Crane Self-Calibration Using GNSS Antenna Positions
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Solution Overview
Problem
Determining the pointing angle of a crane, especially when it is high off the ground, is challenging due to visual inaccuracies and the difficulty in precise measurement.
Innovation Solution
The use of a Global Navigation Satellite System (GNSS) receiver and antenna to self-calibrate crane geometries and determine the working arm pointing angle relative to a reference direction, by collecting data from multiple positions and employing methods like Kalman filtering to account for errors and offsets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If visual observation method is used to determine crane pointing angle, then the method is simple and easy to operate, but the measurement precision is poor especially when crane is high off the ground
Solution Approach 1:
The patent replaces the visual/mechanical observation method with an electronic measurement system using GNSS receivers. The system uses satellite-based positioning to automatically calculate the pointing angle of the crane boom, substituting human visual estimation with precise electronic measurement and computation.
2Measurement precision
If GNSS receiver with multiple antennas is used to determine pointing angle, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The system performs self-calibration by automatically determining the relative positions of the GNSS antennas and the pivot point through mathematical calculations. The crane itself provides the calibration data by moving to known positions, eliminating the need for external calibration equipment or manual measurement tools.
Solution Approach 2:
The patent transitions from two-dimensional visual angle estimation to three-dimensional spatial measurement using GNSS coordinates. By incorporating vertical height information from GNSS, the system calculates pointing angles based on three-dimensional position data rather than simple angular observation.
3Ease of operation
If self-calibration method is used to determine crane geometry, then the ease of operation is improved and manual calibration is eliminated, but the device complexity increases due to multiple GNSS receivers and calibration algorithms
Solution Approach 1:
The system performs self-calibration by automatically determining the relative positions of the GNSS antennas and the pivot point through mathematical calculations. The crane itself provides the calibration data by moving to known positions, eliminating the need for external calibration equipment or manual measurement tools.
Solution Approach 2:
The system uses Kalman filtering to dynamically adjust and optimize the calibration parameters based on observed data. The filter continuously refines the estimated positions and angles by processing sequences of measurements, adapting the calibration parameters to minimize errors and improve accuracy over time.
Data Source
AI summary
Methods and systems are disclosed for calibrating a crane for crane geometry. A Global Navigation Satellite System (GNSS) receiver antenna is disposed on a point along a boom assembly of the crane, the crane configured to pivot about a pivot point. A working arm of the crane is rotated about the pivot point to at least three different positions. Three locations are determined in a geo-referenced coordinate system of the at least three different positions. A location of the pivot point is determined based on the three locations.