Automatic Excavation System with Multiple Excavators in the Pneumatic Caisson Method

In this study, we propose an automated excavation system for pneumatic caisson construction using either a single excavator or multiple excavators. The system divides the work area among the excavators and manages the transition of occupied states in shared areas to reduce the risk of collisions. Additionally, the Laplace potential method is employed for path planning to avoid collisions with equipment inside the caisson. The system also includes a mechanism for disposing of soil outside the caisson by dumping it into an earth bucket. To confirm the effectiveness of the proposed method, verification tests were conducted: one using a single excavator in a narrower-than-usual caisson, and another using two excavators in a test field. These tests demonstrated the method’s effectiveness.