2025/3/3-3/7　An Automation Experiment Involving Excavation, Loading, Transport, and Dumping of Soil from an Earth Mound Using a Backhoe and a Crawler Dump Truck

Automation experiments involving excavation, loading, transport, and dumping of earth materials using a backhoe and crawler dump truck were conducted at the Public Works Research Institute’s experimental site. This experiment utilized one backhoe and one crawler dump truck compatible with the OPERA platform, the foundational system for automated construction. Both machines were operated in coordination via the CPS (Cyber-Physical System) platform “ROS2-TMS for Construction,” currently under development in this project. Multiple 3D LiDAR sensors were installed around the embankment to measure its shape, as well as the crawler dump truck’s position and loading status. Based on this sensor data, the system automatically adjusted the backhoe’s excavation and dumping positions, along with the timing of soil discharge.

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