An Intelligent Method Of Lifting Path Planning Of Mobile Cranes In Virtual Construction

The lifting of mobile cranes is a commonly-seen vital construction activity on construction sites.An appropriate lifting path plan is able to improve not only the efficiency of lifting but safety performance.Lifting path planning is conventionally conducted by operators or project managers based on their experience.However,due to the dynamics and complexity of construction sites,the traditional method often results in inefficient,inflexible and unsafe lifting operations.Therefore,how to achieve a fast,safe,dynamic lifting path planning is a problem that needs to be considered in the lifting process.In recent years,the development of information technologies such as Building Information Modeling(BIM)and Virtual Construction(VC)has provided powerful support for intelligent lifting path planning.So far,the lifting simulation in Virtual Construction with the aid of the computer has assisted the lifting path planning in practical construction to a certain degree,but mainly considers the specific or static construction environment,less considers the dynamic,real-time changing environment.Meanwhile,the efficiency of related algorithm and the quality of the planned path still need to be improved.In addition,many parameters in most simulations still need to be manually set,far from meeting the requirements for guiding actual lifting and intelligent planning.This paper establishes a mathematical model by redefining the lifting path planning of mobile cranes,selects RRT(Rapidly-exploring Random Tree)as the basic algorithm,analyzes its advantages and disadvantages and proposes a longitudinal ?C-space pre-optimization — RRT improvement — Path post-processing? and horizontal ?efficiency,safety,and dynamic? algorithm optimization framework,and put forward many specific improvement strategies,formed a complete intelligent planning method for lifting path,improving the planning efficiency,reaction ability to dynamic environmental and safety.At the same time,the feasibility and effectiveness of the method are verified by static and dynamic tests.Further,according to this method,a mobile crane-lifting path planning prototype system based on the ?data layer-application layer-user layer? prototype system architecture and ?input-computing-output? three functional modules are designed.In the virtual construction scenario,the intelligent planning of the lifting path was successfully implemented using this system.The intelligent planning method of mobile crane hoisting path proposed in this paper provides reference value for theoretical research and practice of lifting path planning.At the same time,it will also help to increase the lifting intelligence in engineering practice,that is,to support ?smart lifting? with ?simulation results?,thereby facilitating the intelligent construction process and promoting the intelligence of the construction industry.