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

Abstract

A method (100) for controlling a boom system of a crane. The method (100) comprises defining a coordinate (110) of a trip region of the boom system as reference position. Further, the method (100) comprises defining a boundary plane (120) based on the reference position.

Description

[0001] A METHOD AND AN APPARATUS FOR CONTROLLING A BOOM SYSTEM OF A

[0002] CRANE, CRANE AND MOBILE PLATFORM

[0003] Field

[0004] The present disclosure relates to controlling a boom system of a crane. In particular, examples of the present disclosure relate to methods and apparatuses for controlling a boom system of a crane, a crane, a mobile platform, and a computer program.

[0005] Background

[0006] A crane has been commonly used on a construction site for various purposes, e.g. lifting heavy materials, assembly of large structures, transportation, or installation of prefabricate components. Since there are various elements on construction sites, such as vehicles, machinery, structures, building materials, electrical lines, and workers, a safe operation of the crane is an important consideration to protect the workers from hazards and prevent any damages to the various elements in the construction sites. For example, as a construction project advances through different stages, an operation of the crane needs to be adapted to avoid collisions to any elements of the project and injuries to workers. However, current methods to control a boom system of a crane may mostly depend on complicated manual settings to avoid structures around the crane. Therefore, there may be a demand for a simplified way to control a boom system of a crane.

[0007] Summary

[0008] This demand is met by methods and apparatuses for controlling a boom system of a crane, a crane, a mobile platform, and a computer program in accordance with the independent claims. Advantageous embodiments are defined by the dependent claims.

[0009] According to a first aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a coordinate of a tip region of the boom system as a reference position. In addition, the method comprises defining a boundary plane based on the reference position. According to a second aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a first coordinate as a first reference position and defining a second coordinate as a second reference position. Further, the method comprises defining at least one boundary plane based on at least one of the first reference position and the second reference position.

[0010] According to a third aspect, the present disclosure provides a method for controlling a boom system of a crane. The method comprises defining a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the method comprises defining a boundary plane based on the reference axis.

[0011] The methods according to the first, the second, and the third aspects may provide a way to control a boom system of a crane to avoid harm to an environment of the crane. Since there are various elements and workers at a construction site, an operation of a boom system of a crane needs to be performed with caution not to cause any damage to the construction site and workers. The embodiments described herein may reduce the set-up time required de define boundaries for the boom system of a crane, to automatically avoid collisions with buildings or other structures.

[0012] According to a fourth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input interface configured to receive information about a coordinate of a tip region of the boom system as a reference position Further, the apparatus comprises a compute circuitry configured to define a boundary plane based on the reference position. In addition, the apparatus comprises an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the first aspect.

[0013] According to a fifth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input interface configured to receive information about a first coordinate as a first reference position. The input interface is configured to receive information about a second coordinate as a second reference position. Further, the apparatus comprises a compute circuitry configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position. The apparatus comprises an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the second aspect.

[0014] According to a sixth aspect, the present disclosure provides an apparatus for controlling a boom system of a crane. The apparatus comprises an input device configured to receive information about a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. In addition, the apparatus comprises a compute circuitry configured to define a vertical boundary plane parallel to the reference axis. The apparatus comprises an output device configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. The apparatus can be used to carry out the method according to the third aspect.

[0015] According to a seventh aspect, the present disclosure provides a crane. The crane comprises a boom system and a crane controller. The crane controller implements an apparatus according to the fourth, the fifth, and the sixth aspects.

[0016] According to an eighth aspect, the present disclosure provides a mobile platform. The mobile platform comprises a crane according to an embodiment as described herein.

[0017] According to a nineth aspect, the present disclosure provides a computer program for controlling a boom system of a crane having a program code for performing any of the methods described herein when the program is executed on a processor or a programmable hardware of the crane.

[0018] Another example relates to an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The apparatus comprises 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.

[0019] 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 method comprises 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 comprises further controlling a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0020] 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.

[0021] 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.

[0022] Brief description of the Figures

[0023] 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

[0024] Fig. 1 shows an exemplary flow chart of a method for controlling a boom system of a crane;

[0025] Fig. 2 shows an example of the boom system of the crane and a horizontal boundary plane usable within an embodiment illustrated in Fig. 1;

[0026] Fig. 3 shows an example of the horizontal boundary plane and a restricted region usable within an embodiment illustrated in Fig. 1;

[0027] Fig. 4 shows an example of the boom system of the crane and a vertical boundary plane usable within an embodiment illustrated in Fig. 1;

[0028] Fig. 5 shows an exemplary flow chart of a method for controlling a boom system of a crane;

[0029] Fig. 6a shows an example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5;

[0030] Fig. 6b shows another example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5;

[0031] Fig. 7 shows an example of controlling the boom system of the crane usable within an embodiment illustrated in Fig. 5;

[0032] Fig. 8 shows an exemplary flow chart of a method for controlling a boom system of a crane;

[0033] Fig. 9a shows an illustration of a boom system controlled by the method illustrated in Fig. 8; Fig. 9b shows an illustration of a boom system controlled by the method illustrated in Fig. 8; Fig. 10 shows a block diagram of an example of an apparatus for controlling a boom system of a crane;

[0034] Fig. 11 shows a block diagram an example of an apparatus for controlling a boom system of a crane;

[0035] Fig. 12 shows a block diagram an example of an apparatus for controlling a boom system of a crane;

[0036] Fig. 13 schematically illustrates components of a crane;

[0037] Fig. 14 shows an example of an operating console of the crane usable within an embodiment illustrated in Fig. 13; Fig. 15 shows an example of a mobile platform; and

[0038] Fig. 16 illustrates an apparatus for preventing electric hazard between a boom system of a lifting machine and an overhead power line;

[0039] Fig. 17 illustrates a method for preventing electric hazard between a boom system of a lifting machine and an overhead power line;

[0040] Fig. 18 shows a lifting machine comprising the apparatus as described above;

[0041] Fig. 19 illustrates an example of system for preventing electric hazard between a boom system of a lifting machine and an overhead power line;

[0042] Fig. 20 illustrates another example of system for preventing electric hazard between a boom system of a lifting machine and an overhead power line;

[0043] Fig. 21 illustrates an apparatus for planning a lifting machine operation in the vicinity of a power line;

[0044] Fig. 22 illustrates a method for planning lifting machine operations in the vicinity of a power line; and

[0045] Fig. 23 illustrates an example of a generated map.

[0046] Detailed Description

[0047] 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.

[0048] 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.

[0049] 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. 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.

[0050] A crane is commonly used on construction sites for several reasons. It can lift and move heavy materials such as steel beams, concrete blocks, and other construction materials that are too heavy for manual lifting. Additionally, it has a capability to reach areas that are otherwise inaccessible, further enhancing its utility on construction sites. A crane also speeds up the construction process by allowing materials to be moved quickly and efficiently, reducing the time required for manual labor.

[0051] A crane comprises a boom system mounted to a column of the crane. The column is rotatable with respect to a base of the crane. In some examples, the axis of rotation of the column may be a substantially vertical axis. The angle of rotation about the axis of rotation may be referred to as the slew angle or slewing angle.

[0052] The base can be configured to mount the crane onto a platform. The platform may be a fixed platform or a mobile platform. Examples of mobile platforms are vehicles such as trucks, lorries or ships. The boom system can be rotated or moved relative to the column about an axis (e.g. a boom axis) that is essentially perpendicular to the axis of the rotation of the column. The angle of the rotation of the boom system about the boom axis may be referred to as an elevation angle.

[0053] Hydraulic cylinders may be used as actuators to create the force to cause the rotation or motion of the boom system with respect to the elevation angle. A boom system comprises at least one (or e.g. one or more booms). In the event of a plurality of booms (e.g. more than one boom), the boom attached to the column may be referred to as the main boom or first boom. Additionally, a second boom attached to the main boom may be referred to as a knuckle boom. Any (or each) of the booms of a boom system can optionally comprise one or more extension booms to be driven in or out of the boom using, for example, hydraulic means. A boom and its extension booms may also be called a boom sub-system.

[0054] Cranes having only one boom may also be called stiff boom cranes since they do not exhibit multiple booms that can change their orientation with respect to each other. In the event of cranes having multiple booms, a knuckle can be used to connect the different booms to one another so as to enable them to change their relative orientation, by bending or buckling about an axis defined by the knuckle.

[0055] In some examples, a crane may comprise a bendable boom system connected to the crane column. A bendable boom system may comprise a first boom, wherein a first end of the first boom is connected to the crane column. The bendable boom system may further comprise a second boom, wherein the second boom is connected to a second end of the first boom. Cranes having at least two booms connected by a knuckle or hinge offer an addition-al degree of freedom as compared to stiff boom cranes and may be called knuckle-boom cranes. The booms can be connected by hydraulic cylinders across the knuckle to cause the rotation.

[0056] The free end of the boom system not attached to the column may be referred to as the tip of the boom system. Loads may be directly attached to the tip of the boom system. However, cranes may additionally comprise at least one winch mounted to the boom system or elsewhere to the crane, the winch being used to wind und unwind a cable carrying the load. The tip of the boom system may exhibit a wheel for the cable. The cable extends to a load block used to attach the load thereto. In a single wire operation (also called STRAN1) the cable ends in the load block. The cable of the winch may also be used according to the principles of a pulley. If this is the case, the load block exhibits at least one pulley to change the direction of the cable and the cable ends at the boom system, typically close to the tip of the boom system. In the event of a single pulley, operation is also called two wire operation (STRAN2). Of course, multiple pulleys may be used likewise for multi wire operation.

[0057] Movement of the crane is caused by using multiple types of actuators such as hydraulic engines, valves and cylinders to cause motion of the booms and electric engines used to cause motion of the column or to operate the winch. Components used to cause movement of the crane or of parts of the crane are called actuators. The movement of the crane is monitored by means of multiple sensors, providing sensors readings indicative of multiple parameters or physical quantities. For example, pressure sensors may be used to monitor the pressure within hydraulic cylinders to determine the forces acting on them. Angle sensors may be used to monitor relative rotation or angle between different parts of the crane (e.g. between the column and the base or between different boom of a knuckle boom crane). Angle sensors may, for example use an encoder wheel together with a sensor sensitive to magnetic fields. Length sensors may be used to monitor the overall length of a boom and its associated extensions. Force sensors may be used to measure force directly or indirectly, for example to measure the force acting on the cable of a winch and / or on the winch itself. Force sensors may, for example, be based on the piezo electric effect or using strain gauges attached to the object being monitored.

[0058] The movement of the crane may be controlled by a crane controller that outputs control signals to cause the actuators of the crane to perform an operation. The crane controller receives sensor readings to monitor the result of the actuators operation. In some examples, the crane controller may be an integral part of the crane. The desired movement of the crane is typically performed or controlled based on or following a user input. The user input may be manually given by a human operator or supervisor of the crane or it may likewise be generated automatically based on an algorithm or on input parameters generated by other means, such as for example by a trained neural network. For manual input, the crane may exhibit a crane mounted input device (operating panel) having, for example, one or more levers or joysticks to control motion as well as a user interface to input or change user settings and / or crane parameters such as for example different modes of operation of the crane. The input device communicates with the crane controller that transforms the user input into the actuator operations required to result with the desired movement as per the input via the input device. Additionally or alternatively, parts of or all inputs that can be performed using the input device may also be performed using a remote control unit wirelessly communicating with the crane controller.

[0059] Additionally, the crane controller may comprise an input interface, compute circuitry, and an output interface. For example, the input interface receives the user input through the input device (e.g. one or more levers or joysticks and the user interface) or the remote control. In other words, the input device communicates with the crane controller via the input interface. Based on the received input, the compute circuitry generates information related to the operation of the actuators. Subsequently, the output interface outputs control data to direct the actuators of the crane to perform a motion using the information generated by the compute circuitry.

[0060] A crane may be used for multiple purposes by providing the possibility to exchange equipment mounted at the booms of the crane. For example, various different attachments can be mounted to the booms close to the tip of the boom system. To support this, the crane may provide a mounting interface close to the tip of the crane. A mounting interface may be composed of multiple elements, mounted to or welded at a boom. Eventually, equipment such as a workmen basket may be mounted to the mounting interface via an adaptor used to adapt the (standard) mounting interface of the crane to a custom mounting interface of the equipment to be used.

[0061] Even though cranes are commonly used on construction sites to help workers handle heavy materials and reduce the risks associated with manual lifting, caution may be still needed to safely control a boom system of a crane. For example, on a construction site, there are many objects or obstacles which may affect an operation of a boom system of a crane to avoid collision or causing any damages to the construction site or human. Therefore, it may be recommended to set measures to operate a boom system of a crane safely. For example, setting a restricted zone has been used to limit a movement of the boom system of the crane within the restricted zone. As a construction phase changes, the restricted zone may need to be adapted accordingly. An operator may also need to change the position of the crane multiple times depending on construction planning, which leads to set different restricted zones accordingly based on the environments around the crane. Currently, complex manual settings may be often used to define such restricted zones in 3D. Then, it may introduce a human error, which can cause a safety issue in operating the boom system. Therefore, the application relates to methods and apparatuses for controlling a boom system of a crane, which may facilitate a safe operation of the boom system in various applications.

[0062] Examples described herein relates to methods and apparatuses for controlling a boom system of a crane. Depending on the position of the crane or a position or a size of an object around the crane to be avoided, methods for controlling a boom system may differ. Therefore, several different methods and apparatuses in connection with the methods will be further explained below in detail.

[0063] Fig- 1 illustrates a flow chart of a method 100 for controlling a boom system of a crane. The method 100 comprises defining a coordinate 110 of a tip region of the boom system as a reference position. The method 100 further comprises defining a boundary plane 120 based on the reference position.

[0064] The method 100 may provide a way to control a boom system of a crane by defining a coordinate as a reference position and a boundary plane without manually providing numerical values to define the reference position and the boundary plane. For example, a lever or a joystick of the crane may be used to control the boom system of the crane to locate the tip region of the boom system at a desired position to define the reference position. The coordinate may optionally be defined by a remote control input. For example, an operator may define or input the coordinate to the remote control, and the remote control unit may facilitate defining the coordinate outside of the crane, the boundary plane may be a virtual plane that includes a plurality of boundary position coordinates generated by a compute circuitry. The boundary plane may optionally comprise the reference position.

[0065] In an example, the method 100 may optionally comprise receiving information about an orientation of a mobile platform 130 associated with the boom system. The boundary plane may, for example, be defined such that it is parallel to the orientation of the mobile platform. In an example, the boundary plane may optionally be a horizontal plane.

[0066] Fig. 2 shows an example of the boundary plane and the orientation of the mobile platform. In Fig. 2, the boundary plane 220 comprises the reference position 210 defined by the tip region of the boom system 230. The boundary plane 220 may be based on (e.g. parallel to) the orientation of the mobile platform 250. In the event of the horizontal boundary plane 220 illustrated in fig. 2, a single coordinate 110 may optionally serve as a reference position. The orientation of the mobile platform 250 may be described or defined by at least two axes (e.g. two axes 260a, 260b). Optionally, the orientation of the mobile platform 250 may be (or may refer to) the inclination, tilt of the mobile platform 250 with respect to the ground. In some examples, the two axes 260a, 260b may extend in different directions, e.g. the two axes 260a, 260b may be orthogonal to each other. The two orthogonal axes 270a, 270b comprised in the horizontal plane 220 may be parallel to the two orthogonal axes 260a, 260b indicating the orientation of the mobile platform 250. For instance, the horizontal plane 220 may be established with a precision level allowing for a margin of error of ± 0.5 degree, ± 1 degree, ± 3 degree, or ± 5 degree. The margin of error may ensure that any deviation from true horizon- tality remains within acceptable tolerances, thereby maintaining alignment in connection with the orientation of the mobile platform 250.

[0067] In some examples, the boundary plane described in connection with Fig. 1 and / or Fig. 2 may be a finite two-dimensional plane having defined boundaries (e.g. having both a fixed width and height). Alternatively, the boundary plane may be an infinite plane. For example, the plurality of boundary coordinates defining the boundary plane may be continuously generated so that the virtual plane extends in at least one of the directions of the two axes 260a, 260b until a trigger is activated to pause or stop the generation of the plurality of coordinates defining the boundary plane. An infinite plane differs from a finite two-dimensional plane having predefined fixed boundaries (e.g. having both a fixed width and height). In addition, in generating an infinite plane, the trigger point for pausing or stopping the generation of more coordinates defining the boundary plane is unknown before the start of the generation of the boundary plane. The boundary plane may be infinite in the direction of at least one of the two orthogonal axes 270a, 270b. In some examples, the boundary plane 220 may be infinite in only one direction of at least one of the two orthogonal axes 270a, 270b. In some examples, the boundary plane may be infinite in both directions of the two orthogonal axes 270a, 270b. An infinite plane may be spanned by two intersecting axes, wherein the axes are infinitely long so that the plane itself has no limitations in either direction.

[0068] The method 100 may optionally comprise defining a restricted region and an unrestricted region 140 based on the boundary plane. The restricted region may be a region (e.g. a plurality of restricted region position coordinates) wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region may be a region (e.g. a plurality of unrestricted region position coordinates) wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. For example, if (or when) the compute circuitry of the crane determines that the position coordinates of a reference region of the boom system coincides with one or more of the plurality of restricted region position coordinates, at least one of a movement or speed of movement of the boom system may be limited. This reference region may be a selected or predetermined part of the boom system, such as the tip region and / or joint regions between different modules of the boom system (e.g. between the main arm and the knuckle boom, and / or e.g. between the knuckle boom and the fly jib).

[0069] Additionally, if (or when) the compute circuitry of the crane determines that the position coordinates of a reference region of the boom system coincides with one or more of the plurality of unrestricted region position coordinates, at least one of a movement or speed of movement of the boom system is not limited. For instance, the movement or the speed of movement of the boom system might not be subject to any additional restrictions (e.g. the second speed range or the tolerance speed range) imposed by software or the compute circuitry and may be governed by the crane’s inherent design parameters within the unrestricted region. For example, the inherent design parameters may comprise the operational speed limit of the boom system, the rotational angle of the boom system, the maximum extension length of the boom, the load capacity at various extensions, the angular velocity during rotation, the hydraulic pressure limits, and the maximum permissible sway during operation. These parameters define the safe and efficient operation of the boom system, ensuring that all movements are within the designed tolerances to prevent mechanical failure and ensure precise control.

[0070] Fig- 3 shows an exemplary embodiment of the method 100 in relation to Figs. 1 and 2 presenting the restricted region 310 and the unrestricted region 320 as described above. The exemplary embodiment shown in Fig. 3 may comprise one or more or all of the features already described in connection with Figs. 1 and 2.

[0071] The method 100 may optionally comprise limiting the at least one of the movement of the boom system or the speed of the movement of the boom system 150 if at least part of the boom system is above the boundary plane. For example, in Fig. 3, a region above the boundary plane 220 comprised in the restricted region 310 may be referred to as a second zone 310a. For example, limiting the speed of the movement of the boom system within the second zone 310a (e.g. above the boundary plane 220) may be performed by providing an operable speed range of the crane within the second zone 310a. This speed range within the second zone 310a may be referred to as a second speed range. The second speed range may be less than a maximum allowable speed range of the boom system. The maximum allowable speed range may the maximum allowable speed range within the unrestricted region based on the inherent design parameters. For example, a maximal speed of the second speed range may be 0% - 90% (or e.g. 20% to 80%, or e.g. 20% to 50%) less than the maximum allowable speed range of the boom system. The second speed range may be predefined or be given using a manual user input. In another example, limiting the movement of the boom system may be stopping the boom system before any part of the boom system enters the second zone 310a.

[0072] In an example, the method 100 may optionally include limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane 151 if at least part of the boom system is below the boundary plane. For example, a region below the boundary plane may be referred to as a tolerance zone or first zone 310b. In Fig. 3, the tolerance zone 310b may be further defined by a perpendicular (orthogonal or shortest) distance (e.g. a tolerance distance 314) from the boundary plane 220. For example, the tolerance distance 314 may be a perpendicular or orthogonal distance from any point in the boundary plane 220 to the ground. The tolerance distance 314 may be predefined or may vary depending on the speed of the movement of the boom system within the unrestricted region 320. For illustrative purposes, a tolerance boundary plane 313 is presented in Fig. 3, which is a horizontal plane parallel to the boundary plane 220, positioned at the tolerance distance 314 below the boundary plane 220. In other words, the volume enclosed by the boundary plane 220 and the tolerance boundary plane 313 may be the tolerance zone 310b.

[0073] For example, if the speed of the movement of the boom system is slower or faster than a threshold speed, the tolerance distance 314 may be respectively shorter or longer than the predefined tolerance distance accordingly to reduce or increase the volume of the tolerance zone 314. For example, an operable speed range within the tolerance zone 310b (e.g. a tolerance speed range) may be predefined or given by a user input to limit the speed of the movement of the boom system according to the method step 151. In another example, within the tolerance zone 310b, the speed of the movement of the boom system may reduce gradually and reach to a minimum speed (e.g. zero or a predetermined minimum speed) so as to stop the movement of the boom system before entering the second zone 310a above the boundary plane 220. For example, the movement or the speed of the movement of the boom system might not be affected if it is related to the movement parallel to the boundary plane 220 in Fig. 3. Defining the restricted region and the unrestricted region may provide a way to control the boom system of the crane relative to the boundary plane. For example, on a construction site, due to a presence of a structure, such as a building, a boom system of a crane might not be allowed to enter a certain area to avoid a collision. By defining the restricted region and the unrestricted region 130 based on the boundary plane, the method 100 enables to control the boom system so that the movement or the speed of the movement of the boom system might not be limited in the unrestricted region (or may be governed by the inherent design parameters).

[0074] Further, as shown in Fig. 3, including the second zone 310a and the tolerance zone 310b within the restricted region 310 may provide an additional safety measure to control the boom system. Since the movement or the speed of the movement of the boom system can be limited accordingly below and above the boundary plane by introducing the two zones within the restricted region, it may reduce a risk of system failure or error.

[0075] Fig- 4 shows another exemplary embodiment of the method 100 in connection with Figs. 1 to 3. The exemplary embodiment shown in Fig. 4 may comprise one or more or all of the features already described in connection with Figs. 1 - 3. In an example, the method 100 may optionally comprise defining 170 the boundary plane based on a determined angle 430 from the boom system. The method 100 may include defining 160 the slewing angle of the boom system and defining 170 the boundary plane based on the slewing angle. Defining the boundary plane may include selecting, determining and / or inputting a slewing angle of the boom system (in 160) and generating 170 the boundary plane based on the slewing angle. Therefore, the boundary plane may be defined based on the slewing angle.

[0076] The slewing angle may be an angle of rotation of a boom system of a crane around a vertical reference axis. Optionally, the vertical reference axis may be located at a central point or region of the crane column. In Fig. 4, the slewing angle 420 is illustrated as an angle between the boom system 230 and the axis 260b. The axis 260b may be a longitudinal axis that crosses or intersects the center of the mobile platform 250 and the crane.

[0077] For illustrative purposes, the mobile platform 250 and the boom system 230 of the crane are shown in Fig. 4. As shown in the example of Fig. 4, the boundary plane may optionally be a vertical plane. The vertical boundary plane may be orthogonal to the plane defined by the axes 260a, 260b related to the orientation of the mobile platform of Fig. 2. For example, the vertical boundary plane 410 and the plane described by the axes 260a, 260b may be orthogonal with respect to each other. For example, the vertical plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees. Similar to the horizontal plane as described in Fig. 2, the margin of error may ensure that any deviation from true verticality remains within acceptable tolerances, thereby maintaining alignment in relation to the orientation of the mobile platform.

[0078] The determined angle 430 may be an angle between the boom system 230 and the boundary plane 410. For example, the determined angle may be a predefined angle (e.g. 90 degree, or e.g. 45 degree) or may be defined using a user input as an angle from the boom system. Fig. 4 shows the determined angle 430 from the boom system 230, which is used to further define the vertical boundary plane 410.

[0079] The method 100 may additionally or optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 180 on one side or the other side of the boundary plane depending on a user input. The limiting 180 can be understood in relation to operating the boom system within the second zone 310a as described with respect to Figs. 1 to 3 according to the method step 150. In Fig. 4, a region on a first side (e.g. the right side) of the boundary plane 410 is illustrated as a second zone 440a. The first side may be a designated side of the boundary plane 410. Optionally, the side may be the designated by the user using a manual input via the remote control unit. In an alternative example, the first side may be on the left side of the boundary plane. For example, the second zone may be on the left side of the boundary plane depending on surrounding environment of the crane and desirable operation of the boom system.

[0080] Limiting at least one of the movement of the boom system or the speed of the movement of the boom system 181 may optionally be based on a defined distance from the vertical boundary plane if at least part of the boom system is within the defined distance. In connection with Figs. 1 to 3, it can be understood in relation to operating the boom system within the tolerance zone 310b. In Fig. 4, the tolerance zone 440b is illustrated on the first side (e.g. left side) of the boundary plane 410. As described in Fig. 3, the tolerance zone 440b may be dynamically adjusted depending on the speed of the boom system. The width of the tolerance zone may be varied over time based on the movement of the boom within the tolerance zone. For example, the width of the tolerance zone may be adjusted if the boom is detected or observed to move in an undesirable manner within the tolerance zone, e.g. at a speed outside the tolerance speed range.

[0081] Limiting the movement of the boom system or the speed of the movement of the boom system according to its position relative to the boundary plane 180, 181 may contribute to the safe operation of the crane. Similarly, having two different zones on each side (e.g. respectively on different sides) of the boundary plane may provide an additional safety measure to reduce the risk of accidents.

[0082] Method 100 provides a way to operate the boom system of the crane by defining the reference position and the boundary plane. Depending on applications, the boundary plane may be horizontal or vertical plane to avoid a collision and damages to objects or human on a construction site. Further, any combination of boundary planes may be used based on a progress of a construction project. It may enable a user to easily set a further restricted region, which may minimize an error in operating the boom system of the crane. For example, the method 100 may include defining a first boundary plane comprising the first plurality of boundary coordinates (e.g. the horizontal plane described in connection with Figs. 1 to 3) and additionally defining a second boundary plane comprising a second plurality of boundary coordinates (e.g. the vertical plane described in connection with Fig. 4). Defining the first boundary plane causes or results in the defining of the first restricted region. Defining the second boundary plane causes or results in the defining of the second restricted region. The resulting restricted region (e.g. the further restricted region or the third restricted region) is based on the first restricted region and the second restricted region. For example, the third restricted region may be based on an overlap of the first restricted region and the second restricted region. For example, by adding the second boundary plane, the resulting restricted region (e.g. the third restricted region) may be based on the coordinates of both the first plurality of boundary coordinates and the second plurality of boundary coordinates. In some cases, this may result in a third restricted region that is different from the first restricted region and the second restricted region. In some cases, the resulting third region may be respectively larger than the first restricted region and the second restricted region. For example, the volume of the resulting third region may be an addition (or summation) of the volume of the first restricted region and the second restricted region. In some alternative cases, the resulting third region may be respectively smaller than the first restricted region and / or the second restricted region. For example, the volume of the resulting third region may be a subtraction of the volume between the first restricted region and the second restricted region.

[0083] Examples below describes another method to control a boom system of a crane (e.g. Figs. 5 - 6b).

[0084] Fig- 5 illustrates a flow chart of a method 500 to control a boom system of a crane. The exemplary embodiment shown in Fig. 5 may comprise one or more or all of the features already described in connection with Figs. 1 - 4.

[0085] The method 500 comprises defining a first coordinate 510 as a first reference position and defining a second coordinate 520 as a second reference position. Further, the method 500 comprises defining at least one vertical boundary plane 530 based on at least one of the first reference position and the second reference position. Similar to the boundary plane described in Figs. 1 - 4, the at least one boundary plane may not necessarily be a finite two-dimensional plane defined using numerical values (e.g. fixed width and height). Alternatively, the at least one boundary plane may be a finite plane depending on applications.

[0086] As described above, depending on the position of the crane or the surrounding environment of the crane, the two reference positions and the boundary plane comprising at least one of the first reference position or the second reference position may be used to avoid a collision of the boom system of the crane with any obstacles at a construction site.

[0087] In an example, at least one of the first or the second coordinates may optionally be defined using a remote control. For example, if the crane is positioned close to a structure at a construction site, a user outside of the crane may have a better view of the crane, the boom system, and its surroundings. This may allow the user to position the tip of the boom system more accurately and safely using the remote control.

[0088] In an example, at least one of the first or the second coordinate may optionally be defined using a coordinate of a tip region of the boom system. For example, an operator of the crane may be able to see the surrounding within the crane. In such situations, the at least one of the first or the second coordinates may be defined using the coordinate of the tip region of the boom system directly, e.g. using an input device (e.g. a lever or a joystick). In an example, the at least one vertical boundary plane may optionally comprise the first reference position and the second reference position.

[0089] Fig. 6a shows an exemplary embodiment of the method 500 in connection with Fig. 5. The exemplary embodiment shown in Fig. 6a may comprise one or more or all of the features already described in connection with Figs. 1 - 5.

[0090] The first reference position 630a and the second reference position 630b are presented in Fig. 6a. The at least one vertical boundary plane 630 may comprise the first reference position 630a and the second reference position 630b. For example, the at least one vertical boundary plane 630 may be orthogonal to an orientation of the mobile platform 610 described by two (orthogonal) axes 610a, 610b similar to the orientation of the crane described by the axes 260a, 260b shown in Fig. 2. Additionally, the at least one vertical boundary plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees, ensuring that any deviation remains within acceptable tolerance.

[0091] In an example, the at least one vertical boundary plane may optionally be configured to define a restricted region and an unrestricted region. The restricted region is a region in which at least one of a movement of the boom system or speed of the movement of the boom system is limited. The unrestricted region being a region in which at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. The restricted region and the unrestricted region can be understood in connection with Figs. 1 - 5.

[0092] Fig. 6b shows an example of the restricted region 640 and the unrestricted region 650 referring to Fig. 5 and Fig. 6a. The exemplary embodiment shown in Fig. 6b may comprise one or more or all of the features already described in relation to Figs 1 to Fig. 6a.

[0093] In an example, the method 500 may optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 540 on one side or the other side of the at least one vertical boundary plane depending on a user input.

[0094] For example, the method step 540 can be understood in connection with the method steps 140, 180 within the second zones 310a, 440a in Figs. 1 - 5. Similarly, the region on one side or the other side of the at least one vertical boundary plane may be referred to as a second zone. In Fig. 6b, the second zone 640a is positioned on the right side of the at least one vertical boundary plane 630. As described above, referring to Figs. 1 - 4, for example, limiting the movement of the boom system 620 may be stopping the boom system 620 before entering the second zone 640a. Further, limiting the speed of the movement of the boom system 620 within the second zone 640a may be performed by providing an operable speed range of the crane (e.g. a second speed range).

[0095] In an example, the method 500 may optionally comprise limiting at least one of the movement of the boom system or the speed of the movement of the boom system 541 based on a predefined distance from the at least one vertical boundary plane if at least part of the boom system is within the predefined distance.

[0096] For example, the method step 541 can be understood in connection with the method steps 151, 181 within the tolerance zones 310b, 440b in Figs. 1 - 4. Similarly, the region defined based on the predefined distance and the at least one vertical boundary plane may be referred to as a tolerance zone. In Fig. 6b, the tolerance zone 640b is positioned on the left side of the at least one vertical boundary plane 630. The predefined distance may be referred as to a tolerance distance 631.

[0097] As described in Fig. 3, the tolerance distance 631 may be a perpendicular distance from any point in the boundary plane to the other side of the second zone 640a. Additionally, the tolerance distance 631 may be predefined or may vary depending on the speed of the movement of the boom system within the unrestricted region 650. For example, if the speed of the movement of the boom system is slower or faster than a threshold speed, the tolerance distance 631 may be shorter or longer than the predefined tolerance distance accordingly to reduce or increase the volume of the tolerance zone 640b. For example, an operable speed range within the tolerance zone 640b (e.g. a tolerance speed range) may be predefined or given by a user input to limit the speed of the movement of the boom system according to the method step 541. In another example, within the tolerance zone 640b, the speed of the movement of the boom system may reduce gradually and reach to a minimum speed (e.g. zero or a predetermined minimum speed) so as to stop the movement of the boom system before entering the second zone 640a in Fig. 6b. Therefore, as described in Figs. 1 - 6b, the method 500 may provide a way to operate the boom system of the crane in relation to its surrounding environment. Furthermore, by having the two different zones within the restricted region, the method 500 may reduce a risk of collision with structures at a working site.

[0098] Fig- 7 illustrates another exemplary embodiment of the method 500 in connection with Figs. 5 - 6b. The embodiment shown in Fig. 7 may comprise one or more or all of the features already described in connection with Figs. 1 to 6b.

[0099] As shown in Fig. 7, the least one of a group of the first and the second reference positions may optionally be defined using a slewing angle of the boom system. Referring to Figs. 6a and 6b, at least one of a group of the first reference position 630a and the second reference position 630b may be defined using a slewing angle of the boom system. Depending on application, it may be convenient to use a slewing angle to define at least one of a group of the first or the second reference position 630a, 630b as shown in Fig. 7.

[0100] The method 500 may optionally comprise defining a first vertical plane 550 comprising the first reference position and a reference point and defining a second vertical plane 560 comprising the second reference position and the reference point. In an example, the reference point may optionally be positioned within a region of a mobile platform on which the crane is mounted.

[0101] Fig. 7 shows the first vertical plane 710a comprising the first reference position 630a and the reference point 720 and the second vertical plane 710b comprising the second reference position 630b and the reference point 720. The reference point 720 is shown in the mobile platform 610 and at the point where the first and the second vertical planes 710a, 710b intersect.

[0102] The restricted region may be a volume enclosed by the first plane and the second plane. The volume is illustrated as a top-down cross-sectional view, presenting the restricted region 640. The resulting restricted region 640 may be based on the first restricted region associated with the first vertical plane 710a and the second restricted region associated with the second vertical plane 710b. For example, the third restricted region may be derived based on an overlap of a first restricted region and a second restricted region. It may be possible that the restricted region is not bounded as a sector by the two vertical planes 710a, 710b, and the arc between the first and second reference positions 630a, 630b.

[0103] The resulting unrestricted region 650 may be based on the first unrestricted region associated with the first vertical plane 710a and the second unrestricted region associated with the second vertical plane 710b. The resulting unrestricted region 650 can be understood as the other side of the restricted region 640.

[0104] In an example, the method 500 may optionally comprise limiting at least one of a movement of at least part of the boom system or speed of the movement of at least part of the boom system 570 within a predefined distance from at least one of the first vertical plane and the second vertical plane. Similar to Figs. 1 - 6b, the method step 570 can be understood in relation to controlling the boom system within the tolerance zones 310b, 440b, 640b. The predefined distance may be determined or may vary depending on the speed of the boom system within the unrestricted region. For example, the at least part of the boom system may be at least one of a main boom, an extension boom, or a fly jib

[0105] For example, limiting the movement of at least part of the boom system may be stopping the movement of the boom system before entering the restricted region. For example, limiting the speed of the movement of at least part of the boom system may be providing a tolerance speed range within the predefined distance. In another example, the speed of the boom system may gradually decrease and reach to a minimum speed (e.g. zero or any fixed speed which is predetermined or given by a user input) before entering the restricted region.

[0106] In an example, the at least part of the boom system may optionally be a main boom, a tip of the boom, an extension boom, or a fly jib. Therefore, the method 500 may provide a way to control the boom system of the crane using the two reference positions and the at least one boundary plane. Further, the method 500 may be used when the crane is positioned around a corner of a building or elements are positioned in an area which can be covered by two slewing angles of the boom system of the crane as illustrated in Fig. 7.

[0107] Examples below describes another method to control a boom system of a crane (e.g. Figs. 8 - 9b). Fig- 8 illustrates a method 800 for controlling a boom system of a crane. The method 800 comprises defining a reference axis 810. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the method 800 comprises defining a boundary plane 820 based on the reference axis.

[0108] Fig. 9a shows an exemplary embodiment of the method 800. The mobile platform 900 and the reference axis 910 crossing the region of the mobile platform 900 are presented in Fig. 9. For example, the reference axis 910 may be a longitudinal axis crossing the center of the mobile platform 900. The exemplary embodiment shown in Fig. 9a may comprise one or more or all of the features already described in connection with Figs. 1 to 8.

[0109] In an example, the boundary plane may optionally be a vertical boundary plane parallel to the reference axis. For example, the vertical boundary plane can be understood in relation to the orientation of the mobile platform in Fig. 2. In other words, the boundary plane may be orthogonal to the orientation of the mobile platform, which is parallel to the ground. For instance, the vertical plane may be established with a margin of error of ± 0.5 degrees, ± 1 degrees, ± 3 degrees, or ± 5 degrees. The margin of error may ensure that any deviation from true verticality remains within acceptable tolerances, thereby maintaining alignment in relation to the orientation of the mobile platform. Additionally, the reference axis might not have a fixed length. Further, as described in Figs. 1 - 4, the boundary plane may be a finite two- dimensional plane having defined boundaries (e.g. having both a fixed width and height). Alternatively, the boundary plane may be an infinite plane.

[0110] The method may optionally comprise defining a restricted region 830 based on the boundary plane. The location of the boundary plane 920 may be selected by the user. For example, the user may select the location of the boundary plane 920 to be on a first longitudinal side of the vehicle (e.g. the left side of the vehicle). Alternatively (or additionally), the user may select the location of the boundary plane 920 to be a second different longitudinal side of the vehicle (e.g. the right side of the vehicle).

[0111] In Fig. 9a, the boundary plane 920 parallel to the reference axis may be positioned on the left side of the mobile platform. The restricted region 930 is illustrated on the left side of the boundary plane 920. Depending on the position of the boundary plane (e.g. left or right side of the reference axis), the restricted region may be on one side or the other side of the boundary plane, e.g. left or right side of the boundary plane depending on the user input. It may be used in a situation such that the crane is positioned next to a road or a building to avoid a collision of the boom system with the building or an accident.

[0112] Similar to the unrestricted regions 320, 650, 750 described above, the movement of the boom system of the crane or the speed of the movement of the crane might not be limited within an unrestricted region 940 in Fig. 9a. As described in Fig. 2, for instance, within the unrestricted region, a user may be able to control the boom system of the crane using either the lever, the j oy stick, or the remote control unit in accordance with the crane’ s inherent design parameters.

[0113] In an example, the method 800 may optionally comprise limiting or stopping the movement 840 of the tip region of the boom system before entering the restricted region. For example, a speed of the boom system of the crane may gradually decrease as the distance between the boom system and the boundary plane becomes shorter and the movement of the boom system may stop before entering the restricted region to avoid hitting a building, a car, or a human within the restricted region.

[0114] In an example, the reference axis may optionally be parallel to a symmetry axis of the mobile platform.

[0115] Fig. 9b shows another exemplary embodiment of the method 800 referring to Fig. 8 and Fig. 9a. The exemplary embodiment shown in Fig. 9a may comprise one or more or all of the features already described in connection with Figs. 8 and 9a.

[0116] In Fig. 9b, the boundary plane 920 is positioned on the symmetry axis 910a (e.g. the longitudinal symmetry axis) of the mobile platform and the restricted region 930 is positioned on the left side of the boundary plane and the unrestricted region 940 is on the right side of the boundary plane. The symmetry axis 910a, the reference axis 910, and the boundary plane 920 are aligned along the same line crossing the longitudinal axis of the mobile platform 900. However, depending on the position of the crane and a structure within the proximity of the boom system of the crane, the restricted region may be left or right side of the boundary plane. Similarly, the speed of the boom system of the crane may gradually decrease as the distance between the boom system and the boundary plane becomes shorter and the movement of the boom system may stop before entering the restricted region. Therefore, the method 800 may provide a way to operate the boom system of the crane based on the reference axis and the boundary plane, which may reduce a risk of an accident or a collision while operating the crane within proximity of a road or a building.

[0117] The combination of boundary planes may be selected by the user. For example, an input by the user may cause the compute circuitry to define a first boundary plane, The first boundary plane may be any one of the vertical boundary planes described in connections with Figs. 2 to 9b. Additionally or optionally, a further input by the user may cause the compute circuitry to define a second boundary plane. The second boundary plane may be different from the first boundary plane. For example, optionally the second boundary plane may be a different vertical boundary plane from the first boundary plane. Alternatively, the second boundary may be a horizontal boundary plane (e.g. the horizontal plane described in connection with Figs. 1 to 3). The (horizontal) boundary plane described in connection with Figs. 1 to 3 may be used in connection with any of the orthogonal boundary planes described in connection with Figs. 4 to 9b.

[0118] Figs. 10 to 15 will illustrate various apparatuses for controlling a boom system of a crane in relation to the methods (Figs. 1 - 9b).

[0119] Fig. 10 illustrates an example of an apparatus 1000 for controlling a boom system of a crane. The apparatus comprises an input interface 1010 configured to receive information about a coordinate of a tip region of the boom system as a reference position. Further, the apparatus 1000 comprises a compute circuitry 1020 configured to define (or generate) a boundary plane based on the reference position. Lastly, the apparatus 1000 comprises an output interface 1030 to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1020.

[0120] The apparatus 1000 performs any of the methods described above in connection with Figs. 1 - 4. The example shown in Fig. 10 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 1 - 4).

[0121] For example, the apparatus 1000 may be a crane controller as described above, which controls the movement of the crane and outputs control signals to cause the actuators of the crane to perform an operation. Further, for manual input, the crane may exhibit a crane mounted input device (operating panel) having, for example, one or more levers or joysticks to control motion as well as a user interface to input or change user settings and / or crane parameters such as for example different modes of operation of the crane. The input device communicates with the crane controller that transforms the user input into the actuator operations required to result with the desired movement as per the input via the input device. Using the input device, a user may control the boom system of the crane to position the tip region of the boom system. For example, a remote control unit may be used to set the coordinate. Then, the input interface 1010 may receive the information about the coordinate of the tip region set by the input device or the remote control unit as the reference position.

[0122] The compute circuitry 1020 defines or generates the boundary plane based on the reference position, for example, as a form of data representation comprising the coordinate. In an example, the boundary plane may optionally be a horizontal plane similar to Figs. 2 and 3.

[0123] In an example, the compute circuitry 1020 may optionally be configured to define a restricted region and an unrestricted region based on the boundary plane as illustrated in Fig. 3. Further, the restricted region may be a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region may be a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited as described above. For example, within the unrestricted region, a user may be able to control the boom system of the crane using either the lever, the joystick, or the remote control unit in accordance with the crane’s inherent design parameters as described in Fig. 2.

[0124] Similarly, as illustrated in Fig. 3, the restricted region may comprise a tolerance zone and a second zone in relation to the boundary plane. In an example, the compute circuitry 1020 may optionally be configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane (e.g. the tolerance zone). It can be understood as generating information to control the boom system of the crane in the tolerance zone. Additionally, the distance from the boundary plane can be understood as a perpendicular distance from any point on the boundary plane to the ground and may be referred to as a tolerance distance. As illustrated in Fig. 3, the tolerance zone can be understood as a 3D volume with one face defined by the boundary plane and the opposite face defined by a parallel horizontal plane at the tolerance distance from the boundary plane. The tolerance distance may be predefined or may be set manually using a user input. The input interface 1010 may be used to receive the manual user input.

[0125] In this context, the information may comprise a range of operating speed of the boom system within the tolerance zone (e.g. a tolerance speed range). For example, a maximum speed within the tolerance speed range may be slower than the maximum speed can be used in the unrestricted region. In another example, the information may comprise an instruction which restricts the movement of the boom system within the tolerance zone. For example, the movement of the boom system may be so as to be operated below the horizontal boundary plane. Further, the information may comprise a perpendicular distance (or shortest distance) between a closest point of the boom system to the boundary plane and the boundary plane. The closest point can be understood as a point on the boom system such that the distance between the point on the boom system and the boundary plane is minimized. The compute circuitry 1020 may calculate the perpendicular distance between the boom system and the boundary plane.

[0126] Depending on the speed of the boom system and the perpendicular distance between the boom system and the boundary plane, the compute circuitry 1020 may adjust the tolerance speed range or the tolerance distance accordingly. For example, if the operating speed of the boom system is faster than a threshold speed, the tolerance distance may be longer than a predefined tolerance distance so as to limit the speed of the boom system within the tolerance zone and stop the boom system before entering the second zone. For example, the compute circuitry 1020 may generate information so as to gradually reduce the speed of the boom system based on the perpendicular distance as the boom system approaches to the boundary plane.

[0127] Further, the compute circuitry 1020 may optionally be configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane (e.g. the second zone). For example, the information may be an instruction so as to restrict the movement of the boom system within the second zone, which may restrict the movement of the boom system not to enter the region above the boundary plane. In another example, the information may be a range of the speed of the movement of the boom system (e.g. a second speed range). In an example, the input interface 1010 may optionally be configured to receive information about a slewing angle. Similar to the coordinate, the slewing angle may be set using the input device or the remote control. Further, the compute circuitry 1020 may optionally be configured to define or generate the boundary plane based on the slewing angle. As illustrated in Fig. 4, the boundary plane may optionally be a vertical plane. The vertical plane can be understood as a perpendicular plane which is orthogonal to the orientation of the mobile platform defined in Fig. 2.

[0128] In this context, the compute circuitry 1020 may generate information to operate the boom system of the crane in relation to the vertical boundary plane. In an example, the compute circuitry 1020 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input. In this context, this region can be understood as the second zone similar to Fig. 4. For example, as described above, the compute circuitry 1020 may generate the second speed range or generate the instruction so as to stop the movement of the boom system within the second zone.

[0129] Additionally, in an example, the compute circuitry 1020 may be optionally configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance. In this context, this region can be understood as the tolerance zone described in Fig. 4. Further, the predefined distance can be understood as the tolerance distance as described above. Similarly, the compute circuitry 1020 may generate the tolerance speed range or generate the instruction so as to stop the movement of the boom system before entering the second zone.

[0130] As described above, the output interface 1030 outputs the control data to cause the actuators of the crane to perform a motion using the information generated by the compute circuitry 1020 based on the reference position and the boundary plane.

[0131] Therefore, the apparatus 1000 may provide a way to operate the boom system of the crane using the reference position and boundary plane. It may facilitate a user to control the crane safely in the presence of a structure on a construction site, which may prevent a collision of the boom system due to its vertical or horizontal movement.

[0132] Fig. 11 illustrate an example of an apparatus 1100 for controlling a boom system of a crane. The apparatus 1100 comprises an input interface 1110 configured to receive information about a first coordinate as a first reference position and information about a second coordinate as a second reference position. Further, the apparatus 1100 comprises a compute circuitry 1120 configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position. The apparatus 1100 further comprise an output interface 1130 configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1120.

[0133] The apparatus 1100 performs any of the methods described above in connection with Figs. 5 - 7. The example shown in Fig. 11 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 5 - 7).

[0134] For example, referring to Fig. 10, the apparatus 1100 may be a crane controller as described above. Likewise, an input device as described above may be used for a manual user input to send a signal (e.g. information) to the input interface 1100.

[0135] In an example, at least one of the information about the first or the second coordinate may optionally be defined using a remote control. Further, for example, at least one of the information about the first or the second coordinate may optionally be provided using a coordinate of a tip region of the boom system. As described above in Fig. 10, the input device may be used to position the tip of the boom system. Then, the input interface 1110 receives the information about the first and the second coordinates.

[0136] In an example, the at least one vertical boundary plane may optionally comprise the first reference position and the second reference position. For example, the at least one vertical boundary plane comprising the first and the second reference position can be understood as the vertical boundary plane 630 in Figs. 6a and 6b. In an example, the compute circuitry 1120 may optionally configured to define a restricted region and an unrestricted region based on the at least one vertical boundary plane. The restricted region is a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited. On the other hand, the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited. For instance, the speed of the speed of the movement of the boom system within the unrestricted region may fall within the crane’s inherent design parameters, as described in Fig. 2.

[0137] For example, the restricted region and the unrestricted region can be understood in relation to Fig. 6b. Additionally, the restricted region may comprise a tolerance zone and a second zone as described in Fig. 6b.

[0138] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input. In connection with the second zone 640b in Fig. 6b, the information may comprise an instruction to limit the movement of the boom system, e.g. stopping the boom system before entering the second zone. For example, the information may comprise a range of speed (e.g. a second speed range) limit within the second zone.

[0139] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance. This can be understood in relation to the tolerance zone 640a comprised in Fig. 6b. The predefined distance may be similar to the tolerance distance 631 in Fig. 6b. In connection with the second zone 640b in Fig. 6b, the information may comprise an instruction to limit the movement of the boom system, e.g. stopping the boom system before entering the second zone. For example, the information may comprise a range of speed (e.g. a tolerance speed range) limit within the tolerance zone. For example, the maximum speed of the tolerance speed range may be slower than that of the crane. Further, the maximum speed of the second zone may be slower than that of the tolerance speed range. In an example, the compute circuitry 1120 may optionally be configured to define a vertical first plane comprising the first reference position and a reference point and to define a vertical second plane comprising the second reference position and the reference point. This can be understood in connection with Fig. 7. The first and the second vertical plane may be the first and the second vertical plane 710a, 710b in Fig. 7. In an example, the reference point may optionally be positioned within a region of a mobile platform on which the crane is mounted similar to the reference point 720 in Fig. 7.

[0140] In an example, the compute circuitry 1120 may optionally be configured to generate information about limiting at least one of a movement of all part of the boom system or speed of the movement of all part of the boom system if at least part of the boom system is within a volume enclosed by the first plane and by the second plane similar to the restricted region 740 in Fig. 7.

[0141] As described above, the output interface 1130 outputs the control data to cause the actuators of the crane to perform a motion using the information generated by the compute circuitry 1120 based on the reference position and the boundary plane.

[0142] Therefore, the apparatus 1100 may provide a way to operate the boom system of the crane using the first and the second reference positions and the at least one vertical boundary plane. Further, the apparatus 1100 may be used when the apparatus 1100 is positioned around a corner of a building or elements are positioned in an area which can be covered by two slewing angles of the boom system of the apparatus 1100 analogously to what is described for Fig. 7.

[0143] Fig. 12 illustrates an example of an apparatus 1200 for controlling a boom system of a crane. The apparatus 1200 comprises an input interface 1210 configured to receive information about a reference axis. The reference axis crosses a region of a mobile platform on which the crane is mounted. Further, the apparatus 1200 comprises a compute circuitry 1220 configured to define a vertical boundary plane parallel to the reference axis. Lastly, the apparatus 1200 comprises an output interface 1230 configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry 1220. The apparatus 1000 performs any of the methods described above in connection with Figs. 8 - 9b. The example shown in Fig. 12 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 8 - 9b).

[0144] For example, referring to Fig. 10, the apparatus 1200 may be a crane controller as described above. Likewise, an input device as described above may be used for a manual user input to send a signal (e.g. information) to the input interface 1210.

[0145] As shown in Figs. 9a and 9b, for example, the reference axis may be a longitudinal axis crossing the center of the crane. Then, the compute circuitry 1220 defines a vertical boundary plane parallel to the reference axis.

[0146] In an example, the reference axis is parallel to a symmetry axis of the mobile platform.

[0147] In an example, the compute circuitry 1220 may optionally be configured to define a restricted region based on the vertical boundary plane. The restrict region is one side or the other side of the vertical boundary plane depending on a user input. In connection with Figs. 9a and 9b, the restricted region can be understood as the restricted region 930.

[0148] In an example, the compute circuitry 1220 may optionally be configured to generate information about stopping the movement of the tip region of the boom system to enter the restricted region. For example, the compute circuitry may generate information so as to reduce the speed of the boom system gradually to zero so that it stops before reach the boundary plane.

[0149] In an example, the reference axis is aligned with a boundary of the region of the mobile platform similar to Fig. 9a.

[0150] As described above, the output interface 1230 outputs the control data to cause actuators of the crane to perform the motion using the information generated by the compute circuitry 1220 in relation to Figs. 9a and 9b. Therefore, the apparatus 1200 may provide a way to operate the boom system of the crane using the reference axis and the boundary plane, which may reduce a risk of an accident or a collision while operating the crane within proximity of a road or a building.

[0151] Fig. 13 illustrates an example of a crane 1300. The crane 1300 comprises a boom system 1310 and a crane controller 1320 according to the apparatuses 1000, 1100, 1200 as described above (Figs. 10 - 12).

[0152] In an example, the crane 1300 may optionally comprise an operating console 1330 configured to set a reference position. For example, the operating console 1330 can be understood as the input device as described in Fig. 10, which comprises one or more levers or joysticks to control motion of the boom system of the crane and a user interface to input or change user settings and / or crane parameters, e.g. different modes of operation of the crane. Further, a remote control may be used to send a signal to the crane controller 1320 as described above.

[0153] For example, the reference position can be understood as the reference position 210 described in Figs. 1 - 4 or the position 630a or 630b in Figs. 6a - 7 depending on surrounding environment of the crane to prevent a risk of collision or accident.

[0154] In an example, the operating console 1330 may optionally be configured to select an operation mode causing the crane controller 1320 to be operated according to at least one method in connection with Figs. 1 - 4, one method in connections with Figs. 5 - 7, or one method in connection with Figs. 8 - 9b, or any combination of examples as described above referring to Figs. 1 - 9b. The selection of the operation mode may depend on structures or surrounding environment of the crane to avoid causing damages to a construction site or injuries.

[0155] As described above, the method 100 described in Figs. 1 - 4 is in relation to the apparatus 1000 illustrated in Fig. 10. Similarly, the method 500 shows in Figs. 5 - 7 and the method 800 shown in Figs. 8 - 9b are in relation to the apparatus 1100 described in Fig. 11 and the apparatus 1200 described in Fig. 12, respectively.

[0156] In this context, for example, the crane controller 1320 may comprises an input interface, a compute circuitry, and an output interface as described in Fig. 10 - 12. When a user controls the boom system 1310 of the crane 1300 using the operating consol 1330 or the remote control, the input interface of the crane controller 1320 receives information (e.g. a signal or data) and the compute circuitry generates information related to the operation of the actuators. Then, for example, the output interface transmits control data to the actuators of the crane 1300 to perform a movement using the information generated by the compute circuitry according to the examples in relation to Fig. 10 - 12. The crane controller 1320 may receive a manual user input via the operating console 1330 (e.g. a lever, a joystick, or a user interface) or the remote control. Then, the crane controller 1320 receives data or signal using the input interface. Based on the received data or signal (e.g. a reference position), the compute circuitry is configured to perform examples according to Figs. 10 - 12.

[0157] Further, the output interface may output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry. In other words, the crane controller 1320 outputs control data based on the selection of the operation mode to cause actuators of the crane to control a movement of the boom system 1310 using the information generated by the compute circuitry.

[0158] Fig. 14 illustrates an exemplary user interface of the operating console 1330. For example, the user interface can display various operation modes to control the crane according to the different operation modes as described above and a user may select an operation mode and provide a manual input using the operating console 1330 accordingly. For example, four different modes are presented as a form of a graphical user interface (GUI) 1400 of the operating console 1330. A first operation mode 1410 is in connection with Fig. 1 and Fig. 3. As shown in Fig. 1, the first operation mode may allow a user to operate the boom system of the crane by defining the reference position and the horizontal boundary plane. In other words, when the first operation mode is selected or activated, a user may control the boom system of the crane using a lever or joystick and set a reference position using a coordinate of the tip region of the boom system.

[0159] A second operation mode 1420 is in relation with Fig. 5 and Fig. 6b, which may allow a user to define two reference positions and the vertical boundary plane. A third operation mode 1430 relates to examples illustrated in Fig. 1 and Fig. 7. The third operation model 1430 may allow a user to define the two slewing angles and the first and the second vertical planes accordingly similar to Fig. 7. Lastly, a fourth operation mode 1440 may provide a way to operate the boom system of the crane according to Figs. 9a and 9b. For example, a user using the fourth operation mode 1440 may be able to choose one side or the other side of the boundary plane so that the selected side may be chosen as the restricted region 930 as shown in Figs. 9a and 9b.

[0160] Fig. 15 illustrates an example of a mobile platform 1500. The mobile platform 1500 comprises a crane 1510 in connection with any examples described above (Figs. 10 - 12).

[0161] Fig. 16 illustrates an apparatus 2100 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.

[0162] 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.

[0163] 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.

[0164] 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 2100 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] The apparatus 2100 comprises processing circuitry 2110. For example, the processing circuitry 2110 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 2110 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 2100 may comprise memory configured to store instructions, which when executed by the processing circuitry 2110, cause the processing circuitry 2110 to perform the steps and methods described herein. In some examples, the apparatus 2100 may further comprise storage circuitry configured to store data. The storage circuitry may operate in cooperation with the processing circuitry 2110 to ensure the persistent and consistent management of information within the apparatus 2100.

[0172] The processing circuitry 2110 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.

[0173] 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 2110 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 2100. In some example, overhead power line data may be obtained through communication interfaces of the apparatus 2100 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 2100.

[0174] 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 2110. 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 2110 to quickly locate and access relevant information for specific geographic locations or power line segments during operation

[0175] 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.

[0176] 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 2110 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.

[0177] 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 2110 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.

[0178] 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 2110 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.

[0179] 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 2110 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.

[0180] 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 2110 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.

[0181] 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 2110 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.

[0182] 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 2110 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.

[0183] 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 2110 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.

[0184] 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 2110 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.

[0185] Virtual Boundary Surface

[0186] The processing circuitry 2110 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 2110 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.

[0187] 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.

[0188] In some examples, the processing circuitry 2110 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 2110 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 2110 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.

[0189] In some examples, the processing circuitry 2110 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 2110 may access voltagedistance correlation data from the overhead power line data or from stored safety tables that define the required separation distances for various nominal voltage classifications.

[0190] 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 2110 may calculate the distance using mathematical functions, lookup tables, or algorithms that implement the non-linear voltage-distance relationships specified in electrical safety standards.

[0191] In some examples, the processing circuitry 2110 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.

[0192] 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 2110 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.

[0193] 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 2110 may position the virtual vertical plane at a lateral distance from the conductors that provides adequate electrical isolation and accounts forboom system swing radius and operational envelope.

[0194] 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 2110 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.

[0195] 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.

[0196] 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 2110 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.

[0197] 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 2110 may calculate the curvature to create optimized safety boundaries that provide consistent electrical isolation while accommodating operational needs of the boom system.

[0198] 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 2110 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.

[0199] 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.

[0200] 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 2110 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.

[0201] For example, the processing circuitry 2110 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.

[0202] 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 2110 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.

[0203] 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.

[0204] 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 2110 may establish the restricted area by designating one side of the virtual boundary surface as prohibited space forboom system operations, while the opposite side of the virtual boundary surface may remain available for normal lifting machine operations.

[0205] 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 2110 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.

[0206] The processing circuitry 2110 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 2110 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 2110 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 2110 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. 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 2110 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.

[0207] The disclosed apparatus 2100 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 2100 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 2100 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.

[0208] Apparatus 2100 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 2100 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 2100 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.

[0209] In some examples, the processing circuitry 2110 may be further configured to obtain realtime position data indicating a current position of the boom system. The processing circuitry 2110 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.

[0210] For example, the processing circuitry 2110 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 2110 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.

[0211] In some examples, the processing circuitry 2110 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 2110 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. In some examples, the processing circuitry 2110 may be further configured to obtain geographic position data of the lifting machine. The processing circuitry 2110 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 2110 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 2110 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.

[0212] For example, the processing circuitry 2110 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 2110 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.

[0213] 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 2110 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.

[0214] In some examples, the processing circuitry 2110 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 2110 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.

[0215] 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 2110 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 2110 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.

[0216] In some examples, the processing circuitry 2110 may be further configured to define a tolerance region adjacent to the virtual boundary surface. In some examples, the processing circuitry 2110 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 2110 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.

[0217] In some examples, the processing circuitry 2110 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 2110 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.

[0218] For example, the tolerance region may be defined as a 2-meter buffer zone adj acent to a virtual boundary surface positioned 5 meters from a 2110 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 2110 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.

[0219] Obtaining the Overhead Power Line Data In some examples, processing circuitry 2110 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 2100 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.

[0220] 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.

[0221] 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 2100. The processing circuitry 2110 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. 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 2110.

[0222] 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.

[0223] 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. In some examples, the processing circuitry 2110 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 2110 may receive and analyze sensor signals to extract specific parameters that form components of the overhead power line data needed for safety boundary determination.

[0224] 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 2110 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.

[0225] 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 2110 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.

[0226] In some examples, the processing circuitry 2110 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 2110 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.

[0227] 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 2110 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.

[0228] 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 2110 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.

[0229] Further, for example, a support structure height of the overhead power line may be determined by the processing circuitry 2110 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 2110 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.

[0230] For example, a number of conductors of the overhead power line may be determined by the processing circuitry 2110 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 2110 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.

[0231] For example, a geographic position of the overhead power line may be determined by the processing circuitry 2110 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 2110 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.

[0232] For example, a ground profile at a location of the lifting machine may be determined by the processing circuitry 2110 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. Further details and aspects are mentioned in connection with the examples described below. The example shown in Fig. 16 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. 17 - 23).

[0233] Fig. 17 illustrates a method 2200 for preventing electric hazard between a boom system of a lifting machine and an overhead power line. The method 2200 comprises obtaining 2210 overhead power line data. The method 2200 further comprises determining 2220 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 2200 further comprises controlling 2230 a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

[0234] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 17 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. 16) or below (e.g., Figs. 18 - 23).

[0235] Fig. 18 shows a lifting machine 2300 comprising the apparatus 2100 as described above. The lifting machine 2300 further comprises the boom system 2310.

[0236] As described above, for example the lifting machine 2300 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 2300 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 2300 may be mounted a platform 2320, 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 2310 of the lifting machine 2300 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 2310 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 2310 may be actuated by hydraulic cylinders, electric motors, or mechanical systems that control boom elevation, extension, and articulation movements. The boom system 2310 may terminate in a tip region where lifting attachments, hooks, or specialized equipment may be mounted for engaging with loads.

[0237] In some examples, the lifting machine 2300 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.

[0238] 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. 16 - 17) or below (e.g., Figs. 19 - 23).

[0239] Fig. 19 illustrates an example of system 2400 for preventing electric hazard between a boom system 2422 of a lifting machine 2420 and an overhead power line 2410. The overhead power line 2410 is suspended between support structures and the lifting machine 2420 is positioned within the working area beneath the overhead power line. The overhead power line 2410 comprises a first support structure 2412, conductors 2414 exhibiting conductor sag between the support structures, and a second support structure 2416. The lifting machine 2420 is equipped with a boom system 2422 that extends upward into the airspace where electrical hazards may occur due to proximity to the energized conductors 2414.

[0240] A virtual boundary surface 2440 is determined that defines a restricted area as a spatial zone adjacent to the overhead power line 2410, where the boom system 2422 is prevented from moving into the restricted area. The virtual boundary surface 2440 functions as a virtual ceiling created under the overhead power line 2410 at height of the point 2442 (point A), where the danger zone around the power line and the crane cannot pass this wall. The virtual boundary surface 2440 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 2418 between the first support structure 2412 and the second support structure 2416. The coordinate positions of the support structures are indicated by reference points 2432 and 2434, representing the geographic positions of the first support structure 2412 and the second support structure 2416 respectively within the three-dimensional coordinate system used for virtual boundary surface calculations.

[0241] The virtual boundary surface 2440 is positioned at a predetermined vertical distance below the conductors 2414 to ensure safe clearance for the boom system 2422. 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 2440 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 2422 operates within the allowable space below the virtual boundary surface 2440, while the restricted area above the virtual boundary surface 2440 prevents boom system movement that could result in electrical contact or dangerous proximity to the energized conductors 2414.

[0242] 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).

[0243] Fig. 19 illustrates another example of system 2500 for preventing electric hazard between a boom system 2422 of a lifting machine 2420 and an overhead power line 2410. The overhead power line 2410 is suspended between support structures and the lifting machine 2420 is positioned within the working area adjacent to the overhead power line. The overhead power line 2410 comprises a first support structure 2412, conductors 2414 exhibiting conductor sag between the support structures, and a second support structure 2416. The lifting machine 2420 is equipped with a boom system 2422 that extends laterally toward the overhead power line 2410 where electrical hazards may occur due to proximity to the energized conductors 2414. A virtual boundary surface 2540 is determined that defines a restricted area as a spatial zone adjacent to the overhead power line 2410, where the boom system 2422 is prevented from moving into the restricted area. The virtual boundary surface 2540 functions as a virtual vertical wall created between the overhead power line 2410 and the lifting machine 2420, where the danger zone around the power line is definable and the crane cannot pass this wall. The virtual boundary surface 2540 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 2432 and 2434, representing the geographic positions of the first support structure 2412 and the second support structure 2416 respectively within the three-dimensional coordinate system used for virtual boundary surface calculations.

[0244] The virtual boundary surface 2540 is positioned at a predetermined lateral distance from the conductors 2414 to ensure safe clearance for the boom system 2422, accounting for electrical safety requirements determined by the nominal voltage of the overhead power line 2410 and the geometric relationships between the support structures and the lifting machine position. The location of the virtual boundary surface 2540 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 2422 operates within the allowable space on the side of the virtual boundary surface 2540 away from the overhead power line 2410, while the restricted area between the virtual boundary surface 2540 and the overhead power line 2410 prevents boom system movement that could result in electrical contact or dangerous proximity to the energized conductors 2414.

[0245] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 20 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. 16 - 19) or below (e.g., Figs. 21 - 23).

[0246] Planning lifting machine operations Fig. 21 illustrates an apparatus 2600 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. 16 in connection with apparatus 2100 for preventing electric hazard between a boom system of a lifting machine and an overhead power line may apply equally to the apparatus 2600 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 2600 with the same meanings and technical implementations. The virtual boundary surface determination methods, voltagedependent clearance calculations, geometric modeling techniques, and safety boundary establishment procedures described for apparatus 2100 may be utilized by the planning apparatus 2600 to create comprehensive planning capabilities that integrate electrical hazard prevention with operational planning requirements.

[0247] The apparatus 2600 comprises processing circuitry 2610. For example, the processing circuitry 2610 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 2610 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 2600 may comprise memory configured to store instructions, which when executed by the processing circuitry 2610, cause the processing circuitry 2610 to perform the steps and methods described herein. In some examples, the apparatus 2600 may further comprise storage circuitry configured to store data. The storage circuitry may operate in cooperation with the processing circuitry 2610 to ensure the persistent and consistent management of information within the apparatus 2600.

[0248] The processing circuitry 2610 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 2610 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 2600, receiving data through a communication interface of the apparatus 2600 from external sources, or importing data files that contain spatial datasets relevant to the planned working area of the lifting machine.

[0249] 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 2610 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.

[0250] 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.

[0251] 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 2610 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.

[0252] The processing circuitry 2610 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. 16. 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 2610 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.

[0253] 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 2610 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.

[0254] For example, the processing circuitry 2610 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 2100. 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 2610 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.

[0255] The processing circuitry 2610 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 2610 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.

[0256] 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 2610 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. In some examples, the processing circuitry 2610 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 2610 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.

[0257] The processing circuitry 2610 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 2610 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.

[0258] 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 2610 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.

[0259] 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 2610 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.

[0260] 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 2610 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.

[0261] In some examples, the processing circuitry 2610 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. In some examples, the processing circuitry 2610 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.

[0262] Apparatus 2600 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 2600 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 2600 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.

[0263] In some examples, processing circuitry 2610 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 2610 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.

[0264] In some examples, the processing circuitry 2610 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 2610 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.

[0265] 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 2610 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. In some examples, the processing circuitry 2610 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 2100 as described above with regards to Fig. 16. 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 2100 or similar control systems that implement boom system movement restrictions during lifting operations. The processing circuitry 2610 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.

[0266] In some examples, the data provision may enable apparatus 2100 to receive power line input from the apparatus 2600 directly, allowing control systems to utilize pre-calculated virtual boundary surfaces rather than requiring independent boundary determination during operations. The processing circuitry 2610 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.

[0267] In some examples, the processing circuitry 2610 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 2610 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.

[0268] 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 2610 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 humanmachine 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.

[0269] In some examples, the processing circuitry 2610 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 2610 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.

[0270] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 21 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. 16 - 20) or below (e.g., Figs. 22 - 23).

[0271] Fig. 22 illustrates a method 2700 for planning lifting machine operations in the vicinity of a power line. The method 2700 comprises obtaining 2710 geographic information data describing at least one overhead power line and supporting structures in a working area. The method 2700 comprises further determining 2720 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 2700 comprises further determining 2730 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 2700 comprises further generating 2740 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.

[0272] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 22 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. 16 - 21) or below (e.g., Fig. 23).

[0273] Fig. 23 illustrates an example of a map 2800 generated by an apparatus for planning lifting machine operations in the vicinity of a power line. The map 2800 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 2800 comprises overhead power lines that are visible and integrated from geographic information sources such as infrastructure maps available online, displayed as red linear features 2832 crossing the construction site area. A lifting machine 2810 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.

[0274] The map 2800 demonstrates the integration of virtual boundary surfaces 2830 with lifting capacity diagrams, where the yellow working area 2820 represents the operating range of the boom system that becomes restricted due to red zone 2830 safety boundaries imposed by overhead power line proximity. The apparatus for planning lifting machine operations visualizes all available information regarding the power lines 2832 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 2800 enables the apparatus to plan lifting operations for optimal performance while maintaining electrical safety compliance within the constraints imposed by overhead power line infrastructure.

[0275] The map 2800 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.

[0276] Further details and aspects are mentioned in connection with the examples described above. The example shown in Fig. 23 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. 16 - 22).

[0277] In the following, some examples of the proposed concept are presented: An example (e.g., example 1) relates to a method for controlling a boom system of a crane, the method comprising defining a coordinate of a tip region of the boom system as a reference position and defining a boundary plane based on the reference position.

[0278] Another example (e.g., example 2) relates to a previous example (e.g., example 1) or to any other example, further comprising that the coordinate is defined using a remote control.

[0279] Another example (e.g., example 3) relates to a previous example (e.g., example 1) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0280] Another example (e.g., example 4) relates to the boundary plane comprises the reference position.

[0281] Another example (e.g., example 5) relates to a previous example (e.g., one of the examples 1 or 2) or to any other example, further comprising receiving information about an orientation of a mobile platform associated with the boom system, wherein the boundary plane is defined such that it is parallel to the orientation of the platform.

[0282] Another example (e.g., example 6) relates to a previous example (e.g., one of the examples 1 to 5) or to any other example, further comprising defining a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0283] Another example (e.g., example 7) relates to a previous example (e.g., one of the examples 2 to 6) or to any other example, further comprising limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane.

[0284] Another example (e.g., example 8) relates to a previous example (e.g., one of the examples 2 to 7): further comprising limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane. Another example (e.g., example 9) relates to a previous example (e.g., one of the examples 1 to 7) or to any other example, further comprising defining a slewing angle of the boom system, wherein the boundary plane is further defined based on the slewing angle.

[0285] Another example (e.g., example 10) relates to a previous example (e.g., example 9) or to any other example, further comprising defining the boundary plane such that it comprises the reference point and a determined angle between the boom system and the boundary plane.

[0286] Another example (e.g., example 11) relates to a previous example (e.g., example 10) or to any other example, further comprising that the boundary plane is a vertical plane.

[0287] Another example (e.g., example 12) relates to a previous example (e.g., example 11) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0288] Another example (e.g., example 13) relates to a previous example (e.g., one of the examples 11 or 12) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a defined distance from the vertical boundary plane if at least part of the boom system is within the defined distance.

[0289] An example (e.g., example 14) relates to a method for controlling a boom system of a crane, the method comprising defining a first coordinate as a first reference position, defining a second coordinate as a second reference position, and defining at least one vertical boundary plane based on at least one of the first reference position and the second reference position.

[0290] Another example (e.g., example 15) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first and the second coordinates is defined using a remote control.

[0291] Another example (e.g., example 16) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first and the second coordinates is defined using a coordinate of a tip region of the boom system. Another example (e.g., example 17) relates to a previous example (e.g., one of the examples 14 or 16) or to any other example, further comprising that the at least one vertical boundary plane comprises the first reference position and the second reference position.

[0292] Another example (e.g., example 18) relates to a previous example (e.g., one of the examples 14 to 17) or to any other example, further comprising that the at least one vertical boundary plane is configured to define a restricted region and an unrestricted region, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0293] Another example (e.g., example 19) relates to a previous example (e.g., example 14), further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0294] Another example (e.g., example 20) relates to a previous example (e.g., one of the examples 18 or 19) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0295] Another example (e.g., example 21) relates to a previous example (e.g., example 14) or to any other example, further comprising that at least one of the first or the second reference positions is defined using a slewing angle of the boom system.

[0296] Another example (e.g., example 22) relates to a previous example (e.g., one of the examples 14 or 21) or to any other example, further comprising defining a vertical first plane (550) comprising the first reference position and a reference point, defining a vertical second plane (560) comprising the second reference position and the reference point. Another example (e.g., example 23) relates to a previous example (e.g., example 22) or to any other example, further comprising that the reference point is positioned within a region of a mobile platform on which the crane is mounted.

[0297] Another example (e.g., example 24) relates to a previous example (e.g., one of the examples 18 or 22) or to any other example, further comprising that the restricted region is a volume enclosed by the first plane and by the second plane.

[0298] Another example (e.g., example 25) relates to a previous example (e.g., example 24) or to any other example, further comprising limiting at least one of a movement of at least part of the boom system or speed of the movement of at least part of the boom system (570) within a predefined distance from at least one of the first plane and the second plane.

[0299] Another example (e.g., example 26) relates to a previous example (e.g., example 25) or to any other example, further comprising that the parts are at least one of a main boom, an extension boom, or a fly jib.

[0300] An example (e.g., example 27) relates to a method for controlling a boom system of a crane, the method comprising defining a reference axis, the reference axis crossing a region of a mobile platform on which the crane is mounted, and defining a vertical boundary plane based on the reference axis.

[0301] Another example (e.g., example 28) relates to a previous example (e.g., example 27) or to any other example, further comprising that the vertical boundary plane is parallel to the reference axis.

[0302] Another example (e.g., example 29) relates to a previous example (e.g., example 27) or to any other example, further comprising defining a restricted region based on the vertical boundary plane, the restricted region being one side or the other side of the vertical boundary plane depending on a user input.

[0303] Another example (e.g., example 30) relates to a previous example (e.g., example 27) or to any other example, further comprising limiting or stopping the movement of the tip region of the boom system before entering the restricted region. Another example (e.g., example 31) relates to a previous example (e.g., one of the examples 27 or 28) or to any other example, further comprising that the reference axis is parallel to a symmetry axis of the mobile platform.

[0304] Another example (e.g., example 32) relates to a previous example (e.g., one of the examples 27, 28, or 31) or to any other example, wherein the reference axis is aligned with a boundary of the region of the mobile platform.

[0305] An example (e.g., example 33) relates to an apparatus for controlling a boom system of a crane, comprising an input interface configured to receive information about a coordinate of a tip region of the boom system as a reference position, a compute circuitry configured to define a boundary plane based on the reference position, and an output interface to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry.

[0306] Another example (e.g., example 34) relates to a previous example (e.g., example 33) or to any other example, further comprising that the boundary plane is a horizontal plane.

[0307] Another example (e.g., example 35) relates to a previous example (e.g., one of the examples

[0308] 33 or 34) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0309] Another example (e.g., example 36) relates to a previous example (e.g., one of the examples

[0310] 34 or 35) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is above the boundary plane. Another example (e.g., example 37) relates to a previous example (e.g., one of the examples 34 to 36) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting the at least one of the movement of the boom system or the speed of the movement of the boom system based on a distance from the boundary plane if at least part of the boom system is below the boundary plane.

[0311] Another example (e.g., example 38) relates to a previous example (e.g., example 33) or to any other example, further comprising that the input interface is further configured to receive information about a slewing angle, wherein the compute circuitry is further configured to define the boundary plane based on the slewing angle.

[0312] Another example (e.g., example 39) relates to a previous example (e.g., example 38) or to any other example, further comprising that the boundary plane is a vertical plane.

[0313] Another example (e.g., example 40) relates to a previous example (e.g., example 39) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0314] Another example (e.g., example 41) relates to a previous example (e.g., one of the examples 39 or 40) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance.

[0315] An example (e.g., example 42) relates to an apparatus controlling a boom system of a crane, comprising an input interface configured to receive information about a first coordinate as a first reference position, the input interface configured to receive information about a second coordinate as a second reference position, a compute circuitry configured to define at least one vertical boundary plane based on at least one position of the group consisting of the first reference position and the second reference position, an output interface configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry,

[0316] Another example (e.g., example 43) relates to a previous example (e.g., example 42) or to any other example, further comprising that at least one of the information about the first and the second coordinate is defined using a remote control.

[0317] Another example (e.g., example 44) relates to a previous example (e.g., example 42) or to any other example, further comprising that at least one of the information about the first and the second coordinate using a coordinate of a tip region of the boom system

[0318] Another example (e.g., example 45) relates to a previous example (e.g., example 42) or to any other example, further comprising that the at least one vertical boundary plane comprises the first reference position and the second reference position.

[0319] Another example (e.g., example 46) relates to a previous example (e.g., example 42) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region and an unrestricted region based on the at least one vertical boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0320] Another example (e.g., example 47) relates to a previous example (e.g., one of the examples 42 or 46) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0321] Another example (e.g., example 48) relates to a previous example (e.g., one of the examples 42, 46, or 47), wherein the compute circuitry is further configured to generate information about limiting at least one of the movement of the boom system or the speed of the movement of the boom system based on a predefined distance from the vertical boundary plane if at least part of the boom system is within the predefined distance. Another example (e.g., example 49) relates to a previous example (e.g., example 40) or to any other example, further comprising that the compute circuitry is further configured to define a vertical first plane comprising the first reference position and a reference point and to define a vertical second plane comprising the second reference position and the reference point.

[0322] Another example (e.g., example 50) relates to a previous example (e.g., example 47) or to any other example, further comprising that the reference point is positioned within a region of a mobile platform on which the crane is mounted.

[0323] Another example (e.g., example 51) relates to a previous example (e.g., one of the examples 40 or 47) or to any other example, further comprising that the compute circuitry is further configured to generate information about limiting at least one of a movement of all part of the boom system or speed of the movement of all part of the boom system if at least part of the boom system is within a volume enclosed by the first plane and by the second plane.

[0324] An example (e.g., example 52) relates to an apparatus for controlling a boom system of a crane, comprising an input interface configured to receive information about a reference axis, the reference axis being crossing a region of a mobile platform on which the crane is mounted, a compute circuitry configured to define a vertical boundary plane parallel to the reference axis, and an output interface configured to output control data to cause actuators of the crane to perform a motion using information generated by the compute circuitry.

[0325] Another example (e.g., example 53) relates to a previous example (e.g., example 52) or to any other example, further comprising that the compute circuitry is further configured to define a restricted region based on the vertical boundary plane, the restricted region being one side or the other side of the vertical boundary plane depending on a user input.

[0326] Another example (e.g., example 54) relates to a previous example (e.g., example 52) or to any other example, further comprising that the compute circuitry is further configured to generate information about stopping the movement of the tip region of the boom system to enter the restricted region. Another example (e.g., example 55) relates to a previous example (e.g., example 52) or to any other example, further comprising that the reference axis is parallel to a symmetry axis of the mobile platform.

[0327] Another example (e.g., example 56) relates to a previous example (e.g., one of the examples 52 or 55) or to any other example, further comprising that the reference axis is aligned with a boundary of the region of the mobile platform.

[0328] An example (e.g., example 57) relates to a crane, comprising a boom system, and a crane controller according to the apparatus examples 33 to 56.

[0329] Another example (e.g., example 58) relates to a previous example (e.g., example 57) or to any other example, further comprising an operating console configured to set a reference position.

[0330] Another example (e.g., example 59) relates to a previous example (e.g., example 57) or to any other example, further comprising that the operating console is further configured to select an operation mode causing the crane controller to be operated according to at least one method of examples 1 to 14, one method of examples 15 to 26, or one method of examples 27 to 32, or any combination of method of examples 1 to 32.

[0331] An example (e.g., example 60) relates to a mobile platform, comprising a crane according to any of examples 33 to 56.

[0332] An example (e.g., example 61) relates to a method for controlling a boom system of a crane, the method comprising defining a coordinate of a tip region of the boom system as a reference position, and defining a boundary plane based on the reference position.

[0333] Another example (e.g., example 62) relates to a previous example (e.g., example 61) or to any other example, further comprising that the coordinate is defined using a remote control.

[0334] Another example (e.g., example 63) relates to a previous example (e.g., one of the examples 61 or 62) or to any other example, further comprising that the boundary plane is a horizontal plane. Another example (e.g., example 64) relates to a previous example (e.g., one of the examples 61 to 63) or to any other example, further comprising that the boundary plane comprises the reference position.

[0335] Another example (e.g., example 65) relates to a previous example (e.g., one of the examples 61 to 64) or to any other example, further comprising that the boundary plane is a vertical plane.

[0336] Another example (e.g., example 66) relates to a previous example (e.g., one of the examples 61 to 65) or to any other example, further comprising receiving information about an orientation of a mobile platform associated with the boom system, wherein the boundary plane is defined such that it is parallel to the orientation of the platform.

[0337] Another example (e.g., example 67) relates to a previous example (e.g., one of the examples 61 to 66) or to any other example, further comprising defining a restricted region and an unrestricted region based on the boundary plane, the restricted region being a region wherein at least one of a movement of the boom system or speed of the movement of the boom system is limited and the unrestricted region being a region wherein at least one of the movement of the boom system or the speed of the movement of the boom system is not limited.

[0338] Another example (e.g., example 68) relates to a previous example (e.g., one of the examples 61 to 67) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system if at least part of the boom system is on the other side of the boundary plane than a base of the crane.

[0339] Another example (e.g., example 69) relates to a previous example (e.g., one of the examples 61 to 68) or to any other example, further comprising defining a slewing angle of the boom system, wherein the boundary plane is further defined based on the slewing angle.

[0340] Another example (e.g., example 70) relates to a previous example (e.g., example 69) or to any other example, further comprising defining the boundary plane based on a determined angle from the boom system. Another example (e.g., example 71) relates to a previous example (e.g., one of the examples 65 to 70) or to any other example, further comprising limiting at least one of the movement of the boom system or the speed of the movement of the boom system on one side or the other side of the vertical boundary plane depending on a user input.

[0341] Another example (e.g., example 72) relates to a computer program for controlling a boom system of a crane having a program code for performing the method according to examples 1 to 32 or 61 to 71 when the program is executed on a processor or a programmable hardware of the crane.

[0342] An example (e.g., example 100) 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.

[0343] Another example (e.g., example 102) 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

[0344] Another example (e.g., example 103) 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.

[0345] Another example (e.g., example 104) relates to a previous example (e.g., one of the examples 102 to 103) 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. An example (e.g., example 105) relates to the apparatus of 104, 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.

[0346] Another example (e.g., example 106) relates to a previous example (e.g., one of the examples 100 to 105) 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.

[0347] Another example (e.g., example 107) relates to a previous example (e.g., one of the examples 100 to 106) 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.

[0348] Another example (e.g., example 108) relates to a previous example (e.g., one of the examples 100 to 107) 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.

[0349] Another example (e.g., example 109) relates to a previous example (e.g., one of the examples 100 to 108) 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.

[0350] Another example (e.g., example 110) relates to a previous example (e.g., one of the examples 100 to 109) 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. Another example (e.g., example 111) relates to a previous example (e.g., one of the examples 100 to 110) 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.

[0351] Another example (e.g., example 112) relates to a previous example (e.g., one of the examples 100 to 111) 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.

[0352] Another example (e.g., example 113) relates to a previous example (e.g., one of the examples 100 to 112) 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.

[0353] Another example (e.g., example 114) relates to a previous example (e.g., example 113) 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.

[0354] Another example (e.g., example 115) relates to a previous example (e.g., one of the examples 100 to 114) or to any other example, further comprising that the overhead power line comprises one or more conductors suspended on support structures.

[0355] Another example (e.g., example 116) relates to a previous example (e.g., one of the examples 100 to 115) 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. Another example (e.g., example 117) relates to a previous example (e.g., one of the examples 100 to 116) 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.

[0356] Another example (e.g., example 118) relates to a previous example (e.g., one of the examples 100 to 117) 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.

[0357] An example (e.g., example 119) relates to a lifting machine, comprising the apparatus according to any one of examples 100 to 118, and the boom system.

[0358] An example (e.g., example 120) 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.

[0359] An example (e.g., example 121) 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. Another example (e.g., example 122) relates to a previous example (e.g., example 121) 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.

[0360] Another example (e.g., example 123) relates to a previous example (e.g., one of the examples 121 to 122) 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.

[0361] Another example (e.g., example 124) relates to a previous example (e.g., one of the examples 121 to 123) 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.

[0362] Another example (e.g., example 125) relates to a previous example (e.g., one of the examples 121 to 124) 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.

[0363] Another example (e.g., example 126) relates to a previous example (e.g., one of the examples 121 to 125) 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.

[0364] An example (e.g., example 127) 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.

[0365] 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.

[0366] 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.

[0367] 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.

[0368] 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. 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.

Claims

ClaimsWhat is claimed is:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

16. 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; andcontrolling a movement of the boom system by stopping the movement of the boom system before crossing the virtual boundary surface.

17. The apparatus of claim 16, 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.

18. The apparatus of claim 17, 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.

19. The apparatus of any one of claims 17 or 18, 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.

20. 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.

Images