Distributor Boom Obstacle Evasion While Holding Tip Position
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Solution Overview
Problem
Existing systems for controlling the movement of adjustable distributor booms in construction material and thick matter pumping devices often result in collisions with obstacles, leading to unnecessary interruptions and safety concerns, especially in tight working environments.
Innovation Solution
An automated method that calculates vectorial distance and evasive movement variables to control the movement of adjustable boom components, allowing the boom to actively evade obstacles while maintaining a predetermined tip position, using a combination of kinematic correlations and weighting factors to prioritize evasive movements over operator commands.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the distributor boom moves automatically to achieve a predetermined tip position, then positioning precision is improved, but the risk of collision with obstacles increases
Solution Approach 1:
The system performs preliminary identification of distance variables between boom elements and obstacles before executing movement. By calculating evasive movement variables in advance based on identified distance variables, the system proactively prevents collisions while achieving the predetermined tip position, thus resolving the contradiction between positioning precision and collision risk
Solution Approach 2:
The system continuously monitors distance variables between boom elements and obstacles during movement, and dynamically adjusts movement commands based on this feedback. The control system uses the identified distance variables to calculate appropriate evasive movements, creating a closed-loop control that maintains both positioning precision and collision avoidance
2Adaptability or versatility
If the distributor boom operates in tight working environments with obstacles present, then adaptability is improved, but safety deteriorates
Solution Approach 1:
The system dynamically adjusts the boom movement based on real-time identification of distance variables to obstacles. By calculating evasive movement variables that adapt to the specific spatial configuration of obstacles and boom elements, the system enables safe operation in tight environments while maintaining operational reliability
Solution Approach 2:
The control system acts as an intermediary between the operator's tip position command and the actual boom movement. It processes distance variables and evasive movement variables to generate safe movement commands, mediating between the desire to operate in tight spaces and the need to maintain safety
3Ease of operation
If manual operation of the distributor boom is used, then ease of operation is improved, but productivity deteriorates due to interruptions
Solution Approach 1:
The system provides self-service by automatically identifying distance variables and calculating evasive movement variables to prevent collisions. This allows the boom to operate autonomously in automatic mode without requiring constant manual intervention for obstacle avoidance, thereby maintaining ease of operation while eliminating productivity-interrupting collisions
4Reliability
If automatic control with obstacle avoidance is implemented, then safety is improved, but device complexity increases
Solution Approach 1:
The control system performs multiple functions using the same computational resources: it identifies the tip position from operator commands, identifies distance variables to obstacles, calculates evasive movement variables, and generates movement commands. This multi-functionality achieves improved safety without proportionally increasing device complexity
Data Source
AI summary
Please substitute the new Abstract submitted herewith for the original Abstract: A method controls movement of an adjustable distributor boom having a plurality of adjustable boom components, wherein at least one same tip position of a boom tip of the distributor boom can be achieved by way of different position combinations of the boom components. The method has the steps of: a) determining vectorial distance variables for a plurality of boom elements of the distributor boom in relation to at least one obstacle for the boom elements, b) determining vectorial evasive movement variables for a plurality of the boom components based on the determined distance variables, and c) controlling the movement based on the determined evasive movement variables and a vectorial operator movement variable determining a tip position.