快速單吊車與雙吊車協同吊裝作業路徑規劃方法

Abstract

在現代營建工程中，吊車往往扮演舉足輕重的地位，舉凡鋼筋結構物、混凝土建材、機電設備等等都需仰賴吊車的搬運，然而吊車在吊裝作業的過程中有許多操作上的危險，如碰撞與承載荷重問題，為了確保吊裝作業的安全進行，通常會以事先進行吊裝路徑的規劃來避免上述問題的發生。但是吊裝路徑規劃並不是一件容易的事，規劃者必須有相當之經驗與耐心，才能規劃出完全無碰撞且符合安全荷重範圍的吊裝路徑。 因此本研究利用電腦技術發展自動化的吊裝路徑規劃方法，其方法主要可分為兩個階段：第一階段，我們將吊裝環境以組態空間(Configuration Space, C-space)的方式來表示，此空間表示吊車、吊物、與障礙物之間的碰撞關係，並考量吊車承載荷重的安全上限值；第二階段，我們使用probabilistic road map (PRM)路徑規劃方法於組態空間中規劃出無碰撞且符合安全荷重範圍之吊裝路徑。 為了驗證本研究所提出的吊裝路徑規劃方法，我們分別進行了三項實驗：實驗一驗證本研究方法於單吊車吊裝作業的可行性；實驗二驗證本研究方法於雙吊車協同吊裝作業的可行性；實驗三進行效能測試，測試本研究方法的計算效率與路徑的操作性。由實驗結果顯示，本研究方法可適用於單吊車與雙吊車協同吊裝作業，且以接近即時的計算時間完成吊裝路徑規劃，並提供易於操作且有效率的吊裝路徑。

Cranes are essential equipment for lifting objects in construction projects. There are many challenges in an erection progress such as collision avoidance and retaining the safe weight loading. To ensure the safety of entire crane erection process, it needs a precise erection plan for crane operations. However, to have a good erection plan is a difficult task, which requires rich experience and many of the detailed considerations. Engineers need to consider the capacity of crane and avoid all the possible collisions during the erection. Therefore this research aims at developing a method for automatically finding the erection path by utilizing the computer technology. The proposed method is composed of two steps: The first step is to convert the scene of crane erection into a configuration space, in which the capacity of the crane loading and the obstacles in the environment has been considered; The second step is to find a collision free path in the configuration space by using probabilistic road map (PRM) method. We conducted three tests to validate the proposed method in this research: The first test and the second test are used to test the feasibility of the proposed planning method for single crane erections and dual crane erection, respectively; In the third test, we conducted two scenarios to test the efficiency of the proposed method and the operational effectiveness of generated path in dual crane erections. The result shows that the proposed method is efficient and can generate effective erection path for operating in near real-time. The method can be appropriately used for both single and dual crane erection, which can help engineers to easily plan and verify the erection strategies.