EP2931649B1 - Grue pivotante sur pylône - Google Patents

Grue pivotante sur pylône Download PDF

Info

Publication number
EP2931649B1
EP2931649B1 EP13810895.6A EP13810895A EP2931649B1 EP 2931649 B1 EP2931649 B1 EP 2931649B1 EP 13810895 A EP13810895 A EP 13810895A EP 2931649 B1 EP2931649 B1 EP 2931649B1
Authority
EP
European Patent Office
Prior art keywords
load hook
image
camera
trolley
determining
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.)
Active
Application number
EP13810895.6A
Other languages
German (de)
English (en)
Other versions
EP2931649A1 (fr
Inventor
Oliver Fenker
Michael PALBERG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Components Biberach GmbH
Original Assignee
Liebherr Components Biberach GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liebherr Components Biberach GmbH filed Critical Liebherr Components Biberach GmbH
Priority to EP18163759.6A priority Critical patent/EP3354616B1/fr
Publication of EP2931649A1 publication Critical patent/EP2931649A1/fr
Application granted granted Critical
Publication of EP2931649B1 publication Critical patent/EP2931649B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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 crane with a load hook position determining device for example, the font shows WO 91/14644 A1 ,
  • Tower cranes may have an at least approximately crane jib which is carried by a tower which extends upright and can be turned around the upright longitudinal axis of the tower.
  • the boom rotates relative to the tower, while in the case of a bottom turner, the entire tower and thus the arm articulated thereon are rotated.
  • the distance of the load hook from the tower axis can be adjusted by means of a trolley, which is movable along the boom, wherein the lifting cable connected to the load hook runs over the said trolley.
  • the hook position only relative to the trolley or crane, for example, to dampen oscillations, or it may also be an absolute load hook position required in the room, for example, an automated operation at Umtschvorticiann realize.
  • increased safety can also be achieved by determining the load hook position, since the load can be permanently monitored, whereby possibly a redundancy of the lowering depth sensor can also be achieved.
  • the DE 197 25 315 C2 describes a metallurgical crane with a relative to a support frame movable trolley from which runs the hoist. On the support frame several cameras are arranged, the field of view is large enough to detect the crane hook at different Katzfahrtechnik einen. In such a metallurgical crane, the positions to be approached are relatively rigid, so that the amount of image data to be processed remains manageable. If such a system were used in a tower crane, however, a flood of data that could hardly be processed would come about.
  • a tower crane is known, on the trolley, a downward-facing camera is mounted to the crane operator to display a video image of the load hook environment, so that the crane operator can better detect 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.
  • the DE 41 90 587 C2 describes a shipping container crane in which a load hook position is determined by means of a camera which is attached to the suspension device for the crane rope. 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.
  • the US 6,351,720 B1 shows finally 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 on the portal of the crane to account for twisting of the crane can.
  • 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 present invention is based on the object to provide an improved tower crane of the type mentioned, the disadvantages of the prior art avoids and the latter develops in an advantageous manner.
  • an improved position determination of the load hook is to be achieved, which manages with a limited amount of data processing and thus limited computer capacity, but it determines the position without excessive time delay exactly.
  • the image evaluation unit has contour recognition means for recognizing an outline contour corresponding to the load hook and / or attached attachment in the camera image, wherein the load hook position is determined on the basis of the outline contour of the load hook and / or the attached attachment.
  • the invention is based on the consideration that at a predetermined viewing direction of the camera attached to the trolley corresponds to the position of the load hook in the camera image of the load hook position relative to the trolley or a measure of the load hook position relative to the trolley and thus with complementary attraction of the trolley position the absolute position of the load hook in space can be determined. If the camera looks exactly vertically downwards from the trolley, the position of the load hook in the camera image or the position deviation of the load hook from the center of the camera balance is a measure for the transverse offset or horizontal offset of the load hook relative to the trolley, said horizontal offset of the load hook relative to the trolley, taking into account the respective depression depth of the load hook, ie the distance of the load hook from the trolley and an optionally adjusted zoom factor of the camera can be determined.
  • no multiple cameras or images from different visual axes are needed, since the position determination can be done with only one camera or out of just one camera image, thereby saving considerable computing power.
  • the distance of the load hook from the trolley can be determined in various ways.
  • the sink depth of the load hook can be determined from the unwound Hubseilin, even with not exactly straight Hubseilverlauf a sufficiently accurate measure of the distance of the load hook from the trolley or camera mounted therein, to the said distance of the load hook from the trolley and to determine the actual relative position or the actual horizontal offset of the load hook relative to the trolley, the image position of the load hook or the offset of the load hook from the image center determined in the camera image.
  • the distance of the load hook from the trolley or the camera attached thereto can also be determined from the camera image itself, in particular by means of an image evaluation unit, the number of pixels of the image representation of the load hook and / or an associated attachment such as a Seilumlenkflasche or a another crane structure part, which is located in the vicinity of the load hook as intended, or also an associated marking and / or the size of the load hook or said attachment of said mark in the camera image. Given a known size of the load hook or known size of the attachment or the marking, the distance of the crane hook or the attachment or the mark can be determined very accurately from the camera zoom factor and the number of pixels and / or the display size in the camera image.
  • the determination of the load hook distance from the trolley by means of pixel counting can be carried out in addition to the alternative lowering depth determination, for example from the hoist rope spool length, in order to achieve a redundant system for the lowering depth determination of the load hook and thus increase safety.
  • the optical determination by means of pixel evaluation can also be provided as an alternative.
  • 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. Especially for example, 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 can be determined. In this case, known image processing algorithms such as binary imaging, edge detection or feature selection can be used to analyze the camera image. In order to increase the probability of detection or to simplify the identification of the crane hook or the marking applied thereto, the provided image can also be subjected to a spectral analysis, wherein, for example, reflection properties can be analyzed.
  • a spectral analysis wherein, for example, reflection properties can be analyzed.
  • the image evaluation unit may comprise cable course determination means for determining the cable course of the hoist cable running from the trolley.
  • the running of the trolley hoist has in the camera image provided usually a very characteristic contour in the form of a very narrow, long straight line or a very slightly curved, long, narrow line whose starting point by the deflection of the trolley in the camera image in a relatively narrow area and thus can be easily identified.
  • the hoisting rope running off the trolley in the case of the usually provided shearing on the load hook or the associated load bottle in the camera image produces two acute-angled or conically converging lines, in whose connection point at least approximately the position of the load hook can be assumed.
  • the position to be determined for the position of the load hook can in principle be provided in various ways, advantageously an absolute coordinate position indication can be done in an absolute coordinate system, which may for example have its origin in the foot of the crane, for example, the tower longitudinal axis Z axis, the boom can describe the X axis and a vertical axis can describe the Y axis.
  • the image evaluation unit can be the image position of the load hook in the camera image determine first in a relative coordinate system, for example, a trolley coordinate system, which has its origin in the camera and / or the trolley and is aligned parallel to the aforementioned absolute coordinate system, but the Z-axis corresponding to the optical axis of the camera inverse to Z Axis of the absolute system can run. Position information in this relative coordinate system, which can be displaced by trolley movements, are then converted by the position determination means, taking into account the trolley position in position information in the abovementioned absolute coordinate system.
  • a mark of predetermined size and / or predetermined contouring on an upper side attached to the load hook or the load bottle and / or visibly facing the trolley or camera attached thereto can in this case be formed as a separate component, for example in the form of a plate attached to the top of the bottle or a target, such a separate component can be mounted or attached to the load hook or the associated load bottle, for example, welded or screwed can.
  • 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 marker in this case, for example, a ring arrangement in the manner of a target or other geometric base contour or base such as triangle, quadrangle or polygon, circle, oval or ellipse, straight or curved lines or hybrids or combinations thereof, the marker may advantageously be composed of contrasting surface pieces, such as a white circle with a black dot in its center , and / or strong, from the usual ambient colors different colorations may have, for example, luminous color dots to facilitate the identification of the marker in the camera image.
  • a camera control unit can in particular adjust the zoom factor of the camera as a function of the lowering depth of the load hook, wherein the lowering depth determined from the hoist rope length can be used here for example for a presetting of the zoom factor and / or an adjustment or readjustment of the zoom factor after distance determination by pixel counting and / or determining the image representation size as explained above.
  • the zoom factor can be increased in order to achieve a certain size of the representation of the crane hook or the associated mark in the camera image. It considerably facilitates the identification of the marking or of the load hook in the camera image if the image evaluation unit knows, at least approximately, in advance how large the pixel pattern to be identified is in the overall image or what proportion of area the image representation of the marking or the load hook makes in the overall image.
  • 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.
  • the zoom factor can also be increased if the load hook or the associated mark could not be identified in a camera image, which may possibly also be due to the fact that the load hook is much too small in the picture when the zoom factor is very high so that the image sharpness or pixel count is not sufficient to identify the known contour pattern of the marking and / or the load hook and / or the load bottle.
  • the camera control device and / or the image evaluation unit can also vary an area to be evaluated within the camera image provided by the camera in order to minimize the amount of data to be evaluated.
  • the image section of interest can be enlarged, in particular, if the marking or the load hook has been lost in the previously evaluated image detail, for example, because the load hook has moved out of the image section due to stronger oscillations or stronger wind load. If the marking or the load hook is lost in the image detail examined by the image evaluation unit, said image detail can be inflated once or iteratively in several stages, if appropriate, until it covers the entire camera image.
  • the image evaluation unit can be designed in such a way that only the added image section area is re-evaluated when enlarging the image section of interest or to be evaluated, for example the frame-shaped image sectioning part which has been added by enlarging the image section around the previous image section.
  • the image evaluation unit evaluates the image section in the provided camera image.
  • the image section in the provided camera image is shifted and / or reduced, preferably in such a way that the new image section to be examined is centered with respect to the identified position of the load hook or the associated marking, ie the identified marking lies in the middle of the new image section.
  • the image section can be reduced once or iteratively, in particular in such a way that the pixel pattern reproducing the marking or the load hook is reduced or the corresponding image contour pattern represents a predetermined area proportion of the respective image detail, for example representing 20% of the area of the image detail used for the evaluation.
  • the position of the load hook can advantageously be determined not only relative to the trolley of the crane, but also absolutely and / or relative to the load hook environment, for example the construction site environment, from the camera image.
  • the position determination device can have environmental determination means for determining the load hook environment, in particular in the form of characteristic obstacle and / or environmental contours, from the recorded camera image, wherein the position determination means for determining the load hook position from the determined image position of the load hook in the camera image may be formed such that the load hook position is determined relative to the load hook environment.
  • the load hook position relative to the environment which can be determined from the camera image in the above-mentioned manner, can advantageously be determined to control the crane movements, in particular to approach a load hook target, for example a settling or pickup position, or to stop crane movements or a travel path of the car Automatically change load hook to avoid a collision of the load hook and / or a load taken with an identified in the camera image obstacle such as building edge.
  • the crane may have load hook control means for controlling crane movements depending on the particular load hook position relative to the load hook environment and / or collision avoidance control means for stopping or changing crane movements depending on the particular load hook position relative to the load hook environment.
  • Fig. 1 shows the crane can be designed as a tower tower crane rotating above 1, the tower 2 extending upright carries a boom 3 and a counter-jib. Said boom 3 can be rotated relative to the tower 2 about the upright longitudinal axis of the tower 4 and assume an at least approximately horizontal position.
  • a trolley 5 is movably suspended, so that the trolley 5 can be moved substantially over the entire length of the boom 3 to the discharge of the load hook 7 vary.
  • the said load hook 7 is fastened to a hoist rope 6, which runs over said trolley 5 in order to be able to lower and lift the load hook 7.
  • a load bottle 13 can be provided on the load hook 7, cf. Fig. 2 over which the hoist rope 6 is deflected or sheared on the load hook 7.
  • a load hook position determining device 8 comprises a camera 9 mounted on the trolley 5, which is movable together with the trolley 5 and looks downwards from the trolley 5 substantially vertically.
  • the viewing axis of the camera 9 can move together with the Z-axis of the local or relative Katzkoordinatensystems.
  • the image data provided by the camera 9 can advantageously be transmitted by a cordless transmission device 19, for example in the form of a radio transmission device, to an image processing and evaluation system 20, which can advantageously be arranged in the area of the driver's cab or crane control unit, and a corresponding receiver / transmitter unit 21a which can communicate with the reception / transmission unit 21b of the transmission device 18 on the trolley.
  • the image evaluation could be done directly on the camera 9 and the trolley 5, but it is preferred to collect there only the image data and then transfer it and evaluate elsewhere to make the system in the trolley small and easy to be able to train.
  • an energy storage 22, for example in the form of a battery can be provided on the trolley 5, which can be loaded by means of a charging station 23, which can be arranged on the boom 3, for example in the parking position of the trolley 5 to to load the energy storage 22 in out-of-service times of the crane.
  • the image processing and evaluation system 20 may comprise a central computer 24, for example in the form of an industrial PC with an image processing system, which can be connected via a video server 25 with the receiving / transmitting device 21, on the one hand to receive or retrieve the image signals of the camera 9 and on the other hand to be able to send control signals to the camera 9.
  • a central computer 24 for example in the form of an industrial PC with an image processing system, which can be connected via a video server 25 with the receiving / transmitting device 21, on the one hand to receive or retrieve the image signals of the camera 9 and on the other hand to be able to send control signals to the camera 9.
  • Fig. 2 may advantageously be provided in the area of the crane driver's station and a video display 26 in order to be able to display the image of the camera 9 to the crane operator in addition to determining the position.
  • features of the load hook 7 and / or the associated load bottle 13 are advantageously defined in advance, for example geometric surfaces, shapes, contours, Colors and the like, wherein in an advantageous embodiment of the invention, a marker 14 on the upper side of the load hook 7 and the load bottle 13 can be mounted so that the mark 14 for the camera 9 is visible.
  • the mark 14 may be in the manner of a target of contrasting rings, which are set in one another.
  • a uniquely oriented marking 14 As an alternative to such a rotationally symmetric marking, however, it is also advantageously possible to use a uniquely oriented marking 14, as it does Fig. 4 shows, for example in the form of a "T", which also here again advantageously a high-contrast representation is used.
  • 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 oriented rectangular marker shapes may be used find and / or geometric shapes of the load itself or the load bearing such as the spreader container crane can be used as a marker.
  • the camera 9 is advantageously controlled via control signals from the image processing and evaluation system 20, the control signals here as well about the in Fig. 2 shown radio link can be transmitted.
  • the image evaluation unit 11 attempts to discover the load or the load hook 7 on the basis of the predefined marking 14 within the image provided by the camera 9.
  • An analysis of the provided camera image can be carried out by various algorithms such as a binary image, an edge detection and / or a feature selection.
  • 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 lowering depth of the load hook 7 can preferably be permanently provided by the crane control, on the basis of which at least approximately it can be estimated at which distance the load hook 7 from the camera 9 is located. Thereupon, the image processing and evaluation system 20 adjusts the camera zoom of the camera 9 accordingly.
  • 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.
  • 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 image section to be examined can be arbitrarily placed in the image. Should no mark be found in this image section, the image section can be continuously increased until the marker 14 is within the image section and can be detected.
  • the image evaluation unit 11 determines the image position of the load hook 7 or the mark 14 in the camera image, from which the position determining means 12 then determine the load hook position in the relative coordinate system of the trolley 5.
  • Said relative Katzkoordinatensystem can be chosen so that it has its origin in the optical axis of the camera 9 and the zero point of the sinking depth, which may be in the trolley 5.
  • the trolley 5 On the basis of the known size of the mark 14, the currently set zoom factor of the camera 9 as well as the number of pixels of the mark 14 in the camera image measured by the sensor, an exact distance determination of the mark 14 can be made by the trolley 5. From this, the Z-offset or the Z-difference of the load hook 7 can be determined to the sinking depth, which sinking depth can be determined for example by determining the unwound Hubseilbine. By separately measuring the actual sink depth over the pixel size of the marker 14 in the camera image, a redundancy to the conventional Senektiefesensor can be achieved.
  • the load Since in real use the load is never really at rest due to crane movements, wind influences or the dynamics of the crane, the load oscillates, the pendulum frequency being dependent on the rope length of the hoist rope 6.
  • the pendulum amplitude depends on the mass and other factors such as the dynamics of movement or the wind input.
  • the image evaluation device may lose the marking 14.
  • the following procedure can be adopted: First of all, for example, the image detail of the camera image to be analyzed can be inflated or enlarged and / or shifted onto an image section by expecting the reentry of the marking 14. Alternatively or additionally, the entire camera image can also be defined as an image detail, in particular if the available computing power is sufficiently large.
  • the camera 9 can also zoom back one or more stages in order to enlarge the image area. Due to the thus enlarged image area, there is a high probability that the marker will be within the image again. In order to compensate for the disadvantages of the resulting smaller marking size, the zoom factor of the camera 9 can be iteratively increased in several steps and also reduced again.
  • the image evaluation unit 11 may comprise cable course determination means 17 by means of which the course of the hoisting rope 6 is determined in the camera image, as this Fig. 5 shows. Based on the detected Hubseilverlaufs in the camera image, the position of the load hook 7 can be determined or at least the area are narrowed, in which the load hook 9 and the marker 14 must lie, so that said Hubseil-course determination as an alternative or in addition to the detection of said marker or of the load hook 7 can be provided directly from the camera image.
  • the determination of the hook position or narrowing of the area in which the load hook must be 7, using the Rope course determination is based on the assumption that the hoist rope 6 in a reeving on the load bottle 13 in the camera image has a conical shape, in particular conically to the load runs, cf. Fig. 5 so that the load hook 7 or the load and their position can be determined as the end of the cone defined by the hoist rope sections.
  • 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.
  • Such an approach can be part of a pre-filtering of the image, which significantly reduces the quantity of image data to be examined with the aid of the algorithms mentioned. This significantly reduces the effort of the algorithms for detecting the hook position. Even adverse weather conditions such as snow, ice, rain, fog, sunlight, shadows, etc. can be at least partially compensated.
  • Such a spectral analysis can be advantageously optimized by the use of special lacquers for the marking 14, for example by the Use of paints or other surface coatings that have low reflective properties in the near infrared range.
  • a known Landsat algorithm can be used.

Claims (14)

  1. Grue, en particulier grue pivotante sur pylône, avec une flèche (3) pouvant tourner autour d'un axe vertical (4), sur laquelle un chariot roulant (5) est disposé de manière mobile et duquel se déroule un câble de levage (6) relié à un crochet porte-charge (7), ainsi qu'avec un dispositif (8) de détermination de position de crochet porte-charge pour déterminer la position du crochet porte-charge, le dispositif (8) de détermination de position de crochet porte-charge comprenant une caméra (9) agencée sur le chariot roulant (5), qui est orientée dans une direction de vision prédéterminée (10) vers le bas sur le crochet porte-charge (7), une unité d'analyse d'images (11) pour déterminer la position du crochet porte-charge (7) dans une image de caméra fournie par la caméra (9) ainsi que des moyens (12) de détermination de position pour déterminer la position du crochet porte-charge à partir d'une position d'image déterminée du crochet porte-charge (7) dans l'image de la caméra en tenant compte d'une position du chariot roulant, caractérisée en ce que l'unité (11) d'analyse d'images comprend un moyen de reconnaissance de contours pour un contour correspondant au crochet porte-charge et/ou à une pièce de montage attachée sur celui-ci dans l'image de la caméra et la position du crochet porte-charge est déterminée au moyen du contour du crochet porte-charge et/ou de la pièce de montage attachée sur celui-ci.
  2. Grue selon la revendication précédente, caractérisée en ce que l'unité (11) d'analyse d'images comporte des moyens (17) de détermination du tracé du câble pour déterminer le trace du câble de levage dans l'image de la caméra et l'unité d'analyse d'images (11) est conçue de telle manière que la position du crochet porte-charge (7) dans l'image de la caméra est déterminée en fonction du tracé du câble de levage déterminé, la position du crochet porte-charge étant déterminée comme le point de jonction de deux droites du câble de levage identifiées dans l'image de la caméra.
  3. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce que le dispositif (8) de détermination du crochet porte-charge comporte des moyens de détermination de distances pour déterminer la distance entre le crochet porte-charge (7) et le chariot roulant (5), lesdits moyens de détermination de distance comportant un compteur de pixels pour déterminer le nombre de pixels de la surface d'image du crochet porte-charge et/ou du marquage identifiées dans l'image de la caméra.
  4. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce qu'un dispositif de détermination de la profondeur de plongée pour déterminer la profondeur de plongée du crochet porte-charge (7) à partir d'une longueur de déroulage du câble de levage (6) est prévu.
  5. Grue selon l'une quelconque des revendications 3 ou 4, caractérisée en ce qu'un décalage horizontal du crochet porte-charge (7) par rapport au chariot roulant (5) peut être déterminé par les moyens (12) de détermination de position à partir de la position d'image déterminée du crochet porte-charge (7) dans l'image de la caméra en tenant compte du facteur de zoom de la caméra respectivement ajusté et/ou de la profondeur de plongée/de la distance déterminée du crochet porte-charge (7) par rapport au chariot roulant (5).
  6. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce qu'un dispositif de commande de caméra pour le contrôle des réglages de la caméra est prévu et conçu de telle manière que le facteur de zoom de la caméra (9) est réglé de manière variable en fonction de la profondeur de plongée du crochet de porte-charge.
  7. Grue selon la revendication précédente, caractérisée en ce que le dispositif de commande de caméra (15) est conçu de telle manière que le facteur de zoom de la caméra (9) est augmenté et/ou réduit en fonction de la reconnaissance du crochet porte-charge (7) et/ou du marquage (14) apposé dessus dans l'image fournie par la caméra (9) voire est réduit une seule fois ou itérativement en particulier en cas de non-reconnaissance du crochet porte-charge (7) et/ou du marquage (14) y associé.
  8. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce que l'unité d'analyse d'images (11) comprend des moyens (16) de commande de détail d'image pour agrandir un détail d'image de l'image de la caméra à évaluer par l'unité d'analyse d'images (11) en fonction de la reconnaissance du crochet porte-charge (7) et/ou du marquage y associé (14), lesdits moyens (16) de réglage du détail d'image étant conçus de telle manière qu'en cas de non-reconnaissance du crochet porte-charge (7) et/ou du marquage y associé (14), le détail d'image est agrandi une seule fois ou itérativement en commençant par un détail d'image de petite taille.
  9. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce que l'unité (11) d'analyse d'images comprend des moyens d'évaluation des pixels pour reconnaître un motif de pixels qui correspond au crochet porte-charge et/ou à une pièce rapportée attachée dessus comme un moufle, ainsi que des moyens de reconnaissance de couleur pour reconnaître une couleur et/ou une combinaison de couleurs dans l'image de la caméra qui correspond à la couleur et/ou à la combinaison de couleurs du crochet porte-charge et/ou de sa pièce de montage attachée.
  10. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce qu'un marquage (14) visiblement faisant face au chariot roulant (5) est attaché sur le crochet porte-charge (7) et/ou sur un moufle (13) qui lui est relié et l'unité d'analyse d'images (11) est conçue de telle manière qu'un motif de contour et/ou un motif de pixels correspondant au marquage est identifié dans l'image de la caméra.
  11. Grue selon la revendication précédente, le marquage (14) et/ou le crochet porte-charge et/ou le moufle comportant une surface de base géométrique telle comme un cercle, un polygone, une ligne et/ou un motif de surfaces composé de plusieurs surfaces géométriques.
  12. Grue selon l'une quelconque des deux revendications précédentes, le marquage (14) et/ou le crochet porte-charge et/ou le moufle étant réalisé avec une orientation claire et l'unité d'analyse d'images (11) comportant des moyens de détermination de l'orientation pour déterminer l'orientation du crochet porte-charge (7), en particulier pour déterminer un angle de rotation du crochet porte-charge (7) par rapport à un axe vertical.
  13. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce que des moyens (18) de détermination du chariot roulant sont prévus qui comprennent des moyens de détermination de la position de déplacement pour déterminer la position du chariot roulant par rapport à la flèche et des moyens de détermination de la position de rotation pour déterminer la position de rotation de la flèche (3) par rapport à l'axe de rotation (4), les moyens (12) de détermination du crochet porte-charge étant conçus de telle manière que la position du crochet porte-charge est déterminée à partir de la position du chariot roulant déterminée par rapport à la flèche (3), à la position de rotation de la flèche (3) et à la position d'image du crochet porte-charge (7) dans l'image caméra de la caméra (9).
  14. Grue selon l'une quelconque des revendications précédentes, caractérisée en ce que le dispositif de détermination (8) comprend des moyens de détermination de l'environnement pour déterminer l'environnement du crochet porte-charge, en particulier sous forme de contours caractéristiques d'obstacles et/ou d'environnants à partir de l'image de la caméra prise, les moyens de détermination (12) pour déterminer la position du crochet porte-charge à partir de la position d'image déterminée du crochet porte-charge (7) dans l'image de la caméra étant conçus de telle manière que la position du crochet porte-charge est déterminée par rapport à l'environnement du crochet porte-charge des moyens de commande du crochet porte-charge pour piloter les mouvements de la grue en fonction de la position du crochet porte-charge déterminée par rapport à l'environnement du crochet porte-charge et/ou des moyens de commande anticollision pour arrêter ou modifier les mouvements de la grue en fonction de la position du crochet porte-charge déterminée par rapport à l'environnement du crochet porte-charge étant prévus.
EP13810895.6A 2012-12-17 2013-12-16 Grue pivotante sur pylône Active EP2931649B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18163759.6A EP3354616B1 (fr) 2012-12-17 2013-12-16 Grue à tour pivotante

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 (fr) 2012-12-17 2013-12-16 Grue pivotante sur pylône

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP18163759.6A Division EP3354616B1 (fr) 2012-12-17 2013-12-16 Grue à tour pivotante
EP18163759.6A Division-Into EP3354616B1 (fr) 2012-12-17 2013-12-16 Grue à tour pivotante

Publications (2)

Publication Number Publication Date
EP2931649A1 EP2931649A1 (fr) 2015-10-21
EP2931649B1 true EP2931649B1 (fr) 2018-05-16

Family

ID=49816899

Family Applications (2)

Application Number Title Priority Date Filing Date
EP13810895.6A Active EP2931649B1 (fr) 2012-12-17 2013-12-16 Grue pivotante sur pylône
EP18163759.6A Active EP3354616B1 (fr) 2012-12-17 2013-12-16 Grue à tour pivotante

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP18163759.6A Active EP3354616B1 (fr) 2012-12-17 2013-12-16 Grue à tour pivotante

Country Status (8)

Country Link
US (1) US9738493B2 (fr)
EP (2) EP2931649B1 (fr)
CN (1) CN104854017B (fr)
DE (1) DE202012012116U1 (fr)
ES (2) ES2732760T3 (fr)
RU (1) RU2623287C2 (fr)
TR (1) TR201908731T4 (fr)
WO (1) WO2014095028A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202019102393U1 (de) 2019-03-08 2020-06-09 Liebherr-Werk Biberach Gmbh Kran sowie Vorrichtung zu dessen Steuerung
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

Families Citing this family (37)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
JP7180966B2 (ja) 2016-01-29 2022-11-30 マニタウォック クレイン カンパニーズ， エルエルシー 視覚的アウトリガー監視システム
DE102016001684A1 (de) * 2016-02-12 2017-08-17 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung wenigstens eines Krans
DE102016004350A1 (de) * 2016-04-11 2017-10-12 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen 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
US10829347B2 (en) * 2016-11-22 2020-11-10 Manitowoc Crane Companies, Llc Optical detection system for lift crane
GB2562122B (en) * 2017-05-05 2022-10-19 Bamford Excavators Ltd Training machine
GB2562121B (en) * 2017-05-05 2022-10-12 Bamford Excavators Ltd Working machine
WO2018203089A1 (fr) * 2017-05-05 2018-11-08 J.C. Bamford Excavators Ltd Machine d'apprentissage
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
US20210206605A1 (en) * 2018-05-30 2021-07-08 Syracuse Ltd. System and method for transporting a swaying hoisted load
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
US20200140239A1 (en) * 2018-11-07 2020-05-07 Manitowoc Crane Companies, Llc System for determining crane status using optical and/or electromagnetic sensors
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
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
US20220324679A1 (en) 2021-04-12 2022-10-13 Structural Services, Inc. Systems and methods for assisting a crane operator
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
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
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
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
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
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
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

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE502609C2 (sv) 1990-03-28 1995-11-20 Asea Brown Boveri Förflyttning av gods med containerkranar
JPH08324963A (ja) * 1995-05-29 1996-12-10 Nippon Steel Corp クレーンの自動運転方法及び装置
CN2273306Y (zh) * 1995-08-04 1998-01-28 上海海通港口工索具公司 起重机安全操作监示器
JPH09142773A (ja) 1995-11-20 1997-06-03 Kajima Corp クレーンフック自動追尾システム
DE19725315C2 (de) 1997-06-09 2001-03-22 Mannesmann Ag Kran, insbesondere Hüttenwerkskran
US6351720B1 (en) * 1997-10-24 2002-02-26 Mitsubishi Heavy Industries, Ltd. Trolley camera position detecting apparatus
JPH11349279A (ja) * 1998-06-10 1999-12-21 Shinko Electric Co Ltd 吊下部位置検出装置
DE19836103A1 (de) * 1998-08-10 2000-02-24 Siemens Ag Vorrichtung und Verfahren zur zweidimensionalen Bestimmung von Lastpendelungen und/oder -rotationen an einem Kran
KR100390525B1 (ko) * 2001-02-16 2003-07-10 김종선 타워 크레인의 무선 영상감시장치
US7181312B2 (en) * 2002-04-09 2007-02-20 Paceco Corp. Method and apparatus for quay container crane-based automated optical container code recognition with positional identification
DE10245889B4 (de) * 2002-09-30 2008-07-31 Siemens Ag Verfahren und/oder Einrichtung zur Bestimmung einer Pendelung einer Last eines Hebezeuges
DE10245970B4 (de) * 2002-09-30 2008-08-21 Siemens Ag Verfahren bzw. Vorrichtung zur Erkennung einer Last eines Hebezeuges
ES1056945Y (es) 2004-02-26 2004-09-16 Promociones Y Construcciones O Grua para manipulacion de cargas.
US7656459B2 (en) * 2006-04-20 2010-02-02 Pacific Systems Solution Llc Crane hook and trolley camera system
CN101428741B (zh) * 2008-12-18 2011-04-20 何淑娟 一种判断吊钩位置的方法
CN101428740A (zh) * 2008-12-18 2009-05-13 何淑娟 一种小车起重作业用防偏拉的方法
CN201605104U (zh) * 2009-11-06 2010-10-13 苏星 塔吊智能化操作装置
US8618949B2 (en) * 2010-02-01 2013-12-31 Trimble Navigation Limited Lifting device efficient load delivery, load monitoring, collision avoidance, and load hazard avoidance
US8909467B2 (en) * 2010-06-07 2014-12-09 Industry-Academic Cooperation Foundation, Yonsei University Tower crane navigation system
CN101955130B (zh) 2010-09-08 2012-03-07 西安理工大学 具有自动跟踪变倍功能的塔机视频监控系统及监控方法
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

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202019102393U1 (de) 2019-03-08 2020-06-09 Liebherr-Werk Biberach Gmbh Kran sowie Vorrichtung zu dessen Steuerung
WO2020182592A1 (fr) 2019-03-08 2020-09-17 Liebherr-Werk Biberach Gmbh Grue et procédé pour en assurer la commande
DE102021130785A1 (de) 2021-11-24 2023-05-25 Liebherr-Werk Biberach Gmbh Kran
WO2023094516A1 (fr) 2021-11-24 2023-06-01 Liebherr-Werk Biberach Gmbh Grue
DE102022103283A1 (de) 2022-02-11 2023-08-17 Liebherr-Werk Biberach Gmbh Kran
WO2023151967A1 (fr) 2022-02-11 2023-08-17 Liebherr-Werk Biberach Gmbh Grue

Also Published As

Publication number Publication date
RU2015129017A (ru) 2017-01-23
TR201908731T4 (tr) 2019-07-22
CN104854017B (zh) 2018-01-23
EP2931649A1 (fr) 2015-10-21
EP3354616B1 (fr) 2019-04-03
ES2732760T3 (es) 2019-11-25
DE202012012116U1 (de) 2014-03-19
CN104854017A (zh) 2015-08-19
US9738493B2 (en) 2017-08-22
RU2623287C2 (ru) 2017-06-23
ES2683294T3 (es) 2018-09-26
EP3354616A1 (fr) 2018-08-01
US20150329333A1 (en) 2015-11-19
WO2014095028A1 (fr) 2014-06-26

Similar Documents

Publication Publication Date Title
EP2931649B1 (fr) Grue pivotante sur pylône
DE10251910B4 (de) Containerkran
EP3000762B1 (fr) Procédé de détermination optique, automatique d'une position cible pour un palonnier de conteneur
DE10164346B4 (de) Straßenüberwachungsverfahren für ein Fahrzeug und System dafür
DE102016121864A1 (de) Unterscheiden von Fahrspurmarkierungen, denen ein Fahrzeug folgen soll
WO2004031068A1 (fr) Procede et / ou dispositif permettant de determiner l'oscillation de la charge d'un appareil de levage, l'axe se trouvant dans le sens de levage
DE102016004250A1 (de) Verfahren und Vorrichtung zum Steuern eines Krans, eines Baggers, einer Raupe oder einer ähnlichen Baumaschine
WO2014166580A1 (fr) Grue télécommandée
DE3816988A1 (de) Containerkrananlage
DE202019102393U1 (de) Kran sowie Vorrichtung zu dessen Steuerung
EP3750842B1 (fr) Chargement d'une charge à l'aide d'un système de grue
EP3411321B1 (fr) Procédé pour surveiller au moins une grue
EP2193334A1 (fr) Procédé de calibrage d'un dispositif de détection et dispositif de détection
DE4423797A1 (de) Vorrichtung zum zielgenauen Positionieren und Stapeln von Behältern
DE4429016A1 (de) Navigation für fahrerlose Fahrzeuge
DE102017112765A1 (de) Verfahren und Vorrichtung zum Heben einer Last
DE102013012019A1 (de) Kran, insbesondere Mobilkran
CN111879308A (zh) 一种基于位姿感知技术的智能塔机安全监控系统及实现方法
DE19916999A1 (de) Verfahren zur Bestimmung der Lage eines Fahrzeuges
WO2023151967A1 (fr) Grue
EP0907604A1 (fr) Procede et systeme pour eviter les oscillations en charge d'un appareil depla ant une charge suspendue et executant des mouvements rotatifs
DE10202399A1 (de) Einrichtung und Verfahren zur Positionierung von Transportfahrzeugen
EP3844947A1 (fr) Procédé et ensemble de génération d'une représentation de l'environnement d'un véhicule et véhicule pourvu d'un tel ensemble
DE102020116443B4 (de) Transportsystem zum Befördern einer Lastvorrichtung, Verfahren zum Steuern eines Transportsystems und Luftfahrzeug mit einem Transportsystem
EP3746739A1 (fr) Procédé et dispositif d'identification d'équipement dans des installations industrielles métallurgiques

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20150424

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAX Request for extension of the european patent (deleted)
REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Ref document number: 502013010171

Country of ref document: DE

Free format text: PREVIOUS MAIN CLASS: B66C0013460000

Ipc: B66C0013160000

RIC1 Information provided on ipc code assigned before grant

Ipc: B66C 13/18 20060101ALI20171026BHEP

Ipc: B66C 13/16 20060101AFI20171026BHEP

Ipc: B66C 13/46 20060101ALI20171026BHEP

Ipc: B66C 23/02 20060101ALI20171026BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20171206

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502013010171

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 999352

Country of ref document: AT

Kind code of ref document: T

Effective date: 20180615

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2683294

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20180926

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180816

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180816

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180817

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502013010171

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20190219

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20181216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181216

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20181231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181231

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20181216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20131216

Ref country code: MK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180516

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180516

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20180916

REG Reference to a national code

Ref country code: CH

Ref legal event code: PFA

Owner name: LIEBHERR-COMPONENTS BIBERACH GMBH, DE

Free format text: FORMER OWNER: LIEBHERR-COMPONENTS BIBERACH GMBH, DE

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20211214

Year of fee payment: 9

REG Reference to a national code

Ref country code: NL

Ref legal event code: PD

Owner name: LIEBHERR-WERK BIBERACH GMBH; DE

Free format text: DETAILS ASSIGNMENT: CHANGE OF OWNER(S), ASSIGNMENT; FORMER OWNER NAME: LIEBHERR-COMPONENTS BIBERACH GMBH

Effective date: 20220718

REG Reference to a national code

Ref country code: ES

Ref legal event code: PC2A

Owner name: LIEBHERR-WERK BIBERACH GMBH

Effective date: 20220921

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502013010171

Country of ref document: DE

Owner name: LIEBHERR-WERK BIBERACH GMBH, DE

Free format text: FORMER OWNER: LIEBHERR-COMPONENTS BIBERACH GMBH, 88400 BIBERACH, DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: PC

Ref document number: 999352

Country of ref document: AT

Kind code of ref document: T

Owner name: LIEBHERR-WERK BIBERACH GMBH, DE

Effective date: 20221018

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20230102

Year of fee payment: 10

Ref country code: CH

Payment date: 20221229

Year of fee payment: 10

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230630

P02 Opt-out of the competence of the unified patent court (upc) changed

Effective date: 20230906

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20231220

Year of fee payment: 11

Ref country code: IT

Payment date: 20231227

Year of fee payment: 11

Ref country code: FR

Payment date: 20231220

Year of fee payment: 11

Ref country code: AT

Payment date: 20231219

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240102

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20231221

Year of fee payment: 11

Ref country code: CH

Payment date: 20240102

Year of fee payment: 11