Portal Crane Grab Positioning via Sensor Fusion and Route Planning

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Solution Overview

Problem

Manual observation and adjustment of a portal crane's grab during loading and unloading operations result in low accuracy and increased operator workload, affecting efficiency.

Innovation Solution

A control method and system that acquire height, amplitude variation, and slewing angle information to determine the grab's position relative to the slewing mechanism, combined with scanning data to locate materials and plan operation routes, enabling automated positioning and route planning.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If manual observation and adjustment is used to control the grab position, then the operator can directly observe the material position, but the positioning accuracy is low and the work intensity is high

Engineering Contradiction:

Improvegrab position accuracyVSAvoidoperator workload

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent replaces the manual mechanical observation and adjustment system with an automated control system that uses sensors (laser radar, vision systems) to detect material position and automatically calculates grab positioning parameters. This substitution eliminates the need for manual observation while significantly improving positioning accuracy and reducing operator workload.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces an intermediate control system that acts as a mediator between the material position detection and the grab positioning. This control system processes detection data, calculates optimal positioning parameters, and transmits control signals to the grab mechanism, thereby improving accuracy while reducing direct operator intervention.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Productivity

If manual observation and continuous adjustment is used, then the operator can control the grab position, but the loading and unloading efficiency is reduced

Engineering Contradiction:

Improveloading and unloading efficiencyVSAvoidtime for repeated adjustments

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The patent performs preliminary detection of material position using laser radar and vision systems before the grab reaches the material. The control system pre-calculates the optimal positioning parameters and prepares control signals in advance, eliminating the need for continuous adjustments during the grabbing process and significantly improving efficiency.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The automated control system replaces the manual continuous adjustment process, which is time-consuming and reduces efficiency. The system automatically detects material position, calculates grab positioning parameters, and executes the grabbing operation without requiring repeated manual adjustments, thereby reducing time loss and improving loading and unloading efficiency.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If the operator continuously adjusts the slewing angle, luffing amplitude, and grab height, then the grab can be positioned, but the work intensity increases

Engineering Contradiction:

Improvecontrol operationVSAvoidposition accuracy

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The patent replaces the manual control of slewing angle, luffing amplitude, and grab height with an automated control system. The system uses detection data to automatically calculate and adjust these parameters, improving position accuracy while reducing the work intensity of continuous manual adjustments.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent implements a feedback control mechanism where the detection system continuously monitors material position and feeds this information back to the control system. The control system then automatically adjusts slewing angle, luffing amplitude, and grab height based on this feedback, achieving high positioning accuracy without requiring intensive manual operation.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20230331523A1Control method, control system, and device for grab of portal crane

Publication Date: 2023.10.19 JIANGSU SUGANG INTELLIGENT EQUIP IND INNOVATION CENT CO LTD

AI summary

The present application discloses a control method, a control system, and a device for a grab of a portal crane. The control method for a grab of a portal crane includes: acquiring a height information of the grab; acquiring an amplitude variation information of a luffing mechanism; acquiring a slewing angle information of a rotation of a slewing mechanism; determining a horizontal relative position information of the grab relative to a center point of the slewing mechanism according to the amplitude variation information and the slewing angle information; determining an actual position information of the grab relative to the center point of the slewing mechanism according to the horizontal relative position information and the height information; acquiring a scanning information of a hull, and determining a position information of a material; and planning an operation route of the grab.