Operation Monitoring And Anti-collision Experiment Of Cable Crane In High Arch Dam Construction

The cable cranes used for high arch dam construction are located on the bank of the river valley.The carrying cable and hoisting rope are flexible structures which are easy to move and deform under the external load.The concret bucket carried by cable crane transports between the feeding and emptying points,whose motion process is complicated,and the change of velocity will cause the swing of hoisting tank.The construction of high arch dam has a large number of mechanical and personnel performing crossed operation that is easy to cause the time and space conflict between them.In addition,the operation platform of the cable machine is far away from the warehouse surface,which result in the operator cannot intuitively obtain the information of the obstacles on warehouse surface,while the operation information is from the the signal worker's observation and judgment.Therefor,combining with the characteristics of cable crane construction in high arch dam,using real-time positioning to monitor cable crane's motion state,and considering the influence of bucket oscillation to formulate a reasonable collision detection and safety waring modle,the goal of anti-collision and guaranteeing the safety of cable crane can be achived.In this paper,looking at the concrete pouring system of high arch dam,the characteristics of cable crane operation have been analyzed,and an integrated positioning system combining with GPS and UWB has been presented to get the real-time location information.The regularity of the bucket oscillation also has been researched by bynamic simulation and wind simulation test methods.An anti-collision model with collision detection method considering bucket oscillation,distance and time double waring model and shifting up and down measures to avoid conflict combining with the actual cable crane operating mode has been established to avoid collision accident and ensure the safety of cable crane.This paper focuses on the following issues:The characteristics of cable crane operation have been analyzed by further details like the cable crane's structure,operation characteristics,construction environment,etc.So as to prove obtaining cable crane's real-time movement and bucket oscillation information is important to anti-collision.Combining both advantages of GPS and UWB,adopting the particle filter and positioning data transformation method as well,the integrated positioning system has been desigen,whose real-time capability,accuracy and anti-occluding ability also have been verified by positioning accuracy test,which proves this integrated positioning system is suitable for cable crane.The bucket oscillation is caused by speed mutation or strong wind load.Using SIMULINK dynamic simulation method to study the dynamic response of speed change,in addiction,conducting the wind simulation experiment to analysis the bucket wind-induced oscillation regulation.The bucket angle prediction model can be established by combining both of above results.Based on the real-time location data and considering the influence of bucket oscillation,the collision detection and safety waring methods have been setted up to timely estimate the potential obstacles during cable crane's operation.Furthermore,the anti-collision adjustment mechanism has been designed by considering the actual cable crane's oprating mode.Using system simulation method like Unity3 D 3d visualization and C# programming technologies,the anti-collision model of cable crane has been built,whose reliability and practicability also have been tested by simulated cable crane construction experiment.The test results show that the model can detect the potential collision during the operation of the cable crane,and make adjustment instructions in time.