Optical detection and analysis for boom angles on a crane

Patent metadata

Field	Value
Publication number	US-11124392-B2
Application number	US-201715819369-A
Country	US
Kind code	B2
Filing date	Nov 21, 2017
Priority date	Nov 22, 2016
Publication date	Sep 21, 2021
Grant date	Sep 21, 2021

Abstract

A crane includes a carrier, a superstructure coupled to the carrier, the superstructure including a boom, and an optical detection system having an image capture assembly including one or more image capture devices configured to capture an image of one or more of the carrier and the superstructure, and an optical control system. The optical control system is configured to detect one or more objects in the captured image, the one or more objects selected from: the carrier, the superstructure, and a marker, analyze the one or more detected objects, and determine a status of the boom based on the analysis of the one or more detected objects. The optical detection system and a method for determining the status of the boom are provided as well.

First claim

The invention claimed is:

1. A crane comprising:
a carrier;
a superstructure rotatably coupled to the carrier, the superstructure including a boom and a counterweight assembly;
an optical detection system comprising:
an image capture assembly comprising one or more image capture devices mounted on the boom and positioned to capture an image of the carrier and the superstructure; and
an optical control system configured to:
detect the carrier and the superstructure in the captured image;
analyze at least one of the detected carrier and superstructure in the captured image; and
determine a position of the boom based on the analysis of at least one of the detected carrier and superstructure in the captured image, wherein the determined position includes a lift angle and a slew angle of the boom,

wherein the optical control system is configured to detect the superstructure by detecting a marker disposed on the counterweight assembly in the captured image,
wherein the optical control system is further configured to analyze the marker and determine the lift angle of the boom based on the analysis of the marker, and
wherein the marker comprises a plurality of graduations, and the optical control system is configured to detect the plurality of graduations in the captured image, analyze the graduations and determine the lift angle of the boom based on the analysis of the graduations.

2. The crane of claim 1 , wherein the one or more image capture devices include a camera.

3. The crane of claim 1 , wherein the optical control system analysis includes comparing the detected carrier or superstructure in the captured image to a known carrier or superstructure in a stored image.

4. The crane of claim 3 , wherein the optical control system retrieves additional information associated with the known carrier or superstructure based on the comparison, and the determined status is based on the additional information.

5. The crane of claim 4 , wherein the additional information includes one or more of a boom slew angle and a boom lift angle corresponding to the known carrier or superstructure in the stored image.

6. The crane of claim 3 , wherein the comparison is based on one or more of: a detected shape, profile, size, particular dimension, or orientation of the detected carrier or superstructure in the captured image.

7. The crane of claim 1 , wherein the optical control system analysis includes comparing the detected carrier or superstructure in the captured image to a geometrically accurate model of the crane.

8. The crane of claim 1 , wherein the optical control system analysis includes executing an algorithm to calculate one or more of the lift angle or the slew angle of the boom.

9. The crane of claim 1 , further comprising a crane control system operably coupled to boom and configured to control or prevent one or more crane operations based on the determined status.

10. An optical detection system for a crane having a carrier and a superstructure rotatably mounted on the carrier, the superstructure having a boom and a counterweight assembly, the system comprising:
an image capture assembly comprising one or more image capture devices mounted on the boom and configured to capture an image of the carrier and the superstructure; and
an optical control system configured to:
detect the carrier and the superstructure in the captured image;
analyze at least one of the detected carrier and superstructure in the captured image; and

determine a position of the boom based on the analysis of at least one of the detected carrier and superstructure in the captured image, wherein the determined position includes a lift angle and a slew angle of the boom,
wherein the optical control system is configured to detect the superstructure by detecting a marker disposed on the counterweight assembly in the captured image,
wherein the optical control system is further configured to analyze the marker and determine the lift angle of the boom based on the analysis of the marker, and
wherein the marker comprises a plurality of graduations, and the optical control system is configured to detect the plurality of graduations in the captured image, analyze the graduations and determine the lift angle of the boom based on the analysis of the graduations.

11. The optical detection system of claim 10 , wherein the optical control system analysis includes comparing the detected carrier or superstructure in the captured image to a known carrier or superstructure in a stored image.

12. The optical detection system of claim 10 , wherein the optical control system analysis includes comparing the detected carrier or superstructure in the captured image to a geometrically accurate model of the crane.

13. The optical detection system of claim 10 , wherein the optical control system analysis includes executing an algorithm to calculate one or more of the lift angle the slew angle of the boom.

14. A method of determining a status of a boom on a crane, the method comprising:
capturing, with an image capture assembly, an image of a crane carrier and a crane superstructure rotatably mounted on the crane carrier, the crane superstructure comprising a boom and a counterweight assembly and the image capture assembly positioned on the boom;
detecting, with an optical control system, the crane carrier and the crane superstructure in the captured image;
analyzing, with the optical control system, at least one of the detected crane carrier and crane superstructure in the captured image; and
determining, with the optical control system, a position of the boom based on the analysis of at least one of the detected crane carrier and the crane superstructure in the captured image, wherein the determined position includes a lift angle and a slew angle of the boom,
wherein the optical control system is configured to detect the crane superstructure by detecting a marker disposed on the counterweight assembly in the captured image,
wherein the optical control system is further configured to analyze the marker and determine the lift angle of the boom based on the analysis of the marker, and
wherein the marker comprises a plurality of graduations, and the optical control system is configured to detect the plurality of graduations in the captured image, analyze the graduations and determine the lift angle of the boom based on the analysis of the graduations.

15. The method of claim 14 , wherein the analyzing further comprises comparing the detected crane carrier or the crane superstructure in the captured image to a known crane carrier or crane superstructure in a stored image.

16. The method of claim 14 , wherein the analyzing further comprises comparing the detected crane carrier or crane superstructure in the captured image to a geometrically accurate model of the crane.

17. The method of claim 14 , wherein the analyzing further comprises executing an algorithm to calculate one or more of the lift angle and the slew angle of the boom.

Assignees

• Manitowoc Crane Companies Llc

Inventors

• Rudy John R
• Thoresen Matthew

Classifications

• B66C23/42

  with jibs of adjustable configuration, e.g. foldable · CPC title

• B66C13/18

  Control systems or devices (exclusively for rope, cable, or chain winding mechanisms B66D1/40) · CPC title

• G06T7/60

  Analysis of geometric attributes · CPC title

• B66C13/46 Primary

  Position indicators for suspended loads or for crane elements · CPC title

• B66C15/06

  Arrangements or use of warning devices · CPC title