塔群防碰撞监测系统的研究

Research on Monitoring System of Anti-collision for Tower Cranes

施工现场,塔机作业空间相互重叠,极易发生塔机间碰撞的现象。鉴于此,系统采用GPS-RTK技术实时测量塔机的位置信息,此项技术将GPS的测量精度由米级提高到厘米级。测量结果利用Bursa-Wolf模型转化到同一自定义的坐标系下,并通过无线局域网技术传送到控制器。在深入研究了塔机的数学模型和碰撞检测原理的基础上,设计了基于求异面线段距离的碰撞检测算法。控制器根据实时测量的塔机的位置信息,通过防碰撞算法,实现了对塔机的实时动态的监测和预警。

On the construction site,the tower crane working space overlaps mutually,extremely easy to have collision between the tower cranes.In view of this,a monitoring system is developed to measure tower crane positional information real-time using GPS RTK technology.This technology will enhance the measurement accuracy of GPS from the meter level to centimeter level.Measurement results are transformed to the same user-defined coordinate system through the Bursa-Wolf model,and transmitted to controller by wireless LAN technology.Based on the mathematical model of tower crane and the principle of collision detection,the anti-collision detection algorithm is designed.According to the position information of tower crane,the designed controller can achieve real-time monitor the tower crane and provide early-warning by using anti-collision detection algorithm.