Crane Tip Tool Mode Switching for Linear Path Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Operating a crane to pick and place pallets requires skilled drivers to manage multiple functions simultaneously, making it difficult for inexperienced users to control the crane tip tool, such as a fork, along a linear path.
Innovation Solution
A working vehicle with a crane and a controllable tool joint, equipped with a sensor system that detects a mode change position, allowing the crane control unit to switch between normal and tip tool modes, enabling the crane to be controlled with a coordinate system origin at the tool joint, facilitating linear path movement with user-friendly operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If normal crane operation mode is used with base-origin coordinate system, then crane can perform general movements, but controlling tip tool along linear path requires managing multiple functions simultaneously which increases operational difficulty
Solution Approach 1:
The patent implements dynamic mode switching between normal operation mode and tip tool control mode. The coordinate system origin dynamically changes from the crane base to the tool joint depending on operational needs. This allows the system to adapt its control characteristics in real-time, providing simplified linear path control when needed while maintaining full crane functionality otherwise.
Solution Approach 2:
The patent changes the reference frame parameter of the coordinate system from base-origin to tool-joint-origin. This parameter change fundamentally alters how movements are controlled and visualized, transforming complex multi-function coordination into simpler linear path following along the boom axis.
2Productivity
If skilled driver training is provided to manage multiple functions, then pallet picking and placing can be performed, but this increases time consumption and reduces productivity for unskilled operators
Solution Approach 1:
The system provides self-service through automatic coordinate transformation and mode switching. When the tip tool reaches the mode change position, the system automatically switches to tip tool control mode and transforms the coordinate system, eliminating the need for operators to manually manage complex coordination of multiple functions. This makes the system accessible to unskilled operators while maintaining high productivity.
Solution Approach 2:
The system uses sensor feedback to detect when the tip tool reaches the mode change position (when boom and tool are in line). This feedback triggers automatic mode switching and coordinate system transformation, ensuring smooth transitions without requiring operator intervention or skill.
3Adaptability or versatility
If manual mode switching is implemented, then operational flexibility is maintained, but this requires operator attention and skill to switch at the correct position
Solution Approach 1:
The system performs self-service by automatically detecting when the tip tool reaches the mode change position using sensor feedback. The coordinate system origin automatically switches from base-origin to tool-joint-origin without requiring operator intervention. This maintains full operational flexibility while eliminating the skill requirement for mode switching.
Solution Approach 2:
Sensor feedback continuously monitors the relative position of the boom and tool, detecting when they are in line (mode change position). This feedback automatically triggers the mode switch and coordinate transformation, ensuring precise timing without operator attention.
Data Source
Figure 1~2
Figure 3~5
AI summary
A working vehicle (2) including a crane (4) with at least one extendible boom (6) and/or at least one articulation joint (8), the crane comprises a crane tip tool (10) arranged at a distal crane tip end (12), and attached to the crane via a controllable tool joint (14), the movements of the boom(s) and/or the articulation joint(s) of the crane and of the crane tip tool are controlled by control signals (16) generated by a crane control unit (18) in dependence of operator inputs (20) received by at least one manoeuvre member (22).The crane (4) is configured to be operated in a normal mode of operation and in a tip tool mode of operation, and that the crane control unit (18) is configured to control the mode of operation of the crane in dependence of a of a mode control signal (19). The working vehicle comprises a sensor system (21) capable of detecting when the tip tool is in a mode change position wherein it should be controlled in a tip tool mode, and the sensor system (21) is configured to generate a mode change indication signal (23) when the tip tool (10) is in said mode change position, and wherein said mode control signal (19) is generated in dependence of said mode change indication signal (23). In the normal mode, crane movements are controlled in relation to a coordinate system having a base (28) of the crane as its origin. In the tip tool mode, crane movements are controlled in relation to a coordinate system having said tool joint (14) as its origin, and in the tip tool mode the tip tool (10) is controlled in response of an operator input (20) via one of said manoeuvre members (22).