Crane Tip Route Control Using Orthogonal Motion Steps

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Solution Overview

Problem

Conventional crane controls are complex due to the high number of degrees of freedom in crane arm systems, leading to infinite possible motion paths and requiring extensive computational resources, making them difficult to calculate and predict, and prone to unpredictable motions.

Innovation Solution

A crane control system that divides crane tip motion into fictional orthogonal steps, assigning mobility statuses to nodes, simplifying calculations by fixing degrees of freedom and eliminating the need for weighting matrices, ensuring precise and efficient movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If conventional crane control systems are used to manage crane tip motion, then the crane can operate with multiple degrees of freedom, but the control complexity increases significantly and computational resources are extensively required

Engineering Contradiction:

Improvecrane motion freedomVSAvoidcontrol system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent segments the continuous crane tip motion into discrete fictional orthogonal steps along predefined routes. Each step represents a simplified motion segment that can be independently calculated and executed, transforming a complex continuous control problem into a series of manageable discrete steps.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent performs preliminary calculation of complete routes and fictional orthogonal steps before actual crane operation. The control system pre-computes the sequence of motion steps required to reach target positions, allowing the crane to follow predetermined paths without real-time complex calculations during execution.

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If conventional crane control allows infinite motion paths for crane tip, then operational flexibility is maintained, but calculation and prediction become difficult and unpredictable

Engineering Contradiction:

Improvemotion path flexibilityVSAvoidmotion predictability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent segments the infinite possible motion paths into a finite set of fictional orthogonal steps along predefined routes. By dividing the continuous motion space into discrete orthogonal segments, the system maintains operational flexibility while enabling reliable calculation and prediction of crane tip positions.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent changes the parameter representation of crane motion from continuous coordinates to discrete fictional orthogonal steps. This parameter transformation converts an unpredictable continuous control problem into a predictable discrete sequence of standardized motion steps.

Inventive Principle:

Principle #35Parameter changes

3Measurement precision

If conventional crane control uses extensive computational resources for backward transformation, then accurate position control is achieved, but computational demands and processing time increase

Engineering Contradiction:

Improvecrane tip position accuracyVSAvoidcomputational energy demand

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The patent performs comprehensive route calculations and fictional step generation in advance, before the crane needs to execute motions. This preliminary computation stores the results for rapid retrieval during operation, significantly reducing real-time computational energy demands while maintaining position accuracy.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent segments the complex backward transformation calculation into simpler discrete steps along predefined fictional orthogonal paths. Each segment can be calculated independently using simplified geometry, reducing the overall computational burden compared to continuous coordinate transformation.

Inventive Principle:

Principle #1Segmentation

4Productivity

If conventional crane control systems are used, then crane operation can proceed, but the systems are prone to unpredictable motions and difficult to maintain

Engineering Contradiction:

Improvecrane operation capabilityVSAvoidcontrol system maintainability

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent segments crane motion into standardized fictional orthogonal steps along predefined routes, creating a modular control structure. This segmentation makes the control system more maintainable by breaking down complex continuous control into discrete, easily debuggable segments with predictable behavior.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS12473178B2Crane with crane control

Publication Date: 2025.11.18 KOMATSU FOREST

AI summary

A crane with a crane control, wherein the crane control includes rises a coordinate control system with a plurality of nodes defined in the crane, a three-axis coordinate system including x, y and z axes that intersect each other in orthogonal main planes in the space, a node information processing module, a route establishment module and an operation processing module, wherein the node information processing module is configured to collect and store node information in an initial state of the crane, and the route establishment module is configured, based on a control command indicated by a crane operator, to establish an effective operation path for each node to a route in which the operation module is used, in an actual route, for displacing a crane tip included in the crane from a current starting or initial coordinate position in the initial state to a desired target coordinate position in the space.