METHOD, COMPUTER PROGRAM AND EQUIPMENT FOR CONTROLLING CRANE AND METHOD FOR UPDATING CRANE

Abstract

A method, computer program and equipment for controlling a crane and method for updating a crane. A crane is controlled or the crane is updated to be controlled by: a) forming video image at a lifting point of a crane; b) determining a current and a future position of a lifting member or of a load with respect to the formed video image; c) combining to the formed video image an indication of the future position of the lifting member or of the load; and d) performing repeatedly again steps b) and c) for real time indicating of the future position of the lifting member or of the load.

Claims

1-13. (canceled)

14. A method for controlling a crane, comprising: a) forming video image at a lifting point of a crane; b) determining a current and a future position of a lifting member or of a load with respect to the formed video image; c) combining to the formed video image an indication of the future position of the lifting member or of the load; and d) performing repeatedly again phases b) and c) for real time indicating of the future position of the lifting member or of the load.

15. The method according to claim 14, wherein the forming of the video image is implemented by a video camera located at a known lateral distance from the lifting member of the crane.

16. The method according to claim 15, wherein said lateral distance is constant.

17. The method according to claim 14, wherein said future position is an estimated stopping position.

18. The method according to claim 14, wherein the determining of the future position takes into account a speed and a deceleration of the crane.

19. The method according to claim 14, further comprising: the determining of the future position taking into account a programmed trajectory of the crane; combining to the formed video image the programmed trajectory or a portion thereof; and combining to the formed video image an indication of the programmed trajectory of the crane or of a portion of the trajectory.

20. The method according to claim 14, further comprising: determining a limitation of the trajectory of the crane in relation to the formed video image; and combining to the formed video image an indication of said limitation of the trajectory of the crane.

21. The method according to claim 20, wherein said limitation is based on a structural operating range of the crane.

22. The method according to claim 20, wherein said limitation is based on a protection zone determined for the crane.

23. The method according to claim 21, wherein said limitation is based on a protection zone determined for the crane.

24. The method according to claim 14, further comprising combining to the formed video image an indication of a protection zone of the crane.

25. The method according to claim 24, further comprising dynamically determining the protection zone based on at least one of the following: a lifting height; a load mass; and a load dangerousness.

26. A non-transitory memory medium comprising computer program having computer executable program code which, when executed by a controller device, controls the controller device to perform the method of claim 14.

27. A method for updating a crane, comprising: mounting one or more video cameras to image environment of a lifting member of the crane, if there is no pre-existing suitable video camera; and arranging crane control equipment to perform phases b)-d) of claim 14 using video images received from the video camera imaging the environment of the lifting member of the crane.

28. Equipment for controlling a crane comprising: a video camera arranged to form video image at a lifting point of a crane; and a processor configured to: determine a current and a future position of a lifting member or a load with respect to the formed video image; combine to the formed video image an indication of the future position of the lifting member or of the load; and perform repeatedly again said determining and said combining for real time indicating of the future position of the lifting member or of the load.

29. The equipment according to claim 28, wherein the forming of the video image is implemented by a video camera located at a known lateral distance from the lifting member of the crane.

30. The equipment according to claim 29, wherein said lateral distance is constant.

31. The equipment according to claim 28, wherein said future position is an estimated stopping position.

32. The equipment according to claim 28, wherein the processor is configured to perform the determining of the future position taking into account a speed and a deceleration of the crane.

33. The equipment according to claim 28, wherein the processor is further configured to: perform the determining of the future position taking into account a programmed trajectory of the crane; combine to the formed video image the programmed trajectory or a portion thereof; and combine to the formed video image an indication of the programmed trajectory of the crane or of a portion of the trajectory.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0026] The aspects of the disclosed embodiments will be described for an example only with reference to the accompanying drawings, in which:

[0027] FIG. 1 presents, seen from above, a crane according to an embodiment;

[0028] FIG. 2 presents block diagram of a crane controller equipment;

[0029] FIG. 3 presents a flow chart of a method according to an embodiment; and

[0030] FIGS. 4-6 show screenshots illustrating some embodiments of the present disclosure.

DETAILED DESCRIPTION

[0031] In the following description, like reference signs denote like elements or steps.

[0032] FIG. 1 presents a crane 100 according to one embodiment, in this case an RTG container crane moving on tracks 150. For improved clarity of drawing, the dimensions are exaggerated.

[0033] Crane 100 has a longitudinally moving frame 110 and a laterally moving trolley 120. In this case, a body of the crane moves along tracks 150 below, but the crane could as well be e.g. a bridge crane that moves along tracks near height of hoisting equipment.

[0034] In the crane 100 there is a lifting member 140 drawn by a dashed line, because it is behind the moving trolley 120 when seen from above. In the crane there is also a camera C 130 drawn next to the trolley 120. There may be also more cameras, and/or the camera may be positioned under the trolley 120 for rain protection, but here it is drawn next to a trolley mainly in sake of clarity of the drawing.

[0035] FIG. 2 presents a block diagram of crane controller equipment 200. The controller equipment 200 is implemented in this example using a programmable computer, such as an industrial computer or server. The controller equipment 200 comprises a data transfer connection 210, that may be e.g. a wireless or wired digital or analogue data transfer port (such as e.g. Ethernet, Ethernet/IP (industrial protocol), CAN, CIP, WLAN, RS-232). The controller equipment 200 additionally comprises a processor 220, possibly a user interface 230 (e.g. display, keyboard, pointing device, touch display), a memory 240 and stored in the memory 240, computer program code 250 for executing by the processor 220. The computer program code 250 and the processor 220 are arranged to be capable of collectively controlling operation of the controller equipment 200.

[0036] FIG. 3 presents flow chart of a method according to an embodiment method 300 for controlling a crane, comprising:

[0037] 310 forming video image at a lifting point of a crane;

320 determining a current and a future position of a lifting member or a load with respect to the formed video image;
330 combining to the formed video image an indication of the future position of the lifting member or of the load; and
340 repeatedly performing again steps 320 and 330 for real time indicating of the future position lifting member or of the load.

[0038] Preferably, the forming of the video image is implemented by a video camera that locates at a known lateral distance from the lifting member of the crane, e.g. in the crane trolley. In this case, e.g. the position of the lifting member, when lowered, may be calibrated by lowering the lifting member once down and by pointing from the formed video image of the lifting member the point or by automatically recognizing the lifting member. For automatic recognition, a sign containing QR code can be attached to the lifting member or a character comprising the QR code can be painted to the lifting member.

[0039] Alternatively, said lateral distance may change during crane movement. For example, the video image may be formed by one or more fixedly mounted cameras that stay in place while the crane moves. Said step 320 may take into account said change of the lateral distance. In case of a fixedly mounted camera, the future position of the lifting member or of the load may be computed in relation to the formed video image taking into account a change in the video image caused by the crane movement in the geometry between the video image and the crane. Calculation can be implemented using as such known trigonometry with e.g. the processor 220. Alternatively, instead of using calculating, a particular table formed for this purpose can be used.

[0040] FIG. 4-6 show screen captures that illustrate some embodiments of the present disclosure.

[0041] Said future position may correspond to situation in which the lifting member or the load is lowered to its low position (i.e. that down that it can be lowered at that point, e.g. onto the floor, ground, loading platform of a truck or ship or onto a container), such as is presented in FIG. 4 with a lowering position indication 410. At a changing height low position, the future position of may be determined for the lifting member or for the load using existing information of the lowering height at the point in question or by measuring the height of the lowering position in question or the distance from the crane. E.g. in case of a container crane, previously stored information of a container field about container positions can be used such that the height is known under the lifting member to which a container being lowered by the crane will be or at which a container intended to be lifted is.

[0042] Said future position may be an estimated stopping position. Future position determining may take into account the speed and deceleration of the crane. Said future position may take into account a trajectory programmed to the crane. The method may comprise combining to the formed video image the programmed trajectory or an indication of a portion thereof, see in FIG. 6 a route 610 and a target 620 projected to the video image on the floor level.

[0043] In the method, an indication 420 (FIG. 4) of a protection zone of the crane may additionally be combined to the formed video image. Said protection zone may be dynamically determined based on at least one of the following: a lifting height; a load mass; a load dangerousness, such as corrosiveness or ignition sensitivity; a movement direction of the crane; and a speed of the crane movement.

[0044] In the method, a limitation of the trajectory of the crane may additionally be determined in relation to the formed video image and an indication may be combined of said limitation of the trajectory of the crane to the formed video image. Said limitation may be based on a range of the crane caused by the structure of the crane and/or to a protection zone determined for the crane, see an indication 510 of the protection zone shown in FIG. 5. The protection zones may be areas to which the guiding of the crane is prevented for avoiding material or human damages.

[0045] According to a second aspect there is provided a method for updating a crane, including:

[0046] mounting one or more video cameras to image environment of a lifting member of a the crane, if there is no suitable video camera already;

[0047] arranging control equipment of the crane to perform steps 320)-340) of the first aspect using the video image received from the camera imaging the environment of the lifting member of the crane.

[0048] An old crane may be updated according to any embodiment of the invention using equipment for controlling crane, comprising:

means arranged to form video image at a lifting point of a crane (e.g. one or more cameras 130);
means arranged to determine a current and a future position of a lifting member or a load with respect to the formed video image (e.g. processor 220 and/or a height measurement device of the lifting member);
means arranged to combine to the formed video image an indication of the lifting member or of the future position of the load (e.g. processor 220); and
means arranged to perform repeatedly again said determining and said combining for real time indicating of the future position of the lifting member or of the load (e.g. processor 220).

[0049] The foregoing description provides non-limiting examples of some embodiments. It is however clear to a person ordinarily skilled in the art that the invention is not restricted to the presented details, but the invention can be implemented in other equivalent ways. For example, it should be appreciated that in the presented methods, the order of individual steps can be changed and some steps can be repeated a number of times or be completely omitted. It should also be appreciated that in this document terms comprise and include are open expressions not intended to be restrictive.

[0050] Furthermore, some of the features of the afore-described embodiments of this present disclosure may be employed without the corresponding use of other features. As such, the presented description shall be considered as merely illustrative of the principles of the present disclosure, and not in limitation thereof. Hence, the scope of the present disclosure is only restricted by the appended patent claims.