EP3433200A1 - Load handling assembly - Google Patents

Load handling assembly

Info

Publication number
EP3433200A1
EP3433200A1 EP16895638.1A EP16895638A EP3433200A1 EP 3433200 A1 EP3433200 A1 EP 3433200A1 EP 16895638 A EP16895638 A EP 16895638A EP 3433200 A1 EP3433200 A1 EP 3433200A1
Authority
EP
European Patent Office
Prior art keywords
crane
camera
elevating device
load handling
handling assembly
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.)
Withdrawn
Application number
EP16895638.1A
Other languages
German (de)
French (fr)
Other versions
EP3433200A4 (en
Inventor
Hans LYNGBÄCK
Per Gustafsson
Tahir QURESHI
Toni Kymäläinen
Jacek Kowalski
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.)
Hiab AB
Original Assignee
Cargotec Patenter AB
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 Cargotec Patenter AB filed Critical Cargotec Patenter AB
Priority to EP23155940.2A priority Critical patent/EP4206113A1/en
Publication of EP3433200A1 publication Critical patent/EP3433200A1/en
Publication of EP3433200A4 publication Critical patent/EP3433200A4/en
Withdrawn legal-status Critical Current

Links

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
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/44—Jib-cranes adapted for attachment to standard vehicles, e.g. agricultural tractors
    • 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
    • B66C23/54—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 pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated

Definitions

  • the present invention relates to a load handling assembly according to the preamble of claim 1 and a load handling assembly according to the preamble of claim 14.
  • a video camera for capturing a real time image of a moveable support leg of a vehicle, wherein the real time image captured by the camera is shown on a display unit in order to enable an operator of the vehicle to view the support leg and an area around the support leg on the display unit during a movement of the support leg between a non-use position , in which the end of the support leg is lifted from the ground , and an operating position , in which the end of the support leg is in supporting contact with the ground .
  • Vehicles having such a camera system are for instance previously known from US 2015/0330146 A1 and EP 2 952 467 A1 .
  • the object of the present invention is to provide a new and favourable manner of implementing camera monitoring of a load handling assembly provided with a crane and support legs.
  • said object is achieved by means of a load handling assembly having the features defined in claim 1 .
  • the load handling assembly according to this first aspect of the invention comprises:
  • a crane which comprises a crane base and a crane boom system with one or more liftable and lowerable crane booms;
  • a support leg arrangement which comprises a base structure fixedly connected to the crane base and two support legs moveably mounted to the base structure,
  • a camera unit for capturing a real time image and a camera elevating device, wherein the camera unit is mounted to and carried by the camera elevating device and moveable in relation to the crane by means of the camera elevating device to thereby enable an adjustment of the position of the field of vision of the camera unit in relation to the crane and the support legs;
  • a display unit for displaying , to an operator of the load handling assembly, a real time image captured by the camera unit; and - an electron ic control device which is configured to control the movement of the camera elevating device in relation to the crane and thereby the movement of the field of vision of the camera unit.
  • the camera elevating device is automatically moveable under the control of the electronic control device into a predetermined first position , in which the field of vision of the camera un it covers an operating area of said support legs to thereby enable the operator to view a real time image of the support legs and an area around the support legs on the display un it during a movement of the su pport legs in relation to the crane base when the camera elevating device is in th is first position .
  • the camera elevating device is moveable under the control of the operator or automatically moveable under the control of the electronic control device into a second position , in which the field of vision of the camera unit covers an intended working area of the crane to thereby enable the operator to view a real time image of the intended working area on the display unit when the camera elevating device is in this second position .
  • the camera elevating device it will in a simple manner be possible to use one and the same camera unit for observing the operating area of the support legs during remote manoeuvring of the support legs and for observing the working area of the crane during remote manoeuvring of the crane.
  • the camera elevating device is configured to position the camera unit on the right side of the crane column or on the left side of the crane column in said second position at the choice of the operator.
  • the operator it will be possible for the operator to select a position for the camera unit in which the image of the working area of the crane captured by the camera un it is obstructed as little as possible by the crane column and the crane booms, which will offer the operator an advantage as compared for instance with a traditional loader crane without a camera viewing system where the crane operator is seated in a cabin or a top seat which is fixed to the crane on one side of the crane column or behind the crane column and where the crane booms and/or the crane column may obstruct the operator's view in some parts of the working area.
  • the camera unit is a stereoscopic camera un it for capturing a stereoscopic real time image
  • the display unit is configured to display a stereoscopic real time image captured by the camera unit.
  • the stereoscopic image will give the operator depth perception and improve the ability of the operator to accurately control the movements of the support legs when viewing the operating area of the support legs via the display un it in connection with remote manoeuvring of the support legs and to accurately control the movements of the crane when viewing the working area of the crane via the display unit in connection with remote manoeuvring of the crane.
  • the load handling assembly comprises a tilt sensor for generating measuring signals related to the tilt ang le of the crane base; and - that the load hand ling assembly comprises an image processor which is configured to superpose graphic or alphanumeric tilt ang le information on the real time image displayed on the display unit when the camera elevating device is in said first position , to thereby enable the operator to mon itor, via the display unit during an adjustment of the support legs, the tilt angle of the crane base as established based on measuring signals from the tilt sensor.
  • the load handling assembly according to this second aspect of the invention comprises:
  • a crane column which is rotatably mounted to the crane base so as to be rotatable in relation to the crane base about an essentially vertical axis of rotation
  • a crane boom system comprising two or more liftable and lowerable crane booms which are articulately connected to each other, includ ing at least a first crane boom which is articulately connected to the column and a second crane boom which is articu lately connected to the first crane boom;
  • a stereoscopic camera unit for capturing a real time stereoscopic image
  • a camera elevating device wherein the camera unit is mounted to and carried by the camera elevating device and moveable in relation to the loader crane by means of the camera elevating device;
  • a display unit for displaying , to an operator of the loader crane, a real time stereoscopic image captured by the camera unit.
  • the camera elevating device is moveable into a position in which the field of vision of the camera un it covers an intended working area of the loader crane to thereby enable the operator to view a real time stereoscopic image of the intended working area on the display unit when the camera unit is in th is position .
  • the stereoscopic image will give the operator depth perception and improve the ability of the operator to accurately control the movements of the loader crane when viewing the working area of the loader crane via the display un it in connection with remote manoeuvring of the crane.
  • FIG. 1 is a schematic lateral view of a crane, a support leg arrangement, a camera unit and a camera elevating device included in a load handling assembly accord ing to an embod iment of the present invention , as seen with the camera unit in a first position and the support legs of the support leg arrangement in a non-use position , is a schematic rear view of the components shown in Fig 1 , as seen with the camera unit in the first position and the support legs in a non-use position , is a schematic planar view from above of the components shown in Fig 1 , as seen with the camera unit in the first position and the support legs in a non- use position , Fig 4 is a schematic lateral view of the components shown in Fig 1 , as seen with the camera unit in a second position and the support legs in an operating position , Fig 5 is a schematic rear view of the components shown in Fig 1 , as seen with the camera unit
  • Fig 6 is a schematic planar view from above of the components shown in Fig 1 , as seen with the camera unit in the second position and the support legs in the operating position ,
  • Figs 7a and 7b are schematic illustrations of a camera elevating device according to a first variant, as seen in two different positions
  • Fig 8 is a schematic illustration of a camera elevating device according to a second variant.
  • Nftable and lowerable crane boom refers to a crane boom which can be pivoted in a vertical plane so as to thereby perform liftings and lowerings of a load carried by the crane.
  • Fig 1 shows a part of a load handling assembly 1 accord ing to an embodiment of the present invention .
  • the load handling assembly 1 comprises a crane 10 and a support leg arrangement 20.
  • the crane 10 is a hydraulic loader crane and comprises:
  • a crane column 12 which is rotatably mounted to the crane base 1 1 so as to be rotatable in relation to the crane base about an essentially vertical axis of rotation A1 ;
  • a liftable and lowerable first crane boom 13 which is articulately connected to the crane column 12 in such a manner that it is pivotable in relation to the crane column about an essentially horizontal axis of rotation A2;
  • the crane boom system 1 7 of the crane 1 0 is formed by the first crane boom 13 and the second crane boom 15 and the associated hydraulic cylinders 14, 16.
  • the crane boom system 1 7 of the crane 1 0 may as an alternative include only one liftable and lowerable crane boom or more than two liftable and lowerable crane booms articu lately connected to each other.
  • One or more of the crane booms of the crane boom system 1 7 may be telescopically extensible, for instance by means of one or more hydraulic cylinders, in order to enable an adjustment of the extension length thereof.
  • a rotator 18 is articulately connected to a load suspension point P at the outer end of the second crane boom 15, which rotator in its turn carries a load handling tool 19.
  • the load handling tool 19 is a hydraulic gripping tool in the form of a so-called grapple provided with pivotable gripping members 19a, 19b for gripping a load .
  • the crane 10 included in a load handling assembly of the present invention may also be provided with another type of load handling tool, such as for instance a lifting hook.
  • the support leg arrangement 20 comprises a base structure 21 fixedly connected to the crane base 1 1 and at least two su pport legs 22 moveably mounted to the base structure 21 .
  • the support leg arrangement 20 comprises two support legs 22 mounted to the base structure 21 on opposite sides thereof, wherein each support leg 22 is moveable in a horizontal direction in relation to the crane base 1 1 , for instance by means of a hydraulic cylinder or any other suitable type of linear actuator, between a retracted position (see Figs 2 and 3) and an advanced position (see Figs 5 and 6) .
  • each support leg 22 is telescopically extensible in a vertical direction , for instance by means of a hydraulic cylinder or any other suitable type of linear actuator.
  • a foot plate 23 is provided at the outer end of each support leg 22 , wherein this foot plate 23 is moveable, by an extension of the support leg , from a non-use position (see Figs 1 and 2), in which the foot plate 23 is lifted from the ground 2, to an operating position (see Figs 4 and 5), in which the foot plate 23 is in supporting contact with the ground 2.
  • each support leg 22 cou ld be pivotally mounted to the base structure 21 of the support leg arrangement 20 so as to be pivotable by means of an actuator, for instance in the form of a hydraulic cylinder, between a non-use position and an operating position .
  • the load handling assembly 1 comprises a manoeuvring unit 30 (very schematically illustrated in Fig 3) with one or more maneuvering members configured to be manoeuvrable by an operator in order to control the movement of the crane booms 13, 15 and the movement of the support legs 22.
  • the manoeuvring unit 30 may for instance consist of a joystick, but any other suitable type of manoeuvring unit 30 may also be used .
  • Control signals are transmitted via cable or a wireless connection from the manoeuvring unit 30 to an electronic control device 3 (very schematically illustrated in Fig 3) , which in its turn controls the hydraulic cylinders and the other actuators of the crane 10 and the support leg arrangement 20 in a conventional manner.
  • At least two different operating modes are provided for the manoeuvring unit 30 and the electronic control device 3.
  • the manoeuvring unit 30 and the electron ic control device 3 are configured to control the actuators of the support leg arrangement 20 to thereby control the movement of the support legs 22.
  • the manoeuvring unit 30 and the electron ic control device 3 are configured to control the actuators of the crane 10 to thereby control the movement of the crane booms 13, 15 and the load handling tool 19.
  • the load handling assembly 1 comprises switching means 31 by means of which the operator may switch from the first operating mode to the second operating mode.
  • the switching means may for instance have the form of a maneuvering member 31 on the manoeuvring unit 30 or a menu- guided interface with a function which can be selected by the operator in order to select the desired operating mode.
  • the electron ic control device 3 may be configured to control the crane boom movements on the basis of the control signals from the manoeuvring unit 30 and a calculation model for boom tip control.
  • the calcu lation model may for instance be stored as an algorithm in a memory of the electronic control device 3.
  • a first maneuvering member of the manoeuvring unit 30 may be used for controlling the rotation of the crane column 12 in relation to the crane base 1 1 about the vertical axis of rotation A1
  • a second maneuvering member of the manoeuvring unit 30 may be used for controlling the first hydraulic cylinder 14
  • a third maneuvering member of the manoeuvring unit 30 may be used for controlling the second hydraulic cylinder 16.
  • the load handling assembly 1 further comprises a camera un it 40 with one or more video cameras 41 a, 41 b for capturing a real time image, and a camera elevating device 50, wherein the camera unit 40 is mounted to and carried by the camera elevating device 50 and moveable in relation to the crane 10 by means of the camera elevating device 50 to thereby enable an adjustment of the position of the field of vision of the camera unit 40 in relation to the crane 10 and the support legs 22.
  • the field of vision of the camera un it 40 is illustrated by the broken lines 42 in Figs 1 , 3, 4 and 6.
  • the load handling assembly 1 also comprises a display unit 4 (very schematically illustrated in Fig 3) for displaying , to the operator of the load handling assembly, a real time image captured by the camera unit 40.
  • the display unit 4 may be a head mounted display in the form of goggles with one single display screen or with a first display screen 5a for the right eye of the operator and a second display screen 5b for the left eye of the operator.
  • any other suitable type of display un it may also be used , such as for instance a display unit with a display screen mounted in the driver's cabin of a veh icle which carries the crane 10 and the support leg arrangement 20.
  • the camera unit 40 may be connected to an image processor 6 (very schematically illustrated in Fig 3), wherein th is image processor 6 is configured to receive image signals from the video cameras 41 a, 41 b of the camera un it 40 and to produce, based on these image signals, a real time image for display on the display un it 4.
  • the electron ic control device 3 is configured to control the movement of the camera elevating device 50 in relation to the crane 10 and thereby the movement and the positioning of the field of vision of the camera un it 40.
  • the camera elevating device 50 When so ordered by the operator, the camera elevating device 50 is automatically moveable under the control of the electronic control device 3 into a predetermined first position (see Figs 1 -3), in which the field of vision of the camera unit 40 covers an operating area of said support legs 22 to thereby enable the operator to view a real time image of the support legs 22 and an area around the support legs on the display unit 4 during a movement of the support legs in relation to the crane base 1 1 when the camera elevating device 50 is in this first position .
  • the operator may order a movement of the camera elevating device 50 to said first position by means of a maneuvering member 32 on the manoeuvring unit 30 or by selecting a function on a menu- guided interface.
  • the operator may control the movement of the support legs 22 remotely via the manoeuvring unit 30 while simu ltaneously viewing the support legs 22 and an area around the support legs on the display unit 4.
  • the camera elevating device 50 is moveable into a second position , in which the field of vision of the camera unit 40 covers an intended working area of the crane 10 to thereby enable the operator to view a real time image of the intended working area on the display unit 4 when the camera elevating device 50 is in this second position .
  • the operator may control the movement of the crane booms 13, 15 and the load handling tool 19 remotely via the manoeuvring un it 30 while simu ltaneously viewing the working area of the crane 10 on the display unit 4.
  • the camera elevating device 50 may be moveable into the second position under the control of the operator via the manoeuvring unit 30.
  • a third operating mode is provided for the manoeuvring unit 30 and the electronic control device 3.
  • the manoeuvring unit 30 is configured to control actuators of the camera elevating device 50 via the electron ic control unit 3 to thereby control the movement of the camera elevating device 50.
  • the operator may select this th ird operating mode by means of the above- mentioned switching means 31 .
  • the camera elevating device 50 may be automatically moveable into the second position under the control of the electronic control device 3 when so ordered by the operator by means of a maneuvering member on the manoeuvring unit 30 or by selecting a function on a menu-guided interface.
  • the camera unit 40 is a stereoscopic camera unit for capturing a stereoscopic real time image
  • the display unit 4 is configured to display a stereoscopic real time image captured by the camera unit 40.
  • the stereoscopic camera unit 40 comprises a first video camera 41 a (see Figs 3 and 6-8) for capturing a real time image intended to be displayed to the right eye of the operator and a second video camera 41 b for capturing a real time image intended to be displayed to the left eye of the operator.
  • the display unit 4 is with advantage a head mounted display in the form of goggles with a first display screen 5a for displaying a real time image captured by the first video camera 41 a to the right eye of the operator and a second display screen 5b for d isplaying a real time image captured by the second video camera 41 b to for the left eye of the operator.
  • the camera elevating device 50 comprises a base part 51 , which in the embod iment illustrated in Figs 1 -6 is secured to the crane column 12 to thereby allow the camera elevating device 50 to be rotatable together with the crane column 12 in relation to the crane base 1 1 about the above-mentioned vertical axis of rotation A1 .
  • the camera elevating device 50 is carried by the crane column 12 and will move together with the crane column when the crane column is rotated in relation to the crane base 1 1 about the vertical axis of rotation A1 .
  • the base part 51 of the camera elevating device 50 may be rotatably connected to the crane column 12 so as also allow the camera elevating device 50 to be rotated by means of an actuator in relation to the crane column 12 about another essentially vertical axis of rotation A4 (see Fig 1 ) .
  • the camera elevating device 50 is preferably configured to be capable of position ing the camera unit 40 on the right side of the crane column 12 or on the left side of the crane column 12 , at the choice of the operator, in the above-mentioned second position .
  • the operator controls the movement of the camera elevating device 50 via the manoeuvring unit 30 in order to position the camera unit 40 on the desired side of the crane column 12 when the camera unit is moved into a position for capturing a real image of the intended working area of the crane.
  • the operator may order the electronic control device 3 to automatically move the camera elevating device 50 into a predetermined second position in which the camera unit 40 is positioned on the right side of the crane column 12 or into another predetermined second position in which the camera unit 40 is positioned on the left side of the crane column 12.
  • the operator may select the desired predetermined second position by means of a maneuvering member on the manoeuvring unit 30 or by selecting a function on a menu- guided interface.
  • the base part 51 of the camera elevating device 50 has the form of a vertical column , which is telescopically extensible by means of a hydraulic cylinder (not shown) or any other suitable type of linear actuator so as to allow a movement of the camera unit 40 in a vertical direction .
  • the camera elevating device 50 further comprises a carrier arm 52, which is mounted to the base part 51 at an upper end thereof, wherein the camera unit 40 is mounted to the carrier arm 52 at an outer end thereof.
  • the carrier arm 52 is with advantage telescopically extensible (see Figs 7a, 7b and 8) by means of a hydraulic cylinder (not shown) or any other suitable type of linear actuator so as to allow a movement of the camera unit 40 in a horizontal direction .
  • the carrier arm 52 may be fixed to the base part 51 so as to extend from the base part in a horizontal direction , as illustrated in Figs 7a and 7b.
  • the carrier arm 52 may be articulately connected to the base part 51 in such a manner that it is pivotable in relation to the base part about an essentially horizontal axis of rotation A5, as illustrated in Fig 8.
  • the carrier arm 52 may be pivoted in relation to the base part 51 by means of a hydraulic cylinder 53 or any other suitable type of actuator.
  • the camera un it 40 is preferably rotatably connected to the carrier arm 52 so as to allow the camera unit 40 to be rotated in relation to the carrier arm 52 by means of an actuator (not shown) about an essentially vertical axis of rotation A6, as illustrated in Figs 7a, 7b and 8.
  • the camera unit 40 may also be tiltably connected to the carrier arm 52 so as to allow the camera unit 40 to be tilted in relation to the carrier arm 52 by means of an actuator (not shown) about an essentially horizontal tilt axis A7.
  • the camera elevating device 50 is with advantage configured to be automatically moveable under the control of the electronic control device 3 into a third position , which represents a resting position to be assumed by the camera elevating device 50 during transport of the load handling assembly 1 , when so ordered by the operator by means of a maneuvering member on the manoeuvring unit 30 or by selecting a function on a menu- guided interface.
  • the camera unit 40 may be configured to be moved into a protective housing 54 (very schematically illustrated in Fig 8) when the camera elevating device 50 is moved into this third position .
  • the design of the camera elevating device 50 is not limited to the embod iments illustrated in the drawings and described above. On the contrary, the camera elevating device 50 may of course have any other suitable design as long as it is capable of moving the camera unit 40 between the above-mentioned positions.
  • the load handling assembly 1 may with advantage comprises a tilt sensor 7 (very schematically illustrated in Fig 3) for generating measuring signals related to the tilt ang le of the crane base 1 1 , wherein the image processor 6 is configured to superpose graphic or alphanumeric tilt ang le information on the real time image displayed on the display un it 4 when the camera elevating device 50 is in said first position , to thereby enable the operator to mon itor, via the display un it 4 during an adjustment of the support legs 22 , the tilt angle of the crane base 1 1 as established based on measuring signals from the tilt sensor 7.
  • the tilt sensor 7 may be mounted to the crane base 1 1 or to the base structure 21 of the support leg arrangement 20.
  • the tilt sensor 7 may be mounted the vehicle chassis.
  • the crane 10 is a hydraulic loader crane in the form of a forestry crane which is mounted to the chassis 8 of a vehicle 9.
  • the rear end of the vehicle 9 and the rear end of its chassis 8 are very schematically illustrated in Figs 1 and 4.
  • the vehicle 9 and its chassis 8 have been omitted in Figs 2, 3, 5 and 6.
  • a load handling assembly 1 according to the present invention cou ld also comprise a hydraulic loader crane in the form of lorry crane mounted to the chassis of a lorry.
  • the electron ic control device 3 may be implemented by one sing le electronic control unit, as illustrated in Fig 3. However, the electronic control device 3 could as an alternative be implemented by two or more mutually co-operating electron ic control un its.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

A load handling assembly comprising: - a crane (10); - a support legs (22); - a camera unit (40) for capturing a real time image; - a camera elevating device (50) which carries the camera unit, wherein the camera unit is moveable in relation to the crane by means of the camera elevating device; and - a display unit (4) for displaying a real time image captured by the camera unit. The camera elevating device (50) is automatically moveable under the control of an electronic control device (3) into a predetermined first position, in which the field of vision of the camera unit covers an operating area of said support legs (22). The camera elevating device (50) is also moveable into a second position, in which the field of vision of the camera unit covers an intended working area of the crane.

Description

Load handling assem bly FI ELD OF THE I NVENTION AN D PRI OR ART
The present invention relates to a load handling assembly according to the preamble of claim 1 and a load handling assembly according to the preamble of claim 14.
It is previously known to use a video camera for capturing a real time image of a moveable support leg of a vehicle, wherein the real time image captured by the camera is shown on a display unit in order to enable an operator of the vehicle to view the support leg and an area around the support leg on the display unit during a movement of the support leg between a non-use position , in which the end of the support leg is lifted from the ground , and an operating position , in which the end of the support leg is in supporting contact with the ground . Vehicles having such a camera system are for instance previously known from US 2015/0330146 A1 and EP 2 952 467 A1 .
It is also previously known , for instance from WO 2015/133907 A1 , to use a camera mounted to a crane boom of a crane in order to capture a real time image of a working area of the crane and allow an operator of the crane to view a real time image of the working area on a display unit connected to the camera. OBJ ECT OF TH E I NVENTI ON
The object of the present invention is to provide a new and favourable manner of implementing camera monitoring of a load handling assembly provided with a crane and support legs.
SUM MARY OF TH E I NVENTI ON
According to a first aspect of the present invention , said object is achieved by means of a load handling assembly having the features defined in claim 1 .
The load handling assembly according to this first aspect of the invention comprises:
- a crane, which comprises a crane base and a crane boom system with one or more liftable and lowerable crane booms;
- a support leg arrangement, which comprises a base structure fixedly connected to the crane base and two support legs moveably mounted to the base structure,
- a camera unit for capturing a real time image and a camera elevating device, wherein the camera unit is mounted to and carried by the camera elevating device and moveable in relation to the crane by means of the camera elevating device to thereby enable an adjustment of the position of the field of vision of the camera unit in relation to the crane and the support legs;
- a display unit for displaying , to an operator of the load handling assembly, a real time image captured by the camera unit; and - an electron ic control device which is configured to control the movement of the camera elevating device in relation to the crane and thereby the movement of the field of vision of the camera unit.
The camera elevating device is automatically moveable under the control of the electronic control device into a predetermined first position , in which the field of vision of the camera un it covers an operating area of said support legs to thereby enable the operator to view a real time image of the support legs and an area around the support legs on the display un it during a movement of the su pport legs in relation to the crane base when the camera elevating device is in th is first position . Furthermore, the camera elevating device is moveable under the control of the operator or automatically moveable under the control of the electronic control device into a second position , in which the field of vision of the camera unit covers an intended working area of the crane to thereby enable the operator to view a real time image of the intended working area on the display unit when the camera elevating device is in this second position . Hereby, it will in a simple manner be possible to use one and the same camera unit for observing the operating area of the support legs during remote manoeuvring of the support legs and for observing the working area of the crane during remote manoeuvring of the crane.
According to an embod iment of the invention , the camera elevating device is configured to position the camera unit on the right side of the crane column or on the left side of the crane column in said second position at the choice of the operator. Hereby, it will be possible for the operator to select a position for the camera unit in which the image of the working area of the crane captured by the camera un it is obstructed as little as possible by the crane column and the crane booms, which will offer the operator an advantage as compared for instance with a traditional loader crane without a camera viewing system where the crane operator is seated in a cabin or a top seat which is fixed to the crane on one side of the crane column or behind the crane column and where the crane booms and/or the crane column may obstruct the operator's view in some parts of the working area.
According to another embodiment of the invention , the camera unit is a stereoscopic camera un it for capturing a stereoscopic real time image, wherein the display unit is configured to display a stereoscopic real time image captured by the camera unit. The stereoscopic image will give the operator depth perception and improve the ability of the operator to accurately control the movements of the support legs when viewing the operating area of the support legs via the display un it in connection with remote manoeuvring of the support legs and to accurately control the movements of the crane when viewing the working area of the crane via the display unit in connection with remote manoeuvring of the crane.
Another embod iment of the invention is characterized in :
- that the load handling assembly comprises a tilt sensor for generating measuring signals related to the tilt ang le of the crane base; and - that the load hand ling assembly comprises an image processor which is configured to superpose graphic or alphanumeric tilt ang le information on the real time image displayed on the display unit when the camera elevating device is in said first position , to thereby enable the operator to mon itor, via the display unit during an adjustment of the support legs, the tilt angle of the crane base as established based on measuring signals from the tilt sensor.
Hereby, it will be possible for the operator to control the movements of the support legs in order to position the crane base in an accurate horizontal orientation when viewing the operating area of the support legs via the display unit.
Further advantages as well as advantageous features of the load handling assembly accord ing to the first aspect of the invention will appear from the following description and the dependent claims.
According to a second aspect of the present invention , the above-mentioned object is achieved by means of a load handling assembly having the features defined in claim 14.
The load handling assembly according to this second aspect of the invention comprises:
- a hydraulic loader crane with :
• a crane base;
• a crane column which is rotatably mounted to the crane base so as to be rotatable in relation to the crane base about an essentially vertical axis of rotation ; and • a crane boom system comprising two or more liftable and lowerable crane booms which are articulately connected to each other, includ ing at least a first crane boom which is articulately connected to the column and a second crane boom which is articu lately connected to the first crane boom;
- a stereoscopic camera unit for capturing a real time stereoscopic image;
- a camera elevating device, wherein the camera unit is mounted to and carried by the camera elevating device and moveable in relation to the loader crane by means of the camera elevating device; and
- a display unit for displaying , to an operator of the loader crane, a real time stereoscopic image captured by the camera unit.
The camera elevating device is moveable into a position in which the field of vision of the camera un it covers an intended working area of the loader crane to thereby enable the operator to view a real time stereoscopic image of the intended working area on the display unit when the camera unit is in th is position . The stereoscopic image will give the operator depth perception and improve the ability of the operator to accurately control the movements of the loader crane when viewing the working area of the loader crane via the display un it in connection with remote manoeuvring of the crane.
Further advantages as well as advantageous features of the load handling assembly according to the second aspect of the invention will appear from the following description and the dependent claims. BRI EF DESCRI PTION OF THE DRAWI NGS
The invention will in the following be more closely described by means of embodiment examples, with reference to the appended drawings. In the drawings: is a schematic lateral view of a crane, a support leg arrangement, a camera unit and a camera elevating device included in a load handling assembly accord ing to an embod iment of the present invention , as seen with the camera unit in a first position and the support legs of the support leg arrangement in a non-use position , is a schematic rear view of the components shown in Fig 1 , as seen with the camera unit in the first position and the support legs in a non-use position , is a schematic planar view from above of the components shown in Fig 1 , as seen with the camera unit in the first position and the support legs in a non- use position , Fig 4 is a schematic lateral view of the components shown in Fig 1 , as seen with the camera unit in a second position and the support legs in an operating position , Fig 5 is a schematic rear view of the components shown in Fig 1 , as seen with the camera unit in the second position and the support legs in the operating position ,
Fig 6 is a schematic planar view from above of the components shown in Fig 1 , as seen with the camera unit in the second position and the support legs in the operating position ,
Figs 7a and 7b are schematic illustrations of a camera elevating device according to a first variant, as seen in two different positions, and Fig 8 is a schematic illustration of a camera elevating device according to a second variant.
DETAI LED DESCRI PTION OF EMBODI MENTS OF THE I NVENTION
In this description , the expression "Nftable and lowerable crane boom" refers to a crane boom which can be pivoted in a vertical plane so as to thereby perform liftings and lowerings of a load carried by the crane.
Fig 1 shows a part of a load handling assembly 1 accord ing to an embodiment of the present invention . The load handling assembly 1 comprises a crane 10 and a support leg arrangement 20. In the illustrated embod iment, the crane 10 is a hydraulic loader crane and comprises:
- a crane base 1 1 ;
- a crane column 12 which is rotatably mounted to the crane base 1 1 so as to be rotatable in relation to the crane base about an essentially vertical axis of rotation A1 ;
- a liftable and lowerable first crane boom 13, which is articulately connected to the crane column 12 in such a manner that it is pivotable in relation to the crane column about an essentially horizontal axis of rotation A2;
- a first hydraulic cylinder 14 for lifting and lowering the first crane boom 13 in relation to the crane column 1 2;
- a liftable and lowerable second crane boom 15, which is articulately connected to the first crane boom 13 in such a manner that it is pivotable in relation to the first crane boom 13 about an essentially horizontal axis of rotation A3; and
- a second hydraulic cylinder 16 for lifting and lowering the second crane boom 1 5 in relation to the first crane boom 1 3. In the illustrated embod iment, the crane boom system 1 7 of the crane 1 0 is formed by the first crane boom 13 and the second crane boom 15 and the associated hydraulic cylinders 14, 16. However, the crane boom system 1 7 of the crane 1 0 may as an alternative include only one liftable and lowerable crane boom or more than two liftable and lowerable crane booms articu lately connected to each other. One or more of the crane booms of the crane boom system 1 7 may be telescopically extensible, for instance by means of one or more hydraulic cylinders, in order to enable an adjustment of the extension length thereof. In the illustrated embodiment, a rotator 18 is articulately connected to a load suspension point P at the outer end of the second crane boom 15, which rotator in its turn carries a load handling tool 19. In the illustrated example, the load handling tool 19 is a hydraulic gripping tool in the form of a so-called grapple provided with pivotable gripping members 19a, 19b for gripping a load . However, the crane 10 included in a load handling assembly of the present invention may also be provided with another type of load handling tool, such as for instance a lifting hook.
The support leg arrangement 20 comprises a base structure 21 fixedly connected to the crane base 1 1 and at least two su pport legs 22 moveably mounted to the base structure 21 . In the illustrated embod iment, the support leg arrangement 20 comprises two support legs 22 mounted to the base structure 21 on opposite sides thereof, wherein each support leg 22 is moveable in a horizontal direction in relation to the crane base 1 1 , for instance by means of a hydraulic cylinder or any other suitable type of linear actuator, between a retracted position (see Figs 2 and 3) and an advanced position (see Figs 5 and 6) . In the illustrated embodiment, each support leg 22 is telescopically extensible in a vertical direction , for instance by means of a hydraulic cylinder or any other suitable type of linear actuator. A foot plate 23 is provided at the outer end of each support leg 22 , wherein this foot plate 23 is moveable, by an extension of the support leg , from a non-use position (see Figs 1 and 2), in which the foot plate 23 is lifted from the ground 2, to an operating position (see Figs 4 and 5), in which the foot plate 23 is in supporting contact with the ground 2. As an alternative, each support leg 22 cou ld be pivotally mounted to the base structure 21 of the support leg arrangement 20 so as to be pivotable by means of an actuator, for instance in the form of a hydraulic cylinder, between a non-use position and an operating position .
The load handling assembly 1 comprises a manoeuvring unit 30 (very schematically illustrated in Fig 3) with one or more maneuvering members configured to be manoeuvrable by an operator in order to control the movement of the crane booms 13, 15 and the movement of the support legs 22. The manoeuvring unit 30 may for instance consist of a joystick, but any other suitable type of manoeuvring unit 30 may also be used . Control signals are transmitted via cable or a wireless connection from the manoeuvring unit 30 to an electronic control device 3 (very schematically illustrated in Fig 3) , which in its turn controls the hydraulic cylinders and the other actuators of the crane 10 and the support leg arrangement 20 in a conventional manner.
At least two different operating modes are provided for the manoeuvring unit 30 and the electronic control device 3. In a first operating mode, the manoeuvring unit 30 and the electron ic control device 3 are configured to control the actuators of the support leg arrangement 20 to thereby control the movement of the support legs 22. In a second operating mode, the manoeuvring unit 30 and the electron ic control device 3 are configured to control the actuators of the crane 10 to thereby control the movement of the crane booms 13, 15 and the load handling tool 19. The load handling assembly 1 comprises switching means 31 by means of which the operator may switch from the first operating mode to the second operating mode. The switching means may for instance have the form of a maneuvering member 31 on the manoeuvring unit 30 or a menu- guided interface with a function which can be selected by the operator in order to select the desired operating mode.
The electron ic control device 3 may be configured to control the crane boom movements on the basis of the control signals from the manoeuvring unit 30 and a calculation model for boom tip control. The calcu lation model may for instance be stored as an algorithm in a memory of the electronic control device 3. As an alternative to boom tip control, a first maneuvering member of the manoeuvring unit 30 may be used for controlling the rotation of the crane column 12 in relation to the crane base 1 1 about the vertical axis of rotation A1 , a second maneuvering member of the manoeuvring unit 30 may be used for controlling the first hydraulic cylinder 14 and a third maneuvering member of the manoeuvring unit 30 may be used for controlling the second hydraulic cylinder 16. The load handling assembly 1 further comprises a camera un it 40 with one or more video cameras 41 a, 41 b for capturing a real time image, and a camera elevating device 50, wherein the camera unit 40 is mounted to and carried by the camera elevating device 50 and moveable in relation to the crane 10 by means of the camera elevating device 50 to thereby enable an adjustment of the position of the field of vision of the camera unit 40 in relation to the crane 10 and the support legs 22. The field of vision of the camera un it 40 is illustrated by the broken lines 42 in Figs 1 , 3, 4 and 6. The load handling assembly 1 also comprises a display unit 4 (very schematically illustrated in Fig 3) for displaying , to the operator of the load handling assembly, a real time image captured by the camera unit 40. The display unit 4 may be a head mounted display in the form of goggles with one single display screen or with a first display screen 5a for the right eye of the operator and a second display screen 5b for the left eye of the operator. However, any other suitable type of display un it may also be used , such as for instance a display unit with a display screen mounted in the driver's cabin of a veh icle which carries the crane 10 and the support leg arrangement 20.
The camera unit 40 may be connected to an image processor 6 (very schematically illustrated in Fig 3), wherein th is image processor 6 is configured to receive image signals from the video cameras 41 a, 41 b of the camera un it 40 and to produce, based on these image signals, a real time image for display on the display un it 4. The electron ic control device 3 is configured to control the movement of the camera elevating device 50 in relation to the crane 10 and thereby the movement and the positioning of the field of vision of the camera un it 40. When so ordered by the operator, the camera elevating device 50 is automatically moveable under the control of the electronic control device 3 into a predetermined first position (see Figs 1 -3), in which the field of vision of the camera unit 40 covers an operating area of said support legs 22 to thereby enable the operator to view a real time image of the support legs 22 and an area around the support legs on the display unit 4 during a movement of the support legs in relation to the crane base 1 1 when the camera elevating device 50 is in this first position . The operator may order a movement of the camera elevating device 50 to said first position by means of a maneuvering member 32 on the manoeuvring unit 30 or by selecting a function on a menu- guided interface. When the camera elevating device 50 is in the first position , the operator may control the movement of the support legs 22 remotely via the manoeuvring unit 30 while simu ltaneously viewing the support legs 22 and an area around the support legs on the display unit 4.
From the first position , the camera elevating device 50 is moveable into a second position , in which the field of vision of the camera unit 40 covers an intended working area of the crane 10 to thereby enable the operator to view a real time image of the intended working area on the display unit 4 when the camera elevating device 50 is in this second position . When the camera elevating device 50 is in the second position , the operator may control the movement of the crane booms 13, 15 and the load handling tool 19 remotely via the manoeuvring un it 30 while simu ltaneously viewing the working area of the crane 10 on the display unit 4. The camera elevating device 50 may be moveable into the second position under the control of the operator via the manoeuvring unit 30. In this case, a third operating mode is provided for the manoeuvring unit 30 and the electronic control device 3. In this third operating mode, the manoeuvring unit 30 is configured to control actuators of the camera elevating device 50 via the electron ic control unit 3 to thereby control the movement of the camera elevating device 50. The operator may select this th ird operating mode by means of the above- mentioned switching means 31 . As an alternative, the camera elevating device 50 may be automatically moveable into the second position under the control of the electronic control device 3 when so ordered by the operator by means of a maneuvering member on the manoeuvring unit 30 or by selecting a function on a menu-guided interface.
According to a preferred embodiment, the camera unit 40 is a stereoscopic camera unit for capturing a stereoscopic real time image, wherein the display unit 4 is configured to display a stereoscopic real time image captured by the camera unit 40. The stereoscopic camera unit 40 comprises a first video camera 41 a (see Figs 3 and 6-8) for capturing a real time image intended to be displayed to the right eye of the operator and a second video camera 41 b for capturing a real time image intended to be displayed to the left eye of the operator. In th is case, the display unit 4 is with advantage a head mounted display in the form of goggles with a first display screen 5a for displaying a real time image captured by the first video camera 41 a to the right eye of the operator and a second display screen 5b for d isplaying a real time image captured by the second video camera 41 b to for the left eye of the operator.
The camera elevating device 50 comprises a base part 51 , which in the embod iment illustrated in Figs 1 -6 is secured to the crane column 12 to thereby allow the camera elevating device 50 to be rotatable together with the crane column 12 in relation to the crane base 1 1 about the above-mentioned vertical axis of rotation A1 . Thus, in this case, the camera elevating device 50 is carried by the crane column 12 and will move together with the crane column when the crane column is rotated in relation to the crane base 1 1 about the vertical axis of rotation A1 . The base part 51 of the camera elevating device 50 may be rotatably connected to the crane column 12 so as also allow the camera elevating device 50 to be rotated by means of an actuator in relation to the crane column 12 about another essentially vertical axis of rotation A4 (see Fig 1 ) .
The camera elevating device 50 is preferably configured to be capable of position ing the camera unit 40 on the right side of the crane column 12 or on the left side of the crane column 12 , at the choice of the operator, in the above-mentioned second position . According to a first alternative, the operator controls the movement of the camera elevating device 50 via the manoeuvring unit 30 in order to position the camera unit 40 on the desired side of the crane column 12 when the camera unit is moved into a position for capturing a real image of the intended working area of the crane. According to a second alternative, the operator may order the electronic control device 3 to automatically move the camera elevating device 50 into a predetermined second position in which the camera unit 40 is positioned on the right side of the crane column 12 or into another predetermined second position in which the camera unit 40 is positioned on the left side of the crane column 12. In the latter case, the operator may select the desired predetermined second position by means of a maneuvering member on the manoeuvring unit 30 or by selecting a function on a menu- guided interface.
In the embod iments illustrated in Figs 1 -8, the base part 51 of the camera elevating device 50 has the form of a vertical column , which is telescopically extensible by means of a hydraulic cylinder (not shown) or any other suitable type of linear actuator so as to allow a movement of the camera unit 40 in a vertical direction . In the illustrated embodiments, the camera elevating device 50 further comprises a carrier arm 52, which is mounted to the base part 51 at an upper end thereof, wherein the camera unit 40 is mounted to the carrier arm 52 at an outer end thereof. The carrier arm 52 is with advantage telescopically extensible (see Figs 7a, 7b and 8) by means of a hydraulic cylinder (not shown) or any other suitable type of linear actuator so as to allow a movement of the camera unit 40 in a horizontal direction . The carrier arm 52 may be fixed to the base part 51 so as to extend from the base part in a horizontal direction , as illustrated in Figs 7a and 7b. As an alternative, the carrier arm 52 may be articulately connected to the base part 51 in such a manner that it is pivotable in relation to the base part about an essentially horizontal axis of rotation A5, as illustrated in Fig 8. In the latter case, the carrier arm 52 may be pivoted in relation to the base part 51 by means of a hydraulic cylinder 53 or any other suitable type of actuator. The camera un it 40 is preferably rotatably connected to the carrier arm 52 so as to allow the camera unit 40 to be rotated in relation to the carrier arm 52 by means of an actuator (not shown) about an essentially vertical axis of rotation A6, as illustrated in Figs 7a, 7b and 8. The camera unit 40 may also be tiltably connected to the carrier arm 52 so as to allow the camera unit 40 to be tilted in relation to the carrier arm 52 by means of an actuator (not shown) about an essentially horizontal tilt axis A7. The camera elevating device 50 is with advantage configured to be automatically moveable under the control of the electronic control device 3 into a third position , which represents a resting position to be assumed by the camera elevating device 50 during transport of the load handling assembly 1 , when so ordered by the operator by means of a maneuvering member on the manoeuvring unit 30 or by selecting a function on a menu- guided interface. The camera unit 40 may be configured to be moved into a protective housing 54 (very schematically illustrated in Fig 8) when the camera elevating device 50 is moved into this third position .
The design of the camera elevating device 50 is not limited to the embod iments illustrated in the drawings and described above. On the contrary, the camera elevating device 50 may of course have any other suitable design as long as it is capable of moving the camera unit 40 between the above-mentioned positions. The load handling assembly 1 may with advantage comprises a tilt sensor 7 (very schematically illustrated in Fig 3) for generating measuring signals related to the tilt ang le of the crane base 1 1 , wherein the image processor 6 is configured to superpose graphic or alphanumeric tilt ang le information on the real time image displayed on the display un it 4 when the camera elevating device 50 is in said first position , to thereby enable the operator to mon itor, via the display un it 4 during an adjustment of the support legs 22 , the tilt angle of the crane base 1 1 as established based on measuring signals from the tilt sensor 7. The tilt sensor 7 may be mounted to the crane base 1 1 or to the base structure 21 of the support leg arrangement 20. As a further alternative, if the crane 10 is mounted to the chassis of a veh icle, the tilt sensor 7 may be mounted the vehicle chassis. In the embodiment illustrated in Figs 1 -6, the crane 10 is a hydraulic loader crane in the form of a forestry crane which is mounted to the chassis 8 of a vehicle 9. The rear end of the vehicle 9 and the rear end of its chassis 8 are very schematically illustrated in Figs 1 and 4. The vehicle 9 and its chassis 8 have been omitted in Figs 2, 3, 5 and 6. A load handling assembly 1 according to the present invention cou ld also comprise a hydraulic loader crane in the form of lorry crane mounted to the chassis of a lorry. The electron ic control device 3 may be implemented by one sing le electronic control unit, as illustrated in Fig 3. However, the electronic control device 3 could as an alternative be implemented by two or more mutually co-operating electron ic control un its.
The invention is of course not in any way limited to the embodiments described above. On the contrary, several possibilities to mod ifications thereof should be apparent to a person skilled in the art without thereby deviating from the basic idea of the invention as defined in the appended claims.

Claims

A load hand ling assembly comprising :
- a crane (1 0), which comprises a crane base (1 1 ) and a crane boom system ( 17) with one or more liftable and lowerable crane booms (13, 15); and
- a support leg arrangement (20), which comprises a base structure (21 ) fixed ly connected to the crane base ( 1 1 ) and at least two moveable support legs (22) moveably mounted to the base structure (21 ),
characterized in :
- that the load handling assembly (1 ) comprises a camera unit (40) for capturing a real time image and a camera elevating device (50), wherein the camera unit (40) is mounted to and carried by the camera elevating device (50) and moveable in relation to the crane (10) by means of the camera elevating device (50) to thereby enable an adjustment of the position of the field of vision of the camera unit (40) in relation to the crane (10) and the support legs (22);
- that the load handling assembly (1 ) comprises a display unit (4) for displaying , to an operator of the load handling assembly, a real time image captured by the camera un it (40);
- that the load handling assembly (1 ) comprises an electron ic control device (3) which is configured to control the movement of the camera elevating device (50) in relation to the crane (10) and thereby the movement of the field of vision of the camera unit (40) ; - that the camera elevating device (50) is automatically moveable under the control of the electronic control device (3) into a predetermined first position , in which the field of vision of the camera un it (40) covers an operating area of said support legs (22) to thereby enable the operator to view a real time image of the support legs (22) and an area around the support legs on the display unit (4) during a movement of the support legs in relation to the crane base (1 1 ) when the camera elevating device (50) is in th is first position ; and
- that the camera elevating device (50) is moveable under the control of the operator or automatically moveable under the control of the electronic control device (3) into a second position , in which the field of vision of the camera un it (40) covers an intended working area of the crane (1 0) to thereby enable the operator to view a real time image of the intended working area on the display unit (4) when the camera elevating device (50) is in th is second position .
A load handling assembly accord ing to claim 1 , characterized in :
- that the crane (10) comprises a crane column ( 12) which is rotatably mounted to the crane base (1 1 ) so as to be rotatable in relation to the crane base about an essentially vertical axis of rotation (A1 ), wherein the crane boom system (17) comprises a crane boom (13) which is articu lately connected to the crane column (12); and
- that the camera elevating device (50) comprises a base part (51 ) which is secured to the crane column (12), wherein the camera elevating device (50) is rotatable together with the crane column (12) in relation to the crane base (1 1 ) about said vertical axis of rotation (A1 ) .
A load handling assembly accord ing to claim 2, characterized in that the base part (51 ) of the camera elevating device (50) is rotatably connected to the crane column (12) so as also allow the camera elevating device (50) to be rotated by means of an actuator in relation to the crane column (12) about an essentially vertical axis of rotation (A4) .
A load handling assembly according to claim 2 or 3, characterized in that the base part (51 ) of the camera elevating device (50) has the form of a vertical column and is telescopically extensible under the control of the electronic control device (3) so as to allow a movement of the camera unit (40) in a vertical direction .
A load handling assembly accord ing to claim 4, characterized in that the camera elevating device (50) comprises a carrier arm (52), which is mounted to the base part (51 ) at an upper end thereof, wherein the camera unit (40) is mounted to the carrier arm (52) at an outer end thereof.
A load handling assembly accord ing to claim 5, characterized in that the camera unit (40) is tiltably connected to the carrier arm (52) so as to allow the camera unit (40) to be tilted in relation to the carrier arm (52).
7. A load handling assembly according to claim 5 or 6, characterized in that the camera un it (40) is rotatably connected to the carrier arm (52) so as to allow the camera unit (40) to be rotated in relation to the carrier arm (52).
8. A load handling assembly according to any of claims 2-7, characterized in that the camera elevating device (50) is configured to position the camera unit (40) on the right side of the crane column (12) or on the left side of the crane column (12) in said second position at the choice of the operator.
9. A load handling assembly according to any of claims 2-8 , characterized in that the camera elevating device (50) is automatically moveable under the control of the electronic control device (3) into a predetermined second position in which the camera unit (40) is positioned on the right side of the crane column (12) and into another predetermined second position in which the camera unit (40) is positioned on the left side of the crane column ( 12). 10. A load handling assembly according to any of claims 1 -9, characterized in :
- that the camera unit (40) is a stereoscopic camera unit for capturing a stereoscopic real time image; and - that the display unit (4) is configured to display a stereoscopic real time image captured by the camera unit (40). 1 1 . A load handling assembly accord ing to any of claims 1 -10, characterized in :
- that the load handling assembly comprises a tilt sensor (7) for generating measuring signals related to the tilt angle of the crane base (1 1 ) ; and
- that the load handling assembly (1 ) comprises an image processor (6) which is configured to superpose graphic or alphanumeric tilt angle information on the real time image displayed on the display unit (4) when the camera elevating device (50) is in said first position , to thereby enable the operator to monitor, via the display unit (4) during an adjustment of the su pport legs (22), the tilt angle of the crane base (1 1 ) as established based on measuring signals from the tilt sensor (7). 12. A load handling assembly accord ing to any of claims 1 -1 1 , characterized in that the camera elevating device (50) is automatically moveable under the control of the electronic control device (3) into a third position , which represents a resting position to be assumed by the camera elevating device (50) during transport of the load handling assembly
(1 ) -
13. A load handling assembly accord ing to claim 12, characterized in that the camera unit (40) is configured to be moved into a protective housing (54) when the camera elevating device (50) is moved into said third position .
14. A load handling assembly comprising a hydrau lic loader crane ( 10) , wherein the loader crane (10) comprises:
- a crane base (1 1 ) ;
- a crane column (12) which is rotatably mounted to the crane base (1 1 ) so as to be rotatable in relation to the crane base about an essentially vertical axis of rotation (A1 ); and - a crane boom system (1 7) comprising two or more liftable and lowerable crane booms (13, 15) which are articulately connected to each other, including at least a first crane boom (13) which is articulately connected to the column (12) and a second crane boom ( 15) which is articulately connected to the first crane boom ( 13);
characterized in :
- that the load handling assembly (1 ) comprises a stereoscopic camera unit (40) for capturing a real time stereoscopic image and a camera elevating device (50) , wherein the camera unit (40) is mounted to and carried by the camera elevating device (50) and moveable in relation to the loader crane (10) by means of the camera elevating device (50) ;
- that the load handling assembly (1 ) comprises a display unit (4) for displaying , to an operator of the loader crane
(10), a real time stereoscopic image captured by the camera unit (40); and
- that the camera elevating device (50) is moveable into a position in which the field of vision of the camera unit (40) covers an intended working area of the loader crane (10) to thereby enable the operator to view a real time stereoscopic image of the intended working area on the display unit (4) when the camera unit (40) is in this position .
15. A load handling assembly according to claim 13 or 14, characterized in that the load handling assembly (1 ) comprises a vehicle (9), wherein the loader crane (10) is mounted to a chassis (8) of the vehicle (9).
EP16895638.1A 2016-03-23 2016-03-23 Load handling assembly Withdrawn EP3433200A4 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP23155940.2A EP4206113A1 (en) 2016-03-23 2016-03-23 Load handling assembly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE2016/050239 WO2017164781A1 (en) 2016-03-23 2016-03-23 Load handling assembly

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP23155940.2A Division EP4206113A1 (en) 2016-03-23 2016-03-23 Load handling assembly

Publications (2)

Publication Number Publication Date
EP3433200A1 true EP3433200A1 (en) 2019-01-30
EP3433200A4 EP3433200A4 (en) 2019-11-27

Family

ID=59900720

Family Applications (2)

Application Number Title Priority Date Filing Date
EP23155940.2A Pending EP4206113A1 (en) 2016-03-23 2016-03-23 Load handling assembly
EP16895638.1A Withdrawn EP3433200A4 (en) 2016-03-23 2016-03-23 Load handling assembly

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP23155940.2A Pending EP4206113A1 (en) 2016-03-23 2016-03-23 Load handling assembly

Country Status (2)

Country Link
EP (2) EP4206113A1 (en)
WO (1) WO2017164781A1 (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SI3594167T1 (en) * 2018-07-13 2021-11-30 Epsilon Kran Gmbh. Crane with imaging system
SI3594169T1 (en) 2018-07-13 2021-08-31 Epsilon Kran Gmbh Vehicle with a crane and a crane control
US20200032487A1 (en) * 2018-07-25 2020-01-30 Cnh Industrial America Llc Work vehicle with a variably positionable camera and related systems
GB2619273A (en) * 2022-05-24 2023-12-06 Caterpillar Paving Products Inc System for providing visual feeds of operations of a machine
US12523924B2 (en) * 2022-09-12 2026-01-13 Tilta Inc. Vehicle-mounted camera crane
CN118311046B (en) * 2024-06-07 2024-09-13 北京晶品特装科技股份有限公司 Intelligent product detection device based on machine vision

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE9318170U1 (en) * 1993-11-26 1994-02-10 Steinheil Optronik GmbH, 85737 Ismaning Device for holding a camera
JP3430469B2 (en) 1995-06-16 2003-07-28 積水ハウス株式会社 Bathtub water reuse mechanism
JP3623014B2 (en) * 1995-06-21 2005-02-23 洋太郎 畑村 Work machine
JPH09214943A (en) 1996-02-05 1997-08-15 Ohbayashi Corp Remote monitor system
US6140930A (en) * 1997-02-27 2000-10-31 Shaw; Jack B. Crane safety devices and methods
JP5091447B2 (en) * 2006-09-25 2012-12-05 株式会社タダノ Peripheral monitoring support device for work equipment-equipped vehicles
JP5642409B2 (en) * 2010-03-30 2014-12-17 株式会社タダノ Crane control device and crane
JP5971994B2 (en) * 2012-03-19 2016-08-17 株式会社タダノ Crane work monitoring device
US9300954B2 (en) * 2012-09-21 2016-03-29 Tadano Ltd. Surrounding information-obtaining device for working vehicle
ES2635739T3 (en) 2012-10-17 2017-10-04 Iveco Magirus Ag Utility vehicle with monitoring system to monitor the position of the stabilizers
AT14237U1 (en) * 2014-01-31 2015-06-15 Palfinger Ag crane control
NO20140281A1 (en) 2014-03-04 2015-09-07 Nmi Holding As Procedure for using a camera to monitor a work area and a crane equipped with a camera
DE102014107810A1 (en) 2014-06-03 2015-12-03 Palfinger Platforms GmbH Method for visualizing the support position and / or the extension path of at least one support of a vehicle and vehicle with at least one support
DE102014009165B4 (en) 2014-06-25 2020-07-16 Schwing Gmbh Large mobile manipulator
JP6343189B2 (en) * 2014-07-01 2018-06-13 株式会社タダノ Obstacle notification system for crane vehicles

Also Published As

Publication number Publication date
EP3433200A4 (en) 2019-11-27
WO2017164781A1 (en) 2017-09-28
EP4206113A1 (en) 2023-07-05

Similar Documents

Publication Publication Date Title
EP3433200A1 (en) Load handling assembly
CA2942270C (en) Work vehicles including implement-responsive optical systems
JP5462008B2 (en) Image display system
US9169108B2 (en) Performance line display unit
US9667923B2 (en) Camera attitude detection device and work region line display device
US11292699B2 (en) Remote operation terminal and work vehicle provided with remote operation terminal
CN111788143B (en) Remote operation terminal and work vehicle
JP7416063B2 (en) Mobile crane with remote control terminal and remote control terminal
US12172871B2 (en) Crane information display system
US11174138B2 (en) Mobile working machine and method for supervising the manoeuvring of stabilizer legs included in a mobile working machine
JP2018039477A (en) Image display system
JPH0948584A (en) Camera equipment for mobile cranes and traveling monitoring equipment
JP2020066520A (en) Mobile crane
CN111819147B (en) Working vehicle
JPH093978A (en) Work machine
SE540487C2 (en) Load handling assembly
CN218367605U (en) Support auxiliary system for parking and engineering machinery
JP2018087059A (en) Work vehicle
JP7336363B2 (en) work vehicle
JP7303094B2 (en) work vehicle
JP2521244Y2 (en) Side view device for mobile cranes
JP2018076131A (en) Image display device
JP2556644Y2 (en) Remote imaging and display device
JP7337669B2 (en) work vehicle
WO2025084138A1 (en) Work machine and work system

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

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

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20181008

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

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20191025

RIC1 Information provided on ipc code assigned before grant

Ipc: B66C 23/80 20060101ALI20191021BHEP

Ipc: B66C 13/46 20060101AFI20191021BHEP

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: HIAB AB

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20221111

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

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20230322