泛在信息环境下集群化起重机智能感知、协同优化及控制方法研究

随着现代工业快速发展与产能需求日益增长，集群化起重机系统的应用越来越广泛，在国民经济建设中发挥着非常重要的作用。然而，集群化起重机系统不仅呈现出很复杂的欠驱动特性，在感知范围、数据可靠性、安全性、作业效率、智能化程度等方面也难以满足实际需求。为此，本项目将对上述瓶颈问题涉及的关键技术开展深入研究，旨在确保集群化起重机并行完成多项复杂吊运任务的同时，优化协同运行机制，提高工作效率与安全性。具体的研究内容包括：对复杂工业现场进行三维重建与目标识别，提出泛在信息环境下的起重机状态自感知与故障自诊断技术，完成优化调度与避障路径规划，并在此基础上实现消摆轨迹规划与跟踪控制，最后搭建集群化起重机软/硬件实验平台，构建泛在化作业环境，充分验证所提方法的可行性与有效性。此工作将为集群化起重机系统提供可靠的理论指导与技术保障，有助于驱动起重机行业朝着数字化、智能化方向发展，具有重要的科学研究及实际应用价值。

With the rapid development of modern industry and the ever-growing demands of production capacity, clustered crane systems are more and more widely utilized and play very important roles in national economic construction. However, clustered crane systems exhibit very complicated underactuated characteristics; moreover, it is difficult for them to meet some practical requirements in perception ranges, data reliability, safety, working efficiency, intelligent levels, etc. For the above-mentioned bottleneck problems, this project will carry out in-depth research to accomplish complicated multi-task transportation in parallel, optimize the collaborative operating mechanism, and improve the productivity and safety for clustered crane systems. To this end, this project will first carry out 3-dimensional reconstruction/target recognition for the complicated working environment and propose effective state perception and fault diagnosis methods in the ubiquitous information environment. Then, optimal scheduling and obstacle avoidance path planning will be implemented. On this basis, anti-swing trajectory planning and tracking control methods will be proposed. In the end, by developing clustered cranes’ software/hardware experiment platforms in the ubiquitous working environment, the feasibility and effectiveness of the proposed methods will be fully validated. This project provides reliable theoretical guidance and technical guarantee for clustered crane systems, and simultaneously, conduces to the development of cranes towards digitization and intellectualization, which has important scientific research and practical application value.