本文關(guān)鍵詞： 塔式起重機(jī) 風(fēng)險(xiǎn)預(yù)測(cè) 多機(jī)防碰撞 區(qū)域限制 風(fēng)險(xiǎn)預(yù)評(píng)估　出處：《大連理工大學(xué)》2012年碩士論文　論文類型：學(xué)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(jīng)常將盡可能多的塔機(jī)布置在相對(duì)狹小的區(qū)域,這些塔機(jī)不可避免的存在交叉作業(yè)區(qū)域。另外施工場(chǎng)地環(huán)境復(fù)雜,塔機(jī)必須躲避各種固定障礙物。由于重載高速運(yùn)行的塔機(jī)慣性較大,塔機(jī)駕駛員視野受限并且人工目測(cè)存在一定的誤差,導(dǎo)致駕駛員很難完全發(fā)現(xiàn)潛在的碰撞風(fēng)險(xiǎn)。本文基于改進(jìn)的風(fēng)險(xiǎn)預(yù)測(cè)的方法,研究能及時(shí)預(yù)測(cè)塔機(jī)與塔機(jī)之間以及塔機(jī)與固定障礙物之間碰撞的相關(guān)校驗(yàn)算法,并設(shè)計(jì)了相應(yīng)的軟硬件系統(tǒng)。 對(duì)塔機(jī)風(fēng)險(xiǎn)預(yù)測(cè)方法進(jìn)行了改進(jìn),在此基礎(chǔ)上研究了高位塔機(jī)的吊索與低位塔機(jī)的吊臂、塔機(jī)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(yàn)算法。使用迭代法對(duì)計(jì)算過程加速,減少了計(jì)算量,使該算法能運(yùn)行在低成本的嵌入式系統(tǒng)之中。 為了提高實(shí)時(shí)性,通信上使用延時(shí)較短的ZigBee短距離無線通信設(shè)備,硬件上使用了ARM Cortex-M3作為內(nèi)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(shí)時(shí)多任務(wù)操作系統(tǒng)μC/OS-Ⅱ的程序設(shè)計(jì),提高了系統(tǒng)運(yùn)行的可靠性和實(shí)時(shí)性。針對(duì)實(shí)際工地存在某個(gè)塔機(jī)與多個(gè)相鄰塔機(jī)以及多個(gè)限制區(qū)域存在碰撞的可能,在進(jìn)行碰撞校驗(yàn)之前先預(yù)評(píng)估該塔機(jī)與其他相鄰塔機(jī)以及限制區(qū)域的碰撞風(fēng)險(xiǎn),保證系統(tǒng)優(yōu)先處理.碰撞風(fēng)險(xiǎn)較高的雙機(jī)防碰撞計(jì)算和區(qū)域防碰撞計(jì)算。 最后設(shè)計(jì)了基于VB的塔機(jī)群運(yùn)行監(jiān)控與參數(shù)設(shè)置應(yīng)用程序,便于塔機(jī)管理者及時(shí)修改相關(guān)參數(shù),并對(duì)現(xiàn)場(chǎng)塔機(jī)運(yùn)行情況進(jìn)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(hào)：1447508