SE1750317A1

SE1750317A1 - A load handling assembly, a vehicle, and a method of operating a load handling assembly

Info

Publication number: SE1750317A1
Application number: SE1750317A
Authority: SE
Inventors: Gustafsson Per
Original assignee: Cargotec Patenter Ab
Priority date: 2017-03-16
Filing date: 2017-03-16
Publication date: 2018-02-09

Abstract

A load handling assembly, a vehicle (1) and a method of handling a load handling assembly are disclosed. The load handling assembly is mounted on the vehicle and comprises a load handling device (2) for handling of loads and a support device (3). A support leg (5) is attached to a respective outer end of the support device, and has a foot member (6) provided to perform a movement away from the support device along a y-axis to a support position (8) on the ground (G). A camera (20), a processing unit (21) communicating with the camera, and a controller (22) are provided. The camera captures a real time image of an area (A) enclosing the support position and the foot member. The processing unit processes the real time image and to supervise in real time the distance along the y-axis between the foot member and the support position.

Description

A load handling assembly, a vehicle, and a method ofoperating a load handling assembly TECHNICAL FIELD OF THE INVENTION The present invention refers to a load handling assemblyconfigured to be mounted on a vehicle according to the preambleof claim 1. The invention also refers to a vehicle comprising aload handling assembly. Furthermore, the invention refers to amethod of operating a load handling assembly according to thepreamble of claim 17.

BACKGROUND OF THE INVENTION AND PRIOR ART EP2952467 discloses a method of visualizing a support positionand/or the extension of a support leg of a vehicle. The supportleg is laterally movable from a retracted position to the supportposition. A camera and a display are provided for monitoring thesupport leg during the movement of the support leg to the supportposition. A further detecting device is mounted on the support legfor detecting an obstructing object in front of the support legduring the movement of the support leg. A horizontal movementof the support leg may be prevented if the detecting devicedetects an obstructing object in front of the support leg.

JP2009073248 discloses a device comprising monitoringcameras and image recognition means for detecting thehorizontal extension length of the support leg extensions on amobile crane.

WO 2015/133907 discloses a camera mounted to a crane boomof a crane for capturing a real time image of a working area of thecrane and for allowing an operator of the crane to view a real time image of the working area on a display unit connected to thecamera.

Problems, which are not addressed nor solved by this prior art,concern the support leg of a load handling assembly, such as acrane, to be mounted on a truck or any similar vehicle. Moreprecisely, problems can occur in case the ground is too soft orweak to carry the pressure exerted by the support leg of the loadhandling assembly, in particular when large loads are to becarried by the load handling assembly. Further problems canoccur when the ground on which the foot member is to be locatedis sloping and/or when the ground is slippery.

SUMMARY OF THE INVENTION The object of the present invention is to overcome the problemsdiscussed above. ln particular, it is aimed at a reliable andconvenient supervision of the support leg of a load handlingassembly of the kind initially defined.

This object is achieved by the load handling assembly initiallydefined, which is characterized in that the camera is configuredto capture a real time image of an area enclosing the supportposition and the foot member, and that the processing unit isconfigured to process the real time image and to supervise ordetermine in real time the distance along the y-axis between thefoot member and the support position.

By means of the camera capturing a real time image, or video,and the processing unit processing the real time image, or video,it is possible to supervise the area and the foot member of thesupport leg during the positioning of the foot member on thesupport position on the ground, and during the following operationof the load handling device and the handling of loads of varying weights. lt is thus possible to supervise and detect situations,which are related to the foot member and could be dangerous,such as an incorrectly positioned foot member due to for instancean inadequate ground, a missing foot plate etc. lf the determined distance is positive, the foot member has notreached the ground, and if the determined distance is negative,the foot member has broken through the ground.

According to an embodiment of the invention, the processing unitis configured to determine in real time coordinates of the supportposition, at least along the y-axis, and coordinates of the footmember, or an end of the foot member, at least along the y-axis.

According to an embodiment of the invention, the processing unitis configured to detect from said processed real time image whenthe distance is zero. This is an indication that the foot memberhas reached the support position, and that the support leg issupported by the ground. This may be an important information tothe load handling assembly, especially in connection with receiptof a value of the load exerted on the support leg.

According to an embodiment of the invention, the processing unitis configured to detect from said processed real time image if themovement of the foot member along the y-axis continues awayfrom and passing the support position, and to transmit a firstsignal to the controller if said continuing movement is detected.ln such a way, it is possible to detect if the foot member, duringthe leg positioning operation and/or during the operation of theload handling device, breaks through the ground. Such a break-through, which may be due to a too weak or soft ground, is adangerous state, which might need immediate action to beperformed manually or automatically.

According to an embodiment of the invention, the controller isconfigured to take an action upon receipt of the first signal, forinstance alerting the operator.

According to an embodiment of the invention, the load handlingassembly comprises a display unit communicating with theprocessing unit. The display unit may be viewed by the operator,for instance for manual supervision of the foot member during theleg positioning operation and during the operation of the loadhandling device. The display unit may comprise a display, ascreen, glasses or various kinds of goggles.

According to an embodiment of the invention, the foot membercomprises a detachable foot plate, wherein the processing unit isconfigured to detect from said processed real time image whetherthe foot plate is attached to the foot member, and to transmit asecond signal to the controller if the foot plate is not attached tothe foot member. The foot member may, depending on groundconditions and load, need a foot plate having an enlargedabutment surface. By detecting whether such a foot plate isattached to the foot member, it is possible to avoid accidents dueto a missing foot plate.

According to an embodiment of the invention, the controller isconfigured to take an action upon receipt of the second signal, forinstance alerting the operator.

According to an embodiment of the invention, the processing unitis configured to detect from said processed real time image thenature of a ground surface around the support position and totransmit a third signal to the controller if said nature isinadequate. For instance, the nature may be inadequate if theground surface, extending around and enclosing the supportposition, is sloping, uneven or weak. Such an inadequate ground surface may thus be detected by the processing unit, and anappropriate action may be taken.

According to an embodiment of the invention, the controller isconfigured to take an action upon receipt of the third signal, forinstance alerting the operator.

According to an embodiment of the invention, the processing unitis configured to sense from said processed real time image apositioning movement of the foot member towards the supportposition during said leg positioning operation and to detect fromsaid processed real time image if said positioning movementstops before the foot member has reached the support position,wherein the processing unit is configured to transmit a fourthsignal to the controller if said positioning movement stops beforethe foot member has reached the support position. ln such asituation, the foot member may be located in the air above thesupport position, which is a state that offers no support to the loadhandling assembly and that might need immediate action to beperformed manually or automatically.

According to an embodiment of the invention, the controller isconfigured to take an action upon receipt of the fourth signal, forinstance alerting the operator.

According to an embodiment of the invention, the processing unitis configured to detect from said processed real time image a sidemovement of the foot member in a direction perpendicular to they-axis and to transmit a fifth signal to the controller if said sidemovement is detected. ln such a way, it is possible to detect if thefoot member is sliding on the ground away from the supportposition during the leg positioning operation and/or during theoperation of the load handling device. Such a sliding movement,for instance due to a slippery surface of the ground, is a dangerous state, which might need immediate action to beperformed manually or automatically.

According to an embodiment of the invention, the controller isconfigured to take an action upon receipt of the fifth signal, forinstance alerting the operator.

According to an embodiment of the invention, the support legcomprises markings on the foot member, wherein the processingunit is configured to detect the markings and determine a lengthof the foot member. The detected actual length may betransmitted to the controller.

According to an embodiment of the invention, the support legextension extends along a z-axis being perpendicular to the y-axis. Thus the y-axis may be vertical, and the z-axis horizontal.An x-axis extends perpendicularly to the z-axis and the y-axis,and may extend along a longitudinal direction of the vehicle.

According to an embodiment of the invention, the load handlingassembly comprises two support legs attached to a respectiveouter end of the support device, and two cameras each beingconfigured to capture a real time image of an area enclosing thesupport position and the foot member of a respective one of thesupport legs.

The object is also achieved by the vehicle initially definedcomprising a load handling assembly according to any one of theembodiments described above. The vehicle may be a truck or anysimilar heavy vehicle. Advantageously, the camera, or cameras,may be mounted on the vehicle at a distance from the loadhandling assembly.

The object is also achieved by the method initially defined, whichis characterized by the steps of: capturing a real time image of an area enclosing the supportposition and the foot member, processing the real time image, and supervising in real time the distance along the y-axis between thefoot member and the support position.

This method may be performed by the above definedembodiments of the load handling assembly. The real time imagemay be captured by the camera described above, and may beprocessed by the processing unit. By means of the processingunit, the coordinates of the end of the foot member and of thesupport position may for instance be determined, and thus thedistance between the end of the foot member and the supportposition may be supervised and determined in real time.According to an embodiment of the invention, the methodcomprises the further step of: detecting from said processed real time image when the distance is zero.

According to an embodiment of the invention, the methodcomprises the further step of: detecting from said processed realtime image if the movement of the foot member along the y-axis continues away from and passing the support position.Advantageously, an operator may be alerted about saidcontinuing movement.

According to an embodiment of the invention, the method comprises the further step of: detecting from said processed realtime image a missing foot plate of the foot member.Advantageously, an operator may be alerted if said foot plate ismissing.

According to an embodiment of the invention, the methodcomprises the further step of: detecting from said processed realtime image the nature of a ground surface around the supportposition. Advantageously, an operator may be alerted if saidnature is inadequate.

According to an embodiment of the the methodcomprises the further steps of: sensing from said processed real time image a positioningmovement of the foot member towards the support position duringsaid leg positioning operation, and detecting from said processed real time image if said positioningmovement stops before the foot member has reached the supportposition. Advantageously, an operator may be alerted about saiddetection. invenüon, According to an embodiment of the invention, the methodcomprises the further steps of: detecting from said processed realtime image a side movement of the foot member in a directionperpendicular to the y-axis. Advantageously, an operator may bealerted about said side movement.

BRIEF DESCRIPTION OF THE DRAWINGSThe invention is now to be explained more closely through a description of various embodiments, and with reference to thedrawings attached hereto.

Fig 1 discloses schematically a rear view of a vehiclecomprising a load handling assembly according to anembodiment of the invention.

Fig 2 discloses schematically a block diagram of parts of the load handling assembly in Fig 1.

DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS OFTHE INVENTION Fig 1 discloses a load handling assembly, which is mounted on avehicle 1 such as a truck. The load handling assembly may alsobe mounted on a platform of a stationary kind. The load handlingassembly comprises a load handling device 2, or crane,configured for handling of loads during operation of the loadhandling device 2.

The load handling assembly disclosed in Figs 1 and 2 alsocomprises a support device 3 having two support leg extensions31 which extend in a horizontal plane along a z-axis. The supportleg extensions 31 may be mounted to a support beam 32 of thesupport device 3. ln the embodiments disclosed, the support legextensions 31 are extendable from the support beam 32 along thez-axis. The support leg extensions 31 are thus movable back andforth along the z-axis as indicated by the horizontal arrows in Fig1. ln the embodiments disclosed, the load handling device 2 isattached to the support beam 32, and may be rotatable in relationto the support beam 32 around a vertical axis.

Furthermore, the load handling assembly comprises two supportlegs 5 attached to an outer end of a respective one of the supportdevice 3. ln the embodiments disclosed, the support legs 5 areattached to an outer end of a respective one of the support legextensions 31. Each support leg 5 may be formed by a hydrauliccylinder.

Each support leg 5 has a foot member 6. The foot member 6 maybe formed by a piston or piston rod being movable in a cylinder mantle 7 of the support leg 5. The foot member 6 is provided toperform a movement in relation to the cylinder mantle 7, and thusaway from the support leg extension 31 along a y-axis to a supportposition 8 located on the ground G during a leg positioningoperation. The foot members 6 are thus movable back and forthalong the y-axis as indicated by the vertical arrows in Fig 1.

The y-axis is vertical, or substantially vertical, and perpendicularto the z-axis. An x-axis extends perpendicularly to the z-axis andthe y-axis. ln the embodiments disclosed, the x-axis extends inthe longitudinal direction of the vehicle 1.

The foot member 6 has an end, which is formed by a foot plate 9intended to abut the ground G. The end forms a lower end of thefoot member 6. The foot plate 9 may be detachable from the footmember 6. The foot plate 9 may be replaced or supplemented bya detachable foot plate 10, as indicated to the right in Fig 1. Thedetachable foot plate 10 has an enlarged abutment surface, whichis suitable when the ground conditions are weak making therelatively smaller foot plate 9 insufficient to carry the expectedload.

The support leg 5 comprises markings 14 provided on the footmember 6 as can be seen in Fig 2.

As can be seen form Figs 1 and 2, the load handling assemblycomprises two cameras 20, one for each of the support legs 5,and a processing unit 21 communicating with a the cameras 20. ln the embodiment disclosed, the cameras 20 are mounted to thevehicle 1. lt should be noted that the cameras 20 as an alternativemay be mounted directly on the load handling assembly. 11 Each camera 20 is configured to capture a real time image of anarea A enclosing the support position 8 and the foot member 6,and a ground surface 11 around the support position 8. lt should also be noted that two processing units 21 may beprovided, one for each camera 20. The processing unit 21, orunits 21, may be separate from the cameras 20 or may beintegrated in one of the cameras 20 or in each camera 20.

The processing unit 21 is configured to process the real timeimage captured by the camera 20. Based on the processed realtime image, the processing unit 21 may determine the position ofthe lower end of the foot member 6 in relation to the supportposition 8. The processing unit 21 may and thus supervise in realtime the distance along the y-axis between the end of the footmember 6 and the support position 8, and determine if thedistance is negative or positive.

The processing unit 21 may also be configured determine thesupport position 8, i.e. the coordinates of the support position 8along the y-axis, and in a horizontal plane along the z-axis andthe x-axis. The determination of the support position 8 may bemade by the processing unit 21 when the support leg extension31 has reached a desired extended position along the z-axis,possibly an outermost position.

The processing unit 21 may also be configured determine theposition of the end of the foot member 6, i.e. the coordinates ofthe position of the end of the foot member 6 along the y-axis, andin a horizontal plane along the z-axis and the x-axis.

The load handling assembly also comprises a controller 22 for theoverall control of the load handling assembly and the differentmovements to be performed, i.e. the handling of the load handling 12 device 2, the extension of the support leg extensions 31 and themovement of the foot members 6 of the support legs 5. Thus thecontroller 22 may communicate with the load handling device 2,the support device 3, the support legs 5, and with the processingunit 21.

The load handling assembly also comprises a display unit 24 maybe connected to and communicate with the processing unit 21.The display unit 24 may also be connected to and communicatewith the controller 22.

The display unit 24 is configured to permit visual supervision ofthe end of the foot member 6 and the support position 8.

The display unit 24 may include a display or screen. The displayunit 24 may also include a pair of, glasses or goggles, for exampleof the type sold under the trademark Hololens or the trademarkOculus Rift. The display unit 21 may be structured to present a3D representation such that the 3D representation is overlaid onthe transparent glasses through which a user observes themovable foot member 6. Various additional information, such asany one of the warnings discussed below, may also be presentedas overlaid information, and may for instance be presented suchthat the additional information is presented close to an illustratedpart of the movable foot member 6.

Thus, the display unit 24 may include different kinds of goggles,such as virtual reality goggles, VR, mixed reality goggles MR, andaugmented reality goggles, AR. These types of goggles comprisetwo displays to be arranged in front of the operator's eyes.

The processing unit 21 may then be configured to detect from saidprocessed real time image when the distance between the lowerend of the foot member 6 and the support position 8 is zero, and 13 thus the end of the foot member 6 has reached the supportposition 8 on the ground G.

The processing unit 21 may also be configured to detect themarkings 14 on the foot member 6, and to determine an extensionlength of the foot member 6. The processing unit 21 may then beconfigured to transmit the detected extension length of the footmember 6 to the controller 22.

Furthermore, the processing unit 21 may be configured to detectfrom said processed real time image if the movement of the footmember 6 along the y-axis continues away from and passing thesupport position 8. This continuing movement means that the endof the foot member 6 breaks through the ground G. Theprocessing unit 21 may then be configured to transmit a firstsignal to the controller 22 if the continuing movement is detected.

The controller 22 may take an action upon receipt of the firstsignal. Such an action may include alerting the operator, forinstance by means of a warning via the display unit 24. The actionmay also include lowering of an allowed lifting moment of the loadhandling device 2. The warning via the display unit 24 may alsobe initiated directly by the processing unit 21.

The processing unit 21 may be configured to detect from saidprocessed real time image whether the foot plate 9 or thedetachable foot plate 10 is attached to the foot member 6. lf oneof the foot plates 9 or 10 is missing, the processing unit 21 maytransmit a second signal to the controller 22.

The controller 22 may then be configured to take an appropriateaction upon receipt of the second signal, for instance alerting theoperator by means of a warning for instance via the display 24 14 unit. The warning via the display unit 24 may also be initiateddirectly by the processing unit 21.

The processing unit 21 may be configured to detect from saidprocessed real time image the nature of the ground surface 11around the support position 8, and then to transmit a third signalto the controller 22 if the nature is inadequate, for instance if theground surface 11 enclosing the support position 8 is sloping,uneven or weak.

The controller 22 may then be configured to take an action uponreceipt of the third signal. Such an action may include alerting theoperator, for instance by means of a warning via the display unit24. The ground surface 11 may also be displayed on the displayunit 24 enabling for the operator to judge the nature of the groundsurface 11, for instance if it is weak and consists of sand or loosematerial such as layer of grass, twigs etc. The action may alsoinclude stopping of the movement of the foot member 6 and/orlowering of the allowed lifting moment of the load handling device2. The warning via the display unit 24 may also be initiateddirectly by the processing unit 21.

The processing unit 21 may be configured to sense from saidprocessed real time image a positioning movement of the footmember 6 towards the support position 8 during the legpositioning operation, and to detect from said processed real timeimage if the leg positioning movement stops before the footmember 6 has reached the support position 8. The processingunit 21 may then be configured to transmit a fourth signal to thecontroller 22 if said positioning movement stops before the footmember 6 has reached the support position 8.

The controller 22 may then be configured to take an action uponreceipt of the fourth signal. Such an action may include alerting the operator, for instance by means of a warning via the displayunit 24. The foot member 6 may also be displayed on the displayunit 24 enabling for the operator to see its position above thesupport position 8. The action may also lowering of the allowedlifting moment of the load handling device 2. The warning via thedisplay unit 24 may also be initiated directly by the processingunit 21.

Furthermore, the processing unit 21 may be configured to detectfrom said processed real time image a side movement of the footmember 6 in a direction perpendicular to the y-axis and totransmit a fifth signal to the controller 22 if such a side movementof the foot member 6 is detected.

The controller 22 may then be configured to take an action uponreceipt of the fifth signal. Such an action may include alerting theoperator, for instance by means of a warning via the display unit24. The action may also include lowering of the allowed liftingmoment of the load handling device 2. The warning via the displayunit 24 may also be initiated directly by the processing unit 21.

The camera 20 may also be configured to capture a further realtime image of the end of the support leg extension 31 and a lateralarea beyond the end of the support leg extension 31. Theprocessing unit 21 may then be configured to process the furtherreal time image and to supervise in real time the position of theend of the support leg extension 31 along the z-axis during theextending movement of the support leg extension 31 during a legextension positioning operation. ln particular, the processing unit 21 may determine the positionof the end of the support leg extension 31 when it has reached itsoutermost position. Moreover, the processing unit 21 maydetermine if there is any obstacle, such as a human being, in front 16 of the end of the support leg extension 31 during the extensionpositioning operation. The processing unit 21 may then beconfigured to transmit a warning signal to the controller 22, whichmay be configured to stop the extension positioning operation.The extension positioning operation may be performed before theleg positioning operation.

Each camera 20 may comprise a stereo camera consisting of twocamera members, which communicate with the processing unit21. By means of such a stereo camera, the determination of thedistance to the support position 8 and the foot member 6,especially the lower end of the foot member 6, may be facilitatedand made by means of triangulation.

Each camera 20 may comprise a light sensor for sensing visiblelight and the real time image.

The camera 20 may also comprise as a supplement or alternativea Time-Of-Flight camera, TOF camera for the determination of thevarious distances. ln case of a TOF camera, the processing unitmay be superfluous. The TOF camera may be able to create areal time image of the distances, such as the distance betweenthe end of the foot member 6 and the support position 8. lt should be noted that the load handling assembly may compriseonly one support leg 5 or more than two support legs 5.

The invention is not limited to the embodiments disclosed anddescribed above, but may be varied and modified within the scopeof the following claims.

Claims

17 Claims

1. A load handling assembly configured to be mounted on avehicle (1), comprising a load handling device (2) configured for handling of loadsduring operation of the load handling device (2), at least one support device (3), a support leg (5) attached to an outer end of the supportdevice (3), and having a foot member (6), which is provided toperform a movement away from the support device (3) along any-axis to a support position (8) located on the ground (G) duringa leg positioning operation, a camera (20), a processing unit (21) communicating with the camera (20),and a controller (22),characterized in that the camera (20) is configured to capture areal time image of an area (A) enclosing the support position (8)and the foot member (6), and that the processing unit (21) isconfigured to process the real time image and to supervise in realtime the distance along the y-axis between the foot member (6)and the support position (8).

2. The load handling assembly according to claim 1, whereinthe processing unit (21) is configured to detect from saidprocessed real time image when the distance is zero.

3. The load handling assembly according to any one of thepreceding claims, wherein the processing unit (21) is configuredto detect from said processed real time image if the movement ofthe foot member (6) along the y-axis continues away from andpassing the support position (8), and to transmit a first signal tothe controller (22) if said continuing movement is detected. 18

4. The load handling assembly according to claim 3, whereinthe controller (22) is configured to take an action upon receipt ofthe first signal.

5. The load handling assembly according to any one of thepreceding claims, wherein the load handling assembly comprisesa display unit (24) communicating with the processing unit (21).

6. The load handling assembly according to any one of thepreceding claims, wherein the foot member (6) comprises adetachable foot plate (9, 10) and wherein the processing unit (21)is configured to detect from said processed real time imagewhether the foot plate (9, 10) is attached to the foot member (6),and to transmit a second signal to the controller (22) if the footplate (9, 10) is not attached to the foot member (6).

7. The load handling assembly according to claim 6, whereinthe controller (22) is configured to take an action upon receipt ofthe second signal.

8. The load handling assembly according to any one of thepreceding claims, wherein the processing unit (21) is configuredto detect from said processed real time image the nature of aground surface (11) around the support position (8), and totransmit a third signal to the controller (22) if said nature isinadequate.

9. The load handling assembly according to claim 8, whereinthe controller (22) is configured to take an action upon receipt ofthe third signal.

10. The load handling assembly according to any one of thepreceding claims, wherein the processing unit (21) is configuredto sense from said processed real time image a positioning 19 movement of the foot member (6) towards the support position (8)during said leg positioning operation and to detect from saidprocessed real time image if said positioning movement stopsbefore the foot member (6) has reached the support position (8),and wherein the processing unit (21) is configured to transmit afourth signal to the controller (22) if said positioning movementstops before the foot member (6) has reached the support position (s).

11. The load handling assembly according to claim 10, whereinthe controller (22) is configured to take an action upon receipt ofthe fourth signal.

12. The load handling assembly according to any one of thepreceding claims, wherein the processing unit (21) is configuredto detect from said processed real time image a side movementof the foot member (6) in a direction perpendicular to the y-axisand to transmit a fifth signal to the controller (22) if said sidemovement is detected.

13. The load handling assembly according to claim 12, whereinthe controller (22) is configured to take an action upon receipt ofthe fifth signal.

14. The load handling assembly according to any one of thepreceding claims, wherein the support leg (5) comprises markings(14) on the foot member (6), and wherein the processing unit (21)is configured to detect the markings (14) and determine anextension length of the foot member (6).

15. The load handling assembly according to any one of thepreceding claims, wherein the load handling assembly comprisestwo support legs (5) attached to a respective outer end of thesupport device (3), and two cameras (20) each being configured to capture a real time image of an area (A) enclosing the supportposition (8) and the foot member (6) of a respective one of thesupport legs (5).

16. A vehicle (1) comprising a load handling assemblyaccording to any one of the preceding claims.

17. A method of operating a load handling assembly mountedon a vehicle (1), wherein the load handling assembly comprises a load handling device (2) configured for handling of loadsduring operation of the load handling device (2), at least one support device (3), a support leg (5) attached to an outer end of the supportdevice (3), and having a foot member (6), which is provided toperform a movement away from the support device (3) along any-axis to a support position (8) located on the ground (G) duringa leg positioning operation,characterized by the steps of:capturing a real time image of an area (A) enclosing the supportposition and the foot member (6),processing the real time image, andsupervising in real time the distance along the y-axis between thefoot member (6) and the support position (8).