塔群防碰撞监测系统的研究  

Research on monitoring system of anti-collision for tower cranes

作　　者：闫佳妮[1] 邓宗白[1] 

机构地区：[1]南京航空航天大学航空宇航学院,江苏南京210016

出　　处：《建筑机械》2011年第7期106-110,20,共5页Construction Machinery

摘　　要：施工现场的塔机作业空间相互重叠,极易发生碰撞现象,为此建立了塔群防碰撞监测系统。系统采用GPS RTK技术实时测量塔机的位置信息,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对塔机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,system use GPS RTK technology to measure tower crane positional information real-time.This technology will enhance the measurement accuracy of GPS from the meter level to a centimeter level.Masurement result is transformed to the same user-defined coordinate system through the Bursa-Worf model,and sent to controller by wireless LAN technology.After in-depth studying the machemstical 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,Controller can dynamicly monitor the tower crane by using anti-collision detection algorithm to achieve early-warming effect.

关 键 词：GPSRTK技术 坐标转换 塔机数学模型 实时碰撞检测 

分 类 号：TH213.3[机械工程—机械制造及自动化]