Hoisting Trajectory Planning for Obstacle-Aware Load Transfer
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Solution Overview
Problem
Current hoisting appliances struggle to automatically and safely navigate through a hoisting area while avoiding obstacles and ensuring timely load transfer, as existing systems lack the capability to independently adjust trajectories to account for people, obstacles, and objects within the area.
Innovation Solution
A method for generating a trajectory for a hoisting appliance that involves creating a 3D model of the hoisting area with located objects, considering load parameters and movement characteristics, and optimizing the path to maximize speed by minimizing direction changes and utilizing independent speed control in X, Y, and Z directions to manage sway and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the trajectory is optimized for maximum speed by maximizing line segment length, then travel time is reduced, but the number of direction changes decreases which may increase the distance traveled
Solution Approach 1:
The trajectory is dynamically optimized by adjusting the number and length of line segments based on operational requirements. The system dynamically balances between fewer longer segments (for speed) and more shorter segments (for distance optimization), allowing flexible adaptation to different operational conditions.
Solution Approach 2:
The optimization process changes key parameters including line segment length, number of direction changes, and maximum attainable speed. By varying these parameters, the system finds the optimal balance between travel time and trajectory length for each specific operation.
2Reliability
If the trajectory accounts for obstacles and safety margins, then collision risk is reduced, but the trajectory becomes more complex and longer
Solution Approach 1:
The system performs preliminary planning by creating a 3D model of the hoisting area with all obstacles and located objects before generating the trajectory. This advance preparation allows the trajectory optimization to account for safety margins and collision avoidance from the outset, rather than adding complexity during execution.
Solution Approach 2:
A 3D digital model (copy) of the physical hoisting area is created, including all obstacles and objects. This virtual representation allows complex safety calculations and trajectory planning to be performed in the digital model without affecting the actual system, simplifying the overall control complexity.
3Stability of the object's composition
If independent speed control in X, Y, and Z directions is implemented, then sway management is improved, but the control system becomes more complex
Solution Approach 1:
The speed control is segmented into three independent directional components (X, Y, and Z directions). This segmentation allows each direction to be controlled independently, enabling precise sway management by adjusting speeds in each axis separately without interfering with the others.
Solution Approach 2:
The independent speed control system serves multiple functions: it controls the hoisting appliance's position, manages load sway, and optimizes travel time. By making the control system universal and applicable to all three spatial dimensions, the complexity is justified by the multiple benefits gained.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the hoisting appliance to self-transfer loads automatically and independently, reducing the risk of collisions and optimizing travel time by adapting the trajectory to account for obstacles and safety margins, thus enhancing safety and efficiency.
Implementation Method 1
A load suspension device 4 is associated with cables which pass through the trolley 2, the length of the cables 5 being controlled by the trolley 2 to vary, thereby enabling displacement of a load 6 along a vertical axis Z
Implementation Method 2
The handling of the load by the hoisting appliance may cause swinging of the load, which is preferably damped in order to perform load transfer smoothly and safely, while minimising the time required for transfer. Such swinging is generated by the acceleration of the horizontal movement or movements of the trolley along the X- and/or Y-axes. This swinging is similar to that of a pendulum, for which the oscillation frequency and amplitude depend on the length of the cables.
Data Source
AI summary
A method for generating a trajectory for a load transported by a hoisting appliance spanning a hoisting area. The method includes providing a 3-dimensional model of the hoisting area with located obstacles within the hoisting area, providing load parameters including load length, height, width and weight. Generating a trajectory for navigating through the hoisting area using the model of the hoisting area and taking in account located obstacles, load parameters; and load movement parameters including a maximum attainable speed of the hoist appliance with the load, wherein the generated trajectory includes a starting point, a target point and a number of consecutive line segments connecting the starting point and the target point. And optimizing the trajectory for speed by maximizing the length of at least one line segment in a main direction of travel in order to travel at a maximum attainable speed of the hoisting appliance with the load in the main direction of travel.