Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot
In the construction field, when an excavator dismantles a building using an attachment, a large amount of fine dust is generated, causing air pollution. In this study, a mist-spraying robot was proposed, aiming to effectively suppress the generation of fine dust in the construction field. The robot...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9913467/ |
| _version_ | 1811238245461131264 |
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| author | Sangwoong Lee Hyunbin Park Baeksuk Chu |
| author_facet | Sangwoong Lee Hyunbin Park Baeksuk Chu |
| author_sort | Sangwoong Lee |
| collection | DOAJ |
| description | In the construction field, when an excavator dismantles a building using an attachment, a large amount of fine dust is generated, causing air pollution. In this study, a mist-spraying robot was proposed, aiming to effectively suppress the generation of fine dust in the construction field. The robot could spray mist while motion tracking the attachment of the excavator. The mist-spraying robot recognized and tracked the source of the fine dust by estimating the posture and position of the excavator. Forward kinematics was used to estimate the posture of the excavator, and the position was estimated using a real-time kinematic global positioning system (RTK-GPS). The fine dust source motion tracking control performance of the mist-spraying robot was verified by measuring the error when the excavator attachment moved horizontally, vertically, and helically. The mean distance between the spraying direction of the mist-spraying robot and the attachment of the excavator was within 0.4 m. Considering the range in which mist is ordinarily sprayed, this mist-spraying robot is expected to successfully track and suppress the generation of fine dust. |
| first_indexed | 2024-04-12T12:38:27Z |
| format | Article |
| id | doaj.art-4de45da024d1421a9444a3ecb9902a39 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-12T12:38:27Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-4de45da024d1421a9444a3ecb9902a392022-12-22T03:32:50ZengIEEEIEEE Access2169-35362022-01-011010794910796010.1109/ACCESS.2022.32127329913467Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying RobotSangwoong Lee0https://orcid.org/0000-0002-7106-0882Hyunbin Park1https://orcid.org/0000-0003-4288-6121Baeksuk Chu2https://orcid.org/0000-0002-3253-1506Korea Institute of Robotics and Technology Convergence, Pohang, South KoreaDepartment of Aeronautics, Mechanical and Electronic Convergence Engineering, Graduate School, Kumoh National Institute of Technology, Gumi, South KoreaDepartment of Mechanical System Engineering, Kumoh National Institute of Technology, Gumi, South KoreaIn the construction field, when an excavator dismantles a building using an attachment, a large amount of fine dust is generated, causing air pollution. In this study, a mist-spraying robot was proposed, aiming to effectively suppress the generation of fine dust in the construction field. The robot could spray mist while motion tracking the attachment of the excavator. The mist-spraying robot recognized and tracked the source of the fine dust by estimating the posture and position of the excavator. Forward kinematics was used to estimate the posture of the excavator, and the position was estimated using a real-time kinematic global positioning system (RTK-GPS). The fine dust source motion tracking control performance of the mist-spraying robot was verified by measuring the error when the excavator attachment moved horizontally, vertically, and helically. The mean distance between the spraying direction of the mist-spraying robot and the attachment of the excavator was within 0.4 m. Considering the range in which mist is ordinarily sprayed, this mist-spraying robot is expected to successfully track and suppress the generation of fine dust.https://ieeexplore.ieee.org/document/9913467/Kinematicsmist-spraying robotsensor networkautonomous position trackingexcavator |
| spellingShingle | Sangwoong Lee Hyunbin Park Baeksuk Chu Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot IEEE Access Kinematics mist-spraying robot sensor network autonomous position tracking excavator |
| title | Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot |
| title_full | Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot |
| title_fullStr | Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot |
| title_full_unstemmed | Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot |
| title_short | Excavator Posture Estimation and Position Tracking System Based on Kinematics and Sensor Network to Control Mist-Spraying Robot |
| title_sort | excavator posture estimation and position tracking system based on kinematics and sensor network to control mist spraying robot |
| topic | Kinematics mist-spraying robot sensor network autonomous position tracking excavator |
| url | https://ieeexplore.ieee.org/document/9913467/ |
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