构建智能工地系统，用虚拟模型远程指挥机械自动施工
Development of CPS Platform for Autonomous Construction
- 通过传感器数据构建工地数字孪生，实时映射现场状态
- 利用行为树控制机械，实现挖掘机与铲运机协同作业
- 适合关注智能建造、无人化施工的工程与自动化研究者
近年来，日本等发达国家因出生率下降和人口老龄化，施工现场面临严重人力短缺。为此，我们开发了名为ROS2-TMS for Construction的开放平台，作为面向施工现场的网络物理系统（CPS），旨在提升土方作业的效率与安全性。该系统在工地上部署传感器，全面采集环境信息，并基于这些数据在数字空间中构建实时虚拟工地。根据虚拟环境中施工机械状态与环境条件，系统计算出最优操作指令并控制实际机械执行。本项目采用日本公共工程研究所（PWRI）开发的机器人与自主作业开放平台OPERA，通过自定义扩展的行为树实现对施工机械的控制。本文重点介绍OPERA的新导航模块及ROS2-TMS for Construction的整体架构，并通过履带式装载机和反铲挖掘机的实验验证了系统的功能可行性。
原文摘要 · Abstract (English)
In recent years, labor shortages due to the declining birthrate and aging population have become significant challenges at construction sites in developed countries, including Japan. To address these challenges, we are developing an open platform called ROS2-TMS for Construction, a Cyber-Physical System (CPS) for construction sites, to achieve both efficiency and safety in earthwork operations. In ROS2-TMS for Construction, the system comprehensively collects and stores environmental information from sensors placed throughout the construction site. Based on these data, a real-time virtual construction site is created in cyberspace. Then, based on the state of construction machinery and environmental conditions in cyberspace, the optimal next actions for actual construction machinery are determined, and the construction machinery is operated accordingly. In this project, we decided to use the Open Platform for Earthwork with Robotics and Autonomy (OPERA), developed by the Public Works Research Institute (PWRI) in Japan, to control construction machinery from ROS2-TMS for Construction with an originally extended behavior tree. In this study, we present an overview of OPERA, focusing on the newly developed navigation package for operating the crawler dump, as well as the overall structure of ROS2-TMS for Construction as a Cyber-Physical System (CPS). Additionally, we conducted experiments using a crawler dump and a backhoe to verify the aforementioned functionalities.
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