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건물 해체현장 미세먼지 발생원 위치추적 자동화 시스템

  • 학술저널

건물 해체현장 미세먼지 발생원 위치추적 자동화 시스템

An Automated Tracking System of Fine Dust Generating Spot for Building Dismantlement Sites

김설하(금오공과대학교) 김민지(금오공과대학교) 정희윤(금오공과대학교) 주백석(금오공과대학교)

DOI : 10.7736/KSPE.2019.36.4.383

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리뷰 30

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초록

Water spraying work to prevent the dust from scattering during building dismantling operation has usually been done manually. Since it is very risky and often causes fatal accidents due to unexpected collapse, a few countries have adopted mechanical water spaying machines. However, these machines are still operated by human laborer, specifically in orienting the spraying direction, which induces low dust suppression efficiency. In this research, an automated fine dust tracking system was suggested to identify and track the dust generating position accurately. A GPS is installed on the secured body of the excavator which contains a crusher as an end-effector for building dismantlement. Assuming the position of the crusher is the dust generating spot, a forward kinematics analysis is performed to identify the crusher position from the body origin on which the GPS sensor is placed. With another GPS on the water-spraying robot, its relative position to the dust generating spot and its heading angle for tracking can be calculated consequently. Tracking experiments were conducted with a miniature excavator and a reduced size water spraying robot. The results showed a sufficient tracking performance enough to be applied to the water spaying machines.

목차

1. 서론
2. 미세먼지 발생원 위치인식 알고리즘
3. 미세먼지 발생원 위치추적 자동화 시스템 구성
4. 위치추적 알고리즘의 실험적 검증
5. 결론
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