Research On Cooperative Lifting Technology And Simulation System For Multi-crane

With the rapid development of crane lifting industry, more and more large-scale, super-heavy lifted equipments are emerging. Lifting industry is gradually developing from single to two and multi-crane cooperative hoisting. In this trend, it is increasingly difficult to obtain a single crane meeting the amount requirements in the construction site. The cost of transportation and usage is extremely expensive even if a single crane with the right amount requirement can be available. Thus, choosing two or more typical cranes lifting together is considered as a better choice. However, the risk of multi-crane cooperative lifting greatly increase compared with a single crane hoisting. As either a crane can not lift the equipment alone, hoisting of multi-crane collaboratively often lead to disastrous consequences due to the unreasonable load distribution and improper coordination strategy.In this paper, we make an intensive study of the classification mode of two and multi-crane cooperative lifting, analyze its nature, give the definition of two cranes cooperative lifting, and present 21 modes of cooperative lifting. The typical motions of two cooperative cranes are analyzed and solved. Furthermore, the motion sequences of the cranes are obtained by utilizing CS (Configuration Space) on the basis of geometric constrains and motion types and a simulation case is conformed.Secondly, multi-crane cooperative lifting is studied intensively. The cooperative strategy is discussed for its special nature, and the calculation of moving, hoisting, overturning and rotating are presented under a typical condition.In addition, we study the collision filtering of Bullet physics engine in the simulation of multi-crane; classify cranes, lifting environment, lifted object and other equipment in the scene. And the problem of collision detection is workout in the simulation system of multi-crane.Finally, a multi-crane cooperative lifting system is developed. The relationship of crane selecting, crane and environment modeling, rig checking, database management and plan output is analyzed, solving the problem of multiple cranes selection. The system can be used to assist planners in making pre-planning, data checking, plan preview, etc. Also, we have the access to loading data real-time, analyze the security and output the safe and efficient lifting plan.