道路工具机器人自动挖掘，维修，埋藏的公用事业线|2021-04-27 |工程新闻记录

Roadwork Robot Autonomously Digs Out, Repairs Buried Utility Lines

rres1 — The RRES robot from ULC Technologies uses interchangeable tools on robotic arm to perform all of the tasks necessary to excavate gas lines from beneath roadways, perform work on the line, and then rebury it. It is seen here with the ground-penetrating radar attachment its uses during its initial site assessment.

*图片由ULC Technologies提供*

rres2 — In order to cut a keyhole in the roadbed, the RRES uses a custom electric chainsaw. Water to reduce dust is supplied via an external house. The chainsaw is powered by the robot's onboard lithium-ion batteries.

*图片由ULC Technologies提供*

rres3 — RRES原型在行业媒体演示期间在测试路面上工作。操作员在此过程中大部分都是动手，但是需要更改机器人工具推车上的附件。虽然演示是在帐篷中进行的，但ULC Technologies代表说，该机器人能够在所有天气中工作，这一要求是英国Gas Utility SGN在开发过程中已经设定了。

*Video Still Courtesy of ULC Technologies*

rres4 — The RRES removes the pavement core using a pneumatic vacuum system. The robot can lift the core up to 3 meters (approx. 9.8 ft) above the its base, provided the core weighs less than 225 kg (approx. 496 lb).

rres5 — Once work on the underground utility is complete, the RRES can compact the soil back down layer-by-layer, as human operators shovel it in the hole.

*Video Still Courtesy of ULC Technologies*

2021年4月27日

Jeff Rubenstone

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在道路下方访问埋在道路下方的地下公用事业有时可能是两到三天的努力，涉及多个车道封闭和重型设备。为了最大程度地减少这种情况，并加速了对英国第二大天然气分销网络的持续大修，Gas Utility SGN一直在投资ULC Technologies的自动RRES Roadworks机器人的开发。

Short for Robotic Roadworks and Excavation System, the RRES is a stand-alone, battery-powered robot that can autonomously perform the complex tasks required to excavate, repair and rebury gas lines situated beneath paved roadways. Now undergoing trials in the U.K. through the spring and summer, SGN and ULC see the RRES as the future platform for work on all kinds of underground utilities.

SGN的RIS项目负责人Ollie Machan在4月13日的行业机器人演示中说：“这提高了我们的安全。”

Aside from a pair of human operators to keep an eye on the robot and change out its tool cart as it moves through the different steps of the process, human interaction is minimal, which Machan says is a huge boost to safety. “RRES takes the operator out of the excavator, so if anything happens with the gas or electric, we’ve already taken them out of [danger].”

The RRES system seems straightforward at first glance. A robotic arm with six degrees of articulation sits on a track-mounted platform that houses the robot’s lithium-ion battery pack and onboard computer. Tools for different stages of the excavation are swapped out automatically from attached tool carts. But what sets the RRES apart from machine-control-enabled heavy equipment or sophisticated power tools is its focus on total autonomy.

“三年前，我们以一个雄心勃勃的目标开始了这个项目，” R＆D项目经理兼ULC Technologies AI和机器学习负责人Ali Asmari回忆说。“在开挖中做所有事情：识别埋藏的资产，找到埋藏的资产并在这些资产上方挖掘土壤，所有这些资产的参与都较少。机器人可以在燃气管上安装配件，一旦操作完成，它就可以将材料恢复到钥匙孔[挖掘]并限制。”

目前，RRES是一个可行的原型，使用了自定义工具和一些相当复杂的基于AI的学习来浏览挖掘站点并执行其任务。RRE能够在恶劣的天气和倾斜度上工作，首先要使用接地雷达附件评估该地点。扫描完成后，RRE会生成道路表面下方区域的点云，然后操作员可以在计算机上手动编辑和清理到目标的地下实用程序线上。

一旦机器人加载了点云，就可以在人行道上使用。它在手臂末端使用气动快速工具更换器，将雷达装置交换为核心钻，以获取道路的探索样品。一旦确认了人行道的深度和状况，RRE会切换到定制的35马力电动电锯。机器人的所有工具都由其35kW小时锂离子磷酸盐电池提供动力，并具有将直流功率更改为三相AC的转换器。Asmari解释说，这与机器人手臂通常可以在工厂环境中访问的功率相同。

RRES使用电锯在道路上切割一个圆形的钥匙孔，使用压力传感器评估何时插入量已经足够深。RRES可以切割各种形状，包括伸长的椭圆形，直达36英寸。然后，使用气动工具将路面“核心”从孔中抬出，该工具可以将核心在机器人底座上方提高3米（约9.8英尺），但如果其重量小于225 kg（约496磅）。在每次换车期间，气动升降机的空气软管，电锯的水管和雷达同轴数据电缆的连接都是自动处理的。

土壤在巷道的开挖完成via supersonic air nozzles attached to a vacuum hose, which break up the soil and draws it out of the hole. The robot performs this task within a box frame to prevent spillage outside the work area. “Every time [the nozzles] agitate it, the vacuum removes the soil,” says Asmari. “We have a force sensor at the end, so if [the RRES] comes in contact with the asset below ground, it will retract and allow the operator to go look in.” Aside from changing out the tool carts and performing maintenance tasks such as tightening the chainsaw’s blade, operators will also be on hand to inspect the robot’s work and confirm its progress before it moves onto the next task.

对于第一个原型，Asmari和他的团队专注于SGN燃气网络的用例，并为RRES配备了清洁标准燃气管，夹紧它，切割并安装热塑性配件的手段。但是，ASMARI补充说，靠近气体的电缆或其他敏感公用事业并不少见，因此该操作旨在减少意外罢工的机会。这些（管道处理的附件）具有气动电动机。我们试图远离工具周围的任何电磁场。”他解释说。

After work on the exposed pipe is complete, operators shovel the dirt back in the hole while the robot uses a compactor attachment to compact it layer by layer. Once finished, the RRES replaces the road pavement core as best as it can to restore the roadway to its previous condition.

“It pushes the core into the ground with a gentle downward force, wiggles the core around, finding the smoothest orientation to push back into spot,” says Asmari, noting this is only one of the specialized tasks his team had to custom-build for the RRES. “We’re designing things that have never been done before,” he adds.

根据ULC的说法，RRES的电池组在三到四个小时内充电，一次充电提供了八个小时的不间断操作。在网站上花费的时间，ULC表示，RRE可以在20分钟内扫描并识别挖掘地点，在45分钟内切割和删除核心，并在大约20分钟内完全挖掘公用事业。阿斯马里（Asmari）表示，理想情况下，RRE可以在一天内执行两到三项成功的操作。机器人的工作深度约为6英尺，整个RRES平台仅为10英尺乘6英尺，足够小，可以在单个道路车道上工作。

Taking an articulated robotic arm off of a factory floor and putting it to work on the road took more than hardening it against the weather, explains Asmari.

他说：“将[RRES]放在未知的环境中，给它传感器，这是最大的技术挑战。”但是收益是在现场获得了工厂级别的精确度。Asmari说：“机器人具有相同的坐标系用于使用的每个工具，它都知道地面上方和下方的每个点。”“在任何时候，操作员都在看机器人的操作，并可以确保其执行任务。他们可以看到生命力，并且可以始终中止任务。”

目前，正在对30英尺30英尺的道路进行测试，以模拟英国城市以及纽约等美国城市发现的那种路基。SGN风险负责人约翰·理查森（John Richardson）说，SGN对RRES的开发进行了835万美元的初始投资，但机器人不仅可以用于埋藏的天然气管线工作。

“We’re already doing parallel trials with Transport for London,” he notes, adding that the robot's arm can work with a variety of tools for different applications. “It’s not just for gas distribution networks, but all sectors. We’re also now looking for collaborative partners to develop this with [further].”

杰夫Rubenstone是一个高级编辑技术d Equipment at the Engineering News-Record. He covers emerging technologies and innovations in the construction space, as well as new developments in equipment, tools, and building products. With well over a decade of experience reporting on the industry, Jeff has an broad background in engineering and construction journalism. He is based in New York City.