被吊设备位姿给定的移动式起重机路径规划
发布时间：2018-11-13 10:50
【摘要】：随着吊装环境的复杂化、被吊装设备和起重设备的大型化,吊装作业在安全性、精确性、效率上要求越来越高。起重机路径规划(PPC)是保证吊装安全和效率的重要方法。起重机路径规划研究的是在给定条件下得到起重机动作序列的问题。通过路径规划对起重机的动作序列进行优化,避免超载、碰撞等危险因素,从而保证了吊装安全性,提高了方案制作效率。 国内外一些研究机构、学者进行了起重机路径规划的研究,但是大多是在起重机的起吊/就位姿态已知的情况下进行。然而在实际吊装中,经常是只给出了设备初始／目标位置,这时起重机对应的位姿是不确定的,也是不容易确定的,而操作者往往根据经验来确定。本文针对被吊装设备位姿给定的移动式起重机路径规划(PPMCGLEP)问题进行研究。 首先,本文分析了起重机运动学,并针对起重机结构的特点,提出了起重机逆向运动学的“伪解析”解法。从而由给出的被吊装设备位姿可以求出起重机对应的位姿。 其次,在对路径规划深入研究的基础上提出了被吊装设备位姿给定起重机路径规划的通用解法流程。并给出路径规划中起重机、被吊装设备、环境几何模型的建立方法、构建了起重机路径规划的位姿空间。 最后,针对单机路径规划的两类具体问题(不考虑行走、考虑行走)进行研究。对不考虑行走的问题进行站位优化,经过实际案例,结果证明,站位优化后路径规划的时间和路径质量得到了很大的提高；被吊设备初始/目标位置比较远、吊装环境比较复杂的时需要考虑起重机的行走动作,针对这种情况提出了HeurPostureRRT算法,通过实际算例证明该算法极大地缩短了规划时间,提高了路径质量。
[Abstract]:With the complexity of hoisting environment and the large-scale hoisting equipment and hoisting equipment, hoisting operation requires more and more safety, accuracy and efficiency. Crane path planning (PPC) is an important method to ensure the safety and efficiency of hoisting. Crane path planning studies the problem of obtaining crane action sequences under given conditions. The operation sequence of crane is optimized by path planning to avoid the risk factors such as overload and collision so as to ensure the safety of hoisting and improve the efficiency of scheme making. Some research institutions and scholars at home and abroad have carried out the research of crane path planning, but most of them are carried out when the crane lifting / positioning attitude is known. However, in the actual hoisting, the initial / target position of the equipment is often given only. In this case, the position and orientation of the crane is uncertain and difficult to determine, and the operator usually determines the position according to the experience. In this paper, the (PPMCGLEP) problem of path planning for mobile cranes with given position and orientation of hoisting equipment is studied. Firstly, the kinematics of cranes is analyzed, and according to the characteristics of crane structure, a pseudo-analytic solution of crane inverse kinematics is proposed. Thus, the corresponding posture of the crane can be obtained from the given pose of the hoisting equipment. Secondly, on the basis of deep research on path planning, a general solution flow of route planning for crane given position and pose of hoisting equipment is proposed. The method of setting up the geometric model of crane, hoisting equipment and environment in path planning is given, and the position and pose space of path planning of crane is constructed. Finally, two kinds of specific problems of single machine path planning (not considering walking, considering walking) are studied. The optimization of station position without considering the problem of walking is carried out. Through practical cases, it is proved that the time and quality of path planning have been greatly improved after the optimization of station position. The traveling action of crane should be considered when the initial / target position of hoisting equipment is far away, and the hoisting environment is more complicated. In view of this situation, the HeurPostureRRT algorithm is proposed, and the practical example shows that the algorithm can greatly shorten the planning time. The path quality is improved.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH21
本文编号：2328875
[Abstract]:With the complexity of hoisting environment and the large-scale hoisting equipment and hoisting equipment, hoisting operation requires more and more safety, accuracy and efficiency. Crane path planning (PPC) is an important method to ensure the safety and efficiency of hoisting. Crane path planning studies the problem of obtaining crane action sequences under given conditions. The operation sequence of crane is optimized by path planning to avoid the risk factors such as overload and collision so as to ensure the safety of hoisting and improve the efficiency of scheme making. Some research institutions and scholars at home and abroad have carried out the research of crane path planning, but most of them are carried out when the crane lifting / positioning attitude is known. However, in the actual hoisting, the initial / target position of the equipment is often given only. In this case, the position and orientation of the crane is uncertain and difficult to determine, and the operator usually determines the position according to the experience. In this paper, the (PPMCGLEP) problem of path planning for mobile cranes with given position and orientation of hoisting equipment is studied. Firstly, the kinematics of cranes is analyzed, and according to the characteristics of crane structure, a pseudo-analytic solution of crane inverse kinematics is proposed. Thus, the corresponding posture of the crane can be obtained from the given pose of the hoisting equipment. Secondly, on the basis of deep research on path planning, a general solution flow of route planning for crane given position and pose of hoisting equipment is proposed. The method of setting up the geometric model of crane, hoisting equipment and environment in path planning is given, and the position and pose space of path planning of crane is constructed. Finally, two kinds of specific problems of single machine path planning (not considering walking, considering walking) are studied. The optimization of station position without considering the problem of walking is carried out. Through practical cases, it is proved that the time and quality of path planning have been greatly improved after the optimization of station position. The traveling action of crane should be considered when the initial / target position of hoisting equipment is far away, and the hoisting environment is more complicated. In view of this situation, the HeurPostureRRT algorithm is proposed, and the practical example shows that the algorithm can greatly shorten the planning time. The path quality is improved.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH21
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