Method, computer program and equipment for controlling crane and method for updating crane

1. A method for controlling a crane, wherein the crane is a bridge crane having a longitudinally moving frame and a lateral moving trolley, the method comprising:

a) forming a video image at a lifting point of the crane;

b) determining a current position and a future position of a lifting member of the crane or of a load with respect to the formed video image;

c) combining to the formed video image an indication of the future position of the lifting member of the crane or of the load;

d) performing repeatedly again phases b) and c) for real time indicating of the future position of the lifting member of the crane or of the load;

determining a limitation of a trajectory of the crane in relation to the formed video image; and

combining to the formed video image an indication of said limitation of the trajectory of the crane;

wherein said limitation of the trajectory of the crane is based on a protection zone determined for the crane and wherein the protection zone is an area to which guiding of the crane is prevented.

2. The method according to claim 1 , wherein the forming of the video image is implemented by a video camera located at a known lateral distance from the lifting member of the crane.

3. The method according to claim 2 , wherein said lateral distance is constant.

4. The method according to claim 1 , wherein said future position is an estimated stopping position.

5. The method according to claim 1 , wherein the determining of the future position takes into account a speed and a deceleration of the crane.

6. The method according to claim 1 , further comprising:

the determining of the future position taking into account a programmed trajectory of the crane;

combining to the formed video image the programmed trajectory or a portion thereof; and

combining to the formed video image an indication of the programmed trajectory of the crane or of a portion of the programmed trajectory.

7. The method according to claim 1 , wherein said limitation is further based on a structure of the crane.

8. The method according to claim 1 , further comprising combining to the formed video image an indication of the protection zone of the crane.

9. The method according to claim 8 , further comprising dynamically determining the protection zone based on at least one of the following: a lifting height; a load mass; and a load dangerousness.

10. A non-transitory memory medium comprising computer program having computer executable program code which, when executed by a controller device, controls the controller device to perform the method of claim 1 .

11. A method for updating a crane with a longitudinally moving frame and a laterally moving trolley, the method comprising:

mounting one or more video cameras to an image environment of a lifting member of the crane, if there is no pre-existing video camera;

arranging crane control equipment, using video images received from the video camera imaging the environment of the lifting member of the crane, to:

a) determine a current position and a future position of a lifting member of the crane or of a load with respect to the formed video image;

b) combine to the formed video image an indication of the future position of the lifting member of the crane or of the load; and

c) repeatedly performing phases a) and b) for real time indicating of the future position of the lifting member of the crane or of the load;

determining a limitation of a trajectory of the crane in relation to the formed video image; and

combining to the formed video image an indication of said limitation of the trajectory of the crane, wherein said limitation is based on a protection zone determined for the crane;

wherein the protection zone is an area to which a guiding of the crane is prevented.

12. Equipment for controlling a crane comprising:

a video camera arranged to form video image at a lifting point of a crane; and

a processor configured to:

determine a current position and a future position of a lifting member of the crane or a load with respect to the formed video image;

combine to the formed video image an indication of the future position of the lifting member of the crane or of the load;

perform repeatedly again said determining and said combining for real time indicating of the future position of the lifting member of the crane or of the load; and

determining a limitation of a trajectory of the crane in relation to the formed video image; and

combining to the formed video image an indication of said limitation of the trajectory of the crane wherein said limitation is based on a protection zone determined for the crane;

wherein the protection zone is an area to which a guiding of the crane is prevented.

13. The equipment according to claim 12 , wherein the forming of the video image is implemented by a video camera located at a known lateral distance from the lifting member of the crane.

14. The equipment according to claim 13 , wherein said lateral distance is constant.

15. The equipment according to claim 12 , wherein said future position is an estimated stopping position.

16. The equipment according to claim 12 , wherein the processor is configured to perform the determining of the future position taking into account a speed and a deceleration of the crane.

17. The equipment according to claim 12 , wherein the processor is further configured to:

perform the determining of the future position taking into account a programmed trajectory of the crane;

combine to the formed video image the programmed trajectory or a portion thereof; and

combine to the formed video image an indication of the programmed trajectory of the crane or of a portion of the trajectory.