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System and method for automatically guiding a gantry crane

  • US 7,032,763 B1
  • Filed: 11/18/2002
  • Issued: 04/25/2006
  • Est. Priority Date: 11/18/2002
  • Status: Active Grant
First Claim
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1. A method for guiding a land traveling straddle crane from a remote land station along a curved path, the method comprising the steps of:

  • providing at least two GPS receivers, each of the GPS receivers having an antenna mounted to the vehicle so that the antennae are spaced apart from each other;

    defining a tracking line representing a desired travel direction at a current point along a desired land travel path that can include at least one curved portion, the tracking line intersecting a vehicle centerpoint;

    receiving signals from GPS satellites using a first GPS antenna fixed at a first position on the crane;

    receiving signals from GPS satellites using a second GPS antenna fixed at a second position on the crane that is spaced from the first GPS antenna in a horizontal direction;

    detecting a position of the first GPS antenna;

    detecting a position of the second GPS antenna;

    determining a rotational error as an angular difference between a vehicle centerline and the tracking line, the vehicle centerline extending in a front-rear direction through a vehicle center, the vehicle centerline having a fixed relationship relative to vehicle and the first and second GPS antennae;

    steering wheels of the crane to reduce the rotational error and to guide the crane along said land travel path.

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