摘要
【目的】缆机是高拱坝建设中的主要施工机械之一,然而复杂的交叉作业和大风等不利环境为缆机的安全运行带来了巨大挑战。针对上述问题,基于实时采集的缆机定位监测数据,预测吊罐未来的运行轨迹,以吊罐与其他施工实体之间的距离以及距离变化速率定义碰撞概率,并以此实时分析吊罐的未来运行轨迹,为缆机防撞控制以及避障方案选择提供数据基础。【方法】首先,根据缆机的实时监测数据分析缆机的运行趋势,预测小车在未来一段时间内的运行轨迹,并综合考虑缆机速度变化和大风环境对吊罐的影响,进而计算吊罐的预测运行轨迹;其次,计算吊罐在预测运行轨迹上与其他施工实体之间的最小距离以及最小距离变化速率,据此计算吊罐在预测运行轨迹上与其他施工实体发生碰撞的概率;最后,取两段白鹤滩水电站吊罐的实测运行轨迹计算其预测运行轨迹,分别计算碰撞概率并进行对比分析,以验证该碰撞概率分析模型的有效性。【结果】结果显示,预测运行轨迹碰撞概率与实际运行轨迹碰撞概率的平均绝对误差为0.36%,均方误差为0.0010%。【结论】结果表明,可以使用该模型实时分析缆机的碰撞概率,为缆机防撞控制和路径优化提供数据支持。
[Objective]Cable crane is one of the main construction machinery in the construction of high arch dam.However,the complex cross operation and adverse environments such as strong wind bring great challenges to the safe operation of cable cranes.In order to solve above problems,based on the real-time collected positioning monitoring data of the cable crane,this paper pre-dicts the future running track of the bucket,defines the collision probability with the distance between the bucket and other construction entities and the distance change rate,and analyzes the future running track of the bucket in real time,which pro-vides a data basis for the anti-collision control of the cable crane and the selection of obstacle avoidance schemes.[Methods]Firstly,analyze the operation trend of the cable crane based on the real-time monitoring data of the cable crane,and predict the future running track of the trolley.And comprehensively consider the influence of the speed change of the cable crane and the wind environment on the bucket,calculate the predicted running track of the bucket.Secondly,calculate the minimum distance between the bucket and other construction entities on the predicted running track and the minimum distance change rate,and cal-culate the probability of collision between the bucket and other construction entities on the predicted running track.Finally,the measured trajectory of the two sections of the Baihetan Hydropower Station is taken to calculate the predicted trajectory,calculate the collision probability and comparative analysis to verify the effectiveness of the collision probability analysis model.[Results]The result show that the average absolute error between the predicted trajectory collision probability and the actual trajectory colli-sion probability is 0.36%,and the mean square error is 0.0010%.[Conclusion]The result show that the model can be used to analyze the collision probability of the cable crane in real time,and provide data support for the anti-collision control and path optimization
作者
赵春菊
郭柏成
王放
周华维
资瑛
ZHAO Chunju;GUO Baicheng;WANG Fang;ZHOU Huawei;ZI Ying(College of Hydraulic&Environmental Engineering,Three Gorges University,Yichang443002,Hubei,China;College of Civil Engineering Architecture&the Environment,Hubei University of Technology,Wuhan430068,Hubei,China;Zhongnan Architectural Design Institute Co.,Ltd.,Wuhan430064,Hubei,China)
出处
《水利水电技术（中英文）》
北大核心
2023年第9期116-126,共11页
Water Resources and Hydropower Engineering
基金
国家自然科学基金项目(51779131)
国家自然科学基金青年科学基金项目(52109157)。
关键词
高拱坝施工
时空冲突
碰撞概率
high arch dam construction
space-time conflict
collision probability
