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首页> 外文会议>International Symposium on Automation and Robotics in Construction and Mining >Preliminary System Design for Teleoperating Construction in Extreme Environments
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Preliminary System Design for Teleoperating Construction in Extreme Environments

机译：极端环境中洞穴建设的初步系统设计

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Automation of construction is urgent needs for improving efficiency of works, reducing the number of personnel, and working in extreme environments such as other planet or moon or disaster-stricken area. However, the current situation is still insufficient due to reasons of such complexity of work and high risk especially at building sites. In terms of heavy machinery in building construction, it is indispensable to measure its own position and attitude because their precision directly relates to construction accuracy. If lifting and delivering works can be unmanned or teleoperated, it is expected to drastically reduce the number of personnel and improve efficiency. In this research, we have found that a mating connection mechanism can aid teleoperating construction. This mechanism works without any fastener, that is utilized in the construction of the temporary cover of Fukushima Daiichi nuclear power plant unit 1, with RTK/GNSS (Real Time Kinematic, Global Navigation Satellite System) positioning systems is possible to realize the teleoperating construction. By conducting confirmatory experiment of positioning system using a tower crane, we have confirmed the normal operation of all systems. In terms of position and azimuth angle, the accuracy is sufficient to meet requirements for building construction with the mating connection mechanism. Regarding ICP matching by LIDAR (Laser Imaging Detection and Ranging), it was confirmed to be possible to compute the altitude angle with extremely high accuracy utilizing point cloud information from the LIDAR and CAD data using the ICP (Iterative Closest Point) matching library. Detailed preliminary unmanned building construction concept and some results are shown in this paper.
机译：建筑自动化是提高工作效率，减少人员数量，以及在极端环境如其他行星或月球或受灾地区工作的迫切需要。然而，目前的情况仍不足，由于特别是在建筑工地上这样的工作和高风险的复杂性的原因。在建筑施工重型机械而言，这是必不可少的衡量自己的立场和态度，因为它们的精度直接关系到施工精度。如果提升和输送工程，可无人值守或遥控操作，则有望大大减少人员数量，提高工作效率。在这项研究中，我们发现，配合连接机制可以帮助teleoperating建设。这种机制没有任何紧固件，其被用于在福岛第一核电厂1号机组的临时覆盖的建设，RTK / GNSS（实时动态，全球导航卫星系统）定位系统，可以实现teleoperating建设。通过进行使用塔式起重机定位系统的验证实验，我们已经证实所有系统的正常运行。在的位置和方位角而言，精确度是足以满足要求的建筑施工与配合连接机构。关于由LIDAR（激光成像探测和测距）ICP匹配，它被证实是可以计算高度角与使用非常高的精度的点云信息从LIDAR和使用ICP（迭代最近点）匹配库CAD数据。详细的初步无人建筑的概念和一些结果在本文所示。

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