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Procedia Engineering 196 (2017) 36 – 44

Creative Construction Conference 2017, CCC 2017, 19-22 June 2017, Primosten, Croatia

Automated Method for Optimizing Feasible Locations of Mobile

Cranes Based on 3D Visualization
Zaiyi Pana*, Hongling Guoa, Yan Lia
a
Department of Construction Management, Tsinghua University, Beijing 100084, China

Abstract

The precise operation of mobile cranes contributes to the safety and efficiency of lift works, among which accurate location is
one of the most critical aspects. Considering the complexities and dynamics of construction sites, this paper presents an approach
for crane location determination based on the simulation of mobile crane operations. First a data processing method is developed
to enable the automated conversion from BIM (Building Information Modeling) and schedule plan to the simulation system.
Then the reachability and work radius of mobile cranes are examined for selecting the initial feasible location points. The
bounding box method is used for the collision detection to ensure the safety of crane operations. Also, the minimum number of
relocation and the lift time are taken into account to determine the final feasible location points of mobile cranes.
©©2017
2017TheThe Authors.
Authors. Published
Published by Elsevier
by Elsevier Ltd.is an open access article under the CC BY-NC-ND license
Ltd. This
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the scientific committee of the Creative Construction Conference 2017.
Peer-review under responsibility of the scientific committee of the Creative Construction Conference 2017
Keywords: mobile crane; location; automation; 3D visualization; collision detection

1. Introduction

Mobile crane is one of the most important equipment in construction sites, being widely used in the lifting work
in various construction areas because of its flexibility and good load performance. Especially with the rapid
development of prefabricated construction, on-site assembly of prefabricated components is becoming more and
more necessary. The lifting of heavy components makes mobile cranes indispensable. Lifting operations are quite
complicated with high risks, so a detailed lift plan is in need before lifting operations. Combined with virtual
construction technology, lift planning could achieve visualization, high accuracy, and advanced simulation and
optimization. Previous research mainly focuses on the path planning of mobile crane, however, rather than the

* Zaiyi Pan. Tel.: +86-10-62796507.

E-mail address: [email protected]

1877-7058 © 2017 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the scientific committee of the Creative Construction Conference 2017
doi:10.1016/j.proeng.2017.07.170
 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44 37

location of mobile crane, which is also a significant part of lift planning. Unlike a tower crane which is fixed in a
location and has a big working radius, a mobile crane moves around a construction site according to some specific
lift requirements; and the boom of mobile crane is oblique rather than horizontal, so the collision problems are more
likely to occur during operating. As a result, the locations of a mobile crane need to meet lifting requirements and
safety requirements, as well minimize the number of relocation. In practice, identifying the locations of a mobile
crane mainly relies on project managers' experience.
Previous research employed various mathematical or simulation algorithms to determine optimal crane locations.
Some of them used two-dimensional (2D) drawings to calculate feasible crane location areas and location centers.
By defining the existing structure and obstructions as well as the crane working radius, the overlapping areas can be
calculated as the optimum crane location area [1,2]. But this didn’t consider spatial factors. The others consider
spatial conflict by verifying the clearance of crane booms or jibs and buildings in elevations [3]. When a
construction site is small enough, a crane can be located at the center of all structures [4,5]. Han et al. [6,7]
developed a methodology considering the distances between random points and the centers of each structures, and
the crane location was determined by finding out the minimum distance. In addition, Genetic algorithms (GAs), as a
heuristic random search technique, are also be used to determine the optimum location of cranes via considering
safety, clearance, site conditions, etc. [8].
Based on the above possible locations determined by using 2D methods, some research used three-dimensional
(3D) simulation methods to simulate the lifting operations and identify collision-free locations. For example, to
define spatial conflicts utilizing the boom-line intersection and bounding box method [9], and optimize the results by
minimizing the number of relocation [10] or the weight sum [11]. Both 2D and 3D methods are capable of
determining crane locations by considering of the existing structure and work radii. 3D methods consider spatial
factors via utilizing simulation methods such as box bounding, making the process of identifying conflict-free crane
locations more valid and comprehensive than 2D methods. However, existing 2D and 3D methods both require a
large amount of inputting or modeling manually, thus consuming lots of time in practice. In addition, most of the
researches only utilized mathematical methods while calculating the working radius and lifting height, without
taking actual operation limitations into account.
This paper develops an automated method for optimizing feasible locations of mobile cranes based on 3D
visualization, which will take the practical restrictions of mobile cranes into account. The aim of this research is to
improve the efficiency of automatically locating mobile cranes as well to ensure the safety operations. It will also
contribute to the automated simulation of construction processes, thus increasing the safety of lifting operations and
reducing equipment cost.

2. Automated approach to locating mobile cranes

The automated location approach for mobile cranes is presented in Fig. 1, involving the process of identifying
optimal feasible crane locations of mobile cranes as well as three key constraints. The method generates a set of
candidate locations and validates the three key constraints in turn, which aid in eliminating the locations where the
cranes cannot access or cover expected working areas, even with safety problems. Finally feasible locations are
identified and the lifting efficiency is analyzed for the optimal result.
The identification of feasible crane locations starts with data input and automatic conversion. The 4D BIM model
of a construction project incorporated with the lift plan is required as input, containing the geometric and non-
geometric information of the project, which are classified into lifting information (such as component ID, initial and
final locations of components, and lifting time) and project site information (such as building bottom coordinates,
material storage yard coordinates, and the building components linked build time). The model is imported and the
data will be automatically acquired and used for 3D visualization and later calculations. The developed approach
also requires the crane database involving crane configuration and the lifting performance data, and will reused this
kind of information in different project.
Then a method of representing the location of a crane is developed. As the safety constraints and efficiency
validation are considered in the locating approach by traversing each candidate locations and simulating the lifting
operation, the locations should be represented as a set of discrete points rather than consecutive points in some areas.
In this paper, the candidate locations of a crane are referred to as a set of points by the grid method. The developed
38 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44

approach subdivides the construction site into some square grids, and the size of the grids is related to the size of the
crane [10]. It can’t be too large to miss potential feasible locations, or too small to greatly increase computing time.
Usually, the width of a crane is used to determine the grid size.
Three constraints are mainly considered for the determination of locations of a mobile crane, that is,
environmental constraint, operating constraint, and safety constraint. By testing the three constraints in turn, the
feasible locations of a mobile crane can be found.
x Environmental constraint takes into account the spatial relationship between the base frame of a crane and
construction environment. Areas that are not covered by the buildings are calculated through the coordinates the
buildings. And the enclosed areas that crane can’t access are eliminated.
x Operating constraint considers whether the operating parameters of a mobile crane meet the lift requirements.
The weight of each building component determines working maximum radius and maximum boom length. Then
two circles are made with the initial position and final position as the centers, and the maximum radius as the
radius. The overlapping area of two circles meets the operating constraint.
x Safety constraint is to consider whether there is a spatial conflict during operating. The position at the space of
the boom can be calculated and the collision detection is developed using the bounding box method. The
candidate locations which have collision problems will be eliminated.
Through the above three steps, several feasible locations can be identified, but still needing to analyze the lifting
efficiency for the optimal result. The efficiency validation is about minimizing relocation number and lifting time.
Minimizing the relocation number is to find the locations that meet the requirements of lifting all components as
much as possible. Minimizing the lift time is to calculate the rotation time of turntable and boom.

Fig. 1. Automated approach to locating mobile cranes

3. Environmental constraint

Environmental constraint is the first constraint in identifying the crane location, which defines and eliminates the
areas that crane cannot reach. Environmental constraint validation is divided into two steps. First, the boundary limit
of site is defined via the geometric calculation. The outside boundary limit is the scope of construction site, and the
inside boundary limit is defined according to the coordinates of the external walls on the first floor , temporary
facilities and traffic routes, which are obtained from the BIM model automatically. Then the minimum clearance
between the center of rotation of the crane and the obstructions is defined by the length of the crane. The initial
feasible area is developed (see Fig. 2), and the locations which are not in this area will be eliminated.
 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44 39

Fig. 2. Initial feasible area

However, when there is an enclosed area in the initial feasible area, the crane cannot access this island hence this
area should be eliminated. The locations within each of the inside boundary limit are searched and regarded as the
locations in the enclosed area, finally eliminated (see Fig.3).

Fig. 3. Locations in enclosed area

Through above steps, the unreachable areas of crane are defined, and the locations in these areas are eliminated.
After that the initial feasible location set (FLS i) can be defined.

4. Operating constraint

In addition to the crane reachability, whether the location could meet the operating requirements is also important.
If the crane is located in a location where its boom and hook are unable to access the lifting components, the
location is unqualified. In practice, the lift capacity is different under different working radius and boom length. But
previous researches developed analysis directly using the maximum radius without taking into account that the load
capacity under the crane’s maximum radius is not its maximum load capacity and may not be able to meet the load
demand. Table 1 is the lifting load capacity of a mobile crane with the capacity of 100 tons which shows that the lift
capacity changes as radius and boom length change. As a result, the maximum radius of a crane can’t be used as the
working radius of crane for all of components, instead the working radius and boom length should be defined via the
weight of the component.
40 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44

Table 1. Lift capacity of QY100H-3 mobile crane (t)

Working Boom length (m)
radius (m) 13.0 17.8 22.5 27.2 31.9 36.6 41.3 46.0 50.4
3.0 100.0 80.0
3.5 93.0 77.0 62.0
4.0 88.0 72.0 62.0
4.5 79.0 67.0 61.0 42.0
5.0 72.0 62.0 60.0 42.0 40.0
5.5 65.0 58.0 56.0 42.0 39.0
6.0 59.0 55.0 52.0 42.0 37.5 31.5
6.5 54.0 52.0 48.2 40.5 35.8 31.0
7.0 50.0 49.0 45.0 39.0 34.5 29.5
7.5 46.0 45.0 42.5 37.0 33.0 28.7
8.0 42.0 41.0 40.5 35.5 31.8 27.6 23.5
9.0 36.5 35.5 35.0 32.5 29.5 25.7 22.0 18.5
10.0 32.0 31.0 30.5 30.0 27.5 24.0 20.8 17.5
11.0 27.5 26.5 27.5 25.7 22.6 19.5 16.5 14.0
12.0 23.5 23.3 24.5 24.0 21.2 18.9 15.9 13.2
14.0 17.5 17.0 18.5 19.5 18.8 16.9 14.5 12.2
16.0 13.0 14.2 15.0 16.0 15.2 13.2 11.2
18.0 10.0 11.2 12.0 12.6 13.2 12.0 10.2
20.0 9.0 9.7 10.3 10.9 11.0 9.3
22.0 7.2 7.9 8.5 9.0 9.4 8.7
24.0 6.2 7.0 7.6 7.9 8.0
26.0 5.0 5.8 6.3 6.5 6.9
28.0 4.9 5.2 5.6 5.8
30.0 3.9 4.3 4.8 4.9
32.0 3.0 3.6 3.9 4.2
34.0 2.8 3.2 3.6
36.0 2.2 2.7 2.9
38.0 2.2 2.4
40.0 1.8 1.9
42.0 1.6
According to the crane operating parameters, for each component, first the maximum working radius ܴ௠௔௫ that
meets the weight capacity requirement could be found out; then we judges whether the boom maximum length L
that meets the weight capacity requirement in the radius ܴ௠௔௫ meets the lift height requirement (see Fig. 4). If L
satisfies Eq.1, ܴ௠௔௫ is recognized as the maximum working radius while lifting this component; otherwise the
smaller radius is re-taken as the maximum working radius, and above steps are executed again.

Fig. 4. Definition of maximum working radius and maximum boom length

 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44 41

‫ܮ‬ଶ െ ܴ௠௔௫ ଶ ൒ ሺ‫ ܪ‬െ ‫ܪ‬௕௔௦௘ ൅ ‫ܪ‬௖ ൅ ‫ܪ‬௥௢௣௘ǡ௠௜௡ ሻଶ (1)

Where ܴ௠௔௫ is the maximum working radius meeting the weight capacity requirement; L is the maximum length
in this condition; H is installation height; ‫ܪ‬௕௔௦௘ is the height of the crane base structure; ‫ܪ‬௖ is the height of the
component; and ‫ܪ‬௥௢௣௘ǡ௠௜௡ is the minimum rope length.
For each component, two circles are made with the initial position and final position as centers, and the working
maximum radius ܴ௠௔௫ as radius. The overlapping area of two circles meets the operating requirement. The location
points both in this overlapping area and FLS i are FLS ii (see Fig. 5).

Fig. 5. Feasible location set ii

5. Safety constraint

The first two steps discussed above select the elementary feasible locations in 2D plane. These locations meet the
basic requirements of lift planning, reachability and operability, but the safety issues may still exist. To validate the
safety constraint, the operation of crane should be simulated at each feasible location to determine whether there are
spatial conflicts at this location, which is the reason why we use grid method to divide the construction site.
Before the collision detection, the boom position in 3D space should be defined (see Fig. 6). For each point in
FLS ii of each component, since there are multiple boom length and working radius feasible within the range, we
use the maximum boom length L which meets the load condition as the crane’s working length in order to simplify
the calculation, because if the maximum boom length does not meet the requirement of the safety constraint, other
length will not meet it as well. In the initial position and final position of the lifting, the boom elevating angle ߙ can
be calculated according to the boom length and the distance between the component position and crane feasible
location utilizing following formulae:
௥
ߙ ൌ ‘•ିଵ (2)
௅
Where ߙ is the boom elevating angle; and r is the distance between the component position and the crane
location.
42 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44

Fig. 6. Definition of the boom position in 3D space

In addition, due to the dynamic of construction site, the states of buildings at the lifting time should be considered.
The lifting time of the component is obtained from the lift plan, and the buildings’ states is defined in 4D model at
the lifting time, which will be taken as the test object during the collision detection.
Collision detection has been widely studied in research areas, among which bounding volume method is a mature
method [12]. This kind of algorithm uses a simple geometry that can enclose the target object to perform collision
detection, by testing whether there is an intersection between the two bounding boxes. Common bounding box
methods include Aligned Axis Bounding Boxes (AABB), Oriented Bounding Boxes (OBB), and K-DOPs, etc. The
bounding box algorithm has been applied in a variety of commercial software. This paper utilizes Unity 3D as
developing platform, in which the rigid body component and collider component can be used for collision detection.
The boom initial and final position in space are calculated in advanced steps, then the algorithm calculated the
workspace during the rotation of boom and turntable. If there is collision between boom and buildings, a collision
reminder will be returned, and this crane location will be eliminated. After all of the feasible locations of all the
components are simulated, the remaining location points are FLS iii.

6. Efficiency validation

After above calculations, we get a set of locations that are safe and workable for each component. However, the
number of locations are often more than one, so the optimum locations needs to be found considering the lift
efficiency. For a sequence of crane operations, it is preferred that the crane performs with minimal relocation [13].
And considering each component itself, the working speed parameters such as the rotation time of turntable and the
boom should be taken into account. The relocation of crane is more time-consuming than the rotation of boom and
turntable, so minimizing the relocation times should be deployed at first.
The key of minimizing the relocation is to find the coincident points in the FLS iii for each component. This
paper traverses the FLS iii for all components (see Fig. 7). The coincident points of feasible locations for component
(n+1) and component (n) will be defined as the feasible locations for component (n+1), and above operation is
repeated until feasible locations for the last component are analysed. When there is no coincident point of feasible
locations for component (n+1) and component (n), it means that the crane should move to another location to
perform the operation of lifting component (n+1), so the relocation time m increases. After the traverse, if there is
only one feasible location, it is the optimal location; if the number of feasible location is more than one and the
number of feasible locations p = m+1, it means that crane relocates p times, and there is one feasible location at a
time; if p > m+1, for some components there are more than one feasible locations, in that case the working speed
parameters should be used to compare the efficiency of these points.
 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44 43

(a) Feasible location set iii for component 1; (b) Feasible location set iii for component 2;

(c) Feasible location set iii for component 3;

Fig. 7. Determination of feasible locations with minimal relocation times

The working speed parameters of mobile crane contain the boom elevating time, boom telescopic time, turntable
swing time, and the hoist speed. As the boom has fixed length during the operation, and the hoist speed is much
higher than the boom elevating speed and turntable swing speed, we mainly consider the boom elevating time and
the turntable swing time. First the boom elevating angle difference between the initial and final boom state ݀ߙ and
the turntable swing angle ߚ while each component is lifted in this location is calculated. Then the boom elevating
efficiency parameter a and the turntable swing efficiency parameter b are calculated using the following formulae:
௧
ܽൌ భ (3)
ఝ
ଵ
ܾൌ (4)
௥ൈ଺଴
Where ‫ݐ‬ଵ is the boom elevating time; ߮ is the maximum boom elevating angle; and r is turntable swing speed.
Finally, we calculated the lifting time of the components which are lifted in the same crane location according to
following equation:
ܶܲ௜ ൌ σே ௝ୀଵሺܽ ൈ ݀ߙ ൅ ܾ ൈ ߚሻ (5)
Where i is the sequence number of the location point; j is the sequence number of the component; and N is the
number of components which was lifted in these locations.
The location which has minimum lifting time is selected as optimum location. After previous steps, we can find
44 Zaiyi Pan et al. / Procedia Engineering 196 (2017) 36 – 44

the feasible locations with minimizing relocation and lift time for all components, and the whole process of
identifying the crane location is finished.

7. Conclusion

This paper presents a method for automatically locating a mobile crane and enable the crane to meet the operation
and safety requirement and has the highest efficiency at the locations. The method starts with inputting the 4D
model of a project and obtaining the on-site information and lift plan automatically. Then a set of initial locations
are generated utilizing grid method. And unfeasible locations are eliminated through a series of constraint test: (1)
the areas which is covered by the buildings or the crane cannot reach are eliminated; (2) for each lifted component,
the maximum working radius and boom length is found, and two circles are developed with the maximum working
radius as radius, and the initial and final position of component as centers, and the overlapping of two circles are
defined and the locations which are not in this overlapping area are eliminated; and (3) for each locations remaining
after the screening, lift operation is simulated to execute collision detection, and the locations at which spatial
conflicts occur are eliminated. Finally the most efficient locations are defined according to minimizing relocation
and lift time. In this paper, 2D and 3D simulation methods are combined to achieve the optimizing of feasible
location of mobile crane, which is an important part of the construction equipment simulation. Future research will
further simplify the collision detection method to improve computing efficiency.

Acknowledgements

We would like to thank the National Natural Science Foundation of China (Grant No. 51578318, 51208282), and
Tsinghua-Glodon BIM Research Center for supporting this research.

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