本文關鍵詞： 塔式起重機 風險預測 多機防碰撞 區(qū)域限制 風險預評估　出處：《大連理工大學》2012年碩士論文　論文類型：學位論文

【摘要】：為了提高施工效率、降低作業(yè)成本,施工單位經常將盡可能多的塔機布置在相對狹小的區(qū)域,這些塔機不可避免的存在交叉作業(yè)區(qū)域。另外施工場地環(huán)境復雜,塔機必須躲避各種固定障礙物。由于重載高速運行的塔機慣性較大,塔機駕駛員視野受限并且人工目測存在一定的誤差,導致駕駛員很難完全發(fā)現潛在的碰撞風險。本文基于改進的風險預測的方法,研究能及時預測塔機與塔機之間以及塔機與固定障礙物之間碰撞的相關校驗算法,并設計了相應的軟硬件系統(tǒng)。 對塔機風險預測方法進行了改進,在此基礎上研究了高位塔機的吊索與低位塔機的吊臂、塔機吊索與具有一定形狀的限制區(qū)域(包括扇形區(qū)域、圓形區(qū)域及凸多邊形區(qū)域)的碰撞校驗算法。使用迭代法對計算過程加速,減少了計算量,使該算法能運行在低成本的嵌入式系統(tǒng)之中。 為了提高實時性,通信上使用延時較短的ZigBee短距離無線通信設備,硬件上使用了ARM Cortex-M3作為內核的微控制器作為系統(tǒng)控制核心,軟件上采用了基于嵌入式實時多任務操作系統(tǒng)μC/OS-Ⅱ的程序設計,提高了系統(tǒng)運行的可靠性和實時性。針對實際工地存在某個塔機與多個相鄰塔機以及多個限制區(qū)域存在碰撞的可能,在進行碰撞校驗之前先預評估該塔機與其他相鄰塔機以及限制區(qū)域的碰撞風險,保證系統(tǒng)優(yōu)先處理.碰撞風險較高的雙機防碰撞計算和區(qū)域防碰撞計算。 最后設計了基于VB的塔機群運行監(jiān)控與參數設置應用程序,便于塔機管理者及時修改相關參數,并對現場塔機運行情況進行監(jiān)視。
[Abstract]:In order to improve construction efficiency and reduce operation cost, construction units often arrange as many tower cranes as possible in relatively narrow areas, which inevitably exist cross operation areas. In addition, the construction site environment is complex. Tower crane must avoid all kinds of fixed obstacles. Because of the inertia of tower crane with heavy load and high speed running, the crane driver's vision is limited and there are some errors in manual visual measurement. It is very difficult for the driver to find the potential collision risk completely. Based on the improved risk prediction method, this paper studies the correlation checking algorithm which can predict the collision between tower crane and tower crane and between tower crane and fixed obstacle in time. The corresponding software and hardware systems are designed. The risk prediction method of tower crane is improved. On this basis, the slings of high tower crane and the boom of low tower crane, the slings of tower crane and the limited area with certain shape (including sector area) are studied. The iterative method is used to speed up the calculation process and reduce the computational complexity, which makes the algorithm run in a low cost embedded system. In order to improve real-time performance, ZigBee short range wireless communication equipment with short delay is used in communication. In hardware, ARM Cortex-M3 is used as the kernel microcontroller as the system control core, and the software is designed based on the embedded real-time multitask operating system 渭 C / OS- 鈪，

本文編號：1447508