摘要
针对多台轨行式起重机在并行作业时可能发生的碰撞问题,提出了一种基于空间姿态的起重机群防碰撞算法。建立起重机的简化模型,根据传感器实时测得的起重机各参数信息,确定任意时刻其各自的空间姿态。计算各起重机之间的最短距离,并与防碰撞预警距离比较,来实现危险预警。仿真结果验证了该算法的可行性和正确性。
In view of possible collision problems during parallel operation of several rail-mounted cranes , the paper puts forward a crane-group anti-collision algorithm based on space attitude.The simplified model is built for cranes to get various real-time parameters using the sensor and determine each space attitude at any time.The minimum distance between cranes is calculated , with its result to be compared with anti-collision warning distance to realize the hazard warning.The simulation results verify the feasibility and correctness of the algorithm.
出处
《起重运输机械》
2014年第3期22-28,共7页
Hoisting and Conveying Machinery
关键词
轨行式起重机
防碰撞
空间姿态
最短距离
rail-mounted crane
anti-collision
space attitude
shortest distance
