METHOD OF MONITORING AT LEAST ONE CRANE

Abstract

The invention relates to a method of monitoring at least one crane, preferably two or more cranes, in particular revolving tower cranes, on a construction site, wherein one or more optical detection means are provided, and wherein a collision monitoring unit analyzes the recorded optical data to recognize a possible collision between at least one crane and one further crane and/or another projecting edge.

Claims

1. A method of monitoring two or more cranes on a construction site comprising recording optical data from one or more optical detection means, wherein a collision monitoring unit analyzes the recorded optical data to recognize a possible collision between at least one crane and one further crane and/or another projecting edge.

2. The method in accordance with claim 1, wherein the collision monitoring unit communicates with a crane control of at least one of the two or more crane via a suitable crane interface, with control signlas being transmitted to the crane control of the least one crane, in particular for an immediate crane stop on a recognition of a collision case.

3. The method in accordance with claim 2, wherein the collision monitoring unit invokes control information via the interface of at least one crane, wherein the control information is at least one of a current slew angle, a trolley position, a lowered height of a load of the crane taken up, and wherein the collision monitoring unit takes the control information in addition to the optical data, into account in the recognition of possible collisions.

4. The method in accordance with claim 1, wherein at least one of the optical detection means is arranged at a crane structure of a crane.

5. The method in accordance with claim 1, wherein the one or more optical detection means are image sensors.

6. The method in accordance with claim 1, wherein the one or more optical detection means are mobile detection means.

7. The method in accordance with claim 1, wherein the collision monitoring unit detects dynamic deformations of the crane bearing structure and/or oscillation movements of the hoist rope by analysis of the optical data and takes the dynamic deformations of the crane bearing structure and/or oscillation movements of the hoist rope into account for the following collision monitoring.

8. The method in accordance with claim 1, wherein the collision monitoring unit recognizes potential collisions of a load contour with third-party objects and/or cranes.

9. A method for monitoring and/or inspecting at least one crane, wherein at least one mobile detection means is used for the monitoring and/or inspecting to optically detect the crane components relevant to the crane monitoring and/or crane control and/or crane inspection.

10. The method in accordance with claim 9, wherein the mobile detection means is operated automatically and synchronously with at least part of the crane.

11. The method in accordance with claim 9, wherein there is a wireless communication link between at least one crane component and the at least one mobile detection means to exchange required control data for the synchronized movement of the mobile detection means.

12. The method in accordance with claim 9, wherein image data are transmitted from the at least one mobile optical detection means to the crane control and are there taken into account for the automatic crane control.

13. A system for collision monitoring of one or more cranes comprising: one or more optical detection means; a collision monitoring unit; and a crane interface; wherein the one or more optical detection means are arranged at a crane structure of a first crane; wherein the crane structure is at least one of a boom, counter-boom, trolley, lifting hook, and slewing platform; and wherein images acquired from the one or more optical detection means are combined by the collision monitoring unit with information from the crane interface to determine collision potential of the first crane with a second object.

14. (canceled)

15. The method of claim 4, wherein the crane structure at which the optical detection unit is installed is at least one of a boom, a counter-boom, a trolley, a lifting hook, and a slewing platform.

16. The method of claim 5, wherein the image sensor is a 3-dimensional camera.

17. The method of claim 6, wherein the mobile detection means are flying detection means automatically controlled in synchrony with the crane control of at least one crane.

18. The method of claim 9, wherein the at least one mobile detection means is a flying detection means automatically controlled in synchrony with the crane control of at least one crane.

19. The method of claim 10, wherein the mobile detection means is controlled automatically and synchronously with the actuation of the lifting hook.

Description

[0026] The invention will be explained in more detail again in the following with reference to two embodiments. The variant for the collision monitoring will first be described. The idea in accordance with the invention starts from the fact that the current situation on the construction site is detected by means of one or more cameras that are fastened in the environment of the crane or alternatively to the components of the crane and of the suspended load. Cameras are in particular installed at the boom, at the counter-boom, at the trolley, at the lifting hook, or also at the slewing platform with bottom slewers. They monitor the respective components and transmit their observation data, i.e. the image data, to a central collision monitoring unit. It carries out a collision monitoring by means of image analysis processes, with impending collisions being recognized at an early time using the transmitted image information. On the one hand, not only collisions between the individual cranes of the construction site can thereby be detected, but a risk of collision of a crane with other buildings, components, devices, or also persons on the construction site can also be recognized.

[0027] In addition, the system in accordance with the invention and the method in accordance with the invention offer the advantage that risks can also be recognized that arise due to the contours of the suspended load, e.g. long components, for instance. The evaluation of the image data furthermore permits a recognition of risks during the crane operation, independently of the type of the crane movement, of the dynamic deformations of the crane structure and possible oscillation movements of the hoist rope.

[0028] In addition to the fixedly arranged cameras at the individual crane components, a mobile detection unit in the form of a multicopter can, however, also be used. Such a multicopter is equipped with cameras to observe all the environmental sections in a controlled manner from the air.

[0029] A further embodiment of the invention will be explained in the following; however, the aspects of the multicopter also apply to a use of the multicopter for collision monitoring.

[0030] The solution in accordance with the invention for monitoring and inspecting a crane is the use e.g. of at least one multicopter that brings about the following advantages due to the equipping with a camera and with different control possibilities. An ideal view of the load from a small distance and in a favorable observation position can always take place by the multicopter. It ensures an always good tracking of the load during the crane movement and the lifting hook. The presentation of the recorded image data of the multicopter can take place at the monitor at the crane operator's.

[0031] The multicopter is furthermore controlled automatically and synchronously with the lifting hook so that an ideal observation position is always ensured. The synchronous control of the multicopter takes place by wireless communication between the lifting hook and the multicopter, with the option of intervening manually as required and of changing the position or direction of view of the multicopter.

[0032] It is further conceivable that the control of the lifting hook is also automated, with the supplied image data of the multicopter being used for an automated control. A recognition of the hook position can also take place by cableless monitoring systems and an automatic control of the crane movement by the definition of the placement position can take place using the multicopter, thus e.g. via spatial coordinates. In the final analysis, the use of a multicopter provides an almost completely automated crane operation.

[0033] The use of the multicopter with a camera is furthermore suitable to considerably simplify the inspection of the installed crane and to make it possible at all at points that are difficult to access. The guying of trolley boom cranes that can only be inspected with a very big effort must be mentioned here. Both the components and connection means can be directly inspected by being flown over by a camera that delivers a corresponding image quality and can thus, for example, be examined for completeness (bolts, screws, spindle), cracks, corrosion damage, hole clearance.