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

Lei, Zhen; Taghaddos, Hosein; Hermann, Ulrich; Al‐Hussein, Mohamed

doi:10.1016/j.autcon.2012.11.042

Cited by 78 publications

(34 citation statements)

References 30 publications

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“…The goal of path planning is to plan a collision-free and efficient lift path based on load data and site geometry constraints. Traditionally, the lift path was planned largely depending on the planners' intuition and experience and thus this process is often labor intensive and error prone [9]. Recently, researchers have adopted the knowledge and techniques in robotic motion planning in lift path planning trying to automate the lift planning process.…”

Section: Related Workmentioning

confidence: 99%

“…Recently, researchers have adopted the knowledge and techniques in robotic motion planning in lift path planning trying to automate the lift planning process. In this approach, a crane was treated as a multi degree-of-freedom robotic manipulator and various searching algorithms were tested to optimize the lift path to ensure a collision-free travel for the lifted load while guaranteeing a respectively short lift path [9]. To validate the advantage of computer-aided path planning , researchers have extensively investigated different algorithms including Heuristic Search [10], Ant Colony Algorithm [11], Probabilistic Road Map (PRM) [12], and Rapidly Exploring Random Tree (RRT) [13].…”

Section: Related Workmentioning

confidence: 99%

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A Framework of Lift Virtual Prototyping (LVP) Approach for Crane Safety Planning

Fang

Cho

2016

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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-Many crane accidents occur due to a lack of understanding of potential constraints present on lift sites, especially the spatial conflicts with inadequate clearance to surrounding obstructions. Even the most thorough lift plans can be compromised by changes in lift sites such as a newly-erected frame in the crane workspace or a sudden presence of another equipment. Therefore, it is critical for the lift crew (i.e., planner, rigger, signalman, operator) to be aware of the condition and potential constraints in the as-is lift settings prior to conducting the actual lift job. This study proposes a framework of Lift Virtual Prototyping (LVP) approach to assist quick lift planning based on actual site settings. This is achieved by rapid modeling, simulating, and analyzing crane lifting operation by reconstructing as-is site conditions and incorporating the characteristics of individual operator. The proposed LVP approach was implemented in a case study and the results showed that the LVP approach is effective in familiarizing the lift crew with potential constraints existing in the lift site and improving the operator's confidence in conducting the lift job safely and efficiently. Implementing this approach in daily lifting operations will facilitate the recognition of operation constraints that are difficult to be identified in the planning phase, and thus advance the crane operational safety and efficiency.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A Framework of Lift Virtual Prototyping (LVP) Approach for Crane Safety Planning

Fang

Cho

2016

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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“…Zhang and Hammad (2012) proposed the Rapidly-exploring Random Trees Connect-Connect Modified (RRT-ConCon-Mod) and Dynamic RRT-Con-Con Modified (DRRTCon-Con-Mod) methods to improve the erection path planning and re-planning. Lei et al (2013) utilized the Configuration Space Obstacle (C-Obstacle) method to check the mobile crane lift path in order to prevent collisions. Hung et al (2016) proposed HBCD strategies (Hoisting, Boundary, Capacity, and Direction) to accelerate the computing time of the mobile crane path planning algorithm.…”

Section: Crane Operation Safety and Efficiencymentioning

confidence: 99%

RAS: a robotic assembly system for steel structure erection and assembly

Liang

Kang

Lee

2017

Int J Intell Robot Appl

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This research focuses on a long-standing, yet critical problem in the erection of steel structures. In the current state of practice, steel workers must stand on an unfinished structure to assist with the assembly of structural elements manually. They must pull on the wire hanging under the rigging elements to align the bolting holes of the moving and fixed elements. This work is often performed in high places, which can be very risky. Therefore, we have developed a robotic assembly system (RAS) for steel beam erection and assembly to prevent workers from having to work in a high place. The RAS consists of four methods: rotation, alignment, bolting, and unloading. The rotation method involves a flywheel installed on top of the rigging beam, which aims to rotate the beam to the assembly angle. The alignment method includes both vertical and horizontal alignment. The vertical alignment relies on a camera and a marker on the column to align the beam altitude. The horizontal alignment relies on a specially-designed beam, which allows for it to be smoothly guided into the right position. The bolting method is used to connect the beam to a fixed element. We designed an additional guide hole above each bolt hole. The bolt can be inserted in the guide hole and slid to the bolt hole. The unloading method is used to unload the crane cable and the RAS. We use a pin mechanism for the beam-hook connection so it can easily be unplugged by a motor. The system is built in a scaled experimental construction site to validate its feasibility. The results show that the RAS can operate the assembly process without humans working at risky heights, and can complete faster than the traditional method. In conclusion, we have developed a robotics assembly system that can help reduce the frequency of accidental falls during the steel beam assembly process. The RAS adheres to the process of the current erection method and can be broadly introduced to existing construction sites.

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“…Thus, integrated and automated systems are required for efficient planning and management of industrial projects. A considerable body of research exists which investigates the efficient management of crane operations: crane type and location selection (Hanna & Lotfallah, 1999;Al-Hussein et al, 2001;Sawhney & Mund, 2002;Wu et al, 2011); crane path planning (Sivakumar et al, 2003;Chang et al, 2012;Olearczyk et al, 2012;Zhang & Hammad, 2012a;Zhang & Hammad, 2012b;Lei et al, 2013); and lift supply location optimization and lift sequencing (Huang et al, 2011;Lin et al, 2012;Taghaddos et al, 2012). Furthermore, 3D and 4D tools have been utilized to support visualization of crane operations and detection of potential conflicts (Kang & Miranda, 2006;Kang et al, 2009;AlBahnassi & Hammad, 2012;Wu et al, 2011).…”

Section: Introductionmentioning

confidence: 99%

“…Automation has been achieved by implementing the designed algorithms in the programming environment, which links to the company's central database where the project and crane information is stored. Based on this prototype, efforts have been made to extend the system's functions: Taghaddos et al (2012) have presented a simulation agent which is applied to industrial projects to track the availability of resources; Lei et al (2013) have introduced an algorithm for checking mobile lift paths. All of these developed programs communicate with one another on a regular basis.…”

Section: Introductionmentioning

confidence: 99%

Integrating Mobile Crane Lift Path Checks into an Industrial Crane Management System

Lei

Taghaddos²,

Hermann³

et al. 2013

Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building Th

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In Alberta, Canada, heavy industrial projects are constructed using a prefabrication approach: spools and pipes are produced in the factory, and are assembled into modules that are transported to the industrial plants for installation by mobile cranes. Planning the onsite mobile crane operations is critical to the project budget and schedule. However, due to the large magnitude of industrial projects, manual heavy lift planning is tedious, and the results are not particularly responsive to site changes. This paper introduces an integrated mobile crane management system developed by PCL Industrial Management Inc., in collaboration with the University of Alberta, which investigates crane location selection and path checking for field module assembly. The project information is stored in a database, and the proposed system retrieves data, performs the calculations, and records the results back to the database; the calculations involve automatically selecting locations for the mobile crane, considering the crane capacity, lifting range and utilization. Lift paths for modules are checked for feasibility based on selected locations, satisfying the site and crane configuration constraints, and crane walking paths are planned if needed. The designed system is tested in an industrial project to validate the effectiveness of the system.

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

Cited by 78 publications

References 30 publications

A Framework of Lift Virtual Prototyping (LVP) Approach for Crane Safety Planning

A Framework of Lift Virtual Prototyping (LVP) Approach for Crane Safety Planning

RAS: a robotic assembly system for steel structure erection and assembly

Integrating Mobile Crane Lift Path Checks into an Industrial Crane Management System

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