Crane Jib Attitude Reference System for Collision Avoidance
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Solution Overview
Problem
There is a need for a collision avoidance/warning system that can determine the three-dimensional angular orientation (attitude and heading angle) of a crane's jib to prevent collisions between multiple tower cranes operating in close proximity.
Innovation Solution
A method and system that senses crane jib angular velocity, roll angle, pitch angle, specific force, and local magnetic field, using sensors and processors to compute translational velocity, acceleration, and apply calibration parameters to estimate the attitude and heading angle, with the aid of Kalman filters for accurate measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple tower cranes operate in close proximity to maximize productivity, then crane productivity increases, but the risk of collision between crane jibs increases
Solution Approach 1:
The system continuously monitors the 3D angular orientation of multiple crane jibs and provides real-time feedback to operators through displays in operator cabs and to automated control systems. This feedback mechanism enables operators to adjust crane operations to avoid collisions while maintaining high productivity by allowing cranes to operate in close proximity with informed decision-making.
2Reliability
If a collision avoidance system is implemented to reduce collision risk, then safety improves, but device complexity increases
Solution Approach 1:
The attitude and heading reference system serves multiple functions: it determines the 3D angular orientation of the crane jib, provides collision avoidance information, enables automated control, and supports both manual and automated operation modes. This multi-functionality reduces the need for separate dedicated systems, thereby limiting the increase in overall system complexity while comprehensively improving safety.
3Measurement precision
If precise attitude and heading angle measurements are obtained to enable collision avoidance, then measurement precision improves, but device complexity increases
Solution Approach 1:
The system combines multiple sensors (accelerometers, gyroscopes, magnetometers) and processing functions into an integrated attitude and heading reference system. This consolidation achieves precise 3D angular orientation measurements through sensor fusion algorithms while reducing overall system complexity compared to using separate dedicated systems for each measurement function.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise determination of crane jib attitude and heading angles, reducing the likelihood of collisions by providing accurate positional data for operators, enhancing safety and operational efficiency in close proximity crane operations.
Implementation Method 1
sensing crane jib angular velocity
Implementation Method 2
sensing specific force acting on a portion of the crane jib
Implementation Method 3
sensing local magnetic field at least proximate the crane jib
Data Source
AI summary
Methods and apparatus are provided for determining the attitude and heading angle of a crane jib. Crane jib angular velocity, crane jib roll angle, crane jib pitch angle, crane jib specific force, and magnetic field in the local operating environment of the crane jib are all sensed and supplied to a processor. All of these measurements are processed, in a processor, to estimate the attitude and heading angle of the crane jib.