4D modeling of soil surface during excavation using a solid-state profilometer mounted on the arm of an excavator
Niskanen, Ilpo; Immonen, Matti; Makkonen, Tomi; Keränen, Pekka; Tyni, Pekka; Hallman, Lauri; Hiltunen, Mikko; Kolli, Tanja; Louhisalmi, Yrjö; Kostamovaara, Juha; Heikkilä, Rauno (2020-02-10)
Ilpo Niskanen, Matti Immonen, Tomi Makkonen, Pekka Keränen, Pekka Tyni, Lauri Hallman, Mikko Hiltunen, Tanja Kolli, Yrjö Louhisalmi, Juha Kostamovaara, Rauno Heikkilä, 4D modeling of soil surface during excavation using a solid-state 2D profilometer mounted on the arm of an excavator, Automation in Construction, Volume 112, 2020, 103112, ISSN 0926-5805, https://doi.org/10.1016/j.autcon.2020.103112
© 2020 Elsevier B.V. All rights reserved. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/.
https://creativecommons.org/licenses/by-nc-nd/4.0/
https://urn.fi/URN:NBN:fi-fe2020111890961
Tiivistelmä
Abstract
The aim of this research is to create a 4D point cloud map from a trench through a solid-state 2D profilometer. The profilometer is integrated with an 8.5-ton medium-size excavator’s machine control system with pose calculation. Accordingly, the point cloud was transformed to a work coordinate system. We used a recently developed pulsed time-of-flight laser light detection and ranging profilometer, which makes possible simultaneous depth measurements to 256 directions in an angle range of ±20° and measurement range from 1 m to 8 m with a frame rate of 25 frames per second under sunlight conditions (≈50 Klux). The analysis is based on a 4D map, which consists of 3D data (XYZ) and intensity information. The XYZ coordinates give the position of an object, and the intensity data can be used to roughly identify materials and recognise surface markings, such as texts. An analysis of the results shows that the detection accuracy of the profilometer is better than ±10 mm. The main advantages of our method are accuracy, high update rate, compact size, real-time measurement and a construction without moving parts. Our technique has a great potential in construction applications, where accurate measurements of a surface shape are needed.
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