Self calibration for crane geometry
AssigneeTrimble Navigation Limited
InventorsJohn F. Cameron, Jean-Charles Delplace, Nicholas C. Talbot, Kevin Legendre
Life of this patent
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Abstract
Methods and systems are disclosed for calibrating a crane for crane geometry. A Global Navigation Satellite System (GNSS) receiver antenna is disposed on a point along a boom assembly of the crane, the crane configured to pivot about a pivot point. A working arm of the crane is rotated about the pivot point to at least three different positions. Three locations are determined in a geo-referenced coordinate system of the at least three different positions. A location of the pivot point is determined based on the three locations.
Claims29
A method for calibrating a crane for crane geometry, said method comprising:
- disposing a Global Navigation Satellite System (GNSS) receiver antenna on a point along a boom assembly of said crane configured to pivot about a pivot point;
- rotating a working arm of said crane about said pivot point to at least three different positions;
- determining three locations in a geo-referenced coordinate system of said at least three different positions;
- and
- determining a location of said pivot point based on said three locations.
A method for calibrating a crane for crane geometry, said method comprising:
- disposing a Global Navigation Satellite System (GNSS) receiver antenna on a cab of said crane, said crane configured to pivot about a pivot point;
- rotating a working arm of said crane about said pivot point to at least three different positions;
- determining three locations in a geo-referenced coordinate system of said at least three different positions;
- and
- determining a location of said pivot point based on said three locations.
A computer-usable storage medium having instructions embodied therein that when executed cause a computer system to perform a method for calibrating a crane for crane geometry, said method comprising:
- receiving data from a Global Navigation Satellite System (GNSS) receiver antenna for at least three different positions, wherein said GNSS receiver antenna positioned on a point along a boom assembly of said crane configured to pivot about a pivot point;
- determining three locations in a geo-referenced coordinate system of said at least three different positions;
- and
- determining a location of said pivot point based on said three locations.
A crane apparatus comprising:
- a crane comprising:
- a boom assembly;
- and
- a working arm;
- a Global Navigation Satellite System (GNSS) receiver antenna disposed on a point along said boom assembly of said crane configured to pivot about a pivot point;
- and
- a processor for:
- receiving data from said GNSS receiver antenna for at least three different positions of said GNSS receiver antenna;
- determining three locations in a geo-referenced coordinate system of said at least three different positions;
- and
- determining a location of said pivot point based on said three locations.
A method for calibrating a crane for crane geometry, said method comprising:
- disposing a Global Navigation Satellite System (GNSS) receiver antenna on a point along a boom assembly of said crane configured to pivot about a pivot point;
- receiving an approximate location of said pivot point;
- rotating a working arm of said crane about said pivot point to at least two different positions;
- determining two locations in a geo-referenced coordinate system of said at least two different positions;
- and
- determining a location of said pivot point based on said two locations and said approximate location of said pivot point.
A computer-usable storage medium having instructions embodied therein that when executed cause a computer system to perform a method for calibrating a crane for crane geometry, said method comprising:
- receiving data from a Global Navigation Satellite System (GNSS) receiver antenna on a point along a boom assembly of said crane configured to pivot about a pivot point;
- receiving an approximate location of said pivot point;
- rotating a working arm of said crane about said pivot point to at least two different positions;
- determining two locations in a geo-referenced coordinate system of said at least two different positions;
- and
- determining a location of said pivot point based on said two locations and said approximate location of said pivot point.
Dependencies are inferred from the claim text.