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毕业设计(论文)外文资料翻译院 （系）： 机电信息系 专 业：机械设计制造及其自动化 班 级： B070203 姓 名： 韦力 学 号： B06020822 外文出处： 国外英文期刊 附 件：1. 原文 2. 译文 2011年5月Laser technology-based robot path-tracking system lifting tower craneAbstract:With the increasing number of high-rise buildings and also the use of tower cranes, their number now tops 3,000 a year in South Korea. Therefore, the working area and high-repetition-the work of the security problems the efficiency of the lifting of materials to high places process. As an alternative to the traditional tower cranes, we are developing a robot tower crane system. Through the development of a robotic crane system, we expect productivity growth of 9.9% -50% based on the improvement of the previous research findings. In this study, we studied the feasibility of laser-, technology-based robot path lifting tower crane system, tracking system. There are efforts to develop robots tower cranes, but they can travel through the pre-planned path or just blind to stop the problem. We propose to use laser devices, the encoder robot tower crane system, and an accelerometer, and tested in the indoor, outdoor, and swing the feasibility conditions. In this process, we have developed a software application capable of receiving and recording data from the laser equipment. Experimental results show the robot in a variety of outdoor conditions, tower cranes, the feasibility of the proposed abolition of the path tracking system. Several restrictions have also been recognized.Key words: laser ranging; robot tower crane; Auto-Lift System1.Introduction Many of the world nation-building and competitive construction techniques and materials engineering to promote the progress of high-rise buildings and skyscrapers. United Arab Emirates, for example, is building Burj Dubai, this will be a more than 800 meters of the worlds highest, the U.S. is to establish a Freedom Tower about 540 meters height of South Korea also plans to Yongsan and Songdo, Incheon, Incheon Tower landmark. According to Sun ZHONG Kang, responsible for the Dubai tower project, more than 1000 meters of the construction project manager in the current range of construction technology, taking into account the pace of development of construction technology and building height of more than 4000 meters will be feasible within 50 years. The use of tower cranes have gone up, the annual global Manhattanization trends. Table 1 shows that from 2001 to 2005 annual use of tower cranes in Korea, rates of increase.Table 1 in 2001 to the year 2005 the use of tower cranes in South Korea the rate of increaseYear20012002200320042005The number of tower cranes21042951310029853278Average annual growth rate of40.3%5.0%3.7%9.8%Table 2 is expected to reduce the use of construction cranes lift the robot system, the timeFellowCrane typesRecommended systemTest MethodThe abolition of less timeEverett and SlocumMobile craneMonitoring SystemField Test16%21%RosenfeldCraneGeneral concept of robot tower craneSmall-scale laboratory tests using a gantry crane15%50%Lee, etc.CraneMonitoring SystemField Test9.9%38.9%In this study, we propose the use of laser technology, tower cranes and report the feasibility of indoor and outdoor test results raise the path tracking system. The proposed system includes: two core modules of the lifting of the path planning module and the lifting of the path tracking module. The concept of the basic operation is similar as shown in Figure GPS car navigation systems.Figure 1:Figure 1 during operation of the robot tower cranesThe proposed construction site of the work process assumes that the deployment of one of the BIM (Building Information Model) process. First, the system receives the material identifier to lift from a central database to store the construction progress and 3D-BIM model. With an integrated global positioning systems and RFID readers workers in the field of materials found in a lift from the yard (Figure 1 (a). Lifting path is used as a starting point and from the target location as a central database (Figure 1 stocked materials, installation location location (b) above). Once the virtual path is generated by the lifting of the path planning module, so mobile tower cranes (Figure 1 (c) above). The actual path, however, may be a different path, as the program wound cable or lifting of the different weight of the material change in the length of cable is to remove these variables. These differences may lead to security incidents, therefore, the actual path of deregulation is essential, and if these differences have been detected, the lifting of the path planning module must immediately send the revised plan the path of tower cranes (Figure 1 (d) above). Lifting path planning method, has made great progress.2. Previous research Has Currently in efforts to develop a high-rise building construction robot system. The main motivation for including in the workers, due to the low birth rate, decrease in the number of workers in technology reduce the number of and the need to improve productivity and building process. In the SMART (Shimizu Manufacturing systems advanced robot technology) system is a fully automated high-rise building construction system. Robotic total station by several motor and a very sensitive optical sensor. Therefore, even if their prices, and the durability of the machine needs to be checked. Table 3 summarizes the strengths and consider alternative questions.Table 3 and issues to consider alternativeConsider alternativeStrengthsIssueMachine VisionRelatively inexpensiveInaccurateIs very sensitive, does not match outdoor light conditionsThe problem to be blind spotsRTK technology, domestically prohibited goodsAccurateVery expensiveBy the power supply problemsIn addition to signal interference problems with the hook blockA matching GPS SystemCheapPower supplyIn addition to signal interference problems with the hook blockA single laser measuring deviceRelatively cheap and simpleThe problem to be blind spotsWinch on a potentiometerRelatively inexpensiveInaccurateA robotic total stationAccurateVery expensiveThe problem to be blind spotsNon-durableAfter reviewing the various types of the latest sensor technology, we found a relatively inexpensive, durable, accurate laser can be used in our system sensors. In addition to laser sensors, our system uses encoders and accelerometers to measure the rotation angles. We first explain these sensors work, and describe the characteristics of the selected laser modules, more details.3. Proposed systemThis study proposes a robot as a tower crane, which is the lifting system and the rotating components of controllable lifting hook block the path tracking system. Such as the introduction explained to upgrade system is a lifting of the path planning system and the lifting of the path tracking system. A rotary control is a hook block hook block can be rotated to lift materials, the ideal angle to suit the material between the two columns after the abolition of the target location. We have developed a rotary control hook block. Fig. Second, rotate the picture developed controllable hook block. It is not fully automated, but the remote through a top-level workers in control of the building.Figure 2 rotating hooks control blockThe focus of this study is to raise the path tracking system uses laser instruments to measure the linear distance and an encoder and accelerometer to measure the horizontal and vertical angles. The proposed system is suitable for luffing crane tower crane and a slight change. In the case of tower cranes, two laser device and an encoder to use (Figure 3 (a). A laser device, a fixed arm and mast intersection, of the horizontal distance (R value) to the real-time trolley. Other laser device is connected to a vehicle and measures the vertical distance (ie, Z values) of a hook block. Last year, a rotation angle () is a measure of an encoder to read the value of the sensors connected to the turntable.Figure 3 of the proposed tower crane on the system installation and luffing crane(A) the proposed system of tower crane installation (b) the proposed system on a luffing crane installationIn the crane expert advice, we understand that the safest way to operate a tower crane will move in the direction of lifting material, and then in another first: namely, in the vertical direction, horizontal direction is. The road material is removed, can be a Group 3, represented by dimenstional Series Cartesian coordinates (x, Y, Z axis) or the polar coordinates (R, , z), from receipt of the laser device. x The definition, y and z in the different systems developed on the origin of the definition (for example, the operator of the tower crane or material inventory cabin location) may be. Our system receives the data from the sensors in polar coordinates. The polar coordinates can be easily converted into rectangular coordinates using triangulation. For the luffing crane, and no car to measure a horizontal distance can be measured arm angle. In a luffing crane, laser equipment, encoders, and to the use of an accelerometer (Figure 3 (b) above). A laser device is connected to a luffing crane to report to measure the vertical distance of a hook block (in the z value). Encoder is used to measure a tower crane (ie, value) the level of rotation angles. In addition, an accelerometer is used to measure an arm (ie, values) inclination. The formula is as follows, and the rest through the use of R value can be calculated from the value of the above formula. (1) r = l * cos Where r - the lifting of material from a horizontal distance of the arm end; l - an arm length; - arm of the slopes.These values are sent to a video monitoring system, visually pleasing to the eye, comparing the planned path and actual path of Figure 4. If there are any plans to deviate from the actual path of the road, plan the path real-time regeneration.Figure 4 A laser measurement module connected to the Ultra-Mobile PCs4.The scope and applicability of the field test methodsIntroduction to the five potential problems, the lifting of the path tracking system, as follows:- Blind spot problem- Power supply problems- Long distance problem Lifting- Material swing problems- Durability.Our system is not blind. Nor is there any electricity, because they are connected to a car, or a, instead of a hook block in a moving cable, the first sensor arm hanging technical problems. Now the car market in the provision of electricity in commercial products. Therefore, this study on the remaining three issues, focused on the following verification of the site of our systems viability:- It is feasible to measure the distance of 100-200 meters?- Is measured as accurately as possible, even if the material is made from wind or swing, or because of inertia?- Whether there is dust, such as weather conditions or other problems caused by external factors?First, the scope and range of error allowed the definition of the experiment. This study a limited range of buildings less than 200 meters, because the buildings in the city is generally not more than 200 m experiments were carried out laser equipment, simply because there are some external factors affect the encoder or the accuracy of the accelerometer. The margin of error in the laser device is allowed to be set at 10 cm in view of the accuracy of laser devices and materials, the exact location, even in the wrong direction, 50 cm may be acceptable, because the material is usually more than 30 centimeters in width. Experiments were carried out in three different places. The first experiment was carried out outside the indoor environment variables (including the light conditions) and can be easily controlled, test the overall performance of laser devices. The second is to do the outdoor environment and outdoor testing long-distance measurement accuracy. Then, in the field tests, found no unexpected factors.5.Choose laser systemIn order to select a laser sensor suited to our needs, we interviewed 12 experts in the building of robots - 7 from academia and industry 5. The following nine factors for consideration as an important discussion: Real-time measurement of distance, maximum distance measurement error range, laser safety, durability, and other equipment, volume, weight, compatibility and price. Table 4 shows the list of nine factors, and each factor of laser devices, we have to elect the candidates (MDLs LaserAce Instant R150) value. There is not much a candidate can meet our standards. As the development of only a few laser-think of a way less than 10,000 yuan in real-time time measurement. In addition, there are fewer devices, small enough to be connected to a trolley, there is a device, measurement data transfer to other devices.Table 4 to select a standard laser equipmentLaser ModuleMilitary Demarcation Line LaserAce Instant R150Real-time measurementMayMaximum measuring distance (reflection, when exclusive use)600mAccuracy100mmLaser SafetyClass 1Durability (IP code, durability)IP67Compatibility with other devicesRS232, USBDimensions (L W H)1035438mm3Weight (kg)0.26PriceAbout $ 3000Laser Safety is divided into standardized, reducing the number of classes and strata, and better security. For example, the safety of Class 1 equipment, than the first two classes. For electronic equipment, IP code for durability, used to represent the surrounding dust cover and liquid electronic equipment environmental protection. The first IP address of a representative of the protection of solid objects (such as dust), the second liquid protection. The first 6 digits means having a sound device, while the second refers to the seven devices proved to be completely liquid solid objects of protection. Therefore, IP 67 represents the best durability. For example, a product of the rated grade IP54, our consideration. This means that the product may be maintained at a high-water damage to heavy rain conditions. On the other hand, the military demarcation line LaserAce Instant R150, we have chosen the product, rated grade IP67, therefore, completely dust and waterproof. Compatibility with other devices is a measure of the number and the port of a laser device support type. In 1 million or less in many laser measuring devices have built-in data indicators, but not a separate data port, therefore, impossible to send the measured data. On the other hand, the military demarcation line LaserAce Instant R150 can send data through RS232 and USB interface to personal computers, despite its record of its own lack of data. Therefore, our researchers have developed a stand-alone data logging software applications that can transmit and store measurement data transmitted to the UMPC (ultra-mobile personal computer real-time). Figure 5 shows a laser module to connect to the Ultra-Mobile PCs. Figure 5 Visualization Monitoring System6.Experiment 1 - Outdoor TestIn the outdoor experiment, we tried to find errors and systematic application of the degree of potential problem sites, because the error may occur due to the interference of laser radiation factors (in the brightness of the object being examined by a different light, interference measurements in the beam path, as well as night-time environment, ). Cardboard is used as part of a general default settings, and measure distances more 1,5,10,20,50,100 and 200-meter outdoor experiments show that measuring the distance may only be up to 240 meters, far exceeding the 600 meters as described in Maximum measuring distance minus the manual laser rangefinder module. However, when measured from 200-240 m, a subtle change in order to ensure perpendicularity, needs, and sometimes is impossible to measure distance. Up to 200 meters measured, the measurement error distance of 10 centimeters or less than 0.05 and 95% confidence level significance probability (table 6) little. Consideration of work in the evening to carry out tests, after sunset, but laboratory testing, measurement is impossible, due to interference from the street lights.Table 6. Outdoor test results - Linear MotionDistance (m)MaximumerrorPatternAverageStandard deviationtDOFSignificance level (one-tailed)10.061.041.040.009897.61690.00050.075.045.040.0094360.18690.000100.0410.0210.020.0136586.96690.000200.0620.0320.030.00822,077.32690.000500.0350.0050.000.01136,439.95690.0001000.0999.98100.010.03226,141.91690.0001500.09149.99149.990.03140,832.96690.0002000.12199.91199.920.02276,565.48690.0007. Experiment 2 - field testField test in a tower, Cheonan, Chungchungnamdo crane rental companies. In the field test is to identify the swing issue, which may be the actual situation, and other unexpected incidents in the attached laser equipment trolley intended. However, we can not do that, because our pilot scheme, due to management of security issues. On the contrary, the laser device installed in the ground, has been canceled material is tied to the hook swing hook to test the impact (Figure 6 and Figure 7).Figure 6 white foam board and tape connected to a hook block: laser device, placed on the ground, due to security issuesFigure 7 in the air, hook blockMaterials may shake or swing control, was a trolley, hook block and wheel transportation. Field tests showed that when the car and hook block operations, almost no swing, unlike our hope that, because this material was withdrawn, it is extremely heavy hook block support, two or four wire rope. When the turntable rotation, however, rotating hook blocks of the direction of swing occurred because of inertia and materials. In general, the small impact of wind like we had hoped, because the law required the construction work must stop, if the wind speed over 10 meters / second test day, maximum wind speed of 17 m / s measured distance of 2,5 , 10,20 the distance between the ground 36 meters from the trolley. During the experiment, similar to the previous experiment, and measured the distance the material attached to a tape measure confirmed to be dismantled. When the laser equipment can not detect a reflective surface, it returned to the 99999 error signal. In the experiment, when the swing out of the detection range of materials, due to strong winds, the laser device to return a wrong signal. When the swing of material, by laser detection range is passed, immediately felt the material and return to normal values. In the data analysis, the error signal is filtered out. Table 7 shows the results. The results showed that measurement is possible in the wrong direction less than 10 cm for each measurement part.Table 7 Field Test - Vertical MovementDistance (m)Maximum errorPatternAverageStandard deviationtDOFSignificance level (one-tailed)20.102.072.070.0353.01690.007550.135.075.070.052931.97290.0400100.0810.0510.050.030185.23890.0005200.1120.0720.070.048642.01690.0375360.0936.0636.060.022246.40090.0000Laser beam go straight, but also in the proliferation of a certain distance. Because of this effect, it can measure distances, even if the reflector plate is a little bit from the center (Figure 8) astray. In order to determine what kind of distance, can be measured fluctuations in the material and decide on the appropriate size of the reflection plate extent, we conducted more tests. We are gradually from the center of the reflector, the laser equipment can not be measured until the distance. As shown in Table 8, the laser device to work off the board until the reflection is about 0.15 meters (15 cm) center. In other words, measurement is still possible even sway in the material of about 0.15 meters (15 cm).Figure 8, the scope of measurable levelsTable 8 Outdoor test results - Rocking MotionDistance (m)0.55102050150200Maximum. To measure the level of range (m)0.6650.6600.6680.6670.6780.6920.693However, even a small swing may lead to serious bias and hook blocks are greatly affected by the cable length of 200 meters a possible solution to this problem, as previously mentioned in the previous section, is attached a robot with electric multi - , rather than a fixed angle of laser device and a prism of the hook block, rather than a trolley-axis movement reflected total station. Today, the robot can automatically track the prism Total Station is a prism, even if a second disappeared. However, they are still very expensive, and may be easily broken when the car, while the constant vibration and shaking on. Another solution is to expand the reflective plate, but there is a size limit, what can be attached to a hook block. You can also deviate from the angle of reflection and reflective light beam may not be able to return to the laser equipment. In the angle of reflection can be resolved to a certain extent, the use of corner cube retroflector. A cube retroflector (or a corner cube or in a short corner reflector) is an optical device (reflection), reflecting the light from any direction back to their source placed on the use of three orthogonal mirrors, regardless of the direction of the corner cube. However, a corner of the cube not because it is possible to set restrictions on the size and dust and rain the ultimate solution. Another solution is to use an algorithm to carry out meaningless data filters. In the next section, swing the algorithm to solve the problem will be discussed and in-depth discussion of this issue.8. An algorithm to solve the problem of the swingThe following algorithm, the proposed deal is not the correct data transmission problems. Proposed adjustment algorithm uses a method, measures the value of the vertical lift vector (ie, abolishing the membership rate), and then calculate and store the value of the vertical lift (Z value) to use the speed up to a certain point, rather than the actual velocity measurement, if the deviate from the measured speed setting range. In general, if the distance of horizontal movement is impossible to measure because the laser beam is usually not achieve the reflective plate, a trolley to measure the distance from the ground, its value will be far greater than the normal value. The proposed algorithm can be described as follows by using the pseudo-code:z0 = current z value z1 = new z valuedt = time intervalvelocity1 = (z1 z0)/dt / new velocityvmax = the maximum velocity of a lifted material in a normal situationif 0 velocity1 and velocity1 vmax / a normal case z0 = z1 / Replace the current z value (z0) with the new z value (z1). velocity0 = velocity1 / Replace the current velocity value with the new velocity value.else / an abnormal case z2 = z0 + (velocity0 dt) / Calculate the assumingly normal z value (vertical location). velocity0 = (z2 z0)/dt / Recalculate and replace current velocity value with new velocity value.z0 = z2 / Replace the current z value (z0) with the newly calculated
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