基于分支限界算法的横折臂混凝土布料机构避障布料分析  

Analysis of Obstacle Avoidance and Distribution of Concrete Distribution Mechanism with Transverse Folding Arm Based on Branch and Bound Algorithm

作　　者：王小安 李佳伟 黄跃申 WANG Xiao’an;LI Jiawei;HUANG Yueshen(Shanghai Construction Group Co.,Ltd.,Shanghai 200080,China;Shanghai Engineering Research Center of Mega Structure Construction Technology and Equipment,Shanghai 201114,China)

机构地区：[1]上海建工集团股份有限公司,上海200080 [2]上海高大结构建造工艺与装备工程技术研究中心,上海201114

出　　处：《建筑施工》2021年第11期2409-2414,共6页Building Construction

摘　　要：通过对横折臂混凝土布料机构、建筑结构布料区域、障碍区域的合理简化,在平面坐标系下建立了横折臂混凝土布料机构避障布料的数学模型,推导出横折臂布料机构考虑关节转角的状态函数。通过对横折臂布料机构状态函数和障碍区域边界函数的位置关系分析,在线段定义域重合的判别条件的基础上,推导了横折臂混凝土布料机构避开障碍区域的充要条件。结合模型的约束条件,基于分支限界算法,进行了横折臂布料机构避障布料问题的求解算法设计,并通过工程算例验证了算法的高效可行。Through the reasonable simplification of the transverse folding arm concrete distribution mechanism,building structure distribution area and obstacle area,the mathematical model of obstacle avoidance distribution of the transverse folding arm concrete distribution mechanism is established in the plane coordinate system,and the state function of the transverse folding arm distribution mechanism considering the joint angle is deduced.Through the analysis of the position relationship between the state function of the transverse folding arm concrete distribution mechanism and the boundary function of the obstacle area,and based on the discrimination condition of the coincidence of the line segment definition area,the necessary and sufficient condition for the transverse folding arm concrete distribution mechanism to avoid the obstacle area is deduced.Combined with the constraints of the model and based on the branch and bound algorithm,the algorithm for solving the obstacle avoidance cloth problem of the transverse folding arm cloth mechanism is designed,and the efficiency and feasibility of the algorithm are verified by an engineering example.

关 键 词：横折臂 布料机 避障 分支限界法 最优解 

分 类 号：TU646[建筑科学—建筑技术科学]