DE102020214021A1 - Method for operating a crane system and crane system - Google Patents

Abstract

According to the invention, for the operation of a crane system, which has a crane (1) with a crane base (2), with a crane boom (6) articulated on it so that it can be adjusted relative to the crane base (2), and with a cable winch, on the crane boom (6) a Load suspension point is arranged, has a load viewing camera (30) positioned at a small distance from a raised load (24) in such a way that a load depositing point (28) can be displayed in detail. A camera image from the load viewing camera (30) is transmitted to a control unit of the crane (1) which is located at a distance from the load depositing point (28) and/or from the load suspension point, and is displayed in particular on a screen for the information of a crane driver.

Description

The invention relates to a method for operating a crane system. Furthermore, the invention relates to such a crane system.

Cranes serve as lifting gear for lifting and moving loads. The designs are diverse, from bridge and gantry cranes to tower cranes and mobile cranes. Overhead cranes are mostly used in production halls. The bridge, which carries a trolley with a cable hoist, is usually slidably mounted on the hall wall at both ends of the bridge. In the case of gantry cranes, the "elevation" of the bridge, which together form the "gantry", is part of the entire crane. Tower cranes are the cranes typically used on common house construction sites. Mobile cranes usually have an undercarriage or chassis on which - usually by means of an upper carriage - a crane boom is movably articulated. A disadvantage with comparatively large cranes, i. H. Cranes with long jib lengths and/or great working heights, it is often the case that the crane driver's position, which is usually arranged in the area of a slewing ring, is comparatively far away from the load setting point. An insight into the load drop point is usually not possible or only possible to a limited extent.

The object of the invention is to enable improved crane operation.

This object is achieved according to the invention by a method for operating a crane system having the features of claim 1. Furthermore, this object is achieved according to the invention by a crane system having the features of claim 10 set out in the description below.

The method according to the invention serves to operate a crane system which has a crane which in turn comprises a crane base, a crane jib which is articulated on the crane base in an adjustable manner and a cable winch. A load suspension point is arranged on the crane boom. According to the method, in normal crane operation, a load viewing camera (which is assigned in particular to the crane system) is positioned at a small distance (in particular in relation to the length of the crane boom and/or the distance of the load from the load suspension point) to a lifted load in such a way that a load dropping point can be displayed in detail . In addition, a camera image from the load viewing camera is transmitted to a control device of the crane which is arranged remotely from the load depositing point and/or from the load suspension point. The camera image is preferably also displayed—preferably as a real-time image—on a screen for the information of a crane driver.

The term “load suspension point” is understood here and in the following, in particular depending on the design of the crane, as preferably the point at which a crane cable that can be adjusted by means of the cable winch is articulated on the crane boom. In the case of a tower crane with a trolley, the load suspension point is thus variable along the jib length. In the case of a mobile crane, on the other hand, the load suspension point is always arranged at the end of the crane boom, on which there is usually a so-called roller head, which forms part of a pulley block. In particular, this pulley head represents the load suspension point.

In the normal operation of a crane, in particular a mobile crane, the crane operator is located at the control device mentioned above, which is usually integrated into a type of cockpit. However, this means that the crane operator is usually comparatively far away from the load suspension point and the load depositing point. The latter can be illustrated particularly well, for example, in the assembly of wind turbines, in particular the assembly of the rotor nacelle. The detailed view of the load depositing point advantageously enables the crane operator to be able to maneuver and deposit the load as precisely as possible and based on his own assessment of the situation. Up until now, the crane operator mostly had to rely on announcements from assembly personnel at the load drop-off point. In this way, safety and working accuracy can advantageously be increased during crane operation.

In a preferred variant of the method, the load viewing camera is positioned in such a way that both a contact area of the load—i.e. H. in particular the area with which the load is to be deposited on the load drop point - as well as the load drop point is shown. To put it another way, the load (at least partially) and the load setting point are recorded, preferably by filming between the load and the load setting point at least during the setting process. This is advantageous, for example, in cases where the load has to be brought into a form fit at the load application point; For example, if a rotor nacelle of a wind turbine has to be set down with eyelets on pre-assembled threaded rods and the threaded rods have to be “threaded” into these eyelets.

In an optional process variant, the load view camera is positioned remotely in the area of the load setting point. In other words, the load view camera is separate from the crane, i.e. it is not fixed to a part of the crane. This means that the flexibility for the camera recording is particularly high, since the load view camera can be used if required can be oriented differently. In this case, an image is preferably transmitted wirelessly.

In the case of the remote use of the load view camera described above, it is positioned in a stationary manner in relation to the load setting point, in particular on a tripod. In order to get a different perspective, the load view camera can still be easily moved with the tripod.

In an alternative variant, a helmet camera is used for remote camera use as a load viewing camera, which is used, ie worn, by assembly personnel in the area of the load deposit point. In this case, the crane driver advantageously receives at least approximately the same viewing angle as the assembly personnel on the camera image preferably shown to him.

In a further expedient variant of the method, the load-view camera is carried by a flying camera drone. The position and alignment of the camera drone is particularly preferably specified in relation to the above-mentioned hook block, which can be adjusted by means of the cable winch. This is an element connected to the crane and is therefore present during the entire crane operation, in particular regardless of the type of load attached. Optionally, the position and orientation of the drone camera are initially set by the crane operator. To do this, the crane driver steers the camera drone to a position where he/she gets the best view of the load and/or the load setting point. The drone camera, preferably the control unit described above, “stores” this position and alignment of the drone camera, in particular in relation to the bottom hook block. The latter thus forms the reference for the position of the camera drone. When the hook block is then adjusted, the camera drone preferably moves accordingly. A type of marker is expediently arranged on the hook block, by means of which the current position of the hook block (eg relative to the crane base) is determined by the control device. For example, this marker is formed by a receiver for satellite-based position determination. In particular, the camera drone also has a comparable marker. Another option is that the camera drone is "fixed" referenced in a predetermined position and orientation to the bottom hook block. Here, the camera drone can always automatically, i. H. be controlled automatically by the control unit.

In a further optional variant, the position and orientation of the camera drone (as an alternative to the bottom hook block) is maintained relative to the load itself, which in this case is expediently equipped with a marker of the aforementioned type.

In an optional development, especially for the case that the camera drone is held in its position relative to the hook block, the camera drone has environment sensors, e.g. proximity sensors, by means of which the surroundings of the camera drone continuously monitor for a collision, e.g. with the crane itself an obstacle in the area of the load drop point or the like. If necessary, a warning is sent to the crane operator and/or the tracking of the camera relative to the bottom hook block is stopped.

In a further expedient embodiment, a loading status of the camera drone is monitored centrally. If the loading limit is not reached, another camera drone with another load sight camera is started, in particular automatically by the control unit, and is controlled to the current position and to the current orientation (preferably relative to the bottom hook block) of the first camera drone. The first camera drone (i.e. the one whose charging limit has not been reached) is removed from its current position and steered to a central (drone) charging station. Preferably, the first drone camera is "held" in its current position and orientation for as long as possible and the position and orientation that the first drone camera has immediately before the trigger is used as a reference for the other (or: second) drone camera. Preferably, the first drone camera is held in its current position until the other drone drones can reach the position of the first drone camera set as a reference with the least possible delay, e.g. less than 2 to 5 seconds. For example, the second camera drone is steered up to a (predetermined, temporal or spatial) "safety distance" from the first camera drone and only then the latter is pulled off and steered to the charging station. This advantageously results in the smallest possible offset in the display when changing between the respective camera images. In particular, this procedure can be used to display a camera image to the crane driver even during a comparatively long crane operation. Optionally, more than two camera drones can be used.

The camera image of the further load viewing camera is preferably used to display the load dropping point as soon as this is arranged in the previous position (i.e. in particular the position stored as a reference) of the first camera drone (and thus the first load viewing camera).

In a further expedient variant of the method, the respective camera image (in particular in the form) is stored at least for one crane operation (ie in particular from picking up until the completed setting down of a load) or for a predetermined period. This means that the stored image material can be used as evidence in the event of an accident or an assembly error, for example.

The crane system according to the invention has the crane described above, which in turn comprises the crane base, the crane jib which is articulated to the crane base in an adjustable manner and the cable winch. The load suspension point is arranged on the crane boom. In addition, the crane system has the control unit, which is preferably assigned to the crane. In addition, the crane system has the at least one load viewing camera. In this case, the control unit is set up to carry out the methods described above automatically or in interaction with the crane driver.

In particular, the control unit is therefore set up to position the load viewing camera at a small distance (e.g. from 2 to 10 or up to 15 meters) to a raised load during normal crane operation in such a way that the load dropping point can be displayed in detail to receive the camera image of the load viewing camera , and preferably the camera image - in particular as a real-time image - to display on the aforementioned screen for the information of the crane operator.

In particular, the crane system has the same advantages as well as the physical characteristics resulting from the above description in a corresponding manner.

In an expedient embodiment, the crane system has the two camera drones, as described above, which each carry one of the two load view cameras. In particular, the crane system also has a drone charging station, where both camera drones are parked and charged when they are not in use. As described above, the control unit is also set up to monitor the state of charge when using one of the camera drones, preferably to track its current position and orientation (in particular to store it continuously) and, if this camera drone falls below a charging limit, to start the other camera drone and to the current one position and into the current orientation of the camera drone that is below the limit.

Optionally, the control unit is set up to track the position and orientation of the hook block (or optionally also the load) as part of the tracking of the current position and orientation. This is useful in that the position and orientation of the camera drone is referenced to the bottom hook block (or alternatively the load). Thus, if the position and alignment of the bottom hook block is known, that of the camera drone is already known.

• 1 in einer schematischen Perspektivansicht ein Kransystem im Kranbetrieb, und
• 2 in Ansicht gemäß 1 ein alternatives Ausführungsbeispiel des Kransystems.

Exemplary embodiments of the invention are explained in more detail below with reference to a drawing. Show in it:

• 1 a schematic perspective view of a crane system in crane operation, and
• 2 in view according to 1 an alternative embodiment of the crane system.

Corresponding parts are always provided with the same reference symbols in all figures.

In 1 a crane system is shown schematically, which includes a crane, specifically a mobile crane 1 . The mobile crane 1 has an undercarriage 2, comprising a chassis, and an uppercarriage 4 which is arranged such that it can rotate relative to it (by means of a slewing gear, not shown). A crane boom 6 of the mobile crane 1 is positioned on the superstructure 4 between a horizontal position and an at least almost vertical position (see Fig. 1 ) by means of a "rocking cylinder" 8 articulated rocking. The crane boom 6 also has a number of boom segments 10 which are arranged telescopically one inside the other. In the configuration shown, the mobile crane 1 also has a luffing jib 12 (also: “jib jib”), which can optionally be used and is movably arranged on a jib head 14 of the last (or smallest) jib segment 10 . In order to adjust (ie for luffing) this luffing jib 12 , it is braced on the superstructure 4 by means of adjustment cables 16 . The adjustment cable 16 has a pulley which is formed by an adjustment block 18 coupled to the luffing jib 12 and a “roller cage” 20 arranged on the superstructure 4 . In addition, the mobile crane 1 has a 1 main cable winch, not shown in detail, which is set up for raising and lowering, ie for winding and unwinding a main cable 22 (also: "crane cable"). The main rope 22 is used to pick up and move a load 24.

The control of the mobile crane 1 during crane operation, e.g. Into the cockpit A control unit not shown in detail, specifically a microprocessor, is integrated. The control device is set up to carry out an operating method, which is described in more detail below, in cooperation with the crane operator. This operating method is used to make it easier for the crane operator to set down the load 24 on a load setting point 28, shown here schematically by a platform on a tower that is comparatively far away from the cockpit 26, for example 100 meters or more in the case of a wind turbine .

For this purpose, the crane system includes a load viewing camera 30, which in turn is separated from the crane 1 and from the cockpit 18 and in this case also from a load suspension point, here specifically a roller head 32 of the luffing jib 12, which is comparatively far away. In the exemplary embodiment shown in FIG. 1, the load viewing camera 30 is designed as a helmet camera that is worn by assembly personnel in the area of the load depositing point 28 . The assembly personnel are responsible for coordinating the setting down of the load 24 on the load setting point 28 with the crane driver and are therefore likely to look at the points that are also of interest to the crane driver, in particular between the load 24 and the load setting point 28. The camera image captured by the load viewing camera 30 is - in the present embodiment - wirelessly transmitted to the control unit in the cockpit 26 and output by this on a screen for the information of the crane driver as a real-time image. In addition to the announcements made by the assembly staff, the crane driver can also check the effects of his control inputs himself.

In an exemplary embodiment that is also inventive in its own right, the control unit is set up for autonomous crane control and uses the camera image, for example using pattern recognition methods, to determine the correct features, for example pins or the like, on which the load 24 must be placed.

In 2 an alternative embodiment is shown. This differs from the exemplary embodiment 1 in that the load view camera 30 is mounted on a camera flying drone 34. The camera drone 34 is controlled by the control device and the crane operator. The crane operator initially steers the camera drone 34 to a position and into an orientation in which he sees the load 24 and (possibly only at a later point in time, namely when the load 24 has sufficiently approached the load setting point 28) also the load setting point 28 in the camera image (indicated by dashed lines). The control unit then references the position and alignment of the camera flight drone to the bottom hook block 36 of the main cable 22. This carries a marker, for example a GPS receiver, by means of which the position of the bottom hook block 36 can be determined. After this referencing, the control unit controls the camera drone 34 in such a way that its position relative to the bottom hook block 36 is maintained. As a result, the crane operator does not have to constantly track the movement of the load 24 with the aerial camera drone 34 . This is done automatically.

In this exemplary embodiment, the crane system also has a second aerial camera drone 34 with an additional load viewing camera 30 . In addition, the crane system also has a charging station 36 (arranged here on the undercarriage 2 of the crane 1) for the two camera drones 34. In this case, the control unit is set up to monitor the charging status of the currently flying camera drone 34 . If the state of charge falls below a predetermined limit value, the control unit automatically starts the other drone camera 34 and guides it to the referenced (i.e. the current) position and orientation of the "first" drone camera 34. The second drone camera 34 approaches the first drone camera at a predetermined safety distance 34, the control unit removes it from its current position and thus “replaces” it with the second camera drone 34. The first camera flight drone 34 is then steered to the loading station 36 . When changing the two camera drones 34 at the referenced position, the transmission of the camera image is also changed from one camera drone 34 to the other. As a result, only comparatively short transmission gaps form.

The subject matter of the invention is not limited to the exemplary embodiments described above. Rather, further embodiments of the invention can be derived by the person skilled in the art from the above description. In particular, the individual features of the invention and their design variants described with reference to the various exemplary embodiments can also be combined with one another in other ways.

Reference List

1

mobile crane

2

undercarriage

4

superstructure

6

crane boom

8th

luffing cylinder

10

boom segment

12

rocker seats

14

boom head

16

adjustable stranding

18

adjustable bottle

20

roller basket

22

main rope

24

load

26

cockpit

28

load drop point

30

load view camera

32

roller head

34

camera flying drone

36

hook block

38

charging station

Claims (11)

Method for operating a crane system, which has a crane (1) with a crane base (2), with a crane boom (6) articulated on the crane base (2) so that it can be adjusted, and with a cable winch, with a load suspension point on the crane boom (6). is arranged, having, according to the method - a load viewing camera (30) is positioned at a short distance from a lifted load (24) in such a way that a load depositing point (28) can be displayed in detail, and - A camera image from the load viewing camera (30) is transmitted to a control unit of the crane (1) which is remote from the load depositing point (28) and/or from the load suspension point, and is displayed in particular on a screen for the information of a crane driver. procedure after claim 1 , wherein the load viewing camera (30) is positioned such that both a contact area of the load (24) and the load drop point (28) are displayed. procedure after claim 1 or 2 , wherein the load viewing camera (30) is positioned remotely in the area of the load setting point (28). procedure after claim 3 , wherein the load viewing camera (30) is positioned on a tripod in a stationary manner in relation to the load setting point (28). procedure after claim 3 , A helmet camera being used by assembly personnel in the area of the load depositing point (28) as the load viewing camera (30). procedure after claim 1 or 2 , wherein the load-view camera (30) is carried by a camera drone (34), the position and alignment of the camera drone (34) being specified in relation to a hook block (36) adjustable by means of the cable winch. procedure after claim 6 , wherein a charging status of the camera drone (34) is monitored centrally and when falling below a loading limit value, in particular automatically, another camera drone (34) with a further load view camera (30) is started and moved to the current position and into the current orientation of the first camera drone ( 34) is controlled, and wherein the first camera drone (34) is withdrawn from the current position and steered to a central charging station (38). procedure after claim 7 , wherein the camera image of the further load viewing camera (30) is used to display the load depositing point (28) as soon as it is arranged in the previous position of the first load viewing camera (30). Procedure according to one of Claims 1 until 8th , wherein the or the respective camera image is stored at least for a crane operation or a predetermined period. Crane system, comprising - a crane (1) with a crane base (2), with a crane jib (6) articulated on it so that it can be adjusted relative to the crane base (2) and with a cable winch (), a load suspension point being arranged on the crane jib (6). is, - a control unit, and - a load view camera (30), wherein the control unit is set up to carry out the method according to one of Claims 1 until 9 to be carried out independently or in interaction with a crane operator. crane system claim 10 , with two camera drones (34), each carrying a load view camera (30), and a drone charging station (38) at which both camera drones (34) are parked and charged when they are not in use, with the control unit being set up to, when using one of the camera drones (34) to monitor their charging status, to track their current position and orientation and, if this camera drone (34) falls below a loading limit value, to start the other camera drone (34) and to the current position and into the current orientation of the camera drone that falls below the limit value (34) to control.

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