Visualization of optimal travel route using 3D terrain information for safe-movement of construction equipment towards autonomous construction

Unmanned construction systems are being promoted through remote control to increase labor efficiency and improve the working environment in the construction industry. During remote operation, it is difficult to accurately grasp the three-dimensional situation of the machine, and when the machine is moving, it is difficult to accurately grasp the inclination of the machine, which can cause accidents. Therefore, this study proposes a visualization system that can show the area where the construction equipment can safely travel while deriving the shortest route to the destination for greater efficiency, thereby realizing efficient and safe travel during remote control and assisting detours in an emergency. The proposed system first calculates and presents to the operators the safety of driving based on the 3D information of the terrain to prevent the machine from tipping over. To evaluate safety, the slope and stability of the terrain are considered. For example, the safety of the area where the construction equipment cannot climb hills, and the machine is unstable while traveling is estimated to be low. Based on the stability of the terrain, a route search algorithm is used to find the appropriate routes to the destination, and the shortest route and the safest area can be presented. In a verification experiment of the proposed method, we confirmed that the proposed method correctly presents a safe route by avoiding obstacles at an actual construction site. Additionally, by placing obstacles that could cause accidents in a hypothetical situation, it was confirmed that a travelable shortest route can be derived. This method enables a simplified understanding of the safety of the terrain by highlighting information on the slope, which is a factor in accidents during remote control.