Haptic Force Feedback for Crane Payload Anti-Sway Control
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Solution Overview
Problem
Cranes, particularly tower cranes, face challenges in anti-sway control due to complex dynamics and environmental disturbances, leading to safety risks and operational inefficiencies, with existing automatic systems failing to adequately address nonlinear behaviors and human-in-the-loop integration.
Innovation Solution
A haptic feedback system using two haptic devices connected by a structural member provides force feedback to mimic payload sway, allowing operators to intuitively counterbalance using sensorimotor coordination, combined with a closed-loop control method that integrates human inputs and real-time sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic anti-sway control systems are used, then operational complexity is reduced, but control precision and adaptability to nonlinear behaviors deteriorate
Solution Approach 1:
The haptic device serves as an intermediary between the operator and the crane control system. It provides force feedback that mimics payload sway, allowing the operator to intuitively counterbalance sway through natural sensorimotor coordination while maintaining simplified operation. The device translates complex crane dynamics into intuitive haptic cues.
Solution Approach 2:
The control system is segmented into autonomous modules including haptic feedback generation, payload sway estimation, and counterbalance force calculation. This modular architecture enables precise control while maintaining ease of operation, as each module handles specific aspects of the control task independently.
2Measurement precision
If haptic feedback devices are added to provide force feedback, then operator control precision is improved, but device complexity increases
Solution Approach 1:
The haptic device performs multiple functions: providing force feedback to the operator, estimating payload sway through sensor data integration, and generating counterbalance commands. This multi-functionality justifies the added complexity by consolidating multiple control functions into a single integrated device.
Solution Approach 2:
The system uses the haptic device's own sensors and actuators to estimate payload sway and generate control commands, reducing the need for additional external sensors. The device serves itself by utilizing its inherent capabilities for both feedback provision and state estimation.
3Adaptability or versatility
If human operators are used for crane operation, then adaptability to complex dynamics is improved, but safety risks and human error increase
Solution Approach 1:
The system implements closed-loop feedback where payload sway is continuously estimated using sensor data and haptic feedback is provided in real-time. This feedback loop enhances safety by enabling continuous monitoring and correction of sway, reducing the risk of accidents while maintaining human adaptability.
Solution Approach 2:
The system replaces purely mechanical control with an integrated cyber-physical system that combines sensor data, autonomous estimation algorithms, and haptic feedback. This substitution reduces human error by automating complex calculations while preserving human judgment and adaptability.
Data Source
AI summary
A system, apparatus, and method are provided herein for haptic-based force balance for anti-sway control of a payload. A haptic feedback system for crane operation is provided including: a controller; a first haptic device including a first haptic device tip; a second haptic device including a second haptic device tip; and a structural member connecting the first haptic device and the second haptic device, where the controller is configured to correlate the first haptic device tip to a first reference point on a payload and to correlate the second haptic device tip to a second reference point on the payload, and where anti-sway control of the payload is effected by movement of the structural member by an operator.