塔式起重机路径规划与三维虚拟吊运方法  

Path planning and 3D virtual operating method for tower cranes

作　　者：彭自强[1,2] 贺子文 梁莹 俞栋华 吴金池 王乾坤[1,2] PENG Ziqiang;HE Ziwen;LIANG Ying;YU Donghua;WU Jinchi;WANG Qiankun(School of Civil Engineering and Architecture,Wuhan University of Technology,Wuhan 430070,China;Sanya Science and Education Innovation Park of Wuhan University of Technology,Sanya 572024,China;Wuhan Supervision Station of Construction Engineering Quality,Wuhan 430014,China;The 3rd Engineering Co.,Ltd.,of Hubei Industrial Construction Group,Wuhan 430076,China)

机构地区：[1]武汉理工大学土木工程与建筑学院,湖北武汉430070 [2]武汉理工大学三亚科教创新园,海南三亚572024 [3]武汉市建筑工程质量监督站,湖北武汉430014 [4]湖北工建集团第三建筑工程有限公司,湖北武汉430076

出　　处：《广西大学学报(自然科学版)》2025年第1期50-59,共10页Journal of Guangxi University(Natural Science Edition)

基　　金：海南省重大科技计划项目(ZDKJ2021024);湖北建设科技计划项目(2023197)。

摘　　要：针对快速扩展随机树算法路径点杂乱、搜寻效率低的缺点,提出一种适用于吊运路径规划的改进快速扩展随机树算法:引入概率偏向系数,基于代价函数对路径树结构父子节点重构布线,迭代得到渐进最优的规划路径;建立裁剪函数,规划路径生成后,参考路径的代价值动态剔除代价值更大的节点;最后基于贪心算法思想,剔除可行规划路径的冗余节点。基于数字化工程环境、吊运任务和塔机运动模型三要素,在Unity3D平台建立虚拟吊运方法,用三维建筑信息模型(BIM)描述数字化建造环境,吊运任务定义目标和碰撞检测参数,按真实参数建立的塔机运动模型负责完成动作转换和执行。仿真实验结果表明:改进算法的平均采样点数仅为RRT算法的23.8%,平均路径点数仅为RRT算法的50%左右,路径长度较对照算法有所缩短。塔机在接近工程现场的虚拟环境中,利用改进RRT算法,自主搜寻更优避障路径,完成虚拟自主吊运,证明了方法可行性。This research proposed an improved rapidly-exploring random tree algorithm for tower crane operating path planning,to address the drawbacks of cluttered path nodes and low search efficiency of RRT algorithm.The algorithm incorporated probability bias coefficients and constructs a rewiring mechanism for parent and child nodes along path tree based on cost functions,leading to the emergence of an asymptotically optimal planned path.Additionally,a prune function was introduced,after generating the planned path,dynamically eliminate tree nodes with higher cost values by referencing cost values of path.Redundant nodes were further eliminated for feasible planning paths using a greedy algorithm.To establish a virtual operating method,three key roles were defined:a digital construction environment,lifting tasks,and tower crane motion model.The Unity3D engine was employed,where a three-dimensional BIM model representd the digital construction environment;lifting tasks define target cargo and collision detection parameters,and tower crane motion model established based on real parameters are responsible for scheduled action conversion and execution.Simulation experiments results demonstrate that the simulation experimentsresults demonstrate that the improved algorithm reduces to only 23.8%in the number of sampling nodes,only half in the average number of path nodes compared with RRT,and gives shorter path length than other algorithms.In virtual environment similar to actual construction sites,the tower crane model successfully searches for better collider-bypassing paths,and completes virtual operation tasks,thus demonstrating feasibility of the proposed method.and completes virtual operation tasks,thus demonstraing feasibility of the proposed method.

关 键 词：塔式起重机 路径规划 快速扩展随机树算法 虚拟吊运 

分 类 号：TU61[建筑科学—建筑技术科学] TP39[自动化与计算机技术—计算机应用技术]