Studies And Applications On Anti-collision Technology Of Pump Truck Boom

As a dedicated vehicle transporting and pouring concrete, pump truck is used more and more wildly. However, as the working environment of pump truck becoming complex and harsh, along with the increase of its boom length and number, the operating information transmitted by voice between the operator and signalman will give rise to error and delay, which is prone to collision caused by misoperation. According to a lot of research, it is found that the existing collision algorithms to solve this kind of problem are targeted to specific objects and occasions, no general algorithm can be applied directly to the pump truck boom studied in this dissertation. And there are some limitations in the existing method of sensors ranging because of the complex structure of pump truck boom. Therefore, it is vital to study an effective anti-collision algorithm to predict the movement of the pump truck boom, and to avoid danger.Firstly, an anti-collision model of pump truck boom is established in this dissertation. According to the boom’s operating parameters that come from the remote control, and the position coordinate information measured by the high-precision posture sensing system of pump truck boom, which was independently developed by our team, it can calculate predicted coordinates of each pump truck boom section at different times. Using MATLAB to simulate the model to get the predicted coordinate information, it can be used to calculate the length of each arm section, which is compared with the actual length. The results indicated that the anti-collision model of pump truck boom is accurate and feasible.Secondly, based on the traditional thinking of collision detection and bounding box theory, an anti-collision algorithm of pump truck boom based on hierarchical bounding box is proposed. The algorithm can simplify the calculation process of anti-collision, accelerate computational speed and reduce the alarm delay. According to different characteristics of different objects, different spherical bounding boxes are selected and created. The anti-collision algorithm between balls and the underlying primitives distance algorithm are designed, and an anti-collision strategy is developed. Using MATLAB to simulate the anti-collision algorithm between rectangular building and pump truck boom, it can get specific information of arm section impending danger and distance information. The operator can do the appropriate regulatory for boom according to the predicted information, to avoid collision.Finally, the anti-collision simulation software of pump truck boom is designed based on MFC framework classes and OpenGL graphics library, using VC++6.0 as the platform. The motion control simulation and anti-collision simulation of the boom are completed by using the initial value simulated in MATLAB, and the result of animation is well.