基于A^(*)算法的输电线路组塔施工吊装路径规划方法

Hoisting path planning method for transmission line tower assembly construction based on A^(*) algorithm

为提高双平臂落地抱杆的吊装效率,降低线路施工安全风险,提出一种基于A^(*)算法的输电线路组塔施工吊装路径规划方法。将三维空间中的吊装路径规划问题简化为水平面和铅垂面2个二维平面内的路径寻优问题,通过动力学仿真研究吊件摆动幅度和消摆时间对吊装路径的影响,在进行施工现场环境中心对称建模的基础上,基于A^(*)算法和仿真结论对吊装路径进行规划。实际工程应用结果表明,该方法可在约0.188 s内自动规划出双平臂落地抱杆两侧平衡起吊的优化吊装路径,可有效缩短吊装时间,保障线路施工的效率和安全性。

To improve the hoisting efficiency of floor-standing two boom derrick and reduce the safety risk of transmission line construction,a hoisting path planning method for transmission line tower assembly construction based on A^(*) algorithm was proposed.This method simplified the hoisting path planning problem in three-dimensional space to the path optimization problem in two-dimensional planes,horizontal plane and vertical plane,and studied the influence of swing amplitude and swing elimination time of hoisting parts on the hoisting path through the dynamic simulation.Based on the centrosymmetric modeling of the construction site environment,the hoisting path was planned based on A^(*) algorithm and dynamic simulation conclusions.The engineering application results showed that this method could automatically plan the optimal hoisting path for balanced hoisting on both sides of the floor-standing two boom derrick in around 0.188 s,which could effectively shorten the hoisting time,and ensured the efficiency and safety of the line construction.