著者

Kazumasa TAKADA Renato SATO Shoma SATO Morito ITO Ryota TSUCHIYA Koki KIKUCHI Masahiro SHINDO Akira KAMEI Toshihiro KONDO

出版者

Japan Society for Design Engineering

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

pp.2021.2947, (Released:2022-03-18)

参考文献数

14

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In order to achieve unmanned construction with a pneumatic caisson method, the present study develops an autonomous operation system using caisson shovels. The shovel mounted on the ceiling slab of the working chamber moves on a rail track and excavates underground based on the trajectory of a skilled human operator. The excavated soil is removed to the aboveground space through the material shaft using earth buckets. Since the rail track constrains the moving range and the shovel cannot always approach the earth bucket, groups of several shovels are organized to perform cooperative work based on a bucket relay system. In the present paper, we proposed a job scheduling algorithm based on terrain recognition, soil mountain selection, excavation trajectory control, and collision avoidance for an autonomous operation. Here, we used a 1/10-scale caisson platform reproducing a practical construction site and performed three cases of cooperative experiments by (a) a group of two shovels, (b) two groups of two shovels, and (c) three groups of two shovels. The results showed that, in case (a), the loading ratio always remained over 100% and the average was 130%. The cooperation of two shovels was achieved. In case (b), sharing an initial soil mountain between two groups, although the loading ratio decreased by 18%, cooperative work between groups as well as that between shovels was achieved without collisions. In case (c), sharing two initial soil mountains among three groups, the loading ratios were 126%, 107%, and 96% for the three groups. The proposed excavation planning showed the feasibility of massive construction using numerous autonomous shovels.

著者

Kazumasa TAKADA Renato SATO Shoma SATO Morito ITO Ryota TSUCHIYA Koki KIKUCHI Masahiro SHINDO Akira KAMEI Toshihiro KONDO

出版者

Japan Society for Design Engineering

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.57, no.8, pp.381-396, 2022 (Released:2022-08-05)

参考文献数

14

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In order to achieve unmanned construction with a pneumatic caisson method, the present study develops an autonomous operation system using caisson shovels. The shovel mounted on the ceiling slab of the working chamber moves on a rail track and excavates underground based on the trajectory of a skilled human operator. The excavated soil is removed to the aboveground space through the material shaft using earth buckets. Since the rail track constrains the moving range and the shovel cannot always approach the earth bucket, groups of several shovels are organized to perform cooperative work based on a bucket relay system. In the present paper, we proposed a job scheduling algorithm based on terrain recognition, soil mountain selection, excavation trajectory control, and collision avoidance for an autonomous operation. Here, we used a 1/10-scale caisson platform reproducing a practical construction site and performed three cases of cooperative experiments by (a) a group of two shovels, (b) two groups of two shovels, and (c) three groups of two shovels. The results showed that, in case (a), the loading ratio always remained over 100% and the average was 130%. The cooperation of two shovels was achieved. In case (b), sharing an initial soil mountain between two groups, although the loading ratio decreased by 18%, cooperative work between groups as well as that between shovels was achieved without collisions. In case (c), sharing two initial soil mountains among three groups, the loading ratios were 126%, 107%, and 96% for the three groups. The proposed excavation planning showed the feasibility of massive construction using numerous autonomous shovels.

著者

今関 一飛 保井 俊之 前野 隆司

出版者

Japan Society for Design Engineering

雑誌

設計工学 (ISSN:09192948)

巻号頁・発行日

vol.51, no.1, pp.51-66, 2015

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Wants Chain Analysis (WCA) is a method that analyses relationships between stakeholders. WCA is an intuitive and useful method, however it have not a way to evaluate quantitatively. Therefore it is difficult to use WCA for a decision-making. The proposed method provides a quantitative method for WCA and it can be used for a decision-making. In this method, at first, usual WCA is performed for as-is and to-be system. Next, "overall satisfaction of wants (OSW)" is calculated for all stakeholders and each system. To calculate the OSW, concept of Analytic Hierarchy Process is applied. If the difference of OSW between to-be and as-is system is positive in all stakeholders, the to-be system is valuable. Therefore, by using the proposed method, we can decide whether the system is effective or not. To validate this proposed method, we tried to apply this method to example of real business-model. Through this analysis, effectiveness of proposed method is confirmed.