Crane Boom 3D Forbidden Volume Control
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Solution Overview
Problem
Traditional Working Range Limiters (WRL) for cranes are inadequate in complex geometries, failing to allow cranes to extend into traditionally forbidden zones while maintaining desired proximity to obstacles, leading to inefficiencies and safety concerns.
Innovation Solution
A method and system that use a computing device to calculate and maintain a minimum distance between the crane boom and obstacles, allowing the crane to operate closer to forbidden zones by determining critical proximity vectors and adjusting crane functions based on threshold distances, using coordinate data, obstacle data, and boom data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a building is marked as a forbidden zone to prevent a boom from impacting the building, then safety is improved, but the crane cannot lift a load to the top of the building
Solution Approach 1:
The patent transitions from traditional 2D forbidden zone mapping to 3D forbidden volume definition. By specifying minimum approach distances along multiple spatial dimensions (horizontal and vertical), the system allows the crane boom to pass above or below obstacles rather than being completely blocked, enabling operations like lifting loads to building tops while maintaining safety through calculated approach distances.
Solution Approach 2:
The system dynamically calculates and adjusts the boom trajectory based on real-time position data and computed minimum approach distances. The control system continuously monitors the boom's proximity to forbidden volumes and adapts the movement parameters to maintain safe distances while achieving operational objectives, rather than using static forbidden zones that completely block operations.
2Ease of operation
If a building is not designated as being in the forbidden zone, then the crane can lift loads to the top of the building, but the crane could accidentally move into the proximity of the building
Solution Approach 1:
The system implements continuous feedback by monitoring the boom's real-time position relative to forbidden volumes and dynamically adjusting operations based on computed minimum approach distances. This closed-loop control ensures the boom maintains safe distances from obstacles while still allowing operations that would be blocked by static forbidden zones.
Solution Approach 2:
The patent changes the control parameters from binary forbidden/allowed zone classification to continuous minimum approach distance calculations. By defining safety in terms of calculable distances rather than absolute zone boundaries, the system enables nuanced operational flexibility while maintaining safety through parameter-based control rather than rigid zone enforcement.
3Reliability
If a traditional WRL is used to avoid obstacles in the plane of movement, then safety is improved, but the system fails when geometry becomes more complicated in 3D space
Solution Approach 1:
The patent extends traditional 2D working range limiter technology to 3D space by defining forbidden volumes with minimum approach distances along multiple spatial dimensions. This dimensional expansion enables the system to handle complex three-dimensional geometries and vertical clearance requirements that traditional planar WRL systems cannot accommodate.
Solution Approach 2:
The system segments the complex 3D workspace into multiple forbidden volumes, each with its own minimum approach distance parameters. By breaking down the overall safety problem into discrete volumetric zones with specific distance constraints, the system can handle complex geometries through a series of manageable, independently-defined safety regions.
Data Source
AI summary
A method for controlling a crane component of a tower crane in proximity of obstacles at a worksite by defining a forbidden volume is disclosed. In the method a distance from the crane component to an outer surface of the forbidden volume is determined and a computing device limits movement of the crane component based on the distance from the crane component to the outer surface of the forbidden volume to avoid entering the forbidden volume with the crane component while the crane is in operation. The crane component is one or more of a boom and a hook block.