摘要
履带起重机位姿的求解是实现其作业过程可视化和数字孪生的理论基础。本文的侧重点在于将物理世界中的履带起重机位姿真实反映在数字世界,而定位装置反馈的数据和位姿求解算法就是连接物理世界和数字世界的纽带。本文将定位装置安装在履带起重机部件的典型位置,通过实时监测定位装置的位置,结合初始状态测点位置与起重机姿态的映射关系数据,建立由测点位置驱动的履带起重机的数学模型。通过对履带起重机部件结构层次关系的分析,建立具有节点关系的履带起重机模型结构,实现起重机位姿的求解。
The solution of the position-pose of a crawler crane is the theoretical basis for achieving visualization and digital twinning of its operation process.The focus of this article is to truly reflect the position-pose of crawler cranes in the physical world in the digital world,and the feedback data from positioning devices and position-pose solving algorithms are the link connecting the physical world and the digital world.This article installs a positioning device at a typical position of a crawler crane component.By monitoring the position of the positioning device in real-time and combining the mapping relationship data between the initial state measurement point position and the crane posture,a mathematical model of a crawler crane driven by the measurement point position is established.By analyzing the hierarchical relationship of the components of the crawler crane,a crawler crane model structure with node relationships is established,solve the new position-pose of the crane.
作者
陈照正
焦博
杨志强
CHEN Zhaozheng;JIAO Bo;YANG Zhiqiang(SINOPEC Heavy Lifting&Transportation Co.,Ltd.,Beijing 100029,China)
出处
《中国工程机械学报》
北大核心
2025年第5期913-917,共5页
Chinese Journal of Construction Machinery
关键词
定位装置
测点位置驱动
起重机位姿
positioning device
data driven of the position
crane position-pose
