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

考虑安全性和作业性的人机融合桥式起重机液罐运输系统的开发

• 批准号: 23560275
• 负责人: KANESHIGE AKIHIRO
• 金额: $ 3.24万
• 依托单位: Toyota National College of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2013
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23560275/
• 关键词: 天井クレーン; 液体タンク; 振動抑制; 自律化; 音源方向定位; 障害物認識; 障害物回避; 経路計画; 液体タンク搬送

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.

在避障路径规划系统中，开发了抑制液体振动的运输控制系统，推导出避障路径，并自动向声源方向输送和罐体输送。首先，建立了桥式起重机的三维运输机构，并进行了晃动分析。此外，为了提高对液体的抑振能力，构建了二自由度控制系统。然后，在基于声源方向定位的自动路径规划系统开发中，将Srinivas提出的自主移动机器人避障路径规划方法扩展到三维避障路径规划系统，开发了在线避障路径规划系统。通过仿真和实验验证了该系统的有效性和实用性。

项目成果

An Algorithm for On-line Path Planning of Autonomous Mobile Overhead Traveling Crane Based on Obstacle Information

基于障碍物信息的自主移动桥式起重机在线路径规划算法

• 发表时间: 2012
• 期刊: Proc. of 2012 IEEE International Conference on Automation Science and Engineering (CASE)
• 作者: A.Kaneshige;S.Ngai;S.Ueki;T.Miyosi and K.Terashima
• 通讯作者: T.Miyosi and K.Terashima

自律型天井クレーンシステムの開発―オンライン障害物回避経路計画システムの開発―

自主桥式起重机系统开发 - 在线避障路线规划系统开发 -

• 发表时间: 2012
• 作者: Daichi Tajima;Yoshiki Sugawara;Nobuyuki Kobayashi and Ayako Torisaka;Akira Abe and Kohei Yoshida;濱川洋充,足立貴昭,西田英一,栗原央流,林秀千人;近藤 尚生;久池井茂,今輝幸,椋宏孝,友清弘樹,永田啓,松本純;兼重明宏,永井駿介,上木諭,三好孝典,寺嶋一彦
• 通讯作者: 兼重明宏,永井駿介,上木諭,三好孝典,寺嶋一彦

Object Manipulation Based on Robust and Adaptive Control by Hemispherical Soft Fingertips

基于半球形软指尖鲁棒自适应控制的物体操纵

• 发表时间: 2011
• 期刊: Proc. of the 18th IFAC World Congress
• 作者: S. Ueki;H. Kawasaki;T. Mouri;A. Kaneshige
• 通讯作者: A. Kaneshige

制御工学（第8章，12章を担当）

控制工程（负责第8、12章）

• 发表时间: 2012
• 作者: Bo Peng;Motohiro Kano;and Nobuaki Nakazawa;濱川洋充，足立貴昭，朝倉健太，西田英一，栗原央流;豊橋技術科学大学・高等専門学校制御工学教育連携プロジェクト
• 通讯作者: 豊橋技術科学大学・高等専門学校制御工学教育連携プロジェクト

Three-dimensional obstacle avoidance online path-planning method for autonomous mobile overhead crane

• DOI: 10.1109/icma.2011.5985971
• 发表时间: 2011-08
• 期刊: 2011 IEEE International Conference on Mechatronics and Automation
• 作者: Shunsuke Nagai;A. Kaneshige;S. Ueki