Development of the man-machine fusion overhead traveling crane liquid tank carrier system in consideration of safety and workability

在避障路径规划系统中，开发了抑制液体振动的输送控制系统，导出了避障路径、自动向声源方向输送路径和罐体输送路径。首先，建立了桥式起重机的三维输送机构，并进行了晃动分析。此外，为了提高对液体振动的抑制，构建了2自由度控制系统。然后，在利用声源方向定位的自动路径规划系统的开发中，在线避障路径规划系统将Srinivas提出的自主式移动的机器人避障路径规划方法推广到三层机器人，开发了三维避障路径规划系统。通过仿真和实验验证了该系统的有效性和实用性。

Developed the transportation control system which restrained the liquid vibration in the obstacle avoidance path planning system which derived a path to evade an obstacle, and to convey to the sound source direction automatically and a tank conveying.At first, the three-dimensional transportation mechanism of an overhead traveling crane was developed and the sloshing analysis was carried out. Furthermore,in order to improve the vibration suppression of the liquid, 2-degrees of freedom control system is constructed.Then, in the development of the automatic path planning system using the sound source direction localization, the on-line obstacle avoidance path planning system which extended the obstacle avoidance path planning method of the autonomous mobile robot which Srinivas has proposed to the three-dimensional obstacle avoidance path planning system are developed. And the validity or usefulness of the proposed system was evaluated by simulations and experiments.