Trajectory planning model for lifting operation considering spatial conflict

doi:10.16265/j.cnki.issn1003-3033.2020.03.008

China Safety Science Journal ›› 2020, Vol. 30 ›› Issue (3): 47-52.doi: 10.16265/j.cnki.issn1003-3033.2020.03.008

• Safety engineering technology • Previous Articles Next Articles

Trajectory planning model for lifting operation considering spatial conflict

JIN Lianghai^1,2,3, LI Jiaxin¹, ZHENG Xiazhong^1,2,3, CHEN Shu^1,2,3, CHEN Yan'gao⁴

1. College of Hydraulic & Environmental Engineering, China Three Gorges University, Yichang Hubei 443002, China;
2. Center of Standardization Evaluation for Production Safety, China Three Gorges University, Yichang Hubei 443002, China;
3. Hubei Key Laboratory of Construction and Management in Hydropower Engineering, China Three Gorges University, Yichang Hubei 443002, China;
4. China Sinohydro Bureau 7 Co., Ltd., Chengdu Sichuan 610081, China

Received:2019-12-20 Revised:2020-02-16 Online:2020-03-28 Published:2021-01-26

Abstract

Abstract: In order to ensure safety and efficiency of lifting operation and reduce risks of its spatial conflicts, Manhattan plane of lifting operation was designed. Then, OARMST model of lifting trajectory was constructed by analyzing spatial conflict factors, mechanical operation conditions and construction organization conditions. Finally, lifting trajectory planning system was developed to explore safe moving trace of lifting objects under multiple sites and obstacles by integrating Dijkstra heuristic algorithm and ultra wide band (UWB) positioning technology. The research shows that the optimal moving trace obtained from OARMST model can avoid spatial conflicts, prevent multiple sudden suspensions of hanging objects and redundant operation of drivers by reducing turns and displacement of objects, therefore improving safe dispatching of lifting operation.

Key words: lifting operation, safe trajectory, spatial conflict, Manhattan distance, obstacle-avoiding rectilinear minimum Steiner tree (OARMST)

CLC Number:

X952

JIN Lianghai, LI Jiaxin, ZHENG Xiazhong, CHEN Shu, CHEN Yan'gao. Trajectory planning model for lifting operation considering spatial conflict[J]. China Safety Science Journal, 2020, 30(3): 47-52.

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Trajectory planning model for lifting operation considering spatial conflict

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