Research On Intelligent Planning Of Lifting Path Of Building Construction Tower Crane

Tower cranes as important machinery and equipment in the building construction industry,and the efficiency of their lifting operations directly affect the progress of the entire project.However,in recent years,tower cranes and related technical personnel safety accidents are numerous.The main reason is that the operation of the tower crane technicians is not standardized,and the lifting path is mostly estimated by the site personnel based on experience,subject to the influence of human factors.Because of the current situation of tower crane safety accidents,crane path planning for intelligent improvement is particularly urgent and necessary.To improve the efficiency and safety of tower crane lifting operations,this paper studies the intelligent planning of construction tower crane lifting path.In this paper,a crane path intelligent planning method is proposed,firstly,the target and constraints of crane path planning are clarified according to the requirements of crane operation in construction sites;Then,the RRT algorithm is selected as the most suitable base algorithm for the construction tower crane lifting path planning through multi-environment testing,and then the targeted optimization measures of the path planning algorithm are proposed by combining the tower crane and lifting operation characteristics,and the optimized algorithm is tested in static and dynamic lifting environments to verify the effectiveness of the algorithm optimization strategy;Finally,the virtual crane simulation modeling is carried out in the simulation platform software,and the optimized path planning algorithm is combined with the compiled motion control program to realize the virtual crane simulation of the tower crane,which verifies the feasibility of the optimization algorithm in the crane process.Through the above research contents,the following conclusions are obtained:(1)By testing the A* algorithm,GA algorithm,and RRT algorithm for the lifting path planning problem under static and dynamic environments,it is obtained that the success rate of the RRT algorithm has smaller and more stable fluctuations caused by the increased in the number of iterations;The results show that the RRT algorithm has the highest score,which further proves that the RRT algorithm is more suitable for the construction tower crane hoisting path planning compared with the A* algorithm and GA algorithm.(2)The RRT algorithm is optimized by applying each strategy individually,and it is found that the evaluation indexes show an overall improvement effect with the highest improvement rate of 88.89%;The RRT algorithm is optimized by superimposing the strategies,and it is found that the evaluation indexes show an improvement effect with the improvement rate up to 76.55%.Based on this,it is proved that the random perturbation strategy,expanded tree node reordering,optimized sampling strategy,and optimized path evaluation function strategy proposed in this paper can effectively improve the efficiency of path exploration and enhance the path quality.(3)By simulating the tower crane lifting operation in Webots software,it is found that the operation and calculation speed of the tower crane motion control program is faster;At the same time,in the tower crane according to the planning of the path for lifting operations in the process of equipment and any obstacles did not collide or produce other safety accidents;Moreover,no obvious swing of the sling occurred during the lifting process,and the initial and target points in the lifting task were changed several times,and the tower crane performed normally and steadily by running and completing the lifting operation,which verified the feasibility,efficiency,safety,and stability of the RRT algorithm optimized in the previous paper in the actual lifting.The intelligent planning method of the tower crane lifting path in this study fully considers the characteristics and requirements of the tower crane and building construction lifting operation and further verifies the feasibility and applicability of the optimized algorithm through the simulation process of algorithm testing and virtual lifting simulation.The crane path intelligent planning method enriches the path planning algorithm research,provides a theoretical basis and reference for the tower crane path planning research,and has important practical significance for the development progress of intelligent construction and digital construction technology.