A methodology for mobile crane lift path checking in heavy industrial projects

作者：Lei Zhen^*; Taghaddos Hosein; Hermann Ulrich; Al Hussein Mohamed

来源：Automation in Construction, 2013, 31: 41-53.

DOI：10.1016/j.autcon.2012.11.042

• Mobile crane
• Path planning
• Industrial project
• Robotic motion planning

Industrial projects are constructed in the form of prefabricated modules that are transported to sites for installation, a process which enhances efficiency and productivity. As these prefabricated modules become heavier, proper lift planning is essential for onsite efficiency and safety. One aspect of the heavy lift study is to check the path feasibility for specific lifted modules. Current practice in path checking process is tedious and prone to errors. This paper proposes a generic method for mobile crane lifting binary (yes-or-no) path checking. The methodology calculates the minimum and maximum crane lift radii based on capacity and the crane's configuration, which are then modified considering site constraints. The modules' erection orders are also taken into consideration, and a configuration space approach is used to simplify the work space. The modified radii and simplified work space are merged with the lifted module pick area for path checking. The methodology is incorporated into a computer module for automatic calculation and visualization. A case study involving an industrial project is provided for validation and to highlight the designed computer module's essential features.

• 出版日期2013-5