塔机群防碰撞系统的算法设计和系统仿真

发布时间：2018-06-04 23:48

本文选题：塔式起重机 + 防碰撞　；参考：《华中科技大学》2015年硕士论文

【摘要】：随着我国城市化进程的加快,塔式起重机因其塔身高,起重量大,作业范围广等特点,在建筑工地的应用越来越广泛。但大型的施工现场往往都需要多台塔机同时作业,这不免会造成塔机作业区域重叠。如果操作不当,则容易引起一系列的塔机安全事故。因此,塔机群防碰撞系统的研究工作意义重大。本文对塔机和障碍物进行了数学建模,分类讨论了塔机的几种碰撞形式。在传统塔机防碰撞算法的基础上做了改进处理,提出了一种择优路径智能避让算法。每台塔机监控系统接收其它塔机参数信息,如位置坐标、前臂长、旋转角速度等。通过算法处理,输出控制决策,合理避让与自身作业区域存在重叠的塔机。为了塔机与塔机之间信息实时的交互,系统采用Wimi-net无线解决方案。文中介绍了Wimi-net无线自组网模型,对塔机无线通信流程进行了分析,详细阐述了塔机参数信息的发送、接收和解析。在实验平台方面,课题选择SQLite数据库管理塔机参数信息;选用Qt creator作为开发工具,设计人机交互界面,通过界面模拟塔机的运行状态。当塔机有可能碰撞时,系统软件会报警提醒驾驶员注意危险。最后,对塔机防碰撞系统软件进行了仿真实验。结果表明塔机能够完成避让和防碰撞的要求,验证了算法的可行性和有效性,达到了课题的研究目的。
[Abstract]:With the acceleration of urbanization in China, tower cranes are widely used in construction sites because of their tall tower, large lifting weight and wide scope of operation. However, large construction sites often require multiple tower cranes to work at the same time, which inevitably results in overlapping operation areas of tower cranes. If the operation is not proper, it is easy to cause a series of tower crane safety accidents. Therefore, it is of great significance to study the anti-collision system of tower crane group. In this paper, mathematical modeling of tower crane and obstacle is carried out, and several collision forms of tower crane are classified and discussed. Based on the traditional anti-collision algorithm of tower crane, an intelligent avoidance algorithm based on optimal path is proposed. Each tower crane monitoring system receives other tower crane parameter information, such as position coordinates, forearm length, rotation angular velocity and so on. Through the algorithm processing, the output control decision, reasonable avoid the tower crane which overlaps with its own work area. In order to exchange information between tower crane and tower crane in real time, the system adopts Wimi-net wireless solution. This paper introduces the Wimi-net wireless ad hoc network model, analyzes the wireless communication flow of tower crane, and expounds in detail the transmission, reception and analysis of tower crane parameter information. In the aspect of experiment platform, we choose SQLite database to manage tower crane parameter information, QT creator as development tool, design man-machine interface, and simulate the running state of tower crane through interface. When the tower crane may collide, the system software will alert the driver to the danger. Finally, the software of tower crane anti-collision system is simulated. The results show that the tower crane can meet the requirements of avoidance and anti-collision, and verify the feasibility and effectiveness of the algorithm.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH213.3

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