塔机防碰撞监控系统的研究

发布时间：2018-04-05 11:39

本文选题：塔式起重机　切入点：实时计算　出处：《大连理工大学》2014年硕士论文

【摘要】：随着我国城镇化进程的加快,塔式起重机(简称塔机)作为一种重要的施工机械,已成为建筑工程中必不可少的工具。在塔机使用量增加的同时,塔机事故也不断增加,给人们的生命安全带来重大威胁。塔机的碰撞问题越来越受到人们的重视。由于单纯依靠塔机操作人员很难完全避免塔机事故的发生,研究有效的塔机防碰撞监控系统有重要的实际应用价值。本文首先提出了计算相邻塔机工作区域干涉角度的方法,用以判断两台塔机的塔臂是否回转到干涉区域范围内。利用MATLAB编程仿真计算,将算法计算的角度值与在CAD测量的角度值比较,在角度值为非整数时,两者存在误差,但其精度可以满足计算要求。设计了基于动态距离实时计算的塔机防碰撞算法,实时采集塔机运行时的回转角度、变幅幅度、起升高度等信息,在两台塔机的塔臂同时进入干涉区域时,计算塔机的吊钩到相邻塔机塔臂的最小水平距离,当其小于设定的安全距离时,系统发出警报或制动。通过MATLAB编程,验证了该算法的正确性与可行性。本文确定了塔机防碰撞监控系统的组成,在通信上使用ZigBee无线网络传输技术,分析了ZigBee无线通信技术的协议构架、网络拓扑结构,确定塔机防碰撞监控系统采用网状网络的组网方式,设计了无线网络的组网算法及无线通信帧的结构。分析了控制器、ZigBee无线通信模块、编码器、显示器等硬件的特性,利用绝对编码器检测塔机运行时的回转角度、变幅幅度、起升高度等信息,通过触摸式显示器对塔机运行状态进行监控。利用GUI界面模拟了塔机防碰撞监控系统各个界面的设置。对角度传感器、幅度传感器、高度传感器进行标定、校正；输入塔机位置及结构参数,计算塔机干涉边界对应的回转角度；监控塔机运行状态并报警；模拟各个操作界面的跳转与数据存储。
[Abstract]:With the acceleration of urbanization in China, tower crane (tower crane), as an important construction machinery, has become an indispensable tool in construction engineering.With the increase of tower crane usage, tower crane accidents are also increasing, which brings great threat to people's life safety.People pay more and more attention to the collision of tower crane.Because it is difficult to avoid tower crane accidents by relying solely on tower crane operators, it is of great practical value to study an effective anti-collision monitoring system for tower cranes.In this paper, a method of calculating the interference angle of the working area of the adjacent tower crane is proposed to determine whether the tower arm of the two tower cranes is rotated to the range of the interference area.The angle value calculated by MATLAB is compared with the angle value measured in CAD. When the angle value is non-integer, there are errors between them, but the accuracy can meet the requirement of calculation.The anti-collision algorithm of tower crane based on real-time calculation of dynamic distance is designed. The information of rotation angle, amplitude change and lifting height of tower crane are collected in real time. When the tower arm of two tower cranes enters the interference area simultaneously,Calculate the minimum horizontal distance between the hooks of the tower crane and the adjacent tower arm, when it is less than the set safe distance, the system issues an alarm or brake.The correctness and feasibility of the algorithm are verified by MATLAB programming.This paper determines the composition of tower crane anti-collision monitoring system, uses ZigBee wireless network transmission technology in communication, analyzes the protocol framework and network topology of ZigBee wireless communication technology.It is determined that the anti-collision monitoring system of tower crane adopts the netting mode of mesh network, and the network algorithm of wireless network and the structure of wireless communication frame are designed.The characteristics of ZigBee wireless communication module, encoder, monitor and so on are analyzed. The information of rotation angle, amplitude change and lifting height of tower crane are detected by absolute encoder.The operation state of tower crane is monitored by touch display.GUI interface is used to simulate the setting of each interface of tower crane anti-collision monitoring system.The angle sensor, amplitude sensor and height sensor are calibrated and corrected, the position and structure parameters of tower crane are input, the angle of rotation corresponding to the interference boundary of tower crane is calculated, the running state of tower crane is monitored and alarm is given.Simulation of the operation interface jump and data storage.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TH213.3

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