment Workspace Generation for Improving Earthwork Safety Using Equipment Pose and State Data

Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials

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