發(fā)布時間：2018-05-10 06:13

  本文選題：移動式起重機 + 路徑規(guī)劃　； 參考：《大連理工大學》2012年碩士論文

【摘要】：重要設備現(xiàn)場吊裝方案設計和吊裝路徑規(guī)劃對于保障安全和提高效率具有十分重要的意義。吊裝方案設計過程中,工程師需要考慮起重機在施工場地中的運行軌跡,如果工作環(huán)境比較復雜,起重機通過能力較低,手工計算很難找到一條無碰撞且合理的路徑。 履帶式起重機路徑規(guī)劃問題屬于高維多約束路徑規(guī)劃問題,當前還沒有一種有效的算法來解決該問題,工程實踐中仍然主要依靠工程師的經驗和手工計算來確定方案中起重機的路徑。 隨著虛擬仿真技術的發(fā)展,吊裝行業(yè)也開始借助仿真軟件來加速其吊裝方案的設計,出現(xiàn)了很多基于虛擬仿真環(huán)境的規(guī)劃算法,但是目前提出的起重機運動規(guī)劃算法大多未考慮行走,因為考慮起重機的行走,不僅在C空間中增加了3個維度,而且行走會引入非完整性約束,會大大增加路徑規(guī)劃的難度。 本文在總結已有算法的基礎上,根據履帶起重機的運動特點作出相應的分析和改進,設計并實現(xiàn)了單臺起重機的分段路徑規(guī)劃算法,將下車行走路徑與上車路徑進行解耦,其中,下車規(guī)劃階段只處理起重機的下車運動,采用導航網格作為底層的搜索空間描述,并使用A*算法進行尋路、funnel算法進行修正：上車規(guī)劃階段規(guī)劃起重機的上車動作,采用RRT算法并進行了適當的變種以適應局部路徑規(guī)劃。新提出的算法適應于單臺履帶式起重機的路徑規(guī)劃,碰撞檢測次數少,規(guī)劃成功率高,速度快。 本文基于該算法開發(fā)了起重機路徑規(guī)劃系統(tǒng),并將其作為子系統(tǒng)集成進一款吊裝仿真軟件中,大大提升了該款軟件的市場競爭力。
[Abstract]:It is very important to design the hoisting scheme and plan the hoisting path for the important equipment to ensure the safety and improve the efficiency. In the design of hoisting scheme, the engineer needs to consider the running track of crane in the construction site. If the working environment is more complicated and the crane's passing capacity is low, it is difficult to find a collision-free and reasonable path by manual calculation. The path planning problem of crawler crane belongs to the high-dimensional multi-constraint path planning problem, but there is no effective algorithm to solve the problem. Engineering practice still relies on engineer's experience and manual calculation to determine the route of crane in the project. With the development of virtual simulation technology, the hoisting industry began to use simulation software to accelerate the design of its hoisting scheme, and many planning algorithms based on virtual simulation environment appeared. However, most of the proposed crane motion planning algorithms do not consider walking, because considering the traveling of crane, not only three dimensions are added in C space, but also non-integrity constraints are introduced into walking, which will greatly increase the difficulty of path planning. On the basis of summarizing the existing algorithms, according to the movement characteristics of crawler crane, this paper designs and implements a piecewise path planning algorithm for a single crane. In the stage of getting off the train, only the movement of the crane is dealt with, the navigation grid is used as the bottom search space description, and the algorithm A * is used to correct the route finding algorithm: in the planning stage of getting on the train, the crane is planned to get on the train. RRT algorithm is used to adapt to local path planning. The new algorithm is suitable for the path planning of single crawler crane, with less collision detection times, higher planning success rate and faster speed. This paper develops a crane path planning system based on this algorithm, and integrates it as a subsystem into a hoisting simulation software, which greatly improves the market competitiveness of the software.
【學位授予單位】：大連理工大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH213.7

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本文編號：1868141