CRANE, IN PARTICULAR MOBILE CRANE

Abstract

A crane or mobile crane includes a crane base, a crane jib to be slewed relative to the base about a slewing axis vertically oriented in normal operating state. A counterweight carrier coupled to the crane jib slews therewith and carries counterweight modules in normal operating state. An anti-collision sensor system monitors the presence of an object within a slewing range ahead being passed through by the counterweight carrier and/or counterweight modules in the future during normal operation as the crane jib slews. A control unit linked to the anti-collision sensor system for signal transmission is configured to determine, based on sensor signals transmitted by the anti-collision sensor system, whether an object is present in the slewing range ahead, to determine whether the object can lead to a collision with the counterweight carrier or one counterweight module, and to take a countermeasure upon a collision.

Claims

1. A crane or a mobile crane, comprising: a crane base; a crane jib to be slewed relative to said crane base about a slewing axis being vertically oriented in a normal operating state; a counterweight carrier coupled to said crane jib so as to slew with said crane jib, and a number of counterweight modules disposed on said counterweight carrier in the normal operating state; an anti-collision sensor system for monitoring a presence of an object within a slewing range ahead, said slewing range configured to be passed through by at least one of said counterweight carrier or said number of counterweight modules during future normal operation as said crane jib is slewed; and a control unit linked to said anti-collision sensor system for signal transmission, said control unit configured to determine, based on sensor signals transmitted by said anti-collision sensor system, a presence of an object in said slewing range ahead, to determine whether the object can lead to a collision with said counterweight carrier or at least one of said counterweight modules, and to take a countermeasure in an event of a possible collision.

2. The crane according to claim 1, wherein said control unit is configured to issue a warning message to operating personnel of the crane to at least one of provide a countermeasure or stop a slewing drive performing a slewing movement of said crane jib.

3. The crane according to claim 1, wherein said anti-collision sensor system includes at least one proximity sensor positioned to detect an undesired approach of the object towards an outer edge, lying in a direction of a slewing movement, of at least one of said crane jib, said counterweight carrier, a lowermost counterweight module, or at least one of said counterweight modules.

4. The crane according to claim 3, wherein said anti-collision sensor system includes at least two proximity sensors positioned to monitor opposite outer edges of said counterweight carrier, or said lowermost counterweight module, or said at least one of said counterweight modules.

5. The crane according to claim 1, wherein said anti-collision sensor system includes a proximity sensor disposed on one of said counterweight modules being lowest during normal operation, and said proximity sensor is connected to said control unit during normal operation by a reversibly couplable interface.

6. The crane according to claim 5, wherein a plurality of said counterweight modules are disposed on said counterweight carrier during normal operation, and said proximity sensor is at least one proximity sensor disposed at least on one of said counterweight modules being uppermost during normal operation.

7. The crane according to claim 1, wherein said anti-collision sensor system includes a proximity sensor being an ultrasonic sensor, a radar sensor, a LIDAR sensor or a capacitive sensor.

8. The crane according to claim 1, wherein said anti-collision sensor system includes at least one image sensor positioned above said number of counterweight modules disposed on said counterweight carrier during normal operation, to permit an optical detection of outer edges of all of said counterweight modules being used.

9. The crane according to claim 1, wherein said control unit is configured to reject as an obstacle, at least as a function of a rotational position, an object having an upper edge disposed lower than a lower edge of at least one of said counterweight carrier or one of said counterweight modules being lowest in normal operation.

10. The crane according to claim 1, wherein said control unit is configured to display a position of the object from a bird's eye view to an operator of the crane.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0025] FIG. 1 is a diagrammatic, top-plan view of a crane;

[0026] FIG. 2 is a side-elevational view of the crane according to FIG. 1; and

[0027] FIG. 3 is a view similar to FIG. 2 of a further exemplary embodiment of the crane.

DETAILED DESCRIPTION OF THE INVENTION

[0028] Referring now in detail to the figures of the drawings, in which corresponding parts are always provided with the same reference symbols, and first, particularly, to FIG. 1 thereof, there is seen a diagrammatic illustration of a crane 1, in this case specifically a mobile crane. The crane 1 has an undercarriage 2 as a crane base. In addition, the crane 1 has a superstructure 4, which supports a telescopic crane jib 6, a driver's cab 8 and a counterweight carrier 10. The superstructure 4 is articulated to the undercarriage 2 so as to be rotatable about a slewing axis 12 (perpendicular to the undercarriage) by using a so-called slewing drive (not shown). The crane jib 6 is in turn articulated to the superstructure 4 so that the jib can tilt or “luff” about a horizontally oriented luffing axis 14.

[0029] In normal operation of the crane 1, a counterweight package 16 is disposed on the counterweight carrier 10 and is formed from a number of counterweight modules 18—in this case by way of example in the form of roughly rectangular plates. Depending on the use of the crane 1, specifically depending on the loads to be lifted and/or depending on the crane configuration, i.e., for example, the length and inclination of the crane jib 6, more or fewer counterweight modules 18 are used.

[0030] Operating personnel of the crane 1, specifically a crane driver, are usually located in the driver's cab 8 during normal operation, so that the seating direction and thus the main viewing direction is oriented parallel to the crane jib 6 and in the direction of a crane hook (i.e., downwardly in FIG. 1, and to the right in FIGS. 2 and 3). This makes it difficult to see areas behind the superstructure 4, specifically to the sides next to and behind the counterweight package 16. In order to increase the operational safety of the crane 1 and at the same time relieve the crane driver, the crane 1 has a control unit 20 that is set up to detect possible collisions of the counterweight package 16—or, for example, only of the counterweight carrier 10 in the unequipped state—and to take countermeasures.

[0031] For this purpose, the crane 1 also has an anti-collision sensor system, which in the exemplary embodiment according to FIGS. 1 and 2 includes several proximity sensors 24. In the present exemplary embodiment, these proximity sensors 24, for example ultrasonic sensors, are disposed at the corners of the lowest counterweight module 18 and—see FIG. 2—also of the uppermost counterweight module 18 of the counterweight package 16. The proximity sensors 24 are set up in this case to monitor a measuring area 26 (schematically shown in FIG. 1 only on one side of the counterweight module 18) for the presence of an object. This measuring area 26 is located in front of the particular outer edge 30 of the counterweight module 18 in each case in the slewing direction 28. The two measuring areas 26 shown in FIG. 1 are thus located in front of the counterweight module 18 when the superstructure 4 (and thus the crane jib 6) slews in a clockwise direction.

[0032] The proximity sensors 24 are connected to the control unit 20 in terms of signal transmission (not shown). The control unit 20 is set up in this case to evaluate the signals of the proximity sensors 24 to determine whether an object is located in a slewing range 32 of the counterweight package 16 and to determine whether that object can lead to a collision with the counterweight package 16. This is routinely the case if the object is detected within the swivel range 32. Objects disposed outside the swivel range 32—possibly plus a safety range extending beyond it, which is not shown—but detected by the proximity sensors 24, are not considered to be collision-critical.

[0033] Optionally, the control unit 20 is set up to identify whether the detected object is the undercarriage 2. This does not represent a collision risk either. In addition, the control unit 20 is optionally set up to determine whether an upper edge of the object is disposed below the counterweight package 16 and the lowest counterweight module 18, and can thus be swung over.

[0034] In a non-illustrated embodiment, proximity sensors 24 are also disposed on the counterweight carrier 10 so as to be able to prevent a possible collision in the event of slewing without a counterweight package 16.

[0035] FIG. 3 shows another exemplary embodiment of the crane 1. Instead of the proximity sensors 24, the anti-collision sensor system in this case includes an image sensor, specifically a camera 34. This camera is disposed on a frame 36 above the counterweight package 16 so that the outer edges 30 can be monitored. Optionally, a camera 34 is associated in this case with each outer edge 30.

[0036] In this exemplary embodiment, the control unit 20 evaluates the camera images using pattern recognition to detect possible obstacles in the slewing range 32.

[0037] In all of the exemplary embodiments described above, the control unit 20 is set up or configured to issue a warning to the crane driver at the latest when a collision hazard is identified and—optionally in the absence of a reaction to the warning—to stop the slewing drive of the crane 1.

[0038] The subject matter of the invention is not limited to the exemplary embodiments described above. Rather, further embodiments of the invention can be derived by a person skilled in the art from the foregoing description.

[0039] The following is a summary list of reference numerals and the corresponding structure used in the above description of the invention:

LIST OF REFERENCE SIGNS

[0040] 1 crane [0041] 2 undercarriage [0042] 4 superstructure [0043] 6 crane jib [0044] 8 driver's cab [0045] 10 counterweight carrier [0046] 12 slewing axis [0047] 14 luffing axis [0048] 16 counterweight package [0049] 18 counterweight module [0050] 20 control unit [0051] 24 proximity sensor [0052] 26 measuring area [0053] 28 slewing direction [0054] 30 outer edge [0055] 32 slewing range [0056] 34 camera [0057] 36 frame