塔吊与障碍物的防碰撞算法研究

Research on Anti-collision Algorithms of Tower Craneand Construction Site’s Obstacles

预防塔吊与障碍物的碰撞是塔吊安全监控的重中之重。针对目前只给出算法设计的基本原理、忽视工程实际可执行性的研究现状,本文建立了塔吊与障碍物的相对坐标系系统,给出了以防碰撞距离和防碰撞角度为二元参数的防碰撞工程算法,该算法无需获取塔吊与障碍物的精确坐标测绘图纸,简洁明了。工地现场实际也验证了算法的有效性和实用性。

Anti-collision of tower craneand construction site’s obstacles is one of the most important issues for tower crane safety.However,recent research on anti-collision algorithms is focus on basic principles and ignoring the enforceability of engineering practice.This paper proposed anew a nti-collision algorithms parameterized by collision distance and collision angle based on relative coordinate system of tower crane.This algorithm is succinct and does not require tower crane and obstacles precise position by coordinate chart.The field test also results showed the effectiveness and practicality of the algorithm.