智能塔式起重机关键技术研究  

Key technologies of intelligent tower crane

作　　者：郑宏远 卢宁 宋鹏程 龚涛 ZHENG Hong-yuan;LU Ning;SONG Peng-chen;GONG Tao(School of Mechatronics and Vehicle Engineering,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Beijing Engineering Research Center of Monitoring for Construction Safety,Beijing 100032,China;Beijing Materials Handling Research Institute Co.,Ltd.,Beijing 100007,China)

机构地区：[1]北京建筑大学机电与车辆工程学院,北京100032 [2]北京市建筑安全监测工程技术研究中心,北京100032 [3]北京起重运输机械设计研究院有限公司,北京100007

出　　处：《机电工程》2023年第3期435-443,共9页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51775031)。

摘　　要：传统的塔式起重机在作业过程中,存在作业效率低、安全隐患多、塔机检修困难等问题,为了解决这些问题,对智能塔式起重机进行了研究,探讨了塔式起重机智能化所需的关键技术。首先,提出了塔式起重机智能化的概念,归纳并分析了塔式起重机在各技术方面的发展历程;然后,提出了塔式起重机智能化应具备的关键技术,将同步定位与建图(SLAM)构建技术、实时动态(RTK)定位技术、故障诊断技术和云监管平台应用至智能塔式起重机中;最后,结合所提出的关键技术,提出了智能塔式起重机自动化作业系统的框架,对智能塔式起重机的自动化作业系统进行了定义和模块化处理,分别对系统框架中的各模块子系统进行了具体阐述分析,强调了自动化作业系统主要依托于关键技术。研究结果表明:今后塔式起重机将朝着智能化、自动化的方向发展,其研究核心是塔机的关键技术和自动化作业系统的框架。In order to solve the problems of traditional tower cranes,such as low operating efficiency,hidden dangers in operation safety,and difficulties in tower crane maintenance,the intelligent tower crane was studied,and the key technologies required for the intellectualization of tower cranes were discussed.Firstly,the concept of intelligent tower crane was proposed,and the development history of tower crane in all aspects of technology was summarized and analyzed.Then,the key technologies that should be available for intelligent tower crane were proposed,and simultaneous localization and mapping(SLAM)technology,real time dynamic(RTK)positioning technology,fault diagnosis technology and cloud supervision platform were applied to intelligent tower crane.Finally,combining with the proposed key technologies of intelligent tower crane,the framework of the intelligent tower crane automation operation system was proposed,the intelligent tower crane automation operation system was defined and modularized,at the same time,each module subsystem in the system framework was described and analyzed in detail,emphasizing that the automation operation system mainly depended on the key technologies.The research results show that the tower crane is developing towards intelligence and automation,the core of the research is the key technology of intelligent tower crane and the framework of automatic operation system.

关 键 词：智能塔机 同步定位与建图 地图构建技术 定点吊装技术 实时动态定位技术 故障诊断技术 自动化作业系统 吊钩路径规划 

分 类 号：TH213.3[机械工程—机械制造及自动化]