摘要
为解决输电线路智能组塔的吊件位姿识别与测量困难、吊装路径规划方法缺失和设备自动控制程度低等问题,对双平臂落地抱杆的智能吊装关键技术进行研究。通过对April Tag技术进行改进,降低标签安装难度和提高姿态测量精度,实现吊件位姿的精确测量;同时结合实时动态载波相位差分定位技术,实现大范围运动的吊件的位姿测量。通过对吊装路径规划问题进行降维、中心对称和栅格化处理,采用A^(*)算法实现双平臂落地抱杆两侧平衡起吊的吊装路径规划。进行双平臂落地抱杆的自动控制系统研究,提出吊件智能吊装就位迭代调整方法,实现输电线路组塔吊装的智能化。
To solve the intelligent hoisting problems in transmission line construction field,such as the identification and measurement of the hanger’s position and attitude,the path planning for the hanger,the automatic control of the hoisting facility,and the key technologies of intelligent hoisting for the floorstanding double boom derrick were studied.Specifically,through the improvement of April Tag technology,the difficulty of tag installation was reduced and the accuracy of attitude measurement was improved to achieve the accurate measurement of the position and attitude of the hanger.At the same time,combined with real-time kinematic positioning technology,the position and attitude measurement of the wide-range motion hanger was achieved.Through dimensionality reduction,central symmetry and rasterization,A^(*)algorithm was applied to realize the hoisting path planning for the balanced hoisting on both sides of the floor-standing double boom derrick.The automatic control system of the derrick was also studied,and the iterative adjustment method of intelligent hoisting was proposed to realize the intelligent hoisting for transmission line tower assembly construction.
作者
张飞凯
夏拥军
秦剑
游溢
王汉炜
彭飞
ZHANG Feikai;XIA Yongjun;QIN Jian;YOU Yi;WANG Hanwei;PENG Fei(China Electric Power Research Institute,Beijing 100055,China;Electric Power Research Institute,State Grid Xinjiang Electric Power Co.,Ltd.,Urumqi 830011,Xinjiang,China;Zhejiang Construction Engineering Machinery Group,Hangzhou 310014,Zhejiang,China)
出处
《中国工程机械学报》
北大核心
2025年第5期862-866,872,共6页
Chinese Journal of Construction Machinery
基金
国家电网有限公司总部科技资助项目(5200-202236097A-1-1-ZN)。
