Modular data communication methods for a robotic excavator

Abstract

This paper introduces a robotic excavator with various hardware and software modules including a task planner (work command generator), work environment sensors, GPS and other sensors to acquire an excavator's status, as well as a robotic controller, electronic valves and other mechanisms. Both wired and wireless connections between these modules are required because of the remotely located control center and sensors. The modules of this robotic excavator also need to form an efficient and error-free data communication network considering the operational characteristics of the automated excavation work. Data communication methods, procedures and protocols of the excavator are addressed. A Data Communication Manager (DCM) is developed using TCP/IP, socket connection, and FTP for macro level communication between the modules, and a data communication protocol for each excavation process is established. Through simulation and field testing, the robustness of the data communication and networking were verified.