Apparatus and method for preventing electric hazard between a boom system and an overhead power line and apparatus and method for planning a lifting machine operation in the vicinity of a power line

Abstract

Provided is an apparatus (100) for preventing electric hazard between a boom system of a lifting machine (300) and an overhead power line (400). The apparatus (100) comprise processing circuitry (110) configured to obtain overhead power line data. The processing circuitry is further configured to determine a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line (400) which the boom system is prevented from crossing. The processing circuitry (110) is further configured to control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

Description

Field

[0001] Examples relate to an apparatus and method for preventing electric hazard between a boom system of a lifting machine and an overhead power line and apparatus and method for planning a lifting machine operation in the vicinity of a power line as set out in the appended set of claims.Background

[0002] Lifting machines and other boom-equipped vehicles may be commonly used in construction sites, industrial facilities, and urban environments where overhead power lines are present. These lifting operations may occur in proximity to electrical infrastructure, where the boom systems may extend into airspace occupied by energized conductors suspended between support structures. The electrical hazards associated with boom system proximity to overhead power lines may include the risk of contact with energized conductors or the risk of creating electric arcs, which may result in electrocution of operators, injuries to personnel, and equipment damage. Current safety approaches may rely on manual operator assessment of electrical hazards, complex manual safety procedures, or simplified clearance guidelines that may not account for variable factors such as conductor sag, terrain irregularities, or voltage-specific safety requirements.

[0003] Therefore, there is a demand for an improved electric hazard prevention systems.Summary

[0004] An example relates to an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The apparatus comprise processing circuitry configured to obtain overhead power line data. The processing circuitry is further configured to determine a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. The processing circuitry is further configured to control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0005] Another example relates to a method for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The method obtaining overhead power line data. The comprise further determining a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. The method comprise further controlling a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0006] An example relates to an apparatus for planning a lifting machine operation in the vicinity of a power line. The apparatus comprises processing circuitry, the processing circuitry being configured to obtain geographic information data describing at least one overhead power line and supporting structures in a working area. The processing circuitry is further configured to determine a virtual boundary surface based on the obtained geographic information data. The virtual boundary surface defines a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area. The processing circuitry is further configured to determine one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. The processing circuitry is further configured to generate a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0007] An example relates to a method for planning a lifting machine operation in the vicinity of a power line. The method comprises obtaining geographic information data describing at least one overhead power line and supporting structures in a working area. The method comprises further determining a virtual boundary surface based on the obtained geographic information data. The virtual boundary surface defines a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area. The method comprises further determining one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. The method comprises further generating a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.Brief description of the Figures

[0008] 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 illustrates an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 2 illustrates a method for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 3 shows a lifting machine comprising the apparatus as described above; Fig. 4 illustrates an example of system for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 5 illustrates another example of system for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 6 illustrates an apparatus for planning a lifting machine operation in the vicinity of a power line; Fig. 7 illustrates a method for planning lifting machine operations in the vicinity of a power line; and Fig. 8 illustrates an example of a generated map. Detailed Description

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] Fig. 1 illustrates an apparatus 100 for preventing electric hazard between a boom system of a lifting machine and an overhead power line. For example, the overhead power line may be an electrical transmission or distribution system that carries electric current through conductors suspended above ground level. In some examples, the overhead power line comprises one or more conductors suspended on support structures. The support structures may maintain the conductors at safe distances from ground and surrounding objects. The overhead power line may serve to transport electrical energy from power generation facilities to distribution networks and end users across various distances and terrain. In some examples, the support structures of the overhead power line may include poles, towers, masts, or similar vertical structures designed to carry the weight of the conductors and withstand environmental forces. The support structures may be constructed from materials such as wood, steel, concrete, or composite materials depending on the voltage level and environmental requirements. For example, the support structures may vary in height from several meters for low-voltage distribution lines to over 100 meters for high-voltage transmission lines. The spacing between adjacent support structures may range from 30 meters to several hundred meters depending on the terrain, conductor type, and voltage level.

[0014] In some examples, the conductors of the overhead power line may exhibit conductor sag between support structures due to gravitational forces and thermal expansion. The conductor sag may create a curved profile where the conductors hang lower at the midpoint between support structures compared to their attachment points. The degree of conductor sag may vary based on factors such as conductor weight, temperature, wind loading, and span length between support structures. The conductor sag may be particularly significant in longer spans and may affect the minimum clearance height that must be maintained below the overhead power line. In some examples, the overhead power line may operate at various voltage levels ranging from low-voltage distribution lines of 400 volts to high-voltage transmission lines exceeding 500,000 volts. Medium-voltage distribution lines may typically operate between 1,000 volts and 35,000 volts, while high-voltage transmission lines may operate between 35,000 volts and 800,000 volts.

[0015] For example, the lifting machine may encounter overhead power lines in working environments such as construction sites, industrial facilities, or urban environments where the lifting machine may be positioned between support structures or in proximity to the overhead power line span. The boom system of the lifting machine may extend into the airspace where the overhead power line conductors are suspended, creating potential for electrical contact or dangerous proximity that requires prevention measures. The overhead power line data may therefore focus on the specific overhead power line section within this working environment, providing detailed information about the particular power line segments, spans, and conductors that present electrical hazards to the lifting machine operations.

[0016] For example, an electric hazard between the boom system of a lifting machine and the overhead power line may present significant safety risks in construction and industrial operations. The electric hazard may arise when the boom system approaches or contacts an energized overhead power line, creating the risk of contact with the energized overhead power line or the risk of creating an electric arc. Such incidents may result in electrocution of crane operators, injuries to personnel on construction sites, and accidents that have been documented according to operational experience. The apparatus 100 for preventing electric hazard may address these safety concerns by implementing protective measures that prevent the boom system from entering dangerous proximity to overhead power lines, thereby reducing the likelihood of electrical contact or arc formation that could endanger human life and cause property damage.

[0017] For example, the lifting machine may be a mobile or stationary mechanical device designed to lift a load. For example, the lifting machine may move the loads in construction, industrial, or material handling applications. The lifting machine may be equipped with hydraulic, mechanical, or electric systems that provide the power necessary to operate lifting mechanisms and control load movements. The lifting machine may be mounted on various platforms including wheeled vehicles, tracked chassis, fixed foundations, or floating platforms depending on the specific application and working environment. In some examples, the boom system of the lifting machine may comprise one or more articulated arms or booms that extend from a base structure to reach and manipulate loads at various distances and heights. The boom system may include a main boom that connects to the lifting machine base, and may additionally comprise secondary booms such as knuckle booms or extension booms that provide additional reach and flexibility. The boom system may be actuated by hydraulic cylinders, electric motors, or mechanical systems that control boom elevation, extension, and articulation movements. The boom system may terminate in a tip region where lifting attachments, hooks, or specialized equipment may be mounted for engaging with loads.

[0018] In some examples, the lifting machine may be at least one of a crane, a mobile crane, a loader crane, a knuckle boom crane, a crawler crane, a tower crane, a forestry crane, a recycling crane, a material handler, a mobile manipulator or an aerial platform. In some examples, the crane may comprise a rotating superstructure mounted on a base or carrier, with the boom system extending from the superstructure to provide lifting capabilities at various radii and heights. The crane may be designed for general construction, industrial, or material handling applications where heavy loads must be lifted and positioned with precision. A mobile crane may be a crane mounted on a wheeled or tracked carrier that provides mobility between job sites, allowing the crane to be transported and positioned at different locations as needed.

[0019] In some examples, the loader crane may be mounted on a truck or trailer chassis, designed for loading and unloading cargo or materials with relatively compact boom systems and moderate lifting capacities. The knuckle boom crane may comprise a boom system with one or more articulated joints that allow the boom to fold and extend like a knuckle, providing enhanced maneuverability in confined spaces. The crawler crane may be mounted on tracked undercarriage that distributes weight over a larger ground area and provides stability for heavy lifting operations on soft or uneven terrain. In some examples, the tower crane may be a fixed lifting machine with a vertical mast and horizontal boom system, commonly used in construction sites for lifting materials to significant heights during building construction. The forestry crane may be specialized for handling logs and timber materials in forestry operations, typically featuring boom systems designed for gripping and manipulating irregularly shaped wood loads. The recycling crane may be configured for handling scrap materials, waste, or recyclable materials with specialized attachments for sorting and moving bulk materials.

[0020] In some examples, the material handler may be a lifting machine designed for bulk material handling operations such as loading, unloading, and sorting materials in ports, scrapyards, or industrial facilities. The material handler may feature a boom system with specialized attachments such as grapples, magnets, or buckets that enable efficient handling of loose materials like scrap metal, coal, grain, or containerized cargo. The boom system of the material handler may provide extended reach and precise control for transferring materials between storage areas, transport vehicles, and processing equipment. The material handler may be mounted on wheeled or tracked chassis to provide mobility within material handling facilities.

[0021] In some examples, the mobile manipulator may comprise a boom system mounted on a mobile platform that provides precise positioning and manipulation capabilities for specialized tasks requiring high accuracy and dexterity. The boom system of the mobile manipulator may feature multiple degrees of freedom and advanced control systems that enable complex manipulation tasks such as assembly operations, inspection work, or maintenance activities. The mobile manipulator may be equipped with specialized end-effectors or tools that can be positioned with millimeter-level precision for delicate handling operations. The mobile platform may provide the mobile manipulator with the ability to navigate between workstations or job sites while maintaining operational capability.

[0022] In some examples, the aerial platform may be a lifting machine designed to raise personnel and equipment to elevated working positions, with the boom system supporting a platform or basket for worker access to height-restricted areas. The boom system of the aerial platform may be designed to provide stable and safe elevation of workers for maintenance, construction, or inspection tasks at various heights and positions. The aerial platform may feature safety systems such as fall protection, emergency lowering capabilities, and platform stabilization to protect personnel during elevated work operations. The boom system may provide both vertical lift and horizontal reach to position workers precisely at their intended work locations while maintaining safe clearances from obstacles and hazards.

[0023] The apparatus 100 comprises processing circuitry 110. For example, the processing circuitry 110 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a neuromorphic processor or a field programmable gate array (FPGA). The processing circuitry 110 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and / or non-volatile memory. For example, the apparatus 100 may comprise memory configured to store instructions, which when executed by the processing circuitry 110, cause the processing circuitry 110 to perform the steps and methods described herein. In some examples, the apparatus 100 may further comprise storage circuitry configured to store data. The storage circuitry may operate in cooperation with the processing circuitry 110 to ensure the persistent and consistent management of information within the apparatus 100.

[0024] The processing circuitry 110 is configured to obtain overhead power line data. For example, the overhead power line data may comprise information that describes the physical characteristics, electrical properties, and / or spatial positioning of the overhead power line and its associated infrastructure. The overhead power line data may comprise information for a specific overhead power line section within the working environment of the lifting machine. For example, the power line data may provide detailed information about the particular power line segments, spans, and conductors that present electrical hazards to the lifting machine operations. In some examples, the overhead power line data may contain information specifically relevant to the power line section where the lifting machine is positioned, rather than data for entire power line networks or distant power line segments that do not affect the lifting machine operations.

[0025] The overhead power line data may be obtained from various sources such as utility databases, geographic information systems, infrastructure mapping services, or based sensor measurements to provide the processing circuitry 110 with the necessary information (see below). The overhead power line data may be utilized for determining safety boundaries and operational limits of the lifting machine. For example, the overhead power line data may be obtained from internal memory or storage devices of the apparatus 100. In some example, overhead power line data may be obtained through communication interfaces of the apparatus 100 from external sources such as remote databases or planning systems, or acquiring the overhead power line data through sensor measurements performed by sensors of the lifting machine. The obtaining may occur as a one-time retrieval, periodic updates, or continuous real-time data acquisition depending on the specific implementation and operational requirements of the apparatus 100.

[0026] For example, the overhead power line data may be structured as a data file, database, or data structure containing multiple entries that organize the information in a systematic format accessible to the processing circuitry 110. The overhead power line data may comprise individual data records or entries, where each entry may correspond to a specific overhead power line segment, support structure, or geographic area within the working environment of the lifting machine. The data file may be formatted as structured data formats such as XML files, JSON files, CSV files, database tables, or proprietary data formats that enable efficient storage and retrieval of the overhead power line information. The overhead power line data may be organized with indexing systems, coordinate references, or hierarchical structures that allow the processing circuitry 110 to quickly locate and access relevant information for specific geographic locations or power line segments during operation

[0027] In some examples, the overhead power line data may comprise at least one of: a nominal voltage of the overhead power line, a support structure height of the overhead power line, geographic position of the support structures of the overhead power line, a number of conductors of the overhead power line, a conductor sag of the overhead power line, a geographic position of the overhead power line, a distance between the lifting machine and the overhead power line, or a ground profile at a location of the lifting machine.

[0028] For example, the nominal voltage of the overhead power line may represent the standard operating voltage level for the overhead power line section where the lifting machine is positioned and operating. The nominal voltage may determine the required safety clearances and electrical isolation distances that must be maintained between the boom system and the overhead power line conductors within the working area. The overhead power line data may contain the nominal voltage for the specific overhead power line section relevant to the lifting machine operation, with values that may range from distribution voltages to high-voltage transmission levels. The processing circuitry 110 may obtain the nominal voltage for the particular overhead power line section that intersects with or approaches the operational envelope of the lifting machine. The nominal voltage may be specified as 20 kilovolts for a medium-voltage distribution line crossing the construction site where the lifting machine is operating.

[0029] For example, the support structure height of the overhead power line may indicate the vertical dimensions of the support structures within the overhead power line section where the lifting machine is working. The support structure height may vary between individual support structures within the working area depending on terrain and design requirements. The overhead power line data may provide height measurements for the support structures that define the overhead power line section relevant to the lifting machine operations. The processing circuitry 110 may obtain support structure heights for the specific structures within the working area to determine the vertical extent of the electrical hazard zone affecting the lifting machine. The support structure height may be recorded as 15 meters for a concrete pole supporting the overhead power line span above the lifting machine working area.

[0030] For example, the geographic position of the support structures may comprise coordinate information for the support structures within the overhead power line section where the lifting machine is operating. The geographic position may include precise location data for the support structures that bound or define the power line section relevant to the lifting machine working area. The overhead power line data may contain position coordinates for the support structures immediately adjacent to or within the operational range of the lifting machine. The processing circuitry 110 may obtain geographic positions for the specific support structures that define the overhead power line section affecting the boom system operations. The geographic position may be specified as latitude (e.g. 48.1351) degrees and longitude (e.g.11.5820) degrees for the eastern support structure of the power line span crossing the construction site.

[0031] For example, the number of conductors of the overhead power line may specify the quantity of individual electrical conductors within the overhead power line section where the lifting machine is working. The number of conductors may determine the width and electrical complexity of the hazard zone that the boom system must avoid within the specific working area. The overhead power line data may provide the conductor count for the particular spans or segments that are relevant to the lifting machine operations. The processing circuitry 110 may obtain the number of conductors for the overhead power line section that intersects with the operational envelope of the boom system. The number of conductors may be specified as three conductors for a three-phase power distribution line within the lifting machine working area.

[0032] For example, the conductor sag of the overhead power line may represent the vertical displacement of the conductors within the overhead power line section where the lifting machine is positioned. The conductor sag may vary along the spans within the working area, with the lowest point of the conductors defining the critical clearance height that must be maintained by the boom system. The overhead power line data may provide conductor sag measurements for the lowest conductor within the power line section relevant to the lifting machine operations. The processing circuitry 110 may obtain conductor sag data for the specific spans that affect the vertical safety boundaries within the lifting machine working area. The conductor sag may be measured as (e.g. 2.5 meters) below the attachment points for the lowest conductor at the midpoint of the span above the lifting machine position.

[0033] For example, the geographic position of the overhead power line may comprise coordinate information that defines the path of the conductors within the overhead power line section where the lifting machine is operating. The geographic position may describe the conductor routing between the support structures that bound the working area of the lifting machine. The overhead power line data may provide conductor position coordinates for the power line section that is within or adjacent to the operational range of the boom system. The processing circuitry 110 may obtain the geographic position of the overhead power line section that presents potential electrical hazards to the lifting machine operations. The geographic position may be defined as a series of coordinate points describing the conductor path from latitude (e.g.48.1351) degrees longitude (e.g. 11.5820) degrees to latitude 48.1355 degrees longitude 11.5825 degrees across the construction site.

[0034] For example, a distance between the lifting machine and the overhead power line may represent the separation between the lifting machine and the conductors within the overhead power line section of the working area. The distance may be measured to the nearest point of the overhead power line section that poses an electrical hazard to the boom system operations. The overhead power line data may include distance measurements to the specific power line section where the lifting machine is positioned or may provide geometric data for calculating distances within the working area. The processing circuitry 110 may obtain distance measurements to the overhead power line section that affects the safe operation of the lifting machine. The distance may be calculated as 12 meters horizontal separation between the lifting machine base and the nearest conductor of the overhead power line section.

[0035] For example, the ground profile at a location of the lifting machine may describe the terrain characteristics within the working area where the overhead power line section is located. The ground profile may affect the relative positioning between the lifting machine and the overhead power line section, influencing clearance calculations and safety boundary determinations. The overhead power line data may contain ground profile information for the specific area where the lifting machine operates in relation to the overhead power line section. The processing circuitry 110 may obtain ground profile data for the working area to accurately establish safety boundaries relative to the particular overhead power line section affecting the lifting machine operations. The ground profile may indicate a 3-degree upward slope in the terrain from the lifting machine position toward the overhead power line section.

[0036] For example, the distance between the overhead power line conductors and the ground may represent the vertical clearance measurement from the lowest point of the conductors to the terrain surface directly beneath the overhead power line section where the lifting machine is operating. The distance between conductors and ground may vary significantly along the power line span due to conductor sag effects combined with terrain elevation changes, slopes, or irregular ground surfaces that create varying clearance conditions beneath the conductors. The overhead power line data may provide ground clearance measurements at critical points such as the midspan location where conductor sag is maximum, or at multiple measurement points that capture terrain irregularities affecting conductor-to-ground distances. The processing circuitry 110 may obtain distance measurements between conductors and ground for the specific power line section affecting the lifting machine operations to establish virtual boundary surfaces that account for both conductor height variations and ground profile changes that influence available clearance space for boom system movements.Virtual Boundary Surface

[0037] The processing circuitry 110 is further configured to determine a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. For example, the virtual boundary surface may be a geometric surface in a three-dimensional space. The virtual boundary surface that may represent a virtual safety barrier positioned adjacent to the overhead power line to prevent the boom system from approaching dangerous proximity to the energized conductors. The virtual boundary surface may define mathematically within a three-dimensional (3D) coordinate system. For example, in the same 3D coordinate system the working area of the lifting machine and the overhead power line infrastructure are encompassed. The processing circuitry 110 may establish the 3D coordinate system using reference points such as the lifting machine base position, geographic coordinates, or local coordinate origins that provide a consistent spatial framework for defining both the overhead power line locations and the virtual boundary surface geometry.

[0038] In some examples, the virtual boundary surface may comprise mathematical representations such as planes, curved surfaces, or complex geometric shapes that are calculated based on the overhead power line data and positioned at safe distances from the conductors and supporting structures. The three-dimensional coordinate system may utilize coordinate axes such as X, Y, and Z coordinates where the Z-axis may represent vertical elevation, and the X and Y axes may represent horizontal positioning relative to the lifting machine or geographic reference frame. The virtual boundary surface may be defined by mathematical equations, coordinate point arrays, or geometric parameters that describe the surface shape and position within the three-dimensional coordinate system.

[0039] In some examples, the processing circuitry 110 may be configured to determine a location of the virtual boundary surface within the 3D coordinate system based on the overhead power line data. For example, the location of the virtual boundary surface within the 3D system may be determined by utilizing specific parameters from the overhead power line data such as support structure heights, geographic positions of support structures, conductor sag measurements, and nominal voltage specifications to calculate precise boundary surface coordinates. The processing circuitry 110 may position the virtual boundary surface at calculated distances from the overhead power line conductors based on voltage-dependent clearance requirements, where the boundary surface location may be offset from conductor positions by safety distances determined from nominal voltage data according to established electrical safety standards. The location determination may involve mathematical calculations that combine overhead power line geometric data with electrical safety requirements to establish virtual boundary surface coordinates that maintain appropriate clearances while accounting for conductor sag profiles, support structure positioning, and terrain variations within the working area (see below). The processing circuitry 110 may express the determined virtual boundary surface location as coordinate equations, geometric parameters, or spatial data arrays within the three-dimensional coordinate system, enabling direct integration with boom system position monitoring and control algorithms for electrical hazard prevention.

[0040] In some examples, the processing circuitry 110 may be further configured to determine a distance between the virtual boundary surface and the overhead power line based on a nominal voltage of the overhead power line. For example, higher nominal voltages may require greater safety distances to prevent electrical hazards such as arcing, flashover, or electrical shock. The distance determination may follow established electrical safety standards and regulations that specify minimum clearance requirements for different voltage levels to protect personnel and equipment from electrical hazards. The processing circuitry 110 may access voltage-distance correlation data from the overhead power line data or from stored safety tables that define the required separation distances for various nominal voltage classifications.

[0041] In some examples, the distance between the virtual boundary surface and the overhead power line may increase non-linearly with the nominal voltage of the overhead power line, reflecting the exponential relationship between voltage levels and electrical breakdown phenomena in air. The non-linear relationship may account for the increased risk of electrical arcing and the greater electrical field strengths that occur around higher voltage conductors, requiring disproportionately larger safety margins as voltage levels increase. The processing circuitry 110 may calculate the distance using mathematical functions, lookup tables, or algorithms that implement the non-linear voltage-distance relationships specified in electrical safety standards.

[0042] In some examples, the processing circuitry 110 may determine safety distances based on established safety standards. For example, in European safety standards overhead power lines up to 1000 volts may require minimum clearances of 1.0 meters, while overhead power lines from 1 kilovolt to 110 kilovolts may require 3.0 meters clearance, and overhead power lines from 110 kilovolts to 220 kilovolts may require 4.0 meters clearance. For higher voltage transmission lines above 220 kilovolts up to 380 kilovolts, the required clearance may increase to 5.0 meters, demonstrating the non-linear progression where voltage increases from 220 kilovolts to 380 kilovolts require only 1 meter additional clearance, while the jump from 110 kilovolts to 220 kilovolts also requires 1 meter additional clearance. For example, in in North American safety standards overhead power lines up to 50 kilovolts may require 3.0 meters clearance, lines from 50 kilovolts to 200 kilovolts may require 4.6 meters, and lines above 750 kilovolts to 1000 kilovolts may require 13.7 meters clearance, illustrating the significant non-linear increase in safety distances for ultra-high voltage transmission systems.

[0043] In some examples, the virtual boundary surface may comprise at least one of a virtual horizontal plane located below the overhead power line, a virtual vertical plane between the overhead power line and the lifting machine or an inclined plane at an angle relative to the horizontal or vertical. For example, the virtual horizontal plane located below the overhead power line may be a planar surface that extends horizontally beneath the conductors of the overhead power line at a predetermined vertical distance that ensures safe clearance for the boom system. The virtual horizontal plane may be positioned at a height that accounts for the lowest point of conductor sag within the overhead power line section, maintaining a safety margin that prevents the boom system from approaching the energized conductors from below. The processing circuitry 110 may determine the position of the virtual horizontal plane based on conductor height data, conductor sag measurements, and required electrical clearance distances specified in the overhead power line data.

[0044] For example, the virtual vertical plane between the overhead power line and the lifting machine may be a planar surface that extends vertically and is positioned laterally between the lifting machine and the overhead power line conductors to prevent horizontal approach of the boom system toward the power line. The virtual vertical plane may be oriented perpendicular to the ground and parallel to the direction of the overhead power line, creating a vertical barrier that defines the closest horizontal distance the boom system may approach the power line. The processing circuitry 110 may position the virtual vertical plane at a lateral distance from the conductors that provides adequate electrical isolation and accounts for boom system swing radius and operational envelope.

[0045] For example, an inclined plane at an angle relative to the horizontal or vertical may be a planar surface that is tilted at a specific angle to create a sloped boundary that accounts for both horizontal and vertical safety requirements simultaneously. The inclined plane may be angled to follow terrain contours, accommodate varying conductor heights along the power line span, or provide graduated safety zones that increase clearance distances as the boom system approaches the overhead power line. The processing circuitry 110 may calculate the inclination angle based on factors such as ground slope, conductor sag variation, boom system geometry, and electrical safety requirements to create an optimized boundary surface that prevents boom system approach from multiple directions while maintaining operational flexibility for the lifting machine.

[0046] For example, the virtual horizontal plane located below the overhead power line may be positioned 4.0 meters below the lowest conductor point for a 150 kilovolt transmission line crossing above the lifting machine working area, based on European safety standards that require 4.0 meters clearance for overhead power lines from 110 kilovolts to 220 kilovolts. The virtual vertical plane between the overhead power line and the lifting machine may be positioned 4.6 meters horizontally from the nearest conductor for a 75 kilovolt distribution line based on North American safety standards that require 4.6 meters clearance for lines from 50 kilovolts to 200 kilovolts. The inclined plane may be angled at 15 degrees from horizontal and positioned to maintain 5.0 meters clearance from a 300 kilovolt transmission line according to European standards for overhead power lines above 220 kilovolts up to 380 kilovolts.

[0047] In some examples, the virtual boundary surface may comprise at least one of a curved surface in a horizontal plane located below the overhead power line, a curved surface in a virtual vertical plane between the overhead power line and the lifting machine or a curved inclined surface at an angle relative to the horizontal or vertical. For example, the curved surface in a horizontal plane located below the overhead power line may be a non-planar surface that follows the natural curvature of conductor sag between support structures, creating a boundary that more precisely matches the actual shape of the overhead power line conductors. The curved surface may be determined by the processing circuitry 110 using mathematical models that calculate conductor catenary curves based on conductor weight, tension, and span length data from the overhead power line data. The curved horizontal surface may provide more accurate clearance boundaries compared to flat horizontal planes, particularly for longer spans where conductor sag creates significant vertical variations along the power line path.

[0048] For example, the curved surface in a virtual vertical plane between the overhead power line and the lifting machine may be a vertically oriented surface that curves to accommodate varying distances or safety requirements along the length of the overhead power line section. The curved vertical surface may be determined based on factors such as changing conductor heights, varying electrical field strengths, or terrain features that affect safety clearance requirements at different points along the power line. The processing circuitry 110 may calculate the curvature to create optimized safety boundaries that provide consistent electrical isolation while accommodating operational needs of the boom system.

[0049] For example, a curved inclined surface at an angle relative to the horizontal or vertical may be a three-dimensionally curved boundary that combines inclination with curvature to create complex safety envelopes around the overhead power line. The curved inclined surface may be determined by the processing circuitry 110 using algorithms that optimize safety clearances while considering multiple factors such as boom system reach capabilities, terrain variations, and electrical safety requirements. The curved inclined surface may follow mathematical functions such as polynomial curves or spline interpolations that create smooth transitions between different safety zones around the overhead power line, providing a boundary surface that prevents boom system approach while maintaining operational flexibility for lifting operations.

[0050] For example, the curved surface in a horizontal plane may follow the conductor sag profile while maintaining 13.7 meters clearance below a 800 kilovolt ultra-high voltage transmission line based on North American safety standards for lines above 750 kilovolts to 1000 kilovolts. The curved surface in a virtual vertical plane may be positioned with varying distances ranging from 3.0 meters to 5.0 meters laterally from the conductors to accommodate voltage transitions along a power line section that steps up from 45 kilovolts to 275 kilovolts. The curved inclined surface may follow terrain contours while maintaining minimum 1.0 meter clearance from a 400 volt low-voltage distribution line according to European safety standards for overhead power lines up to 1000 volts.

[0051] In some examples, the virtual boundary surface may comprise at least one of a curved surface approximating a sag of a conductor of the overhead power line or a combination of multiple planes and / or curved surfaces defining a boundary envelope adjacent to the overhead power line. For example, the curved surface approximating a sag of a conductor of the overhead power line may be a boundary surface that follows the natural catenary curve formed by the conductor under its own weight and environmental forces between support structures. The processing circuitry 110 may determine the curved surface using mathematical models that calculate conductor sag based on physical parameters such as conductor weight per unit length, conductor tension, span length between support structures, and temperature effects obtained from the overhead power line data. The curved surface may be positioned at a predetermined safety distance below the calculated conductor sag profile to create a boundary that accurately reflects the actual shape of the hanging conductor while maintaining required electrical clearances.

[0052] For example, the processing circuitry 110 may calculate the conductor sag using catenary equations that account for the conductor material properties, environmental loading conditions, and support structure geometry to determine the precise three-dimensional curve of the conductor between attachment points. The curved surface approximating the conductor sag may be offset vertically downward from the calculated conductor position by a safety margin determined based on the nominal voltage and electrical clearance requirements. The curved surface may provide a more accurate safety boundary compared to simplified planar surfaces, particularly for long spans where conductor sag creates significant vertical displacement from straight-line approximations.

[0053] For example, a combination of multiple planes and curved surfaces defining a boundary envelope may comprise a complex three-dimensional safety zone that surrounds the overhead power line using interconnected geometric elements that address different approach vectors and safety requirements. The processing circuitry 110 may determine the boundary envelope by combining horizontal planes below the conductors, vertical planes on the sides of the power line, curved surfaces that follow conductor sag profiles, and inclined surfaces that account for terrain variations or boom system geometry. The boundary envelope may create a comprehensive safety zone that prevents boom system approach from any direction while optimizing the available working space for lifting operations.

[0054] For example, the curved surface approximating conductor sag may be calculated for a 150-meter span between transmission towers where the conductor sags 4.2 meters at the midpoint, with the virtual boundary surface positioned 6 meters below the conductor sag curve to provide clearance for a 500 kilovolt transmission line. The combination boundary envelope may integrate this curved surface with vertical planes positioned 8 meters laterally from each conductor and horizontal planes that extend the safety zone beyond the conductor endpoints, creating a complete three-dimensional safety boundary around the entire overhead power line section.

[0055] For example, the virtual boundary surface may define a restricted area as a spatial zone on a side of the virtual boundary surface where the boom system is prevented from moving to maintain safe separation from the overhead power line. The restricted area may comprise the 3D space between the virtual boundary surface and the overhead power line conductors, representing the danger zone where electrical hazards may occur if the boom system enters this spatial region. The processing circuitry 110 may establish the restricted area by designating one side of the virtual boundary surface as prohibited space for boom system operations, while the opposite side of the virtual boundary surface may remain available for normal lifting machine operations.

[0056] In some examples, the restricted area may function as a digital safety zone that extends from the virtual boundary surface toward the overhead power line, encompassing all spatial coordinates where the boom system presence would violate minimum electrical clearance requirements. The restricted area may be defined within the three-dimensional coordinate system as a volume bounded by the virtual boundary surface on one side and by the overhead power line infrastructure on the other side. The processing circuitry 110 may continuously monitor the position coordinates of the boom system components to ensure that no part of the boom system enters the restricted area during lifting operations.

[0057] The processing circuitry 110 is configured to control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface. For example, the processing circuitry 110 may be configured to control a movement of the boom system by implementing a control algorithm that operates within the 3D coordinate system where the virtual boundary surface has been mathematically defined and integrated into the control system architecture. The virtual boundary surface may exist as digital geometric data within the control system memory, comprising coordinate arrays, mathematical equations, or geometric parameters that define the boundary limits in the same 3D coordinate system used for boom system positioning and movement control. The processing circuitry 110 may establish the control framework by loading the virtual boundary surface geometry into control system memory where it functions as a persistent safety constraint for all boom system operations. In some examples, the control implementation may utilize the 3D coordinate system to define movement envelopes and operational limits for the boom system, where the virtual boundary surface serves as an absolute boundary that cannot be crossed under any operational circumstances. The processing circuitry 110 may integrate the virtual boundary surface coordinates with boom system kinematics models and movement control algorithms to ensure that all planned and executed boom movements respect the spatial constraints imposed by the virtual boundary surface. The control system may treat the virtual boundary surface as a fixed geometric constraint within the three-dimensional working space, similar to how physical obstacles or mechanical limits are incorporated into control system boundaries.

[0058] In some examples, the stopping control may be implemented through geometric collision avoidance algorithms that evaluate boom system movement commands against the virtual boundary surface coordinates before executing any boom movements. The processing circuitry 110 may reject or modify movement commands that would result in boom system coordinates crossing the virtual boundary surface, ensuring that the boom system operates only within the allowable 3D space defined by the area outside the restricted area.

[0059] The disclosed apparatus 100 enables comprehensive electrical hazard prevention by automatically detecting overhead power lines and establishing precise safety boundaries that prevent lifting machine electrocution accidents, addressing safety risks, such as lifting machines contacting energized power lines during construction operations. The apparatus 100 provides automated safety enforcement through virtual boundary surfaces that eliminate reliance on manual operator judgment and complex manual safety procedures, reducing human error that may lead to electrical contact incidents. The apparatus 100 enables compliance with EU while providing advanced safety capabilities that allow lifting operations to proceed safely in proximity to overhead power lines where other equipment may be unable to operate, contributing to sustainable construction practices by reducing project delays and enabling efficient use of existing infrastructure corridors.

[0060] Apparatus 100 provides flexible and accurate safety boundary determination by utilizing comprehensive overhead power line data that accounts for voltage-specific clearance requirements, conductor sag variations, and three-dimensional geometric relationships between lifting machines and power line infrastructure. The apparatus 100 enables real-time safety enforcement through integration of virtual boundary surfaces with boom system control algorithms, ensuring that electrical hazard prevention operates continuously and automatically without requiring constant operator intervention or specialized electrical safety expertise. The apparatus 100 supports environmental sustainability through reduced equipment repositioning, minimized construction site footprint, and improved energy efficiency in construction operations by enabling work to proceed in proximity to existing electrical infrastructure without requiring costly power line relocations or extended project timelines.

[0061] In some examples, the processing circuitry 110 may be further configured to obtain real-time position data indicating a current position of the boom system. The processing circuitry 110 may be further configured to generate a control signal stopping the movement of the boom system before crossing the virtual boundary surface. For example, the real-time position data may be obtained through various sensor systems that continuously monitor boom system geometry, orientation, and spatial positioning within the three-dimensional coordinate system. The real-time position data may be acquired from sensors such as angle encoders that measure boom elevation angles, extension sensors that monitor boom length changes, rotation encoders that track boom slewing positions, or inertial measurement units that detect boom system orientation and movement. For example, the sensors may be part of the lifting machine.

[0062] For example, the processing circuitry 110 may receive sensor signals at high frequency rates to maintain current awareness of boom system positioning as the boom moves through its operational envelope during lifting operations. In some examples, the sensors may comprise hydraulic position sensors that monitor cylinder extensions to determine boom angles and positions, GPS receivers that track boom tip coordinates, or optical sensors that measure boom system geometry relative to reference points on the lifting machine. The processing circuitry 110 may process multiple sensor inputs simultaneously to calculate comprehensive position data that accounts for all degrees of freedom in boom system movement, including elevation, extension, rotation, and any articulation of knuckle booms or secondary boom segments. The real-time position data may be updated continuously at rates sufficient to track boom movement dynamics and provide responsive control feedback for safety boundary enforcement.

[0063] In some examples, the processing circuitry 110 may generate a control signal stopping the movement of the boom system by creating electrical or digital command signals that are transmitted to boom system actuators when proximity analysis indicates potential virtual boundary surface violations. The control signal generation may involve comparing current boom system coordinates from the real-time position data with virtual boundary surface coordinates to calculate separation distances and predict boundary crossing scenarios. The processing circuitry 110 may generate control signals that command hydraulic valve closures, electric motor stops, or mechanical brake applications that halt boom movement before any part of the boom system crosses the virtual boundary surface coordinates, ensuring that electrical safety boundaries are maintained through active control intervention based on real-time position monitoring.

[0064] In some examples, the processing circuitry 110 may be further configured to obtain geographic position data of the lifting machine. The processing circuitry 110 may be further configured to generate the real-time position data indicating the current position of the boom system based on the obtained position data. For example, the processing circuitry 110 may be further configured to obtain geographic position data of the lifting machine through GPS (Global Positioning System) sensors, differential GPS systems, or other satellite-based positioning technologies that provide precise coordinate information for the lifting machine location within a global or regional coordinate reference system. The geographic position data may comprise latitude and longitude coordinates, elevation data, and heading information that establish the lifting machine position within the 3D coordinate system used for virtual boundary surface calculations. The processing circuitry 110 may obtain geographic position data continuously or at regular intervals to maintain accurate knowledge of lifting machine location as the lifting machine moves between different positions on construction sites or industrial facilities.

[0065] For example, the processing circuitry 110 may generate the real-time position data indicating the current position of the boom system by combining the geographic position data of the lifting machine with relative positioning measurements from boom system sensors to calculate absolute coordinates for boom system components within the 3D coordinate system. The boom system position calculation may involve adding boom system geometry vectors to the lifting machine geographic position data, where boom elevation angles, extension lengths, and rotation angles are used to determine boom tip coordinates relative to the lifting machine base position. The processing circuitry 110 may apply coordinate transformation algorithms that convert relative boom measurements into absolute geographic coordinates, enabling direct comparison with virtual boundary surface coordinates and overhead power line positions that are defined within the same global coordinate reference frame.

[0066] In some examples, the real-time position data generation may account for lifting machine orientation, boom system kinematics, and coordinate system transformations that translate boom sensor measurements into precise three-dimensional coordinates for boom system components such as boom tips, boom segments, and attached equipment. The processing circuitry 110 may calculate boom system coordinates by applying trigonometric functions and coordinate geometry calculations that combine lifting machine geographic position data with boom angle measurements, boom extension data, and boom rotation information to determine the exact spatial location of boom system elements within the established coordinate system used for virtual boundary surface enforcement.

[0067] In some examples, the processing circuitry 110 may be further configured to establish the 3D coordinate system in which the virtual boundary surface and the position data of the boom system are expressed. In other words, the 3D coordinate system may provide a unified mathematical framework for expressing both the virtual boundary surface geometry and the position data of the boom system within the same spatial reference frame. The three-dimensional coordinate system may utilize coordinate axes such as X, Y, and Z coordinates where the Z-axis represents vertical elevation and the X and Y axes represent horizontal positioning relative to the lifting machine base position or geographic reference points. The processing circuitry 110 may establish the coordinate system using reference points such as the lifting machine base position, geographic coordinates, or local coordinate origins that provide consistent spatial positioning for all elements within the working environment including the overhead power line infrastructure, virtual boundary surface coordinates, and boom system position measurements.

[0068] In some examples, the 3D coordinate system may serve as the computational foundation for boom system control by enabling direct mathematical comparison between boom system coordinates and virtual boundary surface coordinates to determine proximity relationships and prevent boundary violations. The processing circuitry 110 may express the virtual boundary surface as mathematical equations, coordinate point arrays, or geometric parameters within that coordinate system, while simultaneously tracking boom system position data as real-time coordinate values that can be directly compared with boundary surface limits. The unified coordinate system may enable the processing circuitry 110 to implement collision detection algorithms, calculate minimum distances between boom system components and virtual boundary surfaces, and generate control signals that prevent boom system movement across safety boundaries by maintaining all spatial relationships within the same mathematical reference frame that encompasses the lifting machine working area and overhead power line hazard zones.

[0069] In some examples, the processing circuitry 110 may be further configured to define a tolerance region adjacent to the virtual boundary surface. In some examples, the processing circuitry 110 may further reduce a movement speed of the boom system within the tolerance region before stopping the boom system at the virtual boundary surface. For example, the tolerance region adjacent to the virtual boundary surface may be defined as a three-dimensional buffer zone that extends from the virtual boundary surface toward the unrestricted operating area of the boom system. The tolerance region may be established by offsetting the virtual boundary surface coordinates by a predetermined distance to create a secondary boundary that serves as an early warning zone before the boom system reaches the absolute safety limit defined by the virtual boundary surface. The processing circuitry 110 may define the tolerance region with geometric parameters such as uniform offset distances, graduated buffer zones, or variable spacing that accounts for boom system dynamics and stopping distances required for safe deceleration.

[0070] In some examples, the processing circuitry 110 may reduce a movement speed of the boom system within the tolerance region by implementing progressive speed control algorithms that gradually decrease boom system velocity as the boom approaches the virtual boundary surface. The speed reduction may be achieved through control signals that modify hydraulic flow rates, adjust electric motor speeds, or implement proportional control schemes that correlate boom system speed with proximity to the virtual boundary surface. The processing circuitry 110 may calculate appropriate deceleration profiles that ensure smooth boom system stopping at the virtual boundary surface while maintaining operational control and preventing abrupt movement interruptions that could cause load instability or equipment stress.

[0071] For example, the tolerance region may be defined as a 2-meter buffer zone adjacent to a virtual boundary surface positioned 5 meters from a 110 kilovolt overhead power line, where boom system speed may be reduced from normal operating speed of 10 degrees per second to 3 degrees per second when entering the tolerance region. The processing circuitry 110 may implement a linear speed reduction profile where boom system velocity decreases proportionally from 100 percent normal speed at the tolerance region boundary to zero speed at the virtual boundary surface. The tolerance region may be combined with specific optical and acoustic warnings such as flashing warning lights and audible alarms that activate when the boom system enters the tolerance region, providing operator feedback about proximity to electrical hazard boundaries while the automated speed reduction system ensures safe boom system deceleration and stopping before crossing the virtual boundary surface.Obtaining the Overhead Power Line Data

[0072] In some examples, processing circuitry 110 may be further configured to obtain the power line data from a remote planning system. For example, the remote planning system may be a computer-based system or software platform that operates separately from the apparatus 100 and provides planning, data management, and coordination services for lifting machine operations. The remote planning system may be located at a central facility, cloud-based server infrastructure, or mobile command center that maintains databases of overhead power line information and infrastructure data relevant to construction sites and industrial facilities. The remote planning system may collect, process, and distribute overhead power line data to multiple lifting machines operating across different locations within a geographic region or project area.

[0073] In some examples, the remote planning system may comprise construction management systems, crane planning applications, or infrastructure mapping services that integrate overhead power line data with project planning workflows. The remote planning system may include utility company databases that maintain current information about power line locations, voltages, and operational status, or geographic information systems that provide spatial data about power line infrastructure. The remote planning system may be implemented as enterprise resource planning systems that coordinate lifting operations with power line safety requirements, or specialized crane planning software that incorporates electrical hazard avoidance into lift planning processes.

[0074] In some examples, the remote planning system may provide specific data formats such as digital map files containing power line coordinates and electrical specifications, structured databases with power line infrastructure records, or real-time data feeds that update power line operational status and configuration changes. The remote planning system may transmit overhead power line data through communication interfaces such as cellular networks, wireless internet connections, or dedicated communication links that connect to the apparatus 100. The processing circuitry 110 may obtain overhead power line data from the remote planning system through periodic data downloads, continuous data streaming, or on-demand data requests triggered by the lifting machine entering specific geographic areas where overhead power lines are present.

[0075] In some examples, the power line data may be generated by the remote planning system based on geographic information data describing overhead power lines and supporting structures. For example, the geographic information data may comprise digital spatial datasets that describe the physical locations, attributes, and characteristics of infrastructure elements including overhead power lines and supporting structures within geographic coordinate systems. The geographic information data may be collected through surveying, satellite imagery, aerial photography, or ground-based mapping techniques that capture the precise positioning and physical properties of power line infrastructure. The remote planning system may process the geographic information data to extract relevant overhead power line information and transform the raw geographic data into structured overhead power line data suitable for use by the processing circuitry 110.

[0076] In some examples, the remote planning system may generate overhead power line data by analyzing geographic information data to identify power line corridors, extract support structure locations, and calculate conductor paths between support structures within specific geographic areas. The remote planning system may process topographic data to determine ground elevations and terrain profiles that affect power line clearances and safety distances. The remote planning system may combine multiple geographic information datasets to create comprehensive overhead power line data that includes electrical specifications, physical dimensions, and spatial relationships relevant to lifting machine operations.

[0077] In some examples, the geographic information data may comprise infrastructure maps from utility companies that show power line routes and electrical specifications such as voltage, digital elevation models that provide terrain height information for clearance calculations, or cadastral maps that define property boundaries and infrastructure easements where power lines are located. The geographic information data may include satellite imagery datasets that show overhead power line locations and support structures, or vector geographic datasets that contain precise coordinate information for power line infrastructure elements. The remote planning system may generate overhead power line data by processing geographic information system databases that contain utility infrastructure records, combining aerial survey data with electrical engineering specifications, or integrating municipal infrastructure maps with real-time operational data from power system operators.

[0078] In some examples, the processing circuitry 110 is further configured to determine at least parts of the overhead power line data based on one or more sensors of the lifting machine. The one or more sensors of the lifting machine may utilize the sensor systems integrated with or mounted on the lifting machine to detect and measure characteristics of overhead power lines in the immediate working environment. The one or more sensors may comprise sensing technologies capable of detecting electrical fields, magnetic fields, visual features, or other physical properties associated with overhead power lines and supporting structures. The processing circuitry 110 may receive and analyze sensor signals to extract specific parameters that form components of the overhead power line data needed for safety boundary determination.

[0079] In some examples, the sensor-based determination may enable the lifting machine to independently identify overhead power lines that may not be documented in existing databases or to verify the accuracy of pre-existing overhead power line data. The one or more sensors may provide real-time detection capabilities that can identify changes in power line configurations, detect newly installed power lines, or measure current conditions that affect safety clearance requirements. The processing circuitry 110 may process sensor data to determine parameters such as power line locations, electrical field strengths, distances to conductors, or support structure positions within the working area of the lifting machine.

[0080] In some examples, the sensor-based approach may supplement overhead power line data obtained from remote planning systems or stored databases by providing current measurements and verification of existing information. The one or more sensors may operate continuously or periodically during lifting machine operations to update the overhead power line data as the lifting machine moves through different locations or as environmental conditions change. The processing circuitry 110 may combine sensor-derived parameters with other data sources to create comprehensive overhead power line data that accurately reflects the current state of power line infrastructure within the lifting machine working environment.

[0081] In some examples, the processing circuitry 110 may be further configured to determine the nominal voltage of the overhead power line by measuring a voltage of the overhead power line based on one or more sensor signals of the lifting machine. The nominal voltage of the overhead power line may be obtained by measuring electrical characteristics of the overhead power line based on one or more sensor signals of the lifting machine, where the determination may be performed indirectly through analysis of measurable electrical phenomena rather than direct voltage measurement. The one or more sensors may detect electric fields, magnetic fields, or electromagnetic radiation emanating from the energized conductors of the overhead power line, which may correlate with the nominal voltage level of the power line system. The processing circuitry 110 may analyze the sensor signals to identify characteristic patterns, field strengths, or frequency components that are associated with specific voltage levels commonly used in electrical power distribution and transmission systems.

[0082] In some examples, the one or more sensors may comprise electric field sensors that measure the intensity of electric fields generated by the energized conductors, where higher nominal voltages may produce stronger electric field measurements at equivalent distances from the power line. The processing circuitry 110 may compare the measured electric field strength with calibration data or lookup tables that correlate field measurements with known nominal voltage levels for different types of overhead power line systems. The determination may involve analyzing the spatial distribution of electric field measurements around the overhead power line to identify voltage-dependent field patterns that are characteristic of specific nominal voltage classifications.

[0083] In some examples, the one or more sensors may include magnetic field sensors or electromagnetic spectrum analyzers that detect magnetic fields or electromagnetic emissions associated with the alternating current flowing through the overhead power line conductors. The processing circuitry 110 may analyze the frequency content, harmonic components, or field strength characteristics of these signals to infer the nominal voltage level based on known relationships between electrical power system parameters and electromagnetic signatures. The determination may involve pattern recognition algorithms or machine learning techniques that have been trained to identify nominal voltage levels based on sensor signal characteristics observed in proximity to overhead power lines of known voltage ratings.

[0084] Further, for example, a support structure height of the overhead power line may be determined by the processing circuitry 110 using optical sensors, laser rangefinders, or photogrammetry systems that measure the vertical dimensions of support structures within the sensor detection range of the lifting machine. The one or more sensors may capture visual data or distance measurements that enable calculation of support structure heights relative to the lifting machine position or ground reference level. For example, geographic position of the support structures may be determined by the processing circuitry 110 using GPS sensors integrated with the lifting machine combined with relative positioning sensors such as cameras, radar, or lidar systems that detect the angular and distance relationships between the lifting machine and visible support structures. The one or more sensors may provide bearing and range measurements that can be combined with the lifting machine GPS position to calculate support structure coordinates.

[0085] For example, a number of conductors of the overhead power line may be determined by the processing circuitry 110 using optical sensors or image processing systems that analyze visual data to count individual conductors suspended from support structures. The one or more sensors may employ computer vision algorithms that can distinguish separate conductor lines and provide an accurate count of conductors within each span of the overhead power line. For example, a conductor sag of the overhead power line may be determined by the processing circuitry 110 using laser scanning systems, photogrammetry, or optical measurement devices that can map the three-dimensional profile of conductors between support structures. The one or more sensors may measure multiple points along conductor spans to determine the curved profile and calculate maximum sag values.

[0086] For example, a geographic position of the overhead power line may be determined by the processing circuitry 110 using GPS positioning combined with directional sensors that can track the conductor path and generate coordinate data for the power line route. The one or more sensors may provide continuous position tracking as the lifting machine moves along or beneath power line spans. For example, a distance between the lifting machine and the overhead power line may be determined by the processing circuitry 110 using proximity sensors, radar systems, or lidar devices that directly measure the separation distance to the nearest conductors. The one or more sensors may provide real-time distance measurements that account for boom system position and conductor locations.

[0087] For example, a ground profile at a location of the lifting machine may be determined by the processing circuitry 110 using ground-penetrating sensors, accelerometers that detect slope angles, or laser scanning systems that map the terrain topology around the lifting machine position. The one or more sensors may measure elevation changes and surface characteristics that affect clearance calculations.

[0088] Further details and aspects are mentioned in connection with the examples described below. The example shown in Fig. 1 may include 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 below (e.g., Figs. 2 - 8).

[0089] Fig. 2 illustrates a method 200 for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The method 200 comprises obtaining 210 overhead power line data. The method 200 further comprises determining 220 a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. The method 200 further comprises controlling 230 a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0090] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 2 may include 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., Fig. 1) or below (e.g., Figs. 3 - 8).

[0091] Fig. 3 shows a lifting machine 300 comprising the apparatus 100 as described above. The lifting machine 300 further comprises the boom system 310.

[0092] As described above, for example the lifting machine 300 may be a mobile or stationary mechanical device designed to lift a load. For example, the lifting machine may move the loads in construction, industrial, or material handling applications. The lifting machine 300 may be equipped with hydraulic, mechanical, or electric systems that provide the power necessary to operate lifting mechanisms and control load movements. The lifting machine 300 may be mounted a platform 320, such as wheeled vehicles, tracked chassis, fixed foundations, or floating platforms depending on the specific application and working environment. In some examples, the boom system 310 of the lifting machine 300 may comprise one or more articulated arms or booms that extend from a base structure to reach and manipulate loads at various distances and heights. The boom system 310 may include a main boom that connects to the lifting machine base, and may additionally comprise secondary booms such as knuckle booms or extension booms that provide additional reach and flexibility. The boom system 310 may be actuated by hydraulic cylinders, electric motors, or mechanical systems that control boom elevation, extension, and articulation movements. The boom system 310 may terminate in a tip region where lifting attachments, hooks, or specialized equipment may be mounted for engaging with loads.

[0093] In some examples, the lifting machine 300 may be at least one of a crane, a mobile crane, a loader crane, a knuckle boom crane, a crawler crane, a tower crane, a forestry crane, a recycling crane, a material handler, a mobile manipulator or an aerial platform. In some examples, the crane may comprise a rotating superstructure mounted on a base or carrier, with the boom system extending from the superstructure to provide lifting capabilities at various radii and heights. The crane may be designed for general construction, industrial, or material handling applications where heavy loads must be lifted and positioned with precision. A mobile crane may be a crane mounted on a wheeled or tracked carrier that provides mobility between job sites, allowing the crane to be transported and positioned at different locations as needed.

[0094] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 3 may include 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 - 2) or below (e.g., Figs. 4 - 8).

[0095] Fig. 4 illustrates an example of system 400 for preventing electric hazard between a boom system 422 of a lifting machine 420 and an overhead power line 410. The overhead power line 410 is suspended between support structures and the lifting machine 420 is positioned within the working area beneath the overhead power line. The overhead power line 410 comprises a first support structure 412, conductors 414 exhibiting conductor sag between the support structures, and a second support structure 416. The lifting machine 420 is equipped with a boom system 422 that extends upward into the airspace where electrical hazards may occur due to proximity to the energized conductors 414.

[0096] A virtual boundary surface 440 is determined that defines a restricted area as a spatial zone adjacent to the overhead power line 410, where the boom system 422 is prevented from moving into the restricted area. The virtual boundary surface 440 functions as a virtual ceiling created under the overhead power line 410 at height of the point 442 (point A), where the danger zone around the power line and the crane cannot pass this wall. The virtual boundary surface 440 is determined based on the voltage of the powerline, the pole height, the distance of the power line to the ground and the unevenness of the ground, incorporating the distance 418 between the first support structure 412 and the second support structure 416. The coordinate positions of the support structures are indicated by reference points 432 and 434, representing the geographic positions of the first support structure 412 and the second support structure 416 respectively within the three-dimensional coordinate system used for virtual boundary surface calculations.

[0097] The virtual boundary surface 440 is positioned at a predetermined vertical distance below the conductors 414 to ensure safe clearance for the boom system 422. The system may receive power line input from a remote planning system directly when available, enabling integrated planning and operational safety enforcement. The location of the virtual boundary surface 440 may be determined within the three-dimensional coordinate system as described above based on overhead power line data including support structure heights, conductor sag measurements, voltage-dependent clearance requirements, and ground profile variations that affect the distance calculations. The boom system 422 operates within the allowable space below the virtual boundary surface 440, while the restricted area above the virtual boundary surface 440 prevents boom system movement that could result in electrical contact or dangerous proximity to the energized conductors 414.

[0098] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 4 may include 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 - 3) or below (e.g., Figs. 5 - 8).

[0099] Fig. 5 illustrates another example of system 500 for preventing electric hazard between a boom system 422 of a lifting machine 420 and an overhead power line 410. The overhead power line 410 is suspended between support structures and the lifting machine 420 is positioned within the working area adjacent to the overhead power line. The overhead power line 410 comprises a first support structure 412, conductors 414 exhibiting conductor sag between the support structures, and a second support structure 416. The lifting machine 420 is equipped with a boom system 422 that extends laterally toward the overhead power line 410 where electrical hazards may occur due to proximity to the energized conductors 414.

[0100] A virtual boundary surface 540 is determined that defines a restricted area as a spatial zone adjacent to the overhead power line 410, where the boom system 422 is prevented from moving into the restricted area. The virtual boundary surface 540 functions as a virtual vertical wall created between the overhead power line 410 and the lifting machine 420, where the danger zone around the power line is definable and the crane cannot pass this wall. The virtual boundary surface 540 is positioned based on the nominal voltage of the overhead power line and the needed distance of the power line to the virtual wall, incorporating measurements such as the width L of the outer point of the support structures projected to the earth and reference calculation points A and B. The coordinate positions of the support structures are indicated by reference points 432 and 434, representing the geographic positions of the first support structure 412 and the second support structure 416 respectively within the three-dimensional coordinate system used for virtual boundary surface calculations.

[0101] The virtual boundary surface 540 is positioned at a predetermined lateral distance from the conductors 414 to ensure safe clearance for the boom system 422, accounting for electrical safety requirements determined by the nominal voltage of the overhead power line 410 and the geometric relationships between the support structures and the lifting machine position. The location of the virtual boundary surface 540 may be determined within the three-dimensional coordinate system as described above based on overhead power line data including support structure dimensions, conductor positions, and voltage-dependent clearance requirements. The boom system 422 operates within the allowable space on the side of the virtual boundary surface 540 away from the overhead power line 410, while the restricted area between the virtual boundary surface 540 and the overhead power line 410 prevents boom system movement that could result in electrical contact or dangerous proximity to the energized conductors 414.

[0102] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 5 may include 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) or below (e.g., Figs. 6 - 8).Planning lifting machine operations

[0103] Fig. 6 illustrates an apparatus 600 for planning a lifting machine operation in the vicinity of a power line. For example, the concepts, terminology, and technical elements described above in Fig. 1 in connection with apparatus 100 for preventing electric hazard between a boom system of a lifting machine and an overhead power line may apply equally to the apparatus 600 for planning lifting machine operations in the vicinity of a power line. The definitions and descriptions of overhead power lines, overhead power line data, virtual boundary surfaces, restricted areas, three-dimensional coordinate systems, boom systems, and lifting machines may be incorporated by reference for the apparatus 600 with the same meanings and technical implementations. The virtual boundary surface determination methods, voltage-dependent clearance calculations, geometric modeling techniques, and safety boundary establishment procedures described for apparatus 100 may be utilized by the planning apparatus 600 to create comprehensive planning capabilities that integrate electrical hazard prevention with operational planning requirements.

[0104] The apparatus 600 comprises processing circuitry 610. For example, the processing circuitry 610 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a neuromorphic processor or a field programmable gate array (FPGA). The processing circuitry 610 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and / or non-volatile memory. For example, the apparatus 600 may comprise memory configured to store instructions, which when executed by the processing circuitry 610, cause the processing circuitry 610 to perform the steps and methods described herein. In some examples, the apparatus 600 may further comprise storage circuitry configured to store data. The storage circuitry may operate in cooperation with the processing circuitry 610 to ensure the persistent and consistent management of information within the apparatus 600.

[0105] The processing circuitry 610 is configured to obtain geographic information data describing at least one overhead power line and supporting structures in a working area. For example, the processing circuitry 610 may obtain the geographic information data from utility company databases, municipal infrastructure records, geographic information systems, or online infrastructure mapping services that maintain current information about overhead power line locations and specifications. The obtaining may involve accessing stored geographic information data from internal databases of the apparatus 600, receiving data through a communication interface of the apparatus 600 from external sources, or importing data files that contain spatial datasets relevant to the planned working area of the lifting machine.

[0106] For example, the working area may be a defined geographic region or spatial zone where the lifting machine is planned to operate or may be positioned during lifting operations. The working area may encompass the construction site, industrial facility, or project location where lifting tasks are scheduled to be performed, including all potential positions where the lifting machine may be placed and all spatial zones where the boom system may extend during operational activities. The processing circuitry 610 may define the working area based on project boundaries, operational requirements, lifting machine mobility constraints, or geographic limits that bound the planned lifting operations within a specific region where overhead power line infrastructure may present electrical hazards to boom system operations.

[0107] For example, the geographic information data may comprise digital spatial datasets that describe the physical locations, geometric properties, and infrastructure attributes of overhead power lines and supporting structures within a defined geographic region or working area. The geographic information data may include coordinate information, elevation data, infrastructure specifications, and spatial relationships that define the overhead power line infrastructure within coordinate reference systems such as GPS coordinates, UTM coordinates, or local mapping coordinate systems. The geographic information data may be structured as vector datasets, raster imagery, database records, or map files that contain layered information about power line routes, support structure positions, conductor configurations, and electrical specifications relevant to planning requirements.

[0108] In some examples, the geographic information data may be sourced from infrastructure maps available online, utility company geographic information systems, topographic survey data, or aerial photography datasets that capture overhead power line infrastructure within the working area where lifting operations are planned. The geographic information data may include power line corridor maps that show conductor routing between support structures, support structure inventory data that provides location coordinates and physical specifications, or electrical system maps that specify voltage levels and operational characteristics of overhead power lines. The processing circuitry 610 may obtain geographic information data that encompasses the entire working area where the lifting machine may operate, ensuring comprehensive coverage of all overhead power line infrastructure that may affect planning and operational safety requirements.

[0109] The processing circuitry 610 is further configured to determine a virtual boundary surface based on the obtained geographic information data. The virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area. The virtual boundary surface may be determined as described above with regards to Fig. 1. The virtual boundary surface defines the restricted area as a spatial zone adjacent to the overhead power line from which the boom system is prevented from moving into the restricted area. The virtual boundary surface may function as the mathematical boundary that separates allowable operational space from the restricted area, where the restricted area comprises the three-dimensional volume between the virtual boundary surface and the overhead power line conductors that represents the electrical hazard zone. The processing circuitry 610 may establish the spatial relationship where the virtual boundary surface serves as the outer limit of the restricted area, creating a clear demarcation between safe operational zones and prohibited zones around overhead power line infrastructure.

[0110] In some examples, the restricted area may comprise the spatial zone that encompasses all coordinates where boom system presence would violate minimum electrical clearance requirements, extending from the virtual boundary surface toward the overhead power line conductors and supporting structures. The restricted area may be defined within a three-dimensional coordinate system as a volume bounded by the virtual boundary surface geometry on the side away from the overhead power line, while the overhead power line infrastructure defines the inner boundary of the restricted area. The processing circuitry 610 may calculate the restricted area dimensions based on voltage-dependent safety distances, conductor sag profiles, and support structure positions to create comprehensive electrical hazard zones that prevent boom system approach from any direction within the working area.

[0111] For example, the processing circuitry 610 may be configured to determine the virtual boundary surface by processing the geographic information data to extract overhead power line coordinates, support structure positions, conductor specifications, and electrical parameters, then applying the same voltage-dependent clearance calculations and geometric modeling techniques described for apparatus 100. The virtual boundary surface determination may utilize overhead power line locations from the geographic information data combined with nominal voltage specifications to calculate appropriate safety distances according to established electrical safety standards. The processing circuitry 610 may generate virtual boundary surface coordinates that maintain required clearances from conductors while accounting for conductor sag, support structure geometry, and terrain variations captured in the geographic information data, creating comprehensive safety boundaries suitable for planning applications.

[0112] The processing circuitry 610 is configured to determine one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. For example, the one or more working positions for the lifting machine inside the working area may comprise specific geographic locations or coordinates where the lifting machine may be positioned to perform lifting operations while maintaining safe clearances from overhead power line infrastructure. The working positions may represent optimal placement locations for the lifting machine base or chassis that enable the boom system to reach required work locations while ensuring that the boom system operational envelope does not intersect with the restricted area defined by the virtual boundary surface. The processing circuitry 610 may identify multiple alternative working positions that provide operational flexibility while maintaining electrical safety compliance, allowing operators to select positions based on access routes, ground conditions, or operational preferences.

[0113] For example, an operating range of a boom system of the lifting machine may comprise the three-dimensional envelope or spatial volume that the boom system can reach during normal lifting operations, including all possible boom positions achievable through boom elevation, extension, rotation, and articulation movements. The operating range may be defined by boom system kinematics, maximum reach capabilities, lifting capacity constraints, and mechanical limits that determine the spatial boundaries within which the boom system can operate from a given lifting machine position. The processing circuitry 610 may utilize operating range data that specifies boom system geometry, reach capabilities, and operational limitations to establish the spatial envelope that must be evaluated against virtual boundary surface constraints.

[0114] In some examples, the processing circuitry 610 may determine the working positions by analyzing the geometric relationship between potential lifting machine positions, the corresponding boom system operating ranges from those positions, and the virtual boundary surface coordinates to identify locations where the operating range does not intersect with the restricted area. The determination process may involve calculating boom system reach envelopes for multiple candidate lifting machine positions and evaluating each position to ensure that no part of the boom system operating range extends into the restricted area adjacent to the overhead power line. The processing circuitry 610 may optimize working position selection to maximize operational capability while maintaining electrical safety boundaries, identifying positions that provide the best performance considering safe distances for preventing situations where operators discover they cannot perform planned work due to overhead power line constraints.

[0115] The processing circuitry 610 is configured to generate a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine. For example, one or some or all available information regarding the power lines may be visualized including support structure height, support structure coordinates, nominal voltage, and other overhead power line data parameters. The map may comprise a graphical display that shows the overhead power line infrastructure as line segments or conductor paths between support structures, the virtual boundary surface as colored zones or boundary lines that define the restricted area, and the working positions as designated markers or symbols that indicate optimal lifting machine placement locations. The processing circuitry 610 may generate the map by overlaying these elements onto geographic base maps, aerial imagery, or construction site plans that provide spatial context for the working area.

[0116] In some examples, the map generation may involve rendering the operating range of the boom system as graphical representations such as circular or sector-shaped areas that show the reach envelope from each working position, while the virtual boundary surface may be displayed as colored zones that indicate restricted areas where the boom system cannot operate. The processing circuitry 610 may create visual representations where the lifting capacity diagram shows yellow working areas that become restricted due to colored zone safety boundaries, providing clear visual indication of operational limitations imposed by overhead power line proximity. The map may include calculated restricted areas around the power lines to the left and right side, initially providing a top view 2D representation with future capabilities for 3D format visualization.

[0117] For example, the map generation process may involve coordinate transformation algorithms that convert geographic information data coordinates into map display coordinates, geometric rendering algorithms that create visual representations of virtual boundary surfaces and operating ranges, and overlay processing that combines multiple data layers into comprehensive planning maps. The processing circuitry 610 may generate maps that enable operators to visualize the spatial relationships between overhead power line infrastructure, safety boundaries, boom system capabilities, and optimal working positions within a single integrated display. The generated map may serve as a comprehensive planning tool that prevents situations where operators arrive at job sites only to discover they cannot perform planned work due to existing overhead power line constraints, enabling pre-operational assessment of electrical hazards and operational feasibility.

[0118] For example, the map may be generated as a 2D representation or a 3D visualization depending on the complexity requirements and display capabilities of the planning system. The processing circuitry 610 may generate 2D maps by projecting three-dimensional coordinate data onto a planar surface using cartographic projection methods that preserve spatial relationships while providing top-view perspectives of the working area. The 2D map generation may involve rendering overhead power lines as linear features, virtual boundary surfaces as polygonal areas or contour lines, working positions as point symbols, and boom system operating ranges as circular or sector-shaped regions that show horizontal reach capabilities from each lifting machine position.

[0119] In some examples, the processing circuitry 610 may achieve 2D map generation through coordinate transformation algorithms that convert geographic coordinates into screen coordinates, geometric simplification processes that reduce three-dimensional virtual boundary surfaces to two-dimensional boundary lines, and layer composition techniques that overlay multiple data elements onto base map imagery. The 2D representation may provide calculated restricted areas around the power lines to the left and right side in top view format, enabling rapid assessment of spatial relationships and operational constraints without requiring complex three-dimensional visualization capabilities.

[0120] In some examples, the processing circuitry 610 may generate 3D visualizations by rendering three-dimensional models of overhead power line infrastructure, virtual boundary surfaces as volumetric representations, and boom system operating ranges as three-dimensional envelopes that show complete spatial reach capabilities including vertical dimensions. The 3D map generation may involve polygon mesh rendering algorithms that create realistic representations of support structures, surface modeling techniques that visualize virtual boundary surfaces as transparent or colored volumes, and perspective projection methods that enable viewing the working area from multiple angles and elevations. The 3D visualization capabilities may provide enhanced spatial understanding of complex geometric relationships between overhead power lines, safety boundaries, terrain features, and boom system operational envelopes, enabling more comprehensive job planning assessment compared to 2D representations.

[0121] Apparatus 600 enables pre-operational planning that prevents costly job site delays and safety incidents by allowing operators to assess overhead power line hazards and determine optimal working positions before arriving at construction sites, eliminating situations where operators discover they cannot perform planned work due to existing power line constraints. The apparatus 600 provides advanced visualization capabilities through integrated mapping that displays overhead power line locations, virtual boundary surfaces, restricted areas, and boom system operating ranges within a unified planning interface, enabling operators to optimize lifting operations while maintaining electrical safety compliance and maximizing operational efficiency within power line proximity constraints. The apparatus 600 enables facilitating safe operations in challenging environments where overhead power lines would otherwise prevent lifting activities, while supporting regulatory compliance, for example with EU regulations, and contributing to sustainable construction practices through improved job planning that reduces equipment repositioning, minimizes project delays, and enables efficient utilization of existing infrastructure corridors without requiring costly power line relocations.

[0122] In some examples, processing circuitry 610 may be further configured to display the map, for example through visual display interfaces such as computer monitors, tablet screens, mobile device displays, or operator console screens that present the generated map in formats accessible to lifting machine operators during job planning activities. The map display may provide interactive visualization capabilities that allow operators to examine overhead power line locations, virtual boundary surfaces, working positions, and boom system operating ranges through pan, zoom, and layer control functions that enable detailed assessment of spatial relationships and operational constraints. The processing circuitry 610 may implement the map display functionality through graphical user interface software, web-based mapping applications, or dedicated planning software that renders the map data in user-friendly formats suitable for operator interpretation and decision-making during pre-operational planning phases.

[0123] In some examples, the processing circuitry 610 may be further configured to transmit the generated map to an operator application of the lifting machine, for example through communication interfaces that enable remote access to planning information via mobile devices, tablet computers, or remote control units used by lifting machine operators. The transmission may involve wireless communication protocols such as cellular networks, Wi-Fi connections, or Bluetooth links that deliver the generated map data to operator applications running on portable devices or integrated operator interfaces. The processing circuitry 610 may implement the transmission functionality to enable the generated map page to be transmitted digitally to operators through operator applications, allowing access to overhead power line information, virtual boundary surfaces, and working position recommendations from remote locations or mobile platforms where operators may be positioned away from the primary planning system.

[0124] In some examples, the operator application may receive the transmitted map data and provide interactive display capabilities that enable operators to view planning information, assess job constraints, and coordinate lifting operations while maintaining awareness of electrical hazard boundaries and operational limitations imposed by overhead power line infrastructure within the working area. The transmitted map may be accessible through remote devices or remote control units that provide portable access to job planning information, enabling operators to review overhead power line locations, virtual boundary surfaces, and recommended working positions while positioned at the job site or during transit to work locations. The processing circuitry 610 may support bidirectional communication capabilities that enable operators to provide feedback, request map updates, or coordinate with planning systems through the operator application interface, facilitating real-time coordination between job planning activities and field operations.

[0125] In some examples, the processing circuitry 610 may be further configured to provide at least one of the virtual boundary surfaces or the restricted area to a control system of the lifting machine for restricting movement of the boom system with regards to the virtual boundary surface. In some examples, the control system of the lifting machine may be implemented by the apparatus 100 as described above with regards to Fig. 1. This may establish integration between planning capabilities and real-time operational safety enforcement. The provision may involve transmitting virtual boundary surface coordinates, restricted area geometric data, or safety boundary parameters to apparatus 100 or similar control systems that implement boom system movement restrictions during lifting operations. The processing circuitry 610 may format the virtual boundary surface data in coordinate systems, mathematical representations, or data structures compatible with control system requirements, enabling seamless transfer of planning-derived safety boundaries to operational control algorithms that prevent boom system movement into restricted areas.

[0126] In some examples, the data provision may enable apparatus 100 to receive power line input from the apparatus 600 directly, allowing control systems to utilize pre-calculated virtual boundary surfaces rather than requiring independent boundary determination during operations. The processing circuitry 610 may establish communication interfaces or data transfer protocols that enable automatic or manual transmission of virtual boundary surface data to lifting machine control systems, ensuring consistency between planning-phase safety boundaries and operational-phase movement restrictions.

[0127] In some examples, the processing circuitry 610 may be further configured to update the map with real-time data of the boom system of the lifting machine in relation to the virtual boundary surface and the restricted area. For example, the map may be updated with real-time data of the boom system of the lifting machine in relation to the virtual boundary surface and the restricted area by receiving continuous position data from the lifting machine control systems or sensors that indicate current boom system coordinates and operational status. The map updating may involve receiving real-time position data through communication interfaces such as wireless networks, cellular connections, or dedicated data links that transmit current boom system coordinates, lifting machine position, and operational parameters to the planning apparatus. The processing circuitry 610 may implement real-time data integration algorithms that overlay current boom system position markers, movement trajectories, or proximity indicators onto the existing map display, enabling dynamic visualization of lifting operations as they progress relative to virtual boundary surfaces and restricted areas.

[0128] In some examples, the real-time map updating may provide technical effects including enhanced situational awareness that enables operators to properly operate the lifting machine technical system by avoiding electrical hazards, where the presentation of boom system position information relative to virtual boundary surfaces prompts the user to interact with the system to avoid technical malfunctions such as electrical contact or arc formation. The processing circuitry 610 may enable bidirectional communication from Geofencing and telematics systems that track where the crane stands and where the power lines are located, providing notifications when the lifting machine approaches power line proximity based on detected GPS positions, where this presentation of information facilitates a continued human-machine interaction by resolving conflicting technical requirements of maintaining operational capability while ensuring electrical safety boundaries. The real-time updating capability serves a technical purpose by enabling immediate response to proximity warnings or safety boundary violations. Cognitive content of the presented information is objectively, reliably and causally linked to the technical task of preventing electrical contact between boom systems and overhead power lines rather than depending on subjective user preferences or psychological factors.

[0129] In some examples, the processing circuitry 610 may be further configured to issue a warning to an operator when the real-time boom position approaches the restricted area. For example, a proximity detection algorithm may be implemented that continuously monitor boom system coordinates relative to virtual boundary surface boundaries and generate alert signals when predetermined approach distances are exceeded. The warning issuance may involve generating optical and acoustic warnings such as flashing warning lights, audible alarms, or visual notifications on operator displays that indicate proximity to electrical hazard boundaries, where the cognitive content of the warning information relates to an internal state prevailing in the technical system and enables the operator to properly operate the lifting machine by taking corrective action to prevent boom system entry into the restricted area. The processing circuitry 610 may implement graduated warning systems that provide increasingly urgent notifications as boom system proximity to virtual boundary surfaces decreases, enabling a continued and guided process of human-machine interaction where the presentation of warning information credibly assists the operator in performing the technical task of maintaining electrical safety compliance during lifting operations while serving the technical purpose of preventing electrical contact between boom system components and overhead power line infrastructure.

[0130] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 6 may include 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 - 5) or below (e.g., Figs. 7 - 8).

[0131] Fig. 7 illustrates a method 700 for planning lifting machine operations in the vicinity of a power line. The method 700 comprises obtaining 710 geographic information data describing at least one overhead power line and supporting structures in a working area. The method 700 comprises further determining 720 a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line. The boom system is prevented from moving into the restricted area. The method 700 comprises further determining 730 one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. The method 700 comprises further generating 740 a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0132] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 7 may include 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 - 6) or below (e.g., Fig. 8).

[0133] Fig. 8 illustrates an example of a map 800 generated by an apparatus for planning lifting machine operations in the vicinity of a power line. The map 800 is showing a top view 2D representation of a construction site with overhead power line infrastructure and lifting machine operational planning data overlaid on aerial imagery. The map 800 comprises overhead power lines that are visible and integrated from geographic information sources such as infrastructure maps available online, displayed as red linear features 832 crossing the construction site area. A lifting machine 810 is positioned within the working area. The apparatus for planning lifting machine operations is calculating restricted areas around the power lines to the left and right side of the overhead power line infrastructure.

[0134] The map 800 demonstrates the integration of virtual boundary surfaces 830 with lifting capacity diagrams, where the yellow working area 820 represents the operating range of the boom system that becomes restricted due to red zone 830 safety boundaries imposed by overhead power line proximity. The apparatus for planning lifting machine operations visualizes all available information regarding the power lines 832 including support structure positions, coordinates, voltage specifications, and clearance requirements, enabling comprehensive planning that considers safe distances and additional safety margins such as the distance between multiple power lines. The generated map 800 enables the apparatus to plan lifting operations for optimal performance while maintaining electrical safety compliance within the constraints imposed by overhead power line infrastructure.

[0135] The map 800 enables real-time operational coordination through geofencing functionality that monitors lifting machine GPS position relative to overhead power line locations, where bidirectional communication between geofencing systems and telematics enables automatic notifications to Radio Remote Control when the detected crane position approaches power line proximity zones. The apparatus for planning lifting machine operations may transmit the generated map information digitally to operator applications, providing comprehensive safety guidelines including emergency response procedures that specify actions operators should take in case electrocution incidents occur, ensuring that both planning-phase safety assessment and operational-phase emergency preparedness are integrated within the lifting machine safety system.

[0136] Further details and aspects are mentioned in connection with the examples described above. The example shown in Fig. 8 may include 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 - 7).

[0137] In the following, some examples of the proposed concept are presented: An example (e.g., example 1) relates to an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line, comprising processing circuitry, the processing circuitry being configured to obtain overhead power line data, determine a virtual boundary surface based on the overhead power line data, the virtual boundary surface defining a limit adjacent to the overhead power line which the boom system is prevented from crossing, control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0138] Another example (e.g., example 2) relates to the processing circuitry being further configured to obtain real-time position data indicating a current position of the boom system, and generate a control signal stopping the movement of the boom system before crossing the virtual boundary surface

[0139] Another example (e.g., example 3) relates to the processing circuitry being further configured to obtain geographic position data of the lifting machine, and generate the real-time position data indicating the current position of the boom system based on the obtained position data.

[0140] Another example (e.g., example 4) relates to a previous example (e.g., one of the examples 2 to 3) or to any other example, further comprising that the processing circuitry is further configured to establish a three-dimensional coordinate system in which the virtual boundary surface and the position data of the boom system are expressed.

[0141] An example (e.g., example 5) relates to the apparatus of 4, wherein the processing circuitry is configured to determine a location of the virtual boundary surface within the three-dimensional coordinate system based on the overhead power line data.

[0142] 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 that the virtual boundary surface comprises at least one of a virtual horizontal plane located below the overhead power line, a virtual vertical plane between the overhead power line and the lifting machine or an inclined plane at an angle relative to the horizontal or vertical.

[0143] Another example (e.g., example 7) relates to a previous example (e.g., one of the examples 1 to 6) or to any other example, further comprising that the virtual boundary surface comprises at least one of a curved surface in a horizontal plane located below the overhead power line, a curved surface in a virtual vertical plane between the overhead power line and the lifting machine or a curved inclined surface at an angle relative to the horizontal or vertical.

[0144] Another example (e.g., example 8) relates to a previous example (e.g., one of the examples 1 to 7) or to any other example, further comprising that the virtual boundary surface comprises at least one of a curved surface approximating a sag of a conductor of the overhead power line or a combination of multiple planes and / or curved surfaces defining a boundary envelope adjacent to the overhead power line.

[0145] Another example (e.g., example 9) relates to a previous example (e.g., one of the examples 1 to 8) or to any other example, further comprising that the virtual boundary surface defines a restricted area as a spatial zone on a side of the virtual boundary surface, the boom system being prevented from moving into the restricted area.

[0146] Another example (e.g., example 10) relates to a previous example (e.g., one of the examples 1 to 9) or to any other example, further comprising that the processing circuitry is further configured to determine a distance between the virtual boundary surface and the overhead power line based on a nominal voltage of the overhead power line.

[0147] Another example (e.g., example 11) relates to a previous example (e.g., one of the examples 1 to 10) or to any other example, further comprising that the processing circuitry is further configured to define a tolerance region adjacent to the virtual boundary surface, and reduce a movement speed of the boom system within the tolerance region before stopping the boom system at the virtual boundary surface.

[0148] Another example (e.g., example 12) relates to a previous example (e.g., one of the examples 1 to 11) or to any other example, further comprising that the overhead power line data comprise at least one of a nominal voltage of the overhead power line, a support structure height of the overhead power line, geographic position of the support structures of the overhead power line, a number of conductors of the overhead power line, a conductor sag of the overhead power line, a geographic position of the overhead power line, a distance between the lifting machine and the overhead power line, a ground profile at a location of the lifting machine or a distance between the overhead power line and the ground.

[0149] Another example (e.g., example 13) relates to a previous example (e.g., one of the examples 1 to 12) or to any other example, further comprising that the processing circuitry is further configured to obtain the power line data from a remote planning system.

[0150] Another example (e.g., example 14) relates to a previous example (e.g., example 13) or to any other example, further comprising that the power line data is generated by the remote planning system based on geographic information data describing overhead power lines and supporting structures.

[0151] Another example (e.g., example 15) relates to a previous example (e.g., one of the examples 1 to 14) or to any other example, further comprising that the overhead power line comprises one or more conductors suspended on support structures.

[0152] Another example (e.g., example 16) relates to a previous example (e.g., one of the examples 1 to 15) or to any other example, further comprising that the processing circuitry is further configured to determine at least parts of the overhead power line data based on one or more sensors of the lifting machine.

[0153] Another example (e.g., example 17) relates to a previous example (e.g., one of the examples 1 to 16) or to any other example, further comprising that the processing circuitry is further configured to determine the nominal voltage of the overhead power line by measuring a voltage of the overhead power line based on one or more sensor signals of the lifting machine.

[0154] Another example (e.g., example 18) relates to a previous example (e.g., one of the examples 1 to 17) or to any other example, further comprising that the lifting machine is at least one of a crane, a mobile crane, a loader crane, a knuckle boom crane, a crawler crane, a tower crane, a forestry crane, a recycling crane, a material handler, a mobile manipulator or an aerial platform.

[0155] An example (e.g., example 19) relates to a lifting machine, comprising the apparatus according to any one of examples 1 to 18, and the boom system.

[0156] An example (e.g., example 20) relates to a method for preventing electric hazard between a boom system of a lifting machine and an overhead power line, the method comprising obtaining overhead power line data, determining a virtual boundary surface based on the overhead power line data, the virtual boundary surface defining a limit adjacent to the overhead power line which the boom system is prevented from crossing, controlling a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0157] An example (e.g., example 21) relates to an apparatus for planning a lifting machine operation in the vicinity of a power line, comprising processing circuitry, the processing circuitry being configured to obtain geographic information data describing at least one overhead power line and supporting structures in a working area, determine a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area, and determine one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine, generate a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0158] Another example (e.g., example 22) relates to a previous example (e.g., example 21) or to any other example, further comprising that the processing circuitry is further configured to display the map to an operator of the lifting machine.

[0159] Another example (e.g., example 23) relates to a previous example (e.g., one of the examples 21 to 22) or to any other example, further comprising that the processing circuitry is further configured to provide at least one of the virtual boundary surfaces or the restricted area to a control system of the lifting machine for restricting movement of the boom system with regards to the virtual boundary surface.

[0160] Another example (e.g., example 24) relates to a previous example (e.g., one of the examples 21 to 23) or to any other example, further comprising that the processing circuitry is further configured to transmit the generated map to an operator application of the lifting machine.

[0161] Another example (e.g., example 25) relates to a previous example (e.g., one of the examples 21 to 24) or to any other example, further comprising that the processing circuitry is further configured to update the map with real-time data of the boom system of the lifting machine in relation to the virtual boundary surface and the restricted area.

[0162] Another example (e.g., example 26) relates to a previous example (e.g., one of the examples 21 to 25) or to any other example, further comprising that the processing circuitry is further configured to issue a warning to an operator when the real-time boom position approaches the restricted area.

[0163] An example (e.g., example 27) relates to a method for planning lifting machine operations in the vicinity of a power line, the method comprising obtaining geographic information data describing at least one overhead power line and supporting structures in a working area, determining a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area, and determining one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine, generating a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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. 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

[0009]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.

[0010]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.

[0011]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] Examples relate to an apparatus and method for preventing electric hazard between a boom system of a lifting machine and an overhead power line and apparatus and method for planning a lifting machine operation in the vicinity of a power line as set out in the appended set of claims.Background

[0002] Lifting machines and other boom-equipped vehicles may be commonly used in construction sites, industrial facilities, and urban environments where overhead power lines are present. These lifting operations may occur in proximity to electrical infrastructure, where the boom systems may extend into airspace occupied by energized conductors suspended between support structures. The electrical hazards associated with boom system proximity to overhead power lines may include the risk of contact with energized conductors or the risk of creating electric arcs, which may result in electrocution of operators, injuries to personnel, and equipment damage. Current safety approaches may rely on manual operator assessment of electrical hazards, complex manual safety procedures, or simplified clearance guidelines that may not account for variable factors such as conductor sag, terrain irregularities, or voltage-specific safety requirements.

[0003] Therefore, there is a demand for an improved electric hazard prevention systems.Summary

[0004] An example relates to an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The apparatus comprise processing circuitry configured to obtain overhead power line data. The processing circuitry is further configured to determine a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. The processing circuitry is further configured to control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0005] Another example relates to a method for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The method obtaining overhead power line data. The comprise further determining a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. The method comprise further controlling a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0006] An example relates to an apparatus for planning a lifting machine operation in the vicinity of a power line. The apparatus comprises processing circuitry, the processing circuitry being configured to obtain geographic information data describing at least one overhead power line and supporting structures in a working area. The processing circuitry is further configured to determine a virtual boundary surface based on the obtained geographic information data. The virtual boundary surface defines a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area. The processing circuitry is further configured to determine one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. The processing circuitry is further configured to generate a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0007] An example relates to a method for planning a lifting machine operation in the vicinity of a power line. The method comprises obtaining geographic information data describing at least one overhead power line and supporting structures in a working area. The method comprises further determining a virtual boundary surface based on the obtained geographic information data. The virtual boundary surface defines a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area. The method comprises further determining one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. The method comprises further generating a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.Brief description of the Figures

[0008] 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 illustrates an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 2 illustrates a method for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 3 shows a lifting machine comprising the apparatus as described above; Fig. 4 illustrates an example of system for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 5 illustrates another example of system for preventing electric hazard between a boom system of a lifting machine and an overhead power line; Fig. 6 illustrates an apparatus for planning a lifting machine operation in the vicinity of a power line; Fig. 7 illustrates a method for planning lifting machine operations in the vicinity of a power line; and Fig. 8 illustrates an example of a generated map. Detailed Description

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] Fig. 1 illustrates an apparatus 100 for preventing electric hazard between a boom system of a lifting machine and an overhead power line. For example, the overhead power line may be an electrical transmission or distribution system that carries electric current through conductors suspended above ground level. In some examples, the overhead power line comprises one or more conductors suspended on support structures. The support structures may maintain the conductors at safe distances from ground and surrounding objects. The overhead power line may serve to transport electrical energy from power generation facilities to distribution networks and end users across various distances and terrain. In some examples, the support structures of the overhead power line may include poles, towers, masts, or similar vertical structures designed to carry the weight of the conductors and withstand environmental forces. The support structures may be constructed from materials such as wood, steel, concrete, or composite materials depending on the voltage level and environmental requirements. For example, the support structures may vary in height from several meters for low-voltage distribution lines to over 100 meters for high-voltage transmission lines. The spacing between adjacent support structures may range from 30 meters to several hundred meters depending on the terrain, conductor type, and voltage level.

[0014] In some examples, the conductors of the overhead power line may exhibit conductor sag between support structures due to gravitational forces and thermal expansion. The conductor sag may create a curved profile where the conductors hang lower at the midpoint between support structures compared to their attachment points. The degree of conductor sag may vary based on factors such as conductor weight, temperature, wind loading, and span length between support structures. The conductor sag may be particularly significant in longer spans and may affect the minimum clearance height that must be maintained below the overhead power line. In some examples, the overhead power line may operate at various voltage levels ranging from low-voltage distribution lines of 400 volts to high-voltage transmission lines exceeding 500,000 volts. Medium-voltage distribution lines may typically operate between 1,000 volts and 35,000 volts, while high-voltage transmission lines may operate between 35,000 volts and 800,000 volts.

[0015] For example, the lifting machine may encounter overhead power lines in working environments such as construction sites, industrial facilities, or urban environments where the lifting machine may be positioned between support structures or in proximity to the overhead power line span. The boom system of the lifting machine may extend into the airspace where the overhead power line conductors are suspended, creating potential for electrical contact or dangerous proximity that requires prevention measures. The overhead power line data may therefore focus on the specific overhead power line section within this working environment, providing detailed information about the particular power line segments, spans, and conductors that present electrical hazards to the lifting machine operations.

[0016] For example, an electric hazard between the boom system of a lifting machine and the overhead power line may present significant safety risks in construction and industrial operations. The electric hazard may arise when the boom system approaches or contacts an energized overhead power line, creating the risk of contact with the energized overhead power line or the risk of creating an electric arc. Such incidents may result in electrocution of crane operators, injuries to personnel on construction sites, and accidents that have been documented according to operational experience. The apparatus 100 for preventing electric hazard may address these safety concerns by implementing protective measures that prevent the boom system from entering dangerous proximity to overhead power lines, thereby reducing the likelihood of electrical contact or arc formation that could endanger human life and cause property damage.

[0017] For example, the lifting machine may be a mobile or stationary mechanical device designed to lift a load. For example, the lifting machine may move the loads in construction, industrial, or material handling applications. The lifting machine may be equipped with hydraulic, mechanical, or electric systems that provide the power necessary to operate lifting mechanisms and control load movements. The lifting machine may be mounted on various platforms including wheeled vehicles, tracked chassis, fixed foundations, or floating platforms depending on the specific application and working environment. In some examples, the boom system of the lifting machine may comprise one or more articulated arms or booms that extend from a base structure to reach and manipulate loads at various distances and heights. The boom system may include a main boom that connects to the lifting machine base, and may additionally comprise secondary booms such as knuckle booms or extension booms that provide additional reach and flexibility. The boom system may be actuated by hydraulic cylinders, electric motors, or mechanical systems that control boom elevation, extension, and articulation movements. The boom system may terminate in a tip region where lifting attachments, hooks, or specialized equipment may be mounted for engaging with loads.

[0018] In some examples, the lifting machine may be at least one of a crane, a mobile crane, a loader crane, a knuckle boom crane, a crawler crane, a tower crane, a forestry crane, a recycling crane, a material handler, a mobile manipulator or an aerial platform. In some examples, the crane may comprise a rotating superstructure mounted on a base or carrier, with the boom system extending from the superstructure to provide lifting capabilities at various radii and heights. The crane may be designed for general construction, industrial, or material handling applications where heavy loads must be lifted and positioned with precision. A mobile crane may be a crane mounted on a wheeled or tracked carrier that provides mobility between job sites, allowing the crane to be transported and positioned at different locations as needed.

[0019] In some examples, the loader crane may be mounted on a truck or trailer chassis, designed for loading and unloading cargo or materials with relatively compact boom systems and moderate lifting capacities. The knuckle boom crane may comprise a boom system with one or more articulated joints that allow the boom to fold and extend like a knuckle, providing enhanced maneuverability in confined spaces. The crawler crane may be mounted on tracked undercarriage that distributes weight over a larger ground area and provides stability for heavy lifting operations on soft or uneven terrain. In some examples, the tower crane may be a fixed lifting machine with a vertical mast and horizontal boom system, commonly used in construction sites for lifting materials to significant heights during building construction. The forestry crane may be specialized for handling logs and timber materials in forestry operations, typically featuring boom systems designed for gripping and manipulating irregularly shaped wood loads. The recycling crane may be configured for handling scrap materials, waste, or recyclable materials with specialized attachments for sorting and moving bulk materials.

[0020] In some examples, the material handler may be a lifting machine designed for bulk material handling operations such as loading, unloading, and sorting materials in ports, scrapyards, or industrial facilities. The material handler may feature a boom system with specialized attachments such as grapples, magnets, or buckets that enable efficient handling of loose materials like scrap metal, coal, grain, or containerized cargo. The boom system of the material handler may provide extended reach and precise control for transferring materials between storage areas, transport vehicles, and processing equipment. The material handler may be mounted on wheeled or tracked chassis to provide mobility within material handling facilities.

[0021] In some examples, the mobile manipulator may comprise a boom system mounted on a mobile platform that provides precise positioning and manipulation capabilities for specialized tasks requiring high accuracy and dexterity. The boom system of the mobile manipulator may feature multiple degrees of freedom and advanced control systems that enable complex manipulation tasks such as assembly operations, inspection work, or maintenance activities. The mobile manipulator may be equipped with specialized end-effectors or tools that can be positioned with millimeter-level precision for delicate handling operations. The mobile platform may provide the mobile manipulator with the ability to navigate between workstations or job sites while maintaining operational capability.

[0022] In some examples, the aerial platform may be a lifting machine designed to raise personnel and equipment to elevated working positions, with the boom system supporting a platform or basket for worker access to height-restricted areas. The boom system of the aerial platform may be designed to provide stable and safe elevation of workers for maintenance, construction, or inspection tasks at various heights and positions. The aerial platform may feature safety systems such as fall protection, emergency lowering capabilities, and platform stabilization to protect personnel during elevated work operations. The boom system may provide both vertical lift and horizontal reach to position workers precisely at their intended work locations while maintaining safe clearances from obstacles and hazards.

[0023] The apparatus 100 comprises processing circuitry 110. For example, the processing circuitry 110 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a neuromorphic processor or a field programmable gate array (FPGA). The processing circuitry 110 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and / or non-volatile memory. For example, the apparatus 100 may comprise memory configured to store instructions, which when executed by the processing circuitry 110, cause the processing circuitry 110 to perform the steps and methods described herein. In some examples, the apparatus 100 may further comprise storage circuitry configured to store data. The storage circuitry may operate in cooperation with the processing circuitry 110 to ensure the persistent and consistent management of information within the apparatus 100.

[0024] The processing circuitry 110 is configured to obtain overhead power line data. For example, the overhead power line data may comprise information that describes the physical characteristics, electrical properties, and / or spatial positioning of the overhead power line and its associated infrastructure. The overhead power line data may comprise information for a specific overhead power line section within the working environment of the lifting machine. For example, the power line data may provide detailed information about the particular power line segments, spans, and conductors that present electrical hazards to the lifting machine operations. In some examples, the overhead power line data may contain information specifically relevant to the power line section where the lifting machine is positioned, rather than data for entire power line networks or distant power line segments that do not affect the lifting machine operations.

[0025] The overhead power line data may be obtained from various sources such as utility databases, geographic information systems, infrastructure mapping services, or based sensor measurements to provide the processing circuitry 110 with the necessary information (see below). The overhead power line data may be utilized for determining safety boundaries and operational limits of the lifting machine. For example, the overhead power line data may be obtained from internal memory or storage devices of the apparatus 100. In some example, overhead power line data may be obtained through communication interfaces of the apparatus 100 from external sources such as remote databases or planning systems, or acquiring the overhead power line data through sensor measurements performed by sensors of the lifting machine. The obtaining may occur as a one-time retrieval, periodic updates, or continuous real-time data acquisition depending on the specific implementation and operational requirements of the apparatus 100.

[0026] For example, the overhead power line data may be structured as a data file, database, or data structure containing multiple entries that organize the information in a systematic format accessible to the processing circuitry 110. The overhead power line data may comprise individual data records or entries, where each entry may correspond to a specific overhead power line segment, support structure, or geographic area within the working environment of the lifting machine. The data file may be formatted as structured data formats such as XML files, JSON files, CSV files, database tables, or proprietary data formats that enable efficient storage and retrieval of the overhead power line information. The overhead power line data may be organized with indexing systems, coordinate references, or hierarchical structures that allow the processing circuitry 110 to quickly locate and access relevant information for specific geographic locations or power line segments during operation

[0027] In some examples, the overhead power line data may comprise at least one of: a nominal voltage of the overhead power line, a support structure height of the overhead power line, geographic position of the support structures of the overhead power line, a number of conductors of the overhead power line, a conductor sag of the overhead power line, a geographic position of the overhead power line, a distance between the lifting machine and the overhead power line, or a ground profile at a location of the lifting machine.

[0028] For example, the nominal voltage of the overhead power line may represent the standard operating voltage level for the overhead power line section where the lifting machine is positioned and operating. The nominal voltage may determine the required safety clearances and electrical isolation distances that must be maintained between the boom system and the overhead power line conductors within the working area. The overhead power line data may contain the nominal voltage for the specific overhead power line section relevant to the lifting machine operation, with values that may range from distribution voltages to high-voltage transmission levels. The processing circuitry 110 may obtain the nominal voltage for the particular overhead power line section that intersects with or approaches the operational envelope of the lifting machine. The nominal voltage may be specified as 20 kilovolts for a medium-voltage distribution line crossing the construction site where the lifting machine is operating.

[0029] For example, the support structure height of the overhead power line may indicate the vertical dimensions of the support structures within the overhead power line section where the lifting machine is working. The support structure height may vary between individual support structures within the working area depending on terrain and design requirements. The overhead power line data may provide height measurements for the support structures that define the overhead power line section relevant to the lifting machine operations. The processing circuitry 110 may obtain support structure heights for the specific structures within the working area to determine the vertical extent of the electrical hazard zone affecting the lifting machine. The support structure height may be recorded as 15 meters for a concrete pole supporting the overhead power line span above the lifting machine working area.

[0030] For example, the geographic position of the support structures may comprise coordinate information for the support structures within the overhead power line section where the lifting machine is operating. The geographic position may include precise location data for the support structures that bound or define the power line section relevant to the lifting machine working area. The overhead power line data may contain position coordinates for the support structures immediately adjacent to or within the operational range of the lifting machine. The processing circuitry 110 may obtain geographic positions for the specific support structures that define the overhead power line section affecting the boom system operations. The geographic position may be specified as latitude (e.g. 48.1351) degrees and longitude (e.g.11.5820) degrees for the eastern support structure of the power line span crossing the construction site.

[0031] For example, the number of conductors of the overhead power line may specify the quantity of individual electrical conductors within the overhead power line section where the lifting machine is working. The number of conductors may determine the width and electrical complexity of the hazard zone that the boom system must avoid within the specific working area. The overhead power line data may provide the conductor count for the particular spans or segments that are relevant to the lifting machine operations. The processing circuitry 110 may obtain the number of conductors for the overhead power line section that intersects with the operational envelope of the boom system. The number of conductors may be specified as three conductors for a three-phase power distribution line within the lifting machine working area.

[0032] For example, the conductor sag of the overhead power line may represent the vertical displacement of the conductors within the overhead power line section where the lifting machine is positioned. The conductor sag may vary along the spans within the working area, with the lowest point of the conductors defining the critical clearance height that must be maintained by the boom system. The overhead power line data may provide conductor sag measurements for the lowest conductor within the power line section relevant to the lifting machine operations. The processing circuitry 110 may obtain conductor sag data for the specific spans that affect the vertical safety boundaries within the lifting machine working area. The conductor sag may be measured as (e.g. 2.5 meters) below the attachment points for the lowest conductor at the midpoint of the span above the lifting machine position.

[0033] For example, the geographic position of the overhead power line may comprise coordinate information that defines the path of the conductors within the overhead power line section where the lifting machine is operating. The geographic position may describe the conductor routing between the support structures that bound the working area of the lifting machine. The overhead power line data may provide conductor position coordinates for the power line section that is within or adjacent to the operational range of the boom system. The processing circuitry 110 may obtain the geographic position of the overhead power line section that presents potential electrical hazards to the lifting machine operations. The geographic position may be defined as a series of coordinate points describing the conductor path from latitude (e.g.48.1351) degrees longitude (e.g. 11.5820) degrees to latitude 48.1355 degrees longitude 11.5825 degrees across the construction site.

[0034] For example, a distance between the lifting machine and the overhead power line may represent the separation between the lifting machine and the conductors within the overhead power line section of the working area. The distance may be measured to the nearest point of the overhead power line section that poses an electrical hazard to the boom system operations. The overhead power line data may include distance measurements to the specific power line section where the lifting machine is positioned or may provide geometric data for calculating distances within the working area. The processing circuitry 110 may obtain distance measurements to the overhead power line section that affects the safe operation of the lifting machine. The distance may be calculated as 12 meters horizontal separation between the lifting machine base and the nearest conductor of the overhead power line section.

[0035] For example, the ground profile at a location of the lifting machine may describe the terrain characteristics within the working area where the overhead power line section is located. The ground profile may affect the relative positioning between the lifting machine and the overhead power line section, influencing clearance calculations and safety boundary determinations. The overhead power line data may contain ground profile information for the specific area where the lifting machine operates in relation to the overhead power line section. The processing circuitry 110 may obtain ground profile data for the working area to accurately establish safety boundaries relative to the particular overhead power line section affecting the lifting machine operations. The ground profile may indicate a 3-degree upward slope in the terrain from the lifting machine position toward the overhead power line section.

[0036] For example, the distance between the overhead power line conductors and the ground may represent the vertical clearance measurement from the lowest point of the conductors to the terrain surface directly beneath the overhead power line section where the lifting machine is operating. The distance between conductors and ground may vary significantly along the power line span due to conductor sag effects combined with terrain elevation changes, slopes, or irregular ground surfaces that create varying clearance conditions beneath the conductors. The overhead power line data may provide ground clearance measurements at critical points such as the midspan location where conductor sag is maximum, or at multiple measurement points that capture terrain irregularities affecting conductor-to-ground distances. The processing circuitry 110 may obtain distance measurements between conductors and ground for the specific power line section affecting the lifting machine operations to establish virtual boundary surfaces that account for both conductor height variations and ground profile changes that influence available clearance space for boom system movements.Virtual Boundary Surface

[0037] The processing circuitry 110 is further configured to determine a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. For example, the virtual boundary surface may be a geometric surface in a three-dimensional space. The virtual boundary surface that may represent a virtual safety barrier positioned adjacent to the overhead power line to prevent the boom system from approaching dangerous proximity to the energized conductors. The virtual boundary surface may define mathematically within a three-dimensional (3D) coordinate system. For example, in the same 3D coordinate system the working area of the lifting machine and the overhead power line infrastructure are encompassed. The processing circuitry 110 may establish the 3D coordinate system using reference points such as the lifting machine base position, geographic coordinates, or local coordinate origins that provide a consistent spatial framework for defining both the overhead power line locations and the virtual boundary surface geometry.

[0038] In some examples, the virtual boundary surface may comprise mathematical representations such as planes, curved surfaces, or complex geometric shapes that are calculated based on the overhead power line data and positioned at safe distances from the conductors and supporting structures. The three-dimensional coordinate system may utilize coordinate axes such as X, Y, and Z coordinates where the Z-axis may represent vertical elevation, and the X and Y axes may represent horizontal positioning relative to the lifting machine or geographic reference frame. The virtual boundary surface may be defined by mathematical equations, coordinate point arrays, or geometric parameters that describe the surface shape and position within the three-dimensional coordinate system.

[0039] In some examples, the processing circuitry 110 may be configured to determine a location of the virtual boundary surface within the 3D coordinate system based on the overhead power line data. For example, the location of the virtual boundary surface within the 3D system may be determined by utilizing specific parameters from the overhead power line data such as support structure heights, geographic positions of support structures, conductor sag measurements, and nominal voltage specifications to calculate precise boundary surface coordinates. The processing circuitry 110 may position the virtual boundary surface at calculated distances from the overhead power line conductors based on voltage-dependent clearance requirements, where the boundary surface location may be offset from conductor positions by safety distances determined from nominal voltage data according to established electrical safety standards. The location determination may involve mathematical calculations that combine overhead power line geometric data with electrical safety requirements to establish virtual boundary surface coordinates that maintain appropriate clearances while accounting for conductor sag profiles, support structure positioning, and terrain variations within the working area (see below). The processing circuitry 110 may express the determined virtual boundary surface location as coordinate equations, geometric parameters, or spatial data arrays within the three-dimensional coordinate system, enabling direct integration with boom system position monitoring and control algorithms for electrical hazard prevention.

[0040] In some examples, the processing circuitry 110 may be further configured to determine a distance between the virtual boundary surface and the overhead power line based on a nominal voltage of the overhead power line. For example, higher nominal voltages may require greater safety distances to prevent electrical hazards such as arcing, flashover, or electrical shock. The distance determination may follow established electrical safety standards and regulations that specify minimum clearance requirements for different voltage levels to protect personnel and equipment from electrical hazards. The processing circuitry 110 may access voltage-distance correlation data from the overhead power line data or from stored safety tables that define the required separation distances for various nominal voltage classifications.

[0041] In some examples, the distance between the virtual boundary surface and the overhead power line may increase non-linearly with the nominal voltage of the overhead power line, reflecting the exponential relationship between voltage levels and electrical breakdown phenomena in air. The non-linear relationship may account for the increased risk of electrical arcing and the greater electrical field strengths that occur around higher voltage conductors, requiring disproportionately larger safety margins as voltage levels increase. The processing circuitry 110 may calculate the distance using mathematical functions, lookup tables, or algorithms that implement the non-linear voltage-distance relationships specified in electrical safety standards.

[0042] In some examples, the processing circuitry 110 may determine safety distances based on established safety standards. For example, in European safety standards overhead power lines up to 1000 volts may require minimum clearances of 1.0 meters, while overhead power lines from 1 kilovolt to 110 kilovolts may require 3.0 meters clearance, and overhead power lines from 110 kilovolts to 220 kilovolts may require 4.0 meters clearance. For higher voltage transmission lines above 220 kilovolts up to 380 kilovolts, the required clearance may increase to 5.0 meters, demonstrating the non-linear progression where voltage increases from 220 kilovolts to 380 kilovolts require only 1 meter additional clearance, while the jump from 110 kilovolts to 220 kilovolts also requires 1 meter additional clearance. For example, in in North American safety standards overhead power lines up to 50 kilovolts may require 3.0 meters clearance, lines from 50 kilovolts to 200 kilovolts may require 4.6 meters, and lines above 750 kilovolts to 1000 kilovolts may require 13.7 meters clearance, illustrating the significant non-linear increase in safety distances for ultra-high voltage transmission systems.

[0043] In some examples, the virtual boundary surface may comprise at least one of a virtual horizontal plane located below the overhead power line, a virtual vertical plane between the overhead power line and the lifting machine or an inclined plane at an angle relative to the horizontal or vertical. For example, the virtual horizontal plane located below the overhead power line may be a planar surface that extends horizontally beneath the conductors of the overhead power line at a predetermined vertical distance that ensures safe clearance for the boom system. The virtual horizontal plane may be positioned at a height that accounts for the lowest point of conductor sag within the overhead power line section, maintaining a safety margin that prevents the boom system from approaching the energized conductors from below. The processing circuitry 110 may determine the position of the virtual horizontal plane based on conductor height data, conductor sag measurements, and required electrical clearance distances specified in the overhead power line data.

[0044] For example, the virtual vertical plane between the overhead power line and the lifting machine may be a planar surface that extends vertically and is positioned laterally between the lifting machine and the overhead power line conductors to prevent horizontal approach of the boom system toward the power line. The virtual vertical plane may be oriented perpendicular to the ground and parallel to the direction of the overhead power line, creating a vertical barrier that defines the closest horizontal distance the boom system may approach the power line. The processing circuitry 110 may position the virtual vertical plane at a lateral distance from the conductors that provides adequate electrical isolation and accounts for boom system swing radius and operational envelope.

[0045] For example, an inclined plane at an angle relative to the horizontal or vertical may be a planar surface that is tilted at a specific angle to create a sloped boundary that accounts for both horizontal and vertical safety requirements simultaneously. The inclined plane may be angled to follow terrain contours, accommodate varying conductor heights along the power line span, or provide graduated safety zones that increase clearance distances as the boom system approaches the overhead power line. The processing circuitry 110 may calculate the inclination angle based on factors such as ground slope, conductor sag variation, boom system geometry, and electrical safety requirements to create an optimized boundary surface that prevents boom system approach from multiple directions while maintaining operational flexibility for the lifting machine.

[0046] For example, the virtual horizontal plane located below the overhead power line may be positioned 4.0 meters below the lowest conductor point for a 150 kilovolt transmission line crossing above the lifting machine working area, based on European safety standards that require 4.0 meters clearance for overhead power lines from 110 kilovolts to 220 kilovolts. The virtual vertical plane between the overhead power line and the lifting machine may be positioned 4.6 meters horizontally from the nearest conductor for a 75 kilovolt distribution line based on North American safety standards that require 4.6 meters clearance for lines from 50 kilovolts to 200 kilovolts. The inclined plane may be angled at 15 degrees from horizontal and positioned to maintain 5.0 meters clearance from a 300 kilovolt transmission line according to European standards for overhead power lines above 220 kilovolts up to 380 kilovolts.

[0047] In some examples, the virtual boundary surface may comprise at least one of a curved surface in a horizontal plane located below the overhead power line, a curved surface in a virtual vertical plane between the overhead power line and the lifting machine or a curved inclined surface at an angle relative to the horizontal or vertical. For example, the curved surface in a horizontal plane located below the overhead power line may be a non-planar surface that follows the natural curvature of conductor sag between support structures, creating a boundary that more precisely matches the actual shape of the overhead power line conductors. The curved surface may be determined by the processing circuitry 110 using mathematical models that calculate conductor catenary curves based on conductor weight, tension, and span length data from the overhead power line data. The curved horizontal surface may provide more accurate clearance boundaries compared to flat horizontal planes, particularly for longer spans where conductor sag creates significant vertical variations along the power line path.

[0048] For example, the curved surface in a virtual vertical plane between the overhead power line and the lifting machine may be a vertically oriented surface that curves to accommodate varying distances or safety requirements along the length of the overhead power line section. The curved vertical surface may be determined based on factors such as changing conductor heights, varying electrical field strengths, or terrain features that affect safety clearance requirements at different points along the power line. The processing circuitry 110 may calculate the curvature to create optimized safety boundaries that provide consistent electrical isolation while accommodating operational needs of the boom system.

[0049] For example, a curved inclined surface at an angle relative to the horizontal or vertical may be a three-dimensionally curved boundary that combines inclination with curvature to create complex safety envelopes around the overhead power line. The curved inclined surface may be determined by the processing circuitry 110 using algorithms that optimize safety clearances while considering multiple factors such as boom system reach capabilities, terrain variations, and electrical safety requirements. The curved inclined surface may follow mathematical functions such as polynomial curves or spline interpolations that create smooth transitions between different safety zones around the overhead power line, providing a boundary surface that prevents boom system approach while maintaining operational flexibility for lifting operations.

[0050] For example, the curved surface in a horizontal plane may follow the conductor sag profile while maintaining 13.7 meters clearance below a 800 kilovolt ultra-high voltage transmission line based on North American safety standards for lines above 750 kilovolts to 1000 kilovolts. The curved surface in a virtual vertical plane may be positioned with varying distances ranging from 3.0 meters to 5.0 meters laterally from the conductors to accommodate voltage transitions along a power line section that steps up from 45 kilovolts to 275 kilovolts. The curved inclined surface may follow terrain contours while maintaining minimum 1.0 meter clearance from a 400 volt low-voltage distribution line according to European safety standards for overhead power lines up to 1000 volts.

[0051] In some examples, the virtual boundary surface may comprise at least one of a curved surface approximating a sag of a conductor of the overhead power line or a combination of multiple planes and / or curved surfaces defining a boundary envelope adjacent to the overhead power line. For example, the curved surface approximating a sag of a conductor of the overhead power line may be a boundary surface that follows the natural catenary curve formed by the conductor under its own weight and environmental forces between support structures. The processing circuitry 110 may determine the curved surface using mathematical models that calculate conductor sag based on physical parameters such as conductor weight per unit length, conductor tension, span length between support structures, and temperature effects obtained from the overhead power line data. The curved surface may be positioned at a predetermined safety distance below the calculated conductor sag profile to create a boundary that accurately reflects the actual shape of the hanging conductor while maintaining required electrical clearances.

[0052] For example, the processing circuitry 110 may calculate the conductor sag using catenary equations that account for the conductor material properties, environmental loading conditions, and support structure geometry to determine the precise three-dimensional curve of the conductor between attachment points. The curved surface approximating the conductor sag may be offset vertically downward from the calculated conductor position by a safety margin determined based on the nominal voltage and electrical clearance requirements. The curved surface may provide a more accurate safety boundary compared to simplified planar surfaces, particularly for long spans where conductor sag creates significant vertical displacement from straight-line approximations.

[0053] For example, a combination of multiple planes and curved surfaces defining a boundary envelope may comprise a complex three-dimensional safety zone that surrounds the overhead power line using interconnected geometric elements that address different approach vectors and safety requirements. The processing circuitry 110 may determine the boundary envelope by combining horizontal planes below the conductors, vertical planes on the sides of the power line, curved surfaces that follow conductor sag profiles, and inclined surfaces that account for terrain variations or boom system geometry. The boundary envelope may create a comprehensive safety zone that prevents boom system approach from any direction while optimizing the available working space for lifting operations.

[0054] For example, the curved surface approximating conductor sag may be calculated for a 150-meter span between transmission towers where the conductor sags 4.2 meters at the midpoint, with the virtual boundary surface positioned 6 meters below the conductor sag curve to provide clearance for a 500 kilovolt transmission line. The combination boundary envelope may integrate this curved surface with vertical planes positioned 8 meters laterally from each conductor and horizontal planes that extend the safety zone beyond the conductor endpoints, creating a complete three-dimensional safety boundary around the entire overhead power line section.

[0055] For example, the virtual boundary surface may define a restricted area as a spatial zone on a side of the virtual boundary surface where the boom system is prevented from moving to maintain safe separation from the overhead power line. The restricted area may comprise the 3D space between the virtual boundary surface and the overhead power line conductors, representing the danger zone where electrical hazards may occur if the boom system enters this spatial region. The processing circuitry 110 may establish the restricted area by designating one side of the virtual boundary surface as prohibited space for boom system operations, while the opposite side of the virtual boundary surface may remain available for normal lifting machine operations.

[0056] In some examples, the restricted area may function as a digital safety zone that extends from the virtual boundary surface toward the overhead power line, encompassing all spatial coordinates where the boom system presence would violate minimum electrical clearance requirements. The restricted area may be defined within the three-dimensional coordinate system as a volume bounded by the virtual boundary surface on one side and by the overhead power line infrastructure on the other side. The processing circuitry 110 may continuously monitor the position coordinates of the boom system components to ensure that no part of the boom system enters the restricted area during lifting operations.

[0057] The processing circuitry 110 is configured to control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface. For example, the processing circuitry 110 may be configured to control a movement of the boom system by implementing a control algorithm that operates within the 3D coordinate system where the virtual boundary surface has been mathematically defined and integrated into the control system architecture. The virtual boundary surface may exist as digital geometric data within the control system memory, comprising coordinate arrays, mathematical equations, or geometric parameters that define the boundary limits in the same 3D coordinate system used for boom system positioning and movement control. The processing circuitry 110 may establish the control framework by loading the virtual boundary surface geometry into control system memory where it functions as a persistent safety constraint for all boom system operations. In some examples, the control implementation may utilize the 3D coordinate system to define movement envelopes and operational limits for the boom system, where the virtual boundary surface serves as an absolute boundary that cannot be crossed under any operational circumstances. The processing circuitry 110 may integrate the virtual boundary surface coordinates with boom system kinematics models and movement control algorithms to ensure that all planned and executed boom movements respect the spatial constraints imposed by the virtual boundary surface. The control system may treat the virtual boundary surface as a fixed geometric constraint within the three-dimensional working space, similar to how physical obstacles or mechanical limits are incorporated into control system boundaries.

[0058] In some examples, the stopping control may be implemented through geometric collision avoidance algorithms that evaluate boom system movement commands against the virtual boundary surface coordinates before executing any boom movements. The processing circuitry 110 may reject or modify movement commands that would result in boom system coordinates crossing the virtual boundary surface, ensuring that the boom system operates only within the allowable 3D space defined by the area outside the restricted area.

[0059] The disclosed apparatus 100 enables comprehensive electrical hazard prevention by automatically detecting overhead power lines and establishing precise safety boundaries that prevent lifting machine electrocution accidents, addressing safety risks, such as lifting machines contacting energized power lines during construction operations. The apparatus 100 provides automated safety enforcement through virtual boundary surfaces that eliminate reliance on manual operator judgment and complex manual safety procedures, reducing human error that may lead to electrical contact incidents. The apparatus 100 enables compliance with EU while providing advanced safety capabilities that allow lifting operations to proceed safely in proximity to overhead power lines where other equipment may be unable to operate, contributing to sustainable construction practices by reducing project delays and enabling efficient use of existing infrastructure corridors.

[0060] Apparatus 100 provides flexible and accurate safety boundary determination by utilizing comprehensive overhead power line data that accounts for voltage-specific clearance requirements, conductor sag variations, and three-dimensional geometric relationships between lifting machines and power line infrastructure. The apparatus 100 enables real-time safety enforcement through integration of virtual boundary surfaces with boom system control algorithms, ensuring that electrical hazard prevention operates continuously and automatically without requiring constant operator intervention or specialized electrical safety expertise. The apparatus 100 supports environmental sustainability through reduced equipment repositioning, minimized construction site footprint, and improved energy efficiency in construction operations by enabling work to proceed in proximity to existing electrical infrastructure without requiring costly power line relocations or extended project timelines.

[0061] In some examples, the processing circuitry 110 may be further configured to obtain real-time position data indicating a current position of the boom system. The processing circuitry 110 may be further configured to generate a control signal stopping the movement of the boom system before crossing the virtual boundary surface. For example, the real-time position data may be obtained through various sensor systems that continuously monitor boom system geometry, orientation, and spatial positioning within the three-dimensional coordinate system. The real-time position data may be acquired from sensors such as angle encoders that measure boom elevation angles, extension sensors that monitor boom length changes, rotation encoders that track boom slewing positions, or inertial measurement units that detect boom system orientation and movement. For example, the sensors may be part of the lifting machine.

[0062] For example, the processing circuitry 110 may receive sensor signals at high frequency rates to maintain current awareness of boom system positioning as the boom moves through its operational envelope during lifting operations. In some examples, the sensors may comprise hydraulic position sensors that monitor cylinder extensions to determine boom angles and positions, GPS receivers that track boom tip coordinates, or optical sensors that measure boom system geometry relative to reference points on the lifting machine. The processing circuitry 110 may process multiple sensor inputs simultaneously to calculate comprehensive position data that accounts for all degrees of freedom in boom system movement, including elevation, extension, rotation, and any articulation of knuckle booms or secondary boom segments. The real-time position data may be updated continuously at rates sufficient to track boom movement dynamics and provide responsive control feedback for safety boundary enforcement.

[0063] In some examples, the processing circuitry 110 may generate a control signal stopping the movement of the boom system by creating electrical or digital command signals that are transmitted to boom system actuators when proximity analysis indicates potential virtual boundary surface violations. The control signal generation may involve comparing current boom system coordinates from the real-time position data with virtual boundary surface coordinates to calculate separation distances and predict boundary crossing scenarios. The processing circuitry 110 may generate control signals that command hydraulic valve closures, electric motor stops, or mechanical brake applications that halt boom movement before any part of the boom system crosses the virtual boundary surface coordinates, ensuring that electrical safety boundaries are maintained through active control intervention based on real-time position monitoring.

[0064] In some examples, the processing circuitry 110 may be further configured to obtain geographic position data of the lifting machine. The processing circuitry 110 may be further configured to generate the real-time position data indicating the current position of the boom system based on the obtained position data. For example, the processing circuitry 110 may be further configured to obtain geographic position data of the lifting machine through GPS (Global Positioning System) sensors, differential GPS systems, or other satellite-based positioning technologies that provide precise coordinate information for the lifting machine location within a global or regional coordinate reference system. The geographic position data may comprise latitude and longitude coordinates, elevation data, and heading information that establish the lifting machine position within the 3D coordinate system used for virtual boundary surface calculations. The processing circuitry 110 may obtain geographic position data continuously or at regular intervals to maintain accurate knowledge of lifting machine location as the lifting machine moves between different positions on construction sites or industrial facilities.

[0065] For example, the processing circuitry 110 may generate the real-time position data indicating the current position of the boom system by combining the geographic position data of the lifting machine with relative positioning measurements from boom system sensors to calculate absolute coordinates for boom system components within the 3D coordinate system. The boom system position calculation may involve adding boom system geometry vectors to the lifting machine geographic position data, where boom elevation angles, extension lengths, and rotation angles are used to determine boom tip coordinates relative to the lifting machine base position. The processing circuitry 110 may apply coordinate transformation algorithms that convert relative boom measurements into absolute geographic coordinates, enabling direct comparison with virtual boundary surface coordinates and overhead power line positions that are defined within the same global coordinate reference frame.

[0066] In some examples, the real-time position data generation may account for lifting machine orientation, boom system kinematics, and coordinate system transformations that translate boom sensor measurements into precise three-dimensional coordinates for boom system components such as boom tips, boom segments, and attached equipment. The processing circuitry 110 may calculate boom system coordinates by applying trigonometric functions and coordinate geometry calculations that combine lifting machine geographic position data with boom angle measurements, boom extension data, and boom rotation information to determine the exact spatial location of boom system elements within the established coordinate system used for virtual boundary surface enforcement.

[0067] In some examples, the processing circuitry 110 may be further configured to establish the 3D coordinate system in which the virtual boundary surface and the position data of the boom system are expressed. In other words, the 3D coordinate system may provide a unified mathematical framework for expressing both the virtual boundary surface geometry and the position data of the boom system within the same spatial reference frame. The three-dimensional coordinate system may utilize coordinate axes such as X, Y, and Z coordinates where the Z-axis represents vertical elevation and the X and Y axes represent horizontal positioning relative to the lifting machine base position or geographic reference points. The processing circuitry 110 may establish the coordinate system using reference points such as the lifting machine base position, geographic coordinates, or local coordinate origins that provide consistent spatial positioning for all elements within the working environment including the overhead power line infrastructure, virtual boundary surface coordinates, and boom system position measurements.

[0068] In some examples, the 3D coordinate system may serve as the computational foundation for boom system control by enabling direct mathematical comparison between boom system coordinates and virtual boundary surface coordinates to determine proximity relationships and prevent boundary violations. The processing circuitry 110 may express the virtual boundary surface as mathematical equations, coordinate point arrays, or geometric parameters within that coordinate system, while simultaneously tracking boom system position data as real-time coordinate values that can be directly compared with boundary surface limits. The unified coordinate system may enable the processing circuitry 110 to implement collision detection algorithms, calculate minimum distances between boom system components and virtual boundary surfaces, and generate control signals that prevent boom system movement across safety boundaries by maintaining all spatial relationships within the same mathematical reference frame that encompasses the lifting machine working area and overhead power line hazard zones.

[0069] In some examples, the processing circuitry 110 may be further configured to define a tolerance region adjacent to the virtual boundary surface. In some examples, the processing circuitry 110 may further reduce a movement speed of the boom system within the tolerance region before stopping the boom system at the virtual boundary surface. For example, the tolerance region adjacent to the virtual boundary surface may be defined as a three-dimensional buffer zone that extends from the virtual boundary surface toward the unrestricted operating area of the boom system. The tolerance region may be established by offsetting the virtual boundary surface coordinates by a predetermined distance to create a secondary boundary that serves as an early warning zone before the boom system reaches the absolute safety limit defined by the virtual boundary surface. The processing circuitry 110 may define the tolerance region with geometric parameters such as uniform offset distances, graduated buffer zones, or variable spacing that accounts for boom system dynamics and stopping distances required for safe deceleration.

[0070] In some examples, the processing circuitry 110 may reduce a movement speed of the boom system within the tolerance region by implementing progressive speed control algorithms that gradually decrease boom system velocity as the boom approaches the virtual boundary surface. The speed reduction may be achieved through control signals that modify hydraulic flow rates, adjust electric motor speeds, or implement proportional control schemes that correlate boom system speed with proximity to the virtual boundary surface. The processing circuitry 110 may calculate appropriate deceleration profiles that ensure smooth boom system stopping at the virtual boundary surface while maintaining operational control and preventing abrupt movement interruptions that could cause load instability or equipment stress.

[0071] For example, the tolerance region may be defined as a 2-meter buffer zone adjacent to a virtual boundary surface positioned 5 meters from a 110 kilovolt overhead power line, where boom system speed may be reduced from normal operating speed of 10 degrees per second to 3 degrees per second when entering the tolerance region. The processing circuitry 110 may implement a linear speed reduction profile where boom system velocity decreases proportionally from 100 percent normal speed at the tolerance region boundary to zero speed at the virtual boundary surface. The tolerance region may be combined with specific optical and acoustic warnings such as flashing warning lights and audible alarms that activate when the boom system enters the tolerance region, providing operator feedback about proximity to electrical hazard boundaries while the automated speed reduction system ensures safe boom system deceleration and stopping before crossing the virtual boundary surface.Obtaining the Overhead Power Line Data

[0072] In some examples, processing circuitry 110 may be further configured to obtain the power line data from a remote planning system. For example, the remote planning system may be a computer-based system or software platform that operates separately from the apparatus 100 and provides planning, data management, and coordination services for lifting machine operations. The remote planning system may be located at a central facility, cloud-based server infrastructure, or mobile command center that maintains databases of overhead power line information and infrastructure data relevant to construction sites and industrial facilities. The remote planning system may collect, process, and distribute overhead power line data to multiple lifting machines operating across different locations within a geographic region or project area.

[0073] In some examples, the remote planning system may comprise construction management systems, crane planning applications, or infrastructure mapping services that integrate overhead power line data with project planning workflows. The remote planning system may include utility company databases that maintain current information about power line locations, voltages, and operational status, or geographic information systems that provide spatial data about power line infrastructure. The remote planning system may be implemented as enterprise resource planning systems that coordinate lifting operations with power line safety requirements, or specialized crane planning software that incorporates electrical hazard avoidance into lift planning processes.

[0074] In some examples, the remote planning system may provide specific data formats such as digital map files containing power line coordinates and electrical specifications, structured databases with power line infrastructure records, or real-time data feeds that update power line operational status and configuration changes. The remote planning system may transmit overhead power line data through communication interfaces such as cellular networks, wireless internet connections, or dedicated communication links that connect to the apparatus 100. The processing circuitry 110 may obtain overhead power line data from the remote planning system through periodic data downloads, continuous data streaming, or on-demand data requests triggered by the lifting machine entering specific geographic areas where overhead power lines are present.

[0075] In some examples, the power line data may be generated by the remote planning system based on geographic information data describing overhead power lines and supporting structures. For example, the geographic information data may comprise digital spatial datasets that describe the physical locations, attributes, and characteristics of infrastructure elements including overhead power lines and supporting structures within geographic coordinate systems. The geographic information data may be collected through surveying, satellite imagery, aerial photography, or ground-based mapping techniques that capture the precise positioning and physical properties of power line infrastructure. The remote planning system may process the geographic information data to extract relevant overhead power line information and transform the raw geographic data into structured overhead power line data suitable for use by the processing circuitry 110.

[0076] In some examples, the remote planning system may generate overhead power line data by analyzing geographic information data to identify power line corridors, extract support structure locations, and calculate conductor paths between support structures within specific geographic areas. The remote planning system may process topographic data to determine ground elevations and terrain profiles that affect power line clearances and safety distances. The remote planning system may combine multiple geographic information datasets to create comprehensive overhead power line data that includes electrical specifications, physical dimensions, and spatial relationships relevant to lifting machine operations.

[0077] In some examples, the geographic information data may comprise infrastructure maps from utility companies that show power line routes and electrical specifications such as voltage, digital elevation models that provide terrain height information for clearance calculations, or cadastral maps that define property boundaries and infrastructure easements where power lines are located. The geographic information data may include satellite imagery datasets that show overhead power line locations and support structures, or vector geographic datasets that contain precise coordinate information for power line infrastructure elements. The remote planning system may generate overhead power line data by processing geographic information system databases that contain utility infrastructure records, combining aerial survey data with electrical engineering specifications, or integrating municipal infrastructure maps with real-time operational data from power system operators.

[0078] In some examples, the processing circuitry 110 is further configured to determine at least parts of the overhead power line data based on one or more sensors of the lifting machine. The one or more sensors of the lifting machine may utilize the sensor systems integrated with or mounted on the lifting machine to detect and measure characteristics of overhead power lines in the immediate working environment. The one or more sensors may comprise sensing technologies capable of detecting electrical fields, magnetic fields, visual features, or other physical properties associated with overhead power lines and supporting structures. The processing circuitry 110 may receive and analyze sensor signals to extract specific parameters that form components of the overhead power line data needed for safety boundary determination.

[0079] In some examples, the sensor-based determination may enable the lifting machine to independently identify overhead power lines that may not be documented in existing databases or to verify the accuracy of pre-existing overhead power line data. The one or more sensors may provide real-time detection capabilities that can identify changes in power line configurations, detect newly installed power lines, or measure current conditions that affect safety clearance requirements. The processing circuitry 110 may process sensor data to determine parameters such as power line locations, electrical field strengths, distances to conductors, or support structure positions within the working area of the lifting machine.

[0080] In some examples, the sensor-based approach may supplement overhead power line data obtained from remote planning systems or stored databases by providing current measurements and verification of existing information. The one or more sensors may operate continuously or periodically during lifting machine operations to update the overhead power line data as the lifting machine moves through different locations or as environmental conditions change. The processing circuitry 110 may combine sensor-derived parameters with other data sources to create comprehensive overhead power line data that accurately reflects the current state of power line infrastructure within the lifting machine working environment.

[0081] In some examples, the processing circuitry 110 may be further configured to determine the nominal voltage of the overhead power line by measuring a voltage of the overhead power line based on one or more sensor signals of the lifting machine. The nominal voltage of the overhead power line may be obtained by measuring electrical characteristics of the overhead power line based on one or more sensor signals of the lifting machine, where the determination may be performed indirectly through analysis of measurable electrical phenomena rather than direct voltage measurement. The one or more sensors may detect electric fields, magnetic fields, or electromagnetic radiation emanating from the energized conductors of the overhead power line, which may correlate with the nominal voltage level of the power line system. The processing circuitry 110 may analyze the sensor signals to identify characteristic patterns, field strengths, or frequency components that are associated with specific voltage levels commonly used in electrical power distribution and transmission systems.

[0082] In some examples, the one or more sensors may comprise electric field sensors that measure the intensity of electric fields generated by the energized conductors, where higher nominal voltages may produce stronger electric field measurements at equivalent distances from the power line. The processing circuitry 110 may compare the measured electric field strength with calibration data or lookup tables that correlate field measurements with known nominal voltage levels for different types of overhead power line systems. The determination may involve analyzing the spatial distribution of electric field measurements around the overhead power line to identify voltage-dependent field patterns that are characteristic of specific nominal voltage classifications.

[0083] In some examples, the one or more sensors may include magnetic field sensors or electromagnetic spectrum analyzers that detect magnetic fields or electromagnetic emissions associated with the alternating current flowing through the overhead power line conductors. The processing circuitry 110 may analyze the frequency content, harmonic components, or field strength characteristics of these signals to infer the nominal voltage level based on known relationships between electrical power system parameters and electromagnetic signatures. The determination may involve pattern recognition algorithms or machine learning techniques that have been trained to identify nominal voltage levels based on sensor signal characteristics observed in proximity to overhead power lines of known voltage ratings.

[0084] Further, for example, a support structure height of the overhead power line may be determined by the processing circuitry 110 using optical sensors, laser rangefinders, or photogrammetry systems that measure the vertical dimensions of support structures within the sensor detection range of the lifting machine. The one or more sensors may capture visual data or distance measurements that enable calculation of support structure heights relative to the lifting machine position or ground reference level. For example, geographic position of the support structures may be determined by the processing circuitry 110 using GPS sensors integrated with the lifting machine combined with relative positioning sensors such as cameras, radar, or lidar systems that detect the angular and distance relationships between the lifting machine and visible support structures. The one or more sensors may provide bearing and range measurements that can be combined with the lifting machine GPS position to calculate support structure coordinates.

[0085] For example, a number of conductors of the overhead power line may be determined by the processing circuitry 110 using optical sensors or image processing systems that analyze visual data to count individual conductors suspended from support structures. The one or more sensors may employ computer vision algorithms that can distinguish separate conductor lines and provide an accurate count of conductors within each span of the overhead power line. For example, a conductor sag of the overhead power line may be determined by the processing circuitry 110 using laser scanning systems, photogrammetry, or optical measurement devices that can map the three-dimensional profile of conductors between support structures. The one or more sensors may measure multiple points along conductor spans to determine the curved profile and calculate maximum sag values.

[0086] For example, a geographic position of the overhead power line may be determined by the processing circuitry 110 using GPS positioning combined with directional sensors that can track the conductor path and generate coordinate data for the power line route. The one or more sensors may provide continuous position tracking as the lifting machine moves along or beneath power line spans. For example, a distance between the lifting machine and the overhead power line may be determined by the processing circuitry 110 using proximity sensors, radar systems, or lidar devices that directly measure the separation distance to the nearest conductors. The one or more sensors may provide real-time distance measurements that account for boom system position and conductor locations.

[0087] For example, a ground profile at a location of the lifting machine may be determined by the processing circuitry 110 using ground-penetrating sensors, accelerometers that detect slope angles, or laser scanning systems that map the terrain topology around the lifting machine position. The one or more sensors may measure elevation changes and surface characteristics that affect clearance calculations.

[0088] Further details and aspects are mentioned in connection with the examples described below. The example shown in Fig. 1 may include 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 below (e.g., Figs. 2 - 8).

[0089] Fig. 2 illustrates a method 200 for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The method 200 comprises obtaining 210 overhead power line data. The method 200 further comprises determining 220 a virtual boundary surface based on the overhead power line data. The virtual boundary surface defines a limit adjacent to the overhead power line which the boom system is prevented from crossing. The method 200 further comprises controlling 230 a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0090] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 2 may include 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., Fig. 1) or below (e.g., Figs. 3 - 8).

[0091] Fig. 3 shows a lifting machine 300 comprising the apparatus 100 as described above. The lifting machine 300 further comprises the boom system 310.

[0092] As described above, for example the lifting machine 300 may be a mobile or stationary mechanical device designed to lift a load. For example, the lifting machine may move the loads in construction, industrial, or material handling applications. The lifting machine 300 may be equipped with hydraulic, mechanical, or electric systems that provide the power necessary to operate lifting mechanisms and control load movements. The lifting machine 300 may be mounted a platform 320, such as wheeled vehicles, tracked chassis, fixed foundations, or floating platforms depending on the specific application and working environment. In some examples, the boom system 310 of the lifting machine 300 may comprise one or more articulated arms or booms that extend from a base structure to reach and manipulate loads at various distances and heights. The boom system 310 may include a main boom that connects to the lifting machine base, and may additionally comprise secondary booms such as knuckle booms or extension booms that provide additional reach and flexibility. The boom system 310 may be actuated by hydraulic cylinders, electric motors, or mechanical systems that control boom elevation, extension, and articulation movements. The boom system 310 may terminate in a tip region where lifting attachments, hooks, or specialized equipment may be mounted for engaging with loads.

[0093] In some examples, the lifting machine 300 may be at least one of a crane, a mobile crane, a loader crane, a knuckle boom crane, a crawler crane, a tower crane, a forestry crane, a recycling crane, a material handler, a mobile manipulator or an aerial platform. In some examples, the crane may comprise a rotating superstructure mounted on a base or carrier, with the boom system extending from the superstructure to provide lifting capabilities at various radii and heights. The crane may be designed for general construction, industrial, or material handling applications where heavy loads must be lifted and positioned with precision. A mobile crane may be a crane mounted on a wheeled or tracked carrier that provides mobility between job sites, allowing the crane to be transported and positioned at different locations as needed.

[0094] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 3 may include 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 - 2) or below (e.g., Figs. 4 - 8).

[0095] Fig. 4 illustrates an example of system 400 for preventing electric hazard between a boom system 422 of a lifting machine 420 and an overhead power line 410. The overhead power line 410 is suspended between support structures and the lifting machine 420 is positioned within the working area beneath the overhead power line. The overhead power line 410 comprises a first support structure 412, conductors 414 exhibiting conductor sag between the support structures, and a second support structure 416. The lifting machine 420 is equipped with a boom system 422 that extends upward into the airspace where electrical hazards may occur due to proximity to the energized conductors 414.

[0096] A virtual boundary surface 440 is determined that defines a restricted area as a spatial zone adjacent to the overhead power line 410, where the boom system 422 is prevented from moving into the restricted area. The virtual boundary surface 440 functions as a virtual ceiling created under the overhead power line 410 at height of the point 442 (point A), where the danger zone around the power line and the crane cannot pass this wall. The virtual boundary surface 440 is determined based on the voltage of the powerline, the pole height, the distance of the power line to the ground and the unevenness of the ground, incorporating the distance 418 between the first support structure 412 and the second support structure 416. The coordinate positions of the support structures are indicated by reference points 432 and 434, representing the geographic positions of the first support structure 412 and the second support structure 416 respectively within the three-dimensional coordinate system used for virtual boundary surface calculations.

[0097] The virtual boundary surface 440 is positioned at a predetermined vertical distance below the conductors 414 to ensure safe clearance for the boom system 422. The system may receive power line input from a remote planning system directly when available, enabling integrated planning and operational safety enforcement. The location of the virtual boundary surface 440 may be determined within the three-dimensional coordinate system as described above based on overhead power line data including support structure heights, conductor sag measurements, voltage-dependent clearance requirements, and ground profile variations that affect the distance calculations. The boom system 422 operates within the allowable space below the virtual boundary surface 440, while the restricted area above the virtual boundary surface 440 prevents boom system movement that could result in electrical contact or dangerous proximity to the energized conductors 414.

[0098] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 4 may include 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 - 3) or below (e.g., Figs. 5 - 8).

[0099] Fig. 5 illustrates another example of system 500 for preventing electric hazard between a boom system 422 of a lifting machine 420 and an overhead power line 410. The overhead power line 410 is suspended between support structures and the lifting machine 420 is positioned within the working area adjacent to the overhead power line. The overhead power line 410 comprises a first support structure 412, conductors 414 exhibiting conductor sag between the support structures, and a second support structure 416. The lifting machine 420 is equipped with a boom system 422 that extends laterally toward the overhead power line 410 where electrical hazards may occur due to proximity to the energized conductors 414.

[0100] A virtual boundary surface 540 is determined that defines a restricted area as a spatial zone adjacent to the overhead power line 410, where the boom system 422 is prevented from moving into the restricted area. The virtual boundary surface 540 functions as a virtual vertical wall created between the overhead power line 410 and the lifting machine 420, where the danger zone around the power line is definable and the crane cannot pass this wall. The virtual boundary surface 540 is positioned based on the nominal voltage of the overhead power line and the needed distance of the power line to the virtual wall, incorporating measurements such as the width L of the outer point of the support structures projected to the earth and reference calculation points A and B. The coordinate positions of the support structures are indicated by reference points 432 and 434, representing the geographic positions of the first support structure 412 and the second support structure 416 respectively within the three-dimensional coordinate system used for virtual boundary surface calculations.

[0101] The virtual boundary surface 540 is positioned at a predetermined lateral distance from the conductors 414 to ensure safe clearance for the boom system 422, accounting for electrical safety requirements determined by the nominal voltage of the overhead power line 410 and the geometric relationships between the support structures and the lifting machine position. The location of the virtual boundary surface 540 may be determined within the three-dimensional coordinate system as described above based on overhead power line data including support structure dimensions, conductor positions, and voltage-dependent clearance requirements. The boom system 422 operates within the allowable space on the side of the virtual boundary surface 540 away from the overhead power line 410, while the restricted area between the virtual boundary surface 540 and the overhead power line 410 prevents boom system movement that could result in electrical contact or dangerous proximity to the energized conductors 414.

[0102] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 5 may include 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) or below (e.g., Figs. 6 - 8).Planning lifting machine operations

[0103] Fig. 6 illustrates an apparatus 600 for planning a lifting machine operation in the vicinity of a power line. For example, the concepts, terminology, and technical elements described above in Fig. 1 in connection with apparatus 100 for preventing electric hazard between a boom system of a lifting machine and an overhead power line may apply equally to the apparatus 600 for planning lifting machine operations in the vicinity of a power line. The definitions and descriptions of overhead power lines, overhead power line data, virtual boundary surfaces, restricted areas, three-dimensional coordinate systems, boom systems, and lifting machines may be incorporated by reference for the apparatus 600 with the same meanings and technical implementations. The virtual boundary surface determination methods, voltage-dependent clearance calculations, geometric modeling techniques, and safety boundary establishment procedures described for apparatus 100 may be utilized by the planning apparatus 600 to create comprehensive planning capabilities that integrate electrical hazard prevention with operational planning requirements.

[0104] The apparatus 600 comprises processing circuitry 610. For example, the processing circuitry 610 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a neuromorphic processor or a field programmable gate array (FPGA). The processing circuitry 610 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and / or non-volatile memory. For example, the apparatus 600 may comprise memory configured to store instructions, which when executed by the processing circuitry 610, cause the processing circuitry 610 to perform the steps and methods described herein. In some examples, the apparatus 600 may further comprise storage circuitry configured to store data. The storage circuitry may operate in cooperation with the processing circuitry 610 to ensure the persistent and consistent management of information within the apparatus 600.

[0105] The processing circuitry 610 is configured to obtain geographic information data describing at least one overhead power line and supporting structures in a working area. For example, the processing circuitry 610 may obtain the geographic information data from utility company databases, municipal infrastructure records, geographic information systems, or online infrastructure mapping services that maintain current information about overhead power line locations and specifications. The obtaining may involve accessing stored geographic information data from internal databases of the apparatus 600, receiving data through a communication interface of the apparatus 600 from external sources, or importing data files that contain spatial datasets relevant to the planned working area of the lifting machine.

[0106] For example, the working area may be a defined geographic region or spatial zone where the lifting machine is planned to operate or may be positioned during lifting operations. The working area may encompass the construction site, industrial facility, or project location where lifting tasks are scheduled to be performed, including all potential positions where the lifting machine may be placed and all spatial zones where the boom system may extend during operational activities. The processing circuitry 610 may define the working area based on project boundaries, operational requirements, lifting machine mobility constraints, or geographic limits that bound the planned lifting operations within a specific region where overhead power line infrastructure may present electrical hazards to boom system operations.

[0107] For example, the geographic information data may comprise digital spatial datasets that describe the physical locations, geometric properties, and infrastructure attributes of overhead power lines and supporting structures within a defined geographic region or working area. The geographic information data may include coordinate information, elevation data, infrastructure specifications, and spatial relationships that define the overhead power line infrastructure within coordinate reference systems such as GPS coordinates, UTM coordinates, or local mapping coordinate systems. The geographic information data may be structured as vector datasets, raster imagery, database records, or map files that contain layered information about power line routes, support structure positions, conductor configurations, and electrical specifications relevant to planning requirements.

[0108] In some examples, the geographic information data may be sourced from infrastructure maps available online, utility company geographic information systems, topographic survey data, or aerial photography datasets that capture overhead power line infrastructure within the working area where lifting operations are planned. The geographic information data may include power line corridor maps that show conductor routing between support structures, support structure inventory data that provides location coordinates and physical specifications, or electrical system maps that specify voltage levels and operational characteristics of overhead power lines. The processing circuitry 610 may obtain geographic information data that encompasses the entire working area where the lifting machine may operate, ensuring comprehensive coverage of all overhead power line infrastructure that may affect planning and operational safety requirements.

[0109] The processing circuitry 610 is further configured to determine a virtual boundary surface based on the obtained geographic information data. The virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area. The virtual boundary surface may be determined as described above with regards to Fig. 1. The virtual boundary surface defines the restricted area as a spatial zone adjacent to the overhead power line from which the boom system is prevented from moving into the restricted area. The virtual boundary surface may function as the mathematical boundary that separates allowable operational space from the restricted area, where the restricted area comprises the three-dimensional volume between the virtual boundary surface and the overhead power line conductors that represents the electrical hazard zone. The processing circuitry 610 may establish the spatial relationship where the virtual boundary surface serves as the outer limit of the restricted area, creating a clear demarcation between safe operational zones and prohibited zones around overhead power line infrastructure.

[0110] In some examples, the restricted area may comprise the spatial zone that encompasses all coordinates where boom system presence would violate minimum electrical clearance requirements, extending from the virtual boundary surface toward the overhead power line conductors and supporting structures. The restricted area may be defined within a three-dimensional coordinate system as a volume bounded by the virtual boundary surface geometry on the side away from the overhead power line, while the overhead power line infrastructure defines the inner boundary of the restricted area. The processing circuitry 610 may calculate the restricted area dimensions based on voltage-dependent safety distances, conductor sag profiles, and support structure positions to create comprehensive electrical hazard zones that prevent boom system approach from any direction within the working area.

[0111] For example, the processing circuitry 610 may be configured to determine the virtual boundary surface by processing the geographic information data to extract overhead power line coordinates, support structure positions, conductor specifications, and electrical parameters, then applying the same voltage-dependent clearance calculations and geometric modeling techniques described for apparatus 100. The virtual boundary surface determination may utilize overhead power line locations from the geographic information data combined with nominal voltage specifications to calculate appropriate safety distances according to established electrical safety standards. The processing circuitry 610 may generate virtual boundary surface coordinates that maintain required clearances from conductors while accounting for conductor sag, support structure geometry, and terrain variations captured in the geographic information data, creating comprehensive safety boundaries suitable for planning applications.

[0112] The processing circuitry 610 is configured to determine one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. For example, the one or more working positions for the lifting machine inside the working area may comprise specific geographic locations or coordinates where the lifting machine may be positioned to perform lifting operations while maintaining safe clearances from overhead power line infrastructure. The working positions may represent optimal placement locations for the lifting machine base or chassis that enable the boom system to reach required work locations while ensuring that the boom system operational envelope does not intersect with the restricted area defined by the virtual boundary surface. The processing circuitry 610 may identify multiple alternative working positions that provide operational flexibility while maintaining electrical safety compliance, allowing operators to select positions based on access routes, ground conditions, or operational preferences.

[0113] For example, an operating range of a boom system of the lifting machine may comprise the three-dimensional envelope or spatial volume that the boom system can reach during normal lifting operations, including all possible boom positions achievable through boom elevation, extension, rotation, and articulation movements. The operating range may be defined by boom system kinematics, maximum reach capabilities, lifting capacity constraints, and mechanical limits that determine the spatial boundaries within which the boom system can operate from a given lifting machine position. The processing circuitry 610 may utilize operating range data that specifies boom system geometry, reach capabilities, and operational limitations to establish the spatial envelope that must be evaluated against virtual boundary surface constraints.

[0114] In some examples, the processing circuitry 610 may determine the working positions by analyzing the geometric relationship between potential lifting machine positions, the corresponding boom system operating ranges from those positions, and the virtual boundary surface coordinates to identify locations where the operating range does not intersect with the restricted area. The determination process may involve calculating boom system reach envelopes for multiple candidate lifting machine positions and evaluating each position to ensure that no part of the boom system operating range extends into the restricted area adjacent to the overhead power line. The processing circuitry 610 may optimize working position selection to maximize operational capability while maintaining electrical safety boundaries, identifying positions that provide the best performance considering safe distances for preventing situations where operators discover they cannot perform planned work due to overhead power line constraints.

[0115] The processing circuitry 610 is configured to generate a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine. For example, one or some or all available information regarding the power lines may be visualized including support structure height, support structure coordinates, nominal voltage, and other overhead power line data parameters. The map may comprise a graphical display that shows the overhead power line infrastructure as line segments or conductor paths between support structures, the virtual boundary surface as colored zones or boundary lines that define the restricted area, and the working positions as designated markers or symbols that indicate optimal lifting machine placement locations. The processing circuitry 610 may generate the map by overlaying these elements onto geographic base maps, aerial imagery, or construction site plans that provide spatial context for the working area.

[0116] In some examples, the map generation may involve rendering the operating range of the boom system as graphical representations such as circular or sector-shaped areas that show the reach envelope from each working position, while the virtual boundary surface may be displayed as colored zones that indicate restricted areas where the boom system cannot operate. The processing circuitry 610 may create visual representations where the lifting capacity diagram shows yellow working areas that become restricted due to colored zone safety boundaries, providing clear visual indication of operational limitations imposed by overhead power line proximity. The map may include calculated restricted areas around the power lines to the left and right side, initially providing a top view 2D representation with future capabilities for 3D format visualization.

[0117] For example, the map generation process may involve coordinate transformation algorithms that convert geographic information data coordinates into map display coordinates, geometric rendering algorithms that create visual representations of virtual boundary surfaces and operating ranges, and overlay processing that combines multiple data layers into comprehensive planning maps. The processing circuitry 610 may generate maps that enable operators to visualize the spatial relationships between overhead power line infrastructure, safety boundaries, boom system capabilities, and optimal working positions within a single integrated display. The generated map may serve as a comprehensive planning tool that prevents situations where operators arrive at job sites only to discover they cannot perform planned work due to existing overhead power line constraints, enabling pre-operational assessment of electrical hazards and operational feasibility.

[0118] For example, the map may be generated as a 2D representation or a 3D visualization depending on the complexity requirements and display capabilities of the planning system. The processing circuitry 610 may generate 2D maps by projecting three-dimensional coordinate data onto a planar surface using cartographic projection methods that preserve spatial relationships while providing top-view perspectives of the working area. The 2D map generation may involve rendering overhead power lines as linear features, virtual boundary surfaces as polygonal areas or contour lines, working positions as point symbols, and boom system operating ranges as circular or sector-shaped regions that show horizontal reach capabilities from each lifting machine position.

[0119] In some examples, the processing circuitry 610 may achieve 2D map generation through coordinate transformation algorithms that convert geographic coordinates into screen coordinates, geometric simplification processes that reduce three-dimensional virtual boundary surfaces to two-dimensional boundary lines, and layer composition techniques that overlay multiple data elements onto base map imagery. The 2D representation may provide calculated restricted areas around the power lines to the left and right side in top view format, enabling rapid assessment of spatial relationships and operational constraints without requiring complex three-dimensional visualization capabilities.

[0120] In some examples, the processing circuitry 610 may generate 3D visualizations by rendering three-dimensional models of overhead power line infrastructure, virtual boundary surfaces as volumetric representations, and boom system operating ranges as three-dimensional envelopes that show complete spatial reach capabilities including vertical dimensions. The 3D map generation may involve polygon mesh rendering algorithms that create realistic representations of support structures, surface modeling techniques that visualize virtual boundary surfaces as transparent or colored volumes, and perspective projection methods that enable viewing the working area from multiple angles and elevations. The 3D visualization capabilities may provide enhanced spatial understanding of complex geometric relationships between overhead power lines, safety boundaries, terrain features, and boom system operational envelopes, enabling more comprehensive job planning assessment compared to 2D representations.

[0121] Apparatus 600 enables pre-operational planning that prevents costly job site delays and safety incidents by allowing operators to assess overhead power line hazards and determine optimal working positions before arriving at construction sites, eliminating situations where operators discover they cannot perform planned work due to existing power line constraints. The apparatus 600 provides advanced visualization capabilities through integrated mapping that displays overhead power line locations, virtual boundary surfaces, restricted areas, and boom system operating ranges within a unified planning interface, enabling operators to optimize lifting operations while maintaining electrical safety compliance and maximizing operational efficiency within power line proximity constraints. The apparatus 600 enables facilitating safe operations in challenging environments where overhead power lines would otherwise prevent lifting activities, while supporting regulatory compliance, for example with EU regulations, and contributing to sustainable construction practices through improved job planning that reduces equipment repositioning, minimizes project delays, and enables efficient utilization of existing infrastructure corridors without requiring costly power line relocations.

[0122] In some examples, processing circuitry 610 may be further configured to display the map, for example through visual display interfaces such as computer monitors, tablet screens, mobile device displays, or operator console screens that present the generated map in formats accessible to lifting machine operators during job planning activities. The map display may provide interactive visualization capabilities that allow operators to examine overhead power line locations, virtual boundary surfaces, working positions, and boom system operating ranges through pan, zoom, and layer control functions that enable detailed assessment of spatial relationships and operational constraints. The processing circuitry 610 may implement the map display functionality through graphical user interface software, web-based mapping applications, or dedicated planning software that renders the map data in user-friendly formats suitable for operator interpretation and decision-making during pre-operational planning phases.

[0123] In some examples, the processing circuitry 610 may be further configured to transmit the generated map to an operator application of the lifting machine, for example through communication interfaces that enable remote access to planning information via mobile devices, tablet computers, or remote control units used by lifting machine operators. The transmission may involve wireless communication protocols such as cellular networks, Wi-Fi connections, or Bluetooth links that deliver the generated map data to operator applications running on portable devices or integrated operator interfaces. The processing circuitry 610 may implement the transmission functionality to enable the generated map page to be transmitted digitally to operators through operator applications, allowing access to overhead power line information, virtual boundary surfaces, and working position recommendations from remote locations or mobile platforms where operators may be positioned away from the primary planning system.

[0124] In some examples, the operator application may receive the transmitted map data and provide interactive display capabilities that enable operators to view planning information, assess job constraints, and coordinate lifting operations while maintaining awareness of electrical hazard boundaries and operational limitations imposed by overhead power line infrastructure within the working area. The transmitted map may be accessible through remote devices or remote control units that provide portable access to job planning information, enabling operators to review overhead power line locations, virtual boundary surfaces, and recommended working positions while positioned at the job site or during transit to work locations. The processing circuitry 610 may support bidirectional communication capabilities that enable operators to provide feedback, request map updates, or coordinate with planning systems through the operator application interface, facilitating real-time coordination between job planning activities and field operations.

[0125] In some examples, the processing circuitry 610 may be further configured to provide at least one of the virtual boundary surfaces or the restricted area to a control system of the lifting machine for restricting movement of the boom system with regards to the virtual boundary surface. In some examples, the control system of the lifting machine may be implemented by the apparatus 100 as described above with regards to Fig. 1. This may establish integration between planning capabilities and real-time operational safety enforcement. The provision may involve transmitting virtual boundary surface coordinates, restricted area geometric data, or safety boundary parameters to apparatus 100 or similar control systems that implement boom system movement restrictions during lifting operations. The processing circuitry 610 may format the virtual boundary surface data in coordinate systems, mathematical representations, or data structures compatible with control system requirements, enabling seamless transfer of planning-derived safety boundaries to operational control algorithms that prevent boom system movement into restricted areas.

[0126] In some examples, the data provision may enable apparatus 100 to receive power line input from the apparatus 600 directly, allowing control systems to utilize pre-calculated virtual boundary surfaces rather than requiring independent boundary determination during operations. The processing circuitry 610 may establish communication interfaces or data transfer protocols that enable automatic or manual transmission of virtual boundary surface data to lifting machine control systems, ensuring consistency between planning-phase safety boundaries and operational-phase movement restrictions.

[0127] In some examples, the processing circuitry 610 may be further configured to update the map with real-time data of the boom system of the lifting machine in relation to the virtual boundary surface and the restricted area. For example, the map may be updated with real-time data of the boom system of the lifting machine in relation to the virtual boundary surface and the restricted area by receiving continuous position data from the lifting machine control systems or sensors that indicate current boom system coordinates and operational status. The map updating may involve receiving real-time position data through communication interfaces such as wireless networks, cellular connections, or dedicated data links that transmit current boom system coordinates, lifting machine position, and operational parameters to the planning apparatus. The processing circuitry 610 may implement real-time data integration algorithms that overlay current boom system position markers, movement trajectories, or proximity indicators onto the existing map display, enabling dynamic visualization of lifting operations as they progress relative to virtual boundary surfaces and restricted areas.

[0128] In some examples, the real-time map updating may provide technical effects including enhanced situational awareness that enables operators to properly operate the lifting machine technical system by avoiding electrical hazards, where the presentation of boom system position information relative to virtual boundary surfaces prompts the user to interact with the system to avoid technical malfunctions such as electrical contact or arc formation. The processing circuitry 610 may enable bidirectional communication from Geofencing and telematics systems that track where the crane stands and where the power lines are located, providing notifications when the lifting machine approaches power line proximity based on detected GPS positions, where this presentation of information facilitates a continued human-machine interaction by resolving conflicting technical requirements of maintaining operational capability while ensuring electrical safety boundaries. The real-time updating capability serves a technical purpose by enabling immediate response to proximity warnings or safety boundary violations. Cognitive content of the presented information is objectively, reliably and causally linked to the technical task of preventing electrical contact between boom systems and overhead power lines rather than depending on subjective user preferences or psychological factors.

[0129] In some examples, the processing circuitry 610 may be further configured to issue a warning to an operator when the real-time boom position approaches the restricted area. For example, a proximity detection algorithm may be implemented that continuously monitor boom system coordinates relative to virtual boundary surface boundaries and generate alert signals when predetermined approach distances are exceeded. The warning issuance may involve generating optical and acoustic warnings such as flashing warning lights, audible alarms, or visual notifications on operator displays that indicate proximity to electrical hazard boundaries, where the cognitive content of the warning information relates to an internal state prevailing in the technical system and enables the operator to properly operate the lifting machine by taking corrective action to prevent boom system entry into the restricted area. The processing circuitry 610 may implement graduated warning systems that provide increasingly urgent notifications as boom system proximity to virtual boundary surfaces decreases, enabling a continued and guided process of human-machine interaction where the presentation of warning information credibly assists the operator in performing the technical task of maintaining electrical safety compliance during lifting operations while serving the technical purpose of preventing electrical contact between boom system components and overhead power line infrastructure.

[0130] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 6 may include 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 - 5) or below (e.g., Figs. 7 - 8).

[0131] Fig. 7 illustrates a method 700 for planning lifting machine operations in the vicinity of a power line. The method 700 comprises obtaining 710 geographic information data describing at least one overhead power line and supporting structures in a working area. The method 700 comprises further determining 720 a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line. The boom system is prevented from moving into the restricted area. The method 700 comprises further determining 730 one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine. The method 700 comprises further generating 740 a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0132] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 7 may include 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 - 6) or below (e.g., Fig. 8).

[0133] Fig. 8 illustrates an example of a map 800 generated by an apparatus for planning lifting machine operations in the vicinity of a power line. The map 800 is showing a top view 2D representation of a construction site with overhead power line infrastructure and lifting machine operational planning data overlaid on aerial imagery. The map 800 comprises overhead power lines that are visible and integrated from geographic information sources such as infrastructure maps available online, displayed as red linear features 832 crossing the construction site area. A lifting machine 810 is positioned within the working area. The apparatus for planning lifting machine operations is calculating restricted areas around the power lines to the left and right side of the overhead power line infrastructure.

[0134] The map 800 demonstrates the integration of virtual boundary surfaces 830 with lifting capacity diagrams, where the yellow working area 820 represents the operating range of the boom system that becomes restricted due to red zone 830 safety boundaries imposed by overhead power line proximity. The apparatus for planning lifting machine operations visualizes all available information regarding the power lines 832 including support structure positions, coordinates, voltage specifications, and clearance requirements, enabling comprehensive planning that considers safe distances and additional safety margins such as the distance between multiple power lines. The generated map 800 enables the apparatus to plan lifting operations for optimal performance while maintaining electrical safety compliance within the constraints imposed by overhead power line infrastructure.

[0135] The map 800 enables real-time operational coordination through geofencing functionality that monitors lifting machine GPS position relative to overhead power line locations, where bidirectional communication between geofencing systems and telematics enables automatic notifications to Radio Remote Control when the detected crane position approaches power line proximity zones. The apparatus for planning lifting machine operations may transmit the generated map information digitally to operator applications, providing comprehensive safety guidelines including emergency response procedures that specify actions operators should take in case electrocution incidents occur, ensuring that both planning-phase safety assessment and operational-phase emergency preparedness are integrated within the lifting machine safety system.

[0136] Further details and aspects are mentioned in connection with the examples described above. The example shown in Fig. 8 may include 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 - 7).

[0137] In the following, some examples of the proposed concept are presented: An example (e.g., example 1) relates to an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line, comprising processing circuitry, the processing circuitry being configured to obtain overhead power line data, determine a virtual boundary surface based on the overhead power line data, the virtual boundary surface defining a limit adjacent to the overhead power line which the boom system is prevented from crossing, control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0138] Another example (e.g., example 2) relates to the processing circuitry being further configured to obtain real-time position data indicating a current position of the boom system, and generate a control signal stopping the movement of the boom system before crossing the virtual boundary surface

[0139] Another example (e.g., example 3) relates to the processing circuitry being further configured to obtain geographic position data of the lifting machine, and generate the real-time position data indicating the current position of the boom system based on the obtained position data.

[0140] Another example (e.g., example 4) relates to a previous example (e.g., one of the examples 2 to 3) or to any other example, further comprising that the processing circuitry is further configured to establish a three-dimensional coordinate system in which the virtual boundary surface and the position data of the boom system are expressed.

[0141] An example (e.g., example 5) relates to the apparatus of 4, wherein the processing circuitry is configured to determine a location of the virtual boundary surface within the three-dimensional coordinate system based on the overhead power line data.

[0142] 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 that the virtual boundary surface comprises at least one of a virtual horizontal plane located below the overhead power line, a virtual vertical plane between the overhead power line and the lifting machine or an inclined plane at an angle relative to the horizontal or vertical.

[0143] Another example (e.g., example 7) relates to a previous example (e.g., one of the examples 1 to 6) or to any other example, further comprising that the virtual boundary surface comprises at least one of a curved surface in a horizontal plane located below the overhead power line, a curved surface in a virtual vertical plane between the overhead power line and the lifting machine or a curved inclined surface at an angle relative to the horizontal or vertical.

[0144] Another example (e.g., example 8) relates to a previous example (e.g., one of the examples 1 to 7) or to any other example, further comprising that the virtual boundary surface comprises at least one of a curved surface approximating a sag of a conductor of the overhead power line or a combination of multiple planes and / or curved surfaces defining a boundary envelope adjacent to the overhead power line.

[0145] Another example (e.g., example 9) relates to a previous example (e.g., one of the examples 1 to 8) or to any other example, further comprising that the virtual boundary surface defines a restricted area as a spatial zone on a side of the virtual boundary surface, the boom system being prevented from moving into the restricted area.

[0146] Another example (e.g., example 10) relates to a previous example (e.g., one of the examples 1 to 9) or to any other example, further comprising that the processing circuitry is further configured to determine a distance between the virtual boundary surface and the overhead power line based on a nominal voltage of the overhead power line.

[0147] Another example (e.g., example 11) relates to a previous example (e.g., one of the examples 1 to 10) or to any other example, further comprising that the processing circuitry is further configured to define a tolerance region adjacent to the virtual boundary surface, and reduce a movement speed of the boom system within the tolerance region before stopping the boom system at the virtual boundary surface.

[0148] Another example (e.g., example 12) relates to a previous example (e.g., one of the examples 1 to 11) or to any other example, further comprising that the overhead power line data comprise at least one of a nominal voltage of the overhead power line, a support structure height of the overhead power line, geographic position of the support structures of the overhead power line, a number of conductors of the overhead power line, a conductor sag of the overhead power line, a geographic position of the overhead power line, a distance between the lifting machine and the overhead power line, a ground profile at a location of the lifting machine or a distance between the overhead power line and the ground.

[0149] Another example (e.g., example 13) relates to a previous example (e.g., one of the examples 1 to 12) or to any other example, further comprising that the processing circuitry is further configured to obtain the power line data from a remote planning system.

[0150] Another example (e.g., example 14) relates to a previous example (e.g., example 13) or to any other example, further comprising that the power line data is generated by the remote planning system based on geographic information data describing overhead power lines and supporting structures.

[0151] Another example (e.g., example 15) relates to a previous example (e.g., one of the examples 1 to 14) or to any other example, further comprising that the overhead power line comprises one or more conductors suspended on support structures.

[0152] Another example (e.g., example 16) relates to a previous example (e.g., one of the examples 1 to 15) or to any other example, further comprising that the processing circuitry is further configured to determine at least parts of the overhead power line data based on one or more sensors of the lifting machine.

[0153] Another example (e.g., example 17) relates to a previous example (e.g., one of the examples 1 to 16) or to any other example, further comprising that the processing circuitry is further configured to determine the nominal voltage of the overhead power line by measuring a voltage of the overhead power line based on one or more sensor signals of the lifting machine.

[0154] Another example (e.g., example 18) relates to a previous example (e.g., one of the examples 1 to 17) or to any other example, further comprising that the lifting machine is at least one of a crane, a mobile crane, a loader crane, a knuckle boom crane, a crawler crane, a tower crane, a forestry crane, a recycling crane, a material handler, a mobile manipulator or an aerial platform.

[0155] An example (e.g., example 19) relates to a lifting machine, comprising the apparatus according to any one of examples 1 to 18, and the boom system.

[0156] An example (e.g., example 20) relates to a method for preventing electric hazard between a boom system of a lifting machine and an overhead power line, the method comprising obtaining overhead power line data, determining a virtual boundary surface based on the overhead power line data, the virtual boundary surface defining a limit adjacent to the overhead power line which the boom system is prevented from crossing, controlling a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0157] An example (e.g., example 21) relates to an apparatus for planning a lifting machine operation in the vicinity of a power line, comprising processing circuitry, the processing circuitry being configured to obtain geographic information data describing at least one overhead power line and supporting structures in a working area, determine a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area, and determine one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine, generate a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0158] Another example (e.g., example 22) relates to a previous example (e.g., example 21) or to any other example, further comprising that the processing circuitry is further configured to display the map to an operator of the lifting machine.

[0159] Another example (e.g., example 23) relates to a previous example (e.g., one of the examples 21 to 22) or to any other example, further comprising that the processing circuitry is further configured to provide at least one of the virtual boundary surfaces or the restricted area to a control system of the lifting machine for restricting movement of the boom system with regards to the virtual boundary surface.

[0160] Another example (e.g., example 24) relates to a previous example (e.g., one of the examples 21 to 23) or to any other example, further comprising that the processing circuitry is further configured to transmit the generated map to an operator application of the lifting machine.

[0161] Another example (e.g., example 25) relates to a previous example (e.g., one of the examples 21 to 24) or to any other example, further comprising that the processing circuitry is further configured to update the map with real-time data of the boom system of the lifting machine in relation to the virtual boundary surface and the restricted area.

[0162] Another example (e.g., example 26) relates to a previous example (e.g., one of the examples 21 to 25) or to any other example, further comprising that the processing circuitry is further configured to issue a warning to an operator when the real-time boom position approaches the restricted area.

[0163] An example (e.g., example 27) relates to a method for planning lifting machine operations in the vicinity of a power line, the method comprising obtaining geographic information data describing at least one overhead power line and supporting structures in a working area, determining a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area, and determining one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine, generating a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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. 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

[0009]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.

[0010]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.

[0011]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. An apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line, comprising processing circuitry, the processing circuitry being configured to: obtain overhead power line data; determine a virtual boundary surface based on the overhead power line data, the virtual boundary surface defining a limit adjacent to the overhead power line which the boom system is prevented from crossing; control a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

2. The apparatus of claim 1, the processing circuitry being further configured to obtain real-time position data indicating a current position of the boom system; and generate a control signal stopping the movement of the boom system before crossing the virtual boundary surface3. The apparatus of claim 2, the processing circuitry being further configured to obtain geographic position data of the lifting machine; and generate the real-time position data indicating the current position of the boom system based on the obtained position data.

4. The apparatus of any one of claims 2 to 3, wherein the processing circuitry is further configured to establish a three-dimensional coordinate system in which the virtual boundary surface and the position data of the boom system are expressed.

5. The apparatus of any one of claims 1 to 4, wherein the virtual boundary surface comprises at least one of a virtual horizontal plane located below the overhead power line, a virtual vertical plane between the overhead power line and the lifting machine or an inclined plane at an angle relative to the horizontal or vertical.

6. The apparatus of any one of claims 1 to 5, wherein the virtual boundary surface comprises at least one of a curved surface approximating a sag of a conductor of the overhead power line or a combination of multiple planes and / or curved surfaces defining a boundary envelope adjacent to the overhead power line.

7. The apparatus of any one of claims 1 to 6, wherein the processing circuitry is further configured to determine a distance between the virtual boundary surface and the overhead power line based on a nominal voltage of the overhead power line.

8. The apparatus of any one of claims 1 to 7, wherein the overhead power line data comprise at least one of: a nominal voltage of the overhead power line, a support structure height of the overhead power line, geographic position of the support structures of the overhead power line, a number of conductors of the overhead power line, a conductor sag of the overhead power line, a geographic position of the overhead power line, a distance between the lifting machine and the overhead power line, a ground profile at a location of the lifting machine or a distance between the overhead power line and the ground.

9. The apparatus of any one of claims 1 to 8, wherein the processing circuitry is further configured to obtain the power line data from a remote planning system.

10. The apparatus of claim 9, wherein the power line data is generated by the remote planning system based on geographic information data describing overhead power lines and supporting structures.

11. A lifting machine, comprising: the apparatus according to any one of claims 1 to 10; and the boom system.

12. A method for preventing electric hazard between a boom system of a lifting machine and an overhead power line, the method comprising: obtaining overhead power line data; determining a virtual boundary surface based on the overhead power line data, the virtual boundary surface defining a limit adjacent to the overhead power line which the boom system is prevented from crossing; controlling a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

13. An apparatus for planning a lifting machine operation in the vicinity of a power line, comprising processing circuitry, the processing circuitry being configured to: obtain geographic information data describing at least one overhead power line and supporting structures in a working area; determine a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area; and determine one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine; generate a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

14. The apparatus of claim 13, wherein the processing circuitry is further configured to update the map with real-time data of the boom system of the lifting machine in relation to the virtual boundary surface and the restricted area.

15. A method for planning lifting machine operations in the vicinity of a power line, the method comprising: obtaining geographic information data describing at least one overhead power line and supporting structures in a working area; determining a virtual boundary surface based on the obtained geographic information data, the virtual boundary surface defining a restricted area as a spatial zone adjacent to the overhead power line, the boom system being prevented from moving into the restricted area; and determining one or more working positions for the lifting machine inside the working area based on the virtual boundary surface and an operating range of a boom system of the lifting machine; generating a map including the one or more working positions, the overhead power line, the virtual boundary surface, and the operating range of a boom system of the lifting machine.

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