Mobile Crane Remote Terminal With Rotating Image Coordinate Control
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Solution Overview
Problem
Existing remote operation terminals for mobile cranes face challenges in maintaining accurate operation direction alignment with the crane apparatus, especially when the relative positional relationship between the terminal and the crane changes, leading to potential erroneous operations.
Innovation Solution
Incorporating a suspended load camera that captures images of the load and displays them on a remote operation terminal, allowing for image rotation and crane movement operations to be synchronized, with a control unit that adjusts the coordinate system to match the operation direction with the actual boom movement, thereby correcting the moving direction of the boom based on the rotation operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the reference coordinate system is rotated together with the image displayed on the display device to match the operation direction with the viewed work apparatus, then the ease of operation is improved, but the reliability deteriorates when the relative positional relationship changes
Solution Approach 1:
The patent applies dynamics by making the coordinate system adaptable to different operational contexts. The control unit dynamically switches between two coordinate systems: a first coordinate system that rotates with the image for normal operations, and a second coordinate system that maintains fixed alignment when the relative positional relationship changes. This dynamic adaptation resolves the contradiction by allowing the system to maintain ease of operation when conditions permit while ensuring reliability when conditions change.
Solution Approach 2:
The patent implements parameter changes by modifying the coordinate system parameters based on the operational state. When the relative positional relationship between the remote operation terminal and crane apparatus changes, the control unit changes the coordinate system parameter from a rotating reference (first coordinate system) to a fixed reference (second coordinate system). This parameter change ensures that the operation direction remains reliably aligned with the actual boom movement direction regardless of positional changes.
2Ease of operation
If the operation direction of the operation part is matched with the moving direction of the crane apparatus regardless of relative positional relationship, then the ease of operation is improved, but the manufacturing precision deteriorates in terms of operation accuracy
Solution Approach 1:
The system dynamically adjusts the coordinate system based on the relative positional relationship between the remote operation terminal and the crane apparatus. When the positional relationship is stable, the first coordinate system rotates with the image to provide intuitive operation. When the positional relationship changes, the system switches to the second coordinate system to maintain accurate alignment between operation direction and boom movement direction, thus preserving operation accuracy.
Solution Approach 2:
The control unit continuously monitors the relative positional relationship and uses this feedback to determine which coordinate system to apply. This feedback mechanism ensures that the system automatically switches between the rotating coordinate system (for ease of operation) and the fixed coordinate system (for operation accuracy) based on real-time conditions, resolving the contradiction between ease of operation and operation accuracy.
Data Source
AI summary
This remote operation terminal is provided with: an image acquisition unit that acquires an image shot by a suspended load camera; a display device that displays the image; an image rotation operation part that rotates the image; a suspended load moving operation part that sets the moving direction of the tip of a boom; and a terminal-side control device that is configured to be communicable with a control device of a crane, wherein when the image rotation operation part is operated during the operation of the suspended load moving operation part, the terminal-side control device rotates the image displayed on the display device in accordance with a rotation amount of the image rotation operation part, and rotates the moving direction of the tip of the boom set through operation of the suspended load moving operation part reversely to the rotating direction of the image displayed on the display device, by an amount of the rotation of the image.