基于激光雷达和多传感器数据融合的塔机防碰撞系统  

Design of tower crane anti-collision system based on lidar and multi-sensor data fusion

作　　者：胡永坤 殷晨波[1] 乔文华 黄文武 张子立 陆志远 Hu Yongkun;Yin Chenbo;Qiao Wenhua;Huang Wenwu;Zhang Zili;Lu Zhiyuan(School of Mechanical and Power Engineering,Nanjing Tech University,Jiangsu Nanjing,211816,China;Dahan Technology Co.,Ltd.,Shandong Jinan,250200,China;Jiangsu Tianzhou Testing Co.,Ltd.,Jiangsu Nanjing,211816,China)

机构地区：[1]南京工业大学机械与动力工程学院,江苏南京211816 [2]大汉科技股份有限公司,山东济南250200 [3]江苏天宙检测有限公司,江苏南京211816

出　　处：《机械设计与制造工程》2024年第9期117-121,共5页Machine Design and Manufacturing Engineering

摘　　要：针对建筑工地施工作业密度增高导致的群塔碰撞事故频发的问题,提出了预碰撞点预警和激光雷达预警区预警双重判断的防碰撞方法,设计了基于激光雷达和多传感器数据融合的塔机防碰撞系统。该系统设计了雷达防碰撞、多传感器数据采集、数据通讯与传输等模块。现场测试表明,该系统运行稳定,数据采集准确,防碰撞功能符合实际塔机吊装过程使用要求,为塔机防碰撞领域提供了一种高效、可靠的智能解决方案。In view of the safety problem of frequent tower collision accidents caused by the increasing construction density of construction sites,the anti-collision method of pre-collision point early warning and lidar early warning area is put forward,and the anti-collision system based on lidar and multi-sensor data fusion is designed.This system contains radar anti-collision modules,multi-sensor data acquisition,data communication and transmission modules.Through the field test,it is shown that the system runs stably,the data collection is accurate,and the anti-collision function meets the actual requirements of the tower crane lifting process,which provides an efficient and reliable intelligent solution for the anti-collision field of tower crane collision prevention.

关 键 词：塔式起重机 防碰撞算法 激光雷达 数据融合 无线通讯 

分 类 号：TH213.3[机械工程—机械制造及自动化]