基于空间姿态的轨行式起重机防碰撞算法

摘要

针对多台轨行式起重机在并行作业时可能发生的碰撞问题，提出了一种基于空间姿态的起重机群防碰撞算法。建立起重机的简化模型，根据传感器实时测得的起重机各参数信息，确定任意时刻其各自的空间姿态。计算各起重机之间的最短距离，并与防碰撞预警距离比较，来实现危险预警。仿真结果验证了该算法的可行性和正确性。%In view of possible collision problems during parallel operation of several rail-mounted cranes , the paper puts forward a crane-group anti-collision algorithm based on space attitude.The simplified model is built for cranes to get various real-time parameters using the sensor and determine each space attitude at any time.The minimum distance between cranes is calculated , with its result to be compared with anti-collision warning distance to realize the hazard warning.The simulation results verify the feasibility and correctness of the algorithm.