群塔防碰撞算法与实验研究
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摘要
塔式起重机是建筑施工中不可缺少的物料运输机械,其应用越来越广泛,人们对塔机的要求也越来越高,塔机运行的安全性能是否达标已经成为威胁建筑工地工作人员的生命安全的重要元素,因此,对塔机运行状态的监督显得尤为重要。
本课题是基于国家“十一五”科技支撑计划“建筑工程装备研究与产业化开发”的子课题“群塔集中网络化管理技术与装置研究”开展的。本文为该项目中的塔机运行防碰撞、三维监视及数据处理系统的开发。本文在研究了当前国内外现有的群塔作业防碰撞及监视系统的基础上,针对其存在的问题,提出以OpenGL图形设备接口为三维监视系统的载体,利用齐次变换技及包围盒术来作为系统的防碰撞算法,以ODBC管理的Access为数据库来开发新一代群塔作业防碰撞及监视系统。
系统的主要作用是建立虚拟工况来模拟实际工况中塔机和障碍物,实时采集塔机的各个姿态参数,计算塔机与塔机及塔机与障碍物间的相互位置关系,在危险状态发出预警,并对塔机运行进行监视。防碰撞引擎及三维监视所用数据包括工况现场采集的工地坐标信息,三种类型塔机(平臂塔机、平头塔机及动臂塔机)位置及数量信息,两种类型障碍物(圆柱体及正六面体)的位置、数量、形态信息及塔机的姿态数据信息(由数据采集卡采集)。系统配有数据库,系统工作同时,以时间为主键,记录一定时间范围内塔机的各个姿态参数。实现“黑匣子”功能,方便数据管理及事故分析。
系统采用模块化设计,整个系统由以下几个模块组成:参数载入模块、模型载入模块、模型建立模块、数据采集模块、防碰撞计算模块、演示监视模块、警告及报警模块、数据存储模块、数据显示模块及文件操作部分。
本文建立了群塔防碰撞系统的实验系统,以角度传感器采集塔机角度信息,以位移传感器采集塔机小车位置信息,实现实际工况的模拟。系统的调试结果表明,本文研制的防碰撞及监视系统运行良好,能够有效对塔机运行过程中碰撞的危险予以预警。
Tower crane is indispensable transport machine in construction.Application of tower crane become more and more widely, the requirements of tower crane from people also increase. The safety operation of tower crane has become a threat to the safety of person who works on construction sites. The safety of tower cranes is to be a problem of needing an effective solution. So, monitoring operation of the tower crane is especially important.
The subject based on national "Eleventh Five-Year" plan of scientific and technological support“Research on network management technology and devices for group tower”of”Construction equipment research and industry development”. In this paper, the work is running in the tower crane anti-collision data processing, records and the development of three-dimensional monitoring system based on the current anti-collision and three-dimensional monitoring system, for their problems, using bounding box and homogeneous transform technology as the core of the anti-collision algorithm, OpenGL graphics device interface as the core for three-dimensional monitoring system. Access database manage by ODBC to develop a new generation of anti-collision for group tower operation and monitoring systems.
The main function of the system is real-time collection of various tower crane posture parameters,establish virtual working conditions to simulate actual working conditions for the surveillance of tower crane operation. Calculation the relationship of the location of tower cranes and obstructions, give the early warning in the dangerous state,this system has a database module, display and record a scope of a certain period of time in all parameters of tower crane.
System was developed in Visual C + + environment, the data of anti-collision engine and three-dimensional monitoring system including information on the site coordinates, the information of location and quantity of three types of tower cranes. the information of location and quantity of two types of obstacles, data of tower crane posture. at the same time, system record the various tower crane posture data, realize the function of "black box", make data management and accident analysis more convenient.
System design concept is the modular design, the whole system composed of the following modules: parameter loading module, loading model module, model-building module, data acquisition module, anti-collision calculation module, monitoring system module, warning and alarm module, data storage module, data display module and part of file operations.
Establish experimental system for group crane anti-collision system, collection the information of angle of tower crane with angle sensor, collection the information of location of tower crane with distance sensor to simulate actual working conditions. The debugging results of the system showed that anti-collision system work well. It could give an early warning operation to tower crane in the risk of collision.
本课题是基于国家“十一五”科技支撑计划“建筑工程装备研究与产业化开发”的子课题“群塔集中网络化管理技术与装置研究”开展的。本文为该项目中的塔机运行防碰撞、三维监视及数据处理系统的开发。本文在研究了当前国内外现有的群塔作业防碰撞及监视系统的基础上,针对其存在的问题,提出以OpenGL图形设备接口为三维监视系统的载体,利用齐次变换技及包围盒术来作为系统的防碰撞算法,以ODBC管理的Access为数据库来开发新一代群塔作业防碰撞及监视系统。
系统的主要作用是建立虚拟工况来模拟实际工况中塔机和障碍物,实时采集塔机的各个姿态参数,计算塔机与塔机及塔机与障碍物间的相互位置关系,在危险状态发出预警,并对塔机运行进行监视。防碰撞引擎及三维监视所用数据包括工况现场采集的工地坐标信息,三种类型塔机(平臂塔机、平头塔机及动臂塔机)位置及数量信息,两种类型障碍物(圆柱体及正六面体)的位置、数量、形态信息及塔机的姿态数据信息(由数据采集卡采集)。系统配有数据库,系统工作同时,以时间为主键,记录一定时间范围内塔机的各个姿态参数。实现“黑匣子”功能,方便数据管理及事故分析。
系统采用模块化设计,整个系统由以下几个模块组成:参数载入模块、模型载入模块、模型建立模块、数据采集模块、防碰撞计算模块、演示监视模块、警告及报警模块、数据存储模块、数据显示模块及文件操作部分。
本文建立了群塔防碰撞系统的实验系统,以角度传感器采集塔机角度信息,以位移传感器采集塔机小车位置信息,实现实际工况的模拟。系统的调试结果表明,本文研制的防碰撞及监视系统运行良好,能够有效对塔机运行过程中碰撞的危险予以预警。
Tower crane is indispensable transport machine in construction.Application of tower crane become more and more widely, the requirements of tower crane from people also increase. The safety operation of tower crane has become a threat to the safety of person who works on construction sites. The safety of tower cranes is to be a problem of needing an effective solution. So, monitoring operation of the tower crane is especially important.
The subject based on national "Eleventh Five-Year" plan of scientific and technological support“Research on network management technology and devices for group tower”of”Construction equipment research and industry development”. In this paper, the work is running in the tower crane anti-collision data processing, records and the development of three-dimensional monitoring system based on the current anti-collision and three-dimensional monitoring system, for their problems, using bounding box and homogeneous transform technology as the core of the anti-collision algorithm, OpenGL graphics device interface as the core for three-dimensional monitoring system. Access database manage by ODBC to develop a new generation of anti-collision for group tower operation and monitoring systems.
The main function of the system is real-time collection of various tower crane posture parameters,establish virtual working conditions to simulate actual working conditions for the surveillance of tower crane operation. Calculation the relationship of the location of tower cranes and obstructions, give the early warning in the dangerous state,this system has a database module, display and record a scope of a certain period of time in all parameters of tower crane.
System was developed in Visual C + + environment, the data of anti-collision engine and three-dimensional monitoring system including information on the site coordinates, the information of location and quantity of three types of tower cranes. the information of location and quantity of two types of obstacles, data of tower crane posture. at the same time, system record the various tower crane posture data, realize the function of "black box", make data management and accident analysis more convenient.
System design concept is the modular design, the whole system composed of the following modules: parameter loading module, loading model module, model-building module, data acquisition module, anti-collision calculation module, monitoring system module, warning and alarm module, data storage module, data display module and part of file operations.
Establish experimental system for group crane anti-collision system, collection the information of angle of tower crane with angle sensor, collection the information of location of tower crane with distance sensor to simulate actual working conditions. The debugging results of the system showed that anti-collision system work well. It could give an early warning operation to tower crane in the risk of collision.
引文
1宋增贤.群塔施工中的安全管理与对策.建筑安全. 2004, (1):32-33
2 William G. Booty, Isaac Wong, David Lam, Oskar Resler. A decision support system for environmental effects monitoring. Environmental Modelling & Software. 2009,24(8):889-900
3杨清泉,刘春林.塔机防碰撞及工作区域限制技术.建筑机械. 2004, (7):78-80
4谢长宇,尹苟保.大型塔机安全监控系统的研制.建筑机械技术与管理. 2001,(5):17-18
5李伯宣.岭澳核电站核岛施工塔机布置及选型.建筑机械. 2001,(2):40-41
6 H.M. Al-Humaidi, F. Hadipriono Tan. Mobile crane safe operation approach to prevent electrocution using fuzzy-set logic models. Advances in Engineering Software. 2009,40(8):686-696
7 Xuezhi Dai, Yong Wu, Yanqiang Di, Qiaoyan Li. Government regulation and associated innovations in building energy-efficiency supervisory systems for large-scale public buildings in a market economy. Energy Policy. 2009,37(6):2073-2078
8邹治伟,夏超群.大型建筑施工设备防碰撞预警系统的开发研究.大众科技. 2005, (11): 23-24
9李丹妮,刘金辉,姜应战.基于Visual C++的数据采集与处理软件设计与实现.微计算机信息. 2007, (23): 117-119
10邱仲潘,柯渝,谢燕华. Visual C++ 6从入门到精通.电子工业出版社. 2006:15-42
11高守传,聂云铭,郑静. Visual C++开发指南.人民邮电出版社. 2007:438-448
12黄祥建,田怀文.基于图像空间的刚体碰撞检测的OpenGL实现.电脑知识与技术. 2007, (2):439-441
13傅由甲.基于OpenGL的三维场景多视角实时漫游与观察.计算机时代. 2008, (11):60-61
14 Mike Bailey. Teaching OpenGL shaders: Hands-on, interactive, and immediate feedback. Computers & Graphics. 2007,31(3):524-531
15 Bo Chen, Harry H. Cheng. Interpretive OpenGL for computer graphics. Computers & Graphics. 2005,29(3):331-339
16 Dirk Bartz, Michael Mei?ner, Tobias Hüttner. OpenGL-assisted occlusionculling for large polygonal models. Computers & Graphics. 1999,23(5):667-679
17石琼,沈春林,谭皓.基于OpenGL的三维建模实现方法.计算机工程与应用. 2004, (18):122-124
18 AbduMalik S, Al-Salman, Fahad Al-Qahtani. GLAL: An OpenGL Arabization Library. Software: Practice and Experience. 2005, 35(14):1393-1407
19郭兆荣,李菁,王彦. Visual C++ OpenGL应用程序开发.人民邮电出版社. 2006:9-36
20徐波. OpenGL编程指南.机械工业出版社. 2006:66-100
21徐明亮,卢红星,王琬. OpenGL游戏编程.机械工业出版社. 2008:87-120
22 Danijel Rebolj, Nenad ?u? Babi?, Ale? Magdi?, Peter Podbreznik, Mirko P?under. Automated construction activity monitoring system. Advanced Engineering Informatics. 2008,22(4):493-503
23陈雷,伊明,陈二雷.基于包围盒的碰撞检测算法研究.电脑知识与技术. 2007, (14):459-460
24 Redon S, Kheddar A and Coquillart S. Fast continuous collision detection between rigid bodies. Computer Graphics Forum. 2002, 21(3):279-287
25 Zhaowei Fan, Huagen Wan and Shuming Gao. IBCD: a fast collision detection algorithm based on image space using OBB. The Journal of Visualization and Computer Animation. 2003, 14(4):169-181
26 Michael E. Cinelli, Aftab E. Patla. Travel path conditions dictate the manner in which individuals avoid collisions. Gait & Posture. 2007, 26(2):186-193
27刘涛,王增波,李占利.碰撞检测过程中的包围盒技术及应用研究.西安科技大学学报. 2006, 26(3): 395-399
28 Brett R. Fajen. Calibration, Information, and Control Strategies for Braking to Avoid a Collision. Journal of Experimental Psychology: Human Perception and Performance. 2005, 31(3):480-501
29 James E. Cutting, Peter M. Vishton, Paul A. Braren. How We Avoid Collisions With Stationary and Moving Obstacles. Psychological Review. 1995, 102(4):627-651
30 Adriano Luchetta, Oliviero Barana, Gabriele Manduchi, Cesare Taliercio. Preliminary design of the control and data acquisition systems for the Neutral Beam Test Facility. Fusion Engineering and Design. 2009,84(7):1227-1232
31夏邦贵,刘凡馨. Visual C++数据库开发经典实例精析. 2006:76-100
32 Ken-ichiro Matsumoto, Kazunori Anzai, Hideo Utsumi. Simple data acquisition method for multi-dimensional EPR spectral-spatial imaging using a combination of constant-time and projection-reconstruction modalities. Journal of MagneticResonance. 2009,197(2):161-166
33 Ryan D. Lang, Alexander G. Volkov. Study of Electrophysiology of Thermal Shock in Higher Plants using High Speed Data Acquisition. Biophysical Journal. 2009,96(3):684
34 Kevin Sze Chiang Kuang, Ser Tong Quek, Mohamed Maalej. Remote flood monitoring system based on plastic optical fibres and wireless motes. Sensors and Actuators A. 2008,147(2):449-455
35 Jean Bacon, Ken Moody and Walt Yao. Access control and trust in the use of widely distributed services. Software: Practice and Experience. 2003, 33(4):375-394
36 Humberto J. La Roche, Stephen L. Myers, James P. Runyon, Gerald S. Soloway, and David W. Spears. High-speed data services using the Switched Digital Broadband Access System. Bell Labs Technical Journal. 1997, 2(2):188-202
37连宇江,屈展.基于ACCESS和ODBC的图书管理系统报表自定义设计与输出.情报探索. 2009,(2):92-94
38 Xypro Technology. Open Database Connectivity (ODBC) SQL/MP. Securing HP NonStop Servers in an Open Systems World. 2006:259-284
39代伟,刘敏,冯文武. ODBC技术解析与MFC ODBC实例应用.内江师范学院学报. 2008,(2):37-39
40靳小俊,孟海涛.使用MFC ODBC实现数据库管理.科技情报开发与经济. 2005,15(6):235-236
41张丽华,张泉方,黄政.使用ODBC和PB数据窗口实现通用查询.计算机应用与软件. 2007,24(4):84-86
42刘乐善,欧阳明星,刘学清.微型计算机接口技术及应用. 2000:30-54
43李志强,马彦恒,尚朝轩,刘利民,于久恩.光电编码器在角度信息传输及采集中的应用.现代仪器使用与维修. 1997,(4):22-24
44王春香,杨汝清,翁新华,李光布.基于光电编码器和PLC的角度监控系统.机械与电子. 2002,(2):13-15
2 William G. Booty, Isaac Wong, David Lam, Oskar Resler. A decision support system for environmental effects monitoring. Environmental Modelling & Software. 2009,24(8):889-900
3杨清泉,刘春林.塔机防碰撞及工作区域限制技术.建筑机械. 2004, (7):78-80
4谢长宇,尹苟保.大型塔机安全监控系统的研制.建筑机械技术与管理. 2001,(5):17-18
5李伯宣.岭澳核电站核岛施工塔机布置及选型.建筑机械. 2001,(2):40-41
6 H.M. Al-Humaidi, F. Hadipriono Tan. Mobile crane safe operation approach to prevent electrocution using fuzzy-set logic models. Advances in Engineering Software. 2009,40(8):686-696
7 Xuezhi Dai, Yong Wu, Yanqiang Di, Qiaoyan Li. Government regulation and associated innovations in building energy-efficiency supervisory systems for large-scale public buildings in a market economy. Energy Policy. 2009,37(6):2073-2078
8邹治伟,夏超群.大型建筑施工设备防碰撞预警系统的开发研究.大众科技. 2005, (11): 23-24
9李丹妮,刘金辉,姜应战.基于Visual C++的数据采集与处理软件设计与实现.微计算机信息. 2007, (23): 117-119
10邱仲潘,柯渝,谢燕华. Visual C++ 6从入门到精通.电子工业出版社. 2006:15-42
11高守传,聂云铭,郑静. Visual C++开发指南.人民邮电出版社. 2007:438-448
12黄祥建,田怀文.基于图像空间的刚体碰撞检测的OpenGL实现.电脑知识与技术. 2007, (2):439-441
13傅由甲.基于OpenGL的三维场景多视角实时漫游与观察.计算机时代. 2008, (11):60-61
14 Mike Bailey. Teaching OpenGL shaders: Hands-on, interactive, and immediate feedback. Computers & Graphics. 2007,31(3):524-531
15 Bo Chen, Harry H. Cheng. Interpretive OpenGL for computer graphics. Computers & Graphics. 2005,29(3):331-339
16 Dirk Bartz, Michael Mei?ner, Tobias Hüttner. OpenGL-assisted occlusionculling for large polygonal models. Computers & Graphics. 1999,23(5):667-679
17石琼,沈春林,谭皓.基于OpenGL的三维建模实现方法.计算机工程与应用. 2004, (18):122-124
18 AbduMalik S, Al-Salman, Fahad Al-Qahtani. GLAL: An OpenGL Arabization Library. Software: Practice and Experience. 2005, 35(14):1393-1407
19郭兆荣,李菁,王彦. Visual C++ OpenGL应用程序开发.人民邮电出版社. 2006:9-36
20徐波. OpenGL编程指南.机械工业出版社. 2006:66-100
21徐明亮,卢红星,王琬. OpenGL游戏编程.机械工业出版社. 2008:87-120
22 Danijel Rebolj, Nenad ?u? Babi?, Ale? Magdi?, Peter Podbreznik, Mirko P?under. Automated construction activity monitoring system. Advanced Engineering Informatics. 2008,22(4):493-503
23陈雷,伊明,陈二雷.基于包围盒的碰撞检测算法研究.电脑知识与技术. 2007, (14):459-460
24 Redon S, Kheddar A and Coquillart S. Fast continuous collision detection between rigid bodies. Computer Graphics Forum. 2002, 21(3):279-287
25 Zhaowei Fan, Huagen Wan and Shuming Gao. IBCD: a fast collision detection algorithm based on image space using OBB. The Journal of Visualization and Computer Animation. 2003, 14(4):169-181
26 Michael E. Cinelli, Aftab E. Patla. Travel path conditions dictate the manner in which individuals avoid collisions. Gait & Posture. 2007, 26(2):186-193
27刘涛,王增波,李占利.碰撞检测过程中的包围盒技术及应用研究.西安科技大学学报. 2006, 26(3): 395-399
28 Brett R. Fajen. Calibration, Information, and Control Strategies for Braking to Avoid a Collision. Journal of Experimental Psychology: Human Perception and Performance. 2005, 31(3):480-501
29 James E. Cutting, Peter M. Vishton, Paul A. Braren. How We Avoid Collisions With Stationary and Moving Obstacles. Psychological Review. 1995, 102(4):627-651
30 Adriano Luchetta, Oliviero Barana, Gabriele Manduchi, Cesare Taliercio. Preliminary design of the control and data acquisition systems for the Neutral Beam Test Facility. Fusion Engineering and Design. 2009,84(7):1227-1232
31夏邦贵,刘凡馨. Visual C++数据库开发经典实例精析. 2006:76-100
32 Ken-ichiro Matsumoto, Kazunori Anzai, Hideo Utsumi. Simple data acquisition method for multi-dimensional EPR spectral-spatial imaging using a combination of constant-time and projection-reconstruction modalities. Journal of MagneticResonance. 2009,197(2):161-166
33 Ryan D. Lang, Alexander G. Volkov. Study of Electrophysiology of Thermal Shock in Higher Plants using High Speed Data Acquisition. Biophysical Journal. 2009,96(3):684
34 Kevin Sze Chiang Kuang, Ser Tong Quek, Mohamed Maalej. Remote flood monitoring system based on plastic optical fibres and wireless motes. Sensors and Actuators A. 2008,147(2):449-455
35 Jean Bacon, Ken Moody and Walt Yao. Access control and trust in the use of widely distributed services. Software: Practice and Experience. 2003, 33(4):375-394
36 Humberto J. La Roche, Stephen L. Myers, James P. Runyon, Gerald S. Soloway, and David W. Spears. High-speed data services using the Switched Digital Broadband Access System. Bell Labs Technical Journal. 1997, 2(2):188-202
37连宇江,屈展.基于ACCESS和ODBC的图书管理系统报表自定义设计与输出.情报探索. 2009,(2):92-94
38 Xypro Technology. Open Database Connectivity (ODBC) SQL/MP. Securing HP NonStop Servers in an Open Systems World. 2006:259-284
39代伟,刘敏,冯文武. ODBC技术解析与MFC ODBC实例应用.内江师范学院学报. 2008,(2):37-39
40靳小俊,孟海涛.使用MFC ODBC实现数据库管理.科技情报开发与经济. 2005,15(6):235-236
41张丽华,张泉方,黄政.使用ODBC和PB数据窗口实现通用查询.计算机应用与软件. 2007,24(4):84-86
42刘乐善,欧阳明星,刘学清.微型计算机接口技术及应用. 2000:30-54
43李志强,马彦恒,尚朝轩,刘利民,于久恩.光电编码器在角度信息传输及采集中的应用.现代仪器使用与维修. 1997,(4):22-24
44王春香,杨汝清,翁新华,李光布.基于光电编码器和PLC的角度监控系统.机械与电子. 2002,(2):13-15