吊裝模型硬體平台及遠端操作環境建置與系統整合

2011-08-012024-05-18https://scholars.lib.ntu.edu.tw/handle/123456789/711775摘要：本研究為三年期整合型計畫之總計畫與子計畫一。此整合型計畫為增加吊裝機具的操作穩定性，降低工程施工時產生安全危害的機率，擬透過跨領域整合研究，發展在吊裝過程中控制吊索行為及環境偵測的智慧型遠端操作系統，藉由機器人視覺感知技術與主動控制的演算法，提供遠端操作環境進行吊裝作業，系統將提供施工場景影像，結合感測資訊提供操作者更多元的資訊，並利用控制器平衡吊裝物在運送時產生的慣性力及環境影響，加上自動化運動規劃，來協助吊車手在操作吊車時進行更精準、更具效率的定位與移動，甚至是利用其晃動行為來達到特殊吊裝的目的，避免因為動態系統的不確定性，產生對於公共安全的重大危害。而子計畫一的重點為發展吊裝系統硬體、遠端操作設備與環境的整合平台，並在整合子計畫二所發展之控制演算法及子計畫三所開發之感知演算法後，在一實驗空間中，利用實際吊裝情境的分析結果進行測試與驗證。計畫的第一年先行開發吊裝硬體設備與遠端控制平台，第二年為整合吊裝基礎感應器與遠端控制機制等，並加入感應器網路等 來增強對環境資訊的感知，第三年進行實際的案例測試，透過測試的結果來修正本研究之軟硬體平台，讓其更穩定可靠且實用。<br> Abstract: The proposed project is the main project and sub-project I of a three-year integrated project that will focus on development of intelligent and tele-operable cranes for improving safety and efficiency of construction erection operations through multi-disciplinary research collaboration. The multi-disciplinary technologies integrated will involve structural dynamics of engineering machinery, intelligent control and tele-operation of construction cranes, machine vision, image processing, sensing network and sensing data management, automatic motion planning, etc. The focus of sub-project I will be on development and integration of a laboratory crane and tele-operation platform, including both hardware and software aspects. After completing the hardware design and manufacturing of the laboratory crane and the tele-operation platform in the first year, the sub-project is also responsible for integrating the control strategies and algorithms developed by sub-project II and the sensing system developed by sub-project III into the platform in the second year. In the third year, case studies will be carried out to test and demonstrate the stability, efficiency, robustness, reliability, and applicability of the developed crane system.智慧型吊裝設備遠端操控施工安全機器人技術Intelligent cranestele-operationconstruction safetyengineering robotics吊裝模型硬體平台及遠端操作環境建置與系統整合