Hook block

Abstract

The present invention relates to a crane hook block (1) with a frame (2), at least one rope pulley (3) rotatably connected to the frame (2), a load hook (4) connected to the frame (2), at least one sensor (5-9) arranged on the crane hook block (1) and configured to detect at least one environmental parameter and / or at least one state parameter of the crane hook block (1), and an interface (12) connected to the at least one sensor (5-9) and configured to transmit the data received by the at least one sensor. The invention further relates to a crane control unit with an interface (16) connectable to the interface (12) of the crane hook block (1) and a crane with such a crane hook block (1) and / or with such a crane control unit (17).

Description

[0001] The present invention relates to a hook block for cranes, in particular for mobile cranes, with a measuring sensor system for recording parameters relating to the environment and / or the condition of the hook block, a crane control system that processes the measured quantities recorded by the measuring sensor system and a crane with such a hook block and / or with such a crane control system.

[0002] Conventional mobile cranes are equipped with numerous sensors that collect various measurement data and transmit it to a central data processing unit or crane control system. Based on this data, the system determines the crane's operating parameters, informs the operator, and, if necessary, prevents impermissible crane states, for example, by blocking individual crane functions. In known systems, individual parameters are calculated using multiple measurements. For instance, in mobile cranes, the load attached to the hook is regularly determined via pressure sensors on the boom's luffing cylinder and several tilt sensors on the main and luffing booms. The same applies to the lifting height, which is regularly calculated using the length of the hoist rope wound or wound up, the telescoping length, and the boom's luffing angle.

[0003] Document US2016 / 031681A1 discloses a crane hook bottle according to the preamble of claim 1.

[0004] However, the indirect calculation of state variables from several measured variables has the disadvantage that, due to the failure probability and measurement inaccuracy inherent in each sensor, not only does the probability of a defect in the overall system increase, but measurement errors can also accumulate and thus lead to an inaccurate determination of the state variables.

[0005] The present invention is based on the objective of creating an improved measuring sensor system for recording state variables of a crane.

[0006] This problem is solved by the subject matter of independent claim 1 and dependent claims 9 and 10. The dependent claims define preferred embodiments of the invention.

[0007] A crane hook block according to the invention comprises a frame, at least one pulley connected to the frame, and a load hook connected to the frame, and further comprises at least one sensor arranged on the crane hook block and designed to detect the spatial position of the crane hook block, and an interface connected to the at least one sensor and designed to transmit the data received from the at least one sensor, wherein the crane hook block further comprises an upper section comprising at least one pulley and a lower section detachably connected to the upper section and comprising the load hook, wherein the at least one sensor is arranged on or in the lower section.

[0008] In other words, a conventional crane hook block is supplemented with sensors to perform measurements directly on or in the area of ​​the crane hook block and to determine state variables of the crane directly on this basis, without having to derive them indirectly from several measured values ​​in a time-consuming manner and with the disadvantages described above.

[0009] To transmit the measurement data acquired by the sensor(s) to a crane control system, the crane hook block also includes a data transmission interface. While it is theoretically possible to connect the crane hook block's interface to a corresponding interface on the crane control system via a data cable, a wireless radio connection between the interfaces is preferable.

[0010] Firstly, the present invention allows environmental parameters in the immediate or near vicinity of the hook block to be detected. For example, one or more selected areas or even the entire surroundings of the crane hook block can be captured using a camera or...

[0011] Video image capture is used for monitoring. The captured images or image data can be displayed on a screen, for example, located in the crane cab, providing immediate information about the area surrounding the crane hook block. This data allows, for instance, verification of whether the crane hook block is directly above a load to be attached, or whether there are any obstacles in the area of ​​the hoist rope, the crane hook block, or the load that need to be taken into account. It should be noted that the generated images or image data can be fed into automated, computer-aided image processing in a known manner to automatically recognize depicted objects and provide the acquired data to the operator or the crane control system. For example, automatic warnings can be issued about potential obstacles or people in the working area of ​​the hook block, and crane functions can be restricted or even shut down for safety reasons.

[0012] The distance between the crane hook block and people, objects, or obstacles can also be detected using suitable optical or other appropriate sensors on the crane hook block. This allows not only the distance of the hook to a load to be attached to be measured, but also the distance of the crane hook block to the sheave head at the boom tip. The latter application offers the advantage that an impending collision between the crane hook block and the sheave head is detected well before actual contact occurs, allowing appropriate measures to be taken, such as gradually reducing the lifting motion as the distance to the sheave head decreases. A sudden and therefore detrimental stop of the lifting motion to prevent a collision, as occurs with conventional electromechanical limit switches, is thus no longer necessary.

[0013] Measurements taken directly at the hook block can also be taken of the crane hook block itself. One or more sections, or even the entire crane hook block, can be monitored using image or video recording. As mentioned above, the resulting image or video data can be displayed to crane operators or used in computer-aided image processing to automatically detect certain states of the crane hook block. For example, it can be determined how many of the existing sheaves are engaged with the lifting rope, or whether the crane hook's locking jaw is in the correct position.

[0014] The present invention offers a significant advantage with regard to measuring the weight of the load attached to the hook directly at the crane hook block. In previous solutions, the load weight is calculated indirectly from other sensor readings or measured with insufficient accuracy by sensors located remotely, for example, on the hoist drum.

[0015] Using suitable spatial position sensors, such as GPS sensors, the (absolute) spatial position of the crane hook block can also be determined. If one or more reference sensors are present on the crane itself or on any objects, such as obstacles, loads to be attached, and / or a load placement position, the relative positions to these sensors, and thus to any crane components or the aforementioned objects or positions, can also be determined.

[0016] The same considerations apply to the spatial orientation of the crane hook block. As soon as suitable sensors detect a tilt of the crane hook block, this can indicate, for example, an unintended "slant pull," where the crane hook block is not positioned precisely above the load to be lifted, which would lead to uncontrolled swinging of the load during lifting. In principle, any swinging of the load can be detected via the spatial orientation, i.e., tilt and / or acceleration of the crane hook block.

[0017] Furthermore, at least one, several, or even all of the rope sheaves on the crane hook block can be measured with regard to their rotational speed or their trajectory. In this way, it is no longer possible to determine which and how many of the existing rope sheaves are engaged or reeved with the lifting rope. By using a measurement of the length of lifting rope wound onto or off the lifting drum during this time, the rope shear—that is, the number of rope sheaves engaged or reeved with the lifting rope—can be determined from the rotational speed and / or trajectory of at least one rope sheave. Alternatively, or additionally, the rope shear can also be determined by measuring the change in the lifting height of the crane hook block and the length of lifting rope wound onto or off during this time.

[0018] For detecting the spatial position, the crane hook block according to the invention can have the following sensor:Spatial position or GPS sensor for detecting the spatial position, in particular also the orientation of the crane hook block; In addition, the crane hook block can also have any number of additional sensors for detecting further measured quantities, including: Optical camera for detecting light in the visible and / or infrared part of the electromagnetic spectrum, which is reflected and / or emitted in particular by the crane hook block or parts thereof, or by objects in the vicinity of the crane hook block; RADAR sensor (6), in particular for detecting the distance of the crane hook block to objects in the vicinity of the crane hook block; LIDAR sensor, in particular for detecting the distance of the crane hook block to objects in the vicinity of the crane hook block; Tilt sensor, in particular for detecting the spatial orientation of the crane hook block or parts thereof;Pressure and / or force sensor, in particular for detecting the mechanical load on the crane hook block or parts thereof; speed sensor for detecting the rotational speed of at least one, in particular all, rope pulleys; acceleration sensor, in particular for detecting the acceleration of the crane hook block or parts thereof.

[0019] The measurement data acquired by the aforementioned sensors can be used individually or in any meaningful combination to determine any desired parameters, such as the environmental parameters mentioned above or the condition parameters of the crane hook block. Furthermore, any of these environmental and / or condition parameters can be acquired redundantly based on different measured variables or combinations of measured variables.

[0020] Furthermore, it is conceivable that the crane hook block has a lighting unit that serves to illuminate at least part of the detection range of a camera or video camera, in order to obtain a usable camera image even at night or in insufficient twilight or daylight.

[0021] In principle, it is conceivable to supply the sensors, interface, and any control units on the crane hook block with electrical power via a wired connection. However, an independent power supply, for example using an energy storage device and / or a generator, is preferable.

[0022] The crane hook block can thus incorporate a generator to supply the sensors with electrical power. In this context, it would be conceivable to equip the crane hook block with a wind generator, a photovoltaic generator, or a generator mechanically driven by a combustion engine or at least one pulley; several such generators could also be used.

[0023] Alternatively or additionally to such a generator, the crane hook block can have an energy storage device which can be charged, for example, by means of an external power source and / or the generator, in order to supply the sensors, the interface and any other electrical consumers of the crane hook block with electrical power.

[0024] Furthermore, it is conceivable that the crane hook block comprises an upper section including at least one pulley and a lower section including the load hook, which are detachably connected to each other, for example, by bolts. Such a multi-part, and in particular two-part, crane hook block offers the advantage that the lower part can be easily separated from the rest of the crane hook block and, while maintaining the reeving of the hoist rope, also from the crane. To simplify maintenance and repair work on the sensors, it is advantageous to assign the majority or even all of the sensors, as well as the associated interface, to the lower part of the crane hook block. This makes it possible to use the present invention with only one lower hook block section on several cranes, without having to maintain such measuring sensors for each crane.For example, if a crane is to be used for tasks for which the measuring sensor technology according to the invention is to be used, only the lower hook block part needs to be equipped for this purpose, while the reeving can remain on the upper hook block part.

[0025] In this context, it is also advisable to integrate the peripherals necessary for the sensors, i.e., the power generation and / or energy storage, control units or the data interface, as far as possible into the lower part of the hook bottle.

[0026] Another aspect of the present invention relates to a crane control system for a crane, in particular for a mobile crane, with an interface connectable to the interface of the crane hook block described above, wherein the crane control system determines at least one state variable of the crane based on at least one parameter detected by at least one sensor. However, the task of the crane control system is not limited to determining one or more state variables of the crane; rather, it can also control or regulate individual or multiple crane functions, such as lifting and lowering the load, slewing the crane superstructure, extending and retracting, or extending and retracting the crane boom, based on the detected measurement data or the detected state variables of the crane.For example, if the distance between the crane hook block and the boom sheave head falls below a predefined threshold, the lifting speed can be reduced or further lifting movements can even be blocked. Lifting movements can also be blocked if an impermissible skewed pull is detected. In the simplest case, the acquired measurement data (e.g., camera images) and / or certain crane operating parameters (e.g., rope shear) are communicated to the crane operator. Furthermore, the operator can also be alerted to critical measured values ​​(e.g., the presence of obstacles in the vicinity of the crane hook block) or critical operating parameters (e.g., impending overload).

[0027] For example, the crane control system can use the hook block position, detected by the GPS sensor, to determine the telescoping length of the crane boom. The horizontal relative position between the crane hook block and the crane vehicle is known via GPS sensors on both the hook block and the crane vehicle. Both the crane undercarriage and the crane boom are equipped with tilt sensors as standard, the measurement data from which can be used to determine both the tilt of the crane vehicle and the luffing angle of the crane boom. Assuming that the crane hook hangs vertically from the boom head, the boom length can be calculated using a simple angle calculation.

[0028] The present invention further relates to a crane, in particular a mobile crane, with a crane hook block according to one of the embodiments described above and / or with a crane control system as described above.

[0029] The following section explains individual, preferred functionalities of the present invention. The invention can comprise the functionalities described above and below individually or in any meaningful combination. The weight of a load attached to the lifting hook can be measured by a so-called "load measuring bolt," for example, a crossbar on the hook block designed for the lifting hook. One or more sensors can be used for this purpose, measuring the stress on the crossbar, thus allowing a direct inference about the load. The spatial position of the lifting hook relative to the crane can be determined by a spatial position sensor or GPS sensor on the hook block and a corresponding reference sensor on the crane. Rope shear can be automatically calculated from the measured rope length / rope position of the main / auxiliary hoist and the relative change in the hook block position. The function of the lifting limit switch is provided contactlessly by the sensors on the hook block. These sensors also detect impending collisions with obstacles such as buildings or trees.The crane operator's view of the load, the surroundings, and people is improved by a camera on the hook block. The captured images are displayed on the screen of each active control station. For example, the crane operator can observe the load even in areas obscured by obstacles or otherwise inaccessible. A lighting system can be provided for visibility in darkness. An impermissible tilt of the load is detected by a tilt sensor on the hook block. This sensor can also be used to compensate for or counteract the load's pendulum motion caused by inertia when a drive unit, particularly the slewing mechanism, is started or stopped. Power can be supplied by batteries located in the hook block.These can be charged during crane operation by a DC generator and during transport by a power outlet on the crane vehicle. For example, a power outlet can be provided in the front of the driver's cab, near the hook block secured to the front drawbar of the crane. The DC generator can also be driven by the pulleys of the hook block. The measurement data recorded by the sensors is received by a controller with an integrated radio transceiver on the hook block, transmitted to the crane control system, and processed there.

[0030] Preferred embodiments of the present invention are explained in more detail below with reference to the accompanying figures. The invention can comprise all features described herein individually or in any meaningful combination. The figures show: Figure 1: A one-piece crane hook block according to the present invention; Figure 2: A two-piece crane hook block according to the present invention; Figure 3: A mobile crane with the crane hook block according to the invention and a corresponding crane control system.

[0031] The Figure 1 Figure 1 shows a one-piece crane hook block 1 in which both the six rope pulleys 3 and the simple load hook 4 are connected to a common frame 2 of the crane hook block 1. In this respect, the crane hook block according to the invention does not differ from conventional crane hook blocks.

[0032] To enable direct measurement of certain environmental and condition parameters of the crane hook block, it is equipped with several sensors 5 to 9. To measure the weight of the load attached to the load hook 4, the hook beam has a load sensor 9 in the form of strain gauges. To provide the operator with an improved view of the load attached to the crane hook 4, the frame 2 has a camera 5 with an integrated lighting device 13 in the form of a spotlight. The rotational speed of the rope pulleys 3 is detected by a corresponding speed sensor 10. To prevent possible collisions with the pulley head 11 (see Figure 3To prevent damage to the crane boom, the crane hook block 1 has a radar sensor 6 in its upper area for distance detection. Alternatively, a lidar sensor can also be used for this purpose. A spatial position sensor in the form of a GPS sensor 7 is provided to determine the spatial position of the crane hook block 1. Additionally, a tilt sensor 8 is located on the crane hook block 1, which detects the spatial orientation of the crane hook block 1 and allows any tilting of the block to be identified.

[0033] All sensors 5-9 are connected to an interface 12, which receives the measurement data determined by the sensors 5-9 and transmits it via a radio connection to a corresponding interface 16 of a crane control 17 (see Figure 3 ) transmitted.

[0034] All measuring sensors, including sensors 5 to 9, are supplied with electrical power via a battery 15, which in turn is charged by a generator 14. The generator 14 is connected to the pulleys 3 via a shaft and thus generates electrical power when the crane hook block 1 is raised or lowered.

[0035] The Figure 2 shows another, two-part embodiment of the crane hook block according to the invention. This differs from the one shown in the Figure 1 The embodiment shown differs essentially only in that the frame 2 has an upper part 2A with the pulleys 3 and a lower part 2B with a double hook 4. The lower part 2B can be detachably connected to the upper part 2A by means of four bolts not specified in detail. Furthermore, in the Figure 2It can be seen that all the measuring sensors, including sensors 5 to 9, the interface 12, and the energy storage device 15, are arranged in the lower part 2B of the crane hook block 1. The rotational speed and angular position of the individual rope pulleys 3 are recorded by an optical camera 5 and a computer-aided image analysis system, which detects optical markings on the rope pulleys 3 in the images taken by the camera 5 and thus infers the rotational speed and angular position of the rope pulleys 3. This functionality could alternatively be achieved by a sensor ring on at least one rope pulley 3 and a corresponding Hall sensor in the lower part 2B of the hook block.

[0036] The Figure 3Figure 1 shows a mobile crane 15 with the hook block 1 according to the invention and a corresponding crane control 17 including interface 16 with the functionality already mentioned above for determining state variables of the crane 15 on the basis of the parameters detected by the sensors 5 to 9.

Claims

1. Crane hook block (1) comprising - a frame (2); - at least one pulley (3) rotatably connected to the frame (2); - a load hook (4) connected to the frame (2); - at least one sensor (7, 8) arranged on the crane hook block (1) and configured to detect the spatial position of the crane hook block (1); and - an interface (12) connected to the at least one sensor (7, 8) and configured to transmit the data received from the at least one sensor regarding the detected spatial position; characterised in that the crane hook block further comprises: - an upper section (2A) comprising the at least one pulley (3); and - a lower section (2B) which is detachably connected to the upper section (2A) and comprises the load hook (4), wherein the at least one sensor (7, 8) is arranged on or in the lower section (2B).

2. Crane hook block according to claim 1, further comprising at least one sensor (5-10) arranged on the crane hook block (1) and configured to detect at least one environmental parameter, wherein at least one of the following parameters is detected as an environmental parameter: - a camera image of at least one surrounding area of the crane hook block (1); - a distance of the crane hook block (1) from objects (11), in particular from obstacles and / or crane components.

3. Crane hook block according to one of claims 1 and 2, wherein at least one of the following parameters is detected as additional status parameters: - a camera image of at least one part of the crane hook block (1); - a weight of the load attached to the load hook (4); - a spatial orientation of the crane hook block (1); - a rotational speed of at least one pulley (3).

4. Crane hook block according to one of claims 1 to 3, with at least one of the following sensors (5-10): - an optical camera (5) for detecting light in the visible and / or infrared part of the electromagnetic spectrum, which is reflected and / or emitted in particular by the crane hook block (1) or parts thereof, or by objects (11) in the vicinity of the crane hook block (1); - a RADAR sensor (6), in particular for detecting the distance of the crane hook block (1) to objects (11) in the vicinity of the crane hook block (1); - a LIDAR sensor, in particular for detecting the distance of the crane hook block (1) to objects (11) in the vicinity of the crane hook block (1); - a spatial position or GPS sensor (7), in particular for detecting the spatial position and / or orientation of the crane hook block (1); - an inclination sensor (8), in particular for detecting the spatial orientation of the crane hook block (1) or parts thereof; - a pressure and / or force sensor (9), in particular for detecting the mechanical load on the crane hook block (1) or parts thereof; - a rotational speed sensor (10) for detecting the rotational speed of at least one, in particular all, pulleys (3); - an acceleration sensor, in particular for detecting the acceleration of the crane hook block (1) or parts thereof.

5. Crane hook block according to one of claims 1 to 4, further comprising a illumination unit (13) for illuminating the detection area of a camera (5) acquiring the camera image.

6. Crane hook block according to one of claims 1 to 5, further comprising a generator (14) for supplying the sensors (5-10) with electrical power, in particular wherein the generator (14) is driven by the at least one pulley (3).

7. Crane hook block according to one of claims 1 to 6, further comprising an energy storage device for supplying the sensors (5-10) with electrical power, in particular a battery rechargeable by means of an external power source and / or the generator (14).

8. Crane, in particular mobile crane (15), with a crane hook block (1) according to one of claims 1 to 7 and with a crane control (17) which comprises an interface (16) connectable to the interface (12) of the crane hook block (1) and is configured to determine at least one of the following state variables of the crane (15) on the basis of the detected spatial position and a detected spatial orientation of the crane hook block (1): - an absolute spatial position of the crane hook block (1) using a suitable spatial position sensor, for example a GPS sensor; - a spatial position of the crane hook block (1) relative to one or more reference sensors on the mobile crane (15) or on any objects, in particular obstacles, loads to be lifted and / or setting positions for a load; - an oblique pull with a crane hook block (1) not located exactly above a load to be lifted using an inclination sensor; - a pendulum movement of a load; - a telescopic length of a crane jib based on the horizontal relative position of the crane hook block (1) and the crane vehicle (15) and an inclination of the crane vehicle (15) and the luffing angle of the crane jib detected by inclination sensors.

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