本文關鍵詞： 橋梁檢測車 監(jiān)控系統(tǒng) Android驅動 3D建模 3D渲染 碰撞檢測 應用　出處：《中國計量學院》2014年碩士論文　論文類型：學位論文

【摘要】：折疊臂式橋梁檢測車是用于橋梁健康檢測的特種工程車輛。它通過三段巨型機械臂的回轉、伸縮將工作人員和檢測設備送至橋梁底部工作范圍內的任意位置進行橋梁檢測作業(yè)。因此折疊臂式橋梁檢測車機械臂的防碰撞監(jiān)控系統(tǒng)顯得尤為重要。國內折疊臂式橋梁檢測車機械臂的防碰撞監(jiān)控措施主要有視頻監(jiān)控及人工目測兩種。由于視頻監(jiān)控視場角的限制，無法監(jiān)控到大空間跨度機械臂的整體畫面，因此并不能對橋梁檢測車機械臂進行有效的監(jiān)控。人工目測的方法是依靠車外的觀察人員通過對講機將機械臂與障礙物的距離信息反饋給駕駛室中的機械臂操作人員。雖然人工目測的方法能觀察到橋梁檢測車機械臂的整體畫面，但是在碰撞信息的傳遞方面存在嚴重的滯后。 為解決現(xiàn)有監(jiān)控措施存在的缺陷，設計了基于Android的折疊臂式橋梁檢測車智能監(jiān)控系統(tǒng)。該系統(tǒng)利用3D虛擬監(jiān)控技術來實現(xiàn)對折疊臂式橋梁檢測車的全畫面監(jiān)控，利用3D碰撞檢測技術來實現(xiàn)機械臂的碰撞預警。 按照上述設計思想，首先構建了折疊臂式橋梁檢測車智能監(jiān)控系統(tǒng)的硬件平臺并且完成操作系統(tǒng)的選型。采用以S3C6410芯片為中央處理器的MINI6410開發(fā)板作為基礎硬件平臺，外接雙軸傾角傳感器、直線位移傳感器。操作系統(tǒng)采用Android系統(tǒng)。 然后研究了Android系統(tǒng)的驅動體系，基于Android NDK技術實現(xiàn)了雙軸傾角傳感器驅動的硬件抽象層。使用Android多線程機制實現(xiàn)了多路傳感器數(shù)據(jù)采集接口。 接著研究了3D技術在大跨度機械臂監(jiān)控系統(tǒng)中的應用。使用3D造型軟件對橋梁檢測車進行了實體建模；分析了OBJ文件格式，，并完成了OBJ文件的加載；利用傳感器控制橋梁檢測車3D模型與真車同步運動的方法實現(xiàn)了機械臂的全畫面監(jiān)控；利用虛擬碰撞檢測技術實現(xiàn)了機械臂的碰撞預警。 最后研究了Android系統(tǒng)應用程序的的特性；基于MVC設計思想設計了整個監(jiān)控系統(tǒng)的應用程序架構；使用Android應用程序開發(fā)工具包實現(xiàn)了監(jiān)控系統(tǒng)各個模塊的代碼編寫及集成。 實驗結果證明，設計的監(jiān)控系統(tǒng)不但可以克服視頻監(jiān)控不能實現(xiàn)對大跨度機械臂進行全畫面監(jiān)控的缺陷，而且具有高實時性的碰撞預警功能，在一定程度上可以取代通過人工來傳遞碰撞信息的現(xiàn)有工作方式。
[Abstract]:The invention relates to a folding arm type bridge detecting vehicle , which is a special engineering vehicle for bridge health detection . In order to solve the defects existing in the existing monitoring measures , an intelligent monitoring system of the folding arm bridge detection vehicle based on Android is designed . The system uses 3D virtual monitoring technology to realize the full picture monitoring of the folding arm type bridge detection vehicle , and realizes the collision early warning of the mechanical arm by using the 3D collision detection technology . According to the above - mentioned design idea , the hardware platform of the intelligent monitoring system of the folding arm type bridge detection vehicle is firstly constructed and the selection of the operating system is finished . Using the S3C6410 chip as the central processing unit , the CPU 6410 development board is used as the base hardware platform , and the biaxial inclination angle sensor and the linear displacement sensor are externally connected . The operating system adopts the Android system . Then the driving system of Android system is studied , and the hardware abstraction layer driven by double - axis tilt sensor is realized based on the Android NDK technology . The multi - sensor data acquisition interface is realized by using the Android multi - threading mechanism . The 3D modeling software is used to model the bridge inspection vehicle . The OBJ file format is analyzed , the OBJ file loading is completed , the whole picture monitoring of the robot arm is realized by the method of controlling the 3D model of the bridge detecting vehicle and the real vehicle synchronous movement by the sensor , and the collision early warning of the mechanical arm is realized by using the virtual collision detection technology . Finally , the characteristics of Android system application are studied ; the application framework of the whole monitoring system is designed based on the MVC design idea ; and the code writing and integration of each module of the monitoring system are realized by using the Android application program development kit . The experimental results show that the monitoring system not only can overcome the defect of full - picture monitoring of long - span mechanical arm by video monitoring , but also has high real - time collision early - warning function , and can replace the existing working mode by manual transmission of collision information to a certain extent .

【學位授予單位】：中國計量學院
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U446.3

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