Crane Path Generation with Dynamic Node Point Density
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Solution Overview
Problem
Conventional cranes struggle to generate transport paths that effectively avoid obstacles, especially moving ones, due to limited degree of freedom in path selection, which can lead to collisions.
Innovation Solution
A crane equipped with sensors and a control device that dynamically adjusts the number and density of node points around obstacles, including a hemispherical safety area, to generate a new transport path upon detecting obstacle movement, thereby increasing the degree of freedom in path selection and ensuring obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the potential method is applied to generate transport paths, then the path generation process is simplified, but the degree of freedom in path selection is reduced and moving obstacles cannot be avoided
Solution Approach 1:
The patent transforms the static grid-based potential method into a dynamic node point arrangement system. The control device dynamically adjusts the number and distribution of node points based on obstacle detection, allowing the transport path to adapt to moving obstacles while maintaining ease of generation through automated control
Solution Approach 2:
The patent changes the fundamental parameters of path generation from fixed grid cells to variable node point densities. By increasing the number of node points around detected obstacles and adjusting node point distribution, the system achieves higher adaptability while maintaining automated path generation
2Adaptability or versatility
If the number of node points is increased around obstacles, then the degree of freedom in path selection is increased and obstacle avoidance capability is improved, but the computational complexity increases
Solution Approach 1:
The patent applies local quality by concentrating node points only in specific regions around detected obstacles rather than uniformly distributing them throughout the entire workspace. This localized densification increases path selection freedom where needed while minimizing overall computational complexity
Solution Approach 2:
The control device performs preliminary obstacle detection and anticipates potential path conflicts before generating the final transport path. By detecting obstacles in advance and pre-adjusting node point arrangements, the system avoids complex real-time computations during path execution
3Productivity
If a fixed transport path is generated without considering obstacle movement, then the path generation is fast and simple, but collision risk increases when obstacles move
Solution Approach 1:
The patent implements feedback by continuously monitoring obstacle positions through sensors and using this information to dynamically adjust the transport path. The control device receives real-time obstacle data, re-generates paths with appropriate node point arrangements, and updates the transport trajectory to maintain collision avoidance
Solution Approach 2:
The system performs preliminary obstacle detection and path re-planning before actual collisions can occur. By detecting obstacles in advance and pre-generating alternative paths with increased node point density, the system maintains both speed and reliability by having ready-made avoidance routes
Data Source
AI summary
A crane includes a boom and a hook suspended from the boom by a wire rope and transports a load in a state in which the load W is suspended from the hook, and further includes a sensor that detects the position of an obstacle, and a control device that generates a transport path CR by arranging a plurality of node points in an area containing a lifting-up point and a lifting-down point of the load and connecting the node points. The control device generates a new transport path after increasing a number of node points arranged around the obstacle when the sensor detects movement of the obstacle.