DD219165A1 - DEVICE FOR DRIVING OPERATION MONITORING OF AN ARRANGEMENT OF CRANES - Google Patents

Abstract

The invention relates to a device for Fahrbetriebsueberwachung an array of cranes, for example, on pedestals fixed ship cranes, which have swivel and tiltable boom and act on loading and unloading work on a common workspace. The object of the invention is to avoid with this device the mutual contact of crane parts and / or loads from an arrangement of cranes acting on a common working area. According to the invention, the object is achieved in that the cranes are assigned a microcomputer which is connected on the input side with signal transmitters for detecting the boom angles of the cranes and the load hook height and on the output side with the actuating units of the crane drives. By evaluating the signals received, the position of the crane jibs and the evaluation of the nominal speeds of the crane drives determine the target movement, so that in time such speeds and directions of movement are calculated that exclude the danger of contact.

Description

Pahrbetriebsüberwachung an arrangement

of cranes ^:

Field of application of the invention

The invention relates to a device for Fahrbetriebsüber-. monitoring an arrangement of cranes, for example, on pedestals fixed ship cranes, which have swivel and tiltable boom and act on loading and Bntladearbeiten on a common work area.

Characteristic of the known technical solutions

By DE 23 41 636 a similar control is already known, the z. B. gantry, hammer 'and slewing cranes that can ride on rails past each other or through, protects against collision. This control has the disadvantage that the process computer used is only a link between the transducers on the one hand and crane drives on the other side.

The fact that no speed setpoints are included in the calculations, no decision on the target movement of the cranes takes place, so that although given a specified minimum dimension between the crane parts a signal, but no computer-protected evasive movement can be performed. The process computer only provides a signal if there is a risk of collision. An arithmetical recording and processing of the additional moments occurring due to the load oscillation, in order to achieve the maximum possible freedom of movement of the cranes, is not included in this control. On the other hand, the specified institution is

10X11933 * 125202 '

tion on a common for all cranes process computer, whereby the processing speed of the required sizes to be calculated is reduced, so that suffers below the accuracy of the calculated signals. It is also important to calculate the minimum distance between the fictive envelopes surrounding the cantilevers, which only reflect an approximately true image of the cantilevers. This restricts the freedom of movement of the cranes. .. · -.

Object of the invention

The aim of the invention is, with this device mutual contact of crane parts and / or loads of an array of cranes, for. B. on pedestals fixed ship cranes, which act on a common work area, to avoid.

Explanation of the essence of the invention

The object of the invention is to provide a Pahrbetriebsüberwachung an array of cranes pivoting and rocking boom and act on a common work area, so to realize that at maximum possible freedom of movement, the risk of contact of crane parts and / or loads is excluded by evasive movements or At least such controlled movements are initiated that the arms come to a stop before contact. - _; According to the invention, the object is achieved in that transducers determine the exact positions of the crane boom head rollers by detecting the turning and luffing angle and the exact hook heights by detecting the cable lengths (Figure 1,2). From the processing of these signals inputted to the microcomputer on the input side, the calculation of the minimum difference of interest existing somewhere between the crane parts and / or loads is made on the basis of a transformation of the two arms into a fictitious two-dimensional coordinate system Origin of this agreed coordinate system. As coordinate origin, one of the two crane boom head rollers is defined, in which case by movement of the boom no rigid assignment

exists between coordinate origin and crane base positions. As agreed, the Y-axis of the coordinate system is parallel to the ship's centerline (Figure 4). By means of suitable algorithms, the calculation of the minimum difference takes place. From the different head roll positions to each other, basically three different minimum differences are defined. Bs, a difference calculation always occurs between a head roll of a crane jib and a side part of the other jib.

The three cases arise, '

K0K3 - Removal of head roller - Head roller K0K2 - Distance of head roller - Fulcrum K0K4 - Distance of head roller - Center line of arm

After completion of the accident stop movement directions are blocked or released by the exact position determination and the accurate determination of the minimum difference between the arms, so that all leading to the touch movements are locked and not released to contact movements are released.

For the three different variants, as is known, different locked and free movements result for luffing and luffing mechanism of both arms. Appendix 3 shows the possible movements according to the three different distance variants.

From the ascertainable by changing the minimum difference approach speed of the boom is constantly calculated a critical difference, which is characterized by the fact that both the characteristics of the crane drives and their positioning systems and the additional acting on these drives moments due to the expected oscillation through the non-rigid suspension of the load, be included. The critical difference is determined so that when suppression of this defined difference either the deceleration of the crane boom used in such a way that all the specified movements for luffing and luffing be uniformly reduced, so that the given by the crane operator trajectory is met and that is a STOP of the boom at a given

Guaranteed difference between the arms or an evasive movement of both or a selected crane, preferably the non-load-bearing crane depending on the target movement and the position of the boom is calculated and initiated, which is independent of the current default by the setpoint generator and is performed so that a Passing by the cranes without mutual contact is possible. Here, the determination of the load-carrying crane and the non-load-carrying crane is taken from the microcomputer and obtained from calculable movements of the crane boom. ^;

embodiment

The invention will be explained in more detail below by way of example:

Show it:

Figure 1: Determination of the angle of rotation of transformed boom in the plane

Figure 2: Side view, determination of the rocking angle and the hook height

Fig. 3ί Representation of the different contact methods

Figure 4J Location of the agreed coordinate system to the ship's center line

Figure 5i Determination of the minimum difference

Fig. Β: Determination of the minimum difference with boom outer contour

Picture 7: Exemplary embodiment of two facing ship tipping cranes

Figure 8: Transformation of the exemplary embodiment into a two-dimensional coordinate system

Appendix 1: Equation system for calculating the minimum difference without outboard outer contour

Appendix 2: Equation system for calculating the minimum difference with outboard contour

Appendix 3: Permitted directions of movement in the accident stop

0 - movement blocked

1 - movement released

Figures 1 to β illustrate the detection of the luffing and turning angles for determining the exact position of the crane jib, the representation of the different contact hazards and the determination of the minimum difference with and without the inclusion of the boom outer contour in the two-dimensional coordinate system.

The considerations on the embodiment take place without the inclusion of the outer contour and subsequent support of both arms at risk of contact ·

The arrows on the arms shown in Figure 7 indicate the direction of movement. In Figure 8 it is shown that by transformation of the boom in a two-dimensional coordinate system, the minimum difference between the arms of the distance K0K4 corresponds, ie a danger of contact head roll - side part is present. If the speed setting does not change, the two outriggers come into contact, so that a STOP of both outriggers is necessary. At which actual difference a deceleration, in this pail of both booms, must take place, so that at a given distance a STOP of the drives and thus the boom is guaranteed, is calculated from known results. From the table in appendix 3, for this variant (minimum distance K0K4; / _e < 0), the movements leading out of an accident stop can be seen.

Annex 1:

a) Determining the coordinates of the points K0, K1, K2, K3

/ Ye'J. x * = Vγ * *?

KI (Xt / Zt) - * i = Leosβ _α Sin * "γ _η = - Uosβ" · cosd «

K2 (XiJYi) X ₂ »X,. Yz ^s Y-, ⁺ Λ

K3iX3 _{(-y 3)} X ₃ X ₂ r - Lcosßn'smoCz / ₃ "y _z -

b) Determination of the constant η and the slope m * of the straight line equation, which is determined by the points K2, K3:. "

/ r> i - ι Yi "Vz ) i (* 3 'Xz y ⁿ \ - y *" ^m i ^Xi

c) Determining the slope of the straight line, which is determined by the point K0 and is perpendicular to the straight line passing through the points K2, K3.

d) Determining the coordinates of the point K4

e) determination of the minimum difference a

Annex 2:

Calculation of the minimum difference including the boom outboard

Risk of damage to the head pulley - boom section

α ¹ * α - LZ-en +

Risk of collision head pulley - head pulley

α - α - 2-81

Danger of collision head roller - base

α · OL-81-82 .

Annex 3: ^: \ ♦ *. 1 , ♦ ¥, Vi, <% · O Conditions + ^ O 1  1 O , 1 1 O KVfKH-; 4i> 0 1 1 1 O 1 O 1 1 Κ0ΚΨ, <(»<Φ Ο 1 1 O 1 O 1 1 Wm-AbW O O 1 1 O 1 1 O O 1 O O 1 1 1 O 1 1 O 1 1 O 1 1 O 1 O 1 1 K0 K3; ^? ^ Fie; I *) Ke! O 1 1 in the 1 O 1 Permissible directions of movement ζ ul case of average .tunsr Markings mean: 1 Aesse Bew < 5sunsj 3-Rich

0 locked motion-weighting

Claims (5)

Invention claims. ν ·. 1. Device for driving operation monitoring an array of cranes that have pivoting and tilting boom, and act on a common work area, mutual contact of crane parts and / or loads are possible, characterized in that the individual cranes or crane groups associated microcomputer input side with signal generators for the positions for the lathes, Y / ipp- and hoists and with the set point generators for the speeds of these crane drives and the output side with the actuators of these drives are connected, with all input signals from the. Microcomputer linked together and are delivered in the result constantly from the microcomputer setting commands for the steep units of the crane drives. 2. Device according to item 1, characterized in that the processing of the input-side signals of the microcomputer is such that the interesting minimum difference, which exists somewhere between the crane parts and / or loads, is determined on the basis of a transformation of the two arms in a fictional , two-dimensional coordinate system, wherein the origin of this agreed coordinate system is sliding, ie this has no fixed assignment with respect to the crane base position, since as coordinate origin one of the two crane boom positions _N head rolls is defined. 3 «device according to item 1 and 2, characterized in that the target movement is known by evaluating the target speed of all crane drives and the current position of Kranauslger by the microcomputer and timely such speeds and directions of movement of the crane boom are calculated, the risk of touching the crane parts and / or exclude loads by evasive movements or at least ens such controlled movements initiate that the boom come to a stop before a touch. · 4. Binrichtung according to item 2, characterized in that one of the two Kranauslegerkopfrollen is defined as the coordinate origin of the imaginary coordinate system, wherein the coordinate system then has no fixed assignment relative to the Kocksockelpositionen. 5. Device according to item 1, characterized in that the positioning commands determined by the microcomputer take into account the moments additionally occurring due to the load oscillation such that the maximum possible freedom of movement of the arrangement of cranes is achieved. 4 sheets of drawings for this purpose