Crane Jib Attitude Reference System Calibration
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Solution Overview
Problem
There is a need for a method to calibrate and initialize the attitude and heading reference system of a crane jib to determine its three-dimensional angular orientation and avoid collisions with other cranes, particularly in environments where multiple cranes operate in close proximity, and to compute calibration parameters associated with magnetometer measurements.
Innovation Solution
A method involving the use of magnetometers attached to the crane jib to collect measurements during specific maneuvers, which are then processed to generate calibration parameters, and a system comprising magnetometers, angular velocity sensors, accelerometers, and a processor to determine the attitude and heading angle, utilizing Kalman filters for accurate orientation calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If magnetometer calibration is performed using traditional methods, then calibration parameters can be obtained, but the calibration process is time-consuming and complex requiring multiple manual positioning steps
Solution Approach 1:
The system performs preliminary calibration actions by automatically capturing magnetometer data during normal crane jib maneuvers before actual calibration computation is needed. The calibration parameters are pre-computed and stored for immediate use, eliminating the need for time-consuming manual calibration procedures when needed.
Solution Approach 2:
The calibration system uses the crane's own operational movements to collect calibration data. The magnetometer mounted on the jib automatically records magnetic field variations during normal crane operations, and the processor independently computes calibration parameters without requiring external calibration equipment or manual intervention.
2Productivity
If magnetometer calibration parameters are computed during crane operations, then real-time calibration is achieved, but the system complexity increases due to additional sensors and processing requirements
Solution Approach 1:
The magnetometer serves multiple functions: it continuously monitors magnetic field conditions for collision avoidance while simultaneously collecting data for calibration parameter computation. The processor also performs multiple roles including real-time attitude determination and calibration parameter computation, eliminating the need for separate dedicated calibration hardware.
Solution Approach 2:
The calibration function is merged with the normal operational monitoring functions. The same magnetometer data used for collision detection and attitude determination is also utilized for calibration parameter computation, combining multiple functions into a single integrated system that reduces overall complexity.
3Reliability
If traditional calibration methods are used, then the process is simple to implement, but the calibration accuracy is insufficient for precise collision avoidance in multi-crane environments
Solution Approach 1:
The patent replaces manual mechanical calibration procedures with an automated electronic system. Instead of physical positioning and manual data recording, the system uses electronic sensors (magnetometer, accelerometers, gyros) and digital signal processing to automatically compute calibration parameters, substituting mechanical operations with electronic automation.
Solution Approach 2:
The system implements feedback by continuously monitoring magnetic field measurements during crane operations and using this data to refine calibration parameters. The processor compares actual magnetometer readings with expected values based on known jib orientations and automatically adjusts calibration parameters to minimize errors, improving collision avoidance reliability.
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
The solution effectively calibrates and initializes the attitude and heading reference system, enabling precise determination of the crane jib's orientation and reducing the risk of collisions by providing accurate magnetometer calibration parameters and real-time attitude and heading angle data.
Implementation Method 1
Each magnetometer is configured to sense the local magnetic field at least proximate the crane jib and supply magnetometer signals representative thereof
Data Source
AI summary
Methods and apparatus are provided for calibrating and initializing/aligning an attitude and heading reference system of a crane jib. Magnetometer measurements are generated using a magnetometer that is attached to the crane jib, while crane jib maneuvers are performed including crane jib slewing. The magnetometer measurements are supplied to a processor that is configured to generate magnetometer calibration parameters using the magnetometer measurements and to initialize and align a plurality of filters.