Method for crane assembly

Abstract

The invention relates to a system for central control of one or more cranes including at least one crane and at least one central control station, wherein the crane includes one or multiple image sensors observing a picked-up load, at least part of the crane surroundings and at least part of the crane structure, the crane is connected with the control station for the transmission of the image sensor data via at least one bidirectional communication link, and wherein the control station comprises at least one display element for the visual representation of the received sensor data as well as provides at least one input device for inputting control commands, and the control commands can be transmitted, via the communication link, to one or more crane actuators and/or the crane control for performing crane movements.

Claims

1. A system for central control of one or more cranes, including: at least one crane and at least one central control station, wherein the crane includes one or more image sensors/stereo cameras for observing a picked-up load, at least part of the crane surroundings and at least part of the crane structure, wherein the crane is connected to the control station via at least one bidirectional communication link for the transmission of the image sensor data, wherein the control station comprises: at least one display element for displaying visual representation of the received sensor data, at least one input device for inputting control commands, and the control commands are transmitted via the communication link to one or more crane actuators and/or the crane control for performing crane movements, wherein a task module considers discernable obstacles are discernible based upon the image sensors/stereo cameras and are considered for evaluation of the feasibility of a task, wherein the control station comprises a connection interface for smart glasses, wherein the displaying of the sensor data of the image sensors/stereo cameras is effected via the smart glasses, and the image sensors/stereo cameras are actuated, adjusted or pivoted, via movements of the glasses.

2. The system according to claim 1, wherein the one or more image sensors are stereo cameras and the display element is at least a 3D-capable.

3. The system according to claim 1, wherein the crane comprises one or multiple audio sensors for the detection of noise of the crane and/or of the surroundings and/or environmental sensors for the detection of environmental influences, wherein this sensor data is forwarded to the central control station and the control station comprises one or multiple audio speakers for the replay of received audio signals.

4. The system according to claim 1, wherein signals of one or more of pressure sensors and position sensors for the detection of the position of crane components or crane actuators, are receivable via the control station, and the control station monitors and evaluates the sensor data of the crane movements.

5. The system according to claim 1, wherein the image sensors/stereo cameras are actuated by control commands input at the control station, the image sensors/stereo cameras are mounted on the crane in an adjustable or, pivotable manner, wherein the adjustment or pivoting movement is performed by a control command.

6. The system according to claim 5, wherein the control commands for actuating the image sensors/stereo cameras are input via one or multiple foot pedals and/or foot contacts of the control station, wherein a continuous pivoting movement and/or a zooming of the image sensors/stereo cameras is effected by actuating at least one foot pedal of the control station and/or a switching between available image sensors/stereo cameras of the crane by actuating at least one foot contact of the control station.

7. The system according to claim 1, wherein at least one further display element is provided to display machine data or sensor data and/or operating instructions and/or circuit plans and/or technical and/or service information.

8. The system according to claim 1, wherein the control station includes an interface for receiving task-specific data from a central task management, and the task module for the evaluation of the received task is provided, wherein the task module checks the crane's motion sequences required for the task and marks the task as feasible or non-feasible.

9. The system according to claim 8, wherein the control station includes a crane control unit, which transmits controls signals to the crane upon a positive evaluation of the received task, in order to perform at least a part of the motion sequences of the crane in an automated manner.

10. The system according to claim 1, wherein the crane includes at least one GPS or DGPS receiver, and a geographical crane position is communicated to the control station.

11. The system according to claim 10, wherein the crane includes a load hook equipped with at least another GPS or DGPS receiver, and a geographical load hook position is communicated to the control station, wherein the crane control unit of the control station generates necessary crane commands based on the position of the load hook and transmits it to the crane, in order to compensate potential load oscillations.

12. The system according to claim 11, wherein the control station evaluates the received position data of the crane and/or the load hook and recognizes potential collisions of the crane with interfering edges in consideration of the received data of the image sensors, wherein, if a collision is imminent a control signal is transmittable from the crane control unit of the control station to the crane to decelerate the crane movements and/or for an emergency stop of the crane operation.

13. A crane including, at least one central control station, image sensors for observing a picked-up load, at least part of the crane surroundings and at least part of the crane structure, at least one bidirectional communication link connecting the crane to the control station via the transmission of the image sensor data, at least one display element of the control station for the visual representation of the received sensor data, at least one input device for inputting control commands, and the control commands are transmitted via the communication link to one or more crane actuators and the crane control for performing crane movements, wherein the control station comprises a connection interface for smart glasses, wherein the displaying of the sensor data of the image sensors is effected via the smart glasses, and the image sensors are actuated, adjusted or pivoted, via movements of the glasses.

14. A central control station for the central control of one or more cranes, including: stereo image sensors for observing a picked-up load, crane surroundings and an entire crane structure, at least one display element of the control station displaying received sensor data and receiving input control commands, and at least one bidirectional communication link connecting the crane to the control station transmitting the stereo image sensor data and control commands, the control commands transmitted to one or more crane actuators and the crane control for performing crane movements, wherein the control station includes a crane control unit, which transmits controls signals to the crane upon a positive evaluation of a received task, in order to perform at least a part of motion sequences of the crane in an automated manner, wherein the control station comprises a connection interface for smart glasses, wherein the displaying of the sensor data of the stereo image sensors is effected via the smart glasses, and the stereo image sensors are actuated, adjusted or pivoted, via movements of the glasses.

15. The central control station according to claim 14, wherein the central control station comprises an interface for the monitoring of the construction site.

Description

BRIEF DESCRIPTION OF THE FIGURES

(1) The only FIGURE schematically shows the individual components of the entire system and their necessary communication link amongst one another.

DETAILED DESCRIPTION

(2) As a central element, a central remote-controlled crane control station 10 is employed, the core component of which is constituted by an industrial personal computer (IPC) 11. In its crane functions, the discrete control station 10 is nearly identical to the control station in the crane cab of a crane 20, 21 to be controlled (tower slewing crane).

(3) The central control station 10 can be accommodated in an office container at the construction site and serves to remotely control at least one crane 20, 21. The construction of the control station 10 is composed of multiple operating elements 12, such as a control lever, switches and buttons, a 3D-capable monitor 13 for the image crane monitoring, a monitor 14 for the representation of the machine data and a monitor 14 for the monitoring of tasks.

(4) The crane 20, 21 provides a stereo camera system 22, the individual cameras of which are pivotably mounted on the crane structure. In addition, zooming is possible by use of the camera lenses. The stereo camera system serves to observe the crane 20, 21, in particular the load, the trolley, and the slewing platform, as well as the surroundings thereof. In addition, audio sensors as well as other sensors are provided for the detection of crane movements or crane conditions. The audio sensors usually record noise from the surroundings, but operating noise caused by the crane works is also recorded. An audio sensor at the load hook serves to prevent accidents and for the communication with the rigger. The other sensors such as pressure sensors, force sensors, position sensors, sensors of the rotary mechanism, cable sensors, etc. correspond to the sensors usually employed in cranes for crane control. These sensor signals are also to be sent to the central control station. Lastly, a DGPS sensor 23 is available at the load hook, the position data of which are also transmitted to the control station 10.

(5) A bidirectional radio connection exists between the crane 20, 21 and the control station 10, on the on hand in order to transmit the monitor or sensor data, via radio, to the control station 10, and, in the opposite direction, to send the crane control commands generated in the control station 10 to the addressed crane 20, 21. These includes control signals to actuate actuators, but also signals that serve for the configuration and orientation of the above-mentioned sensors 22.

(6) The surroundings of the crane 20, 21 is displayed on the 3D-capable monitor 13 of the control station 10. In this region, the view is directed on the load, the construction site and the crane 20, 21. In addition, crane movements, audio signals and environmental factors are evaluated and illustrated by a monitoring means of the control station 10. The industrial personal computer (IPC) 11 mounted in the control station 10 detects the data streams of the cameras 22, crane and sensors 29 including environmental sensors, audio, position and pressure. Special algorithms process the camera data for the representation on the 3D-capable monitor 13. The sensor data is also detected, processed and displayed as superimposed images or miniature images on the monitor 13. External or integrated speakers of the monitor 13 replay the audio signals of the crane 20, 21 at the control station. Several input and display devices 31 may be incorporated into the IPC 11 to display data and receive commands. The input and display devices 31 may include devices such as smart glasses.

(7) The crane operator can, from the control station 10, pivot the stereo cameras 22 in all directions and zoom-in the images correspondingly. The auto-focus function of the cameras 22 supports him or her in doing so. The camera functions are controlled through an adaptive control integrated on the control station and/or foot pedals 12 and foot contacts 12. The foot pedals 12 allow continuously pivoting and zooming the cameras 22. The foot contacts serve to switch the cameras 22 between trolley, slewing platform and load hook.

(8) Thus, the crane operator is capable to correctly grasp the situation at the construction site and to very precisely control the crane movements resulting therefrom.

(9) Optionally, smart glasses may also be used, the pivotable stereo cameras controllable by moving the head then.

(10) The crane monitor (EMS) 14 provides the crane operator with all customary information and functions also for the control and operation that are also displayed on their monitor in the crane cab. Since the size of the monitor 14 is no longer restricted now, larger monitors 14 can be used. Thus, crane-specific documents, which are linked with the higher-level LIDAT system 40, can be displayed. Crane-specific documents are operating instructions, circuit plans, technical information and service information. This data can be retrieved, as required, from a TC portal 41 via an established internet connection of the control platform 10 indirectly via the LIDAT machine portal 40.

(11) Furthermore, the system includes an automated task management. A central construction control station 30 transmits the transport tasks, including GPS target coordinates of the construction site, to the task management of the control station 10. In the IPC 11, an evaluation module with a special algorithm is provided, which computes and checks the motion sequence of the task and provides a partially automated sequence to the crane operator before the processing of the task (autopilot). In the event that the task can not be processed (e.g. if the load or range is exceeded), the task is marked as non-feasible. Due to the fact that the crane cameras 22 can also detect obstacles in conjunction with the collision monitoring means of the control station 10, a fully-automated motion sequence is also possible. To that end, the crane control unit of the control station 10 generates the required control commands, which are then transmitted to the respective crane.

(12) As a result, a crane call function can also be implemented, if the crane 20, 21 is equipped with an installed DGPS receiver 23 via radio panel. Presumably, large construction sites will first be virtually simulated in the future. The motion sequences of a task can be virtually verified via a real or likewise virtual control station (WebService) in the IPC. The required crane data such as load, radius or reach, etc., can be obtained either directly from the crane or via a link to the Liebherr portal “LIDAT” 40 from the crane configurator.

(13) In addition, the GPS coordinates of the load hook can be corrected by means of a correction signal in the IPC 11. The computed coordinates are very precise and can thus be used to control oscillation-damping crane movements, which are generated by the crane control unit of the control station 10 and transmitted to the respective crane 20, 21. Differential GPS means that the normal GPS signal is corrected by a correction signal to form a very precise DGPS signal.

(14) In the IPC 11, by the collision monitoring means, the DGPS coordinates of the load hook are corrected together with other interfering movements detected by the cameras and, if required, safe measures will be taken. In critical areas, the speed of the crane movements is reduced and, in the case of emergency, before a collision occurs, the crane is switched-off with an emergency stop signal.