EP1221426A2 - Sicherheitsvorrichtung und Verfahren für Kräne - Google Patents

Sicherheitsvorrichtung und Verfahren für Kräne Download PDF

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Publication number
EP1221426A2
EP1221426A2 EP01200047A EP01200047A EP1221426A2 EP 1221426 A2 EP1221426 A2 EP 1221426A2 EP 01200047 A EP01200047 A EP 01200047A EP 01200047 A EP01200047 A EP 01200047A EP 1221426 A2 EP1221426 A2 EP 1221426A2
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EP
European Patent Office
Prior art keywords
crane
wind
boom
operator
ball
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Withdrawn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
EP01200047A
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English (en)
French (fr)
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EP1221426A3 (de
Inventor
Jack B. Shaw
John B. Shaw
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Individual
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Individual
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Publication date
Application filed by Individual filed Critical Individual
Priority to EP01200047A priority Critical patent/EP1221426A3/de
Publication of EP1221426A2 publication Critical patent/EP1221426A2/de
Publication of EP1221426A3 publication Critical patent/EP1221426A3/de
Withdrawn legal-status Critical Current

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    • 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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical

Definitions

  • the present invention relates to crane safety methods and devices and, in particular, to improved safety devices and methods which warn workers of the movement of portions of a crane.
  • the invention also relates to a system for safely controlling the operation of crane in response to prevailing wind conditions.
  • One aspect of the invention is to provide an acceleration sensor within the crane warning device which activates the crane warning device whenever the ball of the crane is being accelerated in any direction.
  • an acceleration sensor within the crane warning device which activates the crane warning device whenever the ball of the crane is being accelerated in any direction.
  • a mercury switch, a piezo-electric sensor, or other conventional acceleration sensor may be utilized to determine when the ball of the crane is accelerating.
  • Another aspect of the invention is to include a sensor which detects constant velocity motion of the ball of the crane.
  • This sensor may be utilized in addition to or instead of the acceleration detector coupled to the ball of the crane.
  • the motion sensor may be wholly contained within a housing of the warning device or it may be distributed at other locations in the crane such as by coupling portions of the warning device to one or more other electro-mechanical components of the crane.
  • portions of the motion sensor are coupled to one or more hydraulic systems in the crane and actuated appropriately whenever the hydraulic system is actuated to move the ball of the crane.
  • portions of the motions sensor are coupled to the electronic control system of the crane.
  • the mechanisms for detecting motion are mounted remotely and communicate with the warning device using electromagnetic waves such as radio waves.
  • fail-safe mechanisms may be built into the crane warning device such that the warning device is activated whenever a sensor fails or looses contact (e.g., radio contact) with the warning device.
  • a crane warning device status monitor may be built into the cabin of the crane so that the operator may be warned of any operational problems with any of the sensors in a timely fashion.
  • the crane warning device may be mounted to maximize its utilization and resulting safety such as by integrating the crane warning device directly into the ball of the crane.
  • the warning device may be removably or fixedly attached to the side of the crane (e.g., by bolting or magnetically attaching the device to one or more sides of the counter weight).
  • multiple crane warning devices are coupled to the crane in different locations so as to maximize safety.
  • one crane warning device may be located on the ball, and second, third, and/or fourth crane warning devices respectively mounted on first, second, and third sides of the crane counter weight.
  • the audible and visual warning indicators from all of the crane warning devices may be synchronized such that the beep noise and/or the strobe light from all of the crane warning devices are coincident.
  • a microphone and speaker system is included in the crane warning device such that the operator can communicate with the workers. Worker safety is vastly increased because the worker may use both hands to manipulate the load while verbally signaling the operator.
  • the a camera may be mounted such that a birds eye view of the load/ball may be obtained by the operator sitting in the cab from a remotely mounted camera. The birds eye view, alone or in conjunction with the audio communications, vastly increases safety and efficiency of the crane operating environment.
  • electronics in the warning device may electronically filter the noise from the crane audible warning device so as not to interfere with normal communication with the crane operator.
  • the filtering eliminates the beeping emitted from the warning device without filtering out the normal voice of the operator and/or worker.
  • the crane warning devices are mounted on different sides of the crane so that the operator has immediate communications with all sides of the crane, further enhancing safety.
  • Yet another aspect of the invention is to provide a crane control apparatus that includes at least one wind sensor to collect information concerning wind proximal to the crane, and a display system for display the wind information gathered by the wind sensor.
  • the wind sensor detects both the speed and direction of the wind, and can provide the crane operator with direction of the crane boom relative to the wind direction.
  • the crane control apparatus includes a control console for controlling the configuration of the crane in response to the wind information provided by the wind sensor.
  • a plurality of wind sensors is mounted along the length of the boom.
  • Still yet another aspect of the invention is to provide a crane control apparatus that includes at least one wind sensor to collect information concerning wind proximal to the crane, a display system for display the wind information gathered by the wind sensor, and a boom length detector for displaying a detected length of the crane's boom.
  • the crane control apparatus includes a control console for controlling the configuration of the crane in response to the wind and wind load information provided by the wind sensor and the boom length detector.
  • a further aspect of the invention is to provide a control system for a crane that includes a display and a control console.
  • the control system generates a decision network for controlling operation of the crane, receives input data from a crane operator regarding selected nodes of the network, and configures the crane according to the input data.
  • a crane warning system 1 is incorporated in a crane 2 to improve the safety of workers (not shown) in the vicinity of the crane.
  • the crane 2 typically includes a boom 5, various movement mechanisms 6 to move the boom 5, carriage (not shown in the embodiment of Fig. 1), and/or ball 3 in any one of a plurality of directions.
  • the movement mechanisms may include any hydraulic, electromotive, mechanical, and/or other mechanisms well known in the art to cause motion of the ball 3, boom 5, and/or carriage (not shown).
  • the boom includes any jib or other extension that may be attached to the boom.
  • the crane 2 typically includes a cab 7 for accommodating an operator (not shown).
  • the cab 7 is either partially or completely enclosed to provide a controlled environment for the operator.
  • the crane 2 may include one or more crane warning devices 4 strategically disposed about the crane 2.
  • the crane warning device 4A is incorporated directly into the ball 3 of the crane 2.
  • the crane warning device 4 may be located at other strategic locations such as on the counter weight 10.
  • a crane warning device on the crane counter weight is particularly advantageous where the crane is used in an urban area. Often the crane is positioned in the street adjacent to the sidewalk. Pedestrians are often routed around the crane using orange warning cones. However, in order to keep from being injured by cars, pedestrians often stand within the cones while waiting for cars to pass. These pedestrians are often oblivious to the fact that when the crane turns, a large counter weight also swings out into the street where they are standing.
  • the crane warning devices 4 disposed on the counter weight 10 are particularly advantageous.
  • the crane warning device 4 may be located directly on the counter weight using any suitable method such as bolting, strapping, or magnetic attachment.
  • the crane warning device 4 may also be mounted toward the back of the counter weight so as to be near the portion of the counter weight which extends furthermost from the crane as the counter weight turns.
  • one or more of the crane warning devices 4 may operate in isolation or may be coupled to one or more other devices. Where the crane warning devices 4 are coupled to other devices, they may be coupled to a central control device 11, one or more other crane warning devices 4, and/or one or more remote sensors/camera units 12. Where a central control device 11 is utilized, the central control device 11 may be directly or indirectly coupled to one or more remote sensors and/or camera units 12.
  • the connections between the crane warning devices 4, the central control device 11, and remote sensors and/or camera units 12, 13 may be accomplished using any suitable mechanism such as electromagnetic transmission (e.g., radio waves) and/or direct electrical and/or optical connections.
  • the remote camera may be mounted in any suitable location such as on the boom, ball, cable, carriage, etc.
  • the remote camera 13 may be mounted such that a birds eye view is presented to the operator in the cab such that the operator can see all around the load and is not restricted to viewing only one side of the load. In this manner, where the worker stands on the far side of the load, the operator can view the workers actions and position relative to the load.
  • the camera 12, 13 may be equipped with a zoom lens to zoom-in on the work area which may be either remote conkofled and/or controlled based on the current location of the ball.
  • the zoom lens may be adjusted such that the zoom feature tracks the current location of the ball with little zoom where the ball is close to the boom and increased zoom where the ball is remote from the boom.
  • the remote camera 12, 13 may also be equipped with a laser range finder that determines the location of the ground level relative to the boom and relays this information back to a central controller.
  • the controller may cause the raising and lowering of the ball to be at a rapid rate until the ball approaches the ground or target level and then automatically slow the decent.
  • the range finder may be positioned directly over the ball and be directed at the ball where a second range finder is directed to the side of the ball at the ground or target location so that the controller is able to determine the relative distance between the ball and the ground or target location.
  • the crane warning devices 4A, 4B, and 4C may include a beacon light 20, one or more audible warning devices 22 (speakers), one or more audio processor devices 23 (microphones), a transmit/receive mechanism 24 (antenna), a tether 25, and/or one or more remote sensor/camera devices 13 coupled to an enclosure 21.
  • the crane warning device 4A is incorporated directly into the ball 3 of the crane 2. Where the crane warning device is integrated into the ball of the crane, visibility of the warning light is maximized and a centralized audible warning noise is advantageously provided to minimize interference of the load with the warning device.
  • the warning device When integrated into the ball, the warning device remains visible from substantially all angles, e.g., 360 degrees.
  • the crane warning device may be incorporated in an enclosure 21 and mounted about the crane such as on one or more sides of the counterweight 10.
  • the crane warning device may be positioned above the ball 3.
  • the crane warning device may include the beacon light 20, the audible warning device 22, the local and/or remote sensors/camera device 12, 13, audio processor devices 23, transmitter/receiver device 24, a signal processor 30, a microcontroller 31, a recharging interface 36, and a battery 32 interconnected via one or more system busses 33.
  • Fig. 7 shows an exemplary block diagram of one embodiment of the central control device 11.
  • the central control device 11 may include a signal processor 44, a microcontroller 45, an audio/visual warning device 46, an interface to the crane's electronic control system 47, a control interface 48, a transmitter/receiver 49, a remote sensor interface 41, a hydraulic control interface 42, and a display 43.
  • Fig. 8 shows an exemplary embodiment of the hydraulic system 51 of the crane 2 where hydraulic sensors 42A-42E are coupled to a hydraulic system incorporating a tank 45, a plurality of pumps P1-P6, an engine 44, and a plurality of hydraulic lines 50.
  • the crane warning devices 4 and the central control device 11 may be variously configured to include any subset of the devices shown in the block diagrams or Figs. 1-14 in any subcombination.
  • the beacon light 20 may be any suitable configuration including a flashing light or a strobe light.
  • the beacon light 20 may include a protective cover 20A made of a high impact polymer such as a plastic resin. Further, the protective cover 20A or the beacon light 20 may be colored so as to emit a red or orange light.
  • the output of the beacon light 20 is controlled such that the beacon does not interfere with the vision of the workman working in the vicinity of the ball 3. This may be done by using a colored protective cover. In one exemplary embodiment, the light output is similar to a battery operated road-side flasher.
  • the audible warning device 22 may be variously configured to include any audible warning signal such as the audible warning signal commonly associated with backing movement of a truck. It may be desirable to maintain the volume of the audible sensor within a range which alerts the workman in the vicinity of the ball to movement of the ball but without interfering with normal communications of the workman. In other words, the workman should still be able to speak over the audible warning noise. To facilitate this objective, the beeping noise emitted by the audible warning device may be limited to occur at a rate of only once per second, or ever other second or every third second. Alternatively, the audible warning noise may be emitted continuously at a particular frequency. The audible warning device 22 may be used in addition to or instead of the beacon light 20.
  • the local and/or remote sensors/carnera devices 12, 13 may be variously configured.
  • the sensors may include any one of a number of local sensors or remote sensors.
  • the local remote sensors may include a wind detector or boom length/angle detector.
  • one or more local acceleration sensors are included which detect acceleration of the ball 3 in any one of three dimensions.
  • a vertically and horizontally mounted acceleration sensor may be utilized.
  • the acceleration detector may be any detector known in the art such as a piezoelectric sensor and/or a mercury based sensor. Of these, the piezoelectric based sensor may be more desirable due to the high impact environment often experienced by the ball 3.
  • one or more laser range finder may be incorporated into the remote sensors/camera devices 12, 13.
  • a first laser range finder may be trained on and/or located within the ball to determine the distance of the ball from the boom.
  • a second laser range finder may be located on the boom and/or carriage and used to determine the distance from the boom to the ground or target location where the ball is suppose to be positioned above.
  • the first laser range finder may be utilized by the central control device to determine the rate of acceleration of the ball toward the target such that the ball may be accelerated relatively quickly while it is a great distance from the target and then slow as it approaches the target. In this manner, the overall efficiency of the crane operation may be improved without a decrease in safety.
  • the ball of a crane may move at a constant velocity with no acceleration or with a variable or constant acceleration.
  • the ball may move along the boom on a carriage, or the ball may move as a telescoping boom extends or retracts.
  • the ball may also move as the boom swings right or left or moves up or down.
  • a ball on a typical crane is capable of total three dimensional movement with either a constant velocity and no acceleration or a variable velocity with acceleration.
  • an acceleration detector alone will not reliably detect when a crane is in motion.
  • a local motion detector may be included in each of the crane warning devices which uses any suitable technique to detect motion.
  • an ultrasonic and/or laser ranging system similar to those employed to focus cameras and/or for target acquisition may be utilized.
  • one or more ultrasonic/laser ranging sensors may be mounted to detect the ball's relative distance from the boom 5, target, and/or cab 7.
  • one or more first sensors may be directed towards the boom, and one or more second sensors may be directed toward the cab or out-riggers 8 or target.
  • a plurality of sensors may be located on multiple sides of the ball in the event that the ball twists.
  • motion sensors and/or acceleration sensors may be included in the crane warning devices (e.g., mounted entirely within the ball) and/or distributed at various locations about the crane 2 and configured to be in electrical and/or electromagnetic communication with the crane warning devices and/or central control device.
  • the remote sensors may be coupled to the crane's movement mechanisms 6 and/or the crane's electronic control system 47. For example, each time that the crane's hydraulic system 51 is actuated a signal may be sent from any one of a number of remote sensors 42A-42E to the crane warning devices 4 (either directly or via the central control device 11) activating a warning. Each of the crane warning devices need not be actuated by the same signals/sensors.
  • the crane warning devices 4A, 4C proximate to the ball may be activated whenever cable movement is detected to raise, lower, or swing the cable/boom, whereas the crane warning devices 4b proximate to the counter weight 10 may only be activated when the operator initiated a swinging action of the cab such that the counter weight swung left or right.
  • each warning device may be under separate control and responsive to some separate sensors and/or some common sensors.
  • the crane warning devices may receive control locally, from the central control device 11, and/or from one or more remote sensors including the camera 13.
  • the sensors 12, 13 may send signals to the central control device 11 such that the central control device may control the accent and/or decent of the ball and/or the crane warning devices responsive to the sensors 12, 13.
  • the crane warning devices 4 may be synchronized such that the audible and/or visual warnings emitted from the devices occur in unison, This eliminates much of the noise distortion of many warning devices occurring at the same time but skewed from each other or operating at a different frequency. Further, the audible warning emitted from the warning device may change depending on the motion of the cane. For example, where the ball is moving up, a first audio frequency would be emitted; where the ball is moving down, a second audio frequency would be emitted; where the crane is turning left or right, a third audio frequency is emitted, etc.
  • the workers would know what motion to expect out of the crane based solely on the noise emitted by the warning device. Additionally, it may be desirable to delay movement of the crane for a relatively short period of time (e.g., one, two, or three seconds) while the audible tone sounds. This allows the workers to have, for example, a fraction of a second notice, before movement of the ball actually takes place.
  • the local - remote sensors may also include one or more cameras 13.
  • One or more cameras 13 may be mounted directly in the crane warning device 4 using, for example, one or more digitally corrected/concatenated wide angle lens, and/or a camera mounted on the boom/carriage to obtain a birds eye view of the workers and ball.
  • digital correction techniques and techniques to concatenate the various image views e.g., to form a 360 degree view
  • a manual, fixed, and/or automatic zoom feature may be utilized to improve the visual indication provided to the operator. The visual indication provides the operator with additional information as to the position of the load, ball and workers.
  • the camera 13 may include a fixed and/or adjustable zoom control which enables the operator to view the work up-close.
  • the control may be via one or more remote switches located in the cab such as on control interface 48.
  • the display from the camera 13 may be shown on display 43.
  • the display 43 may be further located close to the line of view of the operator out the window in the cab 7 such that the operator may watch the display while still being able to watch the ball and associated payload out the window.
  • the display 43 may be subdivided into different windows each showing a different camera angle and/or different displays.
  • the recharging interface 36 operates to recharge the batteries in the cable warning devices 4 periodically.
  • the cable warning devices incorporate lithium ion batteries which have a high charge density.
  • One or more retractable recharge cables may be coupled from the main body of the crane to the cable warning devices 4 on a periodic basis to recharge the batteries.
  • the batteries may be manually replaceable with or without an option to plug the replaced batteries into a recharging station on the crane body.
  • the crane operator will be warned that the battery 23 in one or more of the crane warning devices 4 is low and needs to be recharged and/or replaced. The indication may occur on the display 43.
  • the audio processor 23 in the crane warning devices allows the operator to communicate with the workers. Where a microphone and speaker system is included in the warning devices, the operator can communicate with the workers manipulating the ball 3. Conventionally, a worker manipulating the ball must signal the operator visually with one hand. Modern cranes have the operator enclosed in a environmentally controlled enclosure making voice communication impractical. Accordingly, by including a sophisticated audio processor (e.g., and advanced two-way baby monitor/speaker phone) within the warning devices (such as the one in the ball or on the counter weight), one located on one or more workers (e.g., a two way radio) and one within the cabin 7, the crane operator may have two way communication with the workers.
  • a sophisticated audio processor e.g., and advanced two-way baby monitor/speaker phone
  • the communication device is located in the ball, the communication device also improves over radio communications since neither the operator or the workman have to carry or wear a radio. Further, the speaker and microphone are always present in the ball further improving safety where, for example, a worker forgets his radio and/or the radio is not working due to low battery power. Further, by building the audible device into the ball of the crane, the workers do not have to utilize one hand to operate hand-held radios or other communication devices. Where both a camera and an audio processor are utilized, the combination of theses devices taken together, vastly increases safety and efficiency of the crane operating environment over either device used individually.
  • the audio processor may be further configured to electronically filter the noise from the crane's audible warning device so as not to interfere with normal communication with the crane operator. This electronic filtering is done to filter out the beeping or tones emitted from the warning device without filtering out the normal voice of the operator and/or worker. Where the beeping noise occurs at a predetermined frequency, an electronic filter in the audio processor may be utilized to eliminate or severely attenuate the warning noise such that the operator can easily communicate with the workers.
  • the verbal communication to each of the warning devices further enhances safety in that the operator has immediate communications with all sides of the crane. For example, where another worker notices a safety concern, he can communicate with the operator using any one of the cable warning devices 4.
  • Communications between the various motion sensors, warning devices 4, and/or central control device 11 may be accomplished using any suitable mechanism such as transmitter/receiver devices 24, 49.
  • the devices may communicate using electromagnetic waves such as radio waves.
  • a radio frequency in the range of about 900MHz may be utilized to communicate between the warning device coupled to the ball and the warning device coupled to other portions of the crane.
  • Suitable error correction codes, loss of signal detection, and channel hopping may be incorporated into the transmitter/receiver devices 24, 49 to increase safety and reliability.
  • the warning devices 4 and/or central control device may be programmed to sound an alarm.
  • fail-safe mechanisms may be built into the crane warning device such that the warning device is activated whenever a sensor fails or loses contact (e.g., radio contact) with the warning device.
  • a crane warning device status monitor may be built into the cabin of the crane so that the operator may be warned of any operational problems with any of the sensors in a timely fashion. Further, the operator may be able to determine and/or select a particular microphone/speaker to which to communicate.
  • the camera feed may be sent from the camera(s) 13 and/or central control device 11 to two or more locations.
  • the camera feed may be sent to a monitor mounted in the site supervisor's and/or foreman's trailer.
  • the remote feed may be transmitted via a telephone link and/or other link to a remote office such as the construction companies headquarters such that the main company may track the progress of each of its construction projects in real time.
  • the site supervisor and/or foreman may be able to monitor the activities of the site to determine work progress and/or worker activity and be alerted to potential safety problems immediately.
  • the central office may be able to centralize ordering and scheduling activities from the main office without having to distribute staff to each of the individual work sites.
  • the crane 2 may be a crane commonly utilized to construct tall buildings.
  • the camera may be mounted on the carriage 20. Further, the cameras and/or sensors 12, 13, 13A may also be mounted on the carriage. Additional cameras may be mounted on other locations of the crane such as the cab 7.
  • the camera mounted on the cab 7 may be configured to track the ball knowing the location of the carriage 20 (using, for example a laser range finder mounted to the carriage and directed toward the cabin, and/or on the cabin and directed towards the carriage) and the location of the ball using a second range finder located on the ball and/or on the carriage 20). In this manner, the camera may be automatically moved to track the current location of the ball and zoom in on the work area.
  • the mounting of the camera on the carriage allows the operator to see around blind ends of the building as the building is constructed such that the crane operator may see areas which would otherwise be obstructed. In this manner, the overall speed, efficiency, and safety of the crane operation is improved.
  • Cameras are known in automated manufacturing environments where cranes are also utilized to transport various components along the manufacturing line.
  • the use of remotely mounted cameras on the boom, cradle, and/or ball of a cantilever type crane has not heretofore been done, particularly in the construction industry.
  • a communication bus such as an Ethernet, fire wire, and/or fiber optic communication path may be disposed along the tower, and/or from the boom to the cab in order to facilitate communications from the various sensors/cameras, the cab, and/or any remote sites (e.g., a trailer).
  • Fig. 10 illustrates a crane safety device according to another embodiment of the invention.
  • the safety device includes a wind detector 53, a boom length detector 68, an alarm 69, the microcontroller 45, the display 43 and the control interface 48.
  • Fig. 10 shows a simplified block diagram of the exemplary system shown in Figs. 6 and 7.
  • the wind detector 53 may be utilized to detect information relating to wind proximal to the crane. The wind detector then provides this information to the microcontroller 45, which transmits this information to display 43.
  • the display 43 may display the wind information from the wind detector 53 for the crane operator.
  • the display 43 may display current wind information, collected from the wind detector 53, to the crane operator, so that the crane operator may more safely operate the crane.
  • the display 43 may be any conventional display.
  • the display 43 may be a cathode ray tube display or a liquid crystal display.
  • the display 43 may be a "heads-up" type display, that projects an image onto, for example, the windshield of the crane's cab 7, or the eyes of the crane operator. The use of such a "heads-up" type display allows the crane operator to view relevant safety and control information without having to divert attention from the load being carried by the crane.
  • the display 43 may be used as a configuration display and/or a display to output video information (e.g. camera feeds) to the operator.
  • video information e.g. camera feeds
  • one or more display "windows" or overlays may be utilized for this function.
  • one or more separate displays may be utilized, e.g., one for control and one for video feedback.
  • Embodiments of the invention may also employ a control interface 48 with the display 43.
  • the control interface 48 may be integrated with display 43 (as with a touch-screen display), or may be a separate module.
  • the control interface 48 receives data input by the crane operator, and passes this information back to microcontroller 45.
  • Microcontroller 45 can then operate the crane according to the operator's instructions. Thus, the crane operator may directly operate the crane in response to detected wind information.
  • the wind detector 53 may include a rod 58 transversely mounted on a support shaft 59. One end of the rod 58 may be connected to a vane 60, while the opposite end of the rod 58 may be connected to a pinwheel 61.
  • the support shaft 59 may be rotatably mounted on a compass 62 or, alternatively, on an optical rotation detector.
  • any suitable angular displacement device may be utilized to detect the direction of the wind relative to the boom direction.
  • the shaft 59 may include an optical encoder which detects whether the wind is blowing in a direction perpendicular to the boom 5, towards the front of the boom 5, towards the rear of the boom 5, or any direction in-between. The use of an optical encoder provides accurate determination of the wind direction relative to the boom direction irrespective of the location of the crane or external magnetic interference.
  • the vane 60 when wind blows past the wind detector 53, the vane 60 turns the shaft 59 so that the direction of the vane 60 matches that of the wind.
  • the rotation of the shaft 59 relative to the compass 62 may identify the wind direction relative to the boom direction.
  • one or more compasses or encoders may also be used to measure the direction of the boom 5 itself.
  • the microcontroller 45 can use the information from the wind detector 53 to determine the direction of the wind relative to the direction of the boom 5.
  • the pinwheel 61 measures the speed of the wind in a conventional manner.
  • the rotating shaft supporting the pinwheel may be connected to an optical encoder that provides a digital or analog voltage value corresponding to the rotational speed of the shaft.
  • connector 64 pivotably attaches the rod 63 to the boom 5
  • this preferred wind detector 53 includes a vane for measuring wind direction and a pinwheel for measuring wind speed
  • other structures can be employed.
  • lasers to measure wind speed and direction.
  • the laser wind detector may be completely protected by an enclosure mounted on the end of the boom. The laser may be pointed along the boom and reflected back to the detector. In this manner, the average wind speed along the boom may be accurately determined using a single sensor. In some embodiments where high reliability is desired, laser detectors are preferred even where they involve additional costs.
  • the wind detector 53 could use a gyroscopic system to determine the direction of the wind or the direction of the wind relative to the direction of the boom 5.
  • a gyroscopic system allows the crane operator to accurately ascertain the direction of the boom relative to the wind, irrespective of the crane's location or external magnetic interference. It is also possible to use a plurality of wind detectors 53. For example, a first wind detector 53 can be mounted at the outer end of boom 5, a second wind detector 53 can be mounted on the cab 7, and a third wind detector along the boom 5. According to one particularly preferred embodiment, a number of wind detectors 53 are positioned at intervals along the length of the boom 5. The use of multiple wind detectors allows the system to more accurately measure the overall wind speed despite the occurrence of brief localized gusts of wind.
  • the wind detector may also comprise a protective cage 56 (see Fig. 11B) disposed about the wind detector 53.
  • the display 43 can display some or all of the information collected by the wind detector (or detectors) 53. This allows the crane operator to safely operate the crane in view of the prevailing wind characteristics. Further, the display 43 can display additional information calculated by the microcontroller 45 from the wind characteristics. For example, the microcontroller 45 and display 43 together can calculate and show the wind load of the crane based upon the surface area of the boom 5 and the direction of the boom 5 relative to the wind direction.
  • the invention is an interactive system that allows the crane operator to control the operation of the crane in response to wind information provided by the wind detector. For example, the crane operator can input the current load weight for the crane. The microcontroller 45 and display 43 can then calculate and display the safe operating parameters of the crane based upon the surface area of the boom 5, the direction of the boom 5 relative to the wind direction, and the current load weight. Where high wind conditions prevail, the microcontroller 45 can automatically reduce the maximum rated load for a particular crane configuration and have display 43 inform the operator of the maximum rated load.
  • the microcontroller 45, display 43 and control interface 48 allow the crane operator to control the operation of the crane by employing a decision network 66, as shown in Fig. 12.
  • the decision network 66 includes a number of control nodes 67.
  • Each control node 67 corresponds to a control operation for a particular configuration of the crane.
  • node 67a may correspond to a control subroutine for controlling the angle of the boom 5.
  • Node 67b may then correspond to a control subroutine for controlling the position of the crane support, while node 67c may correspond to a control subroutine for controlling the type of hook used by the crane.
  • Node 67d can then correspond to a control subroutine for controlling the crane's counterweight, while node 67e may correspond to a control subroutine for controlling the type of boom extension employed by the crane.
  • the nodes 67 need not be accessed sequentially. Instead, any control node 67 may be accessed from any other control node 67. This arrangement allows the crane operator to quickly reconfigure specific features of the crane without having to go through a lengthy control process.
  • Fig. 13 illustrates one embodiment of the display system 55 in more detail, and illustrates one implementation of a decision network 66 according to an aspect of the invention.
  • embodiments of the invention may include the display 43 and control interface 48.
  • the display 43 may display, for example, wind information images 68-71, that show the wind speed, wind direction, angle of wind to boom and wind load, respectively.
  • the display 43 may also display a decision network control image 72, for controlling the operation of the decision network to thereby control the operation of the crane.
  • the control interface 48 may include a plurality of control keys 73.
  • Control keys 73 may be alphabetical keys, numeric keys, function specific keys (e.g., "On,” “Off,” “Start"), or any combination thereof.
  • the control interface 48 may also include a dynamic pointing device, such as touchpad 74 with associated trigger buttons 75 and 76.
  • touchpad 74 allows the crane operator to more efficiently control the selection of features on the display 43, but is resistant to dirt and damage.
  • other dynamic pointing devices such as a trackball, pointing stick, stylus, etc., may be employed, where, for example, the control interface 48 is vertically mounted so that a touchpad cannot be efficiently used.
  • the display 43 may display a decision network control image 72.
  • the decision network control image 72 includes an image 67' corresponding to each node 67 of the control network.
  • the decision network control image 72 shown in Fig. 13 includes node images 67a', 67b', 67c', 67d', and 67e' corresponding to decision network nodes 67a, 67b, 67c, 67d, and 67e, respectively.
  • a crane operator can employ the touchpad 74 or control keys 73 to select a node image corresponding to a desired node operation.
  • node image 67d' (corresponding to the node 67d for counterweight control) is enlarged, indicating its selection by the crane operator.
  • the operator can then select a specific weight shown in the node image 67d', using either the touchpad 74 or the control keys 73. Selection of a specific weight in the node image 67d' instructs the control node 67d to configure the crane for that weight.
  • the crane operator selects a specific weight, he can deselect the control node 67d by selecting the "CLOSE" button 77 on the node image 67d'.
  • This interface is advantageous over that disclosed in, for example, U.S. Patent 5,731,974, in that it allows the operator to scan all configuration parameters simultaneously providing multiple opportunities to correct any errors and facilitating ease of use.
  • each of the node images 67' may simultaneously be included in the decision network control image 72.
  • two or more control nodes may be selected for operation simultaneously. This allows the operator to configure various parameters of the crane at a single time, so that the operator can readily ascertain the status of all of the crane's parameters that are interrelated.
  • all of the node images 67' may simultaneously be displayed in the decision network control image 72. This allows the crane operator to move from any node image 67' to any other node image 67', thereby permitting the crane operator to control specific features of the crane without having to go through a lengthy control process.
  • the display 43 shown in Figure 13 includes pictographic images, alternate embodiments of the invention can display text images, as shown in Fig. 14, or a combination thereof. Also, as noted above, the display can show images taken by remote camera units 13. As shown in Figures 15 and 16, the display can show both node images 67 and camera pictures 78.
  • Figure 15 illustrates one embodiment of the invention where camera pictures 78a-78d are displayed simultaneous with but separate from the decision network control image 72.
  • Figure 16 illustrates another embodiment of the invention where the control node images 67 are included in the same window as the camera pictures 78a-78d.
  • the windows showing both the node images 67 and the camera pictures 78 can be overlaid, tiled, and otherwise arranged as known in the art.
  • the microcontroller 45 may also automatically control the operation of the crane. For example, the microcontroller 45 may limit the rotational movement of the boom 5 based upon the wind load, to prevent the boom 5 from turning too transverse to the wind direction. The microcontroller 45 may also prevent the boom 5 from being lengthened if the wind speed exceeds a preset value.
  • the boom length detector 68 may detect the current length of the boom 5, and provide this information to the microcontroller 45.
  • the microcontroller 45 may obtain the present boom length from boom length detector 68, and the wind speed and direction from one or more wind detectors 53. From this information, the microcontroller 45 can more accurately calculate the current wind load on the boom 5, and display some or all of this information (e.g., wind speed, wind direction, wind direction relative to boom direction, and boom length) to the crane operator through display 43.
  • the boom operator can then control the operation of the crane through control interface 48.
  • the microcontroller 45 may automatically control or limit operation of the crane based upon the wind information and boom length.
  • the boom length detector 68 can be separate from the wind detector 53, or may be an. integral component of the wind detector 53.
  • the boom length detector 68 can include an optical encoder with a shaft that rotates in a first direction when the boom 5 is extended, and rotates in the opposite direction when the boom 5 is retracted. The use of an optical encoder will facilitate precise measurement of the boom length.
  • distance measuring lasers can be included in the wind detectors 53 to measure the distance between them (and thus the current length of the boom 5).
  • the use of distance measuring lasers that are included with the wind detectors 53 allow a crane to be easily and simultaneously retrofitted with both.
  • Other variations and arrangements for the boom length detector 68 will be apparent to those of ordinary skill in the art.
  • the alarm 69 may activate when the wind speed measured by the wind detector 53 exceeds a preset value.
  • the alarm may be activated by a number of different parameters (e.g., wind load, load weight, etc.), however, in addition to or instead of a threshold wind speed value.
  • the alarm may be a visible alarm, such as a flashing light, or an audible alarm, such as a siren, or both.
  • one or more of the above elements may be combined with another element, method, or technique shown in the drawings or described in the specification.
  • one or more of the above elements may be utilized on a cantilevered construction crane having a boom length of at least 80 feet and even more desirable for those cantilevered construction cranes having a total boom length in excess of 100 feet.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP01200047A 2001-01-09 2001-01-09 Sicherheitsvorrichtung und Verfahren für Kräne Withdrawn EP1221426A3 (de)

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Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008021249A1 (de) * 2008-04-28 2009-11-19 Miroslaw-Anton Przybyl Drahtloses Kamerasystem zur Ueberwachung einer Kranladung im Bereich Güterladung/Güterentladung
US20110084044A1 (en) * 2009-10-08 2011-04-14 Caterpillar, Inc. Lightweight High-Performance Pipelayer
RU2449940C2 (ru) * 2010-07-28 2012-05-10 Общество с ограниченной ответственностью "Научно-производственное предприятие "ЭГО" Способ передачи данных между измерительным преобразователем и управляющим устройством и линия связи для его осуществления
CN103145046A (zh) * 2013-02-17 2013-06-12 中国葛洲坝集团机械船舶有限公司 复杂工况下桥机的自动安全控制装置及方法
CN103879881A (zh) * 2014-03-10 2014-06-25 中联重科股份有限公司 起重机的吊钩安全运行控制方法、装置、系统及起重机
CN103979414A (zh) * 2014-05-26 2014-08-13 中联重科股份有限公司 车身倾角监控系统、控制方法、控制装置及起重机
WO2014173609A1 (de) * 2013-04-22 2014-10-30 Manitowoc Crane Group Frances Sas Sensorbasierte überwachung von windrichtung und wärmeeinstrahlung für ein mobiles arbeitsgerät
EP2835668A1 (de) * 2013-08-07 2015-02-11 ZF Friedrichshafen AG System und Verfahren zur frühen Unwetterwarnung
BE1021953B1 (fr) * 2013-08-08 2016-01-28 LAMRABTI, Abdo Samad Camera & communication
CN105776023A (zh) * 2016-05-27 2016-07-20 重庆大学 基于绳索的升降设备极限位置检测机构
DE102015016848A1 (de) * 2015-12-23 2017-06-29 Liebherr-Werk Biberach Gmbh System zur zentralen Steuerung von ein oder mehreren Kranen
WO2017168180A1 (en) * 2016-04-01 2017-10-05 Wind Farm Analytics Ltd Flow measurement device for a structure
CN108675146A (zh) * 2018-06-04 2018-10-19 江北建设有限公司 一种建筑工地起重机
RU189015U1 (ru) * 2019-02-15 2019-05-06 Общество с ограниченной ответственностью "Научно-производственное предприятие "ЭГО" Система безопасности и управления грузоподъёмной машины
RU189103U1 (ru) * 2019-02-15 2019-05-13 Общество с ограниченной ответственностью "Научно-производственное предприятие "ЭГО" Система безопасности и управления грузоподъёмной машины
RU2700312C1 (ru) * 2018-08-13 2019-09-16 Федеральное государственное бюджетное образовательное учреждение высшего образования "Петербургский государственный университет путей сообщения Императора Александра I" Способ повышения безопасности и система безопасности стрелового грузоподъемного крана
CN110371855A (zh) * 2019-08-16 2019-10-25 福建省特种设备检验研究院 港口起重机防阵风能力检测装置及其检测方法
CN112141897A (zh) * 2020-08-21 2020-12-29 南京工程学院 一种高空吊装防倾翻控制方法
CN113620178A (zh) * 2021-08-24 2021-11-09 交通运输部天津水运工程科学研究所 一种用于港口门座式起重机作业风速预警的方法及装置
EP3945064A1 (de) * 2020-07-29 2022-02-02 Liebherr-Werk Nenzing GmbH System zur überwachung von windeinflüssen auf ein arbeitsgerät
US20220194750A1 (en) * 2020-12-17 2022-06-23 Delaware Capital Formation, Inc. Wind speed indicator
WO2022167589A1 (de) * 2021-02-05 2022-08-11 Liebherr-Werk Biberach Gmbh Kran
EP3137407B1 (de) 2014-04-28 2023-07-19 Liftra IP ApS Verfahren und vorrichtung zur automatischen regelung der position einer aufgehängten last in einem hauptdraht an einem kran
IT202200019938A1 (it) * 2022-09-28 2024-03-28 Fassi Gru S P A Sistema adattativo per la movimentazione di un braccio articolato, in particolare di una gru articolata

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008021249A1 (de) * 2008-04-28 2009-11-19 Miroslaw-Anton Przybyl Drahtloses Kamerasystem zur Ueberwachung einer Kranladung im Bereich Güterladung/Güterentladung
US20110084044A1 (en) * 2009-10-08 2011-04-14 Caterpillar, Inc. Lightweight High-Performance Pipelayer
US8783477B2 (en) * 2009-10-08 2014-07-22 Caterpillar Inc. Lightweight high-performance pipelayer
RU2449940C2 (ru) * 2010-07-28 2012-05-10 Общество с ограниченной ответственностью "Научно-производственное предприятие "ЭГО" Способ передачи данных между измерительным преобразователем и управляющим устройством и линия связи для его осуществления
CN103145046A (zh) * 2013-02-17 2013-06-12 中国葛洲坝集团机械船舶有限公司 复杂工况下桥机的自动安全控制装置及方法
CN103145046B (zh) * 2013-02-17 2015-08-12 葛洲坝机械工业有限公司 复杂工况下桥机的自动安全控制装置及方法
DE112014002081B4 (de) 2013-04-22 2022-03-17 Manitowoc Crane Group France Sas Sensorbasierte Überwachung von Windrichtung und Wärmeeinstrahlung für ein mobiles Arbeitsgerät
WO2014173609A1 (de) * 2013-04-22 2014-10-30 Manitowoc Crane Group Frances Sas Sensorbasierte überwachung von windrichtung und wärmeeinstrahlung für ein mobiles arbeitsgerät
US10115284B2 (en) 2013-08-07 2018-10-30 Zf Friedrichshafen Ag System and method for early weather alert
EP2835668A1 (de) * 2013-08-07 2015-02-11 ZF Friedrichshafen AG System und Verfahren zur frühen Unwetterwarnung
BE1021953B1 (fr) * 2013-08-08 2016-01-28 LAMRABTI, Abdo Samad Camera & communication
CN103879881B (zh) * 2014-03-10 2016-05-11 中联重科股份有限公司 起重机的吊钩安全运行控制方法、装置、系统及起重机
CN103879881A (zh) * 2014-03-10 2014-06-25 中联重科股份有限公司 起重机的吊钩安全运行控制方法、装置、系统及起重机
EP3137407B1 (de) 2014-04-28 2023-07-19 Liftra IP ApS Verfahren und vorrichtung zur automatischen regelung der position einer aufgehängten last in einem hauptdraht an einem kran
CN103979414B (zh) * 2014-05-26 2016-05-18 中联重科股份有限公司 车身倾角监控系统、控制方法、控制装置及起重机
CN103979414A (zh) * 2014-05-26 2014-08-13 中联重科股份有限公司 车身倾角监控系统、控制方法、控制装置及起重机
DE102015016848A1 (de) * 2015-12-23 2017-06-29 Liebherr-Werk Biberach Gmbh System zur zentralen Steuerung von ein oder mehreren Kranen
US10906784B2 (en) 2015-12-23 2021-02-02 Liebherr-Werk Biberach Gmbh Method for crane assembly
US11753281B2 (en) 2015-12-23 2023-09-12 Liebherr-Werk Biberach Gmbh Method for crane assembly
WO2017168180A1 (en) * 2016-04-01 2017-10-05 Wind Farm Analytics Ltd Flow measurement device for a structure
GB2564802A (en) * 2016-04-01 2019-01-23 Wind Farm Analytics Ltd Flow measurement device for a structure
CN109416373A (zh) * 2016-04-01 2019-03-01 风电场分析有限公司 用于结构体的流量测量装置
CN105776023B (zh) * 2016-05-27 2017-07-25 重庆大学 基于绳索的升降设备极限位置检测机构
CN105776023A (zh) * 2016-05-27 2016-07-20 重庆大学 基于绳索的升降设备极限位置检测机构
CN108675146B (zh) * 2018-06-04 2019-06-28 江北建设有限公司 一种建筑工地起重机
CN108675146A (zh) * 2018-06-04 2018-10-19 江北建设有限公司 一种建筑工地起重机
RU2700312C1 (ru) * 2018-08-13 2019-09-16 Федеральное государственное бюджетное образовательное учреждение высшего образования "Петербургский государственный университет путей сообщения Императора Александра I" Способ повышения безопасности и система безопасности стрелового грузоподъемного крана
RU189103U1 (ru) * 2019-02-15 2019-05-13 Общество с ограниченной ответственностью "Научно-производственное предприятие "ЭГО" Система безопасности и управления грузоподъёмной машины
RU189015U1 (ru) * 2019-02-15 2019-05-06 Общество с ограниченной ответственностью "Научно-производственное предприятие "ЭГО" Система безопасности и управления грузоподъёмной машины
CN110371855A (zh) * 2019-08-16 2019-10-25 福建省特种设备检验研究院 港口起重机防阵风能力检测装置及其检测方法
CN110371855B (zh) * 2019-08-16 2024-02-09 福建省特种设备检验研究院 港口起重机防阵风能力检测装置及其检测方法
EP3945064A1 (de) * 2020-07-29 2022-02-02 Liebherr-Werk Nenzing GmbH System zur überwachung von windeinflüssen auf ein arbeitsgerät
US12007311B2 (en) 2020-07-29 2024-06-11 Liebherr-Werk Nenzing Gmbh System for monitoring wind influences on a working machine
CN112141897B (zh) * 2020-08-21 2022-12-06 南京工程学院 一种高空吊装防倾翻控制方法
CN112141897A (zh) * 2020-08-21 2020-12-29 南京工程学院 一种高空吊装防倾翻控制方法
US20220194750A1 (en) * 2020-12-17 2022-06-23 Delaware Capital Formation, Inc. Wind speed indicator
WO2022167589A1 (de) * 2021-02-05 2022-08-11 Liebherr-Werk Biberach Gmbh Kran
CN113620178A (zh) * 2021-08-24 2021-11-09 交通运输部天津水运工程科学研究所 一种用于港口门座式起重机作业风速预警的方法及装置
CN113620178B (zh) * 2021-08-24 2023-11-28 交通运输部天津水运工程科学研究所 一种用于港口门座式起重机作业风速预警的方法及装置
IT202200019938A1 (it) * 2022-09-28 2024-03-28 Fassi Gru S P A Sistema adattativo per la movimentazione di un braccio articolato, in particolare di una gru articolata

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