Jib Crane Camera System for Pendulum Oscillation Control
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Solution Overview
Problem
Jib cranes experience undesirable pendulum movements due to the flexibility of hoist ropes and external forces, requiring precise positioning of suspension and load-carrying elements to mitigate these movements, but existing solutions like sensor units on ropes or gyroscopes face issues with damage or unreliable data transmission.
Innovation Solution
A jib crane equipped with a camera at the boom tip, aligned parallel to the weight axis, detects the lateral position of elements on the hoist rope, and uses control commands to adjust drives for reducing or eliminating pendulum movements by correcting for angular deviations, without additional sensors on the rope and ensuring safe signal transmission.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a sensor unit is arranged on a rope follower element guided on the hoist rope to determine rope angle, then the rope angle can be detected, but the mechanism is susceptible to damage due to oscillation with the hoist rope
Solution Approach 1:
The sensor unit is extracted from the oscillating rope follower element and relocated to the stationary jib structure. The camera is mounted on the jib rather than on moving components, separating the measurement function from the oscillating mechanism while maintaining detection capability through optical means.
Solution Approach 2:
The mechanical sensor unit that physically followed the rope is replaced by an optical camera system mounted on the stationary jib. Instead of mechanical contact and movement with the rope, the system uses optical detection of the load's position and orientation from a fixed mounting point.
2Measurement precision
If a gyroscope sensor is arranged on the hook beam for detecting rotation, then the rotation can be detected, but radio data transmission from the sensor to crane control system is unreliable
Solution Approach 1:
The sensor is extracted from the moving hook beam and relocated to the stationary jib structure. By mounting the camera on the jib rather than on the oscillating hook beam, the system eliminates the unreliable radio transmission issue associated with moving sensors while maintaining rotation and position detection capabilities through optical means.
Solution Approach 2:
The gyroscope sensor on the moving hook beam is replaced by a stationary camera system on the jib. The optical system provides stable data transmission through fixed wiring or stationary positioning, eliminating the unreliable radio transmission that occurs when sensors are mounted on oscillating components.
3Ease of operation
If the camera axis is not aligned parallel to the weight force axis, then the camera can be mounted in various positions, but the detected lateral position of the element is inaccurate
Solution Approach 1:
The camera is pre-aligned during installation so that its optical axis is parallel to the weight force axis (vertical direction). This preliminary alignment ensures accurate lateral position detection from the outset, eliminating the need for complex real-time correction algorithms while maintaining mounting flexibility on the jib structure.
Data Source
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AI summary
The invention relates to a slewing jib crane (1), comprising; - a drive for raising or lowering an element (T; LAM; L) in the form of a support means (T) and/or load-receiving means (LAM) and/or a load (L) received thereby, which element is suspended on the at least one lifting cable (11); and - a controller (15), wherein a camera (12) is disposed in the area of the jib tip (5a) and the detection range of the camera is directed at the element (T; LAM; L). In order to improve the slewing jib crane, according to the invention an angular deviation (100) of the camera axis (12a) from the weight axis (200) can be detected by means of an angle sensor (13) disposed on the camera (12), and the lateral actual position of the element (T; LAM; L), as detected by means of the camera (12), can be corrected, preferably computationally, by means of the controller on the basis of the angular deviation (100). The invention also relates to a method for reducing, preferably eliminating or preventing, oscillating motions during the operation of a slewing jib crane (1).