Event Visualization and Trajectory Tracking of the Load Carried by Rotary Crane.

Dawid Cekus,Łukasz Kuczyński,Filip Depta,Mariusz Kubanek,Paweł Kwiatoń

doi:10.3390/s22020480

Dawid Cekus, Łukasz Kuczyński + Show 3 more

Open Access

https://doi.org/10.3390/s22020480

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Abstract

Tracking the trajectory of the load carried by the rotary crane is an important problem that allows reducing the possibility of its damage by hitting an obstacle in its working area. On the basis of the trajectory, it is also possible to determine an appropriate control system that would allow for the safe transport of the load. This work concerns research on the load motion carried by a rotary crane. For this purpose, the laboratory crane model was designed in Solidworks software, and numerical simulations were made using the Motion module. The developed laboratory model is a scaled equivalent of the real Liebherr LTM 1020 object. The crane control included two movements: changing the inclination angle of the crane’s boom and rotation of the jib with the platform. On the basis of the developed model, a test stand was built, which allowed for the verification of numerical results. Event visualization and trajectory tracking were made using a dynamic vision sensor (DVS) and the Tracker program. Based on the obtained experimental results, the developed numerical model was verified. The proposed trajectory tracking method can be used to develop a control system to prevent collisions during the crane’s duty cycle.

Highlights

Devices for load transporting are one of the basic machines of almost every industrial plant or construction site
This paper presents an analysis of the motion of the load carried by the designed rotary crane
This paper presents the use of event-based sensors in the verification process of the numerical model of load movement analysis

Summary

Introduction

Devices for load transporting are one of the basic machines of almost every industrial plant or construction site. One of the methods of tracking the transported load is event-based detection by using a dynamic vision sensor (DVS). The paper [20] presents a method for determining the deflection angle of a load carried by an overhead crane. Due to the development of the event-based vision technique, DVS sensors are increasingly used in problems related to real-time motion analysis. The results of experimental tests confirm that the proposed algorithm can accurately track small objects moving at high speed in real-time. The proposed method consisted in determining the planes of events of DVS sensors and tracking them in time. The innovation of this article is both the design of a laboratory rotary crane equipped with electric devices and the application of dynamic vision sensors to verify the obtained numerical calculations of load motion

Laboratory Crane Model

Numerical Research

Test Stand

Experimental Tests

Discussion

Conclusions