EP3354616B1 - Turmdrehkran - Google Patents

Turmdrehkran Download PDF

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Publication number
EP3354616B1
EP3354616B1 EP18163759.6A EP18163759A EP3354616B1 EP 3354616 B1 EP3354616 B1 EP 3354616B1 EP 18163759 A EP18163759 A EP 18163759A EP 3354616 B1 EP3354616 B1 EP 3354616B1
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EP
European Patent Office
Prior art keywords
load hook
image
camera
trolley
load
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
EP18163759.6A
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German (de)
English (en)
French (fr)
Other versions
EP3354616A1 (de
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
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Liebherr Components Biberach GmbH
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Publication of EP3354616A1 publication Critical patent/EP3354616A1/de
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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 show the fonts WO 91/14644 A1 . US 2007/235404 A1 . CN 101 428741 A1 . EP 0 979 796 A1 and US 6351720 B1 ,
  • 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.
  • 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, which avoids the disadvantages of the prior art and further develops the latter 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 position of the load hook in the camera image is determined by an image evaluation unit. From the position of the load hook in the camera image and the trolley position, evaluation means then determine the actual load hook position.
  • 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.
  • the position of the load hook in the camera image or the position deviation of the load hook from the center of the camera image is a measure of 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 Trolley can be determined by taking into account the respective sink depth of the load hook, ie the distance of the load hook from the trolley and an optionally adjusted zoom factor of the camera.
  • 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.
  • the distance of the load hook from the trolley can be determined in various ways.
  • the sink depth of the load hook from the unwound Hubseilin can be determined that even with not exactly straight Hubseilverlauf a sufficiently accurate measure of the distance of the load hook of the Trolley or the camera mounted therein, in order from said distance of the load hook from the trolley and the image determined in the camera image position of the load hook or the offset of the load hook from the image center, the actual relative position or the actual horizontal offset of the load hook relative to the trolley to determine.
  • 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.
  • 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 attached attachment can be determined.
  • known 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 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 first determine the image position of the load hook in the camera image 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 according to the optical axis of the camera can be inverse to the Z axis of the absolute system. position information in this relative coordinate system, which can move by trolley movements, are then converted by the position determining means taking into account the trolley position in position information in the aforementioned 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.
  • a marker here, 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 may be provided, wherein the marking advantageously may be composed of mutually contrasting patches, for example, a white circle with a black dot in its center, and / or strong, from the usual ambient colors may have different colors, such as light-colored dots, to simplify the identification of the marker in the camera image.
  • a camera control unit can in particular, set the zoom factor of the camera as a function of the sink depth of the load hook, where the lowering depth determined from the hoist rope length can be used, for example, for pre-setting the zoom factor and / or adjusting or readjusting the zoom factor after distance determination by pixel counting and / or determination the image display size can be done as previously explained.
  • 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 area proportion makes up the image representation of the marking or the load hook 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 number of pixels is insufficient 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 may also have a range to be evaluated within the camera image provided by the camera to keep the amount of data to be evaluated as small as possible.
  • 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 section 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 or the corresponding image contour pattern representing the marking or the load hook represents a predetermined area fraction of the respective image section, for example representing 20% of the area of the image section used for the evaluation ,
  • 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 tower longitudinal axis 4 and at least approximately occupy horizontal position.
  • a trolley 5 is movably suspended on said boom 3, so that the trolley 5 can be moved substantially over the entire length of the boom 3 in order to be able to vary the overhang of the load hook 7.
  • 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 the 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 include a central computer 24, for example in the form of an industrial PC with image processing system, which may be connected via a video server 25 to 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 image processing system, which may be connected via a video server 25 to 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 forth, the control signals here also via 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. Alternatively or additionally, the image section to be analyzed at most substantially equal 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 the separate measurement of the actual sink depth over the Pixel size of the mark 14 in the camera image, a redundancy to 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 hoist rope 6 in the camera image is determined, as is 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 load 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 spectral analysis can be advantageously optimized by the use of special lacquers for the marking 14, for example by the use of lacquers or other surface coatings which have only low reflective properties in the near infrared range.
  • a known Landsat algorithm can be used.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Warehouses Or Storage Devices (AREA)
EP18163759.6A 2012-12-17 2013-12-16 Turmdrehkran Active EP3354616B1 (de)

Applications Claiming Priority (3)

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
EP13810895.6A EP2931649B1 (de) 2012-12-17 2013-12-16 Turmdrehkran

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP13810895.6A Division-Into EP2931649B1 (de) 2012-12-17 2013-12-16 Turmdrehkran
EP13810895.6A Division EP2931649B1 (de) 2012-12-17 2013-12-16 Turmdrehkran

Publications (2)

Publication Number Publication Date
EP3354616A1 EP3354616A1 (de) 2018-08-01
EP3354616B1 true EP3354616B1 (de) 2019-04-03

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EP13810895.6A Active EP2931649B1 (de) 2012-12-17 2013-12-16 Turmdrehkran

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Country Status (8)

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US (1) US9738493B2 (zh)
EP (2) EP3354616B1 (zh)
CN (1) CN104854017B (zh)
DE (1) DE202012012116U1 (zh)
ES (2) ES2683294T3 (zh)
RU (1) RU2623287C2 (zh)
TR (1) TR201908731T4 (zh)
WO (1) WO2014095028A1 (zh)

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EP2931649B1 (de) 2018-05-16
RU2623287C2 (ru) 2017-06-23
ES2683294T3 (es) 2018-09-26
CN104854017A (zh) 2015-08-19
ES2732760T3 (es) 2019-11-25
EP3354616A1 (de) 2018-08-01
EP2931649A1 (de) 2015-10-21
US9738493B2 (en) 2017-08-22
RU2015129017A (ru) 2017-01-23
TR201908731T4 (tr) 2019-07-22
DE202012012116U1 (de) 2014-03-19
US20150329333A1 (en) 2015-11-19
WO2014095028A1 (de) 2014-06-26

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