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최평호(Pyung-Ho Choi),김도근(Do-Keun Kim),이상수(Sang-Soo Lee),이영준(Young-jun Lee),이태호(Tae-Ho Lee) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
Most of the Earth works at Construction site rely on heavy equipment"s performance. And those heavy equipments using is proceeding in parallel with the surveying technicians. It is inevitable to basically work together with the manpower surveying such as the installation of finishing stake, real time construction surveying, and measurement surveying peg installation and maintenance. At most domestic sites, the above conditions are necessary to perform such Earth works operations quickly. First, Accurate and diligent measurements of the surveyor and clear work instructions are needed. Second, It requires the sensual ability and operator skills. The best technology in the past that reduces the number of repetitive measurements and confirmation of equipment work has been that sense and diligence. And we"ve believed that way makes the final results quickly. Of course there can be a risk of equipment stenosis-accident because mostly surveying task is performed next to large heavy equipments. To overcome this problem, Automation of construction equipment will be an alternative.
가속도계와 고정밀 GPS를 이용한 3차원 공간에서의 굴삭기 버킷 정밀 위치 추정
강지헌(Jiheon Kang),최평호(Pyung-Ho Choi),엄두섭(Doo-Seop Eom) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.10
This paper describes a method for estimating the angle and position of each component of an excavator. In order to implement the guidance system in the excavator, two real-time kinematic (RTK) global positioning systems (GPSs) as well as pose and tilt sensors were used for precise pin-point estimation of bucket positioning. All devices except GSP well developed and calibrated by us. The sensor calibration procedures were presented in two parts before and after attaching the excavator. We have described three-dimensional global coordinate computation using the length and rotation angle of the body, arm, and bucket of the excavator. In addition, we have presented a method for the calculation of rotation according to the GSS receiver`s attachment error and the estimation of the bucket angle through the sensor attached to the guide link. The experiments were performed by a certified institution, and our proposed system achieved state-of-the-art positioning error of less than 1 cm.
조병완(Byung-Wan Jo),이윤성(Yun-Sung Lee),김도근(Do-Keun Kim),김정훈(Jung-Hoon Kim),최평호(Pyung-Ho Choi) 한국콘텐츠학회 2016 한국콘텐츠학회논문지 Vol.16 No.10
고용노동부에서 매년 조사하는 산업재해현황분석 보고서에 따르면 국내에서 발생하는 산업재해 중 건설산업이 차지하는 비율은 2010년 24.09%에서 2014년 27.56%로서 꾸준히 증가하고 있는 추세이다. 최근에는 구조물의 고층화 및 건설 공사의 대형화로 인해 건설장비의 사용이 매년 늘어나고 있으며, 이로 인한 재해 역시 증가하고 있다. 국내에서 발생하고 있는 건설장비에 의한 재해는 주로 트럭, 굴삭기 등의 중장비가 큰 비중을 차지하고 있으며, 운전자가 주변의 작업자를 인지하지 못하여 발생하는 충돌 및 협착에 의한 사고가 많이 발생하고 있다. 본 논문에서는 이러한 건설 장비에 의한 사고 중 많은 부분을 차지하고 있는 굴삭기에 의한 사고를 방지하기 위하여 영상기반 굴삭기 접근 감지 시스템을 개발하였다. 영상기반 굴삭기 접근 감지 시스템은 카메라와 초음파센서로 구성된 접근 감지 센서 모듈과 접근 감지 센서 모듈에서 전송되는 정보를 확인할 수 있는 AVM(Around view monitor)으로 구성되어 있다. 본 시스템은 별도의 기반 인프라(서버, 통신망 등)가 필요하지 않기 때문에 소규모 건설 현장에도 적용이 가능하며, 다양한 건설장비에도 활용이 가능하다. According to an annual industrial accident report from Ministry of Employment of Labor, among the various types of accidents, the number of accidents from construction industry increases every year with the percentage of 27.56% as of 2014. In fact, this number has risen almost 3% over the last four years. Currently, among the industrial accidents, heavy machinery causes most of the tragedy such as collision or narrowness. As reported by the government, most of the time, both heavy machinery drivers and workers were unaware of each other’s positions. Nowadays, however when society requires highly complex structures in minimal time, it is inevitable to allow heavy construction equipments running simultaneously in a construction field. In this paper, we have developed Approach Detection System for excavator in order to reduce the increasing number. The imaged based Approach Detection System contains camera, approach detection sensor and Around View Monitor (AVM). This system is also applicable in a small scale construction fields along with other machineries besides excavators since this system does not require additional communication infra such as server.