EP2931649A1 - Turmdrehkran - Google Patents
TurmdrehkranInfo
- Publication number
- EP2931649A1 EP2931649A1 EP13810895.6A EP13810895A EP2931649A1 EP 2931649 A1 EP2931649 A1 EP 2931649A1 EP 13810895 A EP13810895 A EP 13810895A EP 2931649 A1 EP2931649 A1 EP 2931649A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- load hook
- image
- camera
- load
- hook
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011156 evaluation Methods 0.000 claims description 43
- 239000003550 marker Substances 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims 1
- 230000001154 acute effect Effects 0.000 abstract 1
- 238000012545 processing Methods 0.000 description 12
- 238000011161 development Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000003708 edge detection Methods 0.000 description 3
- 238000010183 spectrum analysis Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000010191 image analysis Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/02—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
- B66C23/022—Pivot axis common with column
Definitions
- the present invention relates to a crane, in particular a tower crane, with a crane boom rotatable about an upright axis, on which a trolley is movably arranged, from which a lifting cable connected to a load hook runs, and a load hook position determining device for determining the load hook position.
- a tower crane is also known, on the trolley of which a downwardly looking camera is mounted in order to display to the crane operator a video image of the load hook environment, so that the crane operator can better recognize obstacles lying in the direction of movement.
- This camera system is used to visualize obstacles or the settling or receiving area, which the crane operator has to control, but it is not the load hook position relative to the crane or determined absolutely in space.
- DE 41 90 587 C2 describes a ship container crane, in which a load hook position by means of a camera which is attached to the suspension device for the crane rope, is determined. In this case, several upwardly radiating light sources are attached to the recorded containers, which are detected by the camera.
- cranes such as tower cranes, which also accommodate loads such as construction site products, which are often significantly smaller than containers, since the large-area container top is not available here.
- US Pat. No. 6,351,720 B1 shows a container crane in which the load position is determined by means of several cameras, one of which is attached to a trolley of the crane and another to the portal of the crane in order to be able to take into account twisting of the crane.
- this entails a very complicated data processing, moreover, there is a problem that the second camera has obstacles and the like has an impaired field of view.
- the identification of the load hook in the camera image provided by the camera can basically be done in various ways, for example by pixel evaluation and / or contour evaluation and / or color evaluation.
- a pixel pattern that corresponds to the load hook and / or the attached attachment such as rope bottle or special mark, as well as the outline contour and color of the load hook and / or the associated attachment part can be determined.
- known image processing algorithms such as binary imaging, edge detection or feature selection can be used to analyze the camera image.
- the provided image can also be subjected to a spectral analysis, wherein, for example, reflection properties can be analyzed.
- the load hook and / or the load bottle itself may also be designed as a marking, for example by corresponding contouring of a load hook and / or load bottle section visible towards the trolley, in which case, for example, the load hook with its top-side head section is an example angular or circular contour, for example in the form of a mushroom-shaped or collar-shaped, in plan view triangular widening can be contoured.
- the visible hook can be used per se as a marker, for example in the aforementioned manner by special contouring of the trolley facing head section. This can be done on the basis of face recognition, as used in surveillance systems.
- suitable geometric features of the crane hook can be used as markers or markers. This has the advantage that separate marker attachments are unnecessary, which can be damaged or contaminated during operation.
- An advantage of the development is that only a certain number of predetermined features must be visible. Even with a partial covering of individual features, the crane hook is still reliably recognized in its position and orientation.
- the said zoom factor can also be varied by the camera control device as a function of other variables, in particular as a function of the result of an image evaluation attempt. If the load hook or the associated marking can not be identified in the image at a previously set zoom factor, the zoom factor can be reduced in order to be able to search a larger area of the image. If necessary, the zoom factor can be iteratively reduced several times in order to scan larger and larger areas in several stages.
- FIG. 1 shows a schematic representation of a tower crane, on the boom of which a movable trolley is provided, from which the lifting cable connected to a load hook runs and to which a camera for determining the position of the load hook is arranged,
- FIG. 4 shows an illustration of a marking similar to FIG. 3, wherein the marking, in contrast to FIG. 3, has a clear orientation in order to be able to determine the orientation or rotational position of the load hook in addition to the position, and
- the mark 14 may consist of a contrasting rings in the manner of a target, which are set in one another.
- a uniquely oriented marking 14 as shown in FIG. 4, for example in the form of a "T", where again a contrast-rich representation is also used here instead of such a "T"
- the marker 14 may also have other orientation determination features, for example, two or more rotationally symmetric markers may be provided in geometric relation to each other, and / or other orientation reference rectangular marker shapes may and / or may be used geometric shapes of the load itself or the load bearing such as the spreader container crane used as a marker.
- the load hook 7 or the load located thereon can be determined not only statically in the image, but also during dynamic movements of the load.
- a tracking of the load a so-called tracking done.
- the analysis of the respectively provided camera image can be carried out continuously, preferably by means of edge detection, binary image generation and feature selection with respect to the known mark 14.
- the processing is advantageously carried out within a predefinable image detail in a specific region of the camera image. Since the size, depending on the operating case can be kept very small, the computational effort is thereby considerably reduced.
- the image section can be selected to be minimally so small that it essentially corresponds to the marker size.
- the image detail to be analyzed can at most correspond substantially to the entire size of the complete camera image.
- the position and / or size of said image detail may be determined based on the last known marker positions and an estimated prediction. For this purpose, for example, a so-called Kalman filter or other filter devices can be used, which can make a prediction on the basis of the past values.
- the measured image can also be subjected to a spectral analysis in a development of the invention.
- the reflection properties of the features of the load, the load hook 7 or the marking 14 in certain spectral regions can expand the feature space and be used for the identification.
- a known Landsat algorithm can be used.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18163759.6A EP3354616B1 (de) | 2012-12-17 | 2013-12-16 | Turmdrehkran |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202012012116.2U DE202012012116U1 (de) | 2012-12-17 | 2012-12-17 | Turmdrehkran |
PCT/EP2013/003798 WO2014095028A1 (de) | 2012-12-17 | 2013-12-16 | Turmdrehkran |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18163759.6A Division EP3354616B1 (de) | 2012-12-17 | 2013-12-16 | Turmdrehkran |
EP18163759.6A Division-Into EP3354616B1 (de) | 2012-12-17 | 2013-12-16 | Turmdrehkran |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2931649A1 true EP2931649A1 (de) | 2015-10-21 |
EP2931649B1 EP2931649B1 (de) | 2018-05-16 |
Family
ID=49816899
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP13810895.6A Active EP2931649B1 (de) | 2012-12-17 | 2013-12-16 | Turmdrehkran |
EP18163759.6A Active EP3354616B1 (de) | 2012-12-17 | 2013-12-16 | Turmdrehkran |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18163759.6A Active EP3354616B1 (de) | 2012-12-17 | 2013-12-16 | Turmdrehkran |
Country Status (8)
Country | Link |
---|---|
US (1) | US9738493B2 (de) |
EP (2) | EP2931649B1 (de) |
CN (1) | CN104854017B (de) |
DE (1) | DE202012012116U1 (de) |
ES (2) | ES2683294T3 (de) |
RU (1) | RU2623287C2 (de) |
TR (1) | TR201908731T4 (de) |
WO (1) | WO2014095028A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11932517B2 (en) | 2019-03-08 | 2024-03-19 | Liebherr-Werk Biberach Gmbh | Crane and device for controlling same |
Families Citing this family (40)
Publication number | Priority date | Publication date | Assignee | Title |
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US10822208B2 (en) * | 2014-12-23 | 2020-11-03 | Manitowoc Crane Companies, Llc | Crane 3D workspace spatial techniques for crane operation in proximity of obstacles |
CN104555737B (zh) * | 2014-12-29 | 2017-08-29 | 武汉港迪智能技术有限公司 | 桥门式起重机的远程通讯及位置检测装置 |
FI127606B (fi) * | 2015-04-01 | 2018-10-15 | Konecranes Oyj | Menetelmä, kuormankäsittelylaite, tietokoneohjelma ja tietokoneohjelmatuote tartuntavälineiden paikantamiseksi |
FI20155599A (fi) * | 2015-08-21 | 2017-02-22 | Konecranes Global Oy | Nostolaitteen ohjaaminen |
US10544012B2 (en) | 2016-01-29 | 2020-01-28 | Manitowoc Crane Companies, Llc | Visual outrigger monitoring system |
DE102016001684A1 (de) | 2016-02-12 | 2017-08-17 | Liebherr-Werk Biberach Gmbh | Verfahren zur Überwachung wenigstens eines Krans |
DE102016004250A1 (de) | 2016-04-08 | 2017-10-12 | Liebherr-Components Biberach Gmbh | Verfahren und Vorrichtung zum Steuern eines Krans, eines Baggers, einer Raupe oder einer ähnlichen Baumaschine |
DE102016004350A1 (de) * | 2016-04-11 | 2017-10-12 | Liebherr-Components Biberach Gmbh | Kran und Verfahren zum Steuern eines solchen Krans |
US10717631B2 (en) | 2016-11-22 | 2020-07-21 | Manitowoc Crane Companies, Llc | Optical detection and analysis of crane hoist and rope |
GB2562121B (en) * | 2017-05-05 | 2022-10-12 | Bamford Excavators Ltd | Working machine |
WO2018203091A1 (en) * | 2017-05-05 | 2018-11-08 | J.C. Bamford Excavators Ltd | Working machine |
GB2562122B (en) * | 2017-05-05 | 2022-10-19 | Bamford Excavators Ltd | Training machine |
DE102017116367A1 (de) | 2017-07-20 | 2019-01-24 | Liebherr-Components Deggendorf Gmbh | Vorrichtung zum Steuern eines Injektors |
JP2019104582A (ja) * | 2017-12-12 | 2019-06-27 | 株式会社北川鉄工所 | 吊荷の旋回角度検出方法 |
DE102017130792A1 (de) * | 2017-12-20 | 2019-06-27 | Liebherr-Werk Ehingen Gmbh | Messeinrichtung zur Lastmessung bei einem Hebezeug |
EP3802395A4 (de) * | 2018-05-30 | 2022-03-16 | Syracuse Ltd. | System und verfahren zum transportieren einer schwankenden hublast |
CN110874544B (zh) * | 2018-08-29 | 2023-11-21 | 宝钢工程技术集团有限公司 | 冶金行车安全监控识别方法 |
CN108892042B (zh) * | 2018-09-13 | 2024-05-03 | 郑州大学 | 一种钢水包耳轴吊装对位识别装置及方法 |
CN109095356B (zh) | 2018-11-07 | 2024-03-01 | 江苏徐工国重实验室科技有限公司 | 工程机械及其作业空间动态防碰撞方法、装置和系统 |
US20200140239A1 (en) * | 2018-11-07 | 2020-05-07 | Manitowoc Crane Companies, Llc | System for determining crane status using optical and/or electromagnetic sensors |
JP7192527B2 (ja) * | 2019-01-23 | 2022-12-20 | 株式会社タダノ | クレーン |
US11618655B2 (en) | 2019-03-28 | 2023-04-04 | International Business Machines Corporation | Camera-assisted crane safety |
AT16885U1 (de) * | 2019-03-28 | 2020-11-15 | Palfinger Ag | Kran mit Kransteuerung |
CN110525420B (zh) * | 2019-09-02 | 2023-04-11 | 厦门迈凯科机电设备有限公司 | Sts大车防阵风控制系统 |
CN111115458A (zh) * | 2020-04-01 | 2020-05-08 | 湖南三一塔式起重机械有限公司 | 载荷位置计算装置及起重机 |
CN112194011A (zh) * | 2020-08-31 | 2021-01-08 | 南京理工大学 | 一种基于双目视觉的塔吊自动装载方法 |
DE102020214021A1 (de) | 2020-11-09 | 2022-05-12 | Tadano Faun Gmbh | Verfahren zum Betrieb eines Kransystems und Kransystem |
CN112562018B (zh) * | 2020-12-09 | 2023-08-11 | 杭州鸿泉物联网技术股份有限公司 | 一种吊点跟随定位方法及系统 |
CN112678696B (zh) * | 2020-12-18 | 2022-09-13 | 重庆市合川区昌友机械制造有限责任公司 | 风机齿轮加工机床用吊装装置 |
WO2022221311A1 (en) | 2021-04-12 | 2022-10-20 | Structural Services, Inc. | Systems and methods for assisting a crane operator |
CN113247788B (zh) * | 2021-06-01 | 2021-09-24 | 新乡职业技术学院 | 一种基于投影光自对准控制的起重机 |
CN113044736B (zh) * | 2021-06-01 | 2021-08-13 | 新乡职业技术学院 | 一种具有吊索稳定控制的起重机 |
CN113673344B (zh) * | 2021-07-19 | 2023-06-06 | 杭州大杰智能传动科技有限公司 | 一种智能塔吊物料挂载位置识别方法和装置 |
DE102021121749A1 (de) | 2021-08-23 | 2023-02-23 | Abus Kransysteme Gmbh | Verfahren zur Erkennung der Außenkontur einer Last an einem Kran |
CN113911917B (zh) * | 2021-09-13 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | 用于智能塔吊总控室的辅助远程操控方法 |
CN113896109B (zh) * | 2021-09-13 | 2023-06-02 | 杭州大杰智能传动科技有限公司 | 用于智能塔吊后台远程控制的摄像监视方法和系统 |
JP2023049565A (ja) * | 2021-09-29 | 2023-04-10 | 住友重機械搬送システム株式会社 | 位置検出システム、ターゲット、及び位置検出方法 |
DE102021130785A1 (de) | 2021-11-24 | 2023-05-25 | Liebherr-Werk Biberach Gmbh | Kran |
DE102022103283A1 (de) | 2022-02-11 | 2023-08-17 | Liebherr-Werk Biberach Gmbh | Kran |
CN116152243B (zh) * | 2023-04-19 | 2023-07-25 | 深圳市平方科技股份有限公司 | 基于图像分析的集装箱装卸作业状态的检测方法 |
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CN102795547B (zh) | 2012-08-31 | 2014-07-16 | 中国人民解放军国防科学技术大学 | 起重机吊钩位置和摆角的实时摄像测量方法 |
-
2012
- 2012-12-17 DE DE202012012116.2U patent/DE202012012116U1/de not_active Expired - Lifetime
-
2013
- 2013-12-16 EP EP13810895.6A patent/EP2931649B1/de active Active
- 2013-12-16 CN CN201380065743.0A patent/CN104854017B/zh active Active
- 2013-12-16 ES ES13810895.6T patent/ES2683294T3/es active Active
- 2013-12-16 WO PCT/EP2013/003798 patent/WO2014095028A1/de active Application Filing
- 2013-12-16 TR TR2019/08731T patent/TR201908731T4/tr unknown
- 2013-12-16 US US14/652,675 patent/US9738493B2/en active Active
- 2013-12-16 RU RU2015129017A patent/RU2623287C2/ru active
- 2013-12-16 ES ES18163759T patent/ES2732760T3/es active Active
- 2013-12-16 EP EP18163759.6A patent/EP3354616B1/de active Active
Non-Patent Citations (1)
Title |
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See references of WO2014095028A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11932517B2 (en) | 2019-03-08 | 2024-03-19 | Liebherr-Werk Biberach Gmbh | Crane and device for controlling same |
Also Published As
Publication number | Publication date |
---|---|
EP3354616B1 (de) | 2019-04-03 |
RU2015129017A (ru) | 2017-01-23 |
TR201908731T4 (tr) | 2019-07-22 |
CN104854017A (zh) | 2015-08-19 |
US20150329333A1 (en) | 2015-11-19 |
WO2014095028A1 (de) | 2014-06-26 |
US9738493B2 (en) | 2017-08-22 |
ES2683294T3 (es) | 2018-09-26 |
CN104854017B (zh) | 2018-01-23 |
EP2931649B1 (de) | 2018-05-16 |
ES2732760T3 (es) | 2019-11-25 |
DE202012012116U1 (de) | 2014-03-19 |
EP3354616A1 (de) | 2018-08-01 |
RU2623287C2 (ru) | 2017-06-23 |
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