The analysis of excavator operation by skillful operator - extraction of common skills -

In general, the hydraulic excavator is used on many construction sites, but in many cases, these construction sites are bad environmental conditions. Therefore, the unmanned excavator system is required. In recent years, the teleoperation systems have been developed and some of them are in practical use. In these systems, the operator cannot sense condition of site directly, so the work efficiency decreases comparing to a direct control by human operator. On the other hands, there is an approach to realize the unmanned excavator operation based on the autonomous machine control system. However, it is difficult to make its model and plan the excavating trajectories because it is difficult to make an excavating environmental modeling. Besides, it is thought that the skillful operator adaptive their operation to the excavating environment based on their empirical knowledge, and realizing the efficient excavating. In this study, we are developing an autonomous excavator control system with efficient operation function based on analyzed skills of operation by the skillful operator.