DEVELOPMENT OF AUTOMATED DRIVING METHOD FOR ROCK SCALING IN MOUNTAIN TUNNELS IN GNSS-DENIED ENVIRONMENT

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  • 山岳トンネルの切羽コソク作業を対象とした非GNSS環境下の自動運転手法の開発

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<p> In mountain tunneling, many fatalities occur in the tunnel face after blasting due to falling rocks, and the face should be unmanned as soon as possible. Automated machines and remote-controlled machines have already been introduced to construction sites to reduce manpower and improve safety, but there are no examples of unmanned or automated face scaling. On the other hand, unmanned construction, which began in 1993 in response to pyroclastic flows and mudslides caused by the eruption of Mount Unzen-Fugen, is now being implemented by local construction companies in some cases, and is expected to become widespread. However, automated operation is still difficult. In this study, aiming at the spread of automatic operation in construction sites, we developed a method to automate existing construction machinery and applied it to automatic driving and automatic scaling in mountain tunnels, which are GNSS-Denied environments, by utilizing SLAM (Simultaneous localization and mapping). We also verified its practicality.</p>

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