动臂式塔吊防碰撞算法研究

摘要

由于施工现场内塔吊交叉作业现象严重,为满足施工现场安全及管理的需要,针对动臂式塔吊的群塔作业问题,借鉴AABB层次包围盒的思想,提出并设计了塔吊间的碰撞检测算法.算法采用边界描述法准确地描述塔吊的几何特性,引入四维时空状态模型和运行状态信息构建了动臂式塔吊的数学模型.仿真结果证明该算法能够有效地防止塔吊之间的碰撞.%Due to the phenomenon of crane cross--operating in the construction site, in order to meet the needs of safety and management in construction site, against the operational issues for the boom tower cranes, the crane collision detection algorithm is proposed and designed, referencing the idea of the AABB bounding volume hierarchies. The algorithm uses the method of the boundary description to accurately describe the geometrical properties of the tower crane, while introduces the four- dimensional space-time state model and the operational status information to build a mathematical model of the boom crane. The simulation results show that the algorithm can effectively prevent collision between the cranes.