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Method for judging collision dangerous behavior of cantilever crane of concrete pump truck
The invention discloses a method for judging collision danger behaviors of a cantilever crane of a concrete pump truck. The method comprises the following steps: step 1, establishing a construction site coordinate system of a construction site; step 2, establishing a pump truck boom space model; 3, building a bounding box model of the obstacle; step 4; predicting the collision risk between the rotation behavior of the boom of the pump truck and a vertical side obstacle; 5, predicting the collision risk between the rotation behavior of the pump truck boom and the horizontal side obstacle; 6, predicting the collision risk between the angular motion behavior of the arm support joint of the pump truck and a horizontal side obstacle; therefore, collision prediction of a complete period is completed. According to the method, on one hand, collision detection of the pump truck boom in a space complex posture is achieved; and on the other hand, collision of the pump truck boom can be dynamically predicted.
本发明公开了一种混凝土泵车臂架碰撞危险行为判断方法，步骤包括：步骤1：建立施工现场工地坐标系；步骤2：建立泵车臂架空间模型；步骤3：建立障碍物的包围盒模型；步骤4；预测泵车臂架转动行为与垂直竖边障碍物的碰撞风险；步骤5：预测泵车臂架转动行为与水平边障碍物的碰撞风险；步骤6：预测泵车臂架关节角运动行为与水平边障碍物的碰撞风险；自此，完成一个完整周期的碰撞预测。本发明的方法，一方面实现了泵车臂架空间复杂姿态的碰撞检测；另一方面可以动态预测泵车臂架的碰撞。
Method for judging collision dangerous behavior of cantilever crane of concrete pump truck
The invention discloses a method for judging collision danger behaviors of a cantilever crane of a concrete pump truck. The method comprises the following steps: step 1, establishing a construction site coordinate system of a construction site; step 2, establishing a pump truck boom space model; 3, building a bounding box model of the obstacle; step 4; predicting the collision risk between the rotation behavior of the boom of the pump truck and a vertical side obstacle; 5, predicting the collision risk between the rotation behavior of the pump truck boom and the horizontal side obstacle; 6, predicting the collision risk between the angular motion behavior of the arm support joint of the pump truck and a horizontal side obstacle; therefore, collision prediction of a complete period is completed. According to the method, on one hand, collision detection of the pump truck boom in a space complex posture is achieved; and on the other hand, collision of the pump truck boom can be dynamically predicted.
本发明公开了一种混凝土泵车臂架碰撞危险行为判断方法，步骤包括：步骤1：建立施工现场工地坐标系；步骤2：建立泵车臂架空间模型；步骤3：建立障碍物的包围盒模型；步骤4；预测泵车臂架转动行为与垂直竖边障碍物的碰撞风险；步骤5：预测泵车臂架转动行为与水平边障碍物的碰撞风险；步骤6：预测泵车臂架关节角运动行为与水平边障碍物的碰撞风险；自此，完成一个完整周期的碰撞预测。本发明的方法，一方面实现了泵车臂架空间复杂姿态的碰撞检测；另一方面可以动态预测泵车臂架的碰撞。
Method for judging collision dangerous behavior of cantilever crane of concrete pump truck
混凝土泵车臂架碰撞危险行为判断方法
HE JUN (author) / WANG YANBO (author) / WU CHAOJIE (author) / ZHANG JUNLING (author) / LIANG BIN (author)
2023-12-22
Patent
Electronic Resource
Chinese
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