Operational support control by haptic joystick considering load sway suppression and obstacle avoidance for intelligent crane

This paper presents an advanced operational support system for an intelligent crane. In the present paper, a joystick-type control which can realize the suppression of load sway and obstacle avoidance is proposed. An environment recognition system, where the surrounding environment is recognized by a laser scanning sensor on real-time, was built into the system. The joystick has a haptic control system that responds to the risk of the operation. It transmits a reaction force to the operator based on data about the distance between the crane and obstacles in the environment map generated by the environment recognition system. Furthermore, the load sway is suppressed by a notch filter. The effectiveness of the proposed crane system was shown through experiments.