基于Android的折叠臂式桥梁检测车智能监控系统的研究

发布时间：2018-01-24 23:29

本文关键词： 桥梁检测车监控系统 Android驱动 3D建模 3D渲染碰撞检测应用　出处：《中国计量学院》2014年硕士论文　论文类型：学位论文

【摘要】：折叠臂式桥梁检测车是用于桥梁健康检测的特种工程车辆。它通过三段巨型机械臂的回转、伸缩将工作人员和检测设备送至桥梁底部工作范围内的任意位置进行桥梁检测作业。因此折叠臂式桥梁检测车机械臂的防碰撞监控系统显得尤为重要。国内折叠臂式桥梁检测车机械臂的防碰撞监控措施主要有视频监控及人工目测两种。由于视频监控视场角的限制，无法监控到大空间跨度机械臂的整体画面，因此并不能对桥梁检测车机械臂进行有效的监控。人工目测的方法是依靠车外的观察人员通过对讲机将机械臂与障碍物的距离信息反馈给驾驶室中的机械臂操作人员。虽然人工目测的方法能观察到桥梁检测车机械臂的整体画面，但是在碰撞信息的传递方面存在严重的滞后。为解决现有监控措施存在的缺陷，设计了基于Android的折叠臂式桥梁检测车智能监控系统。该系统利用3D虚拟监控技术来实现对折叠臂式桥梁检测车的全画面监控，利用3D碰撞检测技术来实现机械臂的碰撞预警。按照上述设计思想，首先构建了折叠臂式桥梁检测车智能监控系统的硬件平台并且完成操作系统的选型。采用以S3C6410芯片为中央处理器的MINI6410开发板作为基础硬件平台，外接双轴倾角传感器、直线位移传感器。操作系统采用Android系统。然后研究了Android系统的驱动体系，基于Android NDK技术实现了双轴倾角传感器驱动的硬件抽象层。使用Android多线程机制实现了多路传感器数据采集接口。接着研究了3D技术在大跨度机械臂监控系统中的应用。使用3D造型软件对桥梁检测车进行了实体建模；分析了OBJ文件格式，，并完成了OBJ文件的加载；利用传感器控制桥梁检测车3D模型与真车同步运动的方法实现了机械臂的全画面监控；利用虚拟碰撞检测技术实现了机械臂的碰撞预警。最后研究了Android系统应用程序的的特性；基于MVC设计思想设计了整个监控系统的应用程序架构；使用Android应用程序开发工具包实现了监控系统各个模块的代码编写及集成。实验结果证明，设计的监控系统不但可以克服视频监控不能实现对大跨度机械臂进行全画面监控的缺陷，而且具有高实时性的碰撞预警功能，在一定程度上可以取代通过人工来传递碰撞信息的现有工作方式。
[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 .

【学位授予单位】：中国计量学院
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U446.3

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