Cranes, especially mobile cranes

Abstract

To provide a crane, especially a mobile crane.SOLUTION: A crane includes a crane base (2), a crane boom (6) that can swivel around a swivel axis (12) perpendicular to the crane base (2), and a counterweight support unit (10) that can swivel together with the crane boom (6) and has a predetermined number of counterweight modules (18) arranged. The crane has an anti-collision sensor system that monitors whether an object is present or not in a swivel area (32) through which the counterweight support unit (10) and / or the counterweight module (18) passes when the crane boom swivels. The crane also has a control unit (20) that is coupled with the anti-collision sensor system on the basis of signal transmission technology and determines whether the object is present in the swivel area (32) based on the signal from the anti-collision sensor system, and determines whether the object may collide with the counterweight support unit (10) or one of the plurality of counterweight modules and takes measures if there is a possibility of collision.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a crane, particularly a mobile crane.

Background Art

[0002] A crane is a so-called lifting device used to lift and move loads. Various types are known. A portal crane or a gantry crane has one or more beams forming a kind of bridge, and a kind of winch pulley equipped with a cable traction device is movably arranged on the beam. Tower cranes are usually installed at construction sites in various forms. A tower crane has a vertical tower and a boom arranged at an angle to the tower, and a cable traction device is attached to the boom. Tower cranes are roughly classified into so-called "lower-rotating type" and "upper-rotating type". In the case of the "lower-rotating type", the boom is coupled to the tower so that it cannot rotate, and the tower is rotatably coupled to the crane base. In the case of the "upper-rotating type", on the contrary, the tower is fixed to the crane base, and the boom is rotatably attached to the tower. A mobile crane usually has a mobile crane base in the form of a self-propelled lower carriage (for example, a normal truck or a specially designed chassis corresponding to partial off-road driving) and an upper carriage. At this time, the upper carriage supports a crane boom whose inclination can be adjusted and is often telescopic, and is pivotally attached to the lower carriage so as to be rotatable (also referred to as "swingable") with respect to the lower carriage. A crane (particularly a tower crane and a mobile crane) having a boom installed obliquely (usually asymmetrically) like this with respect to the crane base holds a counterweight package on the side opposite to the boom of the crane base for the balance of the lifted load during a predetermined operation, specifically for inclination stabilization. Therefore, this counterweight package also rotates together when the crane boom rotates.

[0003] Typically, the crane operator's position, especially that of a crane operator inside the operator's cabin, is between the cable winch and the counterweight package, making it often difficult to see the counterweight package. [Overview of the project] [Problems that the invention aims to solve]

[0004] This invention is based on the problem of improving the operability of cranes. [Means for solving the problem]

[0005] This problem is solved by a crane having the features of claim 1, according to the present invention. Advantageous, partially inventive embodiments and further developments of the present invention are described in the dependent claims and the following description.

[0006] The crane according to the present invention comprises a crane base and a crane boom that is rotatable about a pivot axis positioned perpendicular to the crane base in a predetermined operating state. Furthermore, the crane comprises a counterweight support section that is rotatably coupled to the crane boom and, in a predetermined operating state, has a predetermined number of counterweight modules arranged therein. One or each of the counterweight modules, in particular (and possibly together), forms a counterweight package. The counterweight package serves to stabilize the crane boom, particularly its tilt stability, and to increase the permissible weight of the load being lifted. The crane further comprises a collision avoidance sensor system used to monitor whether there are any objects in the forward slewing area that the counterweight support section and / or the predetermined number of counterweight modules will pass through in the future when the crane boom is slewing during a predetermined operation. The crane is further equipped with a control device that is coupled with a collision avoidance sensor system and signal transmission technology, and is configured to determine whether an object is present in the slewing area ahead based on sensor signals transmitted from the collision avoidance sensor system, whether the object may collide with the counterweight support section or, in some cases, one of the multiple counterweight modules, and to take countermeasures if a collision is possible.

[0007] In other words, the control system is configured to monitor the slewing area of ​​the counterweight package relative to potential obstacles using a collision avoidance sensor system, and to take appropriate action if necessary. The "forward-positioned" slewing area is understood, as described above, to be the area or space adjacent to the counterweight package or counterweight support, and located ahead of the counterweight package or counterweight support in the slewing direction. Monitoring potential obstacles makes crane operation safer because it frees crane operators, especially the crane driver, from monitoring tasks. In particular, the slewing area of ​​the counterweight package is usually difficult or impossible for the crane driver to see because the counterweight package is typically located behind the crane driver, and / or its view is often obstructed by the counterweight package or other crane superstructures.

[0008] Preferably, the crane forms a mobile crane. In this case, the crane base is formed by a lower carriage having a traveling device, preferably a drive motor, and a control area, particularly an operator's compartment.

[0009] In a preferred embodiment, the control device is configured to issue a warning message to the crane operator, preferably the crane driver, as a countermeasure. The warning message is issued audibly and preferably visually, particularly by a display, which indicates the position of the object causing the collision relative to the counterweight package.

[0010] In addition to or alternative to a warning message, the control device is preferably configured to stop the slewing motion of the crane boom, i.e., the rotating device (also called the "slewing device") that rotates the crane boom relative to the crane base. Optionally, this stop is part of a multi-stage countermeasure sequence in which the control device first issues a warning message. This warning message is optionally multi-stage (e.g., by different repetition frequencies of a warning sound) depending on the distance of the object to the counterweight package or counterweight support. The control device then stops the rotating device, particularly if there is no response from the crane operator and the distance to the object falls below a critical value.

[0011] In a preferred embodiment, the collision avoidance sensor system includes at least one proximity sensor, which is positioned to detect an undesirable approach of an object at the outer edge of the counterweight support, located in the direction of the crane boom's slewing motion, and / or, optionally, at the outer edge of at least the lowest counterweight module among a plurality of counterweight modules. In particular, this outer edge is, for example, a particularly short "side edge" of a counterweight module formed in a plate shape (often also substantially rectangular or kidney-shaped). This short side edge is oriented (i.e., oblique or perpendicular) to the direction of the crane boom's slewing motion (particularly the circular direction) during a given operation. Preferably, the proximity sensor is also configured to monitor a safety area around the ends of these side edges.

[0012] In a further preferred embodiment, the collision avoidance sensor system includes at least two proximity sensors positioned to monitor the opposing outer edges of the counterweight support or at least the lowest counterweight module. This allows for monitoring of collision risk in the operating region, i.e., the turning region, of the counterweight package in each of the two possible turning directions ("right turn" or "left turn"). In some cases, counterweight modules with four or more corners are also used, in which the corners protrude regularly in the turning direction, i.e., the "outer edges" or "side edges" are bent. In this case, optionally, three or more proximity sensors are used along the bent side edges.

[0013] In a preferred embodiment, the proximity sensors or two (or more) proximity sensors are positioned on the lowest counterweight module during a given operation. In this case, the proximity sensors also have interfaces configured to be detachably coupled to corresponding interfaces preferably located on the crane (particularly since one or each of the counterweight modules are positioned on the counterweight support only during a given operation). During a given operation, one or each of the proximity sensors are then detachably connected to a control device by this interface. In simple modifications, this interface is a cable connection. However, optionally, wireless interfaces, such as WLAN, RFID, or NFC modules, may be used.

[0014] In particular, when multiple counterweight modules are arranged on the counterweight support during a given operation, a further preferred embodiment is that, in addition to one or each proximity sensor located on the lowest counterweight module, at least one additional proximity sensor is located on the uppermost counterweight module during a given operation. In other words, proximity sensors are located on the lowest and uppermost counterweight modules as needed, thereby enabling monitoring of collisions at least on the lower and upper outer edges. Optionally, proximity sensors are also located on counterweight modules situated between the uppermost and lowest counterweight modules as needed, thereby enabling monitoring of potential collisions at the overall height of the counterweight module stack during a given operation.

[0015] In preferred embodiments, ultrasonic sensors, radar sensors, LiDAR sensors, or capacitive sensors are used as proximity sensors.

[0016] In a further preferred embodiment, the collision avoidance sensor system optionally includes, in addition to or in place of the proximity sensors, at least one image sensor (preferably incorporated into a camera). The image sensor is then positioned, preferably, above a predetermined number of counterweight modules located on the counterweight support, and therefore above the counterweight package, at least during a predetermined operation of the crane. This allows for optical, and in particular visual, detection of the outer edges of all counterweight modules used. In this case, object detection is performed, for example, by a pattern recognition method.

[0017] In a particularly preferred embodiment, the control device is configured to reject as an obstacle, at least depending on the rotational position, an object whose upper edge is lower than the lower edge of the counterweight support and / or is positioned lower than the lower edge of the lowest counterweight module during a given operation. In other words, because the pivoting motion of the counterweight package or counterweight support "goes ahead" of such objects, the control device does not perceive objects below the pivoting surface of the counterweight package or counterweight support as obstacles. Essentially, such a "determination" of whether it is possible to pivot ahead over a corresponding object is possible over the entire circle that can be traversed during a given operation. In particular, where safety standards make it impossible to pivot upward, at least over living organisms, the control device is configured to reject as a collision-related obstacle at least a portion of the crane base that could be detected, for rotational positions where the counterweight package or counterweight support passes over a portion of the crane base, i.e., over the lower carriage in the case of a mobile crane. In the remaining portion of the turning region, any object can be considered to be involved in the collision.

[0018] In addition to or alternative to the embodiments described above, a proximity sensor, or at least one correspondingly positioned below, is configured as follows: that is, the proximity sensor is configured such that the area below the counterweight package or counterweight support, and optionally the area below an additional allowable or safe area, is excluded (or "hidden") from the area detectable by the proximity sensor. For example, this can be achieved, in the case of a capacitive proximity sensor, by appropriately forming an electrical measurement field, particularly using shielding electrodes, and in the case of a LIDAR sensor, by an optical obstruction, etc.

[0019] In embodiments advantageous for ease of crane operation, the control device is configured to display the object's position to the crane operator (particularly the crane driver) in a bird's-eye view. Specifically, the control device creates a (e.g., virtual) bird's-eye view of the crane on a screen and displays the object (e.g., a dummy if the object's outline is unknown, in the case of an ultrasonic or capacitive sensor) at the detected location. Alternatively, the control device simply indicates the location of an imminent collision around the counterweight package or counterweight support using, for example, color-coded regions. Optionally, the control device also creates a side view of the crane, allowing the operator to determine whether they can or may rotate the crane forward over the object. If at least one image sensor is used above the counterweight package, a real camera image of the counterweight package or counterweight support is displayed.

[0020] In the context of the present invention, the control device can be formed as a non-programmable electronic circuit, in which case it can be incorporated, for example, into the control device of a crane. Preferably, the control device (also called the "controller") is of course formed by a microcontroller. Within the microcontroller, the above-mentioned function of monitoring the slewing area in the event of a potential collision is implemented in the form of a software module. In particular, the software module can form part of the comprehensive control software of the crane control system.

[0021] The conjunctions "and / or" are understood, in particular, here and below, to mean that the features connected by these conjunctions can be formed together, or can be formed interchangeably.

[0022] Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings. [Brief explanation of the drawing]

[0023] [Figure 1] It is a schematic top view of the crane. [Figure 2] It is a schematic side view of the crane described in FIG. 1. [Figure 3] It is a view according to FIG. 2 showing a further embodiment of the crane.

Mode for Carrying Out the Invention

[0024] In all the figures, the corresponding parts are always marked with the same reference numerals.

[0025] FIG. 1 schematically shows a crane 1 (in this embodiment, specifically a mobile crane). The crane 1 has a lower carriage 2 as a crane base. Further, the crane 1 has an upper carriage 4 that supports a telescopic crane boom 6, a driver's cab 8, and a counterweight support 10. The upper carriage 4 is pivotally attached to the lower carriage 2 by a so-called rotating device (not shown) so as to be rotatable about a pivot axis 12 (perpendicular to the lower carriage). The crane boom 6 is pivotally attached to the upper carriage 4 so as to be tiltable about a horizontally arranged luffing axis (pitching axis) 14, or "luffable (pitchable)".

[0026] During a predetermined operation of the crane 1, a counterweight package 16 is arranged on the counterweight support 10, and this counterweight package 16 consists of a predetermined number of counterweight modules 18 (exemplarily in the form of a substantially rectangular plate in this embodiment). Depending on the use of the crane 1, specifically depending on the load to be lifted and / or depending on the configuration of the crane (e.g., the length and inclination of the crane boom 6), more or fewer counterweight modules 18 are used.

[0027] The operator of crane 1, specifically the crane driver, is usually inside the driver's cabin 8 during scheduled operations. At this time, the seat's line of sight, and therefore the primary line of sight, is parallel to the crane boom 6 and in the direction of the crane hook (i.e., downward in Figure 1, and to the right in Figures 2 and 3). This makes it difficult to perceive the area behind the upper carriage 4, specifically the areas adjacent to and behind the counterweight package 16. To enhance the operational safety of crane 1 and simultaneously reduce the burden on the crane driver, crane 1 is equipped with a control device 20. This control device is configured to detect potential collisions of the counterweight package 16 (or, for example, collisions of only the counterweight support 10 when the counterweight is not installed) and to take countermeasures.

[0028] To this end, the crane 1 also has a collision avoidance sensor system, which in the embodiment shown in Figures 1 and 2 includes a plurality of proximity sensors 24. These proximity sensors 24 are, for example, ultrasonic sensors, and in this embodiment are located at the corners of the lowest counterweight module 18 and the uppermost counterweight module 18 of the counterweight package 16 (see Figure 2). The proximity sensors 24 are configured to monitor the presence of an object in a measurement area 26 (which is schematically shown on only one side of the counterweight module 18 in Figure 1). This measurement area 26 is located ahead of each outer edge 30 of the counterweight module 18 in the rotation direction 28. Therefore, the two measurement areas 26 shown in Figure 1 are located ahead of the counterweight module 18 when the upper carriage 4 (and consequently the crane boom 6) rotates in a clockwise direction.

[0029] The proximity sensor 24 is connected to the control unit 20 (not shown) by signal transmission technology. The control unit 20 is configured to evaluate the signal from the proximity sensor 24 to determine whether an object is located in the swivel region 32 of the counterweight package 16 and whether this object will collide with the counterweight package 16. This is done regularly if an object is detected within the swivel region 32. Objects located outside the swivel region 32 (and potentially beyond it, in a safety region not shown) and detected by the proximity sensor 24 are considered to pose no risk of collision.

[0030] Optionally, the control unit 20 is configured to identify whether the detected object is the lower carriage 2, which also poses no risk of collision. Further optional, the control unit 20 is configured to determine whether the upper end of the object is located below the counterweight package 16 and the lowest counterweight module 18, and thereby whether upward rotation is possible.

[0031] In embodiments not shown, a proximity sensor 24 is also provided in the counterweight support 10 to prevent collisions that may occur when turning without the counterweight package 16.

[0032] Figure 3 shows a further embodiment of the crane 1. Instead of the proximity sensor 24, the collision avoidance sensor system in this embodiment includes an image sensor, specifically a camera 34. This camera is positioned on the frame 36 above the counterweight package 16, thereby enabling monitoring of the outer edges 30. Optionally, in this embodiment, a camera 34 is positioned at each of the outer edges 30.

[0033] In this embodiment, the control device 20 evaluates the camera image using pattern recognition to recognize any obstacles that may be present in the turning region 32.

[0034] In all of the embodiments described above, the control device 20 is configured to issue a warning to the crane operator at the latest when it recognizes the risk of collision, and (optionally, if there is no response to the warning) to stop the rotation device of the crane 1.

[0035] The subject matter of the present invention is not limited to the embodiments described above. Rather, those skilled in the art can derive further embodiments of the present invention from the above description. [Explanation of Symbols]

[0036] 1 Crane 2. Lower carriage (crane base) 4. Upper carriage 6. Crane boom 8. Driver's compartment 10 Counterweight support section 12. Swivel axis 14. Roughing axis (undulation axis) 16 Counterweight Package 18 Counterweight Module 20 Control device 24 Proximity Sensors 26 Measuring area 28 Turning direction 30 Outer edge 32 Turning area 34 Cameras 36 frames

Claims

1. Cranes (1), especially mobile cranes, Crane base (2), A crane boom (6) that can rotate around a slewing axis (12) which is vertically positioned relative to the crane base (2) in a predetermined operating state, A counterweight support section (10) is rotatably coupled to the crane boom (6) and, in a predetermined operating state, has a predetermined number of counterweight modules (18) arranged therein. A collision avoidance sensor system is used to monitor whether an object is present in the forward-straight rotation area (32) that the counterweight support section (10) and / or the predetermined number of counterweight modules (18) will pass through when the crane boom (6) is rotated during a predetermined operation. The system comprises a control device (20) which is connected to the collision prevention sensor system using signal transmission technology, and which determines whether an object is present in the forward turning region (32) based on the sensor signal transmitted from the collision prevention sensor system, determines whether the object may collide with the counterweight support part (10) or, in some cases, with one of the multiple counterweight modules, and takes countermeasures if there is a possibility of collision, The collision avoidance sensor system includes at least one proximity sensor (24), which is positioned to detect the undesirable approach of an object at the outer edge (30) of the counterweight support (10) located in the direction of the rotational movement of the crane boom (6), and / or, optionally, at the outer edge (30) of at least the lowest counterweight module among a plurality of counterweight modules (18). Crane (1).

2. The crane (1) according to claim 1, wherein the control device (20) is configured to, as a countermeasure, issue a warning message to the operator of the crane (1) and / or to stop the rotating device that performs the slewing motion of the crane boom (6).

3. The crane (1) according to claim 1, wherein the collision prevention sensor system includes at least two proximity sensors (24) arranged to monitor the opposing outer edges (30) of the counterweight support portion or at least the lowest counterweight module (18).

4. The crane (1) according to claim 1 or 3, wherein the proximity sensor (24) is located on the lowest counterweight module (18) during a predetermined operation and is connected to the control device (20) by a detachably connectable interface during a predetermined operation.

5. During a predetermined operation, multiple counterweight modules (18) are arranged on the counterweight support section (10). The crane (1) according to claim 4, wherein at least one proximity sensor (24) is additionally provided on the uppermost counterweight module (18) during a predetermined operation.

6. The crane (1) according to any one of claims 1 to 5, wherein the proximity sensor (24) is an ultrasonic sensor, a radar sensor, a LIDAR sensor, or a capacitive sensor.

7. The collision avoidance sensor system includes, during a predetermined operation, at least one image sensor (34) positioned above a predetermined number of counterweight modules (18) arranged on the counterweight support (10), thereby enabling optical detection of the outer edges (30) of all counterweight modules (18) used, according to any one of claims 1 to 6.

8. The control device (20) is configured to prevent the crane (1) according to any one of claims 1 to 7 from being treated as an obstacle if the upper edge of the object is lower than the lower edge of the counterweight support (10) and / or lower than the lower edge of the lowest counterweight module (18) during a predetermined operation, at least depending on the rotational position.

9. The crane (1) according to any one of claims 1 to 8, wherein the control device (20) is configured to display the position of the object to the operator of the crane (1) in a bird's-eye view.

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