A Three-dimensional Path Planning Method For Large-tonnage Crane Oriented The Lifting Safety

As an important equipment of the national economic construction, large-tonnage crane is widely used in various industries such as construction, port, petrochemical engineering. Safety is the primary concern for lifting due to its complicated process and the serious accidents resulted from failure.Nowadays, lifting paths are mainly planned based on the operators’ experience, which leads to some disadvantages including large path error, low efficiency. Thus the safety of the lifting process cannot be guaranteed. Moreover, without analyzing the characteristics of the large-tonnage crane, other methods can’t satisfy the safety requirement of practical engineering. In order to solve the above practical problem, a method of three-dimensional path planning for large-tonnage crane oriented the lifting safety is proposed in this paper, which can effectively ensure the safety of the lifting process. The main work are presented as follows:Firstly, considering the safety requirement of hoisting process, the lifting safety indexes are defined. So, the safety target is proposed. According to the practical requirement and the research status, the problem of three-dimensional hoisting path is summarized. And then, the crane model is built by considering the crane status and the key parameters. The building strategy of safety standing area of large-tonnage crane is researched based on its safety requirement. On this basis, the modeling method of hoisting area for a given point is proposed. In order to ensure the quick update of hoisting scene information in the lifting process, the partial update strategy for hoisting scenes is designed. The proposed environment modeling method is realized by Matlab to verify its correctness in the typical hoisting scenes. Finally, the path planning algorithm for the given standing point is researched by the searching strategy for the built environment model. On this basis, with the optimistic strategy for hoisting path designed, the path planning algorithm for unknown standing point is researched. In the Matlab platform, the proposed path planning algorithms are realized. The results show that the method yields a safe path effectively and is suitable for industrial applications.