Automated Positioning of Civil Engineering Carriage via Inverse Kinematics
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Solution Overview
Problem
Civil engineering devices, such as pile-driving and drilling devices, require precise and complex positioning of their implements, which is currently dependent on experienced operators for manual control, leading to inefficiencies and increased operator demands due to the need for interactive control processes and linear movements in Cartesian coordinates.
Innovation Solution
The implementation of a civil engineering device with an automated system that uses an input module for target positioning, connected to a computer module for determining displacement paths through inverse kinematics, allowing actuators to be controlled automatically for precise positioning of positioners, along with sensors for continuous feedback and environmental obstacle detection to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual control by experienced operator is used for positioning, then positioning precision can be achieved through visual detection and set-point/actual value comparison, but operator demands and control complexity increase due to interactive control processes
Solution Approach 1:
The control and regulation device performs self-service by automatically determining displacement paths and actuator positions using inverse kinematics algorithms. The system autonomously processes target positions, calculates movement sequences, and controls actuators without requiring manual intervention from the operator, thereby eliminating operator demands while maintaining positioning precision.
Solution Approach 2:
The patent replaces the mechanical control system (operator's visual detection and manual control commands) with an automated computational system. The computer module uses inverse kinematics algorithms to substitute manual calculation and control processes, transforming the control mechanism from human-based to machine-based while preserving positioning accuracy.
2Ease of operation
If automated positioning system is implemented with inverse kinematics, then operator demands are reduced and control is simplified, but device complexity increases due to computer module and sensor integration
Solution Approach 1:
The control and regulation device is designed with multi-functionality, integrating multiple capabilities into a single system: target position input, inverse kinematics calculation, displacement path determination, actuator position calculation, and control command generation. This universal device performs all positioning functions automatically, reducing the need for separate control mechanisms and managing complexity through consolidation.
Solution Approach 2:
The computer module acts as an intermediary between the target position input and the actuator control. It receives target coordinates, processes them through inverse kinematics algorithms, determines displacement paths, calculates individual actuator positions, and generates control commands. This intermediary layer simplifies the overall control architecture by centralizing the complex calculations and coordination functions.
3Reliability
If sensors are added for continuous feedback and obstacle detection, then positioning accuracy and safety improve, but device complexity and cost increase
Solution Approach 1:
The system implements feedback mechanisms where sensors detect the actual positions of positioners and environmental obstacles. This feedback information is continuously provided to the control and regulation device, which compares actual positions with target positions and adjusts displacement paths accordingly. The feedback loop ensures positioning accuracy and enables real-time collision avoidance without requiring excessive sensor complexity.
Solution Approach 2:
The system performs preliminary actions by detecting obstacles and determining safe displacement paths before actual positioning operations begin. The evaluation module identifies potential collision risks in advance, and the computer module calculates avoidance paths proactively. This preliminary detection and planning prevents collisions before they occur, improving safety without requiring complex real-time response systems.
Data Source
AI summary
A civil engineering device, in particular a pile-driving or drilling device, has at least one positioner, in particular a working carriage for accommodating an implement, connected with a carrier device by relatively movable links within a kinematic chain and connected by joints and/or linear adjusters and with at least six actuators for changing their corresponding position and/or orientation, and with a control and regulation device for controlling them. The control and regulation device has an input module for specifying a positioner target position, and is connected with a computer module that determines at least one displacement path for moving the positioner from its current (starting) position to the target position, and, using inverse kinematics, the locations of the individual actuators required for implementing the path, and sends these locations to the control and regulation device to control the actuators. A method multi-dimensionally, free positions a civil engineering device positioner.