EP3594167A1 - Crane with imaging system - Google Patents

Abstract

Crane (32) with an image capturing system (2), which can be raised and lowered by a lifting device (1), for capturing an area of a crane environment that is not directly visible to an operator of the crane (32), the image capturing system (2) being attached to a straight arm (5) of the lifting device (1) is arranged, the image acquisition system (2) being movable in height by extending the arm (5) from a lifting column (4) and by moving the arm (5) into the lifting column (4 ) can be lowered into a transport position in which the boom (5) is located essentially completely in the lifting column (4) and the image acquisition system (2) is moved towards the lifting column (4), the image acquisition system (2) on one highest point of the boom (5) forming the top of the boom (5) is arranged.

Description

The invention relates to a crane with the features of the preamble of claim 1 and a carrier vehicle with such a crane.

A non-generic crane is out WO 2017/164781 A1 known. This document shows in the 7a and 7b a crane with an image capturing system that can be raised and lowered by a lifting device for capturing an area of a crane environment that is not directly visible to an operator of the crane, the image capturing system being attached to a straight arm of the lifting device (last piece which is on the innermost, horizontally extending portion) Boom is located) is arranged. In order to lower the image acquisition system into a transport position, in which the image acquisition system is moved towards the lifting column, the horizontally extending boom and the vertically extending boom must be retracted. The horizontal arms limit the field of vision of the image acquisition system.

A generic crane has become known on the market, which has all the features of the preamble of claim 1. The image acquisition system is arranged below a boom tip next to the boom. Here, too, the field of view of the imaging system is restricted.

The object of the invention is to provide a generic crane, which enables a larger field of view of the image acquisition system, and a carrier vehicle with such a crane.

This object is achieved by a crane with the features of claim 1 and a carrier vehicle with such a crane. Advantageous embodiments of the invention are defined in the dependent claims.

Because it is provided in the invention that the image acquisition system is arranged on a boom tip forming a highest point of the boom, the field of view is neither restricted by horizontally extending booms nor by a boom which projects upwards next to the image acquisition system. This basically enables a field of view of 360 ° in a horizontal plane, the invention is not limited to such an all-round view. For example, a field of view of at least 290 ° may be sufficient.

Another advantage is that the image acquisition system is better protected in the transport position because it does not stand away from the lifting column.

In addition, there is a more compact design.

In one embodiment of the invention, it is provided that the image acquisition system is rigidly arranged relative to the tip of the arm. The advantage of this is that, due to the large field of view according to the invention, no adjustment mechanism for the image acquisition system is required.

In one embodiment of the invention, it is provided that the image acquisition system has at least one, preferably at least three, cameras, which are preferably arranged in a common housing. Alternatively, the use of a single camera is also conceivable, which has imaging optics which makes use of the large field of view provided according to the invention.

In one exemplary embodiment of the invention, it is provided that the image acquisition system in the transport position is at least substantially completely arranged in or behind a protective cover arranged on the lifting column. It can preferably be provided that a cover of the image acquisition system closes the protective cover in the transport position.

In one exemplary embodiment of the invention, it is provided that a lighting device is arranged on the boom below the image acquisition system in the area of the boom, it being preferably provided that the lighting device is arranged recessed in the boom so that it can be moved into the lifting column together with the boom is. The arrangement selected here in the area of the boom tip allows optimal illumination in the field of view of the image acquisition system on the one hand and avoids glare of the image acquisition system on the other hand. If the lighting device is sunk in the boom, this offers - above all, but not only - in the transport position optimal protection. In addition, a recessed lighting device does not hinder movement of the boom.

It can preferably be provided that the lighting device comprises at least one headlight.

In one exemplary embodiment of the invention, it is provided that the lifting column and the boom enclose a non-zero angle with the crane column in a vertical plane which has both the lifting column and a crane column. In itself, a vertically extending lifting column would also be conceivable. The selected oblique course of the lifting column causes the image acquisition system to be offset relative to the crane column away from the latter when the boom is extended, and thus an improved view into an area covered by the crane column is possible. Due to the inclined course of the lifting column, a large lateral distance of the crane column can be achieved in an extended state of the boom without a corresponding outsourcing in the transport position being necessary.

It is provided that a housing of a crane control arranged on the crane column is arranged in a lower region of the crane column. In this way, the housing of the crane control does not cover a view of the support of the crane. Therefore, no additional image acquisition system is required in the area of the support.

In one exemplary embodiment of the invention, it is provided that the image acquisition system has a computing unit which calculates visualization data for at least one camera of the image acquisition system for a visualization unit arranged outside the image acquisition system. So, so to speak, part of the computing effort required for a representation (in particular compression of data) is moved into the image acquisition system itself. This means that much less data has to be transmitted to the visualization unit arranged outside the image acquisition system (this is usually arranged in a driver's cab of a carrier vehicle of the crane), which reduces the bandwidth required for this.

In one exemplary embodiment of the invention, it is provided that the image acquisition system has at least two cameras and an interface is provided which collects signals from the at least two cameras and, if necessary, transmits them to the computing unit in the case of a reference to the above-described embodiment. This reduces the connection effort (usually via cable, but can also be done wirelessly) from the individual cameras to the computing unit, since the connection is only made from the cameras to the (common) interface. An even greater advantage is that the connection effort from the image acquisition system to a visualization unit arranged outside the same (for example in a guide cabin of a carrier vehicle) is minimized. This facilitates the use of wireless connections.

In one embodiment of the invention, it is provided that for at least one protective glass of the image acquisition system, a device for generating an air curtain for preventing contamination or moisture on the protective glass is provided, the device for generating the air curtain being an interface for connection to a compressed air supply of a carrier vehicle Has crane. It is therefore not necessary to generate compressed air on the crane. It is also not necessary to arrange a climate control device on the crane.

In this exemplary embodiment of the invention, it is preferably provided that an air curtain control device is provided which blocks generation of the air curtain outside of an operation of the image acquisition system. This can prevent a compressed air supply of the carrier vehicle from being exhausted.

In one exemplary embodiment of the invention, it is provided that a temperature control device is provided for the image acquisition system, the temperature control device having an interface for the temperature control medium, preferably compressed air, provided by a carrier vehicle of the crane and / or for energy supply to the temperature control device.

Fig. 1

eine perspektivische Ansicht eines Krans mit einer Hubvorrichtung und einem Bilderfassungssystem,

Fig. 2

eine Draufsicht auf ein Bilderfassungssystem,

Fig. 3a, 3b

eine Seiten- und Rückansicht einer Hubvorrichtung und eines Bilderfassungssystems in Isolation,

Fig. 4

eine Frontansicht auf den Kran gemäß Fig. 1,

Fig. 5

eine Rückansicht auf den Kran gemäß Fig. 1,

Fig. 6

eine schematische Darstellung eines Bilderfassungssystems gemäß dem Stand der Technik,

Fig. 7

eine schematische Darstellung einer Ausführung eines vorgeschlagenen Bilderfassungssystems

Fig. 8

eine schematische Darstellung eines weiteren vorgeschlagenen Bilderfassungssystems und

Fig. 9

eine schematische Darstellung eines weiteren vorgeschlagenen Bilderfassungssystems.

Embodiments of the invention are discussed with reference to the figures. Show it:

Fig. 1

1 shows a perspective view of a crane with a lifting device and an image acquisition system,

Fig. 2

a plan view of an image acquisition system,

3a, 3b

a side and rear view of a lifting device and an image acquisition system in isolation,

Fig. 4

a front view of the crane according to Fig. 1 .

Fig. 5

a rear view according to the crane Fig. 1 .

Fig. 6

1 shows a schematic illustration of an image acquisition system according to the prior art,

Fig. 7

is a schematic representation of an embodiment of a proposed image acquisition system

Fig. 8

a schematic representation of a further proposed image acquisition system and

Fig. 9

a schematic representation of a further proposed image acquisition system.

Fig. 1 1 shows a perspective view of a crane 32 with a crane column 8 and a lifting device 1 arranged thereon via a strut 7, Fig. 4 shows a front view of the crane 32 and Fig. 5 shows a rear view of the crane 32. In Fig. 5 a support 12 of the crane 32 can also be seen.

The lifting device 1 has a lifting column 4 and a straight arm 5 which can be retracted therein or extended therefrom. An image acquisition system 2 is arranged on a tip of the boom 5 which forms a highest point of the boom 5.

The image capturing system 2 can be raised and lowered by the lifting device 1 and serves to capture an area of a crane environment that is not directly visible to an operator of the crane 32. Of course, the image acquisition system 2 can also capture an area that is directly visible to an operator. The image acquisition system 2 can be moved upwards by extending the boom 5 from the lifting column 4 and lowered by moving the boom 5 into the lifting column 4 into a transport position in which the boom 5 is located essentially completely in the lifting column 4 and that Image acquisition system 2 is moved towards the lifting column 4.

The lifting column 4 and the boom 5 enclose a non-zero angle with the crane column 8 in a vertical plane which runs both through the lifting column 4 and through the crane column 8 (cf. Fig. 4 and Fig. 5 ).

A housing 9 of a crane control arranged on the crane column 8 is arranged in a lower region of the crane column 8. As in Fig. 5 represented by the dash-dotted lines starting from the image acquisition system 2, this arrangement of the housing 9 does not obscure the view of a support 12 of the crane 5 from the housing 9 of the crane control. Therefore, no additional image acquisition system is required in the area of the support 12.

The image acquisition system 2 is arranged rigidly relative to the tip of the cantilever 5 and, in the exemplary embodiment shown, comprises four cameras 3 which are arranged in a common housing which is closed off by a cover 10.

In the illustration shown, the boom 5 is essentially completely extended from the lifting column 4. The image acquisition system 2 is moved away from the lifting column 4 by the extension of the boom 5. In the retracted state of the boom 5, the image acquisition system 2 in the transport position is essentially completely in or behind a protective cover 11 arranged on the lifting column 4 and is thereby protected against external influences.

A lighting device comprising two headlights 6 is arranged on the arm 5 below the image acquisition system 2 in the region of the tip of the arm 5, the lighting device being arranged so recessed in the arm 5 (cf. Fig. 3a ) that it can be moved into the lifting column 4 together with the boom 5.

Fig. 2 shows a top view of an image acquisition system 2. The dash-dotted lines illustrate the field of view captured by the respective cameras 3 in a horizontal plane. Two of the cameras 3 can be used to stereoscopically capture a section of the overall field of view captured. As in the Figures 1 . 4 and 5 It can be seen that the stereoscopically recorded section is directed in the direction of a crane arm arranged on the crane column 8 - and thus in the direction of an effective area of an implement which can be arranged thereon.

Fig. 3a shows a side view and Fig. 3b shows a rear view of a lifting device 1 with an image capturing system 2 in a partially extended state of the boom 5 from the lifting column 4 in isolation. Fig. 3b shows a wiring 33 running inside the lifting device 1, which can include supply and data lines for the headlights 6 and for the cameras 3. Unlike in the Figures 1 . 4 and 5 shown, the lifting device 1 can be arranged separately from the crane column 8.

Fig. 6 shows a schematic representation of an image acquisition system 2 according to the prior art. The image acquisition system 2 comprises a plurality of cameras 3. The signals output by these cameras 3 are sent via lines 14 to a cabin interface 15 arranged in a cabin 13 of a carrier vehicle 35 (not shown here) or at a control station of a crane. Image data is calculated from a signal from a cabin computing unit 16, which is also arranged in the cabin 13, and can be passed on to a cabin visualization unit 17. The image data can be forwarded from the cabin visualization unit 17 to a display device 21.

Fig. 7 shows a schematic representation of an embodiment of a proposed image acquisition system 2. The image acquisition system 2 comprises a plurality of cameras 3. The signals output by these cameras 3 are sent to an interface 18 arranged in the image acquisition system 2, if necessary via specially designed signal lines. Image data are calculated from the signals by an arithmetic unit 19 also arranged in the image acquisition system 2. The cameras 3, the interface 18 and the computing unit 19 can be designed as a common assembly and can be arranged together in the housing of the image acquisition system 2. Via preferably a data line 34, the image data can be forwarded to a visualization unit 20 arranged in a cabin 13 of a carrier vehicle 35 (not shown here) or in a control station of a crane, from which in turn data can be forwarded to a display device 21. In contrast to the illustration, the image data can be transmitted wirelessly from the image acquisition system 2 to the visualization unit 20.

Fig. 8 shows a schematic representation of an image acquisition system 2 with a protective glass 29 and a device for generating an air curtain 28. With the device for generating an air curtain 28, an air curtain can be built up along a side of the protective glass 29 facing away from the camera 3. The device for generating the air curtain 28 is connected via an interface to a compressed air supply and / or an energy supply of a carrier vehicle 35 of the crane 32 and has an air curtain control device 22 with which a switching valve 24 and a throttle 23 in the compressed air supply line can be controlled. Input variables for the air curtain control device 22 can be: air pressure of the compressed air supply, air humidity of the compressed air, temperature of the compressed air, ambient temperature. The switching valve 24 and / or throttle 23 can be controlled as a function of the input variables. The device for generating an air curtain 28 - in particular the air curtain control device 22, the switching valve 24 and the throttle 23 - can be arranged in a housing of the image acquisition system 2.

Fig. 9 shows a schematic representation of an image acquisition system 2 with a temperature control device for the image acquisition system 2, the temperature control device being connected via an interface to a compressed air supply and / or an energy supply of a carrier vehicle 35 of the crane 32. Compressed air can be conducted via a compressed air supply line into the interior of a housing of the image acquisition system 2 in which the cameras 3 are located. A control valve 27 and a throttle 23 are arranged in the compressed air supply line and can be controlled by a temperature control 30. The compressed air can be used to cool the cameras 3 in the housing. Compressed air introduced into the housing can escape via a (non-return) pressure relief valve 26. An interior of the housing can be heated by a heater 25 which can be activated by a switch 31, the switch 31 being controllable by the temperature control 30. Input variables for the temperature control 30 can be: air pressure of the compressed air supply, air humidity of the compressed air, temperature of the compressed air, ambient temperature, actual temperature inside the housing, target temperature. The control valve 27 and / or throttle 23 and / or switch 31 can be activated as a function of the input variables. The temperature control device - in particular the temperature control 30, the control valve 27, the throttle 23, the switch 31 and the heater 25 - can be arranged in the housing of the image acquisition system 2.

LIST OF REFERENCE NUMBERS

1

lifting device

2

Image capture system

3

camera

4

Lifting column

5

boom

6

headlights

7

strut

8th

Kransäule

9

Housing of a crane control

10

Cover of a housing of the image acquisition system

11

protective cover

12

support

13

Cabin of a carrier vehicle or control station of the crane

14

cables

15

Cabin interface

16

Cabin processing unit

17

Cab display unit

18

interface

19

computer unit

20

visualization unit

21

display device

22

Air curtain controller

23

throttle

24

switching valve

25

heater

26

Pressure relief valve

27

control valve

28

air curtain

29

protective glass

30

Temperiersteuerung

31

Switch of the temperature control device

32

crane

33

cabling

34

data line

35

carrier vehicle

Claims (14)

Crane (32) with an image capturing system (2), which can be raised and lowered by a lifting device (1), for capturing an area of a crane environment that is not directly visible to an operator of the crane (32), the image capturing system (2) being attached to a straight arm (5) of the lifting device (1) is arranged, wherein the image acquisition system (2) can be moved upwards by extending the boom (5) from a lifting column (4) and by moving the boom (5) into the lifting column (4 ) can be lowered into a transport position in which the boom (5) is located essentially completely in the lifting column (4) and the image acquisition system (2) is moved towards the lifting column (4), characterized in that the image acquisition system (2) is arranged on a tip of the boom (5) forming a highest point of the boom (5). Crane according to claim 1, wherein the image acquisition system (2) is rigidly arranged relative to the tip of the boom (5). Crane according to at least one of the preceding claims, wherein the image acquisition system (2) has at least one, preferably at least three, cameras (3), which are preferably arranged in a common housing. Crane according to at least one of the preceding claims, wherein the image acquisition system (2) in the transport position is arranged at least substantially completely in or behind a protective cover (11) arranged on the lifting column (4). Crane according to at least one of the preceding claims, wherein a lighting device is arranged on the boom (5) below the image acquisition system (2) in the region of the tip of the boom (5), wherein it is preferably provided that the lighting device is arranged recessed in the boom (5) is that it can be moved into the lifting column (4) together with the boom (5). Crane according to the preceding claim, wherein the lighting device comprises at least one headlight (6). Crane according to at least one of the preceding claims, wherein the lifting column (4) and the boom (5) in a vertical plane which has both the lifting column (4) and a crane column (8), a non-zero angle with the crane column ( 8) includes. Crane according to the preceding claim, wherein a housing (9) of a crane control arranged on the crane column (8) is arranged in a lower region of the crane column (8). Crane according to at least one of the preceding claims, wherein the image acquisition system (2) has a computing unit (19) which calculates visualization data for at least one camera (3) of the image acquisition system (2) for a visualization unit (20) arranged outside the image acquisition system (2) , Crane according to at least one of the preceding claims, wherein the image acquisition system (2) has at least two cameras (3) and an interface (18) is provided which collects signals from the at least two cameras (3) and, if necessary, in the case of a reference to the preceding claim - transmitted to the computing unit (19). Crane according to at least one of the preceding claims, wherein a device for generating an air curtain (28) is provided for at least one protective glass (29) of the image acquisition system (2), the device for generating the air curtain (28) being an interface for connection to a compressed air supply of a carrier vehicle (35) of the crane (32). Crane according to the preceding claim, wherein an air curtain control device (22) is provided which blocks generation of the air curtain (28) outside of an operation of the image acquisition system (2). Crane according to at least one of the preceding claims, wherein a temperature control device for the image acquisition system (2) is provided, the Temperature control device has an interface for the temperature control medium provided by a carrier vehicle (35) of the crane, preferably compressed air, and / or for energy supply to the temperature control device. Carrier vehicle (35) with a crane (32) according to at least one of the preceding claims.

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