Boom Tip Control for Automatic Crane Constraint Handling
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Solution Overview
Problem
Existing boom tip control methods for cranes on working machines do not adequately account for operational limitations, leading to difficulties in achieving desired movements due to factors like actuator extremes or collisions with obstacles, requiring manual intervention by the driver.
Innovation Solution
A method and system that automatically adjusts boom speeds based on prioritization criteria, using a programmable data processing unit to optimize crane movements and avoid obstacles by modifying control commands when certain conditions are met.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If boom tip control is used to directly control the movement of the crane head, then the ease of operation is improved, but the reliability deteriorates when operational limitations are not accounted for
Solution Approach 1:
The control system continuously monitors the positions of booms and actuators, and automatically adjusts boom speeds based on feedback from sensors detecting operational limitations such as actuator extremes or potential collisions with obstacles
Solution Approach 2:
The system dynamically adjusts the speeds of individual booms based on real-time operational conditions, prioritizing movements that avoid limitations while maintaining the overall desired motion of the crane head
2Productivity
If the control system attempts to move the crane head in a desired direction without considering operational limitations, then the productivity is improved, but the reliability deteriorates due to actuator extremes or collisions
Solution Approach 1:
The control system performs preliminary checks of operational limitations before executing movements, and proactively adjusts boom speeds to prevent actuator extremes or collisions with obstacles before they occur
Solution Approach 2:
When operational limitations are detected, the system skips problematic movements by automatically adjusting which booms move and at what speeds, bypassing configurations that would lead to actuator extremes or collisions
3Reliability
If manual intervention is required to resolve operational limitations, then the reliability is improved by avoiding collisions, but the productivity deteriorates due to interruptions
Solution Approach 1:
The control system automatically detects operational limitations and adjusts boom movements without requiring manual intervention from the driver, resolving conflicts between reliability and productivity autonomously
Data Source
Figure 1~2
Figure 3
AI summary
The invention relates to a method and system for controlling the crane (22) of a working machine (10, 44) by using boom tip control, in which method the crane (22) comprises at least two booms (24, 26, 28) and a head (38) of the crane, which booms are connected to the working machine (10, 44) and each other in an articulated manner, and which booms are moved in relation to the working machine (10, 44) and to each other by means of actuators (32, 34, 36) controlled by a control system of the working machine (10, 44), and in which method direction and speed of motion of the head (38) of the crane, controlled by the driver applying controls (50, 52) in the working machine (10, 44), is implemented by applying speeds of the booms (24, 26, 28) of the crane (22). In the method the speeds of the booms (24, 26, 28) of the crane (22) are controlled automatically.