Generation of real-time rigging path guidance for tele-operated cranes in construction
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This paper proposes an approach for generating real-time rigging path guidance for tele-operated cranes. This approach is developed to fulfill both the operational safety and efficiency requirements, and the operational feasibility requirements for crane operators. This approach utilizes feedback from real crane operators obtained during a pilot test using a prototype of a tele-operated crane in order to develop a feasible rigging path guidance system. Firstly, the probabilistic roadmap method (PRM) coupled with a sampling-based searching method in configuration space is employed as the core path planning algorithm to provide the operator with possible collision-free rigging paths. The paths suggested by the PRM are then further modified to account for three operational feasibility factors: visibility, control features, and the dynamic environment. This finally leads to paths with workable and safe trajectories for tele-operated crane usage. The suggested rigging paths are displayed and replanned in a real-time manner, in consideration of the dynamic objects on construction site. Furthermore, a validation with a tower crane simulation system in a virtual environment has been developed to demonstrate the feasibility and usability of the proposed approach. Further evaluation and benchmarking of the approach will be needed in future research.
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Chi, Hung-Lin; Kang, S.; Hsieh, S.; Wang, Xiangyu (2014)The objective of this research is to develop, optimize and evaluate an approach for automatically generating rigging path guidance in order to provide sufficient assistance on the user interface of tele-operated crane. ...
Chi, Hung-Lin; Chen, Y.; Kang, S.; Hsieh, S. (2012)This research focuses on one of the major challenges in a tele-operated crane system, namely the userinterface (UI). This UI should provide rich information retrieved from the field and display it properlyin order to ...
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