Distance measurement for tower crane obstacle based on multi-ultrasonic sensors

Aiming at the anti-collision monitoring of tower crane, the models of state equation and observation equation for obstacle are established, and distance measurement method based on ultrasonic sensor for tower crane obstacle is proposed. According to the multi-sensor information fusion theory and obstacle kinematic model, Kalman filter principle is used to respectively deal with single ultrasonic sensor information and multi-ultrasonic sensor information fusion, then those simulation and experiments results are analyzed and contrasted. The results show that multi-sensor distance measurement is more accurate and stable than single sensor distance measurement, and verify the feasibility and superiority of multi-sensor information fusion theory in tower crane anti-collision applications.