Articulated Arm Positioning Using Ultra-Wideband Probe Intersection
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Solution Overview
Problem
Existing systems for automatically moving articulated arms, such as cranes, are inadequate when detecting probes cannot communicate with the emitting probe due to boundary conditions, and they fail to operate effectively if the operator moves during crane movement.
Innovation Solution
A system with a control unit connected to sensors and detecting probes, using ultra-wideband emitting and detecting probes to determine the target position and adjust the actuators to move the end-effector, even if the operator is moving, by calculating the intersection of spheres centered at detecting probe locations and minimizing hydraulic energy consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple detecting probes are positioned at predetermined different points of the articulated arm, then the system can determine the actual position of the articulated arm even when some probes cannot communicate with the emitting probe, but the device complexity increases
Solution Approach 1:
The system divides the detection function into multiple independent detecting probes positioned at different points on the articulated arm. Each probe independently detects signals from the emitting probe, and the control unit processes data from multiple probes to determine position. This segmentation ensures that if one probe fails or cannot communicate, other probes can still provide position information, thereby improving reliability while managing complexity through distributed independent units.
Solution Approach 2:
Different detecting probes are positioned at specific predetermined points on the articulated arm structure where they can optimally detect signals. Each probe is placed to monitor specific segments or joints of the articulated arm, providing localized detection capability. This allows the system to maintain reliable position determination across the entire range of motion while using a manageable number of probes strategically positioned to cover critical areas.
2Device complexity
If the system uses traditional detecting probes, then the structure remains simple, but the system fails to operate correctly when the operator moves during crane movement
Solution Approach 1:
The detecting probes are designed to serve multiple functions: they detect the position of the articulated arm, track the moving target position held by the operator, and provide continuous feedback even when the operator moves. The system universally handles both stationary and moving operator scenarios by processing signals from multiple probes to calculate the articulated arm's position relative to the moving target, thereby achieving adaptability without significantly increasing structural complexity.
Solution Approach 2:
The system dynamically adapts to operator movement by continuously updating the target position based on real-time signals from the emitting probe carried by the operator. The control unit processes changing spatial relationships between multiple detecting probes and the moving emitting probe, calculating the articulated arm's position at each sampling instant. This dynamic processing allows the system to maintain correct operation whether the operator is stationary or moving, transforming a static detection system into a dynamic tracking system.
3Measurement precision
If the system calculates the intersection of spheres based on multiple detecting probes, then the target position determination precision improves, but the computational complexity increases
Solution Approach 1:
The system replaces complex mechanical position measurement mechanisms with electromagnetic signal-based detection. Instead of using complex mechanical encoders or sensors on each joint, the system uses simple electromagnetic emitting and detecting probes that measure distance through signal propagation time. The control unit then performs mathematical calculations (intersection of spheres) to determine position, substituting computational complexity for mechanical complexity and achieving high precision through software-based geometric calculation rather than complex hardware.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and safe automatic movement of the articulated arm to a target position, both when the operator is stationary and when moving, by iteratively updating the movement logic based on real-time sensor data and maintaining safety by preventing collisions with the operator.
Implementation Method 1
at least one first, one second, one third and one fourth detecting probes (1, 2, 3, 4), positioned in a predetermined different point of the (articulated arm of a) work vehicle; an ultra-wideband emitting probe (5), adapted to be located in the target position
Implementation Method 2
determining, based on the signals from said first, second, third, fourth emitting probes the actual position of the articulated arm
Data Source
Figure 1~2
AI summary
A system for automatically moving an articulated arm (101) towards a target position, comprising: - said articulated arm (101) comprising a plurality of consecutively connected bodies forming an open kinematic chain with an end-effector (105), having a plurality of translative and/or rotative degrees of freedom and a plurality of actuators for moving said bodies; - a plurality of sensors associated to said bodies, adapted to supply signals indicative of linear or angular positions such to enable to determine the absolute coordinates of the end-effector (105); - a user interface device configured to command the articulated arm by an operator; - an emitting probe (5) positioned in the target position, and at least one first (1), one second (2), one third (3) and one fourth detecting probes (4), each positioned in a predetermined different point of the articulated arm, and adapted to communicate with the emitting probe so that each emitting probe-detecting probe pair provide a signal indicative of the relative distance thereof; - a control unit operatively connected to said actuators, sensors, emitting probe, detecting probes, and user interface device, said control unit being configured to, at each sampling instant of a plurality of subsequent sampling instants: - estimate, based on the signals from said first, second, third, fourth emitting probes (1, 2, 3, 4) and from said detecting probe (5) the actual absolute position of the emitting probe (5); - determine the actual absolute position of the end-effector (105) based on the signals from said sensors; - actuate the actuators so that the end-effector (105) moves towards the estimated actual absolute position of the emitting probe (5).