WO2024217962A3 - Method for autonomous operation of a crane, autonomously operated crane and retrofit kit for producing an autonomously working crane - Google Patents

Method for autonomous operation of a crane, autonomously operated crane and retrofit kit for producing an autonomously working crane Download PDF

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Publication number
WO2024217962A3
WO2024217962A3 PCT/EP2024/059737 EP2024059737W WO2024217962A3 WO 2024217962 A3 WO2024217962 A3 WO 2024217962A3 EP 2024059737 W EP2024059737 W EP 2024059737W WO 2024217962 A3 WO2024217962 A3 WO 2024217962A3
Authority
WO
WIPO (PCT)
Prior art keywords
crane
gripper
autonomously
producing
autonomous operation
Prior art date
Application number
PCT/EP2024/059737
Other languages
German (de)
French (fr)
Other versions
WO2024217962A2 (en
Inventor
Sascha Lange
Peter HOFMEIER
Victor Vadakechirayath GEORGE
Tobias SCHÖLS
Hendrik VLOET
Robin JEHN
Karl Geiger
Bolko BUSEMANN
Lars EICKMEIER
Stefan Eilers
Boris LAU
Axel PERSCHMANN
Alexander HÖRETH
Jan Rasmus DIEDERICHSEN
John BERROA
Jonas KINDLER
Sebsatina HÖFLE
Jens NUSSBERGER
Lukas GOD
Giulio NEUSCH-FREDANI
Joel OSWALD
Thorsten KUNDOCH
Linus SCHAUB
Original Assignee
Psiori 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
Application filed by Psiori GmbH filed Critical Psiori GmbH
Publication of WO2024217962A2 publication Critical patent/WO2024217962A2/en
Publication of WO2024217962A3 publication Critical patent/WO2024217962A3/en

Links

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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention enables fully automatic and autonomous crane control, on the basis of an optical sensor system (5) that is evaluated by artificial intelligence. A control system (4) of the crane (1), which is based on artificial intelligence, thereby takes into account, in particular in addition to passively determined state information of the crane (1), measurement data which are actively acquired by means of the optical sensor system (5). From this, the control system (4) can determine precise information concerning a current position of a crane gripper (6), but also concerning objects (7) to be picked up with the gripper (6). This open-loop and closed-loop approach also makes it possible to position the gripper (6) without oscillation, as well as to avoid collisions between the gripper (6) and stationary objects, the position of which may change depending on the situation, or also to avoid an unwanted rotational oscillation of the gripper (6).
PCT/EP2024/059737 2023-04-19 2024-04-10 Method for autonomous operation of a crane, autonomously operated crane and retrofit kit for producing an autonomously working crane WO2024217962A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102023109935.3A DE102023109935A1 (en) 2023-04-19 2023-04-19 Method for autonomous operation of a crane, autonomously operable crane and retrofit kit for realizing an autonomously operating crane
DE102023109935.3 2023-04-19

Publications (2)

Publication Number Publication Date
WO2024217962A2 WO2024217962A2 (en) 2024-10-24
WO2024217962A3 true WO2024217962A3 (en) 2025-01-09

Family

ID=90731421

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2024/059737 WO2024217962A2 (en) 2023-04-19 2024-04-10 Method for autonomous operation of a crane, autonomously operated crane and retrofit kit for producing an autonomously working crane

Country Status (2)

Country Link
DE (1) DE102023109935A1 (en)
WO (1) WO2024217962A2 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110271965B (en) * 2018-03-14 2020-11-10 清华大学 Tower crane robot
SG10202005748QA (en) * 2019-08-02 2021-03-30 Global Engineers Tech Pte Ltd Method and system for managing a construction site
WO2021062314A1 (en) * 2019-09-26 2021-04-01 Versatile Natures Ltd. Method for monitoring lifting events at a construction site
WO2022221311A1 (en) * 2021-04-12 2022-10-20 Structural Services, Inc. Systems and methods for assisting a crane operator
US11567197B2 (en) * 2020-02-20 2023-01-31 SafeAI, Inc. Automated object detection in a dusty environment

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013011718A1 (en) * 2013-07-15 2015-01-15 Isam Ag Method for controlling a container bridge for loading or unloading, in particular of the loading space, of a ship or control system for controlling a container bridge or container bridge with control system
US11460337B2 (en) * 2017-05-30 2022-10-04 Versatile Natures Ltd. Method for tracking lifting events at a construction site
FI128475B (en) * 2018-08-30 2020-06-15 Ponsse Oyj Arrangement and method for managing the unloading of a forest machine
ES2914630T3 (en) * 2018-11-08 2022-06-14 Intsite Ltd System and method for the autonomous operation of heavy machinery
DE102020104050A1 (en) * 2020-02-17 2021-08-19 Lasco Heutechnik Gmbh Method for controlling an agricultural machine
EP4156104A1 (en) * 2021-09-28 2023-03-29 Siemens Aktiengesellschaft Method for detecting a target position
DE102021130785A1 (en) * 2021-11-24 2023-05-25 Liebherr-Werk Biberach Gmbh crane

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110271965B (en) * 2018-03-14 2020-11-10 清华大学 Tower crane robot
SG10202005748QA (en) * 2019-08-02 2021-03-30 Global Engineers Tech Pte Ltd Method and system for managing a construction site
WO2021062314A1 (en) * 2019-09-26 2021-04-01 Versatile Natures Ltd. Method for monitoring lifting events at a construction site
US11567197B2 (en) * 2020-02-20 2023-01-31 SafeAI, Inc. Automated object detection in a dusty environment
WO2022221311A1 (en) * 2021-04-12 2022-10-20 Structural Services, Inc. Systems and methods for assisting a crane operator

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
ANONYMOUS: "[bauma 2022] PSIORI - Autonomous woodyard crane", 20 November 2022 (2022-11-20), pages 1 - 7, XP093176822, Retrieved from the Internet <URL:https://usa.worldtradeshow.tv/contents/43136/> [retrieved on 20240618] *
ANONYMOUS: "KAI - The German crane AI | PSIORI", 13 August 2022 (2022-08-13), pages 1 - 10, XP093176612, Retrieved from the Internet <URL:https://web.archive.org/web/20220813112218/https://crane.psiori.com/> [retrieved on 20240618] *
INTELLIGENTMOBILES: "PSIORI - AI CRANE - LONG - V3", 7 March 2022 (2022-03-07), XP093176820, Retrieved from the Internet <URL:https://vimeo.com/685385572> [retrieved on 20240618] *
WORLD TRADE SHOW TV / GERMANY: "[bauma 2022 Munich] PSIORI - Autonomous Woodyard crane", 4 November 2022 (2022-11-04), XP093176827, Retrieved from the Internet <URL:https://www.youtube.com/watch?v=aDlkwkPdLKA&t=31s> [retrieved on 20240618] *

Also Published As

Publication number Publication date
WO2024217962A2 (en) 2024-10-24
DE102023109935A1 (en) 2024-10-24

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Legal Events

Date Code Title Description
DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)