Judgement of Trafficability of Construction Machinery Based on Estimation of Soil Parameters from Spectral Images

In the event of a disaster, unmanned construction with remotely operated construction machinery is critical for quick disaster recovery. Those machines can weight up to several tons and can easily sink on inadequate soil. Therefore, it is important to judge the trafficability of remotely operated construction machinery at a disaster site. In this research, we propose a non-contact method for judging trafficability. The proposed method classifies the soil type and estimates the water content using spectral images. The cone index is then estimated and the trafficability is judged from the cone index. As experiment, we judged the trafficability for a real construction machine using the proposed method. The results showed the effectiveness of the proposed method based on soil type classification and water content estimation.