EP3594167A1 - Grue pourvue de système de détection d'images - Google Patents

Grue pourvue de système de détection d'images Download PDF

Info

Publication number
EP3594167A1
EP3594167A1 EP18183443.3A EP18183443A EP3594167A1 EP 3594167 A1 EP3594167 A1 EP 3594167A1 EP 18183443 A EP18183443 A EP 18183443A EP 3594167 A1 EP3594167 A1 EP 3594167A1
Authority
EP
European Patent Office
Prior art keywords
crane
image acquisition
acquisition system
boom
lifting column
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18183443.3A
Other languages
German (de)
English (en)
Other versions
EP3594167B1 (fr
Inventor
Simon SCHÖRGHOFER
Martin Galler
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.)
Epsilon Kran GmbH
Original Assignee
Epsilon Kran GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to SI201830400T priority Critical patent/SI3594167T1/sl
Application filed by Epsilon Kran GmbH filed Critical Epsilon Kran GmbH
Priority to EP18183443.3A priority patent/EP3594167B1/fr
Priority to PL18183443T priority patent/PL3594167T3/pl
Priority to ES18183443T priority patent/ES2889574T3/es
Priority to JP2019130290A priority patent/JP7003092B2/ja
Priority to US16/509,743 priority patent/US10968083B2/en
Priority to RU2019121888A priority patent/RU2743213C2/ru
Priority to KR1020190084184A priority patent/KR20200007719A/ko
Publication of EP3594167A1 publication Critical patent/EP3594167A1/fr
Application granted granted Critical
Publication of EP3594167B1 publication Critical patent/EP3594167B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists

Definitions

  • 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.
  • the horizontally extending boom and the vertically extending boom 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.
  • 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.
  • 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.
  • the image acquisition system is rigidly arranged relative to the tip of the arm.
  • the image acquisition system has at least one, preferably at least three, cameras, which are preferably arranged in a common housing.
  • 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.
  • 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.
  • 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.
  • the lighting device comprises at least one headlight.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an air curtain control device 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.
  • a temperature control device 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.
  • the temperature control medium preferably compressed air
  • 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
  • Fig. 5 shows a rear view of the crane 32.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the device for generating an 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Control And Safety Of Cranes (AREA)
  • Studio Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP18183443.3A 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images Active EP3594167B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
EP18183443.3A EP3594167B1 (fr) 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images
PL18183443T PL3594167T3 (pl) 2018-07-13 2018-07-13 Żuraw z systemem rejestrowania obrazu
ES18183443T ES2889574T3 (es) 2018-07-13 2018-07-13 Grúa con sistema de captación de imágenes
SI201830400T SI3594167T1 (sl) 2018-07-13 2018-07-13 Žerjav s sistemom za zajemanje slike
JP2019130290A JP7003092B2 (ja) 2018-07-13 2019-07-12 画像検出システムを備えたクレーン
US16/509,743 US10968083B2 (en) 2018-07-13 2019-07-12 Crane comprising an image acquisition system
RU2019121888A RU2743213C2 (ru) 2018-07-13 2019-07-12 Кран, имеющий систему регистрации изображений
KR1020190084184A KR20200007719A (ko) 2018-07-13 2019-07-12 이미지 획득 시스템을 포함하는 크레인

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18183443.3A EP3594167B1 (fr) 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images

Publications (2)

Publication Number Publication Date
EP3594167A1 true EP3594167A1 (fr) 2020-01-15
EP3594167B1 EP3594167B1 (fr) 2021-06-16

Family

ID=62951950

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18183443.3A Active EP3594167B1 (fr) 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images

Country Status (8)

Country Link
US (1) US10968083B2 (fr)
EP (1) EP3594167B1 (fr)
JP (1) JP7003092B2 (fr)
KR (1) KR20200007719A (fr)
ES (1) ES2889574T3 (fr)
PL (1) PL3594167T3 (fr)
RU (1) RU2743213C2 (fr)
SI (1) SI3594167T1 (fr)

Citations (4)

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Publication number Priority date Publication date Assignee Title
US20130183028A1 (en) * 2012-01-13 2013-07-18 Leonard T. Chapman Telescoping camera crane
DE102014009165A1 (de) * 2014-06-25 2015-12-31 Schwing Gmbh Fahrbarer Großmanipulator
WO2017164781A1 (fr) 2016-03-23 2017-09-28 Cargotec Patenter Ab Ensemble de manipulation de charge
EP3323767A1 (fr) * 2016-11-22 2018-05-23 Manitowoc Crane Companies, LLC Système de détection optique pour une grue de levage

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JP2878922B2 (ja) 1993-03-04 1999-04-05 シャープ株式会社 車載用カメラ装置
JP3623014B2 (ja) 1995-06-21 2005-02-23 洋太郎 畑村 作業機械
JPH11120813A (ja) 1997-10-20 1999-04-30 Unik Chubu Hanbai Kk 車輌架装式クレーン用投光器アタッチメント
DE19836103A1 (de) 1998-08-10 2000-02-24 Siemens Ag Vorrichtung und Verfahren zur zweidimensionalen Bestimmung von Lastpendelungen und/oder -rotationen an einem Kran
JP2002240628A (ja) 2001-02-19 2002-08-28 Viewtec Japan Co Ltd 自動車用バックアイカメラ
JP2003015213A (ja) 2001-06-30 2003-01-15 Hinox:Kk 温風循環式屋外カメラ用フード
DE10245970B4 (de) * 2002-09-30 2008-08-21 Siemens Ag Verfahren bzw. Vorrichtung zur Erkennung einer Last eines Hebezeuges
KR100936120B1 (ko) 2007-12-26 2010-01-12 김종건 로울러형 하중검출장치를 이용한 크레인의 안전제어시스템
JP2009286216A (ja) 2008-05-28 2009-12-10 Denso Corp 風圧発生装置
DE202009005808U1 (de) * 2008-11-18 2010-09-23 Weidmüller Interface GmbH & Co. KG Vorrichtung zur automatisierten Montage von anreihbaren Geräten auf einer Montagebasis
WO2014010580A1 (fr) * 2012-07-11 2014-01-16 日産自動車株式会社 Dispositif de nettoyage de caméra embarquée
WO2014046213A1 (fr) 2012-09-21 2014-03-27 株式会社タダノ Dispositif d'acquisition d'informations de périphérie pour véhicule
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JP6318685B2 (ja) 2014-02-19 2018-05-09 富士通株式会社 送風制御プログラム、送風制御方法、送風制御装置および監視カメラシステム
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130183028A1 (en) * 2012-01-13 2013-07-18 Leonard T. Chapman Telescoping camera crane
DE102014009165A1 (de) * 2014-06-25 2015-12-31 Schwing Gmbh Fahrbarer Großmanipulator
WO2017164781A1 (fr) 2016-03-23 2017-09-28 Cargotec Patenter Ab Ensemble de manipulation de charge
EP3323767A1 (fr) * 2016-11-22 2018-05-23 Manitowoc Crane Companies, LLC Système de détection optique pour une grue de levage

Also Published As

Publication number Publication date
RU2743213C2 (ru) 2021-02-16
KR20200007719A (ko) 2020-01-22
PL3594167T3 (pl) 2021-12-13
EP3594167B1 (fr) 2021-06-16
RU2019121888A3 (fr) 2021-01-14
JP7003092B2 (ja) 2022-01-20
ES2889574T3 (es) 2022-01-12
US20200017335A1 (en) 2020-01-16
JP2020011847A (ja) 2020-01-23
SI3594167T1 (sl) 2021-11-30
RU2019121888A (ru) 2021-01-14
US10968083B2 (en) 2021-04-06

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