Computer-controlled mobile crane

Abstract

A computer-controlled mobile crane is disclosed herein, comprising a column which is rotatable around its vertical axis, a hydraulically actuated primary arm, a hydraulically actuated secondary arm, and an attachment point to which a gripping assembly is attached. The components are actuated by a hydraulic control unit controlled by a computer control unit and corresponding software that generates an internal coordinate system on the basis sensors mounted on the crane and an optical measuring unit. The crane is capable of automatically using the gripping assembly to transport a load from an initial point to an end point where the load should be deposited while avoiding one or more obstacles in the path of travel of the gripping assembly and the load.

Claims

1. A computer-controlled mobile crane, comprising: a column, with a terminal portion which is faced towards the ground and rotates around a vertical geometric axis by a rotational hydraulic driving apparatus; the column mounted on a platform mountable on a motor vehicle; wherein the crane is furnished with supports for maintaining the motor vehicle in a secure position during its operation as well as for preventing the crane and also the motor vehicle from being overturned; wherein the supports comprise at least two protruding telescopic beams with each of them on its free terminal portion equipped with an approximately vertical telescopic supporting leg which is via hydraulic conduits connected with a control unit of a hydraulic unit of the crane and is movable towards the ground, by which each beam can also be placed in a desired position; a primary arm pivotally attached to said column at a terminal end faced away from the ground; a secondary arm pivotally attached to said primary arm at the end of the primary arm opposite that of the column; an attachment point suitable for attachment of a gripping assembly on a terminal portion of the secondary arm opposite that of the primary arm; wherein the primary arm is capable of movement via a first hydraulic cylinder, which is attached to the column and to the primary arm, which is connected via first hydraulic conduits to the control unit of the hydraulic unit of the crane; wherein the secondary arm is capable of movement via a second hydraulic cylinder, which is attached to the primary arm and the secondary arm, which is connected via second hydraulic conduits to the control unit of the hydraulic unit of the crane; wherein movement of the column, the primary arm, the secondary arm, or the gripping assembly are enabled by the control unit of the hydraulic unit of the crane; a computer control unit connected to the control unit of the hydraulic unit of the crane; an optical measuring unit connected to the computer control unit capable of optically recognizing a point as marked by a light beam on a surface; wherein the computer control unit is capable of generating a coordinate system in which the crane is located; wherein the optical measuring unit is capable of determining of a distance between the optical measuring unit and one or more marked reference points within the coordinate system so that on the basis of a measured distance between the optical measuring unit and the one or more marked reference points the coordinates of the one or more marked reference points are mathematically determined; a column sensor electrically connected to the computer control unit capable of determining a rotational position of the column within the coordinate system; a primary arm sensor electrically connected to the computer control unit capable of determining a position of the primary arm within the coordinate system; a secondary arm sensor electrically connected to the computer control unit capable of determining a position of the secondary arm within the coordinate system; wherein the computer control unit comprises a software stored on an electronic storage medium which is capable to operate the crane and transfer a load within the coordinate system within which the crane is located by transferring the load from an initial point (T.sub.1) to an end point (T.sub.2); wherein the optical measuring unit defines the initial point (T.sub.1) where the load is located and the computer control unit calculates coordinates of the initial point (T.sub.1) within the coordinate system (x, y z) based on the defining by the optical measuring unit; wherein the optical measuring unit defines the end point (T.sub.2) where the load is to be transferred and the computer control unit calculates coordinates of the end point (T.sub.2) within the coordinate system (x, y z) based on the defining by the optical measuring unit; wherein the optical measuring unit defines at least one intermediate point (T.sub.0) on an obstacle to be avoided and the computer control unit is capable of calculating the coordinates of the at least one intermediate point (T.sub.0) based on the defining by the optical measuring unit; wherein the computer control unit determines the position of the column, primary arm, secondary arm, attachment point, and the gripping assembly within the coordinate system using the column sensor, primary arm sensor, and secondary arm sensor; wherein, based on the of the initial point (T.sub.1) and the calculated at least one intermediate point (T.sub.0), the computer control unit calculates the necessary operation of the crane within the coordinate system to move the gripping assembly from a starting position towards the initial point (T.sub.1) and pick up the load, wherein the computer control unit is capable of moving the gripping assembly to avoid the at least one intermediate point (T.sub.0) on the obstacle located between the starting position and the initial point (T.sub.1); wherein, based on the calculated initial point (T.sub.1), the calculated end point (T.sub.2), and the calculated at least one intermediate point (T.sub.0), the computer control unit calculates the necessary operation of the crane within the coordinate system to move the gripping assembly and the load from the initial point (T.sub.1) towards the end point (T.sub.2) and release the load, wherein the computer control unit is capable of moving the gripping assembly and the load to avoid the at least one intermediate point (T.sub.0) on the obstacle located between the initial point (T.sub.1) and the end point (T.sub.2); wherein the computer control unit displays information related to the calculations required to move the load between the starting position, the initial point (T.sub.1), and the end point (T.sub.2) to a user; wherein upon receiving a command from the user, the computer control unit operates the crane within the coordinate system to move the gripping assembly from a starting position towards the initial point (T.sub.1), pick up the load and move the gripping assembly and the load from the initial point (T.sub.1) towards the end point (T.sub.2) and release the load, wherein the computer control unit is capable of moving the gripping assembly and the load to avoid the at least one intermediate point (T.sub.0) on the obstacle located between the starting position and the initial point (T.sub.1), or between the initial point (T.sub.1), and the end point (T.sub.2); wherein upon releasing the load, the computer control unit displays information related to the completed movement of the load between the initial point (T.sub.1), and the end point (T.sub.2) to the user.

2. The computer-controlled mobile crane according to claim 1, wherein the computer control unit is capable of determining the position of the column, primary arm, secondary arm, and gripping assembly in the coordinate system by storing and recalling in and from the electronic storage medium the last previously known position of the column, primary arm, secondary arm, and gripping assembly for use in calculating a movement of the load between a next initial point (T.sub.1) and a next end point (T.sub.2).

3. The computer-controlled mobile crane according to claim 1, wherein the optical measuring unit is mounted on a fixed and unchanging location on the crane.

4. The computer-controlled mobile crane according to claim 1, wherein the optical measuring unit is portable but is capable during operation of the crane of being in electronic communication with the computer control unit.

5. The computer-controlled mobile crane according to claim 1, wherein the computer control unit is programmed to calculate that the at least one intermediate point (T.sub.o) represents a highest point or peak of a pyramid or conical shaped obstacle within the coordinate system.

6. The computer-controlled mobile crane according to claim 1, wherein the computer control unit is programmed to calculate the coordinates of at least two intermediate points (T.sub.0) on the obstacle such that the at least two intermediate points (T.sub.o) represent two points on a line between the at least two intermediate points which corresponds to a top edge of the obstacle.

7. The computer-controlled mobile crane according to claim 1, wherein the optical measuring unit and the computer control unit (8) are capable of defining a plurality of obstacles and marking a plurality of points (T.sub.o) associated with the plurality of obstacles.

8. The computer-controlled mobile crane according to claim 1, further comprising a camera, which in conjunction with optical measuring unit and the computer control unit, is capable for recognition of objects, including recognition of the load which is to be transferred, wherein the computer control unit is capable of using data retrieved from the camera to further control the operation of the gripping assembly.

9. The computer-controlled mobile crane according to claim 1, wherein the coordinate system is an orthogonal (x, y, z) coordinate system.

10. The computer-controlled mobile crane according to claim 1, wherein the coordinate system is a cylindrical coordinate system.

11. The computer-controlled mobile crane according to claim 1, wherein the secondary arm may be comprised of two or more telescopic bearing sections which are capable of movement along the longitudinal axis of the secondary arm via a third hydraulic cylinder which is connected via third hydraulic conduits to the control unit of the hydraulic unit of the crane, wherein the attachment point is located on the outwardly protruding terminal portion of the innermost bearing section of the secondary arm.

12. The computer-controlled mobile crane according to claim 1, further comprising a hydraulic rotation unit between the attachment point on the free terminal portion of the secondary arm the gripping assembly, wherein the hydraulic rotation unit comprises a rotational hydraulic motor which is connected via hydraulic conduits connected to the control unit of the hydraulic unit of the crane and which is capable of rotation of the gripping assembly.

13. The computer-controlled mobile crane according to claim 11, further comprising a sensor capable to detect a position of the attachment point on the innermost bearing section within the coordinate system.

14. The computer-controlled mobile crane according to claim 12, further comprising a sensor capable to detect a rotational position of the gripping assembly which is attached to the hydraulic rotation unit within the coordinate system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a side elevation view of an embodiment of a computer-controlled mobile crane;

(2) FIG. 2 is a side elevation view of an embodiment of a computer-controlled mobile crane according to FIG. 1, showing three different positions of its operational arms and its gripping assembly during operation;

(3) FIG. 3 is a perspective view of an embodiment of a computer-controlled mobile crane according to FIG. 1, showing three different positions of its operational arms and its gripping assembly during operation, and showing the crane in an orthogonal coordinate system;

(4) FIG. 4 is a perspective view of an embodiment of a computer-controlled mobile crane, within a spatial area as defined by an orthogonal coordinate system, showing an exemplary method of controlling the crane along a pre-determined path from an initial point towards an end point and by taking into consideration at least one obstacle.

DETAILED DESCRIPTION

(5) Embodiments of a computer-controlled mobile crane are disclosed according to FIGS. 1-4 and comprises a column 2, which is on its terminal portion 21, which may be oriented downward or towards the ground. A rotational hydraulic driving apparatus 25 may rotate column 2 around a vertical geometric axis 200 which is anchored to a platform 1. Platform 1 may be part of aa motor vehicle, which may be suitable for transporting of such crane together with cargo, when available. Said crane according to FIGS. 1-4 is shown with a gripping assembly 6 suitable for use in forestry, which may suitable for manipulating of timbers. Persons of skill in the art however will recognize generally that the embodiment shown is merely one of many possibilities regarding potential use thereof and should not limit the scope of the invention as such, since such crane is no doubt also suitable for manipulating with cargo of various other kinds.

(6) The disclosed crane may be furnished with suitable supporting means for maintaining said crane in a substantially unchanging position during its operation as well as for preventing said crane and any apparatus to which said crane may be mounted from being overturned. In the embodiments shown in FIGS. 1-4 said platform 1 is furnished with at least two horizontally arranged protruding telescopic beams 11, 12, with each of them is on their free terminal portion equipped with vertical telescopic supporting leg 110, 120 as shown in FIG. 3. Supporting legs 110, 120 may be via hydraulic conduits connected with a control unit 71 of a hydraulic unit 7 of the crane and may be extendable towards the ground, but may also be capable of extended to any desired position, so that each leg may serve as a support for both the crane and any apparatus to which said crane may be mounted, to prevent the crane and the vehicle against overturning. Persons skilled in the art should also understand that supporting and stabilizing of the crane during its operation might also be assured by other measures like mounting of such supporting legs directly to a vehicle chassis, or to any other parts either of a vehicle or of a crane, or separately, for example on the one hand to a crane and on the other hand to a vehicle.

(7) In the embodiments in the accompanying FIGS. 1-4, on the residual terminal portion 22 of said rotatable column 2 of said crane there is a primary arm 3, which is coupled there-to by its first terminal portion 31 and is pivotal around a horizontal geometric axis 200, while on the opposite terminal portion 32 of said primary arm 3, a secondary arm 4 is coupled to said primary arm 3 by its first terminal portion 41 to said primary arm 3. Said secondary arm 4 is also pivotal around a horizontal geometric axis 300 relatively to said primary arm 3.

(8) Said secondary arm 4 is on its another free terminal portion 42 furnished with an attachment point 420, which may be suitable for attachment of a moveable gripping assembly 6 on said terminal portion 42 of the secondary arm 4. In the shown embodiment said gripping assembly 6 is pivotally attached to said attachment point 420.

(9) Said primary arm 3 is in each position thereof supported by at least one driving means, in these embodiments a hydraulic cylinder 23, which is on the one hand attached to the column 2 and on the other hand to said primary arm 3, wherein said cylinder 23 is via suitable hydraulic conduits connected with said control unit 71 of a hydraulic unit 7 of the crane, and is such supplied with hydraulic fluid, by which pivoting of the primary arm 3 around the horizontal geometric axis 200 and relative to the column 2 is performed.

(10) Similarly, said secondary arm 4 is on said primary arm 3 supported by at least one hydraulic driving means, namely a hydraulic cylinder 34, which is on the one hand attached to primary arm 3, and on the other hand to said secondary arm 4, wherein said cylinder 34 is also via suitable hydraulic conduits connected with said control unit 71 of a hydraulic unit 7 of the crane, and is therefore supplied by hydraulic fluid and then may be correspondingly pivoted around the horizontal geometric axis 300 and relative to said primary arm 3. In FIG. 3, said secondary arm 4 is supported by two parallel and apart from each other spaced cylinders 34.

(11) In FIG. 2, said secondary arm 4 may optionally be telescopically conceived and is in such case formed of several concentric bearing sections 421, 422, which are inserted within each other and are by means of a suitable hydraulic driving means, which may also via corresponding conduits connected with said control unit 71 of said hydraulic unit 7 of the crane, successively and one by another movable along the longitudinal geometric axis 400 of the secondary arm 4. In such telescopic embodiment of the secondary arm 4, attachment point 420 for connecting said gripping assembly 6 may be located on the outwardly protruding terminal portion of the inner tubular bearing section 422 of such telescopic secondary arm 4.

(12) In FIGS. 1-4, a hydraulic rotation unit 5 is foreseen, which is located between said attachment point 420 on the free terminal portion 42 of the secondary arm 4 and said gripping assembly 6, wherein such rotation unit comprises a rotational hydraulic motor 51 and enables predictable and remotely performed controlling of said gripping assembly 6 by rotating around its vertical geometric axis 600. When manipulating relatively long pieces of cargo, such as timbers, or girders, use of hydraulic rotation unit 5 may be required for the purpose of achieving sufficiently effective manipulation with the crane. In other circumstances with other types of cargo, where orientation of said gripping assembly is not very important, an embodiment of the crane disclosed herein may not include said rotating unit 5.

(13) Whenever such rotation unit 5 is present in an embodiment, it may also via suitable hydraulic conduits connected with said control unit 71 of a hydraulic unit 7 of the crane, which is required in order to enable controlled and predictable rotation of said gripping assembly 6 around its vertical geometric axis 600.

(14) In FIGS. 1-4, required movements of the crane, either turning of said column 2, said primary arm 3, said secondary arm 4 or said gripping assembly 6 around each corresponding axis 200, 200, 300, 600 and/or linear movements of tubular bearing sections 421, 422 on a telescopic secondary arm 4 along the longitudinal axis 400 thereof may be performed on the basis of controlled and pre-determined supplying of each required quantity of hydraulic fluid from the hydraulic unit 7 via said hydraulic control unit 71 to each corresponding driving means 23, 25, 34, 51, or substantially also by releasing of a pre-determined quantity of hydraulic fluid from each of said driving means 23, 25, 34, 51.

(15) Said computer-controlled crane shown in FIGS. 1-4 further comprises a computer control unit 8, which may be powered either by an electric source on a motor vehicle on which said crane is mounted, or by another electric energy source.

(16) Said computer control unit 8 is capable, in situ and as soon as the crane is stabilized and ready for operation, to establish as well as to maintain a coordinate system x, y, z, in which the crane is located. In the embodiments according to FIGS. 3-4, it is an orthogonal coordinate system, which is however just one of several possible types of coordinate systems. This then also means that once the crane it stabilized and ready for operation, if the crane is properly supported and assured against each movement, a coordinate system is established that includes the complete physical operational range surrounding the crane, the coordinate system includes said crane including its vital components enabling operation thereof, any load(s), and also potential obstacles, which could have some impact either to safety of the crane as such, or also to safety and efficiently of manipulating said load(s).

(17) Said computer control unit 8 exchanges signals with an optical measuring unit 9, which may be a unit with an optically recognizable light beam, including for example optically recognizable points T.sub.1, T.sub.2, T.sub.0, which can be marked by said light beam on each measured surface. Optical measuring unit 9 may be oriented in various directions and towards each desired point of reference, wherein thanks to said visual recognition of the beam light, each illuminated or colored point on a surface can be recognized, by which also the distance of such point from said optical measuring unit 9 can be measured, upon which the retrieved data is forwarded or transmitted to the computer control unit 8. Said optical measuring unit 9 is therefore connected with said computer control unit 8 and is suitable for determining of each distance between said optical measuring unit 9 and reference points, for example reference points T.sub.1, T.sub.2, T.sub.0, on the basis of each position and orientation of said optical measuring unit 9 within said coordinate system x, y, z, since a light source and also a direction of said light beam are exactly defined in coordinate system x, y, z.

(18) In one of the embodiments in FIGS. 1-3, said optical measuring unit 9 is fixed on a pre-determined and unchangeable location on the crane itself. In another embodiment shown in FIG. 4, said optical measuring unit 9 is available as a portable device, which during its operation communicate with said computer control unit 8 in such manner that each position and orientation of said optical measuring unit 9 within the coordinate system x, y, z, and therefore also the source and direction of the light beam generated there-with, are in each moment exactly determined. Optical measuring unit 9 and computer control unit 8 may communicate wirelessly, for example via near-field communication or Bluetooth, or may communicate via a connecting wire cable, or through an additional electromagnetic means. As a consequence, by marking each of said points T.sub.1, T.sub.2, T.sub.0 and by knowing each position and orientation of said optical measuring unit 9, i.e. position of the light beam source and direction of the beam, and by determining angles between each coordinate axis x, y, z and said light beam from said optical measuring unit 9, and also by knowing each distance between said optical measuring unit 9 and each points T.sub.1, T.sub.2, T.sub.0, coordinates of each selected point T.sub.1, T.sub.2, T.sub.0 can then be easily determined with mathematical accuracy.

(19) In some embodiments, and as shown in the FIGS. 1-4, in order to effectively control said crane, said computer control unit 8 may be electrically connected with and transmit signals to and from at least with a sensor 29 for detecting of position of the column 2 in the view of rotating column 2 by means of said hydraulic driving means 25 around its vertical geometric axis 200 relative to a pre-defined coordinate system x, y, z, with a sensor 239 for detecting displacement of a hydraulic driving means 23, and therefore indirectly also for controlling of pivoting of the primary arm 3 by means of a hydraulic cylinder serving as its driving means 23, around its corresponding horizontal geometric axis 200 and relative to said column 2 within the pre-defined coordinate system x, y, z, with a sensor 349 for detecting linear displacement of a hydraulic driving means 34 and therefore indirectly also for controlling of pivoting of the secondary arm 4 by means of a hydraulic cylinder serving as its driving means 34, around its corresponding geometric axis 300 and relative to said primary arm 3 within the pre-defined coordinate system x, y, z, and optionally, when the crane is furnished with telescopically extendable bearing sections 421, 422 on the secondary arm 4, as inserted within each other, with a sensor 49, which is capable to detect a position of the attachment point 420 on the bearing section 422 within pre-defined coordinate system x, y, z, and also optionally, when the crane is furnished with a rotating unit 5, with a sensor 59 for detecting a position of the gripping assembly 5, which is attached to said rotating unit 5, within said pre-defined coordinate system x, y, z.

(20) Referring to FIG. 4, said computer control unit 8 may be adapted to operate by means of software, which is capable of computing a coordinate system x, y, z, within which the crane is located, and transferring of each load from a desired initial point T.sub.1 towards a desired end point T.sub.2. Said software may be capable of executing the following steps, either in order of their presentation below or in a different sequence: i) calculating of coordinates x.sub.1, y.sub.1, z.sub.1 of the initial point T.sub.1 within said coordinate system x, y z on the basis of data related to current position of said optical measuring unit 9, when directed towards the initial point T.sub.1, as well as the data about the distance between said between said initial point T.sub.1 and the optical measuring unit 9; ii) calculating of coordinates x.sub.2, y.sub.2, z.sub.2 of the end point T.sub.2 within said coordinate system x, y z on the basis of data related to current position of said optical measuring unit 9, when directed towards the end point T.sub.2, as well as the data about the distance between said between said end point T.sub.2 and the optical measuring unit 9; iii) calculating of coordinates x.sub.0, y.sub.0, z.sub.0 of at least one intermediate point T.sub.0 on an obstacle located within the operating area of the crane and within said coordinate system x, y z on the basis of data related to current position of said optical measuring unit 9, when directed towards said point T.sub.0 on the obstacle, as well as the data about the distance between said between said point T.sub.0 and the optical measuring unit 9; iv) determining current position of said column 2, primary arm 3, secondary arm 4, attachment point 420 and said gripping appliance 6 within said coordinate system x, y, z on the basis of data, which may be retrieved from the corresponding sensors 29, 239, 349, 49, 59; v) determining of necessary rotation of the hydraulic motor 25 of the column 2 and linear displacements in cylinders 23, 34 for the purposes of pivoting said primary arm 3 and secondary arm 4 around each associated axis 200 and 300, and optionally also linear displacement in telescopic bearing sections 421, 422 on the secondary arm 4 as well as required rotation of the hydraulic motor 51 in the rotation unit 5, if equipped, which may be performed on the basis of data as processed in steps disclosed herein, and then may lead to displacing of the gripping assembly from an initial, prior, or inactive position towards the initial point T.sub.1, wherein it is also checked, if each potential obstacle T.sub.0 is located between said initial, prior, or inactive position of the gripping assembly 6 and said initial point T.sub.1, so that in such case said obstacle is safely avoided at suitable distances within coordinate system axis x, y, z; vi) determining of each necessary rotation of the hydraulic motor 25 of the column 2 and linear displacements in cylinders 23, 34 for the purposes of pivoting said primary and secondary arm 2, 3 around each associated axis 200, 300, and optionally also linear displacements in telescopic bearing sections 421, 422 on the secondary arm 4 as well as required rotation of the hydraulic motor 51 in the rotation unit 5, if equipped, which may be performed on the basis of data as processed in steps disclosed herein, and then may lead to displacing of the gripping assembly from initial point T.sub.1 to end point T.sub.2, wherein it is also checked, if each potential obstacle T.sub.0 is located between said initial point T.sub.1 and end point T.sub.2, so that in such case said obstacle is safely avoided at suitable distances along within coordinate system axis x, y, z; vii) displaying a suitable information about conclusion of calculations of all required rotations of said hydraulic motors 25, 51 and movements of said cylinders 24, 34, which are required for transferring said gripping assembly 6 from its inactive position towards the initial point T.sub.1 and then also from each selected initial point T.sub.1 to each selected end point T.sub.2 by simultaneously avoiding said obstacle T.sub.0 within said coordinate system axis x, y, z, and then waiting for approval and command for starting operations as expected from a user; viii) upon receiving said command for starting operations from the side of the operator, executing command within said computer control unit 8, which then starts controlling operation of said hydraulic control unit 71 of the hydraulic unit 7, which then controls supplying of hydraulic fluid to each of said hydraulic driving means 25, 23, 34, 51 and consequently each required rotations of said column 2, said primary secondary arms 3, 4, and optionally, also said telescopic extension of the secondary arm 4 and rotation and operation of the gripping assembly 6 for the purpose of gripping and lifting each load from the initial point T.sub.1 and then transferring said load towards the end point T.sub.2, while simultaneously avoiding collision with at least one obstacle T.sub.0 at suitable distance therefrom; ix) displaying information by said computer control unit 8 to a user that the task is completed and displaying additional further information associated with a next selected initial point T.sub.1, end point T.sub.2 and at least one obstacle T.sub.0 by using said optical measuring unit 9, upon which the computer control unit 8 may be ready to repeat the steps disclosed herein, namely performing a movement of the gripping assembly 6 towards the initial point T.sub.1 and then transferring each load from said initial point towards the end point T.sub.2.

(21) Said computer control unit 8 may optionally be deactivated and eliminated from controlling said crane, upon which controlling of said hydraulic control unit 71 in the hydraulic unit 7 may be feasible either by means of manual controls or by means of any other control system, which is suitable for controlling such crane. It is namely no doubt clear to each person skilled in the art that various cranes may be controlled by means of manual handles and by shifting hydraulic valves or control valves in a hydraulic control unit 71 there-with, or by modern cranes also by means of a control stick, a so-called joystick. Consequently, the crane according to the present disclosure may still be controlled by manual means.

(22) In an embodiment of the crane according to the present disclosure, said computer control unit 8 is furnished with such software, which may be capable to determine a current position of said crane components, including said column 2, said primary arm 3, secondary arm 4, as well as of said gripping assembly 6, on the basis of assuming the last previously known position of said components within the said coordinate system, but before each subsequent initial point T.sub.1, end point T.sub.2 and potential obstacle T.sub.0 are defined. Such approach may be useful in a pre-programmed mode of operation of the crane, which may be used in a repeating and successive transferring of a plurality of loads without interruptions and by anticipating that the crane as such is perfectly stable and the coordinate system is deemed to be maintained all the time.

(23) To define one or more obstacles T.sub.o within an operational area of the crane, in some embodiments of the present disclosure said optical measuring unit 9 and said computer control unit 8 are able to operate on the basis of a presumption that marking just one point T.sub.o with coordinates x.sub.o, y.sub.o, z.sub.o on an obstacle actually means marking of the highest point on the obstacle, for example a peak of said obstacle, which may be presumed to be a square pyramid or a cone, which could for example represent a pile of earth, gravel, or construction debris, with the height z.sub.0 which may correspond to the width of square in a horizontal plane x-y of the coordinate system x, y, z. A suitable distance between the gripping assembly 6 along or over said obstacle during transferring of a load may be determined in advance, and may be either incorporated within the programming of said software, or particular circumstances may allow for manual user input.

(24) In another embodiment, said optical measuring unit 9 and said computer control unit 8 are able to operate on the basis of a presumption that marking of two points T.sub.o with two sets of x.sub.o, y.sub.o, z.sub.o coordinates on an obstacle should actually mean defining of a line between two points which corresponds to a top edge of said obstacle, which may then be presumed to be wedge-like body with a rectangular base plane x-y and triangular profile, wherein the shorter dimension of such assumed rectangular base is equal to the height z.sub.o of said body and the longer dimension thereof is equal to the distance between said two marked points. Also in such case, each distance between the gripping assembly 6 along or over said obstacle during transferring of each load can be determined in advance, which is either incorporated within the programming of said software, or a possibility is given that in each particular circumstances said distance is determined and manually input by a user. Additionally, said optical measuring unit 9 and said computer control unit 8 can also be suitable for defining of more than one obstacle and for marking of a plurality of points T.sub.o (x.sub.o, y.sub.o, z.sub.o), which each per se may belong to separate or a particular obstacle.

(25) In another embodiment, as shown in FIGS. 1-4, a camera 85 may be available in the area above the gripping assembly 6, which is together with optical measuring unit 9 and said computer control unit 8 adapted for operation in accordance with principles of computer vision, and in particular serves for recognition of objects, including recognition of orientation of a load which is to be transferred. Using such data, which may be retrieved from said camera 85, said computer control unit 8 is able to control, via said hydraulic control unit 71 of the hydraulic unit operation, desired operation of said gripping assembly 6, which means both controlling of rotation thereof around its vertical geometric axis 600 and also gripping or releasing of each transferred load. The present disclosure also provides that said computer control unit 8 for controlling said crane is suitable for operating, instead of in an orthogonal coordinate system x, y, z, as shown in FIGS. 3-4, in any other coordinate system. Coordinates in such other coordinate system may be mathematically transformable into coordinates of said orthogonal coordinate system x, y, z, or vice versa. Regarding the crane according to FIGS. 1-4 and by taking into consideration of movements and kinematics within each operation area, it appears to be quite useful, an alternative means for the computer control unit 8 to control such crane may include use of a cylindrical coordinate system, in which each point within a cylindrical space is defined with a radius, which defined its distance apart from the center of the coordinate system on its circular base plate, by angle at which it is rotated relative to a reference axis, as well as with a distance apart from said base plane along a line extending rectangular with regard to said base plane.

(26) Said crane according to the present disclosure enables either manual or also computer-controlled gripping, transferring, and deposition of each solid load either in the form of a single piece having consistent stiffness and shape, or of a bundle of several such pieces, wherein said load may be transferred from each mathematically defined initial point T.sub.1 towards each mathematically defined end point T.sub.2, and each transferring of said load from said initial point T.sub.1 towards each end point T.sub.2 would have to be performed precisely and accurately, and in particularly also with the possibility of avoiding each potential collision with at least one obstacle T.sub.0, which may be defined within a coordinate system between said initial point T.sub.1 towards and said end point T.sub.2.