Research On Tower Crane Anti-collision System Based On Dynamic Prediction

Tower crane is an important engineering machinery equipment,and widely used in the infrastructure construction field.Due to the structural characteristics of single tower crane and the actual situation of multi-tower cranes collaborative operation,the collision accident of tower cranes caused by improper operation of staff has occurred frequently.In view of the advantages and disadvantages of the existing anti-collision system,an anti-collision system is developed,based on multi-sensor and wireless communication.The main contents of this paper are as follows:(1)Based on the rotary brake of tower crane,an anti-collision algorithm is developed.In the algorithm,the attitude of tower cranes can be calculated,and also the distance between the parts which may collide with each other in real time.By judging the possibility of collision,the dynamic prediction of collision are realized.The simulation by MATLAB is carried out to verify the feasibility and reliability of the algorithm.(2)As for the hardware,the controller based on the S3C2440 chip is selected,and the hardware design of the tower crane anti-collision system based on embedded technology is completed.The detection method of the operation parameters of tower cranes is studied,the parameter detection sensor is selected,and the interface switching circuit and the relay control circuit are designed for connection of sensors and output of relay control.(3)Based on the analysis of the protocol stack and network topology of ZigBee wireless communication technology,the wireless communication network is built.The initialization of communication network is completed,the join in and exit method of tower crane nodes are realized,and the data frame formats based on ZigBee are designed.(4)The construction of the embedded runtime environment is completed by migrating Bootloader,cutting and transplanting of the Linux kernel,production of YAFFS2 root file system,migration of related drives,and configuration of Qt/Embedded development environment.(5)Using Qt,an application development tool,to design the tower crane running state database software and the tower crane anti-collision software.The function of tower crane running data storage and query is realized.At the same time,the initialization of the state parameters of tower cranes,the display of the running state of tower cranes and the graphical display of the relative position of the tower cranes are realized,which provides a judgment basis for the operators of tower cranes to operate safely.