CAD-Integrated Real-Time Control for Robotic Excavation and Pipe-Laying: Development and Testing

DTFH6194-R-00143
Trenching excavation and pipe-laying are, without a doubt, some of the most dangerous operations in construction. More than 200 people a year, in the United States alone, are killed during these operations. Machines that can reduce or eliminate the exposure of humans to these risks have the highest potentials to change the present situation. This research project was initiated under the contract between the Federal Highway Administration and North Carolina State University in order to develop and evaluate the concept of spatially integrated excavation. The research team had access to three important hardware components: 1) a robotic excavator in the laboratory; 2) a John Deere 690C backhoe excavator equipped with electronic transducers for measuring joint angles; and 3) the ODYSSEY, a laser based spatial positioning system that was integrated with the excavator. The overall goal of this project was to prove the technical feasibility and effectiveness of laser-based spatial position control under real-world conditions. In addition, innovative technologies for the detection of buried metal obstacles and the laying of large pipes without the need for humans in the trench were successfully tested. It is believed that the results of this research project lay the foundation for a dramatic reduction in the number of casualties caused by collapsing trenches, ruptured gas pipes, etc. Additionally, a variety of other benefits can be gained. For example, the automatic establishment of as built drawings, reduction of damaged utilities, increase of productivity due to the quantity of materials to be excavated (to meet Occupational Safety and Health Administration requirements), and finally, the reduction of errors.