A Study on the Introduction and Application of Core Technologies of Smart Motor-Graders for Automated Road Construction

Hyune-Jun Park; Sang-Min Lee; Chang-Heon Song; Jung-Woo Cho; Joo-Young Oh

doi:10.7474/TUS.2022.32.5.298

All Issue

2022 Vol.32, Issue 5 Preview Page Next Page

Technical Note

A Study on the Introduction and Application of Core Technologies of Smart Motor-Graders for Automated Road Construction 도로 시공 자동화를 위한 스마트 모터 그레이더의 구성 기술 소개 및 적용에 관한 연구

31 October 2022. pp. 298-311

PDF XML

Abstract

Some problems, such as aging workers, a decreased population due to a low birth rate, and shortage of skilled workers, are rising in construction sites. Therefore research for smart construction technology that can be improved for productivity, safety, and quality has been recently developed with government support by replacing traditional construction technology with advanced digital technology. In particular, the motor grader that mainly performs road surface flattening is a construction machine that requires the application of automation technology for repetitive construction. It is predicted that the construction period will be shortened if the construction automation technology such as trajectory tracking, automation work, and remote control technology is applied. In this study, we introduce the hardware and software architecture of the smart motor grader to apply unmanned and automation technology and then analyze the traditional earthwork method of the motor grader. We suggested the application plans for the path pattern and blade control method of the smart motor grader based on this. In addition, we verified the performance of waypoint-based path-following depending on scenarios and the blade control's performance through tests.

Keywords

Smart motor grader

Construction machinery for road construction

Blade control

Waypoint driving

건설현장에서 근로자의 고령화, 저출산으로 인한 신규 인력감소와 숙련된 작업자 부족 등의 문제가 심화 되고 있다. 이에 따라 전통적인 건설기술을 첨단 디지털 기술로 대체하여 생산성, 안전성, 및 품질 등을 향상시킬 수 있는 스마트 건설 기술 연구가 최근 정부 주도로 개발되고 있다. 특히, 도로 건설 장비 중에서 노면 평탄화를 주로 수행하는 모터 그레이더는 선형적이고 반복적인 공사로 자동화 기술의 적용이 반드시 요구되는 건설 기계이다. 시공 자동화를 통해 사람이 작업하기 힘든 험지나 야지 등과 같은 위험한 환경에서도 손쉽게 장비를 제어할 수 있는 원격제어 기술과 효율적인 작업 경로와 작업 조건에 따라 장비를 운영하는 경로 추종 및 자동화 작업 기술 등을 적용하여 기존의 운전자가 작업하는 것보다 공사 기간을 단축할 것으로 예측된다. 본 연구에서는 무인·자동화 기술을 적용하기 위한 스마트 모터 그레이더의 하드웨어 및 소프트웨어 구성 기술을 소개하고 기존 그레이더의 토공 작업 방식을 분석하였다. 이를 토대로 스마트 모터 그레이더의 경로 패턴 및 블레이드 제어 방식 등에 대한 적용 방안을 제시하였다. 더불어 블레이드 제어 성능과 작업 시나리오에 따른 경로점 기반의 경로 추종 성능을 시험을 통해서 검증하였다.

키워드

스마트 모터 그레이더

도로포장용 건설기계

블레이드 제어

경로 추종 주행

References

Alshaer, B., Darabseh, T., and Alhanouti, M., 2013, Path planning, modeling and simulation of an autonomous articulated heavy construction machine performing a loading cycle, Applied Mathematical Modelling, 37(7), 5315-5325. 10.1016/j.apm.2012.10.042

Gho, H.B., Park, K.A., Son, G.S., and Lee, J.K., 2005, New Construction Mechanical Engineering, GoldenBell, p. 464.

Han, X.Z., 2017, Development of Path Generation and Robust Tracking Controller for Unmanned Tillage Tractor in Polygonal Fields, Dept. of Biosystems and Biomaterials Science and Engineering College of Agriculture and Life Sciences Seoul National University, Ph.D. Theses.

Han, X.Z., Kim, H.J., Moon, H.C., Woo, H.J., Kim, J.H., and Kim, Y.J., 2013, Development of a Path Generation and Tracking Algorithm for a Korean Auto-guidance Tillage Tractor, Journal of Biosystems Engineering, 38(1), 1-8. 10.5307/JBE.2013.38.1.001

Joo, H.J. and Lee, K.B., 2021, Changes in Path Tracking Performance of Autonomous Vehicle According to Design Feedback Gain and Look-ahead Distance of Pure-pursuit Algorithm, Transactions of the Korean Society of Automotive Engineers, 29(9), 839-846. 10.7467/KSAE.2021.29.9.839

Lee, C.H., 2018, Research Trend of Autonomous Construction Machinery, Journal of Drive and Control, 15(3), 68-72.

Lee, J.K., Bae, J.H., Kwon, O.K., Kem, H.U., Chai, S., and Hong, D.H., 2022, Strategy for Motor Grader Blade Rotation considering Soil Distribution, Journal of the Korean Society for Precision Engineering 39(3), 201-208. 10.7736/JKSPE.021.115

Lee, S.H. and Adams, T.M, 1999, A path planning algorithm for automated construction equipment, International Symposium on Automation and Robotics in Construction, 13, 543-548. 10.22260/ISARC1999/0084

Park, Y.J., Kim, B.S., and Lee, D.E., 2015, Optimal Tractor-Blade Configuration Planning System for Eco-Economic Dozing, Journal of the Architectural Institute of Korea Structure & Construction, 32(1), 73-81. 10.5659/JAIK_SC.2016.32.1.73

Shevchenko, V. and Beztsennaya, Z., 2015, A method to estimate loading of a motor-grader blade control hydraulic cylinders, International Scientific Journals Machines, Technologies, Materials, 9(12), 75-77.

Shevchenko, V., Chaplygina, O., and Beztsennaya, Z., 2016, An analytical model of the motor-grader movement at perfoming working operations, International Scientific Journals, 1(1), 26-32.

Song, C.H,, Oh, J.Y., Cho, J.W., Kim, M.G., and Seok, J.H., 2021, Discrete element analysis for design modification of leveling blade on motor grader vehicle, Journal of Korean Tunnelling and Underground Space Association, 23(6), 324-438.

Yoon, Y.J., Kim, J., Kang, D.J., 2011, The Study of the Autonomous Driving Method for Tracking Way Point at the Unmanned Vehicle, Institute of Control, Robotics and Systems, pp. 1-5.

Information

Publisher :Korean Society for Rock Mechanics and Rock Engineering
Publisher(Ko) :한국암반공학회
Journal Title :Tunnel and Underground Space
Journal Title(Ko) :터널과 지하공간
Volume : 32
No :5
Pages :298-311
Received Date : 2022-10-14
Revised Date : 2022-10-20
Accepted Date : 2022-10-20
DOI :https://doi.org/10.7474/TUS.2022.32.5.298

Tunnel and Underground SpaceISSN:1225-1275(Print) 2287-1748(Online)한국암반공학회

All Issue