基于风险预测的塔式起重机防碰撞系统研究

发布时间：2018-01-20 08:15

  本文关键词： 塔式起重机 风险预测 多机防碰撞 区域限制 风险预评估　出处：《大连理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：为了提高施工效率、降低作业成本,施工单位经常将尽可能多的塔机布置在相对狭小的区域,这些塔机不可避免的存在交叉作业区域。另外施工场地环境复杂,塔机必须躲避各种固定障碍物。由于重载高速运行的塔机惯性较大,塔机驾驶员视野受限并且人工目测存在一定的误差,导致驾驶员很难完全发现潜在的碰撞风险。本文基于改进的风险预测的方法,研究能及时预测塔机与塔机之间以及塔机与固定障碍物之间碰撞的相关校验算法,并设计了相应的软硬件系统。 对塔机风险预测方法进行了改进,在此基础上研究了高位塔机的吊索与低位塔机的吊臂、塔机吊索与具有一定形状的限制区域(包括扇形区域、圆形区域及凸多边形区域)的碰撞校验算法。使用迭代法对计算过程加速,减少了计算量,使该算法能运行在低成本的嵌入式系统之中。 为了提高实时性,通信上使用延时较短的ZigBee短距离无线通信设备,硬件上使用了ARM Cortex-M3作为内核的微控制器作为系统控制核心,软件上采用了基于嵌入式实时多任务操作系统μC/OS-Ⅱ的程序设计,提高了系统运行的可靠性和实时性。针对实际工地存在某个塔机与多个相邻塔机以及多个限制区域存在碰撞的可能,在进行碰撞校验之前先预评估该塔机与其他相邻塔机以及限制区域的碰撞风险,保证系统优先处理.碰撞风险较高的双机防碰撞计算和区域防碰撞计算。 最后设计了基于VB的塔机群运行监控与参数设置应用程序,便于塔机管理者及时修改相关参数,并对现场塔机运行情况进行监视。
[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，

本文编号：1447508