Abstract
Abstract
Real-time, three-dimensional (3D) visualisation technology can be used at construction sites to improve the quality of work. A 3D view of the landscape under work can be compared to a target 3D model of the landscape to conveniently show needed excavation tasks to a human excavator operator or to show the progress of an autonomous excavator. The purpose of this study was to demonstrate surface visualisation from measurements taken with a pulsed time-of-flight (TOF) 2D profilometer on-board a semiautonomous excavator. The semiautomatic excavator was implemented by recording the feedback script parameters from the work performed on the excavator by a human driver. 3D visualisation maps based on the triangle mesh technique were generated from the 3D point cloud using measurements of the trenches dug by a human and an autonomous excavator. The accuracy of the 3D maps was evaluated by comparing them to a high-resolution commercial 3D scanner. An analysis of the results shows that the 2D profilometer attached to the excavator can achieve almost the same 3D results as a high-quality on-site static commercial 3D scanner, whilst more easily providing an unobstructed view of the trench during operation (a 3D scanner placed next to a deep trench might not have a full view of the trench). The main technical advantages of our 2D profilometer are its compact size, measurement speed, lack of moving parts, robustness, low-cost technology that enables visualisations from a unique viewpoint on the boom of the excavator, and readiness for real-time control of the excavator’s system. This research is expected to encourage the efficiency of the digging process in the future, as well as to provide a remarkable view of trench work using an excavator as a moving platform to facilitate data visualisation.
Graphical abstract
Funder
Business Finland
University of Oulu including Oulu University Hospital
Publisher
Springer Science and Business Media LLC
Subject
Electrical and Electronic Engineering,Condensed Matter Physics