Intelligent virtualization of crane lifting using laser scanning technology  

作　　者：Lihui HUANG Souravik DUTTA Yiyu CAI 

机构地区：[1]School of Mechanical and Aerospace Engineering,Nanyang Technological University,50 Nanyang Avenue 639798,Singapore [2]Interdisciplinary Graduate School(IGS),Nanyang Technological University,21 Nanyang Link 637371,Singapore [3]Energy Research Institute@NTU(ERI@N),Nanyang Technological University,Level XF-5,50 Nanyang Drive 637553,Singapore

出　　处：《Virtual Reality & Intelligent Hardware》2020年第2期87-103,共17页虚拟现实与智能硬件（中英文）

摘　　要：Background This paper presents an intelligent path planner for lifting tasks by tower cranes in highly complex environments,such as old industrial plants that were built many decades ago and sites used as tentative storage spaces.Generally,these environments do not have workable digital models and 3 D representations are impractical.Methods The current investigation introduces the use of cutting edge laser scanning technology to convert real environments into virtualized versions of the construction sites or plants in the form of point clouds.The challenge is in dealing with the large point cloud datasets from the multiple scans needed to produce a complete virtualized model.The tower crane is also virtualized for the purpose of path planning.A parallelized genetic algorithm is employed to achieve intelligent path planning for the lifting task performed by tower cranes in complicated environments taking advantage of graphics processing unit technology,which has high computing performance yet low cost.Results Optimal lifting paths are generate d in several seconds.

关 键 词：Laser scanning Point cloud Intelligent modeling Virtualization of complex environments Virtual tower crane Automatic lifting path planning RASTERIZATION 

分 类 号：TH2[机械工程—机械制造及自动化]