3D Hoisting Trajectory Planning for Fast Stable Load Transfer
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Solution Overview
Problem
Current hoisting systems lack the capability to automatically and independently transfer suspended loads across a hoisting area while ensuring safety and avoiding obstacles and people, due to the complexity of managing load swinging and trajectory adjustments.
Innovation Solution
A method for generating a trajectory for a hoisting appliance that involves creating a 3D model of the hoisting area with located objects, considering load parameters and movement parameters, and optimizing the trajectory for speed by maximizing line segment length in the main direction of travel, allowing for autonomous navigation while minimizing direction changes and accommodating obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the trajectory is optimized to maximize line segment length for high-speed travel, then productivity increases, but the complexity of managing load swinging and avoiding obstacles increases
Solution Approach 1:
The trajectory is divided into multiple line segments connecting starting point, intermediate points, and target point. Each segment can be independently optimized for speed while considering load swinging characteristics and obstacle avoidance requirements, allowing high-speed travel without excessive complexity
Solution Approach 2:
The system pre-calculates the optimal trajectory considering load parameters, obstacle positions, and speed requirements before execution. This preliminary planning includes determining appropriate line segment lengths and intermediate points to maximize speed while ensuring safety, eliminating the need for complex real-time adjustments during travel
2Reliability
If the trajectory includes many direction changes to avoid obstacles, then safety improves, but travel time increases
Solution Approach 1:
The system uses a three-dimensional coordinate system to model the hoisting area and trajectory, allowing the hoisting appliance to travel above obstacles rather than around them. By utilizing the vertical dimension and calculating appropriate hoisting heights, the system can maintain straighter, faster trajectories while still avoiding obstacles safely
3Productivity
If the hoisting appliance travels at maximum speed, then productivity increases, but load swinging increases
Solution Approach 1:
The trajectory optimization dynamically adjusts line segment lengths and intermediate points based on load parameters and speed requirements. The system calculates optimal travel parameters that maintain load stability while enabling high-speed travel, adapting to different loading conditions rather than using fixed speed limits
Solution Approach 2:
The system changes trajectory parameters such as line segment length, number of segments, and intermediate point positions to optimize both speed and load stability. By adjusting these parameters based on load characteristics and obstacle positions, the system achieves high productivity without excessive swinging
Data Source
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AI summary
The invention relates to a method for generating a trajectory for a load transported by a hoisting appliance spanning a hoisting area. The method includes providing a 3-dimensional model of the hoisting area with located obstacles within the hoisting area, providing load parameters including load length, height, width and weight. Generating a trajectory for navigating through the hoisting area using the model of the hoisting area and taking in account located obstacles, load parameters; and load movement parameters including a maximum attainable speed of the hoist appliance with the load, wherein the generated trajectory includes a starting point, a target point and a number of consecutive line segments connecting the starting point and the target point. And optimizing the trajectory for speed by maximizing the length of at least one line segment in a main direction of travel in order to travel at a maximum attainable speed of the hoisting appliance with the load in the main direction of travel.