A Path Planning Algorithm Of Automobile Crane And Realization Of Lifting Scheme

ABSTRACT:With the rapid development of Chinese industry, hoisting industry developed rapidly. Because of its advantage of convenience, Automobile crane plays a more and more important role in hoisting. But as hoisting objects are getting huge and heavy while the environment of automobile crane hoisting is getting more complex, hoisting becomes diversified. The lifting scheme, as an important guarantee for the safety of lifting, is still formulated by using tradition artificial experience, which directly affects the safety and efficiency of hoisting.In order to improve the efficiency of lifting scheme, this thesis focuses on hoisting path planning problem which is the core elements of the lifting scheme, and realizes the automatic generation of lifting scheme based on the lifting simulation software. The main work is summarized as follows:Firstly, according to the automobile crane lifting characteristics, this thesis assumes the position of the crane cannot move and the arm length of the crane remains fixed. Based on this premise, the hoisting3D working space will be built. Then the coordinate system will be built by using two-dimensional mapping method, thus the3D scene can be described by using two-dimensional map.Secondly, based on the two-dimensional map, search strategy is designed by using the local optimizing search algorithm, but the strategy is divided into global search strategy and local search strategy. And in order to avoid the deadlock, a fallback strategy is designed to complete hoisting path search. Then a search algorithm, which uses conventional method to differentiate the three-dimensional space, is realized to support the algorithm which this paper proposes through comparing the space complexity, execution time etc.Finally, based on the platform of lifting expert guide system, the path planning algorithm is realized in the platform, and on this basis, this thesis summarize the other required content of lifting scheme, then the path planning information and other projects are written into the WORD document by using VC++to guide the actual lifting.