EP4206113A1 - Lasthandhabungsanordnung - Google Patents

Lasthandhabungsanordnung Download PDF

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Publication number
EP4206113A1
EP4206113A1 EP23155940.2A EP23155940A EP4206113A1 EP 4206113 A1 EP4206113 A1 EP 4206113A1 EP 23155940 A EP23155940 A EP 23155940A EP 4206113 A1 EP4206113 A1 EP 4206113A1
Authority
EP
European Patent Office
Prior art keywords
crane
camera
camera unit
load handling
elevating device
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.)
Pending
Application number
EP23155940.2A
Other languages
English (en)
French (fr)
Inventor
Hans LYNGBÄCK
Pelle Gustafsson
Tahir QURESHI
Jacek Kowalski
Toni Kymäläinen
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
Hiab 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 Hiab AB filed Critical Hiab AB
Priority to EP23155940.2A priority Critical patent/EP4206113A1/de
Publication of EP4206113A1 publication Critical patent/EP4206113A1/de
Pending legal-status Critical Current

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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
    • 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.
  • 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 , WO 2015/197708 and EP 2 952 467 A1 .
  • JP H093979 and JP H09214943 disclose devices including a projected camera used to assist an operator at a work site.
  • 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:
  • 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 unit 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 unit during a movement of the support legs in relation to the crane base when the camera elevating device is in this 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.
  • 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 camera unit is a stereoscopic camera unit 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 unit 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 above-mentioned object is achieved by means of a load handling assembly having the features as disclosed below.
  • the load handling assembly according to this second aspect of the invention comprises:
  • liftable 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 according 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:
  • the crane boom system 17 of the crane 10 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 17 of the crane 10 may as an alternative include only one liftable and lowerable crane boom or more than two liftable and lowerable crane booms articulately connected to each other.
  • One or more of the crane booms of the crane boom system 17 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 11 and at least two support 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 11, 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 could 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 electronic 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 electronic 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 electronic 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 calculation 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 11 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 unit 40 with one or more video cameras 41a, 41b 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 unit 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 unit may also be used, such as for instance a display unit with a display screen mounted in the driver's cabin of a vehicle 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 this image processor 6 is configured to receive image signals from the video cameras 41a, 41b of the camera unit 40 and to produce, based on these image signals, a real time image for display on the display unit 4.
  • this image processor 6 is configured to receive image signals from the video cameras 41a, 41b of the camera unit 40 and to produce, based on these image signals, a real time image for display on the display unit 4.
  • the electronic 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 unit 40.
  • 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 11 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 simultaneously 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 unit 30 while simultaneously 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 electronic control unit 3 to thereby control the movement of the camera elevating device 50.
  • the operator may select this third 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 41a (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 41b 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 41a to the right eye of the operator and a second display screen 5b for displaying a real time image captured by the second video camera 41b to for the left eye of the operator.
  • the camera elevating device 50 comprises a base part 51, which in the embodiment 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 11 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 11 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 positioning 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 . 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 unit 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 embodiments 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 angle of the crane base 11, wherein the image processor 6 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 support legs 22, the tilt angle of the crane base 11 as established based on measuring signals from the tilt sensor 7.
  • the tilt sensor 7 may be mounted to the crane base 11 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 vehicle, 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 could also comprise a hydraulic loader crane in the form of lorry crane mounted to the chassis of a lorry.
  • the electronic control device 3 may be implemented by one single 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 electronic control units.

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  • 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)
EP23155940.2A 2016-03-23 2016-03-23 Lasthandhabungsanordnung Pending EP4206113A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP23155940.2A EP4206113A1 (de) 2016-03-23 2016-03-23 Lasthandhabungsanordnung

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP16895638.1A EP3433200A4 (de) 2016-03-23 2016-03-23 Lasthandhabungsanordnung
EP23155940.2A EP4206113A1 (de) 2016-03-23 2016-03-23 Lasthandhabungsanordnung
PCT/SE2016/050239 WO2017164781A1 (en) 2016-03-23 2016-03-23 Load handling assembly

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP16895638.1A Division EP3433200A4 (de) 2016-03-23 2016-03-23 Lasthandhabungsanordnung

Publications (1)

Publication Number Publication Date
EP4206113A1 true EP4206113A1 (de) 2023-07-05

Family

ID=59900720

Family Applications (2)

Application Number Title Priority Date Filing Date
EP16895638.1A Withdrawn EP3433200A4 (de) 2016-03-23 2016-03-23 Lasthandhabungsanordnung
EP23155940.2A Pending EP4206113A1 (de) 2016-03-23 2016-03-23 Lasthandhabungsanordnung

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP16895638.1A Withdrawn EP3433200A4 (de) 2016-03-23 2016-03-23 Lasthandhabungsanordnung

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EP (2) EP3433200A4 (de)
WO (1) WO2017164781A1 (de)

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Publication number Priority date Publication date Assignee Title
ES2889574T3 (es) 2018-07-13 2022-01-12 Epsilon Kran Gmbh Grúa con sistema de captación de imágenes
EP3594169B1 (de) 2018-07-13 2021-03-24 EPSILON Kran GmbH. Fahrzeug mit einem kran und einer kransteuerung
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
CN118311046B (zh) * 2024-06-07 2024-09-13 北京晶品特装科技股份有限公司 一种基于机器视觉的智能化产品检测装置

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JPH093979A (ja) 1995-06-16 1997-01-07 Sekisui House Ltd 浴槽水再利用機構
JPH09214943A (ja) 1996-02-05 1997-08-15 Ohbayashi Corp 遠隔監視システム
WO2015113084A1 (de) * 2014-01-31 2015-08-06 Palfinger Ag Kransteuerung
WO2015133907A1 (en) 2014-03-04 2015-09-11 Nmi Holding As Method for use of a camera for surveillance of a work area and a crane provided with a camera
US20150330146A1 (en) 2012-10-17 2015-11-19 Iveco Magirus Ag Utility vehicle with monitoring system for monitoring the position of the vehicle
EP2952467A1 (de) 2014-06-03 2015-12-09 Palfinger Platforms GmbH Verfahren zur visualisierung der abstützposition und/oder des ausfahrweges zumindest einer stütze eines fahrzeuges sowie fahrzeug mit zumindest einer stütze
WO2015197708A1 (de) 2014-06-25 2015-12-30 Schwing Gmbh Fahrbarer grossmanipulator
JP2016013889A (ja) * 2014-07-01 2016-01-28 株式会社タダノ クレーン車の障害物報知システム

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JP5642409B2 (ja) * 2010-03-30 2014-12-17 株式会社タダノ クレーンの制御装置及びクレーン
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH093979A (ja) 1995-06-16 1997-01-07 Sekisui House Ltd 浴槽水再利用機構
JPH09214943A (ja) 1996-02-05 1997-08-15 Ohbayashi Corp 遠隔監視システム
US20150330146A1 (en) 2012-10-17 2015-11-19 Iveco Magirus Ag Utility vehicle with monitoring system for monitoring the position of the vehicle
WO2015113084A1 (de) * 2014-01-31 2015-08-06 Palfinger Ag Kransteuerung
WO2015133907A1 (en) 2014-03-04 2015-09-11 Nmi Holding As Method for use of a camera for surveillance of a work area and a crane provided with a camera
EP2952467A1 (de) 2014-06-03 2015-12-09 Palfinger Platforms GmbH Verfahren zur visualisierung der abstützposition und/oder des ausfahrweges zumindest einer stütze eines fahrzeuges sowie fahrzeug mit zumindest einer stütze
WO2015197708A1 (de) 2014-06-25 2015-12-30 Schwing Gmbh Fahrbarer grossmanipulator
JP2016013889A (ja) * 2014-07-01 2016-01-28 株式会社タダノ クレーン車の障害物報知システム

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Publication number Publication date
EP3433200A1 (de) 2019-01-30
WO2017164781A1 (en) 2017-09-28
EP3433200A4 (de) 2019-11-27

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