Intelligent research on lifting large cargoes based on double crane linkage

The increasing diversity, volume, weight, and size of maritime cargoes have rendered single-crane operations impractical, making dual-crane lifting an essential mode of operation. To address the complexities of dual-crane lifting, intelligent systems employing automated path planning for large cargoes offer substantial advantages, enhancing operational efficiency while mitigating human error and accident risks. To address high-dimensional path planning for asynchronous dual-crane lifting, this paper proposes an improved RRT algorithm featuring dynamic anchor adjustment and conservative swept area detection. Experiments demonstrate 100% success rate in cluttered environments with an average planning time of 89.61 seconds. The feasibility of the proposed method was validated using actual ship data. By inputting the cargo characteristic data into the intelligent algorithm, the system adopts progressive optimization calculation to automatically analyze whether the large cargo is suitable for the operation of dual cranes. This intelligent lifting approach not only enhances operational safety and efficiency but also lays the groundwork for the future development of automated ship lifting technologies. By addressing the challenges of dual-crane operations, the research contributes to the advancement of intelligent maritime logistics, enabling safer and more efficient handling of oversized and heavy cargoes.