Crane Path Generation for Straight-Line Cargo Transport
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Solution Overview
Problem
Existing methods for automating cargo handling transport cranes fail to account for maximum velocity and often result in non-transportable routes due to minimum swinging radius constraints, especially when initial and target positions are directly opposite each other.
Innovation Solution
A method and system for generating a cargo handling transport path that calculates and controls the swinging and luffing movements of a crane arm to maintain a straight line track while ensuring the swinging radius remains within facility constraints, using a control device to adjust the arm's angle and length, and calculating maximum velocities to optimize transport time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the suspended cargo is transported in a straight line track having the shortest distance, then the transport distance is minimized, but a non-transportable route is generated in which the swinging radius of the cargo handling transport crane falls below the lower limit in the facility constraints
Solution Approach 1:
The patent applies curvature by replacing the straight line path with a curved path that arcs around the crane structure. The cargo is transported along a curved trajectory that maintains sufficient swinging radius throughout the movement, avoiding the minimum swinging radius constraint while still achieving efficient transport between opposite positions.
2Device complexity
If the maximum velocity is not considered in the path calculation, then the path generation is simpler, but it becomes difficult to set the maximum velocity according to the cargo handling transport path
Solution Approach 1:
The patent applies preliminary action by pre-calculating the maximum velocity values at different points along the transport path before actual cargo movement. The control device computes the velocity profile in advance based on the curved path geometry and crane dynamics, storing these values for real-time control execution, thus simplifying the real-time operation while ensuring velocity appropriateness.
3Productivity
If the cargo handling transport time is reduced, then the productivity increases, but the swinging radius constraint may be violated
Solution Approach 1:
The patent applies dynamics by using dynamic velocity adjustment along the curved path. The control device varies the cargo transport velocity at different positions along the curved trajectory, optimizing speed in regions where the swinging radius is sufficient while reducing velocity in regions closer to the minimum radius constraint, thus achieving fast transport while maintaining constraint compliance throughout the motion.
Data Source
AI summary
A method for generating a cargo handling transport path for transporting suspended cargo suspended from arm tip portion of crane arm from an optional cargo handling initial position to an optional cargo handling target position by swinging movement of the crane arm, and the method includes: calculating the cargo handling transport path and a cargo handling transport velocity for transporting the suspended cargo in a straight line track as viewed from at least the vertical direction in at least a part of the cargo handling transport path based on the cargo handling initial position, the cargo handling target position, the range of the arm minimum swinging circle of the crane arm, the upper limit swinging angular velocity of the crane arm, the upper limit swinging angular acceleration of the crane arm, the upper limit luffing velocity of the crane arm, and the upper limit luffing acceleration of the crane arm.