Computer-Controlled Mobile Crane With Optical Obstacle Avoidance
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Solution Overview
Problem
Existing mobile cranes face challenges in accurately transferring loads while avoiding obstacles due to inaccuracies in angle measurement and the need for multiple emitting probes, which are impractical and unreliable in varying operational conditions.
Innovation Solution
A computer-controlled mobile crane system that uses an optical measuring unit to establish a coordinate system, combined with sensors and hydraulic actuators, to precisely control the movement of crane components, allowing for obstacle avoidance and accurate load transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If angle measurement methods are used to control crane arm positions, then automation is enabled, but measurement precision deteriorates due to error accumulation along the kinematic chain
Solution Approach 1:
The patent replaces the mechanical angle measurement system with an optical measurement system. A laser scanner directly measures the 3D coordinates of the load and target points, eliminating the need for angle measurements at multiple pivot points. This substitution of measurement methodology removes the source of error accumulation while enabling precise automated control.
Solution Approach 2:
The patent introduces a laser scanner as an intermediary measurement device between the crane control system and the physical space. This intermediary directly establishes a coordinate system and measures positions without relying on the crane's mechanical joints, thereby avoiding error propagation through the kinematic chain while enabling automated operation.
2Area of stationary object
If multiple emitting probes are deployed for coordinate measurement, then measurement coverage is improved, but device complexity and reliability worsen due to impractical deployment requirements
Solution Approach 1:
The patent merges the functions of multiple emitting probes into a single laser scanner mounted on the crane. This single device performs all coordinate measurements required for load transfer and obstacle detection, eliminating the need for multiple separate probes while maintaining comprehensive measurement coverage throughout the operational space.
Solution Approach 2:
The laser scanner serves multiple functions: it establishes the coordinate system, measures load positions, detects obstacles, and provides data for both automated control and safety monitoring. This multi-functional device replaces what would otherwise require multiple specialized emitting probes, reducing complexity while improving versatility.
3Ease of operation
If automated control based on angle measurements is used, then operator workload is reduced, but reliability worsens due to inability to detect and avoid obstacles
Solution Approach 1:
The laser scanner continuously provides feedback on the 3D coordinates of the load, target points, and any obstacles in the operational space. This real-time feedback enables the automated control system to adjust crane arm positions dynamically, reducing operator workload while simultaneously detecting and avoiding obstacles that would compromise safety.
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 transfer of loads by establishing a coordinate system, using optical measurements and hydraulic control, thereby reducing the risk of collisions and improving operational accuracy.
Implementation Method 1
a computer control unit (8), which is connected to an optical measuring unit (9), which is suitable for establishing and maintaining a coordinate system (x, y, z), in which the crane (1) is located
Data Source
AI summary
A computer-controlled mobile crane is disclosed herein, comprising a column which is rotatable around its vertical axis, a hydraulically actuated primary arm, a hydraulically actuated secondary arm, and an attachment point to which a gripping assembly is attached. The components are actuated by a hydraulic control unit controlled by a computer control unit and corresponding software that generates an internal coordinate system on the basis sensors mounted on the crane and an optical measuring unit. The crane is capable of automatically using the gripping assembly to transport a load from an initial point to an end point where the load should be deposited while avoiding one or more obstacles in the path of travel of the gripping assembly and the load.