Crane 3D workspace spatial techniques for crane operation in proximity of obstacles
AssigneeManitowoc Crane Companies, LLC
InventorStephen J. Schoonmaker
Life of this patent
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Abstract
A method for controlling a boom of a crane in proximity of obstacles at a worksite by defining a forbidden volume is disclosed. In the method a distance from the boom to an outer surface of the forbidden volume is determined and a computing device limits movement of the boom based on the distance from the boom to the outer surface of the forbidden volume to avoid entering the forbidden volume with the boom while the crane is in operation.
Claims22
A method for controlling a boom of a crane in proximity of obstacles at a worksite, the crane comprising a lower works and a rotating bed on which the boom is mounted, the method executable by a computing device having a processor and memory, comprising:
- a) saving, in the memory, coordinate data representing a coordinate system at the worksite having an origin at a base of an axis of rotation of the rotating bed and fixed relative to the lower works;
- b) saving, in the memory, obstacle data representing a forbidden volume in the coordinate system;
- c) saving, in the memory, boom data representing the location of the boom;
- and
- d) limiting movement of the boom, by the computing device, to avoid the boom entering the forbidden volume, the limiting based on a computed minimum distance between the boom and the forbidden volume using the coordinate data, the obstacle data, and the boom data.
A method for controlling a boom of a crane in proximity of obstacles at a worksite, the method executable by a computing device having a processor and memory, comprising:
- a) saving, in the memory, coordinate data representing a coordinate system at the worksite;
- b) saving, in the memory, obstacle data representing a forbidden volume in the coordinate system;
- c) saving, in the memory, boom data representing the location of the boom;
- d) limiting movement of the boom, by the computing device, to avoid the boom entering the forbidden volume, the limiting based on a computed minimum distance between the boom and the forbidden volume using the coordinate data, the obstacle data, and the boom data;
- and
- e) computing, with the computing device, a maximum swing angle of the boom, a maximum extension of the boom, a maximum boom-up, and a maximum boom-down of the boom.
A system for controlling a boom of a crane in proximity of obstacles at a worksite, the crane comprising a lower works and a rotatable bed to which the boom is mounted, the system comprising:
- a) a crane control system configured to control operation of the crane boom;
- b) a processor in operable communication with the crane control system;
- and
- c) memory in operable communication with the processor, the memory storing data comprising:
- i) data representing a coordinate system having an origin at a base of an axis of rotation of the rotating bed and fixed relative to the lower works;
- ii) data representing the crane boom;
- iii) data representing a forbidden volume;
- and
- iv) computer executable instructions for execution by the processor, the computer executable instruction configured to calculate a minimum distance between the crane boom and the forbidden volume based on the data representing the crane boom and the data representing the forbidden volume, and to cause the crane control system to limit movement of the boom based on the calculated minimum distance.
A system for controlling a boom of a crane in proximity of obstacles at a worksite, comprising:
- a) a crane control system configured to control operation of a crane boom;
- b) a processor in operable communication with the crane control system;
- and
- c) memory in operable communication with the processor, the memory storing data comprising:
- i) data representing a coordinate system;
- ii) data representing the crane boom;
- iii) data representing a forbidden volume;
- and
- iv) computer executable instructions for execution by the processor, the computer executable instruction configured to calculate a minimum distance between the crane boom and the forbidden volume based on the data representing the crane boom and the data representing the forbidden volume, and to cause the crane control system to limit movement of the boom based on the calculated minimum distance,
- wherein the crane control system limits the motion of the boom in response the calculated minimum distance being less than a threshold distance, wherein the data further comprises:
- v) a threshold distance value.
Dependencies are inferred from the claim text.