EP1088960A2 - Méthode et dispositif pour positionner le bras d'un appareil de travail ou de sauvetage - Google Patents

Méthode et dispositif pour positionner le bras d'un appareil de travail ou de sauvetage Download PDF

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Publication number
EP1088960A2
EP1088960A2 EP00120979A EP00120979A EP1088960A2 EP 1088960 A2 EP1088960 A2 EP 1088960A2 EP 00120979 A EP00120979 A EP 00120979A EP 00120979 A EP00120979 A EP 00120979A EP 1088960 A2 EP1088960 A2 EP 1088960A2
Authority
EP
European Patent Office
Prior art keywords
movement
boom
components
target point
point
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.)
Withdrawn
Application number
EP00120979A
Other languages
German (de)
English (en)
Other versions
EP1088960A3 (fr
Inventor
Bernhard Gnirss
Peter Dr. Ksoll
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Metz Aerials & Co KG GmbH
Original Assignee
Metz Aerials & Co KG GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Metz Aerials & Co KG GmbH filed Critical Metz Aerials & Co KG GmbH
Publication of EP1088960A2 publication Critical patent/EP1088960A2/fr
Publication of EP1088960A3 publication Critical patent/EP1088960A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/44—Other accessories on ladders, e.g. acoustical signalling devices, dismountable switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B66F11/046—Working platforms suspended from booms of the telescoping type

Definitions

  • the invention relates to a method and a device for moving a boom of a work or rescue device, like an aerial ladder, the movement of the boom has multiple motion components, such as Telescoping, (horizontal) turning and (vertical) swiveling.
  • the movement of a boom of a work or rescue device, like an aerial ladder, especially the main movement to move to a target point - along with other movements like leveling, aligning the basket etc. - is usually done manually using individual controls like control buttons for retracting and extending, horizontal Turn right and left, swivel up and down vertically by means of appropriate controls, such as control levers for Performing these movements.
  • These controls will be by one operator in succession or - only in sections - actuated more or less simultaneously around the boom in to move to the desired target position.
  • Especially in the operator must be close to the individual Movement components more or less piece by piece of the target position approach. This requires an experienced operator and is still very tedious and time consuming, which means in valuable time can be lost in a rescue, in particular if the destination is approached repeatedly got to.
  • the invention is therefore based on the object of a method and a device for moving a boom To create work or rescue equipment, one in particular automatic boom movement optimized in time enable.
  • the stated object is achieved using a method of the type mentioned solved in that the boom from a current starting point to a target point automatic, simultaneous, steady and reversal-free Movement components is moved.
  • the invention further sees a device of type mentioned above, which is characterized by a device for automatically moving the boom from a current starting point to a target point with simultaneous, constant and reversal-free movement components.
  • a device of type mentioned above which is characterized by a device for automatically moving the boom from a current starting point to a target point with simultaneous, constant and reversal-free movement components.
  • Other than the example above mentioned spherical coordinates are possible.
  • the movement is realized so that a target point through all relevant system-specific movements or speeds, that work at the same time.
  • the individual speed components are constant and without change of sign or change of direction.
  • a preferred concrete embodiment of the invention The procedure further provides that the duration of the the longest moving component to move of the boom from a current starting point a target point at given maximum speeds is determined and the speed of the other motion components is adjusted so that the times of all Movement components for the movement of the current Starting point to be the same as the target point, in particular the component speeds of the individual motion components in proportion to their lead time the maximum speed given to them over time the motion component that takes the longest time be weighted.
  • Preferred further refinements of the method provide that the current starting position of the boom is measured and the distance of the individual movement components to Target point to be determined and that to determine a Target point of this first manually or semi-automatically approached and after reaching the target point its coordinates be held (teaching).
  • movements to several Target points are carried out or movements between several intermediate destination points, the destination point, from which a movement to another target point is used as a starting point.
  • the invention provides that the device for success at the same time, steadily and inversely Moving trained to accomplish the above is.
  • the invention makes it possible to approach target points every possible current position with a boom system possible, although the latter is currently measured becomes.
  • the boom procedure is carried out with regard to individual motion components continuously and at the same time, that they reach the target point at the same time.
  • external influences can be provided be that over the entire course of movement determines the current starting position and the component speeds of the individual speeds redetermined or corrected.
  • the whole remains Movement largely steady and the component speeds of the individual movement components change only slightly, remain essentially constant. Due to the method designed according to the invention for the operator a very good predictability of the automatic Function given, making the usability of the system is increased.
  • a control element to specify a maximum speed of the am fastest controlled motion component provided the operator has good control over the behavior of the boom with optimized travel to a target point by automatically controlling everyone reach required boom movement components.
  • Another advantage results from the fact that the actuation several controls for the individual movement components reduced to the actuation of a control element and thus the operator is relieved.
  • a directional control lever is provided on the boom can move back and forth between two target points become.
  • weighting factors when determining the control ratio be seen which makes the course of movement special Requirements can be adapted; e.g. can by one Weighting factor greater than 1 compared to the start of the boom a purely temporal optimization slows down and other trajectories than those caused by the system can be created automatically the shortest are driven through, as is the starting in the immediate vicinity of the destination itself.
  • Method for moving a cantilever Work or rescue device, especially an aerial ladder is first - repeated - approached Target point selected.
  • This can be a point a building, about which during a rescue operation Repeatedly people are to be included in a rescue cage or where the emergency services are to be deployed repeatedly.
  • the target point can also be measured automatically by a telemeter recorded at least approximately or according to coordinates, then in in the manner described further up to its proximity automatically be driven, whereupon the last stretch to exact target position in the manner described above traveled again and then, if necessary, the exact target position is saved.
  • Step 2 then becomes the current starting point of the boom, in particular by measuring its current position coordinates Xn, akt (t) at time t.
  • a third step 3 the time for driving through each path to be covered is calculated accordingly for each movement component at a predetermined maximum speed of the individual components
  • the formula (4) a common manual control parameter for all formulas Multiply U (t) by 0 £ U (t) £ 1 by which all speeds are reduced. This size can - as indicated by the variable t - accordingly be time dependent on the given time already driven.
  • step 6 the drives for the individual movement components retraction or extension, horizontal right or left turn and swiveling up and down vertically. How through that Loop 7 indicated, the above provisions the component speeds during the entire movement of the boom are repeated continuously.
  • the procedure starts with a certain one Target point from a starting or original starting point in a steady and inversion-free movement of the individual motion components that are almost constant is, the target point of all movement components at the same time is achieved.
  • a specific embodiment of a device according to the invention 2 as central device 11 according to FIG setting up automatic simultaneous, constant reversal-free movement of the individual movement components before that according to the above preferred method is such that the Duration of the motion component that takes the longest time to move the boom from a current starting point to a target point at given maximum speeds is determined and the speed of the other motion components is adjusted so that the Times of all movement components for the movement from current starting point become the same as the target point.
  • the device 11 is a device 12 for input or storing a target point upstream, where the storage via a storage element 13, such as one Button or the like is done.
  • each Drive can perform a back and forth movement, namely a Extension or extension of the boom, a horizontal right or Turning to the left as well as swiveling up and down vertically.
  • the invention Device further a control element 17th to reduce the overall speed.
  • each of the controls 19, 20 a target point is assigned, such as between the two operating points assigned to the operating elements 19, 20 back and forth automatically.
  • 3a shows an operating panel with operating elements in the form of push buttons U1 to Un for approaching target points, the control elements also in the form of Keys or buttons Z1 to Zn have been saved.
  • 3b shows an operating panel for approaching two target points, which are also saved by controls Z1, Z2 were.
  • the control element for starting is a control lever, to move to the target point Z1 by movement towards U1 and to the destination Z2 is operated by moving towards U2.
  • 3 c shows a further embodiment of an operating panel, in the context of the device according to the invention an already existing operating lever for controlling a boom is used.
  • the controls for saving two target points Z1, Z2 are again shown.
  • the existing operating lever its function is switched between the mentioned manual control of the boom on the one hand and the automatic start in the sense of the invention one of the two target points Z1, Z2 by moving the lever in the direction U1 or U2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP00120979A 1999-09-28 2000-09-27 Méthode et dispositif pour positionner le bras d'un appareil de travail ou de sauvetage Withdrawn EP1088960A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19946411A DE19946411A1 (de) 1999-09-28 1999-09-28 Verfahren und Vorrichtung zur Bewegung eines Auslegers eines Arbeits- oder Rettungsgeräts
DE19946411 1999-09-28

Publications (2)

Publication Number Publication Date
EP1088960A2 true EP1088960A2 (fr) 2001-04-04
EP1088960A3 EP1088960A3 (fr) 2001-05-16

Family

ID=7923557

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00120979A Withdrawn EP1088960A3 (fr) 1999-09-28 2000-09-27 Méthode et dispositif pour positionner le bras d'un appareil de travail ou de sauvetage

Country Status (2)

Country Link
EP (1) EP1088960A3 (fr)
DE (1) DE19946411A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1424103A2 (fr) * 2002-02-28 2004-06-02 Oshkosh Truck Corporation Système et méthode de déploiement d'une tourelle pour un camion de pompier
US8095247B2 (en) 1999-07-30 2012-01-10 Oshkosh Corporation Turret envelope control system and method for a vehicle
RU2496541C2 (ru) * 2011-10-31 2013-10-27 Николай Сергеевич Говоров Автоматизированное устройство подачи пожарно-спасательной лестницы для автомобилей службы спасения и автолестниц (варианты)
EP2865842A1 (fr) * 2013-10-24 2015-04-29 Iveco Magirus Ag Procédé de commande d'une échelle à plateau tournant articulé d'un véhicule de secours

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016125145A1 (de) 2016-12-21 2018-06-21 Schwing Gmbh Großmanipulator mit automatisiertem Mastaufbau

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2461676A1 (fr) * 1979-07-17 1981-02-06 Casteran Jean Procede pour la commande automatique de la trajectoire du fardeau d'un engin de levage et dispositif pour sa mise en oeuvre
DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
EP0732299A1 (fr) * 1995-03-13 1996-09-18 MANNESMANN Aktiengesellschaft Procédé pour guider la flèche basculante d'une grue

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2504701A1 (fr) * 1981-04-22 1982-10-29 Camiva Dispositif de commande de correction automatique de devers pour echelle orientable deployable ou bras elevateur analogue sur vehicule
GB8406094D0 (en) * 1984-03-08 1984-04-11 Merryweather & Sons Control system
DE3807966A1 (de) * 1988-03-10 1989-09-21 Ruthmann Anton Gmbh & Co Hubarbeitsbuehne mit prozessorsteuerung
US5021917A (en) * 1990-01-29 1991-06-04 Kidde Industries, Inc. Control panel power enabling and disabling system for aerial work platforms
DE19520166C2 (de) * 1995-06-01 2000-03-23 Konrad Schauer Maststeuerung für nicht-schwingungsfreie Vielgelenkgeräte, insbesondere für vielgliedrige Betonpumpen-Verteilausleger
DE19525695A1 (de) * 1995-07-14 1997-01-16 Wegmann & Co Gmbh Fahrzeug, insbesondere Kampffahrzeug mit einer Hubplattform

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2461676A1 (fr) * 1979-07-17 1981-02-06 Casteran Jean Procede pour la commande automatique de la trajectoire du fardeau d'un engin de levage et dispositif pour sa mise en oeuvre
DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
EP0732299A1 (fr) * 1995-03-13 1996-09-18 MANNESMANN Aktiengesellschaft Procédé pour guider la flèche basculante d'une grue

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8095247B2 (en) 1999-07-30 2012-01-10 Oshkosh Corporation Turret envelope control system and method for a vehicle
EP1424103A2 (fr) * 2002-02-28 2004-06-02 Oshkosh Truck Corporation Système et méthode de déploiement d'une tourelle pour un camion de pompier
EP1424103A3 (fr) * 2002-02-28 2004-07-07 Oshkosh Truck Corporation Système et méthode de déploiement d'une tourelle pour un camion de pompier
AT500436A1 (de) * 2002-02-28 2005-12-15 Oshkosh Truck Corp Verfahren zur steuerung eines feuerbekämpfungsaufbaus und feuerwehrfahrzeug
AT500436B1 (de) * 2002-02-28 2008-02-15 Oshkosh Truck Corp Verfahren zum steuern der bewegung eines drehaufbaus auf einem feuerwehrfahrzeug sowie drehaufbau-steuersystem
RU2496541C2 (ru) * 2011-10-31 2013-10-27 Николай Сергеевич Говоров Автоматизированное устройство подачи пожарно-спасательной лестницы для автомобилей службы спасения и автолестниц (варианты)
EP2865842A1 (fr) * 2013-10-24 2015-04-29 Iveco Magirus Ag Procédé de commande d'une échelle à plateau tournant articulé d'un véhicule de secours
US9803423B2 (en) 2013-10-24 2017-10-31 Iveco Magirus Ag Method for controlling an articulated turntable ladder of a rescue vehicle

Also Published As

Publication number Publication date
EP1088960A3 (fr) 2001-05-16
DE19946411A1 (de) 2001-04-26

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