A method and an apparatus for controlling a boom system of a crane, crane and mobile platform

Abstract

A method for controlling a boom system of a crane. The method comprises defining a coordinate of a trip region of the boom system as reference position. Further, the method comprises defining a boundary plane based on the reference position.

Description

Field

[0001] The present disclosure relates to controlling a boom system of a crane. In particular, examples of the present disclosure relate to methods and apparatuses for controlling a boom system of a crane, a crane, a mobile platform, and a computer program.Background

[0002] A crane has been commonly used on a construction site for various purposes, e.g. lifting heavy materials, assembly of large structures, transportation, or installation of prefabricate components. Since there are various elements on construction sites, such as vehicles, machinery, structures, building materials, electrical lines, and workers, a safe operation of the crane is an important consideration to protect the workers from hazards and prevent any damages to the various elements in the construction sites. For example, as a construction project advances through different stages, an operation of the crane needs to be adapted to avoid collisions to any elements of the project and injuries to workers. However, current methods to control a boom system of a crane may mostly depend on complicated manual settings to avoid structures around the crane. Therefore, there may be a demand for a simplified way to control a boom system of a crane.Summary

[0003] This demand is met by methods and apparatuses for controlling a boom system of a crane, a crane, a mobile platform, and a computer program in accordance with the independent claims. Advantageous embodiments are defined by the dependent claims.

[0004] According to a first aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a coordinate of a tip region of the boom system as a reference position. In addition, the method comprises defining a boundary plane based on the reference position.

[0005] According to a second aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a first coordinate as a first reference position and defining a second coordinate as a second reference position. Further, the method comprises defining at least one boundary plane based on at least one of the first reference position and the second reference position.

[0006] According to a third aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the method comprises defining a boundary plane based on the reference axis.

[0007] The methods according to the first, the second, and the third aspects may provide a way to control a boom system of a crane to avoid harm to an environment of the crane. Since there are various elements and workers at a construction site, an operation of a boom system of a crane needs to be performed with caution not to cause any damage to the construction site and workers. The embodiments described herein may reduce the set-up time required de define boundaries for the boom system of a crane, to automatically avoid collisions with buildings or other structures.

[0008] According to a fourth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input interface configured to receive information about a coordinate of a tip region of the boom system as a reference position Further, the apparatus comprises a compute circuitry configured to define a boundary plane based on the reference position. In addition, the apparatus comprises an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the first aspect.

[0009] According to a fifth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input interface configured to receive information about a first coordinate as a first reference position. The input interface is configured to receive information about a second coordinate as a second reference position. Further, the apparatus comprises a compute circuitry configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position. The apparatus comprises an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the second aspect.

[0010] According to a sixth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input device configured to receive information about a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. In addition, the apparatus comprises a compute circuitry configured to define a vertical boundary plane parallel to the reference axis. The apparatus comprises an output device configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the third aspect.

[0011] According to a seventh aspect, the present disclosure provides a crane. The crane comprises a boom system and a crane controller. The crane controller implements an apparatus according to the fourth, the fifth, and the sixth aspects.

[0012] According to an eighth aspect, the present disclosure provides a mobile platform. The mobile platform comprises a crane according to an embodiment as described herein.

[0013] According to a nineth aspect, the present disclosure provides a computer program for controlling a boom system of a crane having a program code for performing any of the methods described herein when the program is executed on a processor or a programmable hardware of the crane.Brief description of the Figures

[0014] Some examples of apparatuses and / or methods will be described in the following by way of example only, and with reference to the accompanying figures, in which Fig. 1 shows an exemplary flow chart of a method for controlling a boom system of a crane; Fig. 2 shows an example of the boom system of the crane and a horizontal boundary plane usable within an embodiment illustrated in Fig. 1; Fig. 3 shows an example of the horizontal boundary plane and a restricted region usable within an embodiment illustrated in Fig. 1; Fig. 4 shows an example of the boom system of the crane and a vertical boundary plane usable within an embodiment illustrated in Fig. 1; Fig. 5 shows an exemplary flow chart of a method for controlling a boom system of a crane; Fig. 6a shows an example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5; Fig. 6b shows another example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5; Fig. 7 shows an example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5; Fig. 8 shows an exemplary flow chart of a method for controlling a boom system of a crane; Fig. 9a shows an illustration of a boom system controlled by the method illustrated in Fig. 8; Fig. 9b shows an illustration of a boom system controlled by the method illustrated in Fig. 8; Fig. 10 shows a block diagram of an example of an apparatus for controlling a boom system of a crane; Fig. 11 shows a block diagram an example of an apparatus for controlling a boom system of a crane; Fig. 12 shows a block diagram an example of an apparatus for controlling a boom system of a crane; Fig. 13 schematically illustrates components of a crane; Fig. 14 shows an example of an operating console of the crane usable within an embodiment illustrated in Fig. 13; and Fig. 15 shows an example of a mobile platform. Detailed Description

[0015] Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these embodiments described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.

[0016] Throughout the description of the figures same or similar reference numerals refer to same or similar elements and / or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and / or areas in the figures may also be exaggerated for clarification.

[0017] When two elements A and B are combined using an "or", this is to be understood as disclosing all possible combinations, i.e. only A, only B as well as A and B, unless expressly defined otherwise in the individual case. As an alternative wording for the same combinations, "at least one of A and B" or "A and / or B" may be used. This applies equivalently to combinations of more than two elements.

[0018] If a singular form, such as "a", "an" and "the" is used and the use of only a single element is not defined as mandatory either explicitly or implicitly, further examples may also use several elements to implement the same function. If a function is described below as implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity. It is further understood that the terms "include", "including", "comprise" and / or "comprising", when used, describe the presence of the specified features, integers, steps, operations, processes, elements, components and / or a group thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or a group thereof.

[0019] A crane is commonly used on construction sites for several reasons. It can lift and move heavy materials such as steel beams, concrete blocks, and other construction materials that are too heavy for manual lifting. Additionally, it has a capability to reach areas that are otherwise inaccessible, further enhancing its utility on construction sites. A crane also speeds up the construction process by allowing materials to be moved quickly and efficiently, reducing the time required for manual labor.

[0020] A crane comprises a boom system mounted to a column of the crane. The column is rotatable with respect to a base of the crane. In some examples, the axis of rotation of the column may be a substantially vertical axis. The angle of rotation about the axis of rotation may be referred to as the slew angle or slewing angle.

[0021] The base can be configured to mount the crane onto a platform. The platform may be a fixed platform or a mobile platform. Examples of mobile platforms are vehicles such as trucks, lorries or ships. The boom system can be rotated or moved relative to the column about an axis (e.g. a boom axis) that is essentially perpendicular to the axis of the rotation of the column. The angle of the rotation of the boom system about the boom axis may be referred to as an elevation angle.

[0022] Hydraulic cylinders may be used as actuators to create the force to cause the rotation or motion of the boom system with respect to the elevation angle. A boom system comprises at least one (or e.g. one or more booms). In the event of a plurality of booms (e.g. more than one boom), the boom attached to the column may be referred to as the main boom or first boom. Additionally, a second boom attached to the main boom may be referred to as a knuckle boom. Any (or each) of the booms of a boom system can optionally comprise one or more extension booms to be driven in or out of the boom using, for example, hydraulic means. A boom and its extension booms may also be called a boom sub-system.

[0023] Cranes having only one boom may also be called stiff boom cranes since they do not exhibit multiple booms that can change their orientation with respect to each other. In the event of cranes having multiple booms, a knuckle can be used to connect the different booms to one another so as to enable them to change their relative orientation, by bending or buckling about an axis defined by the knuckle.

[0024] In some examples, a crane may comprise a bendable boom system connected to the crane column. A bendable boom system may comprise a first boom, wherein a first end of the first boom is connected to the crane column. The bendable boom system may further comprise a second boom, wherein the second boom is connected to a second end of the first boom. Cranes having at least two booms connected by a knuckle or hinge offer an addition-al degree of freedom as compared to stiff boom cranes and may be called knuckle-boom cranes. The booms can be connected by hydraulic cylinders across the knuckle to cause the rotation.

[0025] The free end of the boom system not attached to the column may be referred to as the tip of the boom system. Loads may be directly attached to the tip of the boom system. However, cranes may additionally comprise at least one winch mounted to the boom system or elsewhere to the crane, the winch being used to wind und unwind a cable carrying the load. The tip of the boom system may exhibit a wheel for the cable. The cable extends to a load block used to attach the load thereto. In a single wire operation (also called STRAN1) the cable ends in the load block. The cable of the winch may also be used according to the principles of a pulley. If this is the case, the load block exhibits at least one pulley to change the direction of the cable and the cable ends at the boom system, typically close to the tip of the boom system. In the event of a single pulley, operation is also called two wire operation (STRAN2). Of course, multiple pulleys may be used likewise for multi wire operation.

[0026] Movement of the crane is caused by using multiple types of actuators such as hydraulic engines, valves and cylinders to cause motion of the booms and electric engines used to cause motion of the column or to operate the winch. Components used to cause movement of the crane or of parts of the crane are called actuators. The movement of the crane is monitored by means of multiple sensors, providing sensors readings indicative of multiple parameters or physical quantities. For example, pressure sensors may be used to monitor the pressure within hydraulic cylinders to determine the forces acting on them. Angle sensors may be used to monitor relative rotation or angle between different parts of the crane (e.g. between the column and the base or between different boom of a knuckle boom crane). Angle sensors may, for example use an encoder wheel together with a sensor sensitive to magnetic fields. Length sensors may be used to monitor the overall length of a boom and its associated extensions. Force sensors may be used to measure force directly or indirectly, for example to measure the force acting on the cable of a winch and / or on the winch itself. Force sensors may, for example, be based on the piezo electric effect or using strain gauges attached to the object being monitored.

[0027] The movement of the crane may be controlled by a crane controller that outputs control signals to cause the actuators of the crane to perform an operation. The crane controller receives sensor readings to monitor the result of the actuators operation. In some examples, the crane controller may be an integral part of the crane. The desired movement of the crane is typically performed or controlled based on or following a user input. The user input may be manually given by a human operator or supervisor of the crane or it may likewise be generated automatically based on an algorithm or on input parameters generated by other means, such as for example by a trained neural network. For manual input, the crane may exhibit a crane mounted input device (operating panel) having, for example, one or more levers or joysticks to control motion as well as a user interface to input or change user settings and / or crane parameters such as for example different modes of operation of the crane. The input device communicates with the crane controller that transforms the user input into the actuator operations required to result with the desired movement as per the input via the input device. Additionally or alternatively, parts of or all inputs that can be performed using the input device may also be performed using a remote control unit wirelessly communicating with the crane controller.

[0028] Additionally, the crane controller may comprise an input interface, compute circuitry, and an output interface. For example, the input interface receives the user input through the input device (e.g. one or more levers or joysticks and the user interface) or the remote control. In other words, the input device communicates with the crane controller via the input interface. Based on the received input, the compute circuitry generates information related to the operation of the actuators. Subsequently, the output interface outputs control data to direct the actuators of the crane to perform a motion using the information generated by the compute circuitry.

[0029] A crane may be used for multiple purposes by providing the possibility to exchange equipment mounted at the booms of the crane. For example, various different attachments can be mounted to the booms close to the tip of the boom system. To support this, the crane may provide a mounting interface close to the tip of the crane. A mounting interface may be composed of multiple elements, mounted to or welded at a boom. Eventually, equipment such as a workmen basket may be mounted to the mounting interface via an adaptor used to adapt the (standard) mounting interface of the crane to a custom mounting interface of the equipment to be used.

[0030] Even though cranes are commonly used on construction sites to help workers handle heavy materials and reduce the risks associated with manual lifting, caution may be still needed to safely control a boom system of a crane. For example, on a construction site, there are many objects or obstacles which may affect an operation of a boom system of a crane to avoid collision or causing any damages to the construction site or human. Therefore, it may be recommended to set measures to operate a boom system of a crane safely. For example, setting a restricted zone has been used to limit a movement of the boom system of the crane within the restricted zone. As a construction phase changes, the restricted zone may need to be adapted accordingly. An operator may also need to change the position of the crane multiple times depending on construction planning, which leads to set different restricted zones accordingly based on the environments around the crane. Currently, complex manual settings may be often used to define such restricted zones in 3D. Then, it may introduce a human error, which can cause a safety issue in operating the boom system. Therefore, the application relates to methods and apparatuses for controlling a boom system of a crane, which may facilitate a safe operation of the boom system in various applications.

[0031] Examples described herein relates to methods and apparatuses for controlling a boom system of a crane. Depending on the position of the crane or a position or a size of an object around the crane to be avoided, methods for controlling a boom system may differ. Therefore, several different methods and apparatuses in connection with the methods will be further explained below in detail.

[0032] Fig. 1 illustrates a flow chart of a method 100 for controlling a boom system of a crane. The method 100 comprises defining a coordinate 110 of a tip region of the boom system as a reference position. The method 100 further comprises defining a boundary plane 120 based on the reference position.

[0033] The method 100 may provide a way to control a boom system of a crane by defining a coordinate as a reference position and a boundary plane without manually providing numerical values to define the reference position and the boundary plane. For example, a lever or a joystick of the crane may be used to control the boom system of the crane to locate the tip region of the boom system at a desired position to define the reference position. The coordinate may optionally be defined by a remote control input. For example, an operator may define or input the coordinate to the remote control, and the remote control unit may facilitate defining the coordinate outside of the crane. the boundary plane may be a virtual plane that includes a plurality of boundary position coordinates generated by a compute circuitry. The boundary plane may optionally comprise the reference position.

[0034] In an example, the method 100 may optionally comprise receiving information about an orientation of a mobile platform 130 associated with the boom system. The boundary plane may, for example, be defined such that it is parallel to the orientation of the mobile platform. In an example, the boundary plane may optionally be a horizontal plane.

[0035] Fig. 2 shows an example of the boundary plane and the orientation of the mobile platform. In Fig. 2, the boundary plane 220 comprises the reference position 210 defined by the tip region of the boom system 230. The boundary plane 220 may be based on (e.g. parallel to) the orientation of the mobile platform 250. In the event of the horizontal boundary plane 220 illustrated in fig. 2, a single coordinate 110 may optionally serve as a reference position. The orientation of the mobile platform 250 may be described or defined by at least two axes (e.g. two axes 260a, 260b). Optionally, the orientation of the mobile platform 250 may be (or may refer to) the inclination, tilt of the mobile platform 250 with respect to the ground. In some examples, the two axes 260a, 260b may extend in different directions, e.g. the two axes 260a, 260b may be orthogonal to each other. The two orthogonal axes 270a, 270b comprised in the horizontal plane 220 may be parallel to the two orthogonal axes 260a, 260b indicating the orientation of the mobile platform 250. For instance, the horizontal plane 220 may be established with a precision level allowing for a margin of error of ± 0.5 degree, ± 1 degree, ± 3 degree, or ± 5 degree. The margin of error may ensure that any deviation from true horizon-tality remains within acceptable tolerances, thereby maintaining alignment in connection with the orientation of the mobile platform 250.

[0036] In some examples, the boundary plane described in connection with Fig. 1 and / or Fig. 2 may be a finite two-dimensional plane having defined boundaries (e.g. having both a fixed width and height). Alternatively, the boundary plane may be an infinite plane. For example, the plurality of boundary coordinates defining the boundary plane may be continuously generated so that the virtual plane extends in at least one of the directions of the two axes 260a, 260b until a trigger is activated to pause or stop the generation of the plurality of coordinates defining the boundary plane. An infinite plane differs from a finite two-dimensional plane having predefined fixed boundaries (e.g. having both a fixed width and height). In addition, in generating an infinite plane, the trigger point for pausing or stopping the generation of more coordinates defining the boundary plane is unknown before the start of the generation of the boundary plane. The boundary plane may be infinite in the direction of at least one of the two orthogonal axes 270a, 270b. In some examples, the boundary plane 220 may be infinite in only one direction of at least one of the two orthogonal axes 270a, 270b. In some examples, the boundary plane may be infinite in both directions of the two orthogonal axes 270a, 270b. An infinite plane may be spanned by two intersecting axes, wherein the axes are infinitely long so that the plane itself has no limitations in either direction.

[0037] The method 100 may optionally comprise defining a restricted region and an unrestricted region 140 based on the boundary plane. The restricted region may be a region (e.g. a plurality of restricted region position coordinates) wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region may be a region (e.g. a plurality of unrestricted region position coordinates) wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. For example, if (or when) the compute circuitry of the crane determines that the position coordinates of a reference region of the boom system coincides with one or more of the plurality of restricted region position coordinates, at least one of a movement or speed of movement of the boom system may be limited. This reference region may be a selected or predetermined part of the boom system, such as the tip region and / or joint regions between different modules of the boom system (e.g. between the main arm and the knuckle boom, and / or e.g. between the knuckle boom and the fly jib).

[0038] Additionally, if (or when) the compute circuitry of the crane determines that the position coordinates of a reference region of the boom system coincides with one or more of the plurality of unrestricted region position coordinates, at least one of a movement or speed of movement of the boom system is not limited. For instance, the movement or the speed of movement of the boom system might not be subject to any additional restrictions (e.g. the second speed range or the tolerance speed range) imposed by software or the compute circuitry and may be governed by the crane's inherent design parameters within the unrestricted region. For example, the inherent design parameters may comprise the operational speed limit of the boom system, the rotational angle of the boom system, the maximum extension length of the boom, the load capacity at various extensions, the angular velocity during rotation, the hydraulic pressure limits, and the maximum permissible sway during operation. These parameters define the safe and efficient operation of the boom system, ensuring that all movements are within the designed tolerances to prevent mechanical failure and ensure precise control.

[0039] Fig. 3 shows an exemplary embodiment of the method 100 in relation to Figs. 1 and 2 presenting the restricted region 310 and the unrestricted region 320 as described above. The exemplary embodiment shown in Fig. 3 may comprise one or more or all of the features already described in connection with Figs. 1 and 2.

[0040] The method 100 may optionally comprise limiting the at least one of the movement of the boom system or the speed of the movement of the boom system 150 if at least part of the boom system is above the boundary plane. For example, in Fig. 3, a region above the boundary plane 220 comprised in the restricted region 310 may be referred to as a second zone 310a. For example, limiting the speed of the movement of the boom system within the second zone 310a (e.g. above the boundary plane 220) may be performed by providing an operable speed range of the crane within the second zone 310a. This speed range within the second zone 310a may be referred to as a second speed range. The second speed range may be less than a maximum allowable speed range of the boom system. The maximum allowable speed range may the maximum allowable speed range within the unrestricted region based on the inherent design parameters. For example, a maximal speed of the second speed range may be 0% - 90% (or e.g. 20% to 80%, or e.g. 20% to 50%) less than the maximum allowable speed range of the boom system. The second speed range may be predefined or be given using a manual user input. In another example, limiting the movement of the boom system may be stopping the boom system before any part of the boom system enters the second zone 310a.

[0041] In an example, the method 100 may optionally include limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane 151 if at least part of the boom system is below the boundary plane. For example, a region below the boundary plane may be referred to as a tolerance zone or first zone 310b. In Fig. 3, the tolerance zone 310b may be further defined by a perpendicular (orthogonal or shortest) distance (e.g. a tolerance distance 314) from the boundary plane 220. For example, the tolerance distance 314 may be a perpendicular or orthogonal distance from any point in the boundary plane 220 to the ground. The tolerance distance 314 may be predefined or may vary depending on the speed of the movement of the boom system within the unrestricted region 320. For illustrative purposes, a tolerance boundary plane 313 is presented in Fig. 3, which is a horizontal plane parallel to the boundary plane 220, positioned at the tolerance distance 314 below the boundary plane 220. In other words, the volume enclosed by the boundary plane 220 and the tolerance boundary plane 313 may be the tolerance zone 310b.

[0042] For example, if the speed of the movement of the boom system is slower or faster than a threshold speed, the tolerance distance 314 may be respectively shorter or longer than the predefined tolerance distance accordingly to reduce or increase the volume of the tolerance zone 314. For example, an operable speed range within the tolerance zone 310b (e.g. a tolerance speed range) may be predefined or given by a user input to limit the speed of the movement of the boom system according to the method step 151. In another example, within the tolerance zone 310b, the speed of the movement of the boom system may reduce gradually and reach to a minimum speed (e.g. zero or a predetermined minimum speed) so as to stop the movement of the boom system before entering the second zone 310a above the boundary plane 220. For example, the movement or the speed of the movement of the boom system might not be affected if it is related to the movement parallel to the boundary plane 220 in Fig. 3.

[0043] Defining the restricted region and the unrestricted region may provide a way to control the boom system of the crane relative to the boundary plane. For example, on a construction site, due to a presence of a structure, such as a building, a boom system of a crane might not be allowed to enter a certain area to avoid a collision. By defining the restricted region and the unrestricted region 130 based on the boundary plane, the method 100 enables to control the boom system so that the movement or the speed of the movement of the boom system might not be limited in the unrestricted region (or may be governed by the inherent design parameters).

[0044] Further, as shown in Fig. 3, including the second zone 310a and the tolerance zone 310b within the restricted region 310 may provide an additional safety measure to control the boom system. Since the movement or the speed of the movement of the boom system can be limited accordingly below and above the boundary plane by introducing the two zones within the restricted region, it may reduce a risk of system failure or error.

[0045] Fig. 4 shows another exemplary embodiment of the method 100 in connection with Figs. 1 to 3. The exemplary embodiment shown in Fig. 4 may comprise one or more or all of the features already described in connection with Figs. 1 - 3. In an example, the method 100 may optionally comprise defining 170 the boundary plane based on a determined angle 430 from the boom system. The method 100 may include defining 160 the slewing angle of the boom system and defining 170 the boundary plane based on the slewing angle. Defining the boundary plane may include selecting, determining and / or inputting a slewing angle of the boom system (in 160) and generating 170 the boundary plane based on the slewing angle. Therefore, the boundary plane may be defined based on the slewing angle.

[0046] The slewing angle may be an angle of rotation of a boom system of a crane around a vertical reference axis. Optionally, the vertical reference axis may be located at a central point or region of the crane column. In Fig. 4, the slewing angle 420 is illustrated as an angle between the boom system 230 and the axis 260b. The axis 260b may be a longitudinal axis that crosses or intersects the center of the mobile platform 250 and the crane.

[0047] For illustrative purposes, the mobile platform 250 and the boom system 230 of the crane are shown in Fig. 4. As shown in the example of Fig. 4, the boundary plane may optionally be a vertical plane. The vertical boundary plane may be orthogonal to the plane defined by the axes 260a, 260b related to the orientation of the mobile platform of Fig. 2. For example, the vertical boundary plane 410 and the plane described by the axes 260a, 260b may be orthogonal with respect to each other. For example, the vertical plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees. Similar to the horizontal plane as described in Fig. 2, the margin of error may ensure that any deviation from true verticality remains within acceptable tolerances, thereby maintaining alignment in relation to the orientation of the mobile platform.

[0048] The determined angle 430 may be an angle between the boom system 230 and the boundary plane 410. For example, the determined angle may be a predefined angle (e.g. 90 degree, or e.g. 45 degree) or may be defined using a user input as an angle from the boom system. Fig. 4 shows the determined angle 430 from the boom system 230, which is used to further define the vertical boundary plane 410.

[0049] The method 100 may additionally or optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 180 on one side or the other side of the boundary plane depending on a user input. The limiting 180 can be understood in relation to operating the boom system within the second zone 310a as described with respect to Figs. 1 to 3 according to the method step 150. In Fig. 4, a region on a first side (e.g. the right side) of the boundary plane 410 is illustrated as a second zone 440a. The first side may be a designated side of the boundary plane 410. Optionally, the side may be the designated by the user using a manual input via the remote control unit. In an alternative example, the first side may be on the left side of the boundary plane. For example, the second zone may be on the left side of the boundary plane depending on surrounding environment of the crane and desirable operation of the boom system.

[0050] Limiting at least one of the movement of the boom system or the speed of the movement of the boom system 181 may optionally be based on a defined distance from the vertical boundary plane if at least part of the boom system is within the defined distance. In connection with Figs. 1 to 3, it can be understood in relation to operating the boom system within the tolerance zone 310b. In Fig. 4, the tolerance zone 440b is illustrated on the first side (e.g. left side) of the boundary plane 410. As described in Fig. 3, the tolerance zone 440b may be dynamically adjusted depending on the speed of the boom system. The width of the tolerance zone may be varied over time based on the movement of the boom within the tolerance zone. For example, the width of the tolerance zone may be adjusted if the boom is detected or observed to move in an undesirable manner within the tolerance zone, e.g. at a speed outside the tolerance speed range.

[0051] Limiting the movement of the boom system or the speed of the movement of the boom system according to its position relative to the boundary plane 180, 181 may contribute to the safe operation of the crane. Similarly, having two different zones on each side (e.g. respectively on different sides) of the boundary plane may provide an additional safety measure to reduce the risk of accidents.

[0052] Method 100 provides a way to operate the boom system of the crane by defining the reference position and the boundary plane. Depending on applications, the boundary plane may be horizontal or vertical plane to avoid a collision and damages to objects or human on a construction site. Further, any combination of boundary planes may be used based on a progress of a construction project. It may enable a user to easily set a further restricted region, which may minimize an error in operating the boom system of the crane. For example, the method 100 may include defining a first boundary plane comprising the first plurality of boundary coordinates (e.g. the horizontal plane described in connection with Figs. 1 to 3) and additionally defining a second boundary plane comprising a second plurality of boundary coordinates (e.g. the vertical plane described in connection with Fig. 4). Defining the first boundary plane causes or results in the defining of the first restricted region. Defining the second boundary plane causes or results in the defining of the second restricted region. The resulting restricted region (e.g. the further restricted region or the third restricted region) is based on the first restricted region and the second restricted region. For example, the third restricted region may be based on an overlap of the first restricted region and the second restricted region. For example, by adding the second boundary plane, the resulting restricted region (e.g. the third restricted region) may be based on the coordinates of both the first plurality of boundary coordinates and the second plurality of boundary coordinates. In some cases, this may result in a third restricted region that is different from the first restricted region and the second restricted region. In some cases, the resulting third region may be respectively larger than the first restricted region and the second restricted region. For example, the volume of the resulting third region may be an addition (or summation) of the volume of the first restricted region and the second restricted region. In some alternative cases, the resulting third region may be respectively smaller than the first restricted region and / or the second restricted region. For example, the volume of the resulting third region may be a subtraction of the volume between the first restricted region and the second restricted region.

[0053] Examples below describes another method to control a boom system of a crane (e.g. Figs. 5 -6b).

[0054] Fig. 5 illustrates a flow chart of a method 500 to control a boom system of a crane. The exemplary embodiment shown in Fig. 5 may comprise one or more or all of the features already described in connection with Figs. 1-4.

[0055] The method 500 comprises defining a first coordinate 510 as a first reference position and defining a second coordinate 520 as a second reference position. Further, the method 500 comprises defining at least one vertical boundary plane 530 based on at least one of the first reference position and the second reference position. Similar to the boundary plane described in Figs. 1-4, the at least one boundary plane may not necessarily be a finite two-dimensional plane defined using numerical values (e.g. fixed width and height). Alternatively, the at least one boundary plane may be a finite plane depending on applications.

[0056] As described above, depending on the position of the crane or the surrounding environment of the crane, the two reference positions and the boundary plane comprising at least one of the first reference position or the second reference position may be used to avoid a collision of the boom system of the crane with any obstacles at a construction site.

[0057] In an example, at least one of the first or the second coordinates may optionally be defined using a remote control. For example, if the crane is positioned close to a structure at a construction site, a user outside of the crane may have a better view of the crane, the boom system, and its surroundings. This may allow the user to position the tip of the boom system more accurately and safely using the remote control.

[0058] In an example, at least one of the first or the second coordinate may optionally be defined using a coordinate of a tip region of the boom system. For example, an operator of the crane may be able to see the surrounding within the crane. In such situations, the at least one of the first or the second coordinates may be defined using the coordinate of the tip region of the boom system directly, e.g. using an input device (e.g. a lever or a joystick).

[0059] In an example, the at least one vertical boundary plane may optionally comprise the first reference position and the second reference position.

[0060] Fig. 6a shows an exemplary embodiment of the method 500 in connection with Fig. 5. The exemplary embodiment shown in Fig. 6a may comprise one or more or all of the features already described in connection with Figs. 1-5.

[0061] The first reference position 630a and the second reference position 630b are presented in Fig. 6a. The at least one vertical boundary plane 630 may comprise the first reference position 630a and the second reference position 630b. For example, the at least one vertical boundary plane 630 may be orthogonal to an orientation of the mobile platform 610 described by two (orthogonal) axes 610a, 610b similar to the orientation of the crane described by the axes 260a, 260b shown in Fig. 2. Additionally, the at least one vertical boundary plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees, ensuring that any deviation remains within acceptable tolerance.

[0062] In an example, the at least one vertical boundary plane may optionally be configured to define a restricted region and an unrestricted region. The restricted region is a region in which at least one of a movement of the boom system or speed of the movement of the boom system is limited. The unrestricted region being a region in which at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. The restricted region and the unrestricted region can be understood in connection with Figs. 1 - 5. Fig. 6b shows an example of the restricted region 640 and the unrestricted region 650 referring to Fig. 5 and Fig. 6a. The exemplary embodiment shown in Fig. 6b may comprise one or more or all of the features already described in relation to Figs 1 to Fig. 6a.

[0063] In an example, the method 500 may optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 540 on one side or the other side of the at least one vertical boundary plane depending on a user input.

[0064] For example, the method step 540 can be understood in connection with the method steps 140, 180 within the second zones 310a, 440a in Figs. 1-5. Similarly, the region on one side or the other side of the at least one vertical boundary plane may be referred to as a second zone. In Fig. 6b, the second zone 640a is positioned on the right side of the at least one vertical boundary plane 630. As described above, referring to Figs. 1-4, for example, limiting the movement of the boom system 620 may be stopping the boom system 620 before entering the second zone 640a. Further, limiting the speed of the movement of the boom system 620 within the second zone 640a may be performed by providing an operable speed range of the crane (e.g. a second speed range).

[0065] In an example, the method 500 may optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 541 based on a predefined distance from the at least one vertical boundary plane if at least part of the boom system is within the predefined distance.

[0066] For example, the method step 541 can be understood in connection with the method steps 151, 181 within the tolerance zones 310b, 440b in Figs. 1 - 4. Similarly, the region defined based on the predefined distance and the at least one vertical boundary plane may be referred to as a tolerance zone. In Fig. 6b, the tolerance zone 640b is positioned on the left side of the at least one vertical boundary plane 630. The predefined distance may be referred as to a tolerance distance 631.

[0067] As described in Fig. 3, the tolerance distance 631 may be a perpendicular distance from any point in the boundary plane to the other side of the second zone 640a. Additionally, the tolerance distance 631 may be predefined or may vary depending on the speed of the movement of the boom system within the unrestricted region 650. For example, if the speed of the movement of the boom system is slower or faster than a threshold speed, the tolerance distance 631 may be shorter or longer than the predefined tolerance distance accordingly to reduce or increase the volume of the tolerance zone 640b. For example, an operable speed range within the tolerance zone 640b (e.g. a tolerance speed range) may be predefined or given by a user input to limit the speed of the movement of the boom system according to the method step 541. In another example, within the tolerance zone 640b, the speed of the movement of the boom system may reduce gradually and reach to a minimum speed (e.g. zero or a predetermined minimum speed) so as to stop the movement of the boom system before entering the second zone 640a in Fig. 6b.

[0068] Therefore, as described in Figs. 1 - 6b, the method 500 may provide a way to operate the boom system of the crane in relation to its surrounding environment. Furthermore, by having the two different zones within the restricted region, the method 500 may reduce a risk of collision with structures at a working site.

[0069] Fig. 7 illustrates another exemplary embodiment of the method 500 in connection with Figs. 5 - 6b. The embodiment shown in Fig. 7 may comprise one or more or all of the features already described in connection with Figs. 1 to 6b.

[0070] As shown in Fig. 7, the least one of a group of the first and the second reference positions may optionally be defined using a slewing angle of the boom system. Referring to Figs. 6a and 6b, at least one of a group of the first reference position 630a and the second reference position 630b may be defined using a slewing angle of the boom system. Depending on application, it may be convenient to use a slewing angle to define at least one of a group of the first or the second reference position 630a, 630b as shown in Fig. 7.

[0071] The method 500 may optionally comprise defining a first vertical plane 550 comprising the first reference position and a reference point and defining a second vertical plane 560 comprising the second reference position and the reference point. In an example, the reference point may optionally be positioned within a region of a mobile platform on which the crane is mounted.

[0072] Fig. 7 shows the first vertical plane 710a comprising the first reference position 630a and the reference point 720 and the second vertical plane 710b comprising the second reference position 630b and the reference point 720. The reference point 720 is shown in the mobile platform 610 and at the point where the first and the second vertical planes 710a, 710b intersect.

[0073] The restricted region may be a volume enclosed by the first plane and the second plane. The volume is illustrated as a top-down cross-sectional view, presenting the restricted region 640. The resulting restricted region 640 may be based on the first restricted region associated with the first vertical plane 710a and the second restricted region associated with the second vertical plane 710b. For example, the third restricted region may be derived based on an overlap of a first restricted region and a second restricted region. It may be possible that the restricted region is not bounded as a sector by the two vertical planes 710a, 710b, and the arc between the first and second reference positions 630a, 630b.

[0074] The resulting unrestricted region 650 may be based on the first unrestricted region associated with the first vertical plane 710a and the second unrestricted region associated with the second vertical plane 710b. The resulting unrestricted region 650 can be understood as the other side of the restricted region 640.

[0075] In an example, the method 500 may optionally comprise limiting at least one of a movement of at least part of the boom system or speed of the movement of at least part of the boom system 570 within a predefined distance from at least one of the first vertical plane and the second vertical plane. Similar to Figs. 1 - 6b, the method step 570 can be understood in relation to controlling the boom system within the tolerance zones 310b, 440b, 640b. The predefined distance may be determined or may vary depending on the speed of the boom system within the unrestricted region. For example, the at least part of the boom system may be at least one of a main boom, an extension boom, or a fly jib

[0076] For example, limiting the movement of at least part of the boom system may be stopping the movement of the boom system before entering the restricted region. For example, limiting the speed of the movement of at least part of the boom system may be providing a tolerance speed range within the predefined distance. In another example, the speed of the boom system may gradually decrease and reach to a minimum speed (e.g. zero or any fixed speed which is predetermined or given by a user input) before entering the restricted region.

[0077] In an example, the at least part of the boom system may optionally be a main boom, a tip of the boom, an extension boom, or a fly jib. Therefore, the method 500 may provide a way to control the boom system of the crane using the two reference positions and the at least one boundary plane. Further, the method 500 may be used when the crane is positioned around a corner of a building or elements are positioned in an area which can be covered by two slewing angles of the boom system of the crane as illustrated in Fig. 7.

[0078] Examples below describes another method to control a boom system of a crane (e.g. Figs. 8 - 9b).

[0079] Fig. 8 illustrates a method 800 for controlling a boom system of a crane. The method 800 comprises defining a reference axis 810. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the method 800 comprises defining a boundary plane 820 based on the reference axis.

[0080] Fig. 9a shows an exemplary embodiment of the method 800. The mobile platform 900 and the reference axis 910 crossing the region of the mobile platform 900 are presented in Fig. 9. For example, the reference axis 910 may be a longitudinal axis crossing the center of the mobile platform 900. The exemplary embodiment shown in Fig. 9a may comprise one or more or all of the features already described in connection with Figs. 1 to 8.

[0081] In an example, the boundary plane may optionally be a vertical boundary plane parallel to the reference axis. For example, the vertical boundary plane can be understood in relation to the orientation of the mobile platform in Fig. 2. In other words, the boundary plane may be orthogonal to the orientation of the mobile platform, which is parallel to the ground. For instance, the vertical plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees. The margin of error may ensure that any deviation from true verticality remains within acceptable tolerances, thereby maintaining alignment in relation to the orientation of the mobile platform. Additionally, the reference axis might not have a fixed length. Further, as described in Figs. 1 - 4, the boundary plane may be a finite two-dimensional plane having defined boundaries (e.g. having both a fixed width and height). Alternatively, the boundary plane may be an infinite plane.

[0082] The method may optionally comprise defining a restricted region 830 based on the boundary plane. The location of the boundary plane 920 may be selected by the user. For example, the user may select the location of the boundary plane 920 to be on a first longitudinal side of the vehicle (e.g. the left side of the vehicle). Alternatively (or additionally), the user may select the location of the boundary plane 920 to be a second different longitudinal side of the vehicle (e.g. the right side of the vehicle).

[0083] In Fig. 9a, the boundary plane 920 parallel to the reference axis may be positioned on the left side of the mobile platform. The restricted region 930 is illustrated on the left side of the boundary plane 920. Depending on the position of the boundary plane (e.g. left or right side of the reference axis), the restricted region may be on one side or the other side of the boundary plane, e.g. left or right side of the boundary plane depending on the user input. It may be used in a situation such that the crane is positioned next to a road or a building to avoid a collision of the boom system with the building or an accident.

[0084] Similar to the unrestricted regions 320, 650, 750 described above, the movement of the boom system of the crane or the speed of the movement of the crane might not be limited within an unrestricted region 940 in Fig. 9a. As described in Fig. 2, for instance, within the unrestricted region, a user may be able to control the boom system of the crane using either the lever, the joystick, or the remote control unit in accordance with the crane's inherent design parameters.

[0085] In an example, the method 800 may optionally comprise limiting or stopping the movement 840 of the tip region of the boom system before entering the restricted region. For example, a speed of the boom system of the crane may gradually decrease as the distance between the boom system and the boundary plane becomes shorter and the movement of the boom system may stop before entering the restricted region to avoid hitting a building, a car, or a human within the restricted region.

[0086] In an example, the reference axis may optionally be parallel to a symmetry axis of the mobile platform.

[0087] Fig. 9b shows another exemplary embodiment of the method 800 referring to Fig. 8 and Fig. 9a. The exemplary embodiment shown in Fig. 9a may comprise one or more or all of the features already described in connection with Figs. 8 and 9a.

[0088] In Fig. 9b, the boundary plane 920 is positioned on the symmetry axis 910a (e.g. the longitudinal symmetry axis) of the mobile platform and the restricted region 930 is positioned on the left side of the boundary plane and the unrestricted region 940 is on the right side of the boundary plane. The symmetry axis 910a, the reference axis 910, and the boundary plane 920 are aligned along the same line crossing the longitudinal axis of the mobile platform 900. However, depending on the position of the crane and a structure within the proximity of the boom system of the crane, the restricted region may be left or right side of the boundary plane. Similarly, the speed of the boom system of the crane may gradually decrease as the distance between the boom system and the boundary plane becomes shorter and the movement of the boom system may stop before entering the restricted region. Therefore, the method 800 may provide a way to operate the boom system of the crane based on the reference axis and the boundary plane, which may reduce a risk of an accident or a collision while operating the crane within proximity of a road or a building.

[0089] The combination of boundary planes may be selected by the user. For example, an input by the user may cause the compute circuitry to define a first boundary plane, The first boundary plane may be any one of the vertical boundary planes described in connections with Figs. 2 to 9b. Additionally or optionally, a further input by the user may cause the compute circuitry to define a second boundary plane. The second boundary plane may be different from the first boundary plane. For example, optionally the second boundary plane may be a different vertical boundary plane from the first boundary plane. Alternatively, the second boundary may be a horizontal boundary plane (e.g. the horizontal plane described in connection with Figs. 1 to 3). The (horizontal) boundary plane described in connection with Figs. 1 to 3 may be used in connection with any of the orthogonal boundary planes described in connection with Figs. 4 to 9b.

[0090] Figs. 10 to 15 will illustrate various apparatuses for controlling a boom system of a crane in relation to the methods (Figs. 1 - 9b).

[0091] Fig. 10 illustrates an example of an apparatus 1000 for controlling a boom system of a crane. The apparatus comprises an input interface 1010 configured to receive information about a coordinate of a tip region of the boom system as a reference position. Further, the apparatus 1000 comprises a compute circuitry 1020 configured to define (or generate) a boundary plane based on the reference position. Lastly, the apparatus 1000 comprises an output interface 1030 to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1020.

[0092] The apparatus 1000 performs any of the methods described above in connection with Figs. 1 - 4. The example shown in Fig. 10 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 1 - 4).

[0093] For example, the apparatus 1000 may be a crane controller as described above, which controls the movement of the crane and outputs control signals to cause the actuators of the crane to perform an operation. Further, for manual input, the crane may exhibit a crane mounted input device (operating panel) having, for example, one or more levers or joysticks to control motion as well as a user interface to input or change user settings and / or crane parameters such as for example different modes of operation of the crane. The input device communicates with the crane controller that transforms the user input into the actuator operations required to result with the desired movement as per the input via the input device. Using the input device, a user may control the boom system of the crane to position the tip region of the boom system. For example, a remote control unit may be used to set the coordinate. Then, the input interface 1010 may receive the information about the coordinate of the tip region set by the input device or the remote control unit as the reference position.

[0094] The compute circuitry 1020 defines or generates the boundary plane based on the reference position, for example, as a form of data representation comprising the coordinate. In an example, the boundary plane may optionally be a horizontal plane similar to Figs. 2 and 3.

[0095] In an example, the compute circuitry 1020 may optionally be configured to define a restricted region and an unrestricted region based on the boundary plane as illustrated in Fig. 3. Further, the restricted region may be a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region may be a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited as described above. For example, within the unrestricted region, a user may be able to control the boom system of the crane using either the lever, the joystick, or the remote control unit in accordance with the crane's inherent design parameters as described in Fig. 2.

[0096] Similarly, as illustrated in Fig. 3, the restricted region may comprise a tolerance zone and a second zone in relation to the boundary plane. In an example, the compute circuitry 1020 may optionally be configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane (e.g. the tolerance zone). It can be understood as generating information to control the boom system of the crane in the tolerance zone. Additionally, the distance from the boundary plane can be understood as a perpendicular distance from any point on the boundary plane to the ground and may be referred to as a tolerance distance. As illustrated in Fig. 3, the tolerance zone can be understood as a 3D volume with one face defined by the boundary plane and the opposite face defined by a parallel horizontal plane at the tolerance distance from the boundary plane. The tolerance distance may be predefined or may be set manually using a user input. The input interface 1010 may be used to receive the manual user input.

[0097] In this context, the information may comprise a range of operating speed of the boom system within the tolerance zone (e.g. a tolerance speed range). For example, a maximum speed within the tolerance speed range may be slower than the maximum speed can be used in the unrestricted region. In another example, the information may comprise an instruction which restricts the movement of the boom system within the tolerance zone. For example, the movement of the boom system may be so as to be operated below the horizontal boundary plane. Further, the information may comprise a perpendicular distance (or shortest distance) between a closest point of the boom system to the boundary plane and the boundary plane. The closest point can be understood as a point on the boom system such that the distance between the point on the boom system and the boundary plane is minimized. The compute circuitry 1020 may calculate the perpendicular distance between the boom system and the boundary plane.

[0098] Depending on the speed of the boom system and the perpendicular distance between the boom system and the boundary plane, the compute circuitry 1020 may adjust the tolerance speed range or the tolerance distance accordingly. For example, if the operating speed of the boom system is faster than a threshold speed, the tolerance distance may be longer than a predefined tolerance distance so as to limit the speed of the boom system within the tolerance zone and stop the boom system before entering the second zone. For example, the compute circuitry 1020 may generate information so as to gradually reduce the speed of the boom system based on the perpendicular distance as the boom system approaches to the boundary plane.

[0099] Further, the compute circuitry 1020 may optionally be configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane (e.g. the second zone). For example, the information may be an instruction so as to restrict the movement of the boom system within the second zone, which may restrict the movement of the boom system not to enter the region above the boundary plane. In another example, the information may be a range of the speed of the movement of the boom system (e.g. a second speed range).

[0100] In an example, the input interface 1010 may optionally be configured to receive information about a slewing angle. Similar to the coordinate, the slewing angle may be set using the input device or the remote control. Further, the compute circuitry 1020 may optionally be configured to define or generate the boundary plane based on the slewing angle. As illustrated in Fig. 4, the boundary plane may optionally be a vertical plane. The vertical plane can be understood as a perpendicular plane which is orthogonal to the orientation of the mobile platform defined in Fig. 2.

[0101] In this context, the compute circuitry 1020 may generate information to operate the boom system of the crane in relation to the vertical boundary plane. In an example, the compute circuitry 1020 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input. In this context, this region can be understood as the second zone similar to Fig. 4. For example, as described above, the compute circuitry 1020 may generate the second speed range or generate the instruction so as to stop the movement of the boom system within the second zone.

[0102] Additionally, in an example, the compute circuitry 1020 may be optionally configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance. In this context, this region can be understood as the tolerance zone described in Fig. 4. Further, the predefined distance can be understood as the tolerance distance as described above. Similarly, the compute circuitry 1020 may generate the tolerance speed range or generate the instruction so as to stop the movement of the boom system before entering the second zone.

[0103] As described above, the output interface 1030 outputs the control data to cause the actuators of the crane to perform a motion using the information generated by the compute circuitry 1020 based on the reference position and the boundary plane.

[0104] Therefore, the apparatus 1000 may provide a way to operate the boom system of the crane using the reference position and boundary plane. It may facilitate a user to control the crane safely in the presence of a structure on a construction site, which may prevent a collision of the boom system due to its vertical or horizontal movement.

[0105] Fig. 11 illustrate an example of an apparatus 1100 for controlling a boom system of a crane. The apparatus 1100 comprises an input interface 1110 configured to receive information about a first coordinate as a first reference position and information about a second coordinate as a second reference position. Further, the apparatus 1100 comprises a compute circuitry 1120 configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position. The apparatus 1100 further comprise an output interface 1130 configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1120.

[0106] The apparatus 1100 performs any of the methods described above in connection with Figs. 5 - 7. The example shown in Fig. 11 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 5 - 7).

[0107] For example, referring to Fig. 10, the apparatus 1100 may be a crane controller as described above. Likewise, an input device as described above may be used for a manual user input to send a signal (e.g. information) to the input interface 1100.

[0108] In an example, at least one of the information about the first or the second coordinate may optionally be defined using a remote control. Further, for example, at least one of the information about the first or the second coordinate may optionally be provided using a coordinate of a tip region of the boom system. As described above in Fig. 10, the input device may be used to position the tip of the boom system. Then, the input interface 1110 receives the information about the first and the second coordinates.

[0109] In an example, the at least one vertical boundary plane may optionally comprise the first reference position and the second reference position. For example, the at least one vertical boundary plane comprising the first and the second reference position can be understood as the vertical boundary plane 630 in Figs. 6a and 6b.

[0110] In an example, the compute circuitry 1120 may optionally configured to define a restricted region and an unrestricted region based on the at least one vertical boundary plane. The restricted region is a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited. On the other hand, the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. For instance, the speed of the speed of the movement of the boom system within the unrestricted region may fall within the crane's inherent design parameters, as described in Fig. 2.

[0111] For example, the restricted region and the unrestricted region can be understood in relation to Fig. 6b. Additionally, the restricted region may comprise a tolerance zone and a second zone as described in Fig. 6b.

[0112] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input. In connection with the second zone 640b in Fig. 6b, the information may comprise an instruction to limit the movement of the boom system, e.g. stopping the boom system before entering the second zone. For example, the information may comprise a range of speed (e.g. a second speed range) limit within the second zone.

[0113] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance. This can be understood in relation to the tolerance zone 640a comprised in Fig. 6b. The predefined distance may be similar to the tolerance distance 631 in Fig. 6b. In connection with the second zone 640b in Fig. 6b, the information may comprise an instruction to limit the movement of the boom system, e.g. stopping the boom system before entering the second zone. For example, the information may comprise a range of speed (e.g. a tolerance speed range) limit within the tolerance zone. For example, the maximum speed of the tolerance speed range may be slower than that of the crane. Further, the maximum speed of the second zone may be slower than that of the tolerance speed range.

[0114] In an example, the compute circuitry 1120 may optionally be configured to define a vertical first plane comprising the first reference position and a reference point and to define a vertical second plane comprising the second reference position and the reference point. This can be understood in connection with Fig. 7. The first and the second vertical plane may be the first and the second vertical plane 710a, 710b in Fig. 7. In an example, the reference point may optionally be positioned within a region of a mobile platform on which the crane is mounted similar to the reference point 720 in Fig. 7.

[0115] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of a movement of all part of the boom system or speed of the movement of all part of the boom system if at least part of the boom system is within a volume enclosed by the first plane and by the second plane similar to the restricted region 740 in Fig. 7.

[0116] As described above, the output interface 1130 outputs the control data to cause the actuators of the crane to perform a motion using the information generated by the compute circuitry 1120 based on the reference position and the boundary plane.

[0117] Therefore, the apparatus 1100 may provide a way to operate the boom system of the crane using the first and the second reference positions and the at least one vertical boundary plane. Further, the apparatus 1100 may be used when the apparatus 1100 is positioned around a corner of a building or elements are positioned in an area which can be covered by two slewing angles of the boom system of the apparatus 1100 analogously to what is described for Fig. 7.

[0118] Fig. 12 illustrates an example of an apparatus 1200 for controlling a boom system of a crane. The apparatus 1200 comprises an input interface 1210 configured to receive information about a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the apparatus 1200 comprises a compute circuitry 1220 configured to define a vertical boundary plane parallel to the reference axis. Lastly, the apparatus 1200 comprises an output interface 1230 configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1220.

[0119] The apparatus 1000 performs any of the methods described above in connection with Figs. 8 - 9b. The example shown in Fig. 12 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 8 - 9b).

[0120] For example, referring to Fig. 10, the apparatus 1200 may be a crane controller as described above. Likewise, an input device as described above may be used for a manual user input to send a signal (e.g. information) to the input interface 1210.

[0121] As shown in Figs. 9a and 9b, for example, the reference axis may be a longitudinal axis crossing the center of the crane. Then, the compute circuitry 1220 defines a vertical boundary plane parallel to the reference axis.

[0122] In an example, the reference axis is parallel to a symmetry axis of the mobile platform.

[0123] In an example, the compute circuitry 1220 may optionally be configured to define a restricted region based on the vertical boundary plane. The restrict region is one side or the other side of the vertical boundary plane depending on a user input. In connection with Figs. 9a and 9b, the restricted region can be understood as the restricted region 930.

[0124] In an example, the compute circuitry 1220 may optionally be configured to generate information about stopping the movement of the tip region of the boom system to enter the restricted region. For example, the compute circuitry may generate information so as to reduce the speed of the boom system gradually to zero so that it stops before reach the boundary plane.

[0125] In an example, the reference axis is aligned with a boundary of the region of the mobile platform similar to Fig. 9a.

[0126] As described above, the output interface 1230 outputs the control data to cause actuators of the crane to perform the motion using the information generated by the compute circuitry 1220 in relation to Figs. 9a and 9b.

[0127] Therefore, the apparatus 1200 may provide a way to operate the boom system of the crane using the reference axis and the boundary plane, which may reduce a risk of an accident or a collision while operating the crane within proximity of a road or a building.

[0128] Fig. 13 illustrates an example of a crane 1300. The crane 1300 comprises a boom system 1310 and a crane controller 1320 according to the apparatuses 1000, 1100, 1200 as described above (Figs. 10 - 12).

[0129] In an example, the crane 1300 may optionally comprise an operating console 1330 configured to set a reference position. For example, the operating console 1330 can be understood as the input device as described in Fig. 10, which comprises one or more levers or joysticks to control motion of the boom system of the crane and a user interface to input or change user settings and / or crane parameters, e.g. different modes of operation of the crane. Further, a remote control may be used to send a signal to the crane controller 1320 as described above.

[0130] For example, the reference position can be understood as the reference position 210 described in Figs. 1 - 4 or the position 630a or 630b in Figs. 6a - 7 depending on surrounding environment of the crane to prevent a risk of collision or accident.

[0131] In an example, the operating console 1330 may optionally be configured to select an operation mode causing the crane controller 1320 to be operated according to at least one method in connection with Figs. 1 - 4, one method in connections with Figs. 5 - 7, or one method in connection with Figs. 8 - 9b, or any combination of examples as described above referring to Figs. 1 - 9b. The selection of the operation mode may depend on structures or surrounding environment of the crane to avoid causing damages to a construction site or injuries.

[0132] As described above, the method 100 described in Figs. 1 - 4 is in relation to the apparatus 1000 illustrated in Fig. 10. Similarly, the method 500 shows in Figs. 5 - 7 and the method 800 shown in Figs. 8 - 9b are in relation to the apparatus 1100 described in Fig. 11 and the apparatus 1200 described in Fig. 12, respectively.

[0133] In this context, for example, the crane controller 1320 may comprises an input interface, a compute circuitry, and an output interface as described in Fig. 10 - 12. When a user controls the boom system 1310 of the crane 1300 using the operating consol 1330 or the remote control, the input interface of the crane controller 1320 receives information (e.g. a signal or data) and the compute circuitry generates information related to the operation of the actuators. Then, for example, the output interface transmits control data to the actuators of the crane 1300 to perform a movement using the information generated by the compute circuitry according to the examples in relation to Fig. 10 - 12. The crane controller 1320 may receive a manual user input via the operating console 1330 (e.g. a lever, a joystick, or a user interface) or the remote control. Then, the crane controller 1320 receives data or signal using the input interface. Based on the received data or signal (e.g. a reference position), the compute circuitry is configured to perform examples according to Figs. 10 - 12.

[0134] Further, the output interface may output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. In other words, the crane controller 1320 outputs control data based on the selection of the operation mode to cause actuators of the crane to control a movement of the boom system 1310 using the information generated by the compute circuitry.

[0135] Fig. 14 illustrates an exemplary user interface of the operating console 1330. For example, the user interface can display various operation modes to control the crane according to the different operation modes as described above and a user may select an operation mode and provide a manual input using the operating console 1330 accordingly. For example, four different modes are presented as a form of a graphical user interface (GUI) 1400 of the operating console 1330. A first operation mode 1410 is in connection with Fig. 1 and Fig. 3. As shown in Fig. 1, the first operation mode may allow a user to operate the boom system of the crane by defining the reference position and the horizontal boundary plane. In other words, when the first operation mode is selected or activated, a user may control the boom system of the crane using a lever or joystick and set a reference position using a coordinate of the tip region of the boom system.

[0136] A second operation mode 1420 is in relation with Fig. 5 and Fig. 6b, which may allow a user to define two reference positions and the vertical boundary plane. A third operation mode 1430 relates to examples illustrated in Fig. 1 and Fig. 7. The third operation model 1430 may allow a user to define the two slewing angles and the first and the second vertical planes accordingly similar to Fig. 7. Lastly, a fourth operation mode 1440 may provide a way to operate the boom system of the crane according to Figs. 9a and 9b. For example, a user using the fourth operation mode 1440 may be able to choose one side or the other side of the boundary plane so that the selected side may be chosen as the restricted region 930 as shown in Figs. 9a and 9b.

[0137] Fig. 15 illustrates an example of a mobile platform 1500. The mobile platform 1500 comprises a crane 1510 in connection with any examples described above (Figs. 10 - 12).

[0138] In the following, some examples of the proposed concept are presented: An example (e.g., example 1) relates to a method for controlling a boom system of a crane, the method comprising defining a coordinate of a tip region of the boom system as a reference position and defining a boundary plane based on the reference position.

[0139] Another example (e.g., example 2) relates to a previous example (e.g., example 1) or to any other example, further comprising that the coordinate is defined using a remote control.

[0140] Another example (e.g., example 3) relates to a previous example (e.g., example 1) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0141] Another example (e.g., example 4) relates to the boundary plane comprises the reference position.

[0142] Another example (e.g., example 5) relates to a previous example (e.g., one of the examples 1 or 2) or to any other example, further comprising receiving information about an orientation of a mobile platform associated with the boom system, wherein the boundary plane is defined such that it is parallel to the orientation of the platform.

[0143] Another example (e.g., example 6) relates to a previous example (e.g., one of the examples 1 to 5) or to any other example, further comprising defining a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0144] Another example (e.g., example 7) relates to a previous example (e.g., one of the examples 2 to 6) or to any other example, further comprising limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane.

[0145] Another example (e.g., example 8) relates to a previous example (e.g., one of the examples 2 to 7): further comprising limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane.

[0146] Another example (e.g., example 9) relates to a previous example (e.g., one of the examples 1 to 7) or to any other example, further comprising defining a slewing angle of the boom system, wherein the boundary plane is further defined based on the slewing angle.

[0147] Another example (e.g., example 10) relates to a previous example (e.g., example 9) or to any other example, further comprising defining the boundary plane such that it comprises the reference point and a determined angle between the boom system and the boundary plane.

[0148] Another example (e.g., example 11) relates to a previous example (e.g., example 10) or to any other example, further comprising that the boundary plane is a vertical plane.

[0149] Another example (e.g., example 12) relates to a previous example (e.g., example 11) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0150] Another example (e.g., example 13) relates to a previous example (e.g., one of the examples 11 or 12) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a defined distance from the vertical boundary plane if at least part of the boom system is within the defined distance.

[0151] An example (e.g., example 14) relates to a method for controlling a boom system of a crane, the method comprising defining a first coordinate as a first reference position, defining a second coordinate as a second reference position, and defining at least one vertical boundary plane based on at least one of the first reference position and the second reference position.

[0152] Another example (e.g., example 15) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first and the second coordinates is defined using a remote control.

[0153] Another example (e.g., example 16) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first and the second coordinates is defined using a coordinate of a tip region of the boom system.

[0154] Another example (e.g., example 17) relates to a previous example (e.g., one of the examples 14 or 16) or to any other example, further comprising that the at least one vertical boundary plane comprises the first reference position and the second reference position.

[0155] Another example (e.g., example 18) relates to a previous example (e.g., one of the examples 14 to 17) or to any other example, further comprising that the at least one vertical boundary plane is configured to define a restricted region and an unrestricted region, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0156] Another example (e.g., example 19) relates to a previous example (e.g., example 14), further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0157] Another example (e.g., example 20) relates to a previous example (e.g., one of the examples 18 or 19) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0158] Another example (e.g., example 21) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first or the second reference positions is defined using a slewing angle of the boom system.

[0159] Another example (e.g., example 22) relates to a previous example (e.g., one of the examples 14 or 21) or to any other example, further comprising defining a vertical first plane (550) comprising the first reference position and a reference point, defining a vertical second plane (560) comprising the second reference position and the reference point.

[0160] Another example (e.g., example 23) relates to a previous example (e.g., example 22) or to any other example, further comprising that the reference point is positioned within a region of a mobile platform on which the crane is mounted.

[0161] Another example (e.g., example 24) relates to a previous example (e.g., one of the examples 18 or 22) or to any other example, further comprising that the restricted region is a volume enclosed by the first plane and by the second plane.

[0162] Another example (e.g., example 25) relates to a previous example (e.g., example 24) or to any other example, further comprising limiting at least one of a movement of at least part of the boom system or speed of the movement of at least part of the boom system (570) within a predefined distance from at least one of the first plane and the second plane.

[0163] Another example (e.g., example 26) relates to a previous example (e.g., example 25) or to any other example, further comprising that the parts are at least one of a main boom, an extension boom, or a fly jib.

[0164] An example (e.g., example 27) relates to a method for controlling a boom system of a crane, the method comprising defining a reference axis, the reference axis crossing a region of a mobile platform on which the crane is mounted, and defining a vertical boundary plane based on the reference axis.

[0165] Another example (e.g., example 28) relates to a previous example (e.g., example 27) or to any other example, further comprising that the vertical boundary plane is parallel to the reference axis.

[0166] Another example (e.g., example 29) relates to a previous example (e.g., example 27) or to any other example, further comprising defining a restricted region based on the vertical boundary plane, the restricted region being one side or the other side of the vertical boundary plane depending on a user input.

[0167] Another example (e.g., example 30) relates to a previous example (e.g., example 27) or to any other example, further comprising limiting or stopping the movement of the tip region of the boom system before entering the restricted region.

[0168] Another example (e.g., example 31) relates to a previous example (e.g., one of the examples 27 or 28) or to any other example, further comprising that the reference axis is parallel to a symmetry axis of the mobile platform.

[0169] Another example (e.g., example 32) relates to a previous example (e.g., one of the examples 27, 28, or 31) or to any other example, wherein the reference axis is aligned with a boundary of the region of the mobile platform.

[0170] An example (e.g., example 33) relates to an apparatus for controlling a boom system of a crane, comprising an input interface configured to receive information about a coordinate of a tip region of the boom system as a reference position, a compute circuitry configured to define a boundary plane based on the reference position, and an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry.

[0171] Another example (e.g., example 34) relates to a previous example (e.g., example 33) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0172] Another example (e.g., example 35) relates to a previous example (e.g., one of the examples 33 or 34) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0173] Another example (e.g., example 36) relates to a previous example (e.g., one of the examples 34 or 35) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane.

[0174] Another example (e.g., example 37) relates to a previous example (e.g., one of the examples 34 to 36) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane.

[0175] Another example (e.g., example 38) relates to a previous example (e.g., example 33) or to any other example, further comprising that the input interface is further configured to receive information about a slewing angle, wherein the compute circuitry is further configured to define the boundary plane based on the slewing angle.

[0176] Another example (e.g., example 39) relates to a previous example (e.g., example 38) or to any other example, further comprising that the boundary plane is a vertical plane.

[0177] Another example (e.g., example 40) relates to a previous example (e.g., example 39) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0178] Another example (e.g., example 41) relates to a previous example (e.g., one of the examples 39 or 40) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0179] An example (e.g., example 42) relates to an apparatus controlling a boom system of a crane, comprising an input interface configured to receive information about a first coordinate as a first reference position, the input interface configured to receive information about a second coordinate as a second reference position, a compute circuitry configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position, an output interface configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry,

[0180] Another example (e.g., example 43) relates to a previous example (e.g., example 42) or to any other example, further comprising that at least one of the information about the first and the second coordinate is defined using a remote control.

[0181] Another example (e.g., example 44) relates to a previous example (e.g., example 42) or to any other example, further comprising that at least one of the information about the first and the second coordinate using a coordinate of a tip region of the boom system

[0182] Another example (e.g., example 45) relates to a previous example (e.g., example 42) or to any other example, further comprising that the at least one vertical boundary plane comprises the first reference position and the second reference position.

[0183] Another example (e.g., example 46) relates to a previous example (e.g., example 42) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region and an unrestricted region based on the at least one vertical boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0184] Another example (e.g., example 47) relates to a previous example (e.g., one of the examples 42 or 46) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0185] Another example (e.g., example 48) relates to a previous example (e.g., one of the examples 42, 46, or 47), wherein the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0186] Another example (e.g., example 49) relates to a previous example (e.g., example 40) or to any other example, further comprising that the compute circuitry is further configured to define a vertical first plane comprising the first reference position and a reference point and to define a vertical second plane comprising the second reference position and the reference point.

[0187] Another example (e.g., example 50) relates to a previous example (e.g., example 47) or to any other example, further comprising that the reference point is positioned within a region of a mobile platform on which the crane is mounted.

[0188] Another example (e.g., example 51) relates to a previous example (e.g., one of the examples 40 or 47) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of a movement of all part of the boom system or speed of the movement of all part of the boom system if at least part of the boom system is within a volume enclosed by the first plane and by the second plane.

[0189] An example (e.g., example 52) relates to an apparatus for controlling a boom system of a crane, comprising an input interface configured to receive information about a reference axis, the reference axis being crossing a region of a mobile platform on which the crane is mounted, a compute circuitry configured to define a vertical boundary plane parallel to the reference axis, and an output interface configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry.

[0190] Another example (e.g., example 53) relates to a previous example (e.g., example 52) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region based on the vertical boundary plane, the restricted region being one side or the other side of the vertical boundary plane depending on a user input.

[0191] Another example (e.g., example 54) relates to a previous example (e.g., example 52) or to any other example, further comprising that the compute circuitry is further configured to generate information about stopping the movement of the tip region of the boom system to enter the restricted region.

[0192] Another example (e.g., example 55) relates to a previous example (e.g., example 52) or to any other example, further comprising that the reference axis is parallel to a symmetry axis of the mobile platform.

[0193] Another example (e.g., example 56) relates to a previous example (e.g., one of the examples 52 or 55) or to any other example, further comprising that the reference axis is aligned with a boundary of the region of the mobile platform.

[0194] An example (e.g., example 57) relates to a crane, comprising a boom system, and a crane controller according to the apparatus examples 33 to 56.

[0195] Another example (e.g., example 58) relates to a previous example (e.g., example 57) or to any other example, further comprising an operating console configured to set a reference position.

[0196] Another example (e.g., example 59) relates to a previous example (e.g., example 57) or to any other example, further comprising that the operating console is further configured to select an operation mode causing the crane controller to be operated according to at least one method of examples 1 to 14, one method of examples 15 to 26, or one method of examples 27 to 32, or any combination of method of examples 1 to 32.

[0197] An example (e.g., example 60) relates to a mobile platform, comprising a crane according to any of examples 33 to 56.

[0198] An example (e.g., example 61) relates to a method for controlling a boom system of a crane, the method comprising defining a coordinate of a tip region of the boom system as a reference position, and defining a boundary plane based on the reference position.

[0199] Another example (e.g., example 62) relates to a previous example (e.g., example 61) or to any other example, further comprising that the coordinate is defined using a remote control.

[0200] Another example (e.g., example 63) relates to a previous example (e.g., one of the examples 61 or 62) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0201] Another example (e.g., example 64) relates to a previous example (e.g., one of the examples 61 to 63) or to any other example, further comprising that the boundary plane comprises the reference position.

[0202] Another example (e.g., example 65) relates to a previous example (e.g., one of the examples 61 to 64) or to any other example, further comprising that the boundary plane is a vertical plane.

[0203] Another example (e.g., example 66) relates to a previous example (e.g., one of the examples 61 to 65) or to any other example, further comprising receiving information about an orientation of a mobile platform associated with the boom system, wherein the boundary plane is defined such that it is parallel to the orientation of the platform.

[0204] Another example (e.g., example 67) relates to a previous example (e.g., one of the examples 61 to 66) or to any other example, further comprising defining a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0205] Another example (e.g., example 68) relates to a previous example (e.g., one of the examples 61 to 67) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is on the other side of the boundary plane than a base of the crane.

[0206] Another example (e.g., example 69) relates to a previous example (e.g., one of the examples 61 to 68) or to any other example, further comprising defining a slewing angle of the boom system, wherein the boundary plane is further defined based on the slewing angle.

[0207] Another example (e.g., example 70) relates to a previous example (e.g., example 69) or to any other example, further comprising defining the boundary plane based on a determined angle from the boom system.

[0208] Another example (e.g., example 71) relates to a previous example (e.g., one of the examples 65 to 70) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0209] Another example (e.g., example 72) relates to a computer program for controlling a boom system of a crane having a program code for performing the method according to examples 1 to 32 or 61 to 71 when the program is executed on a processor or a programmable hardware of the crane.

[0210] The aspects and features described in relation to a particular one of the previous examples may also be combined with one or more of the further examples to replace an identical or similar feature of that further example or to additionally introduce the features into the further example.

[0211] Examples may further be or relate to a (computer) program including a program code to execute one or more of the above methods when the program is executed on a computer, processor or other programmable hardware component. Thus, steps, operations or processes of different ones of the methods described above may also be executed by programmed computers, processors or other programmable hardware components. Examples may also cover program storage devices, such as digital data storage media, which are machine-, processor- or computer-readable and encode and / or contain machine-executable, processor-executable or computer-executable programs and instructions. Program storage devices may include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media, for example. Other examples may also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPU), application-specific integrated circuits (ASICs), integrated circuits (ICs) or system-on-a-chip (SoCs) systems programmed to execute the steps of the methods described above.

[0212] It is further understood that the disclosure of several steps, processes, operations or functions disclosed in the description or claims shall not be construed to imply that these operations are necessarily dependent on the order described, unless explicitly stated in the individual case or necessary for technical reasons. Therefore, the previous description does not limit the execution of several steps or functions to a certain order. Furthermore, in further examples, a single step, function, process or operation may include and / or be broken up into several sub-steps, - functions, -processes or -operations.

[0213] If some aspects have been described in relation to a device or system, these aspects should also be understood as a description of the corresponding method. For example, a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.

[0214] The following claims are hereby incorporated in the detailed description, wherein each claim may stand on its own as a separate example. It should also be noted that although in the claims a dependent claim refers to a particular combination with one or more other claims, other examples may also include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly proposed, unless it is stated in the individual case that a particular combination is not intended.

[0215] Furthermore, features of a claim should also be included for any other independent claim, even if that claim is not directly defined as dependent on that other independent claim.

Examples

Embodiment Construction

[0015]Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these embodiments described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.

[0016]Throughout the description of the figures same or similar reference numerals refer to same or similar elements and / or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and / or areas in the figures may also be exaggerated for clarification.

[0017]When two elements A and B are combined using an "or", this is to be understood as disclosing all possible combinations, i.e. only A, only B as well as A and B, unless expressly defined otherwise in the individual...

Field

[0001] The present disclosure relates to controlling a boom system of a crane. In particular, examples of the present disclosure relate to methods and apparatuses for controlling a boom system of a crane, a crane, a mobile platform, and a computer program.Background

[0002] A crane has been commonly used on a construction site for various purposes, e.g. lifting heavy materials, assembly of large structures, transportation, or installation of prefabricate components. Since there are various elements on construction sites, such as vehicles, machinery, structures, building materials, electrical lines, and workers, a safe operation of the crane is an important consideration to protect the workers from hazards and prevent any damages to the various elements in the construction sites. For example, as a construction project advances through different stages, an operation of the crane needs to be adapted to avoid collisions to any elements of the project and injuries to workers. However, current methods to control a boom system of a crane may mostly depend on complicated manual settings to avoid structures around the crane. Therefore, there may be a demand for a simplified way to control a boom system of a crane.Summary

[0003] This demand is met by methods and apparatuses for controlling a boom system of a crane, a crane, a mobile platform, and a computer program in accordance with the independent claims. Advantageous embodiments are defined by the dependent claims.

[0004] According to a first aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a coordinate of a tip region of the boom system as a reference position. In addition, the method comprises defining a boundary plane based on the reference position.

[0005] According to a second aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a first coordinate as a first reference position and defining a second coordinate as a second reference position. Further, the method comprises defining at least one boundary plane based on at least one of the first reference position and the second reference position.

[0006] According to a third aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the method comprises defining a boundary plane based on the reference axis.

[0007] The methods according to the first, the second, and the third aspects may provide a way to control a boom system of a crane to avoid harm to an environment of the crane. Since there are various elements and workers at a construction site, an operation of a boom system of a crane needs to be performed with caution not to cause any damage to the construction site and workers. The embodiments described herein may reduce the set-up time required de define boundaries for the boom system of a crane, to automatically avoid collisions with buildings or other structures.

[0008] According to a fourth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input interface configured to receive information about a coordinate of a tip region of the boom system as a reference position Further, the apparatus comprises a compute circuitry configured to define a boundary plane based on the reference position. In addition, the apparatus comprises an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the first aspect.

[0009] According to a fifth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input interface configured to receive information about a first coordinate as a first reference position. The input interface is configured to receive information about a second coordinate as a second reference position. Further, the apparatus comprises a compute circuitry configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position. The apparatus comprises an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the second aspect.

[0010] According to a sixth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input device configured to receive information about a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. In addition, the apparatus comprises a compute circuitry configured to define a vertical boundary plane parallel to the reference axis. The apparatus comprises an output device configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the third aspect.

[0011] According to a seventh aspect, the present disclosure provides a crane. The crane comprises a boom system and a crane controller. The crane controller implements an apparatus according to the fourth, the fifth, and the sixth aspects.

[0012] According to an eighth aspect, the present disclosure provides a mobile platform. The mobile platform comprises a crane according to an embodiment as described herein.

[0013] According to a nineth aspect, the present disclosure provides a computer program for controlling a boom system of a crane having a program code for performing any of the methods described herein when the program is executed on a processor or a programmable hardware of the crane.Brief description of the Figures

[0014] Some examples of apparatuses and / or methods will be described in the following by way of example only, and with reference to the accompanying figures, in which Fig. 1 shows an exemplary flow chart of a method for controlling a boom system of a crane; Fig. 2 shows an example of the boom system of the crane and a horizontal boundary plane usable within an embodiment illustrated in Fig. 1; Fig. 3 shows an example of the horizontal boundary plane and a restricted region usable within an embodiment illustrated in Fig. 1; Fig. 4 shows an example of the boom system of the crane and a vertical boundary plane usable within an embodiment illustrated in Fig. 1; Fig. 5 shows an exemplary flow chart of a method for controlling a boom system of a crane; Fig. 6a shows an example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5; Fig. 6b shows another example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5; Fig. 7 shows an example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5; Fig. 8 shows an exemplary flow chart of a method for controlling a boom system of a crane; Fig. 9a shows an illustration of a boom system controlled by the method illustrated in Fig. 8; Fig. 9b shows an illustration of a boom system controlled by the method illustrated in Fig. 8; Fig. 10 shows a block diagram of an example of an apparatus for controlling a boom system of a crane; Fig. 11 shows a block diagram an example of an apparatus for controlling a boom system of a crane; Fig. 12 shows a block diagram an example of an apparatus for controlling a boom system of a crane; Fig. 13 schematically illustrates components of a crane; Fig. 14 shows an example of an operating console of the crane usable within an embodiment illustrated in Fig. 13; and Fig. 15 shows an example of a mobile platform. Detailed Description

[0015] Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these embodiments described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.

[0016] Throughout the description of the figures same or similar reference numerals refer to same or similar elements and / or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and / or areas in the figures may also be exaggerated for clarification.

[0017] When two elements A and B are combined using an "or", this is to be understood as disclosing all possible combinations, i.e. only A, only B as well as A and B, unless expressly defined otherwise in the individual case. As an alternative wording for the same combinations, "at least one of A and B" or "A and / or B" may be used. This applies equivalently to combinations of more than two elements.

[0018] If a singular form, such as "a", "an" and "the" is used and the use of only a single element is not defined as mandatory either explicitly or implicitly, further examples may also use several elements to implement the same function. If a function is described below as implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity. It is further understood that the terms "include", "including", "comprise" and / or "comprising", when used, describe the presence of the specified features, integers, steps, operations, processes, elements, components and / or a group thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or a group thereof.

[0019] A crane is commonly used on construction sites for several reasons. It can lift and move heavy materials such as steel beams, concrete blocks, and other construction materials that are too heavy for manual lifting. Additionally, it has a capability to reach areas that are otherwise inaccessible, further enhancing its utility on construction sites. A crane also speeds up the construction process by allowing materials to be moved quickly and efficiently, reducing the time required for manual labor.

[0020] A crane comprises a boom system mounted to a column of the crane. The column is rotatable with respect to a base of the crane. In some examples, the axis of rotation of the column may be a substantially vertical axis. The angle of rotation about the axis of rotation may be referred to as the slew angle or slewing angle.

[0021] The base can be configured to mount the crane onto a platform. The platform may be a fixed platform or a mobile platform. Examples of mobile platforms are vehicles such as trucks, lorries or ships. The boom system can be rotated or moved relative to the column about an axis (e.g. a boom axis) that is essentially perpendicular to the axis of the rotation of the column. The angle of the rotation of the boom system about the boom axis may be referred to as an elevation angle.

[0022] Hydraulic cylinders may be used as actuators to create the force to cause the rotation or motion of the boom system with respect to the elevation angle. A boom system comprises at least one (or e.g. one or more booms). In the event of a plurality of booms (e.g. more than one boom), the boom attached to the column may be referred to as the main boom or first boom. Additionally, a second boom attached to the main boom may be referred to as a knuckle boom. Any (or each) of the booms of a boom system can optionally comprise one or more extension booms to be driven in or out of the boom using, for example, hydraulic means. A boom and its extension booms may also be called a boom sub-system.

[0023] Cranes having only one boom may also be called stiff boom cranes since they do not exhibit multiple booms that can change their orientation with respect to each other. In the event of cranes having multiple booms, a knuckle can be used to connect the different booms to one another so as to enable them to change their relative orientation, by bending or buckling about an axis defined by the knuckle.

[0024] In some examples, a crane may comprise a bendable boom system connected to the crane column. A bendable boom system may comprise a first boom, wherein a first end of the first boom is connected to the crane column. The bendable boom system may further comprise a second boom, wherein the second boom is connected to a second end of the first boom. Cranes having at least two booms connected by a knuckle or hinge offer an addition-al degree of freedom as compared to stiff boom cranes and may be called knuckle-boom cranes. The booms can be connected by hydraulic cylinders across the knuckle to cause the rotation.

[0025] The free end of the boom system not attached to the column may be referred to as the tip of the boom system. Loads may be directly attached to the tip of the boom system. However, cranes may additionally comprise at least one winch mounted to the boom system or elsewhere to the crane, the winch being used to wind und unwind a cable carrying the load. The tip of the boom system may exhibit a wheel for the cable. The cable extends to a load block used to attach the load thereto. In a single wire operation (also called STRAN1) the cable ends in the load block. The cable of the winch may also be used according to the principles of a pulley. If this is the case, the load block exhibits at least one pulley to change the direction of the cable and the cable ends at the boom system, typically close to the tip of the boom system. In the event of a single pulley, operation is also called two wire operation (STRAN2). Of course, multiple pulleys may be used likewise for multi wire operation.

[0026] Movement of the crane is caused by using multiple types of actuators such as hydraulic engines, valves and cylinders to cause motion of the booms and electric engines used to cause motion of the column or to operate the winch. Components used to cause movement of the crane or of parts of the crane are called actuators. The movement of the crane is monitored by means of multiple sensors, providing sensors readings indicative of multiple parameters or physical quantities. For example, pressure sensors may be used to monitor the pressure within hydraulic cylinders to determine the forces acting on them. Angle sensors may be used to monitor relative rotation or angle between different parts of the crane (e.g. between the column and the base or between different boom of a knuckle boom crane). Angle sensors may, for example use an encoder wheel together with a sensor sensitive to magnetic fields. Length sensors may be used to monitor the overall length of a boom and its associated extensions. Force sensors may be used to measure force directly or indirectly, for example to measure the force acting on the cable of a winch and / or on the winch itself. Force sensors may, for example, be based on the piezo electric effect or using strain gauges attached to the object being monitored.

[0027] The movement of the crane may be controlled by a crane controller that outputs control signals to cause the actuators of the crane to perform an operation. The crane controller receives sensor readings to monitor the result of the actuators operation. In some examples, the crane controller may be an integral part of the crane. The desired movement of the crane is typically performed or controlled based on or following a user input. The user input may be manually given by a human operator or supervisor of the crane or it may likewise be generated automatically based on an algorithm or on input parameters generated by other means, such as for example by a trained neural network. For manual input, the crane may exhibit a crane mounted input device (operating panel) having, for example, one or more levers or joysticks to control motion as well as a user interface to input or change user settings and / or crane parameters such as for example different modes of operation of the crane. The input device communicates with the crane controller that transforms the user input into the actuator operations required to result with the desired movement as per the input via the input device. Additionally or alternatively, parts of or all inputs that can be performed using the input device may also be performed using a remote control unit wirelessly communicating with the crane controller.

[0028] Additionally, the crane controller may comprise an input interface, compute circuitry, and an output interface. For example, the input interface receives the user input through the input device (e.g. one or more levers or joysticks and the user interface) or the remote control. In other words, the input device communicates with the crane controller via the input interface. Based on the received input, the compute circuitry generates information related to the operation of the actuators. Subsequently, the output interface outputs control data to direct the actuators of the crane to perform a motion using the information generated by the compute circuitry.

[0029] A crane may be used for multiple purposes by providing the possibility to exchange equipment mounted at the booms of the crane. For example, various different attachments can be mounted to the booms close to the tip of the boom system. To support this, the crane may provide a mounting interface close to the tip of the crane. A mounting interface may be composed of multiple elements, mounted to or welded at a boom. Eventually, equipment such as a workmen basket may be mounted to the mounting interface via an adaptor used to adapt the (standard) mounting interface of the crane to a custom mounting interface of the equipment to be used.

[0030] Even though cranes are commonly used on construction sites to help workers handle heavy materials and reduce the risks associated with manual lifting, caution may be still needed to safely control a boom system of a crane. For example, on a construction site, there are many objects or obstacles which may affect an operation of a boom system of a crane to avoid collision or causing any damages to the construction site or human. Therefore, it may be recommended to set measures to operate a boom system of a crane safely. For example, setting a restricted zone has been used to limit a movement of the boom system of the crane within the restricted zone. As a construction phase changes, the restricted zone may need to be adapted accordingly. An operator may also need to change the position of the crane multiple times depending on construction planning, which leads to set different restricted zones accordingly based on the environments around the crane. Currently, complex manual settings may be often used to define such restricted zones in 3D. Then, it may introduce a human error, which can cause a safety issue in operating the boom system. Therefore, the application relates to methods and apparatuses for controlling a boom system of a crane, which may facilitate a safe operation of the boom system in various applications.

[0031] Examples described herein relates to methods and apparatuses for controlling a boom system of a crane. Depending on the position of the crane or a position or a size of an object around the crane to be avoided, methods for controlling a boom system may differ. Therefore, several different methods and apparatuses in connection with the methods will be further explained below in detail.

[0032] Fig. 1 illustrates a flow chart of a method 100 for controlling a boom system of a crane. The method 100 comprises defining a coordinate 110 of a tip region of the boom system as a reference position. The method 100 further comprises defining a boundary plane 120 based on the reference position.

[0033] The method 100 may provide a way to control a boom system of a crane by defining a coordinate as a reference position and a boundary plane without manually providing numerical values to define the reference position and the boundary plane. For example, a lever or a joystick of the crane may be used to control the boom system of the crane to locate the tip region of the boom system at a desired position to define the reference position. The coordinate may optionally be defined by a remote control input. For example, an operator may define or input the coordinate to the remote control, and the remote control unit may facilitate defining the coordinate outside of the crane. the boundary plane may be a virtual plane that includes a plurality of boundary position coordinates generated by a compute circuitry. The boundary plane may optionally comprise the reference position.

[0034] In an example, the method 100 may optionally comprise receiving information about an orientation of a mobile platform 130 associated with the boom system. The boundary plane may, for example, be defined such that it is parallel to the orientation of the mobile platform. In an example, the boundary plane may optionally be a horizontal plane.

[0035] Fig. 2 shows an example of the boundary plane and the orientation of the mobile platform. In Fig. 2, the boundary plane 220 comprises the reference position 210 defined by the tip region of the boom system 230. The boundary plane 220 may be based on (e.g. parallel to) the orientation of the mobile platform 250. In the event of the horizontal boundary plane 220 illustrated in fig. 2, a single coordinate 110 may optionally serve as a reference position. The orientation of the mobile platform 250 may be described or defined by at least two axes (e.g. two axes 260a, 260b). Optionally, the orientation of the mobile platform 250 may be (or may refer to) the inclination, tilt of the mobile platform 250 with respect to the ground. In some examples, the two axes 260a, 260b may extend in different directions, e.g. the two axes 260a, 260b may be orthogonal to each other. The two orthogonal axes 270a, 270b comprised in the horizontal plane 220 may be parallel to the two orthogonal axes 260a, 260b indicating the orientation of the mobile platform 250. For instance, the horizontal plane 220 may be established with a precision level allowing for a margin of error of ± 0.5 degree, ± 1 degree, ± 3 degree, or ± 5 degree. The margin of error may ensure that any deviation from true horizon-tality remains within acceptable tolerances, thereby maintaining alignment in connection with the orientation of the mobile platform 250.

[0036] In some examples, the boundary plane described in connection with Fig. 1 and / or Fig. 2 may be a finite two-dimensional plane having defined boundaries (e.g. having both a fixed width and height). Alternatively, the boundary plane may be an infinite plane. For example, the plurality of boundary coordinates defining the boundary plane may be continuously generated so that the virtual plane extends in at least one of the directions of the two axes 260a, 260b until a trigger is activated to pause or stop the generation of the plurality of coordinates defining the boundary plane. An infinite plane differs from a finite two-dimensional plane having predefined fixed boundaries (e.g. having both a fixed width and height). In addition, in generating an infinite plane, the trigger point for pausing or stopping the generation of more coordinates defining the boundary plane is unknown before the start of the generation of the boundary plane. The boundary plane may be infinite in the direction of at least one of the two orthogonal axes 270a, 270b. In some examples, the boundary plane 220 may be infinite in only one direction of at least one of the two orthogonal axes 270a, 270b. In some examples, the boundary plane may be infinite in both directions of the two orthogonal axes 270a, 270b. An infinite plane may be spanned by two intersecting axes, wherein the axes are infinitely long so that the plane itself has no limitations in either direction.

[0037] The method 100 may optionally comprise defining a restricted region and an unrestricted region 140 based on the boundary plane. The restricted region may be a region (e.g. a plurality of restricted region position coordinates) wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region may be a region (e.g. a plurality of unrestricted region position coordinates) wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. For example, if (or when) the compute circuitry of the crane determines that the position coordinates of a reference region of the boom system coincides with one or more of the plurality of restricted region position coordinates, at least one of a movement or speed of movement of the boom system may be limited. This reference region may be a selected or predetermined part of the boom system, such as the tip region and / or joint regions between different modules of the boom system (e.g. between the main arm and the knuckle boom, and / or e.g. between the knuckle boom and the fly jib).

[0038] Additionally, if (or when) the compute circuitry of the crane determines that the position coordinates of a reference region of the boom system coincides with one or more of the plurality of unrestricted region position coordinates, at least one of a movement or speed of movement of the boom system is not limited. For instance, the movement or the speed of movement of the boom system might not be subject to any additional restrictions (e.g. the second speed range or the tolerance speed range) imposed by software or the compute circuitry and may be governed by the crane's inherent design parameters within the unrestricted region. For example, the inherent design parameters may comprise the operational speed limit of the boom system, the rotational angle of the boom system, the maximum extension length of the boom, the load capacity at various extensions, the angular velocity during rotation, the hydraulic pressure limits, and the maximum permissible sway during operation. These parameters define the safe and efficient operation of the boom system, ensuring that all movements are within the designed tolerances to prevent mechanical failure and ensure precise control.

[0039] Fig. 3 shows an exemplary embodiment of the method 100 in relation to Figs. 1 and 2 presenting the restricted region 310 and the unrestricted region 320 as described above. The exemplary embodiment shown in Fig. 3 may comprise one or more or all of the features already described in connection with Figs. 1 and 2.

[0040] The method 100 may optionally comprise limiting the at least one of the movement of the boom system or the speed of the movement of the boom system 150 if at least part of the boom system is above the boundary plane. For example, in Fig. 3, a region above the boundary plane 220 comprised in the restricted region 310 may be referred to as a second zone 310a. For example, limiting the speed of the movement of the boom system within the second zone 310a (e.g. above the boundary plane 220) may be performed by providing an operable speed range of the crane within the second zone 310a. This speed range within the second zone 310a may be referred to as a second speed range. The second speed range may be less than a maximum allowable speed range of the boom system. The maximum allowable speed range may the maximum allowable speed range within the unrestricted region based on the inherent design parameters. For example, a maximal speed of the second speed range may be 0% - 90% (or e.g. 20% to 80%, or e.g. 20% to 50%) less than the maximum allowable speed range of the boom system. The second speed range may be predefined or be given using a manual user input. In another example, limiting the movement of the boom system may be stopping the boom system before any part of the boom system enters the second zone 310a.

[0041] In an example, the method 100 may optionally include limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane 151 if at least part of the boom system is below the boundary plane. For example, a region below the boundary plane may be referred to as a tolerance zone or first zone 310b. In Fig. 3, the tolerance zone 310b may be further defined by a perpendicular (orthogonal or shortest) distance (e.g. a tolerance distance 314) from the boundary plane 220. For example, the tolerance distance 314 may be a perpendicular or orthogonal distance from any point in the boundary plane 220 to the ground. The tolerance distance 314 may be predefined or may vary depending on the speed of the movement of the boom system within the unrestricted region 320. For illustrative purposes, a tolerance boundary plane 313 is presented in Fig. 3, which is a horizontal plane parallel to the boundary plane 220, positioned at the tolerance distance 314 below the boundary plane 220. In other words, the volume enclosed by the boundary plane 220 and the tolerance boundary plane 313 may be the tolerance zone 310b.

[0042] For example, if the speed of the movement of the boom system is slower or faster than a threshold speed, the tolerance distance 314 may be respectively shorter or longer than the predefined tolerance distance accordingly to reduce or increase the volume of the tolerance zone 314. For example, an operable speed range within the tolerance zone 310b (e.g. a tolerance speed range) may be predefined or given by a user input to limit the speed of the movement of the boom system according to the method step 151. In another example, within the tolerance zone 310b, the speed of the movement of the boom system may reduce gradually and reach to a minimum speed (e.g. zero or a predetermined minimum speed) so as to stop the movement of the boom system before entering the second zone 310a above the boundary plane 220. For example, the movement or the speed of the movement of the boom system might not be affected if it is related to the movement parallel to the boundary plane 220 in Fig. 3.

[0043] Defining the restricted region and the unrestricted region may provide a way to control the boom system of the crane relative to the boundary plane. For example, on a construction site, due to a presence of a structure, such as a building, a boom system of a crane might not be allowed to enter a certain area to avoid a collision. By defining the restricted region and the unrestricted region 130 based on the boundary plane, the method 100 enables to control the boom system so that the movement or the speed of the movement of the boom system might not be limited in the unrestricted region (or may be governed by the inherent design parameters).

[0044] Further, as shown in Fig. 3, including the second zone 310a and the tolerance zone 310b within the restricted region 310 may provide an additional safety measure to control the boom system. Since the movement or the speed of the movement of the boom system can be limited accordingly below and above the boundary plane by introducing the two zones within the restricted region, it may reduce a risk of system failure or error.

[0045] Fig. 4 shows another exemplary embodiment of the method 100 in connection with Figs. 1 to 3. The exemplary embodiment shown in Fig. 4 may comprise one or more or all of the features already described in connection with Figs. 1 - 3. In an example, the method 100 may optionally comprise defining 170 the boundary plane based on a determined angle 430 from the boom system. The method 100 may include defining 160 the slewing angle of the boom system and defining 170 the boundary plane based on the slewing angle. Defining the boundary plane may include selecting, determining and / or inputting a slewing angle of the boom system (in 160) and generating 170 the boundary plane based on the slewing angle. Therefore, the boundary plane may be defined based on the slewing angle.

[0046] The slewing angle may be an angle of rotation of a boom system of a crane around a vertical reference axis. Optionally, the vertical reference axis may be located at a central point or region of the crane column. In Fig. 4, the slewing angle 420 is illustrated as an angle between the boom system 230 and the axis 260b. The axis 260b may be a longitudinal axis that crosses or intersects the center of the mobile platform 250 and the crane.

[0047] For illustrative purposes, the mobile platform 250 and the boom system 230 of the crane are shown in Fig. 4. As shown in the example of Fig. 4, the boundary plane may optionally be a vertical plane. The vertical boundary plane may be orthogonal to the plane defined by the axes 260a, 260b related to the orientation of the mobile platform of Fig. 2. For example, the vertical boundary plane 410 and the plane described by the axes 260a, 260b may be orthogonal with respect to each other. For example, the vertical plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees. Similar to the horizontal plane as described in Fig. 2, the margin of error may ensure that any deviation from true verticality remains within acceptable tolerances, thereby maintaining alignment in relation to the orientation of the mobile platform.

[0048] The determined angle 430 may be an angle between the boom system 230 and the boundary plane 410. For example, the determined angle may be a predefined angle (e.g. 90 degree, or e.g. 45 degree) or may be defined using a user input as an angle from the boom system. Fig. 4 shows the determined angle 430 from the boom system 230, which is used to further define the vertical boundary plane 410.

[0049] The method 100 may additionally or optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 180 on one side or the other side of the boundary plane depending on a user input. The limiting 180 can be understood in relation to operating the boom system within the second zone 310a as described with respect to Figs. 1 to 3 according to the method step 150. In Fig. 4, a region on a first side (e.g. the right side) of the boundary plane 410 is illustrated as a second zone 440a. The first side may be a designated side of the boundary plane 410. Optionally, the side may be the designated by the user using a manual input via the remote control unit. In an alternative example, the first side may be on the left side of the boundary plane. For example, the second zone may be on the left side of the boundary plane depending on surrounding environment of the crane and desirable operation of the boom system.

[0050] Limiting at least one of the movement of the boom system or the speed of the movement of the boom system 181 may optionally be based on a defined distance from the vertical boundary plane if at least part of the boom system is within the defined distance. In connection with Figs. 1 to 3, it can be understood in relation to operating the boom system within the tolerance zone 310b. In Fig. 4, the tolerance zone 440b is illustrated on the first side (e.g. left side) of the boundary plane 410. As described in Fig. 3, the tolerance zone 440b may be dynamically adjusted depending on the speed of the boom system. The width of the tolerance zone may be varied over time based on the movement of the boom within the tolerance zone. For example, the width of the tolerance zone may be adjusted if the boom is detected or observed to move in an undesirable manner within the tolerance zone, e.g. at a speed outside the tolerance speed range.

[0051] Limiting the movement of the boom system or the speed of the movement of the boom system according to its position relative to the boundary plane 180, 181 may contribute to the safe operation of the crane. Similarly, having two different zones on each side (e.g. respectively on different sides) of the boundary plane may provide an additional safety measure to reduce the risk of accidents.

[0052] Method 100 provides a way to operate the boom system of the crane by defining the reference position and the boundary plane. Depending on applications, the boundary plane may be horizontal or vertical plane to avoid a collision and damages to objects or human on a construction site. Further, any combination of boundary planes may be used based on a progress of a construction project. It may enable a user to easily set a further restricted region, which may minimize an error in operating the boom system of the crane. For example, the method 100 may include defining a first boundary plane comprising the first plurality of boundary coordinates (e.g. the horizontal plane described in connection with Figs. 1 to 3) and additionally defining a second boundary plane comprising a second plurality of boundary coordinates (e.g. the vertical plane described in connection with Fig. 4). Defining the first boundary plane causes or results in the defining of the first restricted region. Defining the second boundary plane causes or results in the defining of the second restricted region. The resulting restricted region (e.g. the further restricted region or the third restricted region) is based on the first restricted region and the second restricted region. For example, the third restricted region may be based on an overlap of the first restricted region and the second restricted region. For example, by adding the second boundary plane, the resulting restricted region (e.g. the third restricted region) may be based on the coordinates of both the first plurality of boundary coordinates and the second plurality of boundary coordinates. In some cases, this may result in a third restricted region that is different from the first restricted region and the second restricted region. In some cases, the resulting third region may be respectively larger than the first restricted region and the second restricted region. For example, the volume of the resulting third region may be an addition (or summation) of the volume of the first restricted region and the second restricted region. In some alternative cases, the resulting third region may be respectively smaller than the first restricted region and / or the second restricted region. For example, the volume of the resulting third region may be a subtraction of the volume between the first restricted region and the second restricted region.

[0053] Examples below describes another method to control a boom system of a crane (e.g. Figs. 5 -6b).

[0054] Fig. 5 illustrates a flow chart of a method 500 to control a boom system of a crane. The exemplary embodiment shown in Fig. 5 may comprise one or more or all of the features already described in connection with Figs. 1-4.

[0055] The method 500 comprises defining a first coordinate 510 as a first reference position and defining a second coordinate 520 as a second reference position. Further, the method 500 comprises defining at least one vertical boundary plane 530 based on at least one of the first reference position and the second reference position. Similar to the boundary plane described in Figs. 1-4, the at least one boundary plane may not necessarily be a finite two-dimensional plane defined using numerical values (e.g. fixed width and height). Alternatively, the at least one boundary plane may be a finite plane depending on applications.

[0056] As described above, depending on the position of the crane or the surrounding environment of the crane, the two reference positions and the boundary plane comprising at least one of the first reference position or the second reference position may be used to avoid a collision of the boom system of the crane with any obstacles at a construction site.

[0057] In an example, at least one of the first or the second coordinates may optionally be defined using a remote control. For example, if the crane is positioned close to a structure at a construction site, a user outside of the crane may have a better view of the crane, the boom system, and its surroundings. This may allow the user to position the tip of the boom system more accurately and safely using the remote control.

[0058] In an example, at least one of the first or the second coordinate may optionally be defined using a coordinate of a tip region of the boom system. For example, an operator of the crane may be able to see the surrounding within the crane. In such situations, the at least one of the first or the second coordinates may be defined using the coordinate of the tip region of the boom system directly, e.g. using an input device (e.g. a lever or a joystick).

[0059] In an example, the at least one vertical boundary plane may optionally comprise the first reference position and the second reference position.

[0060] Fig. 6a shows an exemplary embodiment of the method 500 in connection with Fig. 5. The exemplary embodiment shown in Fig. 6a may comprise one or more or all of the features already described in connection with Figs. 1-5.

[0061] The first reference position 630a and the second reference position 630b are presented in Fig. 6a. The at least one vertical boundary plane 630 may comprise the first reference position 630a and the second reference position 630b. For example, the at least one vertical boundary plane 630 may be orthogonal to an orientation of the mobile platform 610 described by two (orthogonal) axes 610a, 610b similar to the orientation of the crane described by the axes 260a, 260b shown in Fig. 2. Additionally, the at least one vertical boundary plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees, ensuring that any deviation remains within acceptable tolerance.

[0062] In an example, the at least one vertical boundary plane may optionally be configured to define a restricted region and an unrestricted region. The restricted region is a region in which at least one of a movement of the boom system or speed of the movement of the boom system is limited. The unrestricted region being a region in which at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. The restricted region and the unrestricted region can be understood in connection with Figs. 1 - 5. Fig. 6b shows an example of the restricted region 640 and the unrestricted region 650 referring to Fig. 5 and Fig. 6a. The exemplary embodiment shown in Fig. 6b may comprise one or more or all of the features already described in relation to Figs 1 to Fig. 6a.

[0063] In an example, the method 500 may optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 540 on one side or the other side of the at least one vertical boundary plane depending on a user input.

[0064] For example, the method step 540 can be understood in connection with the method steps 140, 180 within the second zones 310a, 440a in Figs. 1-5. Similarly, the region on one side or the other side of the at least one vertical boundary plane may be referred to as a second zone. In Fig. 6b, the second zone 640a is positioned on the right side of the at least one vertical boundary plane 630. As described above, referring to Figs. 1-4, for example, limiting the movement of the boom system 620 may be stopping the boom system 620 before entering the second zone 640a. Further, limiting the speed of the movement of the boom system 620 within the second zone 640a may be performed by providing an operable speed range of the crane (e.g. a second speed range).

[0065] In an example, the method 500 may optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 541 based on a predefined distance from the at least one vertical boundary plane if at least part of the boom system is within the predefined distance.

[0066] For example, the method step 541 can be understood in connection with the method steps 151, 181 within the tolerance zones 310b, 440b in Figs. 1 - 4. Similarly, the region defined based on the predefined distance and the at least one vertical boundary plane may be referred to as a tolerance zone. In Fig. 6b, the tolerance zone 640b is positioned on the left side of the at least one vertical boundary plane 630. The predefined distance may be referred as to a tolerance distance 631.

[0067] As described in Fig. 3, the tolerance distance 631 may be a perpendicular distance from any point in the boundary plane to the other side of the second zone 640a. Additionally, the tolerance distance 631 may be predefined or may vary depending on the speed of the movement of the boom system within the unrestricted region 650. For example, if the speed of the movement of the boom system is slower or faster than a threshold speed, the tolerance distance 631 may be shorter or longer than the predefined tolerance distance accordingly to reduce or increase the volume of the tolerance zone 640b. For example, an operable speed range within the tolerance zone 640b (e.g. a tolerance speed range) may be predefined or given by a user input to limit the speed of the movement of the boom system according to the method step 541. In another example, within the tolerance zone 640b, the speed of the movement of the boom system may reduce gradually and reach to a minimum speed (e.g. zero or a predetermined minimum speed) so as to stop the movement of the boom system before entering the second zone 640a in Fig. 6b.

[0068] Therefore, as described in Figs. 1 - 6b, the method 500 may provide a way to operate the boom system of the crane in relation to its surrounding environment. Furthermore, by having the two different zones within the restricted region, the method 500 may reduce a risk of collision with structures at a working site.

[0069] Fig. 7 illustrates another exemplary embodiment of the method 500 in connection with Figs. 5 - 6b. The embodiment shown in Fig. 7 may comprise one or more or all of the features already described in connection with Figs. 1 to 6b.

[0070] As shown in Fig. 7, the least one of a group of the first and the second reference positions may optionally be defined using a slewing angle of the boom system. Referring to Figs. 6a and 6b, at least one of a group of the first reference position 630a and the second reference position 630b may be defined using a slewing angle of the boom system. Depending on application, it may be convenient to use a slewing angle to define at least one of a group of the first or the second reference position 630a, 630b as shown in Fig. 7.

[0071] The method 500 may optionally comprise defining a first vertical plane 550 comprising the first reference position and a reference point and defining a second vertical plane 560 comprising the second reference position and the reference point. In an example, the reference point may optionally be positioned within a region of a mobile platform on which the crane is mounted.

[0072] Fig. 7 shows the first vertical plane 710a comprising the first reference position 630a and the reference point 720 and the second vertical plane 710b comprising the second reference position 630b and the reference point 720. The reference point 720 is shown in the mobile platform 610 and at the point where the first and the second vertical planes 710a, 710b intersect.

[0073] The restricted region may be a volume enclosed by the first plane and the second plane. The volume is illustrated as a top-down cross-sectional view, presenting the restricted region 640. The resulting restricted region 640 may be based on the first restricted region associated with the first vertical plane 710a and the second restricted region associated with the second vertical plane 710b. For example, the third restricted region may be derived based on an overlap of a first restricted region and a second restricted region. It may be possible that the restricted region is not bounded as a sector by the two vertical planes 710a, 710b, and the arc between the first and second reference positions 630a, 630b.

[0074] The resulting unrestricted region 650 may be based on the first unrestricted region associated with the first vertical plane 710a and the second unrestricted region associated with the second vertical plane 710b. The resulting unrestricted region 650 can be understood as the other side of the restricted region 640.

[0075] In an example, the method 500 may optionally comprise limiting at least one of a movement of at least part of the boom system or speed of the movement of at least part of the boom system 570 within a predefined distance from at least one of the first vertical plane and the second vertical plane. Similar to Figs. 1 - 6b, the method step 570 can be understood in relation to controlling the boom system within the tolerance zones 310b, 440b, 640b. The predefined distance may be determined or may vary depending on the speed of the boom system within the unrestricted region. For example, the at least part of the boom system may be at least one of a main boom, an extension boom, or a fly jib

[0076] For example, limiting the movement of at least part of the boom system may be stopping the movement of the boom system before entering the restricted region. For example, limiting the speed of the movement of at least part of the boom system may be providing a tolerance speed range within the predefined distance. In another example, the speed of the boom system may gradually decrease and reach to a minimum speed (e.g. zero or any fixed speed which is predetermined or given by a user input) before entering the restricted region.

[0077] In an example, the at least part of the boom system may optionally be a main boom, a tip of the boom, an extension boom, or a fly jib. Therefore, the method 500 may provide a way to control the boom system of the crane using the two reference positions and the at least one boundary plane. Further, the method 500 may be used when the crane is positioned around a corner of a building or elements are positioned in an area which can be covered by two slewing angles of the boom system of the crane as illustrated in Fig. 7.

[0078] Examples below describes another method to control a boom system of a crane (e.g. Figs. 8 - 9b).

[0079] Fig. 8 illustrates a method 800 for controlling a boom system of a crane. The method 800 comprises defining a reference axis 810. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the method 800 comprises defining a boundary plane 820 based on the reference axis.

[0080] Fig. 9a shows an exemplary embodiment of the method 800. The mobile platform 900 and the reference axis 910 crossing the region of the mobile platform 900 are presented in Fig. 9. For example, the reference axis 910 may be a longitudinal axis crossing the center of the mobile platform 900. The exemplary embodiment shown in Fig. 9a may comprise one or more or all of the features already described in connection with Figs. 1 to 8.

[0081] In an example, the boundary plane may optionally be a vertical boundary plane parallel to the reference axis. For example, the vertical boundary plane can be understood in relation to the orientation of the mobile platform in Fig. 2. In other words, the boundary plane may be orthogonal to the orientation of the mobile platform, which is parallel to the ground. For instance, the vertical plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees. The margin of error may ensure that any deviation from true verticality remains within acceptable tolerances, thereby maintaining alignment in relation to the orientation of the mobile platform. Additionally, the reference axis might not have a fixed length. Further, as described in Figs. 1 - 4, the boundary plane may be a finite two-dimensional plane having defined boundaries (e.g. having both a fixed width and height). Alternatively, the boundary plane may be an infinite plane.

[0082] The method may optionally comprise defining a restricted region 830 based on the boundary plane. The location of the boundary plane 920 may be selected by the user. For example, the user may select the location of the boundary plane 920 to be on a first longitudinal side of the vehicle (e.g. the left side of the vehicle). Alternatively (or additionally), the user may select the location of the boundary plane 920 to be a second different longitudinal side of the vehicle (e.g. the right side of the vehicle).

[0083] In Fig. 9a, the boundary plane 920 parallel to the reference axis may be positioned on the left side of the mobile platform. The restricted region 930 is illustrated on the left side of the boundary plane 920. Depending on the position of the boundary plane (e.g. left or right side of the reference axis), the restricted region may be on one side or the other side of the boundary plane, e.g. left or right side of the boundary plane depending on the user input. It may be used in a situation such that the crane is positioned next to a road or a building to avoid a collision of the boom system with the building or an accident.

[0084] Similar to the unrestricted regions 320, 650, 750 described above, the movement of the boom system of the crane or the speed of the movement of the crane might not be limited within an unrestricted region 940 in Fig. 9a. As described in Fig. 2, for instance, within the unrestricted region, a user may be able to control the boom system of the crane using either the lever, the joystick, or the remote control unit in accordance with the crane's inherent design parameters.

[0085] In an example, the method 800 may optionally comprise limiting or stopping the movement 840 of the tip region of the boom system before entering the restricted region. For example, a speed of the boom system of the crane may gradually decrease as the distance between the boom system and the boundary plane becomes shorter and the movement of the boom system may stop before entering the restricted region to avoid hitting a building, a car, or a human within the restricted region.

[0086] In an example, the reference axis may optionally be parallel to a symmetry axis of the mobile platform.

[0087] Fig. 9b shows another exemplary embodiment of the method 800 referring to Fig. 8 and Fig. 9a. The exemplary embodiment shown in Fig. 9a may comprise one or more or all of the features already described in connection with Figs. 8 and 9a.

[0088] In Fig. 9b, the boundary plane 920 is positioned on the symmetry axis 910a (e.g. the longitudinal symmetry axis) of the mobile platform and the restricted region 930 is positioned on the left side of the boundary plane and the unrestricted region 940 is on the right side of the boundary plane. The symmetry axis 910a, the reference axis 910, and the boundary plane 920 are aligned along the same line crossing the longitudinal axis of the mobile platform 900. However, depending on the position of the crane and a structure within the proximity of the boom system of the crane, the restricted region may be left or right side of the boundary plane. Similarly, the speed of the boom system of the crane may gradually decrease as the distance between the boom system and the boundary plane becomes shorter and the movement of the boom system may stop before entering the restricted region. Therefore, the method 800 may provide a way to operate the boom system of the crane based on the reference axis and the boundary plane, which may reduce a risk of an accident or a collision while operating the crane within proximity of a road or a building.

[0089] The combination of boundary planes may be selected by the user. For example, an input by the user may cause the compute circuitry to define a first boundary plane, The first boundary plane may be any one of the vertical boundary planes described in connections with Figs. 2 to 9b. Additionally or optionally, a further input by the user may cause the compute circuitry to define a second boundary plane. The second boundary plane may be different from the first boundary plane. For example, optionally the second boundary plane may be a different vertical boundary plane from the first boundary plane. Alternatively, the second boundary may be a horizontal boundary plane (e.g. the horizontal plane described in connection with Figs. 1 to 3). The (horizontal) boundary plane described in connection with Figs. 1 to 3 may be used in connection with any of the orthogonal boundary planes described in connection with Figs. 4 to 9b.

[0090] Figs. 10 to 15 will illustrate various apparatuses for controlling a boom system of a crane in relation to the methods (Figs. 1 - 9b).

[0091] Fig. 10 illustrates an example of an apparatus 1000 for controlling a boom system of a crane. The apparatus comprises an input interface 1010 configured to receive information about a coordinate of a tip region of the boom system as a reference position. Further, the apparatus 1000 comprises a compute circuitry 1020 configured to define (or generate) a boundary plane based on the reference position. Lastly, the apparatus 1000 comprises an output interface 1030 to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1020.

[0092] The apparatus 1000 performs any of the methods described above in connection with Figs. 1 - 4. The example shown in Fig. 10 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 1 - 4).

[0093] For example, the apparatus 1000 may be a crane controller as described above, which controls the movement of the crane and outputs control signals to cause the actuators of the crane to perform an operation. Further, for manual input, the crane may exhibit a crane mounted input device (operating panel) having, for example, one or more levers or joysticks to control motion as well as a user interface to input or change user settings and / or crane parameters such as for example different modes of operation of the crane. The input device communicates with the crane controller that transforms the user input into the actuator operations required to result with the desired movement as per the input via the input device. Using the input device, a user may control the boom system of the crane to position the tip region of the boom system. For example, a remote control unit may be used to set the coordinate. Then, the input interface 1010 may receive the information about the coordinate of the tip region set by the input device or the remote control unit as the reference position.

[0094] The compute circuitry 1020 defines or generates the boundary plane based on the reference position, for example, as a form of data representation comprising the coordinate. In an example, the boundary plane may optionally be a horizontal plane similar to Figs. 2 and 3.

[0095] In an example, the compute circuitry 1020 may optionally be configured to define a restricted region and an unrestricted region based on the boundary plane as illustrated in Fig. 3. Further, the restricted region may be a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region may be a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited as described above. For example, within the unrestricted region, a user may be able to control the boom system of the crane using either the lever, the joystick, or the remote control unit in accordance with the crane's inherent design parameters as described in Fig. 2.

[0096] Similarly, as illustrated in Fig. 3, the restricted region may comprise a tolerance zone and a second zone in relation to the boundary plane. In an example, the compute circuitry 1020 may optionally be configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane (e.g. the tolerance zone). It can be understood as generating information to control the boom system of the crane in the tolerance zone. Additionally, the distance from the boundary plane can be understood as a perpendicular distance from any point on the boundary plane to the ground and may be referred to as a tolerance distance. As illustrated in Fig. 3, the tolerance zone can be understood as a 3D volume with one face defined by the boundary plane and the opposite face defined by a parallel horizontal plane at the tolerance distance from the boundary plane. The tolerance distance may be predefined or may be set manually using a user input. The input interface 1010 may be used to receive the manual user input.

[0097] In this context, the information may comprise a range of operating speed of the boom system within the tolerance zone (e.g. a tolerance speed range). For example, a maximum speed within the tolerance speed range may be slower than the maximum speed can be used in the unrestricted region. In another example, the information may comprise an instruction which restricts the movement of the boom system within the tolerance zone. For example, the movement of the boom system may be so as to be operated below the horizontal boundary plane. Further, the information may comprise a perpendicular distance (or shortest distance) between a closest point of the boom system to the boundary plane and the boundary plane. The closest point can be understood as a point on the boom system such that the distance between the point on the boom system and the boundary plane is minimized. The compute circuitry 1020 may calculate the perpendicular distance between the boom system and the boundary plane.

[0098] Depending on the speed of the boom system and the perpendicular distance between the boom system and the boundary plane, the compute circuitry 1020 may adjust the tolerance speed range or the tolerance distance accordingly. For example, if the operating speed of the boom system is faster than a threshold speed, the tolerance distance may be longer than a predefined tolerance distance so as to limit the speed of the boom system within the tolerance zone and stop the boom system before entering the second zone. For example, the compute circuitry 1020 may generate information so as to gradually reduce the speed of the boom system based on the perpendicular distance as the boom system approaches to the boundary plane.

[0099] Further, the compute circuitry 1020 may optionally be configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane (e.g. the second zone). For example, the information may be an instruction so as to restrict the movement of the boom system within the second zone, which may restrict the movement of the boom system not to enter the region above the boundary plane. In another example, the information may be a range of the speed of the movement of the boom system (e.g. a second speed range).

[0100] In an example, the input interface 1010 may optionally be configured to receive information about a slewing angle. Similar to the coordinate, the slewing angle may be set using the input device or the remote control. Further, the compute circuitry 1020 may optionally be configured to define or generate the boundary plane based on the slewing angle. As illustrated in Fig. 4, the boundary plane may optionally be a vertical plane. The vertical plane can be understood as a perpendicular plane which is orthogonal to the orientation of the mobile platform defined in Fig. 2.

[0101] In this context, the compute circuitry 1020 may generate information to operate the boom system of the crane in relation to the vertical boundary plane. In an example, the compute circuitry 1020 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input. In this context, this region can be understood as the second zone similar to Fig. 4. For example, as described above, the compute circuitry 1020 may generate the second speed range or generate the instruction so as to stop the movement of the boom system within the second zone.

[0102] Additionally, in an example, the compute circuitry 1020 may be optionally configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance. In this context, this region can be understood as the tolerance zone described in Fig. 4. Further, the predefined distance can be understood as the tolerance distance as described above. Similarly, the compute circuitry 1020 may generate the tolerance speed range or generate the instruction so as to stop the movement of the boom system before entering the second zone.

[0103] As described above, the output interface 1030 outputs the control data to cause the actuators of the crane to perform a motion using the information generated by the compute circuitry 1020 based on the reference position and the boundary plane.

[0104] Therefore, the apparatus 1000 may provide a way to operate the boom system of the crane using the reference position and boundary plane. It may facilitate a user to control the crane safely in the presence of a structure on a construction site, which may prevent a collision of the boom system due to its vertical or horizontal movement.

[0105] Fig. 11 illustrate an example of an apparatus 1100 for controlling a boom system of a crane. The apparatus 1100 comprises an input interface 1110 configured to receive information about a first coordinate as a first reference position and information about a second coordinate as a second reference position. Further, the apparatus 1100 comprises a compute circuitry 1120 configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position. The apparatus 1100 further comprise an output interface 1130 configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1120.

[0106] The apparatus 1100 performs any of the methods described above in connection with Figs. 5 - 7. The example shown in Fig. 11 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 5 - 7).

[0107] For example, referring to Fig. 10, the apparatus 1100 may be a crane controller as described above. Likewise, an input device as described above may be used for a manual user input to send a signal (e.g. information) to the input interface 1100.

[0108] In an example, at least one of the information about the first or the second coordinate may optionally be defined using a remote control. Further, for example, at least one of the information about the first or the second coordinate may optionally be provided using a coordinate of a tip region of the boom system. As described above in Fig. 10, the input device may be used to position the tip of the boom system. Then, the input interface 1110 receives the information about the first and the second coordinates.

[0109] In an example, the at least one vertical boundary plane may optionally comprise the first reference position and the second reference position. For example, the at least one vertical boundary plane comprising the first and the second reference position can be understood as the vertical boundary plane 630 in Figs. 6a and 6b.

[0110] In an example, the compute circuitry 1120 may optionally configured to define a restricted region and an unrestricted region based on the at least one vertical boundary plane. The restricted region is a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited. On the other hand, the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. For instance, the speed of the speed of the movement of the boom system within the unrestricted region may fall within the crane's inherent design parameters, as described in Fig. 2.

[0111] For example, the restricted region and the unrestricted region can be understood in relation to Fig. 6b. Additionally, the restricted region may comprise a tolerance zone and a second zone as described in Fig. 6b.

[0112] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input. In connection with the second zone 640b in Fig. 6b, the information may comprise an instruction to limit the movement of the boom system, e.g. stopping the boom system before entering the second zone. For example, the information may comprise a range of speed (e.g. a second speed range) limit within the second zone.

[0113] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance. This can be understood in relation to the tolerance zone 640a comprised in Fig. 6b. The predefined distance may be similar to the tolerance distance 631 in Fig. 6b. In connection with the second zone 640b in Fig. 6b, the information may comprise an instruction to limit the movement of the boom system, e.g. stopping the boom system before entering the second zone. For example, the information may comprise a range of speed (e.g. a tolerance speed range) limit within the tolerance zone. For example, the maximum speed of the tolerance speed range may be slower than that of the crane. Further, the maximum speed of the second zone may be slower than that of the tolerance speed range.

[0114] In an example, the compute circuitry 1120 may optionally be configured to define a vertical first plane comprising the first reference position and a reference point and to define a vertical second plane comprising the second reference position and the reference point. This can be understood in connection with Fig. 7. The first and the second vertical plane may be the first and the second vertical plane 710a, 710b in Fig. 7. In an example, the reference point may optionally be positioned within a region of a mobile platform on which the crane is mounted similar to the reference point 720 in Fig. 7.

[0115] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of a movement of all part of the boom system or speed of the movement of all part of the boom system if at least part of the boom system is within a volume enclosed by the first plane and by the second plane similar to the restricted region 740 in Fig. 7.

[0116] As described above, the output interface 1130 outputs the control data to cause the actuators of the crane to perform a motion using the information generated by the compute circuitry 1120 based on the reference position and the boundary plane.

[0117] Therefore, the apparatus 1100 may provide a way to operate the boom system of the crane using the first and the second reference positions and the at least one vertical boundary plane. Further, the apparatus 1100 may be used when the apparatus 1100 is positioned around a corner of a building or elements are positioned in an area which can be covered by two slewing angles of the boom system of the apparatus 1100 analogously to what is described for Fig. 7.

[0118] Fig. 12 illustrates an example of an apparatus 1200 for controlling a boom system of a crane. The apparatus 1200 comprises an input interface 1210 configured to receive information about a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the apparatus 1200 comprises a compute circuitry 1220 configured to define a vertical boundary plane parallel to the reference axis. Lastly, the apparatus 1200 comprises an output interface 1230 configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1220.

[0119] The apparatus 1000 performs any of the methods described above in connection with Figs. 8 - 9b. The example shown in Fig. 12 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 8 - 9b).

[0120] For example, referring to Fig. 10, the apparatus 1200 may be a crane controller as described above. Likewise, an input device as described above may be used for a manual user input to send a signal (e.g. information) to the input interface 1210.

[0121] As shown in Figs. 9a and 9b, for example, the reference axis may be a longitudinal axis crossing the center of the crane. Then, the compute circuitry 1220 defines a vertical boundary plane parallel to the reference axis.

[0122] In an example, the reference axis is parallel to a symmetry axis of the mobile platform.

[0123] In an example, the compute circuitry 1220 may optionally be configured to define a restricted region based on the vertical boundary plane. The restrict region is one side or the other side of the vertical boundary plane depending on a user input. In connection with Figs. 9a and 9b, the restricted region can be understood as the restricted region 930.

[0124] In an example, the compute circuitry 1220 may optionally be configured to generate information about stopping the movement of the tip region of the boom system to enter the restricted region. For example, the compute circuitry may generate information so as to reduce the speed of the boom system gradually to zero so that it stops before reach the boundary plane.

[0125] In an example, the reference axis is aligned with a boundary of the region of the mobile platform similar to Fig. 9a.

[0126] As described above, the output interface 1230 outputs the control data to cause actuators of the crane to perform the motion using the information generated by the compute circuitry 1220 in relation to Figs. 9a and 9b.

[0127] Therefore, the apparatus 1200 may provide a way to operate the boom system of the crane using the reference axis and the boundary plane, which may reduce a risk of an accident or a collision while operating the crane within proximity of a road or a building.

[0128] Fig. 13 illustrates an example of a crane 1300. The crane 1300 comprises a boom system 1310 and a crane controller 1320 according to the apparatuses 1000, 1100, 1200 as described above (Figs. 10 - 12).

[0129] In an example, the crane 1300 may optionally comprise an operating console 1330 configured to set a reference position. For example, the operating console 1330 can be understood as the input device as described in Fig. 10, which comprises one or more levers or joysticks to control motion of the boom system of the crane and a user interface to input or change user settings and / or crane parameters, e.g. different modes of operation of the crane. Further, a remote control may be used to send a signal to the crane controller 1320 as described above.

[0130] For example, the reference position can be understood as the reference position 210 described in Figs. 1 - 4 or the position 630a or 630b in Figs. 6a - 7 depending on surrounding environment of the crane to prevent a risk of collision or accident.

[0131] In an example, the operating console 1330 may optionally be configured to select an operation mode causing the crane controller 1320 to be operated according to at least one method in connection with Figs. 1 - 4, one method in connections with Figs. 5 - 7, or one method in connection with Figs. 8 - 9b, or any combination of examples as described above referring to Figs. 1 - 9b. The selection of the operation mode may depend on structures or surrounding environment of the crane to avoid causing damages to a construction site or injuries.

[0132] As described above, the method 100 described in Figs. 1 - 4 is in relation to the apparatus 1000 illustrated in Fig. 10. Similarly, the method 500 shows in Figs. 5 - 7 and the method 800 shown in Figs. 8 - 9b are in relation to the apparatus 1100 described in Fig. 11 and the apparatus 1200 described in Fig. 12, respectively.

[0133] In this context, for example, the crane controller 1320 may comprises an input interface, a compute circuitry, and an output interface as described in Fig. 10 - 12. When a user controls the boom system 1310 of the crane 1300 using the operating consol 1330 or the remote control, the input interface of the crane controller 1320 receives information (e.g. a signal or data) and the compute circuitry generates information related to the operation of the actuators. Then, for example, the output interface transmits control data to the actuators of the crane 1300 to perform a movement using the information generated by the compute circuitry according to the examples in relation to Fig. 10 - 12. The crane controller 1320 may receive a manual user input via the operating console 1330 (e.g. a lever, a joystick, or a user interface) or the remote control. Then, the crane controller 1320 receives data or signal using the input interface. Based on the received data or signal (e.g. a reference position), the compute circuitry is configured to perform examples according to Figs. 10 - 12.

[0134] Further, the output interface may output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. In other words, the crane controller 1320 outputs control data based on the selection of the operation mode to cause actuators of the crane to control a movement of the boom system 1310 using the information generated by the compute circuitry.

[0135] Fig. 14 illustrates an exemplary user interface of the operating console 1330. For example, the user interface can display various operation modes to control the crane according to the different operation modes as described above and a user may select an operation mode and provide a manual input using the operating console 1330 accordingly. For example, four different modes are presented as a form of a graphical user interface (GUI) 1400 of the operating console 1330. A first operation mode 1410 is in connection with Fig. 1 and Fig. 3. As shown in Fig. 1, the first operation mode may allow a user to operate the boom system of the crane by defining the reference position and the horizontal boundary plane. In other words, when the first operation mode is selected or activated, a user may control the boom system of the crane using a lever or joystick and set a reference position using a coordinate of the tip region of the boom system.

[0136] A second operation mode 1420 is in relation with Fig. 5 and Fig. 6b, which may allow a user to define two reference positions and the vertical boundary plane. A third operation mode 1430 relates to examples illustrated in Fig. 1 and Fig. 7. The third operation model 1430 may allow a user to define the two slewing angles and the first and the second vertical planes accordingly similar to Fig. 7. Lastly, a fourth operation mode 1440 may provide a way to operate the boom system of the crane according to Figs. 9a and 9b. For example, a user using the fourth operation mode 1440 may be able to choose one side or the other side of the boundary plane so that the selected side may be chosen as the restricted region 930 as shown in Figs. 9a and 9b.

[0137] Fig. 15 illustrates an example of a mobile platform 1500. The mobile platform 1500 comprises a crane 1510 in connection with any examples described above (Figs. 10 - 12).

[0138] In the following, some examples of the proposed concept are presented: An example (e.g., example 1) relates to a method for controlling a boom system of a crane, the method comprising defining a coordinate of a tip region of the boom system as a reference position and defining a boundary plane based on the reference position.

[0139] Another example (e.g., example 2) relates to a previous example (e.g., example 1) or to any other example, further comprising that the coordinate is defined using a remote control.

[0140] Another example (e.g., example 3) relates to a previous example (e.g., example 1) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0141] Another example (e.g., example 4) relates to the boundary plane comprises the reference position.

[0142] Another example (e.g., example 5) relates to a previous example (e.g., one of the examples 1 or 2) or to any other example, further comprising receiving information about an orientation of a mobile platform associated with the boom system, wherein the boundary plane is defined such that it is parallel to the orientation of the platform.

[0143] Another example (e.g., example 6) relates to a previous example (e.g., one of the examples 1 to 5) or to any other example, further comprising defining a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0144] Another example (e.g., example 7) relates to a previous example (e.g., one of the examples 2 to 6) or to any other example, further comprising limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane.

[0145] Another example (e.g., example 8) relates to a previous example (e.g., one of the examples 2 to 7): further comprising limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane.

[0146] Another example (e.g., example 9) relates to a previous example (e.g., one of the examples 1 to 7) or to any other example, further comprising defining a slewing angle of the boom system, wherein the boundary plane is further defined based on the slewing angle.

[0147] Another example (e.g., example 10) relates to a previous example (e.g., example 9) or to any other example, further comprising defining the boundary plane such that it comprises the reference point and a determined angle between the boom system and the boundary plane.

[0148] Another example (e.g., example 11) relates to a previous example (e.g., example 10) or to any other example, further comprising that the boundary plane is a vertical plane.

[0149] Another example (e.g., example 12) relates to a previous example (e.g., example 11) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0150] Another example (e.g., example 13) relates to a previous example (e.g., one of the examples 11 or 12) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a defined distance from the vertical boundary plane if at least part of the boom system is within the defined distance.

[0151] An example (e.g., example 14) relates to a method for controlling a boom system of a crane, the method comprising defining a first coordinate as a first reference position, defining a second coordinate as a second reference position, and defining at least one vertical boundary plane based on at least one of the first reference position and the second reference position.

[0152] Another example (e.g., example 15) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first and the second coordinates is defined using a remote control.

[0153] Another example (e.g., example 16) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first and the second coordinates is defined using a coordinate of a tip region of the boom system.

[0154] Another example (e.g., example 17) relates to a previous example (e.g., one of the examples 14 or 16) or to any other example, further comprising that the at least one vertical boundary plane comprises the first reference position and the second reference position.

[0155] Another example (e.g., example 18) relates to a previous example (e.g., one of the examples 14 to 17) or to any other example, further comprising that the at least one vertical boundary plane is configured to define a restricted region and an unrestricted region, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0156] Another example (e.g., example 19) relates to a previous example (e.g., example 14), further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0157] Another example (e.g., example 20) relates to a previous example (e.g., one of the examples 18 or 19) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0158] Another example (e.g., example 21) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first or the second reference positions is defined using a slewing angle of the boom system.

[0159] Another example (e.g., example 22) relates to a previous example (e.g., one of the examples 14 or 21) or to any other example, further comprising defining a vertical first plane (550) comprising the first reference position and a reference point, defining a vertical second plane (560) comprising the second reference position and the reference point.

[0160] Another example (e.g., example 23) relates to a previous example (e.g., example 22) or to any other example, further comprising that the reference point is positioned within a region of a mobile platform on which the crane is mounted.

[0161] Another example (e.g., example 24) relates to a previous example (e.g., one of the examples 18 or 22) or to any other example, further comprising that the restricted region is a volume enclosed by the first plane and by the second plane.

[0162] Another example (e.g., example 25) relates to a previous example (e.g., example 24) or to any other example, further comprising limiting at least one of a movement of at least part of the boom system or speed of the movement of at least part of the boom system (570) within a predefined distance from at least one of the first plane and the second plane.

[0163] Another example (e.g., example 26) relates to a previous example (e.g., example 25) or to any other example, further comprising that the parts are at least one of a main boom, an extension boom, or a fly jib.

[0164] An example (e.g., example 27) relates to a method for controlling a boom system of a crane, the method comprising defining a reference axis, the reference axis crossing a region of a mobile platform on which the crane is mounted, and defining a vertical boundary plane based on the reference axis.

[0165] Another example (e.g., example 28) relates to a previous example (e.g., example 27) or to any other example, further comprising that the vertical boundary plane is parallel to the reference axis.

[0166] Another example (e.g., example 29) relates to a previous example (e.g., example 27) or to any other example, further comprising defining a restricted region based on the vertical boundary plane, the restricted region being one side or the other side of the vertical boundary plane depending on a user input.

[0167] Another example (e.g., example 30) relates to a previous example (e.g., example 27) or to any other example, further comprising limiting or stopping the movement of the tip region of the boom system before entering the restricted region.

[0168] Another example (e.g., example 31) relates to a previous example (e.g., one of the examples 27 or 28) or to any other example, further comprising that the reference axis is parallel to a symmetry axis of the mobile platform.

[0169] Another example (e.g., example 32) relates to a previous example (e.g., one of the examples 27, 28, or 31) or to any other example, wherein the reference axis is aligned with a boundary of the region of the mobile platform.

[0170] An example (e.g., example 33) relates to an apparatus for controlling a boom system of a crane, comprising an input interface configured to receive information about a coordinate of a tip region of the boom system as a reference position, a compute circuitry configured to define a boundary plane based on the reference position, and an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry.

[0171] Another example (e.g., example 34) relates to a previous example (e.g., example 33) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0172] Another example (e.g., example 35) relates to a previous example (e.g., one of the examples 33 or 34) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0173] Another example (e.g., example 36) relates to a previous example (e.g., one of the examples 34 or 35) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane.

[0174] Another example (e.g., example 37) relates to a previous example (e.g., one of the examples 34 to 36) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane.

[0175] Another example (e.g., example 38) relates to a previous example (e.g., example 33) or to any other example, further comprising that the input interface is further configured to receive information about a slewing angle, wherein the compute circuitry is further configured to define the boundary plane based on the slewing angle.

[0176] Another example (e.g., example 39) relates to a previous example (e.g., example 38) or to any other example, further comprising that the boundary plane is a vertical plane.

[0177] Another example (e.g., example 40) relates to a previous example (e.g., example 39) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0178] Another example (e.g., example 41) relates to a previous example (e.g., one of the examples 39 or 40) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0179] An example (e.g., example 42) relates to an apparatus controlling a boom system of a crane, comprising an input interface configured to receive information about a first coordinate as a first reference position, the input interface configured to receive information about a second coordinate as a second reference position, a compute circuitry configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position, an output interface configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry,

[0180] Another example (e.g., example 43) relates to a previous example (e.g., example 42) or to any other example, further comprising that at least one of the information about the first and the second coordinate is defined using a remote control.

[0181] Another example (e.g., example 44) relates to a previous example (e.g., example 42) or to any other example, further comprising that at least one of the information about the first and the second coordinate using a coordinate of a tip region of the boom system

[0182] Another example (e.g., example 45) relates to a previous example (e.g., example 42) or to any other example, further comprising that the at least one vertical boundary plane comprises the first reference position and the second reference position.

[0183] Another example (e.g., example 46) relates to a previous example (e.g., example 42) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region and an unrestricted region based on the at least one vertical boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0184] Another example (e.g., example 47) relates to a previous example (e.g., one of the examples 42 or 46) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0185] Another example (e.g., example 48) relates to a previous example (e.g., one of the examples 42, 46, or 47), wherein the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0186] Another example (e.g., example 49) relates to a previous example (e.g., example 40) or to any other example, further comprising that the compute circuitry is further configured to define a vertical first plane comprising the first reference position and a reference point and to define a vertical second plane comprising the second reference position and the reference point.

[0187] Another example (e.g., example 50) relates to a previous example (e.g., example 47) or to any other example, further comprising that the reference point is positioned within a region of a mobile platform on which the crane is mounted.

[0188] Another example (e.g., example 51) relates to a previous example (e.g., one of the examples 40 or 47) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of a movement of all part of the boom system or speed of the movement of all part of the boom system if at least part of the boom system is within a volume enclosed by the first plane and by the second plane.

[0189] An example (e.g., example 52) relates to an apparatus for controlling a boom system of a crane, comprising an input interface configured to receive information about a reference axis, the reference axis being crossing a region of a mobile platform on which the crane is mounted, a compute circuitry configured to define a vertical boundary plane parallel to the reference axis, and an output interface configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry.

[0190] Another example (e.g., example 53) relates to a previous example (e.g., example 52) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region based on the vertical boundary plane, the restricted region being one side or the other side of the vertical boundary plane depending on a user input.

[0191] Another example (e.g., example 54) relates to a previous example (e.g., example 52) or to any other example, further comprising that the compute circuitry is further configured to generate information about stopping the movement of the tip region of the boom system to enter the restricted region.

[0192] Another example (e.g., example 55) relates to a previous example (e.g., example 52) or to any other example, further comprising that the reference axis is parallel to a symmetry axis of the mobile platform.

[0193] Another example (e.g., example 56) relates to a previous example (e.g., one of the examples 52 or 55) or to any other example, further comprising that the reference axis is aligned with a boundary of the region of the mobile platform.

[0194] An example (e.g., example 57) relates to a crane, comprising a boom system, and a crane controller according to the apparatus examples 33 to 56.

[0195] Another example (e.g., example 58) relates to a previous example (e.g., example 57) or to any other example, further comprising an operating console configured to set a reference position.

[0196] Another example (e.g., example 59) relates to a previous example (e.g., example 57) or to any other example, further comprising that the operating console is further configured to select an operation mode causing the crane controller to be operated according to at least one method of examples 1 to 14, one method of examples 15 to 26, or one method of examples 27 to 32, or any combination of method of examples 1 to 32.

[0197] An example (e.g., example 60) relates to a mobile platform, comprising a crane according to any of examples 33 to 56.

[0198] An example (e.g., example 61) relates to a method for controlling a boom system of a crane, the method comprising defining a coordinate of a tip region of the boom system as a reference position, and defining a boundary plane based on the reference position.

[0199] Another example (e.g., example 62) relates to a previous example (e.g., example 61) or to any other example, further comprising that the coordinate is defined using a remote control.

[0200] Another example (e.g., example 63) relates to a previous example (e.g., one of the examples 61 or 62) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0201] Another example (e.g., example 64) relates to a previous example (e.g., one of the examples 61 to 63) or to any other example, further comprising that the boundary plane comprises the reference position.

[0202] Another example (e.g., example 65) relates to a previous example (e.g., one of the examples 61 to 64) or to any other example, further comprising that the boundary plane is a vertical plane.

[0203] Another example (e.g., example 66) relates to a previous example (e.g., one of the examples 61 to 65) or to any other example, further comprising receiving information about an orientation of a mobile platform associated with the boom system, wherein the boundary plane is defined such that it is parallel to the orientation of the platform.

[0204] Another example (e.g., example 67) relates to a previous example (e.g., one of the examples 61 to 66) or to any other example, further comprising defining a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0205] Another example (e.g., example 68) relates to a previous example (e.g., one of the examples 61 to 67) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is on the other side of the boundary plane than a base of the crane.

[0206] Another example (e.g., example 69) relates to a previous example (e.g., one of the examples 61 to 68) or to any other example, further comprising defining a slewing angle of the boom system, wherein the boundary plane is further defined based on the slewing angle.

[0207] Another example (e.g., example 70) relates to a previous example (e.g., example 69) or to any other example, further comprising defining the boundary plane based on a determined angle from the boom system.

[0208] Another example (e.g., example 71) relates to a previous example (e.g., one of the examples 65 to 70) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0209] Another example (e.g., example 72) relates to a computer program for controlling a boom system of a crane having a program code for performing the method according to examples 1 to 32 or 61 to 71 when the program is executed on a processor or a programmable hardware of the crane.

[0210] The aspects and features described in relation to a particular one of the previous examples may also be combined with one or more of the further examples to replace an identical or similar feature of that further example or to additionally introduce the features into the further example.

[0211] Examples may further be or relate to a (computer) program including a program code to execute one or more of the above methods when the program is executed on a computer, processor or other programmable hardware component. Thus, steps, operations or processes of different ones of the methods described above may also be executed by programmed computers, processors or other programmable hardware components. Examples may also cover program storage devices, such as digital data storage media, which are machine-, processor- or computer-readable and encode and / or contain machine-executable, processor-executable or computer-executable programs and instructions. Program storage devices may include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media, for example. Other examples may also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPU), application-specific integrated circuits (ASICs), integrated circuits (ICs) or system-on-a-chip (SoCs) systems programmed to execute the steps of the methods described above.

[0212] It is further understood that the disclosure of several steps, processes, operations or functions disclosed in the description or claims shall not be construed to imply that these operations are necessarily dependent on the order described, unless explicitly stated in the individual case or necessary for technical reasons. Therefore, the previous description does not limit the execution of several steps or functions to a certain order. Furthermore, in further examples, a single step, function, process or operation may include and / or be broken up into several sub-steps, - functions, -processes or -operations.

[0213] If some aspects have been described in relation to a device or system, these aspects should also be understood as a description of the corresponding method. For example, a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.

[0214] The following claims are hereby incorporated in the detailed description, wherein each claim may stand on its own as a separate example. It should also be noted that although in the claims a dependent claim refers to a particular combination with one or more other claims, other examples may also include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly proposed, unless it is stated in the individual case that a particular combination is not intended.

[0215] Furthermore, features of a claim should also be included for any other independent claim, even if that claim is not directly defined as dependent on that other independent claim.

Examples

Embodiment Construction

[0015]Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these embodiments described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.

[0016]Throughout the description of the figures same or similar reference numerals refer to same or similar elements and / or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and / or areas in the figures may also be exaggerated for clarification.

[0017]When two elements A and B are combined using an "or", this is to be understood as disclosing all possible combinations, i.e. only A, only B as well as A and B, unless expressly defined otherwise in the individual...

Claims

1. A method (100) for controlling a boom system of a crane, the method comprising: defining a coordinate (110) of a tip region of the boom system as a reference position; and defining a boundary plane (120) based on the reference position.

2. The method (100) of claim 1, wherein the coordinate is defined using a remote control.

3. The method (100) of claim 1 or 2, wherein the boundary plane is a horizontal plane.

4. The method (100) of any one of claims 1 to 3, wherein the boundary plane comprises the reference position.

5. The method (100) of any one of claims 1 to 4, wherein the boundary plane is a vertical plane.

6. The method (100) of any one of claims 1 to 5 further comprising: receiving information about an orientation of a mobile platform (130) associated with the boom system, wherein the boundary plane is defined such that it is parallel to the orientation of the platform.

7. The method (100) of any claims 1 to 6, further comprising: defining a restricted region and an unrestricted region (140) based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

8. The method (100) of any one of claims 1 to 7, further comprising: limiting at least one of the movement of the boom system or the speed of the movement of the boom system (150) if at least part of the boom system is on the other side of the boundary plane than a base of the crane.

9. The method (100) of any one of claims 1 to 8, further comprising: defining a slewing angle of the boom system (160), wherein the boundary plane is further defined based on the slewing angle.

10. The method (100) of claim 9, further comprising: defining the boundary plane (170) based on a determined angle from the boom system.

11. The method (100) of any one of claims 5 to 10, further comprising: limiting at least one of the movement of the boom system or the speed of the movement of the boom system (180) on one side or the other side of the vertical boundary plane depending on a user input.

12. A method (500) for controlling a boom system of a crane, the method comprising: defining a first coordinate (510) as a first reference position; defining a second coordinate (520) as a second reference position; and defining at least one vertical boundary plane (530) based on at least one of the first reference position and the second reference position.

13. The method (500) of claim 12, wherein at least one of the first and the second coordinates is defined using a remote control.

14. The method (500) of claim 13, wherein at least one of the first and the second coordinates is defined using a coordinate of a tip region of the boom system.

15. The method (500) of any one of claims 12 to 14, wherein the at least one vertical boundary plane comprises the first reference position and the second reference position.

Images