Method and system for recognizing the setting state of a crane

Abstract

The present invention relates to a method for recognizing a crane setting state, which compares a crane setting state manually input into a crane controller with an actual current setting state, the method comprising the steps of: determining a target position of at least one target crane element installed on a crane based on the crane setting state stored in the crane controller and at least one crane sensor value; transmitting one or more target position data to a mobile flying device; moving the flying device to an area proximate to the target position of the target crane element, and detecting and identifying a current crane element located at the target position using a detection means; and identifying the current crane element detected in the detection area and determining whether the detected crane element matches the target crane element.

Description

[Technical field]

[0001] The present invention relates to a method for recognising a setting state of a crane, in which a crane setting state manually entered into a crane control is compared with an actual setting state. [Background technology]

[0002] Cranes are known in the art that can be assembled from a number of individual components. Examples of such cranes include certain mobile cranes or rotating tower cranes. In this case, there are often several combination options for assembling the various crane components, but manufacturers generally do not approve all the different combinations of these equipment for reasons of safe operation. This can lead to incomplete or improper assembly, especially when similar components are used.

[0003] Once the assembly is completed by assembling the individual crane elements, the crane operator must set up the crane control accordingly. This involves, among other things, manually inputting the crane's settings into the crane control. The crane operator must also identify the names of the installed crane elements and identify their positions. The crane control operates based on the input settings, among other things the load limits, during operation. Summary of the Invention [Problem to be solved by the invention]

[0004] However, for the reasons mentioned above, there is a risk of inaccurate inputs and therefore inaccurate programming of the crane control, and therefore additional safeguards are required to verify manually entered settings.

[0005] This object is achieved by a method according to the features of claim 1. Advantageous configurations of this method are the subject matter of the dependent claims. [Means for solving the problem]

[0006] The central idea of ​​the present invention is to use a mobile flying object to determine the actual current crane setting state and to verify the manually entered crane setting state based on this information. In order to realize this approach mainly as autonomously as possible, the desired target position of at least one target crane element installed on the crane is first determined based on the crane setting state stored in the crane controller and one or more sensor values ​​from the crane sensor. This is preferably performed for most or all of the installed components. This concerns in particular the boom section and the lattice section for tower or boom systems including the boom extension. This also includes any joints, heads, mid-sections, elements of the derrick boom, adapters for parallel tower elements, and elements of bracing, i.e. guy rods, guy blocks, cabling, etc. Ballast elements are also included in the broader term "crane element". In general, a crane component is any component that can be changed during the assembly of the crane and needs to be entered into the crane controller in the case of manually entering the setting state.

[0007] The current position of the target crane element is to be determined by at least one sensor value, for example the luffing angle, the rotation angle and other values ​​are detected which allow the current position and orientation of the crane and / or crane element to be checked to be determined. These determinations can also be made, for example, on the basis of a system of cameras and associated markers, which are arranged on the crane element.

[0008] The determined target position of the at least one target crane element is preferably determined relative to a crane-related coordinate system, which can then be linked to further coordinate systems, in particular to coordinate systems used for positioning by the mobile flying object, where a link to a geographical coordinate system is preferred.

[0009] In another step, the target position data is transmitted to the mobile flying device. The flying device then moves within the immediate area of ​​a given target position of the selected target crane element. Then, by means of detection means installed on the flying device, the current crane element located at the target position is detected and simultaneously identified (prior to the orientation of the flying device according to said crane element). The identified current crane element can then be compared with the target crane element. If these crane elements match, the manual input of the crane setting state is confirmed as correct, otherwise an error occurs. The flying to the target position and the processes of detection, identification and determination are preferably performed consecutively for all given target positions of the target crane element.

[0010] By means of the method according to the invention, each individual crane element can thus be checked for its correspondence with the input setting state. A particular advantage of the method is that a mobile flying device, for example a drone, is used to check the current crane element and its correspondence with the target crane element, and a check can be made for the crane in its complete setting state. In particular, this verification can also be carried out with the boom system erected and the stays tensioned. The flying device can remain mainly at a very high position in the area of ​​the erect boom system, so that the risk to people and objects at the site is minimized.

[0011] For example, a camera integrated into a drone or flying object can be used as a detection means.

[0012] The detected crane elements can be identified in various ways. For example, visual image evaluation may be used here. The overall process becomes simpler if the individual crane elements are equipped with separate identification means, which simplifies the automatic detection and identification and makes them more reliable. This can be realized, for example, by a dedicated code, for example a bar code, affixed to the crane elements. It is also conceivable to equip them with sheet metal markings. Alternatively, it is equally possible to equip the crane elements with suitable transponders that transmit data (for example inductively) to a suitable reader of the flying object for communication.

[0013] Furthermore, when using such identification features, it is useful to also take into account the relative position of the identification feature with respect to the crane element when determining the target position. This is necessary in particular for crane elements with large dimensions. The target position transmitted to the flying object therefore takes into account the position of the identification feature or corresponds to the position of the identification feature. This ensures that the identification feature can be detected without difficulty from the activated target position of the flying object. Furthermore, geometrical data about the crane element may also be taken into account in determining the target position, to ensure that the flying object can also actually activate the calculated target position.

[0014] Furthermore, the crane may be in a predefined state or position before determining the target positions of the individual target crane elements. A state with the boom system raised can be selected. By selecting the optimal crane position, detection and identification can be simplified. Furthermore, it is possible to move the flight area of ​​the flying object to an area outside the area that may be dangerous for persons or objects concerned. Also, the risk of erroneously detecting and identifying crane components that are located in the vicinity of the crane and are not in use is minimized. However, it is not necessary to carry out the method in one specific crane position.

[0015] As mentioned above, the target position data can be defined in a crane-related coordinate system. It is also conceivable here to link the crane-related coordinate system to a further coordinate system, for example using geographic coordinates that can be determined by a GPS system integrated into the flying object. Known drones generally have an integrated GPS system for positioning. In this context, it is useful to convert the crane-related coordinates of the target position into the corresponding GPS coordinates.

[0016] With regard to the implementation of the method, it is not important which method steps are specifically performed by which units or devices. It is conceivable that both the positioning and the subsequent evaluation and determination are performed on the crane control by comparing the current crane element with the target crane element. To do this, a two-way communication connection between the flying object and the crane control is required. Similarly, it is conceivable that the determination of the target position data is performed on the crane control, while the subsequent steps are processed by the internal logic of the flying object. It is also conceivable to incorporate an external computing system, for example a cloud, to perform one or more of the method steps. To do this, two-way communication with both the crane control and the flying object is required.

[0017] Depending on the construction site, it may be necessary to restrict the flying area of ​​the flying object to a defined flying area. This may be applicable, for example, to construction sites with restricted airspace, such as at an airport or in the immediate vicinity of an airport. In such cases, the permitted flying area is first defined and then transmitted to the drone or flying object. The flying object is not allowed to leave such flying corridor. This corridor is defined, for example, by taking into account the maximum slewing and / or rotation range of the crane together with a configurable additional distance for said slewing and / or rotation range.

[0018] The results of the determination of the individual comparisons of the target and the current crane elements can preferably be displayed visually or even acoustically to the crane operator. A display in the crane cab comes into consideration here. It is likewise particularly preferred that for all or at least the majority of the crane elements, normal crane operation is only permitted if a match between the target crane element and the current crane element was determinable.

[0019] Of course, the flying object may also be manually actuated and steered by the crane operator. In a development of the above method, the individual installation or connection points between the crane elements may be able to be checked in a targeted manner by the flying object. A typical example here is that the bolted connection is properly placed, in a situation where it is intended to determine whether the bolts and, if necessary, possible fixing pins have been inserted.

[0020] For example, it is conceivable that the flying object is manually actuated in the cab of the crane operator in order to detect the desired installation or connection point by means of an integrated camera or a manual check is performed on a display device. Alternatively, the flying object may actuate the installation or connection point autonomously, but the crane operator may visually check the installation or connection point. To do this, image data from a camera mounted on the flying object is transmitted to a monitor in the cab of the crane. The determination of the required target position data for the installation or connection point may be performed according to the method according to the invention.

[0021] Alternatively, this can be done automatically by image processing instead of a manual double check.

[0022] In addition to the method according to the invention, the invention also relates to a system consisting of at least one crane and at least one mobile flying device, in particular a drone. The system is characterized in that both the crane controller and a controller integrated in the flying object are configured to carry out the above-mentioned method. Thus, according to the invention, the crane controller is programmed such that the target positions of the individual target crane elements are calculated based on the input crane setting states and any possible sensor values, and, if necessary, by taking into account the geometric data for the individual crane elements and the position data for the corresponding identifying features. Furthermore, the crane controller is suitable for communication with an external flying object. The drone and / or the crane controller comprise corresponding software components suitable for both the identification of the individual current crane elements and the comparison of the detected current crane elements with the stored target crane elements.

[0023] According to an advantageous configuration of the system, a landing and / or charging station for the flying object may be connected to the crane or may be an integrated component of the crane structure.

[0024] Further advantages and properties of the method are explained in more detail below with reference to the exemplary embodiments described in the exemplary embodiments. [Brief description of the drawings]

[0025] [Figure 1] FIG. 1 is a diagram of a crane setup for a first crane. [Diagram 2] FIG. 2 is another view of the crane setup for another crane. [Diagram 3] FIG. 3 is a diagram showing a symbol table for describing the crane elements set out in FIGS. [Figure 4] FIG. 4 is a schematic diagram of a crawler crane suitable for carrying out the method according to the invention. [Diagram 5]FIG. 5 shows crane elements to illustrate the process of checking for proper installation points as required. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The method according to the invention for recognizing the setup state allows the entire setup state, including the boom combination, to be determined as far as possible for a mobile lattice boom or telescopic crane with wheeled or crawler running gear. The crane comprises an upper structure 37 and an undercarriage 36 (FIG. 4). The solution according to the invention determines in particular whether the lattice boom or telescopic boom has been correctly mounted with regard to the length and the sequence of the crane elements. Similarly, the correct configuration of the ballast can be determined.

[0027] The set states are essential elements to protect the crane against overload. Correctly entered set states are fundamental for safe operation of the crane. Below is an overview of the crane elements 11 which are essential for the set states:

[0028] Boom 42 Luffer, fixed fly jib 44 if required WA Frame 43, 47 Derrick 41 The branch part of a parallel boom (abbreviated as P boom) as shown in Figure 2 ·Joint part Ballast elements 39, 40 (superstructure ballast, derrick ballast, suspended ballast, ballast trailer, central ballast) ·Reeving of hoist cable 46 Hook block 48 (weight, load hook) 50 bolts ·Bolt locking device51.

[0029] Figures 1 and 2 show the setup state information for two cranes with different equipment. Figure 1 shows a crane with a lattice boom 42 and a derrick boom 41. A luffing boom 44 is articulated to the lattice boom 42 so that it can luff. The luffing boom jib can be equipped according to five different configurations. There are different configuration options for the construction of the luffing boom jib. Figure 1 shows the individual crane elements 49 for the boom system in installation order. Figure 3 shows a list of the installed crane elements 49 with a short description. Figure 4 shows the crane with the setup information from Figure 1 diagrammatically.

[0030] FIG. 2 shows setup information for a crane similar to that of FIG. 1, but differing in that it has a parallel boom.

[0031] To carry out the method, the installed crane elements 49, i.e. lattice sections or ballast elements etc., are provided with identification means 60. This is done during the manufacture of the relevant crane element 49. As an example of this kind of identification means 60, a sheet metal marking known from the prior art can be used. This marking is fixed to an element of the lattice section 49 (see FIG. 5). The exact position of the identification means 60 on the crane element 49 is available to the crane control. All identification means 60 can be identified in a similar way. Adhesive labels, transponders, bar codes etc. can be used instead of sheet metal marks. It is not necessary that all crane elements 49 are equipped with the same type of information means 60.

[0032] According to the invention, the crane operator inputs a pre-prepared setting into the crane controller 38 of the crane 100. This controller transmits the data and the setting to the drone 200. The data transmission 61 can be wireless. The drone 200 can be parked in some kind of docking station 210. The docking station 210 can also be integrated in the crane 100. The drone 200 is continuously charged in the docking station 210 and is always ready for use. Data can also be transmitted from the drone 200 back to the crane 100. Furthermore, the drone 200 comprises a system for location recognition. The location recognition is performed in the manner of or using a GPS system. The drone 200 also comprises at least one recognition system 220 for recognizing the identification means 60. In the simplest case, the recognition system 220 can be an optical camera.

[0033] When the crane operator enters the "set state recognition" mode, the crane 100 with all its crane elements 49 is moved to a predefined position. This predefined position does not necessarily have to be the raised boom position as shown in FIG. 1. The predefined position can also be from a state where the boom is not yet raised to a state where the boom is erected and the stays are tensioned. The controller 38 calculates for at least one position of the crane elements 49, and preferably for all positions, the desired target position of the respective identification means 60 from the input set state, the angular position of the approached crane element 49 and the geometric data of the identification means 60 of the associated crane element 49, stored in the controller 38, as well as the geometric data of the various crane elements 49.

[0034] In particular, a crane related coordinate system 62 may be used, which may be linked to other coordinate systems such as GPS data.

[0035] The drone 200 then receives all the necessary data from the controller 38. The drone 200 then starts and flies to all positions where it is expected to be able to identify a crane element 49. Depending on the setup state, the drone 200 also knows which crane element 49 is expected to be at each position. According to the example of FIG. 2, the drone 200 flies to a position P(x1, y1, z1) with a given orientation. At this point, the recognition system 220 has a visible detection range S. The identification means 60 is expected to be within this detection range S. If the identification means 60 cannot be recognized here, an error is recorded by the drone 200 in the memory 230. If the identification means 60 is recognized here, it is read out and compared with the desired target value (crane element 49 according to the input setup state). The result is recorded in the memory 230. The drone 200 then performs all the tasks P(x1, y1, z1). i , y i , z i ), and then returns to the docking station 210.

[0036] A check of the reef of the hoist cable 46 and the on-board ballast plates 39, 40, as shown in Figure 4, may be mentioned in particular as a crane element 49 that determines the set state. The result is transmitted to the controller 38 of the crane 100 and further processed by it. This processing may constitute information as to whether the actual set state corresponds to the desired set state. If this is correct, the crane 100 is enabled for crane operation.

[0037] It is also conceivable that the crane operator can influence or completely control the drone 200 by remote control. Another possible purpose is to check the complete and correct installation of the various crane elements 49. Thus, it can be checked whether the selected and mandatory connection points are correctly connected. This is carried out, for example, by image recognition and / or by transmitting recorded images from the drone 200 to the crane cab and then to the crane operator. The crane operator can thus evaluate whether the bolts 50 (see FIG. 5) connecting the two crane elements 49 in the form of a lattice section are correctly inserted and whether the bolt locking device 51 is correctly seated. All other mandatory installation results can also be checked in this way.

[0038] An essential advantage of the method described above is that it may be checked in an upright position. After the check, the crane is immediately ready for use, but any changes to the setup, which may have a major impact on the work flow, are all but eliminated. It is also advantageous that the drone 200 operates at a high altitude, which reduces the risk of extraneous crane elements 49 not connected to the crane 100 being detected. Safety in use is further increased.

[0039] It should also be noted that it is not important whether the essential computational work is performed in the controller 38 or in a computer in the drone 200. Thus, the drone 200 may also have a certain "level of intelligence". It is also conceivable that the computations are performed by "cloud computing". If the identification means 60 is appropriately configured, the identification may be performed even under difficult conditions. The difficult conditions may be darkness, fog, critical temperatures, rainfall, or snowfall. Similarly, ice, snow, or corrosion on the crane element 49 may make the identification difficult, but such difficulties may be avoided by appropriately configuring the identification means, for example a transponder.

[0040] The drone 200 itself recognizes the collision. Furthermore, for safety reasons or for use in certain locations (e.g. airports), the flying area of ​​the drone may be limited. This flying area may therefore be limited to the additional distance required for the range of swing and rotation of the boom system of the crane 100. A log file may also be generated by the drone 200, in which all checks may be recorded. Thus, the correct crane setup state may always be known. The crane operator receives a confirmation or feedback as to whether the crane 100 has been assembled according to specifications. In this case, the load table selected for overload protection corresponds to a given setup state.

Claims

1. 1. A method for recognizing a crane setting state, in which a crane setting state manually entered into a crane control is compared to an actual current setting state, comprising: determining a target position of at least one target crane element mounted on the crane based on crane settings stored in the crane controller and at least one crane sensor value; transmitting the one or more target location data to the mobile flight device; moving the flying device to an area proximate to the target location of the target crane element and using detection means to detect and identify a current crane element located at the target location; identifying the current crane element detected in a detection area and determining whether the detected crane element matches the target crane element; The method includes:

2. 2. The method according to claim 1, characterized in that as said detection means an optical camera is used.

3. 3. The method according to claim 1 or 2, characterized in that one or more crane elements are provided with an identification means, and the detected current crane element is identified by evaluating identification information provided by said identification means.

4. 4. The method according to claim 3, characterized in that when determining the target position of the target crane element, geometric data of the target crane element and / or position information for the identification means on the target crane element are further taken into account.

5. Method according to any of the claims 1 to 4, characterised in that the identification means are adhesive labels and / or affixed bar codes and / or transponders affixed to the crane elements.

6. The method according to any one of claims 1 to 5, characterized in that the crane is moved to an upright boom position of the crane before determining the target position.

7. 7. The method according to claim 1, wherein the target position is defined in a crane-related coordinate system, the crane-related coordinate system being linked to at least one further coordinate system, the at least one further coordinate system having geographical coordinates determined by a positioning system integrated in the flying device.

8. A method according to any one of claims 1 to 7, characterized in that the step of identifying the current crane element and / or determining the match between the target crane element and the current crane element is performed by the crane controller and / or by a controller of the flying device and / or by a cloud system.

9. A method according to any one of claims 1 to 8, characterized in that the flying area of ​​the flying device is limited to an allowable defined flying area, said flying area being limited to the slewing and / or rotation range of the crane plus a configurable additional distance.

10. A method according to any one of claims 1 to 9, characterized in that the result of the determination is displayed visually or optically to the crane operator.

11. The method according to any one of claims 1 to 10, characterized in that the crane controller enables a crane operation if a match between the target crane element and the current crane element is determined.

12. Method according to any of claims 1 to 11, characterized in that the flying device is further used for checking that the crane elements are correctly attached on the crane structure by evaluating the visual detection range of the installation point by image recognition and / or transmitting it to a display device in the crane cab for manual evaluation.

13. 10. A system comprising a crane and at least one mobile flying device, the crane controller and the flying device controller configured to implement the method of claim 8.

14. 14. The system of claim 13, wherein the crane comprises an integrated landing / charging station for the flying device.

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