Development of an Unmanned Autonomous Concrete Floor Robotic Troweling System

摘要

Development of an Unmanned Autonomous Concrete Floor Robotic Troweling System Myung Hwang-Bo, Bum-jae You, Sang-Rok Oh, Keon Young Yi, SeokHo Kim, SamYong Chung, SongSoo Han, IllHong Suh, Wan-Kyun Chung Pages 79-84 (1999 Proceedings of the 16th ISARC, Madrid, Spain, ISSN 2413-5844) Abstract: It is natural to introduce an automatic floor troweling system to a spacious concrete floor from the point of construction cost and time.Among several methods it would be the efficient to modify an existing available ride-on trowel into an unmanned and remote controlled troweling robot.The handling mechanism of a power trowel is converted to electric actuation of DC servo motors.Overall Control system is designed to have a network-based-real time distributed architecture under CAN in order to distract the computational load concentrated on central main controller.The remote controller not only contains many functions to direct the troweling robot in the same way as riding operator does,but also works as input and monitoring devices in an autonomous mode.The Positioning system of the laser range scanning sensor and several reflective beacons,and the job planner based on a blueprint of the floor provides the troweling robot with intelligence to work and navigate autonomously within a given floor area. Keywords: No keywords DOI: https://doi.org/10.22260/ISARC1999/0012 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley