Lifting Trajectory Replanning for Changed End Points and Obstacles
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Solution Overview
Problem
Current trajectory planning methods for lifting devices, such as gantry cranes, are inefficient and lack real-time capability, particularly in scenarios requiring replanning due to changes in end points or obstacles, leading to high computational effort and potential collisions.
Innovation Solution
A method that allows for efficient replanning of trajectories by breaking down movements into independent individual movements along specific directions, using kinematic constraints and filtering to ensure continuous differentiability, and incorporating obstacle avoidance through coordinated movement sequences and braking operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional trajectory planning methods are used for lifting devices, then the movement from starting point to end point can be achieved, but the computational effort is high and real-time replanning capability is insufficient
Solution Approach 1:
The patent divides the trajectory planning problem into two independent one-dimensional sub-problems (x-direction and y-direction). Each direction is planned separately using individual movement functions, which significantly reduces computational complexity compared to traditional two-dimensional trajectory planning. This segmentation enables real-time replanning while maintaining collision-free operation.
2Adaptability or versatility
If the end point is changed during operation, then flexible adaptation to new conditions is achieved, but the computational complexity increases significantly
Solution Approach 1:
The patent implements dynamic replanning capability where the end point can be changed during operation. The system uses a movement function generator that creates time-dependent movement functions, allowing the end point coordinates to be updated dynamically. This enables flexible adaptation to new conditions while maintaining manageable computational complexity through the segmented one-dimensional approach.
3Productivity
If fast movement operations are implemented, then productivity increases, but the risk of collisions with obstacles increases
Solution Approach 1:
The patent implements obstacle detection and trajectory verification before executing fast movement operations. The system checks whether the planned trajectory intersects with detected obstacles and performs preliminary adjustments to avoid collisions. This preliminary action enables fast movement while maintaining safety by preventing collisions before they occur.
Solution Approach 2:
The patent uses sensor-based obstacle detection to provide feedback during movement operations. The system continuously monitors the working area for obstacles and adjusts the trajectory in real-time based on detected conditions. This feedback mechanism enables fast movement operations while maintaining collision avoidance through adaptive trajectory modification.
Data Source
AI summary
An improved method for controlling a lifting device, which moves a load along a first movement direction and along a second movement direction within a specified working area of the lifting device from a starting point to an end point. Individual movements are planned for the first movement direction and for the second movement direction, by which the load is moved further along the movement directions and brought to a newly specified end point.