汽车起重机虚拟吊装环境下的路径规划算法

发布时间：2018-06-12 14:08

本文选题：吊装路径规划 + 线性八叉树　；参考：《中南大学》2012年硕士论文

【摘要】：机械装备制造业是国民经济发展的一个重要基础,汽车起重机行业作为装备制造业重要的组成部分之一,为城市快速建设提供了良好的保证。汽车起重机吊装过程是非常复杂的过程,吊装方案的制定十分困难,方案制定的好坏,直接影响到吊装的安全性以及成本消耗。本文以提高吊装方案制定的效率、提高安全性能、减少成本消耗为目的,在虚拟现实技术下,研究基于多目标的吊装路径规划算法,主要工作概述如下：首先以汽车起重机吊装基本操作起升、回转、变幅为基础,通过分析吊装路径的影响因素,建立虚拟吊装环境。然后在此环境下,使用线性八叉树对虚拟吊装环境进行场景信息划分,建立路径搜索的环境模型。根据起重机站位、工况、负载率综合确定搜索的节点范围,并采用M码编码方式对线性八叉树叶节点进行编码,从而确定邻域节点的寻找算法和吊装起点、终点节点查找算法。接着,针对起重机吊装的特点,提出基于A*算法的多目标吊装路径优化算法,在A*算法的代价函数设计中,既包括吊装路径的安全性还包括吊装路径的经济效益,并根据不同类型的障碍物在代价函数中加入惩罚因子,由于不同吊装环境的不确定性,代价函数中还加入权重系数,对安全性和经济效益参数的权重进行相应的设定,从而得到吊装的优化路径。最后,基于吊装专家指导软件仿真平台,采用OpenGL三维图像编程语言,完成了吊装路径规划虚拟现实,为吊装施工方提供了具有参考价值意义的信息。
[Abstract]:The machinery and equipment manufacturing industry is an important foundation of the national economy development. As one of the important parts of the equipment manufacturing industry, the automobile crane industry provides a good guarantee for the rapid construction of the city. The hoisting process of truck crane is very complicated. It is very difficult to formulate the hoisting scheme. The quality of the scheme directly affects the safety and cost consumption of hoisting. In order to improve the efficiency of the hoisting scheme, improve the security performance and reduce the cost consumption, this paper studies the multi-objective hoisting path planning algorithm under the virtual reality technology. The main work is summarized as follows: firstly, the virtual hoisting environment is established on the basis of hoisting, turning and changing amplitude of truck crane. By analyzing the influencing factors of hoisting path, the virtual hoisting environment is established. Then the scene information of virtual hoisting environment is partitioned by linear octree and the environment model of path search is established. According to the location, working condition and load rate of crane, the search node range is determined synthetically, and the linear octree leaf node is coded by M code coding method, so as to determine the searching algorithm of neighborhood node, the starting point of hoisting and the searching algorithm of terminal node. Then, according to the characteristics of crane hoisting, a multi-objective hoisting path optimization algorithm based on A* algorithm is proposed. In the cost function design of A* algorithm, the safety of hoisting path and the economic benefit of hoisting path are included. According to different types of obstacles, the penalty factor is added to the cost function. Because of the uncertainty of the hoisting environment, the weight coefficient is added to the cost function, and the weight of the safety and economic benefit parameters is set accordingly. The optimal path of hoisting is obtained. Finally, based on the simulation platform of hoisting expert guidance software and OpenGL 3D image programming language, the virtual reality of hoisting path planning is completed, which provides valuable information for hoisting construction.
【学位授予单位】：中南大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.6

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