【作者】 张鹏；

【导师】 邓乾旺； 孔正军；

【作者基本信息】 湖南大学 ， 机械工程（专业学位）， 2019， 硕士

【摘要】 网络通讯、物联网、大数据和虚拟现实等技术的快速发展极大的促进了工业智能化进程,对提高工程作业效率与安全性具有重要现实意义。无论是工业制造系统还是工程作业领域都在积极寻找有效方法将技术创新应用于工业实际以提高智能化水平。起重机作为工程机械领域重要的起吊设备,其作业环境与入场方式具有一定的复杂性与特殊性,吊装效率与入场安全性问题一直备受关注,吊装智能化水平有待提高。本文以全路面起重机为研究对象,综合运用MFC、Access数据库、OSG、Socket套接字等技术,为起重机在作业前制定吊装方案及作业过程中人机交互,设计开发基于实车数据的起重机入场仿真系统,并对系统中的无线通讯协议、预设路径规划、起重机入场仿真进行深入研究。具体研究内容如下:(1)基于起重机局部作业场景建立车载控制器与PC端之间的无线通讯数据传输模型,并设计相关通讯协议。PC为上位机,车载控制器为下位机,采用TCP/IP协议建立通讯连接。由于不同模块数据的发送与接收模式不同,因此针对其分别设计通讯协议与数值解析方式。并行数据传输的效率、次序、是否丢包等问题是无线通讯的难点,传统解决此类问题的方式会以牺牲程序运行效率为代价,本文将数据分类处理并采用C++多线程技术予以实现,实验证明该方法能够解决上述问题,传输数据实时性较高。(2)提出一种改进的遗传算法解决起重机行驶入场路径规划问题。采用一维整数与二维坐标相结合的方式编码,依据遗传算法的运行原理,在进行种群初始化时引入诱导向量、关联矩阵与概率选择,为算法可能出现的特殊情形设置惩罚机制与反向诱导措施,充分保证了随机生成的父代种群质量。在进行交叉遗传算子设计时,采用多点定向交叉,使得交叉产生的子代个体至少优于两个父代个体中的一个,提高了算法收敛速度,同时设计变异算子维持种群多样性,防止算法早熟。(3)针对全路面起重机行驶入场开发一套基于OSG的三维仿真系统。运用OSG层次结构树管理三维模型,场景树由根节点、枝节点、叶节点三级层次构成;运用OSG中的节点更新回调机制设计回调函数,进行起重机行驶入场动态仿真。多次现场测试证明,系统运行效果较好,能够满足使用要求。更多还原

【Abstract】 The rapid development of technologies such as network communication,internet of things,big data and virtual reality has greatly promoted the process of industrial intelligence,which has important practical significance for improving the efficiency and safety of engineering operations.Both industrial manufacturing systems and engineering operations are actively seeking effective methods to technological innovation,which could be applied to industrial practi ce to improve the level of intelligence.As an important lifting equipment in the field of engineering machinery,the crane has certain complexity and particularity in its working environment and approach.The lifting efficiency and the safety of admission have been gotten widespread attention and the level of lifting intelligence needs to be improved desperately.This paper takes all-terrain crane as the research object,and adopts MFC,Access database,OSG,Socket and other technologies comprehensively to develop a crane entrance simulation system based on real vehicle data for the crane before the operation and the human-machine interaction design during the operation.In addition,we conduct in-depth research on wireless communication protocols,preset path planning and crane entry simulation in the system.The specific res earch content is as follows.(1)Establish a wireless communication data transmission model between the vehicle controller and the PC based on the local working scene of the crane,and design the relevant communication protocol.The PC is the host computer and the vehicle controller is the lower computer,whose communication connection is established by TCP/IP protocol.Since the transmission and reception modes of different module data are different,communication protocols and numerical analysis methods are separately designed.The efficiency,order,and packet loss of parallel data transmission are the difficulties of wireless communication.The traditional way to solve such problems will be at the expense of the efficiency of the program.This paper classifies the data and implements it with C++ multi-threading technology.It is proved that this method can solve the above problems,and the transmission data has high real-time performance.(2)An improved genetic algorithm is proposed to solve the problem of crane entry path planning.Coded by combining one-dimensional integers with two-dimensional coordinates,the induction vector,association matrix and probability are introduced in the population initialization according to the operation principle of genetic algorithm.And the penalty mechanism and reverse induction are set for the special cases that may occur in the algorithm,which fully guarantees the quality of the randomly generated parent population.Multi-point directional crossover is adopted in the design of cross-genetic operators,so that the progeny individuals generated by the crossover are better than one of the two parental individuals,which improves the convergence speed of the algorithm and designs the mutation operator to maintain the diversity of the population and prevent the algorithm from premature.(3)Development of an OSG-based 3D simulation system for all-terrain cranes entering the field.The OSG hierarchical tree is used to manage the 3D model.The scene tree consists of three levels: root node,branch node and leaf node.The callback function is designed by using the node update callback mechanism in OSG to simulate the dynamic driving of the crane.Many tests have proved that the system works well and can meet the requirements of use.更多还原