Excavator Grapple Alignment Using 3D Point Cloud Center of Gravity
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Solution Overview
Problem
The efficiency of construction operations using excavators is dependent on the operator's ability to manually align the grapple with the center of gravity of the object, leading to variability in work accuracy and efficiency.
Innovation Solution
An automatic grab assistance system for construction machines, equipped with a sensor unit, point cloud sensing device, and electronic control device, calculates the center of gravity area of an object and aligns the grapple automatically to ensure precise gripping and lifting operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual alignment method is used, then operator flexibility is maintained, but grabbing accuracy varies depending on operator skill
Solution Approach 1:
The patent replaces the manual mechanical alignment method with an automated optical sensing and control system. The point cloud sensing device captures three-dimensional data of the object, the electronic control device calculates the center of gravity position, and the system automatically adjusts the grapple positioning, eliminating dependency on operator skill while maintaining flexibility through programmable control algorithms
Solution Approach 2:
The system enables self-alignment by having the construction machine automatically determine and adjust its own grapple position based on sensed object data. The electronic control device processes point cloud information and autonomously controls the positioning mechanisms, allowing the system to self-correct without continuous manual intervention
2Measurement precision
If automated alignment system is implemented, then grabbing accuracy is improved, but device complexity increases
Solution Approach 1:
The patent integrates multiple functions into unified components: the point cloud sensing device simultaneously performs object detection, three-dimensional modeling, and center of gravity calculation; the electronic control device consolidates data processing, position calculation, and actuation control. This multi-functionality reduces the number of separate components needed while achieving high measurement precision
Solution Approach 2:
The patent introduces a point cloud as an intermediary data structure that bridges the gap between raw sensor data and control commands. The three-dimensional point cloud representation serves as a common language for object recognition, center of gravity calculation, and positioning control, simplifying the overall system architecture despite the sophisticated functions performed
3Productivity
If traditional manual operation is used, then system simplicity is maintained, but work efficiency varies by operator
Solution Approach 1:
The patent implements a closed-loop feedback system where the point cloud sensing device continuously monitors object position and characteristics, the electronic control device compares actual position with target center of gravity position, and the system automatically adjusts the grapple positioning. This feedback mechanism ensures consistent high-speed operation while maintaining adaptability to different object types
Solution Approach 2:
The system performs preliminary three-dimensional scanning and center of gravity calculation before the actual grabbing operation. By pre-processing the object data and determining the optimal positioning in advance, the system eliminates trial-and-error adjustments during execution, significantly improving work efficiency while maintaining operational flexibility
Data Source
AI summary
An aspect of the present disclosure is an automatic grab assistance system for construction machine including a working device having a lower driving body, an upper swivel body rotatably coupled to the lower driving body, and a boom rotatably coupled to the upper swivel body, an arm rotatably coupled to a front end of the boom, and a grapple as an attachment rotatably coupled to a front end of the arm. The system further includes a sensor unit for detecting posture information of the construction machine, a point cloud sensing device for photographing a three-dimensional point cloud of an object to be grabbed, and an electronic control device for calculating a center of gravity area of the object based on point cloud data obtained from the point cloud sensing device and controlling driving of the upper swivel body and the working device so that the grapple is aligned.