【摘要】 起重机吊装作业前的方案规划与仿真是减少吊装安全事故的重要环节。采用吊臂臂头自主探测学习的方法,准确采集作业区障碍物的外形与位置信息,以扇格数据表精确存贮作业区环境数据。采用吊臂臂头采集吊装物体的源位置与目标位置信息,依据吊装作业区环境数据表,再结合起重机吊装性能表,在车载显示器内实时生成包括吊臂长度、旋转方向以及每个转角下仰角等参数的吊装方案,并对生成的吊装方案进行优化与仿真。实际吊装应用表明,该系统能准确采集作业区内的环境数据,并能优化生成的吊装方案。更多还原

【Abstract】 Path planning and simulation of lifting scheme before lift operation are essential for wheeled crane to reduce accidents during lift operation. The shape and location data of obstacles in work zone are collected accurately by adopting self-exploration way for boom head of crane. Obstacles data are stored precisely in the fan grids to establish environment data sheet of work zone.The data of lifting objectsoriginal and destination site are collected using boom head. Lifting scheme optimization design is studied combining crane lifting operation manual and environment data sheet of work zone. Lifting scheme composed of length,direction of rotating and elevation angle in each rotation angle of boom is created and simulated in monitor of crane. A tentative application ofthis system at real construction sites has demonstrated its ability to collect accurately objects data in work zone and generate optimized lifting scheme.更多还原