Crane Load Control Using IMU-Based Deflection Compensation
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Solution Overview
Problem
Existing construction and material-handling machines, such as cranes, face challenges in intuitive operation and orientation-independent control of functional elements, particularly when dealing with varying external loads and orientations, due to complexities in detecting manual manipulation forces and torques.
Innovation Solution
The use of an inertial measurement unit (IMU) attached to the functional element to detect acceleration and rotational rate signals, allowing the controller to compensate for deflections and provide intuitive control by interpreting manual manipulation movements, optionally with inclinometers or mobile devices like smartphones, to ensure precise and orientation-independent operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force and torque sensors are used to detect manual manipulation movements, then control sensitivity can be improved, but device complexity and difficulty of detecting and measuring increase due to the need to differentiate manipulation forces from external load influences
Solution Approach 1:
The patent extracts the detection task from the functional element to a separate detection device positioned at the suspension point. This separates the measurement function from the load-bearing function, allowing detection of manipulation movements without being influenced by external loads on the functional element itself.
Solution Approach 2:
The patent introduces an intermediary detection device (such as an inertial measurement unit or force sensor) at the suspension point that mediates between the manual manipulation movements and the control system. This intermediary captures the manipulation movements indirectly through the suspension point, avoiding the complexity of directly measuring forces on the functional element.
2Ease of operation
If control commands are input from a stationary operator's station, then operation control is stable, but ease of operation decreases when the operator needs to move close to the functional element
Solution Approach 1:
The patent makes the detection device universal by enabling it to function both as a manual manipulation detector when the operator is near the functional element, and as a basis for stable control when operated from the stationary operator's station. The same detection device supports multiple operational modes and locations.
Solution Approach 2:
The patent implements feedback by continuously monitoring the manipulation movements at the functional element through the detection device and automatically adjusting control commands based on the detected movements. This feedback loop maintains control stability regardless of operator location by relying on objective sensor data rather than purely manual input.
3Ease of operation
If mobile end devices like tablets are used for control input, then ease of operation improves, but reliability decreases due to potential distraction and orientation issues
Solution Approach 1:
The patent enables self-service operation by allowing the functional element to indicate its own desired movement direction through its natural deflection. The detection device automatically detects these deflections and converts them into control commands, eliminating the need for the operator to manually input commands and reducing cognitive load and distraction.
Solution Approach 2:
The patent replaces manual mechanical control input with automatic detection of manipulation movements. Instead of requiring the operator to interpret orientation and input commands through a mobile device, the system uses sensors to directly detect the physical manipulation movements and automatically translates them into control signals.
4Adaptability or versatility
If the functional element is suspended in an oscillating manner for traversing movements, then versatility of movement is improved, but stability of the functional element's position deteriorates due to pendulum oscillations
Solution Approach 1:
The patent uses feedback from the detection device to monitor the functional element's position and movement, enabling the control system to compensate for pendulum oscillations and maintain stability during traversing movements while preserving movement versatility.
Solution Approach 2:
The patent changes the control parameters dynamically based on the detected manipulation movements and system state, adjusting control gains and response characteristics to maintain stability during oscillating traversing movements while preserving the ability to perform various movement types.
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 intuitive and precise control of functional elements by detecting actual deflections, independent of external influences, enhancing user experience and operational efficiency.
Implementation Method 1
an inertial measurement unit (IMU) attached to the functional element to detect acceleration and rotational rate signals
Data Source
AI summary
The invention relates to a construction and/or material-handling machine, in particular a crane, comprising a movable functional element, in particular a functional element suspended in an oscillating manner, in particular in the form of a load receiving means, at least one drive device for moving the functional element, a detection device for detecting manual manipulation movements for moving the functional element, and a controller for actuating the drive device on the basis of the detected manipulation movement. The aforementioned detection device has an inertial measuring device, which is attached to the functional element and comprises an acceleration and rotational rate sensor means for providing acceleration and rotational rate signals, and a detection device for detecting the deflection of the functional element from the aforementioned acceleration and rotational rate signals of the inertial measuring device, and the aforementioned controller is de-signed to actuate the at least one drive device so as to compensate for the detected deflection.