EP0614845A2 - Dispositif de sécurité pour grue - Google Patents

Dispositif de sécurité pour grue Download PDF

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Publication number
EP0614845A2
EP0614845A2 EP94201063A EP94201063A EP0614845A2 EP 0614845 A2 EP0614845 A2 EP 0614845A2 EP 94201063 A EP94201063 A EP 94201063A EP 94201063 A EP94201063 A EP 94201063A EP 0614845 A2 EP0614845 A2 EP 0614845A2
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EP
European Patent Office
Prior art keywords
crane
data
screen
display
schematic diagram
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP94201063A
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German (de)
English (en)
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EP0614845B2 (fr
EP0614845A3 (fr
EP0614845B1 (fr
Inventor
Akinori Ichiba
Yukio Tsutsumi
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Kato Works Co Ltd
Kato Seisakusho Co Ltd
Original Assignee
Kato Works Co Ltd
Kato Seisakusho Co Ltd
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Application filed by Kato Works Co Ltd, Kato Seisakusho Co Ltd filed Critical Kato Works Co Ltd
Publication of EP0614845A2 publication Critical patent/EP0614845A2/fr
Publication of EP0614845A3 publication Critical patent/EP0614845A3/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment

Definitions

  • the present invention relates to a crane safety apparatus, and more particularly to a crane safety apparatus having a plurality of image display modes and capable of providing an operator with crane operation status settings and safe operation in accordance with a selected image display mode.
  • the operation status such as crane outrigger projection, jib setting and the like is set by using switches mounted on the indication panel so that values representative of the current boom length, angle and the like are displayed from time to time.
  • a safety meter is mounted on the upper portion of the indication panel. The safety meter displays in the form of bar graph the safety degree of an actual load relative to the specific load for the current crane operation status.
  • Such conventional technique provides warning and automatic stop for the possible overturn, collapse, or failure of a crane.
  • Japanese Patent Laid-open Publication No.58-74496 discloses a method of regulating the operation range of a tower type crane. According to this method, a crane boom and an obstacle are schematically displayed on a screen so that it is possible to detect any contact between the boom and obstacle schematically displayed on the screen. In this case, however, for the display of an obstacle, the coordinates of the obstacle on the screen are required to be correctly set, leading to not a simple initial setting of the operation range.
  • Another problem associated with such conventional technique is that only the safety degree of an actual load relative to the specific load, i.e., the safety degree of actual operation, is provided. As a result, an operator cannot recognize sufficiently the danger for the next possible stage and operation.
  • the crane safety apparatus of this invention has a memory which stores therein display images for a plurality of crane operation modes.
  • the display image selected by an operator is controlled to indicate the current crane operation status in accordance with the crane operation parameters and operator setting data.
  • the crane safety apparatus of this invention comprises a schematic crane mechanism diagram displaying means for displaying a schematic diagram of a part of the crane mechanism on a screen at the coordinate position determined by signals from sensors, and means including a key group for fixedly displaying a predetermined zone pattern on the screen relative to the already displayed schematic diagram, in accordance with the crane operation status setting entered by an operator by using the key.
  • a schematic diagram of a part of the crane mechanism is dynamically displayed on the screen.
  • a main unit CPU and display unit CPU which take partial charges of the operations necessary for the apparatus, to thereby allow a dynamic display of the schematic diagram of the crane mechanism on the screen while tracing a change in operation of the mechanism at high speed.
  • the fundamental structure of the crane safety apparatus of this invention is shown in Fig.2A.
  • the crane safety apparatus is constructed of a main unit A and a display unit B. During the operation of the apparatus, commands and data are transferred between a main unit CPU and a display unit CPU.
  • the crane operation status (outrigger projection step, jib step and the like) is first required to be set. This setting is carried out at the display unit.
  • An operator selects an operation status setting mode from a plurality of display modes to display a display indication (image) such as shown in Fig.3 on a display B'' screen, and operates predetermined keys on a setting key group B' while monitoring the display B'' screen.
  • the display unit has a memory which stores therein graphics data for display images such as shown in Fig.3.
  • CPU selectively reads a display image shown in Fig.3 from the memory, writes it in a video RAM, and displays the display image on the display B'' screen in accordance with the data read from the video RAM.
  • the display unit CPU fetches the data of outrigger step setting and the like entered from a setting key by an operator, modifies the display image so as to match the setting data, and supplies the setting data as data D B to the main unit A.
  • the display unit Upon setting completion in the operation status setting mode, the display unit enters an automatic crane safety monitor mode and displays a display image such as shown in Fig.4A on the display B'' screen.
  • the graphics data for the display image such as shown in Fig.4A have already been stored in the memory, so CPU executes a selective read and display of the graphics data.
  • the main unit A obtains from a sensor group A' the operation parameter data (such as boom length l, boom angle ⁇ , slewing angle ⁇ ) representative of the operation status of the crane mechanism which changes from time to time as the crane is operated.
  • operation parameter data such as boom length l, boom angle ⁇ , slewing angle ⁇
  • These operation parameters are sent directly, or after processed by CPU, to the display unit B as data A.
  • the display unit B modifies from time to time the display image on the display B'' screen in accordance with the data A, to thereby display the current operation status of the crane.
  • the main unit A stores various data in accordance with each crane specification. Such data are typically maximum specific loads for various crane operation status. For example, a total specific load curve shown in Fig.2B is used for the operation status settings such as with outrigger intermediate projection of (5.0 m - side direction), without jib, and with boom length of 8.9 m. Such a total specific load curve is determined for each of different operation status settings and boom lengths, in accordance with each crane specification. A great number of these data are stored in ROM of the main unit A.
  • the main unit A accesses ROM to obtain the maximum specific load data for the crane operation status at that time, or compares the maximum load value obtained by processing the data with the actual load and if the current crane operation status is in a danger zone, a warning is issued, or/and delivers a signal for controlling the crane mechanism A'' for automatic stop of the crane operation.
  • the memory of the display unit B there are stored a plurality of display image graphics data corresponding to a plurality of display modes.
  • a display image such as shown in Figs.5 to 9 is selected in accordance with the display mode selected by a setting key.
  • an operator can use other display modes to set the operation contents of a crane and monitor it for the effective crane operation. The operation of other display modes will be later detailed.
  • the main unit A and display unit B each have a processor (CPU), and they run independently on its own program. Transmission/reception of commands and data between the main unit A and display unit B is allowed by an interrupt process.
  • CPU central processing unit
  • the main unit CPU 200 receives the actual load data from a stress sensor 201, and other crane operation parameter data from a slewing angle sensor 202, boom length sensor 203, boom angle sensor 204, boom top v. angle sensor 205, jib v. angle sensor 206, and stress sensor 208 respectively disposed at various positions of the crane.
  • the data from the sensors 205 and 206 disposed at the top of the boom are collected to a top terminal 207 at the boom distal end, sent to a cord reel 210 at the boom distal end via an optical fiber cable 209, subjected to photoelectric conversion at the cord reel, and sent to the main unit CPU 200.
  • the display unit CPU 211 is powered from the main unit CPU 200 via a line 217. Commands and data are transferred via bilateral serial lines 214 and 215 between the display unit CPU and main unit CPU 200.
  • the display 212 is a matrix type dynamic drive liquid crystal display (LCD). An LCD is more preferable than other CRT, LED, plasma display and the like because the crane is generally used in outdoors and because it allows a clear display image even under strong sun light. During the night, LCD 212 is provided with back illumination.
  • the setting key switch group includes a plurality of touch keys corresponding in number to a plurality of items to be set.Signals for controlling the crane mechanism are outputted to a plunger 218, magnetic valve or the like.
  • the display unit CPU automatically enters the operation status setting mode, and displays the image such as shown in Fig.3.
  • This mode is indicated at 301.
  • Numerals generally indicated at 302 represent the boom status and they are flashing. When an operator sets desired numerals, they stop flashing and become always illuminated.
  • Numeral 0 stands for the case of using only the main boom without using the jib and rooster
  • numeral 1 stands for the case of using the jib with one step
  • numeral 3 stands for the case of using the jib with two steps.
  • numerals After completion of the boom operation status setting, numerals will flash to indicate the rightside outrigger status 303.
  • Numeral 3 represents a maximum projection
  • numeral 2 an intermediate projection
  • numeral 1 a small projection
  • numeral 0 a minimum projection
  • numeral 4 no outrigger mounting
  • numeral 5 a running while lifting an object.
  • an operator selects a desired numeral upon activation of the ten keys on the touch panel 310A.
  • the leftside outrigger status 304 is set.
  • the display unit CPU causes the set numeral to change its display status from flashing to continuous illumination, and sends the set boom and outrigger status data to the main unit CPU.
  • the display unit CPU After completion of the input operation for the operation status mode, the display unit CPU automatically enters the automatic crane safety monitor mode for displaying an image such as shown in Fig.4A.
  • the display unit CPU displays the current crane operation status, i.e., an outrigger setting 404, slewing position 405, operation radius 406, boom angle 407, lifting load 410, lifting distance 409, and boom length 402.
  • the boom length is schematically displayed in the form of bar 403 whose length changes in correspondence with the actual length of the boom.
  • the safety limit of the current crane operation status is indicated at 411 in the form of bar graph.
  • the numerical representation of the safety limit is indicated at 413.
  • the limit (maximum) load at the current crane operation status is indicated at 408.
  • the main unit CPU monitors the actual crane operation status by using the data from various sensors, accesses the memory to obtain the maximum limit load for that operation status, and checks if the accessed maximum limit load is equal to or smaller than the actual load. If the actual load becomes the maximum limit load for the current crane operation status, the main unit CPU delivers a signal for locking the crane operation mechanism.
  • the display unit CPU visually provides an operator a crane operation status.
  • the crane operation status reaches a limit when it has a maximum limit load, or when it has an operation range limit set by an operator (described later with reference to Fig.5). Also in the latter case, a warning is issued and the crane is automatically stopped.
  • One of distinctive features of this embodiment is to display an automatic stop cause 412. If the crane stops automatically during the automatic crane safety monitor display mode, it is difficult for an operator to find at once the cause of automatic stop.
  • the cause of automatic stop is difficult to be found especially for the case of crane turnover or failure caused by overload during the operation, and for the case of crane operation during the automatic crane safety monitor mode while setting the crane operation range or zone (described later with Fig.5). Further, if a predetermined length of wire continues to be released over the range of its length, then a reverse winding of the wire occurs during the crane operation. In such a case, an automatic stop is also effected.
  • the cause of automatic stop is illustratively displayed at 412 on the screen.
  • Fig.4B (a) to ((n) The illustrative representations of the causes of automatic stop are shown in Fig.4B (a) to ((n), the representations having the following meanings. If there are a plurality of automatic stop causes during the automatic crane safety monitor mode, the corresponding number of representations are displayed on the screen.
  • the cause of automatic stop described above is displayed when certain conditions are satisfied.
  • the cause of automatic stop for moment is assigned, when the actual load is equal to or larger than the limit load and the lever operation is in danger side. If the actual load is near the limit load and an operator causes to turn down or extend the boom further, or causes the winch to wind up the wire, these lever operations are in danger side.
  • the main unit CPU issues a locking signal in response to these lever operations in danger side, and the display unit CPU displays the illustrative representation (a).
  • the operator recognizes from the displayed automatic stop cause illustrative representation (a) that the boom cannot be turned down or extended and that the crane can be released from the danger by other operations such as lifting the boom.
  • the crane enters the automatic stop, and the moment automatic stop cause representation is displayed.
  • the crane automatic stop is released and the cause representation disappears.
  • the crane operation lever is turned to the boom extension side, the automatic stop is effected again and the moment automatic stop cause is displayed. If the crane operation lever is turned not to the boom extension side but to the boom standing side, boom compression side or winch winding back side, then the automatic stop and cause display are not effected.
  • the crane operation in danger side is different for each automatic stop cause.
  • the main unit CPU has stored data representative of the direction of locking the operation lever, respectively for each crane automatic stop cause. For example, if the automatic stop is effected because of the boom high limit angle, the main unit CPU supplies to the crane mechanism a signal which locks the operation lever in the direction of lifting the boom and allows it to move in the direction of turning down the boom.
  • the boom movable range is also set so as not to make the boom contact with nearby buildings and the like. It is desirous if a warning is issued or the crane is automatically stopped if the boom is moved in the direction departing from the set movable range.
  • the display unit CPU enters the operation range limit display mode and displays a screen image such as shown in Fig.5.
  • the operation range limit display mode is indicated at 501.
  • the boom is schematically shown at B, and its distal end represented by a cross is indicated at P.
  • the schematically displayed boom B follows the actual boom motion, and is controlled by the display unit CPU in accordance with the operation parameters supplied from the main unit CPU.
  • an operator moves the boom to the limit point (the schematically displayed boom B also moves to the limit point).
  • the non-operation range is set at the hatched area at the right of the boom distal end P.
  • the operation radius R is displayed as the operation radius limit value at 507 within a rectangular frame.
  • higher limit of angle (B), lower limit of angle (C), and lifting distance limit (D) may also be set.
  • the characteristic point of this setting is that the boom is actually moved to the limit point and a key is depressed to set the non-operation range, instead of calculating and setting the numerical limit value without moving the boom to the limit point.
  • This method of setting is advantageous in that the operation range can be determined by moving the actual boom at the field location.
  • the total operation limit range covering all the limits (A) to (D) such as the radius limit and the like is shows as (E).
  • the boom is allowed to move within the area not hatched.
  • Other numerical values representative of the actual boom are also displayed on the screen, the values including boom angle 509, actual radius 508, boom length 506, and lifting distance 505.
  • a boom slewing angle range limit is displayed.
  • a boom B schematically displayed within an area 511 follows the actual boom motion.
  • the boom is moved to a boom slewing angle limit point and the boom slewing angle range limit is set upon activation of a setting key on the touch panel.
  • the slewing angle range limit one side of the boom may be set as indicated by (F) or both sides thereof may be set as indicated by (G).
  • the outrigger setting status 512 previously set is also displayed on the boom slewing display area.
  • a lifting load 503 and maximum load 504 are displayed on the screen.
  • the contents set during the operation range limit display mode are transferred in the form of numerical data from the display CPU to the main unit CPU.
  • the display unit CPU displays the hatched area on the right side of R . If the boom moves toward the outside of the set operation limit range, the main unit CPU detects it so that a warning is issued or the crane is automatically stopped. An operator can visually recognize the motion of the boom within the allowable operation range as shown at (E) with respect to the non-operation range. It is a significant advantage that an operator can forecast the next stage boom motion.
  • the display unit CPU Upon activation of a mode selection key on the touch panel 310B, the display unit CPU enters the target display mode which displays a screen image such as shown in Fig.6.
  • This target display mode is used when an operator cannot see a lifting load from the operator seat of the crane.
  • Target index marks 605 and 606 indicated by solid lines in Fig.6 are used for the setting of target points.
  • the side of an innermost square of the target index mark corresponds to an actual length of 15 cm, that of the next square to an actual length of 30 cm, and that of the outermost square to an actual length of 60 cm.
  • the crane is operated to move an actual lifting load to a target location which is set as a first target upon activation of a key on the touch panel 310B.
  • the first target is the origin of the coordinate system of the screen.
  • a lifting load position 607 is displayed on the screen at the position apart from the origin by a certain distance. After setting the first target, an operator can recognize from the screen the positional relation of the lifting load with the target position without seeing the actual lifting load. It is common for a crane operation to slew the crane and transfer a lifting load from the first point to the second point. In such a case, the target index mark 605 is set at the first point, and the target index mark 606 is set at the second point.
  • the index marks 605 and 606 have independent coordinate systems so that the distance between the target index marks 605 and 606 is not related to an actual distance therebetween.
  • the frames indicated by a dotted line are the effective display area of the coordinate systems of the first and second points, the side of the frame corresponding to an actual length of, e.g., 100 cm.
  • the position of a lifting load within this effective area is represented by mark. Even if the lifting load moves outside of this area, the mark as at 607' is displayed while moving along the dotted line so that the direction of the lifting load can be recognized by an operator. While seeing the mark on the screen relative to the target index mark, an operator can continue the transfer operation of the lifting load between the first and second points without actually seeing them.
  • the numerical values of the distances of the lifting load to the first and second points are displayed at the upper area of the screen at 603 and 604.
  • the outrigger setting 609 and slewed boom position 608 are displayed at the lower left area of the screen.
  • Reference numeral 601 indicates the display mode
  • 602 indicates the safety numerical value for the crane operation during this display mode.
  • the actual position of a lifting load is calculated as lifting load position data at the main unit CPU by using the data from various sensors and the data on the crane structure, and the lifting load position data are supplied to the display unit CPU.
  • the display unit CPU uses the lifting load position data at that time as the origin of the index mark 605.
  • the display unit CPU displays the lifting load position 607 on the screen relative to the target index mark in accordance with a difference between the current lifting load position data and the lifting load position data at the time of setting. If the lifting load moves outside of the outermost square of the index mark, the display unit CPU displays the mark along the dotted line 613 to indicate the direction of the lifting load position. If the lifting load comes thereafter near the first or second point (i.e., comes within the outermost square of the index mark), then the position is again displayed.
  • FIG.6 An example of the display image shown in Fig.6 provides two independent two-dimensional target index marks. It is also possible to display three or more index marks, or three-dimensional index marks.
  • the lifting load capacity of a crane depends on the posture of the crane structure such as a front, rear, right and left position, so that the boom slewing of the crane should be paid attention.
  • the display unit CPU enters the limit load - slewing angle display mode upon key activation on the touch panel 310B, the display image as shown in Fig.7 appears on the screen.
  • a crane is schematically shown at the center on the screen, with the outrigger setting 706 being displayed at 706.
  • a boom is schematically displayed at 705 for indicating the boom slewed position.
  • a cross mark 704 at the distal end of the schematically displayed boom 705 indicates the current distal end of the boom.
  • a solid line A or dotted line B indicates a safety load range area 703. The operation is judged as safe so long as the cross mark 704 is displayed within the area.
  • the safety load range on the screen changes with the set outrigger conditions. It is convenient for a crane operator to use this mode when the crane is slewed.
  • a mode indication 701 For reference purpose, there are also displayed on the screen, a mode indication 701, safety numerical value 702, boom length numerical value, boom operation status 708, boom angle 709, actual load 710, lifting distance 711, operation radius 712, and maximum load 713.
  • the typical parameter for a safety crane operation is a lifting load curve relative to the operation radius as shown in Fig.2B. It is convenient for an operator to know the operation safety margin by visually recognizing the current operation status from this safety index curve.
  • the display unit CPU Upon activation of a mode switching key on the touch panel 310B, the display unit CPU enters the performance curve display mode and displays a display image on the screen as shown in Fig.8.
  • the performance curve is collectively determined from a combination of crane operation parameters such as the outrigger projection state, boom length, use or non-use of jib, slewing angle and the like.
  • the main unit CPU uses such operation parameters, accesses the previously stored specific load data relative to the operation radius conforming with each crane specification, and sends the specific load data to the display unit CPU.
  • the display unit CPU displays an operation status performance curve 803 such as shown at the rightside on the screen.
  • a + mark at 804 is displayed at the coordinate position determined by the current operation radius and actual load. An operator can know the operation margin from the position of the + mark relative to the curve.
  • the numerical value of a marginal operation radius is displayed at 806 near the + mark. This numerical value indication 806 moves as the + mark 804 moves so that the operator can easily recognize this value.
  • a total specific load table such as shown in Fig.9A which is referred to for the crane safety operation.
  • This table provides specific loads relative to operation radii conforming with each crane specification, when the outrigger setting status and boom length are given. While referring to the table, an operator can judge if, for example, the set outrigger and boom length are sufficient for the lifting load and operation radius of an operation to be carried out.
  • the display unit CPU displays a display image as shown in Fig.9B. This mode is referred to for an operation to be carried out so that in this mode the crane is essentially in a stop state.
  • An operator first uses the ten keys 310A to enter the numeral value of a desired boom length in an area 902 where a cursor flashes. During this mode, the entered boom length is not set as an actual boom length value. Thereafter, the flashing cursor moves to an area 903 wherein the numerical value of a desired slewing angle is entered.
  • the outrigger status and the like have already been set during the previous operation status display mode (Fig.3).
  • the display unit CPU receives from the main unit CPU (or the display unit CPU itself may have such data) maximum specific load data Wt for the operation boom angle for the given conditions, and displays them in a numerical value table 904. If the boom length and the like set for a desired operation are determined as improper upon reference to the displayed data, the table with these numerical values is reset, and a new boom length and the like are again entered.
  • a mode indication 901 For reference sake, during this mode there are displayed on the screen a mode indication 901, boom operation status 907, outrigger setting 906, and slewing angle 905.
  • the main unit and display unit each have its own CPU which executes an operation sequence running on a different program.
  • the main unit control section receives the operation parameters from sensors and the operation range setting data from the display unit control section, calculates the actual load, operation radius, limit load and the like for the automatic stop control of the crane mechanism, and sends the calculated data to the display unit.
  • the display unit control section displays the display image for a selected mode in accordance with the data from the main unit control section, modifies the displayed image in accordance with an input from a setting key, and sends the input setting data to the main unit control section.
  • the main unit and display unit control sections carry out sequences running independently, so the transfer of commands and data therebetween is executed upon an interrupt.
  • a program for sequential control of each unit CPU is stored in ROM.
  • the display unit has a video RAM.
  • Display graphics data for a selected display mode are written in the RAM the contents of which are modified as the crane operation status changes.
  • the graphics data stored in the video RAM are transferred to the display screen to refresh the display image, e.g., at an interval of 150 ms.
  • Transmission/reception of data Da and Db by the main unit relative to the display unit is effected by means of step synchronization (start/stop asynchronous) data communication.
  • step synchronization start/stop asynchronous
  • the display unit generates a reception request interrupt to receive the transmitted data. Transmission/reception of data by the display unit relative to the main unit is performed in the similar manner.
  • the data representative of the crane operation status from various sensors are received by the main unit CPU from an A/D converter.
  • the main unit CPU receives the sensor data upon reception of a sensor data read request interrupt at a predetermined time interval corresponding to the operation timing of the A/D converter.
  • the display unit checks the key input status at a predetermined time interval and when a key is depressed the key input data are processed.
  • a timer interrupt for executing a process at a predetermined time interval is supplied to the main and display unit CPUs to execute the corresponding process.
  • the display unit CPU writes the graphics data in the video RAM in accordance with the data given thereto, displays a display image on the screen, and supplies the operation limit setting data and the like to the main unit.
  • the main unit CPU calculates the boom radius, lifting distance, actual load and limit load, compares them with the performance data determined in accordance with each crane specification, and outputs a control signal to be used, e.g., for automatically stopping the crane.
  • the main unit executes the main flow sequence from S1a to S6a shown in Fig.10.
  • the apparatus is checked if it is in a proper state, and the initial procedure is executed to set the CPU for ensuring the correct operation of the following sequence. Prior to this initial procedure, an interrupt is inhibited, and after the initial procedure, the interrupt inhibition is released at step S2a.
  • step S3a it is checked if there are data to be transmitted to the display unit, and data to be received from the display. If there are data, the transmission/reception of the data is effected.
  • the transmitted data are received by the main unit in accordance with a hard interrupt routine in the similar manner to receiving data from sensors.
  • the received and processed data are subjected to various arithmetic operations at step S4a.
  • crane operation parameters such as an actual load, boom radius, lifting distance and the like in accordance with the boom length, boom angle, stress and the like, and a limit load in accordance with the parameters and limit load data previously stored in accordance with a crane specification.
  • step S4a Using the arithmetic operation results at step S4a, the safety degree of the crane operation is calculated, the set operation limit value is compared with the crane operation status, and an automatic stop process is executed at step S5a if the crane operation is in danger or at an operation limit.
  • the main unit CPU enters a HALT state at step S6a.
  • the main unit CPU receives a hard interrupt by an external interrupt request (IREQ) such as data fetch, and executes an interrupt processing (the contents of Fig.11). After the interrupt processing, the flow returns to the loop start point. If there is no hard interrupt, the main unit CPU remains at step S6a.
  • IREQ external interrupt request
  • the hard interruption is shown in Fig.10 as present between step S6a and the loop start point, it may be provided at any step from step S3a to S6a.
  • An interrupt routine starts upon reception of a hard interrupt.
  • the interrupt routine started by a hard interrupt includes data reception/transmission, and soft interrupt routines 1 and 2 (Fig.12). Each time a hard interrupt is received, data reception/transmission is carried out. If the amount of data becomes one block size after a predetermined number of hard interrupt data receptions/transmissions, a soft interrupt 1 start (activation) flag is set. As the soft interrupt 1 start flag is set, the soft interrupt 1 processing of the interrupt routine is executed and a soft interrupt 2 start flag is set. As the soft interrupt 2 start flag is set, the soft interrupt 2 processing is executed.
  • the hard interrupt, soft interrupts 1 and 2 therefore have a hierarchic structure. Data reception which is processed in a short time is performed by a hard interruption, and during this processing another hard interrupt is inhibited. A processing which requires a longer time is performed by the soft interrupt 1, and a processing which requires a further longer time is performed by the soft interrupt 2.
  • the hard interrupt is allowed while executing the soft interrupt so that the interrupt inhibition time is shortened, resulting in high speed data input/output processing.
  • step S1b upon reception of a hard interrupt by the main flow shown in Fig.10, another interrupt is inhibited at step S1b.
  • the type of interrupt is checked at steps S2b to S9b if it is an interrupt of reception/transmission from/to the display unit, an interrupt of reception from sensors, or a timer interrupt.
  • the corresponding hard interrupt processing is executed. Specifically, the data received from the display unit are stored in a temporary storage area, the data to be transmitted to the display unit are transferred from the temporary storage area to the transmitter and transmitted to the display unit, or the data received from sensors are stored in the temporary storage area. If the total data reception/transmission amount becomes one block after a certain number of hard interrupts, the soft interrupt 1 start flag is set.
  • the soft interrupt 1 sequence S3b starts (Fig.12). After this soft interrupt 1 sequence, it returns to the main flow shown in Fig.10 (RET0).
  • step S1c the soft interrupt 1 on-processing flag is checked. If the flag is not set and the processing is not executed, then it is checked if the soft interrupt 1 start flag is set (step S2c). If the flag is not set because of the data amount to be processed is insufficient, the flow advances to step S8c. If the soft interrupt 2 is not processed and the soft interrupt 2 start flag is not set, the flow advances via steps S9c and S10c to step S16c. At this step S16c, the contents of the status setting register are recovered and the interrupt inhibition set at step S1b shown in Fig.11 is released, to thereafter return to the main flow shown in Fig.10 (RET0).
  • step S3c the soft interrupt 1 on-processing flag is set (step S3c). Since a hard interrupt is allowed during the soft interrupt 1 processing, the interrupt inhibition set at step S1b shown in Fig.11 is released (step S4c), and thereafter the soft interrupt 1 processing is executed (step S5c). During the soft interrupt 1 processing, the soft interrupt 1 start flag is reset and if the conditions are met the soft interrupt 2 start flag is set. After executing the soft interrupt 1 processing, the hard interrupt inhibition is again effected (step S6c) and the soft interrupt 1 on-processing flag is reset (step S7c), to return to the loop start point at step S2c.
  • step S8c if the soft interrupt 2 processing is not executed and the soft interrupt 2 start flag is not set, then the flow advances via steps S9c and S10c to step S16c whereat the contents of the status setting register at the start of the interrupt are recovered and the interrupt inhibition set at step S5c is released, to return to the main flow shown in Fig.10 (RET0).
  • the above case illustrates that data are received upon occurrence of a hard interrupt, the data amount becomes one block, the soft interrupt 1 start flag is set, the soft interrupt 1 processing for the one data block is executed, and the flow returns to the main flow.
  • a hard interrupt is allowed during the soft interrupt 1 processing of the soft interrupt sequence, it can be accepted during the soft interrupt 1 processing at step S5c.
  • the hard interrupt routine is effected so that the data are received at steps S1b to S3b shown in Fig.11. Thereafter, the flow advances to step S1c and to step S17c shown in Fig.12 to recover the contents of the register and release the interrupt inhibition, and returns (RET1) to the intercepted point at step S5c to thereby resume the soft interrupt 1 processing.
  • RET1 returns
  • step S2c the soft interrupt 1 processing sequence. If the soft interrupt 2 processing is not being executed, the flow advances from step S9c to S10c, and to steps S10'c, S11c, S12c, S13c and S14c for executing the soft interrupt 2 processing and returning to the loop start point. At this time, since the soft interrupt 2 start flag is being reset, the flow returns via step S16c to the main flow (RET0) to terminate a series of interrupts.
  • a hard interrupt is also allowed during the soft interrupt 2 processing as during the soft interrupt 1 processing. If a hard interrupt occurs during the soft interrupt 2 processing, data are received at the flow shown in Fig.11, and the flow advances via steps S1c, S2c, S8c and S9c to step S15c whereat the contents of the register are recovered and the interrupt inhibition is released to return (RET2) to the intercepted point of the soft interrupt 2 processing at step S12c.
  • the graphics image data for a selected display mode are written in the video RAM.
  • the graphics image data are read from the video RAM at a predetermined time interval, e.g., of 150 ms to drive the display and refresh the display image on the screen.
  • the graphics image data are stored in the video RAM as the numerical values of coordinate points at both ends of each line segment constituting the display image. If a display refresh flag or indication update flag is being set at step S3d, the data in the video RAM are sent to the display to refresh the display image at step S5d.
  • the initial display data stored in the video RAM at the initial procedure are displayed.
  • the display unit CPU then enters a HALT state and does not execute the next instruction until a hard interrupt is received.
  • a hard interrupt to the display unit CPU is generated by a timer interrupt and a data transmission/reception request with respect to the main unit CPU.
  • the setting information or transmission/reception data are received or transmitted according the type of interrupt (Fig.15).
  • the flow After the interrupt processing, the flow returns to the main flow and executes the processing corresponding to a selected mode.
  • the mode processings are always activated by a hard interrupt which is also allowed during the mode processing.
  • a hard interrupt is inhibited only while a hard interrupt processing which requires a short time is executed.
  • an operation status input mode flag is automatically set by a timer interrupt (Fig.15).
  • a judgement step S1e shown in Fig.14 is performed and the operation status input mode processing routine is executed at step S2e.
  • the graphics image data for the operation status input display image are written in the video RAM, and thereafter the flow returns to the loop start point at step S3d.
  • the display unit CPU transfers the graphics image data for the operation status input display image to the display screen to display it. Then, the display unit CPU stops.
  • An operator depresses a setting key for the jib step while monitoring the display image, and the jib setting data are read by the display unit CPU.
  • the display unit CPU modifies the graphics image data in the video RAM in accordance with the jib step setting data.
  • the graphics data for the input operation status modified and stored in the video RAM are then displayed on the screen at steps S3d and S5d.
  • the mode processing at step S2e performs the above-described display image processing as well as other processing such as storing the transmission data of the main unit in the temporary storage area.
  • processings at steps S3e to S14e are different for each mode.
  • the key data is read at a predetermined time interval by using the timer interrupt, and when a key is depressed, the corresponding processing is executed.
  • the soft interrupt flow for the display unit has the same sequence as of the main unit soft interrupt flow shown in Fig.12, although the contents of each step are different.
  • the contents of the reception and transmission processings are each divided in the following three processes.
  • Reception Processing (1) Serial data sent from the main (display) unit are sequentially stored in a designated buffer area. When one block data are received, the data are checked and if they are not abnormal, a start flag at Reception Processing (2) is set. This reception processing is effected by a hard interrupt shown in Figs.11 and 15.
  • Reception Processing (2) The contents of the one block data sent from the main (display) unit are checked and stored in a predetermined memory storage area at an address to which CPU can access. This reception processing is executed by the soft interrupt 1 processing at step S5c shown in Fig.12.
  • Reception Processing (3) The final processing is executed from the data sent from the main (display) unit and stored in the memory. This reception processing is executed by the soft interrupt 2 processing at step S12c shown in Fig.12 or by the reception data processing at step S3a in the main flow shown in Fig.10.
  • Transmission Processing (1) It is checked if there are data to be transmitted to the main (display) unit. If there are data, the data are designated as being transmitted and the transmission processing (2) is activated. This transmission processing is executed at step S3a of the main flow shown in Fig.10 or at step S12c shown in Fig.12.
  • Transmission Processing (2) It is checked if a transmission is enabled. If enabled, the transmission data are read from the memory storage area where they are stored, converted into serial data which are then stored in a memory transmission area, and the transmission processing (3) is activated. This transmission processing is executed by the soft interrupt 1 processing at step S5c shown in Fig.12.
  • Transmission Processing (3) The data in the memory transmission area are sequentially and serially transmitted. This transmission processing is executed at step S7b for the data transmission processing shown in Fig.11.
  • the data transmission/reception processing by the display unit is not included in the main flow, but the data transmission/reception is executed at the soft interrupt 1 processing.
  • the reason why the main flow of the main unit includes the transmission/reception processing is as follows.
  • the main task of the main unit is the arithmetic operation and automatic stop operation. So long as these operations are included in the main flow, there is no merit even if the data sent from the display unit are soft-interrupted, but there is a demerit that the arithmetic operation and automatic operation are delayed in their processing.
  • the display unit executes the transmission/reception processing not by the main flow but by the soft interrupt. Since the processing time of panel switch actuation by an operator differs greatly for each mode and the data from the main unit are used by the soft interrupt processing, it is better that the reception processing is executed by the soft interrupt.
  • the transmission processing is executed not by the main flow but by the soft interrupt. From the above reasons of different contents of the processings by the main and display units, the transmission/reception processing is executed differently between the main unit and display unit.
  • the timer interrupt is generated every 10 ms at the main unit.
  • a soft timer is constructed of a timer start/stop flag, operation counter and repetition counter.
  • the operation counter and respective counter of the soft timer for the soft interrupt 1 each are constructed of one byte. and those for the soft interrupt 2 of two bytes.
  • the timer start/stop flag is used for the control of the soft timer operation.
  • the flag for the soft interrupt 1 has one byte (8 bits) each bit corresponding to one of the eight timers. Each soft timer operates while the flag bit is "1", and stops while the flag bit is "0".
  • the operation counter is decremented by 1 each time a hard timer interrupt occurs.
  • the operation counter becomes "0" which means a time-out
  • the flag for the soft interrupt 1 or 2 is set and the operation counter is then set with the count data of the repetition counter. This operation repeats until the timer start/stop flag becomes "0". Therefore, the soft interrupt 1 timer can be set for the time duration from 10 ms to 1.55 sec, and the soft interrupt 2 timer can control for the time duration from 50 ms to 54.6125 min.
  • the display unit receives panel switch data at a time prior to the predetermined time.
  • the display unit also sets the display refresh flag, display flashing flag, initial routine timer, and the like.
  • the main unit sets a voice timer, initial routine timer, communication error check timer and the like. If the timer repetition counter value is 10 and the timer operation counter counts down from the first value, then the timer flag is set after about 5 x (timer interrupt period) after the timer start/stop flag was set. Thereafter, the flag is repetitively set at the interval of about 10 x (timer interrupt period) until the timer start/stop flag is reset.
  • the timer flag signal shown in Fig.16 is the flag for the soft interrupt 1 or 2. This flag is reset at the time when the corresponding processing is executed.
  • the term "crane” is used to mean not only a vehicle mounted mechanism but also other mechanism generally lifting a load with a boom, such as a vehicle operating at an elevated stage for moving a mount type operation crane or bucket up and down, and right and left.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP94201063A 1988-12-27 1989-04-06 Dispositif de sécurité pour grue Expired - Lifetime EP0614845B2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP330197/88 1988-12-27
JP33019788 1988-12-27
JP33019788 1988-12-27
EP89904237A EP0406419B2 (fr) 1988-12-27 1989-04-06 Dispositif de securite pour grues

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EP89904237A Division EP0406419B2 (fr) 1988-12-27 1989-04-06 Dispositif de securite pour grues
EP89904237.8 Division 1989-04-06

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EP0614845A2 true EP0614845A2 (fr) 1994-09-14
EP0614845A3 EP0614845A3 (fr) 1994-10-26
EP0614845B1 EP0614845B1 (fr) 1999-10-20
EP0614845B2 EP0614845B2 (fr) 2004-05-12

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KR (1) KR940009268B1 (fr)
AT (2) ATE185772T1 (fr)
AU (2) AU618900B1 (fr)
DE (2) DE68923278T3 (fr)
RU (1) RU2093452C1 (fr)
WO (1) WO1990007465A1 (fr)

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EP0731054A1 (fr) * 1993-11-26 1996-09-11 Komatsu Ltd. Grue distributrice a tour a portee mobile
EP0768588A2 (fr) * 1995-10-13 1997-04-16 Pietzsch Automatisierungstechnik Gmbh Console de commande et méthode de préparation et d'ajustement d'un engin mobile de travail
EP0849213A1 (fr) * 1996-12-20 1998-06-24 Liebherr-Werk Biberach GmbH Grue, de préférence grue à tour
EP0857687A1 (fr) * 1995-03-03 1998-08-12 Komatsu Ltd. Dispositif destine a indiquer la plage de mobilite d'un vehicule a grue mobile
US6140930A (en) * 1997-02-27 2000-10-31 Shaw; Jack B. Crane safety devices and methods
EP1153876A2 (fr) * 2000-05-12 2001-11-14 Liebherr-Werk Nenzing GmbH Procédé pour protéger une grue mobile contre une surcharge
US6744372B1 (en) 1997-02-27 2004-06-01 Jack B. Shaw Crane safety devices and methods
EP1748020A2 (fr) * 2005-07-29 2007-01-31 Liebherr-Werk Ehingen GmbH Procédé d'opération d'une grue
EP1803678A2 (fr) * 2005-12-27 2007-07-04 Palfinger AG Dispositif de commande pour une grue de chargement
DE102006040782A1 (de) * 2006-08-31 2008-03-20 Liebherr-Werk Nenzing Gmbh, Nenzing Sicherungs- und Steuerungsverfahren für Krane
EP2113481A1 (fr) * 2008-04-30 2009-11-04 Liebherr-Werk Ehingen GmbH Grue mobile avec système de supervision
EP2145852A1 (fr) 2008-07-16 2010-01-20 Manitowoc Crane Companies, Inc. Surveillance de charge et système de contrôle avec verrouillage sélectif d'impact
US9126812B2 (en) 2005-07-28 2015-09-08 Liebherr-Werk Ehingen Gmbh Method for determining the load capacity of cranes
EP3362399B1 (fr) 2015-10-16 2019-08-21 Palfinger AG Arrangement d'un dispositif de commande et un module de commande mobile
EP3828123A4 (fr) * 2018-07-25 2022-06-22 Tadano Ltd. Dispositif d'information, véhicule de travail et procédé d'information

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JP2564060B2 (ja) * 1991-10-24 1996-12-18 株式会社神戸製鋼所 建設機械の安全装置
FR2720438B1 (fr) * 1994-05-30 1996-07-05 Camiva Procédé de contrôle en déplacement d'un moyen élévateur.
JP4891483B2 (ja) * 2001-03-07 2012-03-07 株式会社タダノ 作業機の作動量制限装置
JP4709415B2 (ja) * 2001-04-17 2011-06-22 株式会社タダノ 伸縮機構の制御装置
DE10155006B4 (de) * 2001-11-06 2004-12-16 Terex-Demag Gmbh & Co. Kg Fahrzeugkran mit Superlifteinrichtung
JP5367229B2 (ja) * 2007-03-16 2013-12-11 住友重機械工業株式会社 リフティングマグネット制御システム
EP3255239A1 (fr) 2010-04-16 2017-12-13 BAUER Maschinen GmbH Engin doté d'une unité de calcul pour déterminer une zone de réglage
EP2378054B1 (fr) 2010-04-16 2019-08-28 BAUER Maschinen GmbH Engin avec un dispositif de sécurité
RU2448036C1 (ru) * 2010-08-04 2012-04-20 Общество с ограниченной ответственностью "Научно-производственное предприятие "Резонанс" Устройство безопасности машины с графическим дисплеем
JP2013052948A (ja) * 2011-09-02 2013-03-21 West Nippon Expressway Co Ltd 高所作業車の安全装置
JP2013052949A (ja) * 2011-09-02 2013-03-21 Aichi Corp 高所作業車の安全装置
CN104528541B (zh) * 2014-12-15 2017-03-15 徐州重型机械有限公司 一种单缸插销式起重机油缸防过伸装置
DE102016104358B4 (de) * 2016-03-10 2019-11-07 Manitowoc Crane Group France Sas Verfahren zum Ermitteln der Tragfähigkeit eines Krans sowie Kran
DE102022113867A1 (de) 2022-06-01 2023-12-07 Liebherr-Werk Nenzing Gmbh System zum Überprüfen einer Funktionsfähigkeit einer Komponente einer mobilen Arbeitsmaschine

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Cited By (34)

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Publication number Priority date Publication date Assignee Title
EP0731054A1 (fr) * 1993-11-26 1996-09-11 Komatsu Ltd. Grue distributrice a tour a portee mobile
EP0731054A4 (fr) * 1993-11-26 1997-05-28 Komatsu Mfg Co Ltd Grue distributrice a tour a portee mobile
EP0857687A1 (fr) * 1995-03-03 1998-08-12 Komatsu Ltd. Dispositif destine a indiquer la plage de mobilite d'un vehicule a grue mobile
EP1306343A3 (fr) * 1995-03-03 2003-05-21 Komatsu Ltd. Grue mobile sur véhicule comportant un appareil d' indication de la portée
EP1306343A2 (fr) * 1995-03-03 2003-05-02 Komatsu Ltd. Grue mobile sur véhicule comportant un appareil d' indication de la portée
EP0857687A4 (fr) * 1995-03-03 1999-12-29 Komatsu Mfg Co Ltd Dispositif destine a indiquer la plage de mobilite d'un vehicule a grue mobile
EP0768588A3 (fr) * 1995-10-13 1997-09-10 Pietzsch Automatisierungstech Console de commande et méthode de préparation et d'ajustement d'un engin mobile de travail
DE19538264C2 (de) * 1995-10-13 1999-02-18 Pietzsch Automatisierungstech Verfahren und interaktive Bedienkonsole zur Vorbereitung und Einrichtung eines mobilen Arbeitsgerätes
US5731974A (en) * 1995-10-13 1998-03-24 Pietzsch Automatisierungstechnik Gmbh Method and apparatus for the preparation and setup of mobile working equipment
DE19538264A1 (de) * 1995-10-13 1997-04-17 Pietzsch Automatisierungstech Verfahren und interaktive Bedienkonsole zur Vorbereitung und Einrichtung eines mobilen Arbeitsgerätes
EP0768588A2 (fr) * 1995-10-13 1997-04-16 Pietzsch Automatisierungstechnik Gmbh Console de commande et méthode de préparation et d'ajustement d'un engin mobile de travail
EP0849213A1 (fr) * 1996-12-20 1998-06-24 Liebherr-Werk Biberach GmbH Grue, de préférence grue à tour
DE19653579B4 (de) * 1996-12-20 2017-03-09 Liebherr-Werk Biberach Gmbh Turmdrehkran
US6140930A (en) * 1997-02-27 2000-10-31 Shaw; Jack B. Crane safety devices and methods
US6744372B1 (en) 1997-02-27 2004-06-01 Jack B. Shaw Crane safety devices and methods
EP1153876A2 (fr) * 2000-05-12 2001-11-14 Liebherr-Werk Nenzing GmbH Procédé pour protéger une grue mobile contre une surcharge
EP1153876A3 (fr) * 2000-05-12 2005-03-23 Liebherr-Werk Nenzing GmbH Procédé pour protéger une grue mobile contre une surcharge
US9126812B2 (en) 2005-07-28 2015-09-08 Liebherr-Werk Ehingen Gmbh Method for determining the load capacity of cranes
US9957141B2 (en) 2005-07-28 2018-05-01 Liebherr-Werk Ehingen Gmbh Method for determining the load capacity of cranes
EP1748020A2 (fr) * 2005-07-29 2007-01-31 Liebherr-Werk Ehingen GmbH Procédé d'opération d'une grue
EP1748020A3 (fr) * 2005-07-29 2008-09-17 Liebherr-Werk Ehingen GmbH Procédé d'opération d'une grue
EP1803678A2 (fr) * 2005-12-27 2007-07-04 Palfinger AG Dispositif de commande pour une grue de chargement
EP1803678A3 (fr) * 2005-12-27 2008-11-26 Palfinger AG Dispositif de commande pour une grue de chargement
US9187295B2 (en) 2006-08-31 2015-11-17 Liebherr-Werk Nenzing Gmbh Safety and control method for cranes
DE102006040782A1 (de) * 2006-08-31 2008-03-20 Liebherr-Werk Nenzing Gmbh, Nenzing Sicherungs- und Steuerungsverfahren für Krane
US8160786B2 (en) 2008-04-30 2012-04-17 Liebherr-Werk Ehingen Gmbh Mobile crane and method for operating a mobile crane
EP2113481A1 (fr) * 2008-04-30 2009-11-04 Liebherr-Werk Ehingen GmbH Grue mobile avec système de supervision
EP2145852A1 (fr) 2008-07-16 2010-01-20 Manitowoc Crane Companies, Inc. Surveillance de charge et système de contrôle avec verrouillage sélectif d'impact
US7677401B2 (en) 2008-07-16 2010-03-16 Manitowoc Crane Companies, Inc. Load monitoring and control system with selective boom-up lockout
AU2009202448B2 (en) * 2008-07-16 2010-09-30 Manitowoc Crane Companies, Inc. Load monitoring and control system with selective boom-up lockout
EP3362399B1 (fr) 2015-10-16 2019-08-21 Palfinger AG Arrangement d'un dispositif de commande et un module de commande mobile
US10961087B2 (en) 2015-10-16 2021-03-30 Palfinger Ag Arrangement of a controller and a mobile control module
EP3362399B2 (fr) † 2015-10-16 2024-02-14 Palfinger AG Arrangement d'un dispositif de commande et un module de commande mobile
EP3828123A4 (fr) * 2018-07-25 2022-06-22 Tadano Ltd. Dispositif d'information, véhicule de travail et procédé d'information

Also Published As

Publication number Publication date
EP0406419B1 (fr) 1995-06-28
EP0406419A1 (fr) 1991-01-09
DE68929092T3 (de) 2005-01-20
DE68923278T3 (de) 2004-08-05
ATE124381T1 (de) 1995-07-15
WO1990007465A1 (fr) 1990-07-12
KR910700194A (ko) 1991-03-14
EP0406419A4 (en) 1991-11-27
KR940009268B1 (ko) 1994-10-06
EP0614845B2 (fr) 2004-05-12
DE68923278D1 (de) 1995-08-03
RU2093452C1 (ru) 1997-10-20
DE68929092T2 (de) 2000-06-08
EP0406419B2 (fr) 2002-08-28
ATE185772T1 (de) 1999-11-15
AU5629990A (en) 1992-01-09
EP0614845A3 (fr) 1994-10-26
DE68923278T2 (de) 1995-10-26
EP0614845B1 (fr) 1999-10-20
AU618900B1 (en) 1992-01-09
DE68929092D1 (de) 1999-11-25

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