A Study on the Selection and Applicability Analysis of 3D Terrain Modeling Sensor for Intelligent Excavation Robot

Since 2006, an Intelligent Excavation Robot which automatically performs the earth-work without operator has been developed in Korea. The technologies for automatically recognizing the terrain of work environment and detecting the objects such as obstacles or dump trucks are essential for its work quality and safety. In several countries, terrestrial 3D laser scanner and stereo vision camera have been used to model the local area around workspace of the automated construction equipment. However, these attempts have some problems that require high cost to make the sensor system or long processing time to eliminate the noise from 3D model outcome. The objectives of this study are to analyze the advantages of the existing 3D modeling sensors and to examine the applicability for practical use by using Analytic Hierarchical Process(AHP). In this study, 3D modeling quality and accuracy of modeling sensors were tested at the real earth-work environment.