System for determining crane status using optical and/or electromagnetic sensors

Patent metadata

Field	Value
Publication number	US-12358763-B2
Application number	US-201916676121-A
Country	US
Kind code	B2
Filing date	Nov 6, 2019
Priority date	Nov 7, 2018
Publication date	Jul 15, 2025
Grant date	Jul 15, 2025

Abstract

A crane includes a lower works having one or more ground engaging elements, an upper works connected to the lower works, the upper works having a boom, and a system for determining a crane status. The system includes a sensor assembly positioned to have a line of sight along at least a portion of a length of the boom or the lower works. The sensor assembly configured to detect light transmission and output sensor information. The system further includes a computer configured to receive the sensor information and determine the crane status based on the sensor information. A method of determining the crane status is also provided.

First claim

The invention claimed is:

1. A crane comprising:
a lower works having one or more ground engaging elements;
an upper works connected to the lower works, the upper works having a boom; and
a system for determining a crane status, the system comprising:
a sensor assembly positioned to have a line of sight along at least a portion of a length of the boom, the sensor assembly configured to detect light transmission and output sensor information, wherein the sensor assembly comprises a transmitter positioned on the boom and configured to emit a laser beam, and a receiver positioned on the boom and having an array of photosensors configured to detect the laser beam, such that the laser beam moves with respect to the receiver vertically as the boom deflects vertically, and the laser beam moves with respect to the receiver horizontally as the boom deflects horizontally, and wherein the sensor information includes information regarding detection of the laser beam by a photosensor of the array of photosensors and information regarding the photosensor detecting the laser beam; and
a computer configured to receive the sensor information and determine the crane status based on the sensor information, wherein the computer determines a position of the laser beam on the receiver based on the sensor information,
wherein the determined crane status includes vertical boom deflection and side boom deflection.

2. The crane of claim 1 , wherein the transmitter emits a plurality of laser beams in a vertical plane.

3. The crane of claim 1 , wherein the transmitter further comprises a diffraction device configured to diffract the laser beam into one or more beams in a vertical or horizontal plane.

4. The crane of claim 1 , wherein the transmitter is rotatably mounted on the boom for movement through a range of angles in a vertical plane.

5. The crane of claim 4 , wherein an angular position of the transmitter may be varied by a motor.

6. The crane of claim 5 , wherein the motor is operably coupled to the computer and is configured to vary the angular position of the transmitter based on a predicted vertical deflection calculated by the computer.

7. The crane of claim 1 , wherein the sensor assembly is positioned on a lateral side of the boom, an underside of the boom, a top side of the boom, on the lower works having a field of view along the underside of the boom, or on a tower crane mast.

8. The crane of claim 1 , wherein the system for determining the crane status is operably connected to one or more crane components, and operation of the one or more crane components is controlled based on the determined crane status.

9. The crane of claim 1 , wherein the determined crane status further includes at least one of: number of boom sections, type of boom sections, boom tip position, boom attachment installation condition and position, boom attachment offset, reeving configuration, optimal reeving configuration, retaining pin installation status, sheave rotation, boom pick point, flexible member condition, correct positioning of crane components, number of falls, number of flexible members, differences in construction from desired or expected construction, trolley position, tower crane mast twist, boom twist, trailing boom monitoring, and jib rigging mode.

10. A method for determining a crane status of a crane comprising a boom having a boom tip and a lifting appliance suspended from the boom tip, the method comprising:
capturing an image along a length of the crane boom;
detecting the boom tip of the crane boom in the captured image;
analyzing the detected boom tip to determine a distance of the boom tip from a reference point within the captured image;
analyzing the captured image based on the distance of the boom tip from the reference point within the captured image to determine one or more of: an actual vertical deflection of the crane boom and an actual horizontal deflection of the crane boom; and
determining a position of the boom tip or a position of the lifting appliance based on one or more of the determined actual vertical deflection of the crane boom and the determined actual horizontal deflection of the crane boom.

11. The method of claim 10 , further comprising: displaying, on a display device, the captured image.

12. The method of claim 10 , further comprising:
further analyzing the captured image to determine an additional crane status, wherein the determined additional crane statuses include one or more of: number of boom sections, type of boom sections, boom tip position, boom attachment installation condition and position, boom attachment offset, reeving configuration, optimal reeving configuration, retaining pin installation status, sheave rotation, boom pick point, flexible member condition, correct positioning of crane components, number of falls, number of flexible members, differences in construction from desired or expected construction, trolley position, tower crane mast twist, boom twist, trailing boom monitoring, and jib rigging mode.

13. A crane comprising:
a lower works having one or more ground engaging elements;
an upper works connected to the lower works, the upper works having a boom; and
a system for determining a crane status, the system comprising:
a sensor assembly positioned to have a line of sight along at least a portion of a length of the boom or the lower works, the sensor assembly configured to detect light transmission and output sensor information; and
a computer configured to receive the sensor information and determine the crane status based on the sensor information,

wherein the determined crane status includes at least one of: vertical boom deflection, side boom deflection, boom length, boom section length, number of boom sections, type of boom sections, boom tip position, boom attachment installation condition and position, boom attachment length, boom attachment offset, anti-two block (ATB) component status, ATB status of the crane, reeving configuration, optimal reeving configuration, retaining pin installation status, sheave rotation, boom pick point, flexible member condition, pendant rope length, correct positioning of crane components, number of falls, number of flexible members, differences in construction from desired or expected construction, trolley position, tower crane mast twist, boom twist, lift appliance sway, trailing boom monitoring, jib rigging mode, and flexible member speed,
wherein the sensor assembly comprises a transmitter configured to emit a laser beam and a receiver having an array of photosensors configured to detect the laser beam,
wherein the transmitter is rotatably mounted on the boom for movement through a range of angles in a vertical plane,
wherein an angular position of the transmitter may be varied by a motor, and
wherein the motor is operably coupled to the computer and is configured to vary the angular position of the transmitter based on a predicted vertical deflection calculated by the computer.

Assignees

• Manitowoc Crane Companies Llc

Inventors

• Schoonmaker Stephen J
• Oswald Matthew T
• Lavery Melisa
• Schnittker Frank C
• Rudy John R
• Yorke Jared

Classifications

• H04N23/54

  Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S17/08

  for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) · CPC title

• B66C2700/0357

  Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks · CPC title