EP3594167B1 - Crane with imaging system - Google Patents

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 off WO 2017/164781 A1 known. This document shows in the Figures 7a and 7b a crane with a crane pillar and with an image acquisition 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 on a straight boom of the lifting device (last piece, which is on the innermost, horizontally extending 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 pamphlet EP 3 323 767 A1 shows a telescopic crane with a crane arm on which an image capturing device is arranged in a region of the tip. The pamphlet DE 10 2014 009165 A1 describes a large manipulator with a camera mounted on a camera boom.

The pamphlet US 2013/183028 A1 shows a camera crane with a telescopic crane arm, at the tip of which a camera can be mounted.

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 the invention provides that the image acquisition system is arranged on a tip of the cantilever that forms a highest point of the cantilever, the field of view is not restricted either by horizontally extending cantilevers or by a cantilever extending upwards next to the image acquisition system. This basically enables a field of view of 360 ° in a horizontal plane, the invention not being limited to such an all-round view. For example, a field of view of at least 290 ° can 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 arranged rigidly relative to the tip of the boom. The advantage of this is that, due to the large field of view according to the invention, no adjustment mechanism is required for the image acquisition system.

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, it is also conceivable to use a single camera which has imaging optics that make use of the large field of view provided according to the invention.

In one embodiment of the invention, it is provided that the image acquisition system is arranged in the transport position at least substantially completely 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 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 tip of the boom, whereby it is preferably provided that the lighting device is arranged sunk in the boom so that it can be retracted into the lifting column together with the boom is. The arrangement selected here in the area of the tip of the boom allows, on the one hand, optimal illumination in the field of view of the image acquisition system and, on the other hand, prevents the image acquisition system from being dazzled. If the lighting device is arranged sunk in the boom, this offers - above all, but not only - optimum protection in the transport position. 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 the invention it is provided that the lifting column and the boom in a vertical plane, which has both the lifting column and a crane column, include an angle other than zero with the crane column. A vertical lifting column would also be conceivable. When the boom is extended, the selected inclined course of the lifting column causes the image acquisition system to be offset away from the crane column relative to the crane column, thus making it possible to better view an area covered by the crane column. 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 removal in the transport position being necessary.

It is provided that a housing of a crane control arranged on the crane pillar is arranged in a lower region of the crane pillar. The housing of the crane control does not obscure a view of the crane's support. Therefore, no additional image acquisition system is required in the area of the support.

In an exemplary embodiment of the invention, it is provided that the image acquisition system has a computing unit which is composed of at least signals a camera of the image acquisition system calculates visualization data for a visualization unit arranged outside the image acquisition system. So, so to speak, part of the computational effort required for a display (in particular a compression of data) is relocated to the image acquisition system itself. This means that far fewer data have 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 - in the case of reference to the embodiment described above - transmits them to the computing unit. This reduces a connection effort (mostly 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 makes the use of wireless connections easier.

In one embodiment of the invention it is provided that a device for generating an air curtain to prevent contamination or moisture is provided on the protective glass for at least one protective glass of the image acquisition system, 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 your own compressed air on the crane. It is also not necessary to arrange an air conditioning 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 in the carrier vehicle from being exhausted.

In one 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 provided by a carrier vehicle of the crane, preferably compressed air, and / or for supplying energy 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.

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

Fig. 1

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

Fig. 2

a top view of an image acquisition system,

Figures 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 of the crane according to Fig. 1 ,

Fig. 6

a schematic representation of an image acquisition system according to the prior art,

Fig. 7

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 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 Figure 8 shows a front view of the crane 32 and 32 Fig. 5 Figure 13 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 boom 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 is used to capture an area of the surroundings of the crane that is not directly visible to an operator of the crane 32. Of course, an area that can be viewed directly by an operator can also be captured by the image capturing system 2. The image acquisition system 2 can be moved upwards by extending the boom 5 out of the lifting column 4 and can be lowered by moving the boom 5 into the lifting column 4 into a transport position in which the boom 5 is 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 an angle other than zero 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 crane control housing 9 arranged on the crane pillar 8 is arranged in a lower region of the crane pillar 8. As in Fig. 5 represented by the dash-dotted lines emanating from the image acquisition system 2, this arrangement of the housing 9 does not obscure the housing 9 of the crane control a view of a support 12 of the crane 5. 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 boom 5 and, in the exemplary embodiment shown, comprises four cameras 3, which are arranged in a common housing that is closed 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 is in the transport position essentially completely in or behind a protective cover 11 arranged on the lifting column 4 and is thereby protected from external influences.

Below the image acquisition system 2 in the area of the tip of the boom 5, a lighting device comprising two headlights 6 is arranged on the boom 5, wherein the lighting device is arranged sunk in the boom 5 (cf. Fig. 3a ) so 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 acquired by the respective cameras 3 in a horizontal plane. A stereoscopic recording of a section of the field of view recorded as a whole can be carried out by two of the cameras 3. As in the Figures 1 , 4th and 5 As can be seen, the stereoscopically recorded section is directed in the direction of a crane arm arranged on the crane pillar 8 - and thus in the direction of an effective area of an implement that can be arranged thereon.

Fig. 3a shows a side view and Figure 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. Figure 3b shows a cabling 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 , 4th 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 an operating station of a crane). Image data, which can be passed on to a car visualization unit 17, are calculated from the signals by a car computing unit 16, which is also arranged in the car 13. The image data can be passed on from the car visualization unit 17 to a display device 21.

Fig. 7 shows a schematic representation of an embodiment of a proposed image capturing system 2. The image capturing system 2 comprises several cameras 3. The signals output by these cameras 3 are sent to an interface 18 arranged in the image capturing system 2, possibly via separately configured signal lines. Image data are calculated from the signals by a computing unit 19, which is 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 passed on preferably via a data line 34 to a visualization unit 20 arranged in a cabin 13 of a carrier vehicle 35 (not shown here or in an operating station of a crane), from which in turn data can be passed on to a display device 21. In contrast to what is shown, 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. 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 to a compressed air supply and / or an energy supply of a carrier vehicle 35 of the crane 32 via an interface. Compressed air can be fed into the interior of a housing of the image acquisition system 2, in which the cameras 3 are located, via a compressed air supply line. A control valve 27 and a throttle 23, which can be controlled by a temperature control 30, are arranged in the compressed air supply line. 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 area of the housing can be heated by means of 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, humidity of the compressed air, temperature of the compressed air, ambient temperature, actual temperature inside the housing, setpoint 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 symbols:

1

Lifting device

2

Image acquisition system

3

camera

4th

Lifting column

5

boom

6th

Headlights

7th

strut

8th

Crane pillar

9

Housing of a crane control

10

Cover of a housing of the image acquisition system

11

Protective cover

12th

Support

13th

Carrier vehicle cabin or crane operator's platform

14th

cables

15th

Cabin interface

16

Cabin computing unit

17th

Cabin visualization unit

18th

interface

19th

Arithmetic unit

20th

Visualization unit

21

Display device

22nd

Air curtain control device

23

throttle

24

Switching valve

25th

heater

26th

Pressure relief valve

27

Control valve

28

Air curtain

29

Protective glass

30th

Temperature control

31

Switch of the temperature control device

32

crane

33

cabling

34

Data line

35

Carrier vehicle

Claims (13)

1. A crane (32) comprising a crane column (8) and an image acquisition system (2) which is arranged to be raised and lowered by a lifting device (1) for acquisition of a region of a crane environment, that cannot be directly viewed by an operator of the crane (32), wherein the image acquisition system (2) is arranged on a jib (5), that extends straight, of the lifting device (1), wherein the image acquisition system (2) is moveable upwardly by an extension of the jib (5) from a lift column (4) and is lowerable by retraction of the jib (5) into the lift column (4) into a transport position in which the jib (5) is disposed substantially completely in the lift column (4) and the image acquisition system (2) is moved towards the lift column (4), characterised in that the image acquisition system (2) is arranged on a tip of the jib (5), that forms a highest point of the jib (5), wherein the lift column (4) and the jib (5) include an angle different from zero with the crane column (8) in a vertical plane which has both the lift column (4) and also the crane column (8).
2. A crane according to claim 1 wherein the image acquisition system (2) is arranged rigidly relative to the tip of the jib (5).
3. A crane according to at least one of the preceding claims wherein the image acquisition system (2) has at least one and preferably at least three cameras (3) which are preferably arranged in a common housing.
4. A 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 lift column (4).
5. A crane according to at least one of the preceding claims wherein a lighting device is arranged on the jib (5) beneath the image acquisition system (2) in the region of the tip of the jib (5), wherein it is preferably provided that the lighting device is arranged sunk in the jib (5) in such a way that it is retractable jointly with the jib (5) into the lift column (4).
6. A crane according to the preceding claim wherein the lighting device includes at least one spotlight (6).
7. A crane according to at least one of the preceding claims wherein a housing (9) of a crane control that is arranged on the crane column (8) is arranged in a lower region of the crane column (8).
8. A crane according to at least one of the preceding claims wherein the image acquisition system (2) has a computing unit (19) which from signals of at least one camera (3) of the image acquisition system (2) computes visualization data for a visualization unit (20) arranged outside the image acquisition system (2).
9. A crane according to at least one of the preceding claims wherein the image acquisition system (2) has at least two cameras (3) and there is provided an interface (18) which collects signals of the at least two cameras (3) and possibly - when the appendancy to the preceding claim applies - communicates same to the computing unit (19).
10. A crane according to at least one of the preceding claims wherein there is provided a device for producing an air curtain (28) for at least one protective glass (29) of the image acquisition system (2), wherein the device for producing the air curtain (28) has an interface for linking to a compressed air supply of a carrier vehicle (35) of the crane (32).
11. A crane according to the preceding claim wherein there is provided an air curtain control device (22) which blocks production of the air curtain (28) outside of operation of the image acquisition system (2).
12. A crane according to at least one of the preceding claims wherein there is provided a temperature control device for the image acquisition system (2), wherein the temperature control device has an interface for temperature control medium, preferably compressed air, that is provided by a carrier vehicle (35) of the crane, and/or for the power supply for the temperature control device.
13. A carrier vehicle (35) having a crane (32) according to at least one of the preceding claims.

Images