Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real...Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.展开更多
Whilst industrial robots have been widely used in many industrial sectors, they are predominantly used in a structured factory environment. In recent years, off-site robotics have been investigated extensively and the...Whilst industrial robots have been widely used in many industrial sectors, they are predominantly used in a structured factory environment. In recent years, off-site robotics have been investigated extensively and there are some promising candidates emerging. One such category of robots is exoskeleton robots and this paper provides an in-depth assessment of their suitability in assisting human operators in undertaking manual operations typically found in the construction industry. This work aims to objectively assess the advantages and disadvantages of these two suits and provide recommendations for further improvements of similar system designs. The paper focuses on the passive exoskeleton robotic suits which are commercially available. Three types of activities are designed and a mechatronic methodology has been designed and implemented to capture visual data in order to assess these systems in comparison with normal human operations. The study suggests that these passive suits do reduce the effort required by human operators to undertake the same construction tasks as evidenced by the results from one focused study, though a number of improvements could be made to improve their performance for wider adoption.展开更多
Based on the original construction technology,construction robots are realized by integrating industrial information technology,and construction robots are used to replace manual labor in completing construction proje...Based on the original construction technology,construction robots are realized by integrating industrial information technology,and construction robots are used to replace manual labor in completing construction projects.China’s research on construction robots is still in its early stages.Research efforts need to be increased in order to promote better applications of construction robots.To this end,by analyzing the application of modern construction robots,we conduct a comprehensive study on the development of construction robots to ensure that construction robots can be widely used in the future.展开更多
The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order ...The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.展开更多
There are many processes involved in construction, it is necessary to optimize the path planning of construction robots. Most researches focused more on optimization algorithms, but less on comparative analysis based ...There are many processes involved in construction, it is necessary to optimize the path planning of construction robots. Most researches focused more on optimization algorithms, but less on comparative analysis based on the advantages and shortcomings of these algorithms. Therefore, the innovation of this paper is to analyze three advanced optimization algorithms (genetic algorithm, hybrid particle swarm algorithm and ant colony algorithm) and discuss how these algorithms can improve the optimization performance by adjusting parameters. Finally, the three algorithms are compared and analyzed to find an optimization algorithm that is suitable for path planning optimization of construction robots. The purpose of the optimization is to obtain the maximum benefit with the least cost and complete project in an efficient and economical way.展开更多
The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the ...The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the construction scene.Although many available studies on the localization have been conducted,only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes.To realize the accurate localization of mobile robot in designated stations,we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map.Then,the performances of localization for mobile robot based on the original and optimized map are compared and evaluated.Finally,experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21%compared to that of the original map.展开更多
The traditional automated guided vehicle(AGV) on goods delivery faces the challenges when task space expands beyond 2 D plans. 3 D environments such as uneven terrain, ramps, and staircase are typical in construction ...The traditional automated guided vehicle(AGV) on goods delivery faces the challenges when task space expands beyond 2 D plans. 3 D environments such as uneven terrain, ramps, and staircase are typical in construction site. Thus, the key to introducing this technology into construction industry is to improve AGV’s stability and autonomous navigation ability in more complex three-dimensional environments. In this paper, mobileman, a novel tracked autonomous guide vehicle, is introduced. Compared with other construction robots, mobileman maximizes its load capacity on the basis of assuring accessibility. Furthermore, its modular designs and self-balancing platform enable it to cope with more complex challenging scenarios, such as staircase with 35-degree sloped staircase, while another modular design featured automated loading and unloading functionality. The mobile base specifications were presented in section two, and modular designs and exploration of the navigation system on construction site were illustrated in the rest of sections.展开更多
Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore,...Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore, combining the training goal of mechanical design, manufacturing and automation in Beijing (Beijing), it is necessary to cultivate new direction and cultivate new growth point for “old” mechanical specialty. And social and economic development has a very important significance.展开更多
文摘Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.
文摘Whilst industrial robots have been widely used in many industrial sectors, they are predominantly used in a structured factory environment. In recent years, off-site robotics have been investigated extensively and there are some promising candidates emerging. One such category of robots is exoskeleton robots and this paper provides an in-depth assessment of their suitability in assisting human operators in undertaking manual operations typically found in the construction industry. This work aims to objectively assess the advantages and disadvantages of these two suits and provide recommendations for further improvements of similar system designs. The paper focuses on the passive exoskeleton robotic suits which are commercially available. Three types of activities are designed and a mechatronic methodology has been designed and implemented to capture visual data in order to assess these systems in comparison with normal human operations. The study suggests that these passive suits do reduce the effort required by human operators to undertake the same construction tasks as evidenced by the results from one focused study, though a number of improvements could be made to improve their performance for wider adoption.
文摘Based on the original construction technology,construction robots are realized by integrating industrial information technology,and construction robots are used to replace manual labor in completing construction projects.China’s research on construction robots is still in its early stages.Research efforts need to be increased in order to promote better applications of construction robots.To this end,by analyzing the application of modern construction robots,we conduct a comprehensive study on the development of construction robots to ensure that construction robots can be widely used in the future.
基金supported by National Natural Science Foundation of China(No.50475011).
文摘The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.
文摘There are many processes involved in construction, it is necessary to optimize the path planning of construction robots. Most researches focused more on optimization algorithms, but less on comparative analysis based on the advantages and shortcomings of these algorithms. Therefore, the innovation of this paper is to analyze three advanced optimization algorithms (genetic algorithm, hybrid particle swarm algorithm and ant colony algorithm) and discuss how these algorithms can improve the optimization performance by adjusting parameters. Finally, the three algorithms are compared and analyzed to find an optimization algorithm that is suitable for path planning optimization of construction robots. The purpose of the optimization is to obtain the maximum benefit with the least cost and complete project in an efficient and economical way.
基金This research was supported by National Natural Science Foundation of China(Nos.U1913603,61803251,51775322)National Key Research and Development Program of China(No.2019YFB1310003).
文摘The effectiveness of mobile robot aided for architectural construction depends strongly on its accurate localization ability.Localization of mobile robot is increasingly important for the printing of buildings in the construction scene.Although many available studies on the localization have been conducted,only a few studies have addressed the more challenging problem of localization for mobile robot in large-scale ongoing and featureless scenes.To realize the accurate localization of mobile robot in designated stations,we build an artificial landmark map and propose a novel nonlinear optimization algorithm based on graphs to reduce the uncertainty of the whole map.Then,the performances of localization for mobile robot based on the original and optimized map are compared and evaluated.Finally,experimental results show that the average absolute localization errors that adopted the proposed algorithm is reduced by about 21%compared to that of the original map.
文摘The traditional automated guided vehicle(AGV) on goods delivery faces the challenges when task space expands beyond 2 D plans. 3 D environments such as uneven terrain, ramps, and staircase are typical in construction site. Thus, the key to introducing this technology into construction industry is to improve AGV’s stability and autonomous navigation ability in more complex three-dimensional environments. In this paper, mobileman, a novel tracked autonomous guide vehicle, is introduced. Compared with other construction robots, mobileman maximizes its load capacity on the basis of assuring accessibility. Furthermore, its modular designs and self-balancing platform enable it to cope with more complex challenging scenarios, such as staircase with 35-degree sloped staircase, while another modular design featured automated loading and unloading functionality. The mobile base specifications were presented in section two, and modular designs and exploration of the navigation system on construction site were illustrated in the rest of sections.
文摘Under the background of the construction of new engineering and the strategy of “making China 2025”, the society has also put forward new requirements for the personnel training of mechanical specialties. Therefore, combining the training goal of mechanical design, manufacturing and automation in Beijing (Beijing), it is necessary to cultivate new direction and cultivate new growth point for “old” mechanical specialty. And social and economic development has a very important significance.