Determining a crane tilt angle
First Claim
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1. A method for determining a tilt angle of a crane, said method comprising:
- rotating a portion of said crane about a pivot point, wherein a Global Navigation Satellite System (GNSS) receiver antenna is disposed on said portion of said crane;
determining, by a GNSS receiver, at least three locations of said GNSS receiver antenna in a geo-referenced coordinate system during said rotating;
calculating, by a processor, a plane of rotation based on said at least three locations of said GNSS receiver antenna; and
determining, by said processor, a tilt angle of said crane based on an angular difference between said plane of rotation and a horizontal plane, wherein said tilt angle includes an angular displacement from a first vector normal to said horizontal plane to a second vector normal to said plane of rotation about said pivot point.
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Abstract
In a method for determining a tilt angle of a crane, a portion of the crane is rotated about a pivot point. A Global Navigation Satellite System (GNSS) receiver antenna is disposed on the portion of said crane. At least three locations of the GNSS receiver antenna are determined by a GNSS receiver in a geo-referenced coordinate system during the rotating. A tilt angle of the crane based on the at least three locations of said GNSS receiver antenna is determined by a processor.
16 Citations
27 Claims
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1. A method for determining a tilt angle of a crane, said method comprising:
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rotating a portion of said crane about a pivot point, wherein a Global Navigation Satellite System (GNSS) receiver antenna is disposed on said portion of said crane; determining, by a GNSS receiver, at least three locations of said GNSS receiver antenna in a geo-referenced coordinate system during said rotating; calculating, by a processor, a plane of rotation based on said at least three locations of said GNSS receiver antenna; and determining, by said processor, a tilt angle of said crane based on an angular difference between said plane of rotation and a horizontal plane, wherein said tilt angle includes an angular displacement from a first vector normal to said horizontal plane to a second vector normal to said plane of rotation about said pivot point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer-readable storage medium having instructions embodied therein that when executed cause a computer system to perform a method for determining a tilt angle of a crane, said method comprising:
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accessing data from a Global Navigation Satellite System (GNSS) receiver antenna at three positions of a rotatable portion of a crane as said rotatable portion of said crane rotates about a pivot point; determining three locations of said GNSS receiver antenna in a geo-referenced coordinate system for said three positions of said rotatable portion of said crane; calculating a plane of rotation based on said three positions of said rotatable portion of said crane; and determining a tilt angle of said crane based on an angular difference between said plane of rotation and a horizontal plane, wherein said tilt angle includes an angular displacement from a first vector normal to said horizontal plane to a second vector normal to said plane of rotation about said pivot point. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A crane system comprising:
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a crane, wherein a portion of said crane is configured to rotate about a pivot point; a Global Navigation Satellite System (GNSS) receiver comprising a GNSS antenna, said GNSS antenna disposed on said portion of said crane; and a processor for; receiving data from said GNSS receiver antenna while said GNSS receiver antenna is located at three positions as said portion of said crane rotates about a pivot point; determining three locations of said GNSS receiver antenna in a geo-referenced coordinate system of said three positions for said three positions of said portion of said crane; calculating a plane of rotation based on said three positions of said portion of said crane; and determining a tilt angle of said crane based on an angular difference between said plane of rotation and a horizontal plane, wherein said tilt angle includes an angular displacement from a first vector normal to said horizontal plane to a second vector normal to said plane of rotation about said pivot point. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A method for determining levelness of a crane, said method comprising:
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rotating a portion of said crane at least one-halfway about a pivot point, wherein a Global Navigation Satellite System (GNSS) receiver antenna is disposed on said portion of said crane; determining, by a GNSS receiver, at least a first location and a second location of said GNSS receiver antenna in a geo-referenced coordinate system during said rotating; determining, by a processor, a first height of said GNSS receiver antenna at said first location and a second height of said GNSS receiver antenna at said second location; and determining, by said processor, a height differential between said first height and said second height. - View Dependent Claims (27)
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Specification