Crane maneuvering assistance

• US 9,944,499 B2
• Filed: 12/21/2015
• Issued: 04/17/2018
• Est. Priority Date: 07/05/2011
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Schoonmaker, Stephen J., Maynard, Kurtis L., Fidler, Eric
• Primary Examiner(s): Satanovsky, Alexander
• Assistant Examiner(s): SUAREZ, FELIX E
• Application Number:
  US14/977,263
• Publication Number:
  US 20160107866A1
• Time in Patent Office: 848 Days
• Field of Search: 702 34, 702150, 702152, 702179, 702183, 702186, 212272, 212277
• CPC Class Codes: B66C 13/18 Control systems or devices exclusively for rope, cable, or chain winding mechanisms B66D1/40
• CPC Class Codes: B66C 13/46 Position indicators for suspended loads or for crane elements
• CPC Class Codes: B66C 15/04 for preventing collisions, e.g. between cranes or trolleys operating on the same track

Abstract

A computing system (CS) calculates a three-dimensional (3D) position of an origin of a 3D upperworks coordinate system for a crane based on local coordinates of the crane. The origin is located along an axis of rotation between an upperworks of the crane and a lowerworks of the crane that is rotatably coupled with the upperworks. The CS transforms the 3D position of the origin from the local coordinates to global 3D coordinates using absolute position sensing data from first and second positioning sensors attached to the crane and using global 3D coordinates specific to the jobsite where the crane is located. The CS computes positions of at least one movable component of the crane with respect to a tracked object on the jobsite. The CS utilizes the computed positions to provide assistance in maneuvering the crane with respect to the tracked object.

Claims

1. A method of crane maneuvering assistance, comprising:

calculating, by a computing system, a three-dimensional (3D) position of an origin of a 3D upperworks coordinate system for a crane based on local coordinates of the crane, the origin being located along an axis of rotation between an upperworks of the crane and a lowerworks of the crane that is rotatably coupled with the upperworks;

transforming, by the computing system, the 3D position of the origin from the local coordinates to global 3D coordinates using absolute position sensing data from a first positioning sensor coupled with the upperworks and a second positioning sensor located on a hook of the crane and global 3D coordinates specific to a jobsite where the crane is located;

computing, by the computing system, positions of at least one movable component of the crane with respect to a tracked object on the jobsite, wherein the tracked object is not a portion of the crane;

generating, by the computing system, an exclusion zone around the tracked object, wherein the exclusion zone comprises a geometric shape;

utilizing, by the computing system, the computed positions and the exclusion zone to prevent undesirable equipment interactions and range limiting in real-time during crane operation; and

varying, by the computing system, a size of the exclusion zone based on one or more conditions of the crane received by the computing system.

2. The method as recited in claim 1, wherein the one or more conditions selected from the group consisting of:

speed of a boom of the crane, type of crane, and location of the crane within the jobsite.

3. The method as recited in claim 1, wherein the computing positions of at least one movable component of the crane with respect to a tracked object on the jobsite further comprises:

calculating, by the computing system, a 3D geospatial location of a boom hinge point where the boom is attached to the upperworks based on the 3D coordinate system for the upperworks;

generating, by the computing system, a 3D line segment in relation to the upperworks 3D coordinate system that is aligned with a central axis of the boom based on a combination of the location of the boom hinge point and absolute position sensing data from the second positioning sensor; and

using, by the computing system, the 3D line segment to generate an exclusion zone in absolute space surrounding the boom for comparison with locations of the tracked object on the jobsite.

4. The method as recited in claim 3, wherein utilizing the computed positions to provide assistance in maneuvering the crane with respect to the tracked object comprises:

generating, by the computing system, for real-time viewing, an image on a display in a cab of the crane of the 3D line segment and one or more line segments corresponding tracked object.

5. The method as recited in claim 3, wherein utilizing the computed positions to provide assistance in maneuvering the crane with respect to the tracked object comprises:

generating, by the computing system, for real-time viewing, an image on a display in a cab of the crane, the image comprising planned motions of at least a boom of the crane in relation to the 3D line segment and the one or more line segments of the tracked object, and crane operator motions to take with the crane and the boom to avoid the crane contacting the tracked object.

6. The method as recited in claim 1, wherein utilizing the computed positions to provide assistance in maneuvering the crane with respect to the tracked object comprises:

projecting, by the computing system, the upperworks 3D coordinate system to a 2D coordinate system by removing a z-axis component of 3D line segments corresponding thereto; and

generating, by the computing system, for real-time viewing, on a display in a cab of the crane an image of an exclusion zone with reference the tracked object in the 2D coordinate system.

7. A method of crane maneuvering assistance, comprising:

calculating, by a computing system, a three-dimensional (3D) position of an origin of a 3D upperworks coordinate system for a crane based on local coordinates of the crane, the origin being located along an axis of rotation between an upperworks of the crane and a lowerworks of the crane that is rotatably coupled with the upperworks, the crane including a first positioning sensor attached to the upperworks and a second positioning sensor located on a hook of the crane;

tracking, by the computing system, a boom angle of a boom of the crane and a location of a boom tip of the boom during operation of the crane according to the 3D coordinate system for the upperworks based on absolute position sensing data from the at least the first and the second positioning sensors and a known length of the boom;

computing, by the computing system, the boom tip location and boom angle of the crane with respect to a tracked object on the jobsite, wherein the tracked object is not a portion of the crane;

generating, by the computing system, an exclusion zone around the tracked object, wherein the exclusion zone comprises a geometric shape;

utilizing, by the computing system, the boom tip location and boom angle and the exclusion zone to prevent undesirable equipment interactions and range limiting in real-time during crane operation; and

varying, by the computing system, a size of the exclusion zone based on one or more conditions of the crane received by the computing system.

8. The method as recited in claim 7, further comprising:

utilizing, by the computing system, information from a portable validation device to validate the origin and other locations of the upperworks 3D coordinate system.

9. A method of crane maneuvering assistance, comprising:

calculating, by a computing system, a three-dimensional (3D) position of an origin of a 3D upperworks coordinate system for a crane based on local coordinates of the crane, the origin being located along an axis of rotation between an upperworks of the crane and a lowerworks of the crane that is rotatably coupled with the upperworks, the crane including a first positioning sensor attached to the upperworks and a second positioning sensor located on a hook of the crane;

calculating, by the computing system, a 3D geospatial location of a hinge point of a boom of the crane based on the upperworks 3D coordinate system;

generating, by the computing system, a 3D line segment in relation to the upperworks coordinate system that is aligned with a central axis of the boom based on a combination of the location of the boom hinge point and absolute position sensing data from the second positioning sensor;

generating, by the computing system, an exclusion zone around the boom and a tracked object on a jobsite on which the crane is located, wherein the exclusion zone comprises a geometric shape, and wherein the tracked object is not a portion of the crane;

providing, by the computing system, the 3D line segment and exclusion zone surrounding the boom to prevent undesirable equipment interactions and range limiting in real-time during crane operation; and

varying, by the computing system, a size of the exclusion zone based on one or more conditions of the crane received by the computing system.

10. The method as recited in claim 9, wherein the one or more conditions selected from the group consisting of:

speed of the boom, type of crane, and location of the crane within the jobsite.

11. The method as recited in claim 9, wherein providing the 3D line segment and exclusion zone surrounding the boom for assistance in maneuvering the crane comprises:

generating, by the computing system, for real-time viewing, an image on a display in a cab of the crane, the image comprising the 3D line segment and line segments corresponding to the other tracked objects on the jobsite in relation to the upperworks 3D coordinate system.

12. The method as recited in claim 9, wherein providing the 3D line segment and exclusion zone surrounding the boom for assistance in maneuvering the crane comprises:

generating, by the computing system, for real-time viewing, an image on a display in a cab of the crane, the image comprising planned motions of at least the boom in relation to the 3D line segment and 3D line segments of the other tracked objects on the jobsite to demonstrate motions to take with the crane and the boom to avoid the other tracked objects.

13. The method as recited in claim 9, wherein providing the 3D line segment and exclusion zone surrounding the boom for assistance in maneuvering the crane:

projecting, by the computing system, the upperworks 3D coordinate system to a 2D coordinate system by removing a z-axis component of 3D line segments corresponding thereto; and

generating, by the computing system, for real-time viewing, on a display in a cab of the crane an image of the exclusion zone with reference the other tracked objects in the 2D coordinate system.

14. The method as recited in claim 9, wherein providing the 3D line segment and exclusion zone surrounding the boom for assistance in maneuvering the crane comprises:

sending, by the computing system, a warning to a crane operator when a second exclusion zone associated with one of the other tracked objects approaches the exclusion zone of the crane.

15. The method as recited in claim 14, further comprising:

controlling, by the computing system, motion of the boom to prevent a collision between the other object and the crane when the second exclusion zone of the other object approaches the exclusion zone of the crane.

16. A method of crane maneuvering assistance, comprising:

calculating, by a computing system, a three-dimensional (3D) position of an origin of a 3D upperworks coordinate system for a crane based on local coordinates of the crane, the origin being located along an axis of rotation between an upperworks of the crane and a lowerworks of the crane that is rotatably coupled with the upperworks, the crane including a first positioning sensor attached to the upperworks and a second positioning sensor located on a hook of the crane;

calculating, by the computing system, a location of a trolley of the crane according to the 3D coordinate system based on absolute position sensing data from at least the second positioning sensor;

computing, by the computing system, the trolley location with respect to a tracked object on the jobsite, wherein the tracked object is not a portion of the crane;

generating, by the computing system, an exclusion zone around the tracked object, wherein the exclusion zone comprises a geometric shape;

utilizing, by the computing system, the trolley location and the exclusion zone to track movement of the hook and a hoist line coupled between the hook and the trolley in order to prevent undesirable equipment interactions and range limiting in real-time during crane operation; and

varying, by the computing system, a size of the exclusion zone based on one or more conditions of the crane received by the computing system.

17. The method as recited in claim 16, further comprising:

generating, by the computing system, a first 3D line segment in relation to the upperworks coordinate system that is aligned with a central axis of a jib of the crane and a second 3D line segment in relation to the upperworks coordinate system that is aligned with a central axis of the hoist line, the 3D line segments based on a combination of the location of the trolley and absolute position sensing data from the second positioning sensor, the 3D line segments useable to generate exclusion zones surrounding the jib and the hoist line to be compared with locations of the other tracked objects on the jobsite.

18. The method as recited in claim 17, further comprising:

generating, by the computing system, for real-time viewing, an image on a display in a cab of the crane, the image comprising the 3D line segments and line segments corresponding to the other tracked objects on the jobsite in relation to the upperworks 3D coordinate system.

19. The method as recited in claim 17, further comprising:

generating, by the computing system, for real-time viewing, an image on a display in a cab of the crane, the image comprising planned motions of at least the jib in relation to the 3D line segments and 3D line segments of the other tracked objects on the jobsite to demonstrate motions to take with the crane and the jib to avoid the other tracked objects.