桥梁检测车机械臂监控系统设计与研究

Design and Research of Monitoring System for Mechanical Beam of Bridge-detection Vehicle

研究桥梁检测的优化问题,针对目前桥梁检测车工作过程中自身安全难以监控,为解决视频监控系统不能全角度整体显示机械臂姿态的问题,结合动力学分析提出了基于动画模拟机械臂动作的监控系统。通过传感器采集机械臂角度和伸展长度的信息,建立机械臂空间运动学模型,然后利用拉格朗日法计算机械臂的侧翻力矩作为危险估计的依据,根据机械臂定位信息,通过Qtopia实时绘出机械臂的姿态,给出桥检车的侧翻危险等级。经仿真证明,系统能够实时预测桥检车的危险等级和全角度逼真的显示机械臂位置,提高了监控系统的可靠性、智能化和稳定性,具有实际应用价值。

Current security problem of Bridge-detection Vehicle is hard to be monitored during working period. Combining with dynamic analyses, a monitoring system is designed based on simulation of the movement of manipula- tor to slove the problem that video monitoring system cannot display the whole point of Meaehanical Beam. Firstly, the space motion model of Mechanical Beam is built, using the value of angle and stretching length of Mechanical Beam collected by sensors, and then the Lagrange＇s equation is built up to estimate the risk through computering the roll moment. Finally, the Mechanical Beam is drawn by Qtopia and the risk rate of rollover is shown according to it＇ s location information. The experimental results show that this system can estimate the danger level of Bridge-detec- tion Vehicle rollover in real-time and display the whole point of Meachanical Beam realisticly, after the intelligent, reliability and stability of the system are improved.