EP1746064B1 - Crane, in particular mobile crane or crawler crane - Google Patents
Crane, in particular mobile crane or crawler crane Download PDFInfo
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- EP1746064B1 EP1746064B1 EP06014466A EP06014466A EP1746064B1 EP 1746064 B1 EP1746064 B1 EP 1746064B1 EP 06014466 A EP06014466 A EP 06014466A EP 06014466 A EP06014466 A EP 06014466A EP 1746064 B1 EP1746064 B1 EP 1746064B1
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- crane
- planner
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- program
- monitoring device
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- 238000012544 monitoring process Methods 0.000 claims description 24
- 238000012806 monitoring device Methods 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000006870 function Effects 0.000 description 8
- 238000010276 construction Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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Classifications
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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
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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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
Definitions
- the invention relates to a crane, preferably a caterpillar or vehicle crane according to the preamble of claim 1.
- a deployment planner is a computer program for planning, simulating and documenting crane operations on a PC. Once an order has been received, it is planned in detail via the dispatch planner. This pre-planned and documented planning is then processed during the mission.
- a crane monitoring device eg load torque limitation, overload limitation, working area limitation, power limitation
- a crane monitoring device for monitoring the operating state of the crane.
- Such a crane monitoring device consists essentially of one or more computing systems and at least one display unit.
- sensors arranged on the crane sensor signals such as recorded angles, lengths or weights are read.
- the crane monitoring device determines, based on stored comparison values, whether the crane is overloaded or is used in the permitted working area.
- the known crane monitoring device is designed only one channel and can fail.
- a crane with a deployment planner is known.
- the US 2005/098520 A1 describes a mobile crane in which a deployment planner includes a display unit that is switchable between two modes of operation.
- the first operating mode concerns the planning of the crane operation.
- the second operating mode relates to crane monitoring.
- Object of the present invention is to improve the safety of crane monitoring and also to increase the ease of use for the crane operator.
- a crane according to the invention preferably a caterpillar or vehicle crane, initially has a crane monitoring device for monitoring the operating state of the crane, which consists of one or more computer systems and at least one display unit.
- an operational planner which consists of one or more computer systems and at least one own monitor output.
- This deployment planner works on the one hand as a device for planning the crane operation and on the other hand as a redundant crane monitoring unit in addition to the crane monitoring device.
- the deployment scheduler stationarily used has been included as a component in the crane.
- the crane driver immediately has the job scheduler available on site, which means that he can plan the appropriate crane application in detail.
- the deployment planner is not only used here as a device for planning the use of the crane. Rather, it is used as a redundant crane monitoring unit, in that here corresponding sensor values, which were recorded by the sensors arranged distributed in the crane, are fed in. These form input values for data stored in the dispatch planner Calculation programs with the aid of which the current operating data and limit values of the crane are recalculated. As a result, a diverse and thus independent parallel monitoring instrument is created, which means that the crane according to the invention has a multi-channel independent monitoring.
- both the crane monitoring device and the resource planner each have their own display units. These are then verifiable at the same time without the need to switch screen content for a crane operator.
- the display unit of the dispatch planner can advantageously be switched at any time between the display of the device for planning the crane operation and the crane monitoring unit, the current crane position is taken .
- the crane operator is usually operate the display unit in the mode in which he is here before using the crane Check the planning of the crane operation.
- he can then switch the display unit to the mode of the redundant crane monitoring, so that he can monitor in parallel here the display of the crane monitoring device and the display of the redundant crane monitoring unit.
- the crane has at least one comparison unit which compares the crane operating values determined independently of one another in the service planner on the one hand and in the crane monitoring device and generates an error message (eg optical and / or acoustic warning signal) when an impermissible deviation occurs and / or thus influences the crane control in that the crane is kept in a safe state or enters a safe state (safety shutdown).
- an error message eg optical and / or acoustic warning signal
- the dispatch planner and the crane monitor may mutually exchange data and intermediate results, e.g. for further calculation, display and monitoring.
- the deployment planner can advantageously as a device for planning the crane use a load capacity program for calculating the load, a configuration selection program for selecting crane configurations (such as boom length, ballast, support base, range of rotation, ballast radius, additional equipment), a ballast determination program to determine the depending on the crane type depending to be used minimum and maximum derrick ballast, a planning program for simulating the planned crane operation (ie changing operating parameters such as angle of boom and accessories, boom length, ballast, Berrickballast, Derrickballastradius), a Stützkraftbeticians program to determine the forces occurring at the supports, a track crushing program to determine the Contain the caterpillars occurring soil pressures and anti-collision device for collision avoidance of several working in combination cranes.
- a load capacity program for calculating the load
- configuration selection program for selecting crane configurations (such as boom length, ballast, support base, range of rotation, ballast radius, additional equipment)
- ballast determination program to determine the depending on the crane type depending to be used minimum and maximum derrick bal
- the dispatch planner may execute the essential programs described above as a redundant crane monitoring unit based on data stored in its memory for the current crane setting values set and the current crane sensor values recorded by various sensors.
- the load can also be displayed as a function of the radius.
- the radius and the respective derrick ballast radius or also the load capacity and the respective derrick ballast radius can be displayed.
- the single figure shows schematically the interconnection of the mission planner on the one hand and the crane monitoring device on the other.
- a crane for example a crawler crane or a vehicle crane, has a crane monitoring device 10 which, on the one hand, consists of a computer unit 12 and a monitor 14.
- sensor signals S such as angle, length, weights, etc., which are recorded by sensors 16 on the crane, read.
- the permissible working range and load limit values of the crane are monitored on the basis of values stored in the memory, such as crane-specific load tables as a function of set-up condition and shearing.
- a deployment planner 18 is provided, which also has its own monitor 20 and a Calculator 21 has two functions.
- the first function is indicated by the reference numeral 22 and relates to the function known per se as a dispatch planner.
- scheduler functions which could already be calculated centrally by a scheduler on a PC.
- the operation is done for example via a mouse 26 or a keyboard (eg touch screen) of the monitor 20 (not shown here).
- This function is completely independent of the second function, namely the redundant crane monitoring 24.
- sensor values S are read into the computer unit 21 by the sensors 16 arranged on the crane.
- setting values E are given from the crane monitoring device 10 to the redundant crane monitor 24, these setting values, for example the operating mode, the shearing or other set values of the crane, relating to.
- This is data that the crane operator has set on the crane monitor or that are supplied via sensors (eg: ballast equipment, support base, boom configuration).
- sensors eg: ballast equipment, support base, boom configuration.
- additional data and intermediate results can be exchanged between the scheduler and crane monitoring.
- the current setting values and the current crane sensor values are evaluated and the current operating parameters and monitoring limits are calculated in parallel and independently of the crane monitoring device with the aid of load values and geometry files stored in the deployment scheduler 18.
- the calculation results independently obtained by the dispatch planner 18 on the one hand and the crane monitoring device 10 on the other hand are compared at least in one computer and if the deviation of the respective results is impermissible, an error signal is output which is displayed directly in the Crane control can be further processed eg prevention of dangerous movements and additionally triggering an alarm.
- all the usual graphical representations of the dispatch planner on the PC can be displayed on the monitor 20 of the dispatch planner 18, wherein the data and graphics images can be displayed for the respective current crane state, since all current sensor values and other data are provided to the dispatch planner 18 become.
- the graphics of the dispatcher monitor 20 move according to the current crane position.
- graphic images can be displayed in different views.
- the crawler pressing can also be represented dynamically here, while in the case of a crane with supports, the respectively occurring supporting forces can be displayed.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Description
Die Erfindung betrifft einen Kran, vorzugsweise einen Raupen- oder Fahrzeugkran nach dem Oberbegriff des Anspruchs 1.The invention relates to a crane, preferably a caterpillar or vehicle crane according to the preamble of claim 1.
Fahrzeugkrane und Raupenkrane sind in unterschiedlichen Größen und Rüstzuständen bekannt. Um für einen bestimmten Einsatz eines Kranes den richtigen Kran mit dem für die zu lösende Aufgabe zutreffenden Rüstzustand und dem korrekten Ballastgewicht versehenen Kran auszuwählen und den bevorstehenden Einsatz zu planen, ist es bereits bekannt, einen Einsatzplaner zu verwenden. Bei einem derartigen Kraneinsatzplaner handelt es sich um ein Computerprogramm zur Planung, Simulation und Dokumentation von Kraneinsätzen an einem PC. Nach Eingang eines Auftrags wird dieser über den Einsatzplaner im einzelnen geplant. Diese im Voraus durchgeführte und dokumentierte Planung wird dann während des Einsatzes abgearbeitet.Mobile cranes and crawler cranes are known in different sizes and setup states. In order to select the right crane with the crane for the particular task to be performed and the correct ballast weight for a specific application of a crane, and to plan the upcoming deployment, it is already known to use a deployment planner. Such a crane deployment planner is a computer program for planning, simulating and documenting crane operations on a PC. Once an order has been received, it is planned in detail via the dispatch planner. This pre-planned and documented planning is then processed during the mission.
Es ist weiterhin bekannt, einen Kran mit einer Kranüberwachungseinrichtung (z.B. Lastmomentbegrenzung, Überlastbegrenzung, Arbeitsbereichsbegrenzung, Leistungsbegrenzung) zur Überwachung des Betriebszustandes des Krans auszurüsten. Eine derartige Kranüberwachungseinrichtung besteht im wesentlichen aus einem oder mehreren Rechensystemen und mindestens einer Anzeigeeinheit. In das Rechnersystem werden über am Kran angeordnete Sensoren aufgenommene Sensorsignale, wie beispielsweise aufgenommene Winkel, Längen oder Gewichte eingelesen. Die Kranüberwachungseinrichtung ermittelt dann auf der Grundlage entsprechend abgespeicherter Vergleichswerte, ob der Kran überlastet ist oder im erlaubten Arbeitsbereich eingesetzt wird. Die bekannte Kranüberwachungseinrichtung ist allerdings nur einkanalig ausgebildet und kann ausfallen.It is also known to equip a crane with a crane monitoring device (eg load torque limitation, overload limitation, working area limitation, power limitation) for monitoring the operating state of the crane. Such a crane monitoring device consists essentially of one or more computing systems and at least one display unit. In the computer system recorded via sensors arranged on the crane sensor signals, such as recorded angles, lengths or weights are read. The crane monitoring device then determines, based on stored comparison values, whether the crane is overloaded or is used in the permitted working area. However, the known crane monitoring device is designed only one channel and can fail.
Aus der
Aufgabe der vorliegenden Erfindung ist es, die Sicherheit der Kranüberwachung zu verbessern und darüber hinaus den Bedienungskomfort für den Kranfahrer zu steigern.Object of the present invention is to improve the safety of crane monitoring and also to increase the ease of use for the crane operator.
Erfindungsgemäß wird diese Aufgabe durch die Kombination der Merkmale des Anspruchs 1 gelöst. Demnach weist ein erfindungsgemäßer Kran, vorzugsweise ein Raupen- oder Fahrzeugkran, zunächst eine Kranüberwachungseinrichtung zur Überwachung des Betriebszustandes des Kranes auf, die aus einem oder mehreren Rechnersystemen und mindestens einer Anzeigeeinheit besteht. Erfindungsgemäß ist zusätzlich ein Einsatzplaner, der aus einem oder mehreren Rechnersystemen und mindestens einem eigenen Monitorausgang besteht. Dieser Einsatzplaner arbeitet einerseits als Vorrichtung zur Planung des Kraneinsatzes und andererseits als redundante Kranüberwachungseinheit zusätzlich zur Kranüberwachungseinrichtung. Im vorliegenden Fall ist also der an sich stationär verwendete Einsatzplaner als Bestandteil in den Kran aufgenommen worden. Das führt dazu, dass der Kranfahrer unmittelbar den Einsatzplaner vor Ort zur Verfügung hat, also den entsprechenden Kraneinsatz im Detail vorausplanen kann.According to the invention this object is achieved by the combination of the features of claim 1. Accordingly, a crane according to the invention, preferably a caterpillar or vehicle crane, initially has a crane monitoring device for monitoring the operating state of the crane, which consists of one or more computer systems and at least one display unit. According to the invention, there is additionally an operational planner, which consists of one or more computer systems and at least one own monitor output. This deployment planner works on the one hand as a device for planning the crane operation and on the other hand as a redundant crane monitoring unit in addition to the crane monitoring device. In the present case, therefore, the deployment scheduler stationarily used has been included as a component in the crane. As a result, the crane driver immediately has the job scheduler available on site, which means that he can plan the appropriate crane application in detail.
Gemäß der vorliegenden Erfindung wird der Einsatzplaner hier nicht nur als Vorrichtung zur Planung des Kraneinsatzes verwendet. Vielmehr wird er als redundante Kranüberwachungseinheit eingesetzt, indem hier entsprechende Sensorwerte, die von den im Kran verteilt angeordneten Sensoren aufgenommen wurden eingespeist werden. Diese bilden Eingangswerte für im Einsatzplaner abgespeicherte Berechnungsprogramme, mit deren Hilfe die jeweils aktuellen Betriebsdaten und Grenzwerte des Kranes nachberechnet werden. Hierdurch ist ein diversitäres und damit unabhängiges paralleles Überwachungsinstrument geschaffen, das dazu führt, dass der erfindungsgemäße Kran eine mehrkanalige unabhängige Überwachung aufweist.According to the present invention, the deployment planner is not only used here as a device for planning the use of the crane. Rather, it is used as a redundant crane monitoring unit, in that here corresponding sensor values, which were recorded by the sensors arranged distributed in the crane, are fed in. These form input values for data stored in the dispatch planner Calculation programs with the aid of which the current operating data and limit values of the crane are recalculated. As a result, a diverse and thus independent parallel monitoring instrument is created, which means that the crane according to the invention has a multi-channel independent monitoring.
Besondere Ausgestaltungen der Erfindung ergeben sich aus den sich an den Hauptanspruch anschließenden Unteransprüchen.Particular embodiments of the invention will become apparent from the subsequent claims to the main claim.
Demnach ist es besonders vorteilhaft, wenn sowohl die Kranüberwachungseinrichtung als auch der Einsatzplaner jeweils eigene Anzeigeeinheiten aufweisen. Diese sind dann ohne die Notwendigkeit von einem Umschalten des Bildschirminhalts für einen Kranfahrer mit einem Blick gleichzeitig überprüfbar.Accordingly, it is particularly advantageous if both the crane monitoring device and the resource planner each have their own display units. These are then verifiable at the same time without the need to switch screen content for a crane operator.
Die Anzeigeeinheit des Einsatzplaners kann vorteilhaft jederzeit zwischen der Anzeige der Vorrichtung zur Planung des Kraneinsatzes und der Kranüberwachungseinheit umschaltbar sein, wobei die aktuelle Kranstellung übernommen wird.. Der Kranfahrer wird vor dem Einsatz des Kranes üblicherweise die Anzeigeeinheit in dem Modus betreiben, in dem er hier die Planung des Kraneinsatzes überprüfen kann. Beim Einsatz des Krans kann er dann die Anzeigeeinheit auf den Modus der redundanten Kranüberwachung schalten, so dass er hier parallel die Anzeige der Kranüberwachungseinrichtung und die Anzeige der redundanten Kranüberwachungseinheit überblicken kann.The display unit of the dispatch planner can advantageously be switched at any time between the display of the device for planning the crane operation and the crane monitoring unit, the current crane position is taken .. The crane operator is usually operate the display unit in the mode in which he is here before using the crane Check the planning of the crane operation. When using the crane, he can then switch the display unit to the mode of the redundant crane monitoring, so that he can monitor in parallel here the display of the crane monitoring device and the display of the redundant crane monitoring unit.
Vorteilhaft weist der Kran mindestens eine Vergleichseinheit auf, die die unabhängig voneinander im Einsatzplaner einerseits und in der Kranüberwachungseinrichtung andererseits ermittelten Kranbetriebswerte miteinander vergleicht und bei Auftreten einer unzulässigen Abweichung eine Fehlermeldung (z.B. optisches und/oder akustisches Warnsignal) generiert und/oder die Kransteuerung so beeinflußt, daß der Kran in einem sicheren Zustand gehalten wird oder in einen sicheren Zustand gelangt (Sicherheitsabschaltung).Advantageously, the crane has at least one comparison unit which compares the crane operating values determined independently of one another in the service planner on the one hand and in the crane monitoring device and generates an error message (eg optical and / or acoustic warning signal) when an impermissible deviation occurs and / or thus influences the crane control in that the crane is kept in a safe state or enters a safe state (safety shutdown).
Der Einsatzplaner und die Kranüberwachungseinrichtung können gegenseitig Daten und Zwischenergebnisse austauschen z.B. für die weitere Berechnung, Anzeige und Überwachung.The dispatch planner and the crane monitor may mutually exchange data and intermediate results, e.g. for further calculation, display and monitoring.
Der Einsatzplaner kann vorteilhaft als Vorrichtung zur Planung des Kraneinsatzes ein Traglastprogramm zur Berechnung der Traglast, ein Konfigurationsauswahlprogramm zur Wahl geeigneter Krankonfigurationen (wie z.B. Auslegerlänge, Ballast, Abstützbasis, Drehbereich, Ballastradius, Zusatzausrüstung), ein Ballastermittlungsprogramm zur Ermittlung des vom Krantyp abhängig zu verwendenden minimalen und maximalen Derrickballastes, ein Planungsprogramm zur Simulation des geplanten Kraneinsatzes (d.h. Änderung von Betriebsparametern wie z.B. Winkel von Ausleger und Zubehör, Auslegerlänge, Ballast, Berrickballast, Derrickballastradius), ein Stützkraftberechnungsprogramm zur Ermittlung der an den Stützen auftretenden Kräfte, ein Raupenpressungsprogramm zur Ermittlung der an den Raupen auftretenden Bodendrücke und eine Antikollisionseinrichtung zur Kollisionsvermeidung mehrerer im Verbund arbeitenden Krane enthalten.The deployment planner can advantageously as a device for planning the crane use a load capacity program for calculating the load, a configuration selection program for selecting crane configurations (such as boom length, ballast, support base, range of rotation, ballast radius, additional equipment), a ballast determination program to determine the depending on the crane type depending to be used minimum and maximum derrick ballast, a planning program for simulating the planned crane operation (ie changing operating parameters such as angle of boom and accessories, boom length, ballast, Berrickballast, Derrickballastradius), a Stützkraftberechnungs program to determine the forces occurring at the supports, a track crushing program to determine the Contain the caterpillars occurring soil pressures and anti-collision device for collision avoidance of several working in combination cranes.
Der Einsatzplaner kann als redundante Kranüberwachungseinheit basierend auf in seinem Speicher abgelegten Daten für die eingestellten aktuellen Kraneinstellwerte und die von verschiedenen Sensoren aufgenommenen aktuellen Kran-Sensorwerte die wesentlichen oben beschriebenen Programme ausführen.The dispatch planner may execute the essential programs described above as a redundant crane monitoring unit based on data stored in its memory for the current crane setting values set and the current crane sensor values recorded by various sensors.
Besonders vorteilhaft ist der aktuelle Kranzustand auf einem Ausgabemonitor abbildbar. Bei der grafischen Darstellung der Kranüberwachungseinrichtung bzw. der redundanten Kranüberwachungseinheit gibt es 2- oder 3-dimensionale Ansichten. Dabei gibt es folgende Merkmale:
- Die Abmessungen des Kranes (z. B. Abstützbasis, Auslegerlänge, ...) sind annähernd oder exakt maßstäblich.
- Die beweglichen Bauteile der Kranes, wie z.B. Drehbühne, Ausleger, Wippspitze, bewegen sich in der Grafik im Modus Kranüberwachungseinheit aufgrund der Informationen von den Sensoren, im Modus Einsatzplaner aufgrund der Eingaben von der Bedieneinheit annähernd wie in der Realität.
- Die graphische Darstellung kann wie im Einsatzplaner auf dem PC durch Zoomen vergrößert bzw. verkleinert werden, oder durch Verschieben des Bildausschnittes variiert werden. Weiter kann durch Einzeichnen von Gebäuden oder sonstigen Hindernissen eine Baustelle dargestellt werden oder es kann die zuvor im Modus Einsatzplaner dargestellte Baustellendarstellung übernommen werden. Auch können durch Herausmessen Längen- und Abstandsinformationen zwischen angezeigten Dingen im Arbeitsraum des Kranes gewonnen werden.
- The dimensions of the crane (eg support base, boom length, ...) are approximate or exact to scale.
- The mobile components of the crane, such as revolving platform, boom, luffing tip, move in the graph in the crane monitoring unit mode based on the information from the sensors, in scheduling mode, based on input from the control panel, almost as in reality.
- The graphical representation can be enlarged or reduced by zooming as in the scheduler on the PC, or varied by moving the image section. Furthermore, a construction site can be displayed by drawing in buildings or other obstacles, or the construction site display previously displayed in the operation planner mode can be adopted. Also can be obtained by measuring length and distance information between things displayed in the working space of the crane.
In der grafischen Anzeige kann auch die Traglast in Abhängigkeit von der Ausladung angezeigt werden. Bei der grafischen Anzeige im Modus Einsatzplaner bei Derrickkranen kann die Ausladung und der jeweilige Derrickballastradius oder auch die Traglast und der jeweilige Derrickballastradius angezeigt werden.In the graphic display, the load can also be displayed as a function of the radius. In the graphical display in scheduling mode for derrick cranes, the radius and the respective derrick ballast radius or also the load capacity and the respective derrick ballast radius can be displayed.
Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert.Further details and advantages of the invention will be explained in more detail with reference to an embodiment shown in the drawing.
Die einzige Figur zeigt schematisch die Zusammenschaltung des Einsatzplaners einerseits und der Kranüberwachungseinrichtung andererseits.The single figure shows schematically the interconnection of the mission planner on the one hand and the crane monitoring device on the other.
In dem hier dargestellten Ausführungsbeispiel weist ein Kran, beispielsweise ein Raupenkran oder ein Fahrzeugkran, eine Kranüberwachungseinrichtung 10 auf, die einerseits aus einer Recheneinheit 12 und einen Monitor 14 besteht. In diese Kranüberwachungseinrichtung 10 werden Sensorsignale S, wie Winkel, Länge, Gewichte, etc., die von Sensoren 16 am Kran aufgenommen werden, eingelesen. Auf der Grundlage dieser gemessenen Werte wird anhand von im Speicher abgelegten Werten, wie beispielsweise kranspezifischen Traglasttabellen in Abhängigkeit von Rüstzustand und Einscherung, der zulässige Arbeitsbereich und die Belastungsgrenzwerte des Krans (hier nicht näher dargestellt) überwacht.In the exemplary embodiment illustrated here, a crane, for example a crawler crane or a vehicle crane, has a crane monitoring device 10 which, on the one hand, consists of a
Parallel zu der bisher im Kran installierten Kranüberwachungseinrichtung 10 ist hier ein Einsatzplaner 18 vorgesehen, der ebenfalls einen eigenen Monitor 20 und einen Rechner 21 mit zwei Funktionen aufweist. Die erste Funktion ist durch das Bezugszeichen 22 angedeutet und betrifft die an sich bekannte Funktion als Einsatzplaner. Hier laufen sämtliche Einsatzplanerfunktionen, die bislang schon von einem Einsatzplaner auf einem PC zentral berechnet werden konnten. Die Bedienung erfolgt z.B. über eine Maus 26 oder eine Tastatur (z.B. Touch-screen) des Monitors 20 (hier nicht näher dargestellt). Diese Funktion ist völlig unabhängig von der zweiten Funktion, nämlich der redundanten Kranüberwachung 24. Bei der redundanten Kranüberwachung werden in die Rechnereinheit 21 Sensorwerte S von den Sensoren 16, die am Kran angeordnet sind, eingelesen. Weiterhin werden entsprechende Einstellwerte E aus der Kranüberwachungseinrichtung 10 an die redundante Kranüberwachung 24 gegeben, wobei diese Einstellwerte, beispielsweise die Betriebsart, die Einscherung oder andere eingestellte Werte des Krans, betreffen. Hier handelt es sich also um Daten, die der Kranfahrer am Kranmonitor eingestellt hat, oder die über Sensoren (z. B.: Ballastbestückung, Abstützbasis, Auslegerkonfiguration) geliefert werden. Zusätzlich können zwischen Einsatzplaner und Kranüberwachung weitere Daten und Zwischenergebnisse gegenseitig ausgetauscht werden.Parallel to the previously installed in the crane crane monitoring device 10 here a deployment planner 18 is provided, which also has its
In der redundanten Kranüberwachung 24 werden die aktuellen Einstellwerte und die aktuellen Kran-Sensorwerte ausgewertet und parallel und unabhängig zur Kranüberwachungseinrichtung die aktuellen Betriebsparameter und Überwachungsgrenzwerte mit Hilfe von extra im Einsatzplaner 18 abgespeicherten Traglastwerten und Geometriedateien berechnet.In the
Zu diesen Berechnungsergebnissen gehören insbesondere die maximale Traglast und beispielsweise die aktuelle Ausladung und die gesamte aktuelle Geometrie und Schwerpunktsbestimmung/Kinematik.These calculation results include, in particular, the maximum payload and, for example, the current projection and the entire current geometry and center of gravity determination / kinematics.
Die unabhängig voneinander gewonnen Berechnungsergebnisse des Einsatzplaners 18 einerseits und der Kranüberwachungseinrichtung 10 andererseits werden mindestens in einem Rechner verglichen und bei unzulässiger Abweichung der jeweiligen Ergebnisse wird ein Fehlersignal ausgegeben, das unmittelbar in der Kransteuerung weiterverarbeitet werden kann z.B. Verhinderung von gefährlichen Bewegungen und zusätzlich Auslösen eines Alarms.The calculation results independently obtained by the dispatch planner 18 on the one hand and the crane monitoring device 10 on the other hand are compared at least in one computer and if the deviation of the respective results is impermissible, an error signal is output which is displayed directly in the Crane control can be further processed eg prevention of dangerous movements and additionally triggering an alarm.
Vorteilhaft lassen sich auf dem Monitor 20 des Einsatzplaners 18 alle üblichen grafischen Darstellungen des Einsatzplaners auf dem PC anzeigen, wobei die Daten und Grafikbilder für den jeweils ablaufenden aktuellen Kranzustand darstellbar sind, da ja sämtliche aktuellen Sensor-Werte und sonstige Daten an den Einsatzplaner 18 gegeben werden. Das bedeutet, dass sich bei einer Bewegung des Krans die Grafik des Einsatzplanermonitors 20 entsprechend der aktuellen Kranstellung mitbewegt. Hier lassen sich beispielsweise Grafikbilder verschiedenen Ansichten darstellen. Bei einem Raupenkran lässt sich hier auch dynamisch die Raupenpressung darstellen, während bei einem Kran mit Stützen die jeweils auftretenden Stützkräfte darstellbar sind.Advantageously, all the usual graphical representations of the dispatch planner on the PC can be displayed on the
Claims (7)
- A crane, preferably a crawler or mobile crane, having a crane monitoring device (10) for monitoring the operating condition of the crane, comprising at least one calculation unit (12) and at least one control and display unit (14)
characterised in that
an operations planner (18) comprising substantially at least one further calculation unit and having a separate monitor output is additionally provided and works, on the one hand, as an apparatus (22) for planning the crane operation and, on the other hand, as a redundant crane monitoring unit in addition to the crane monitoring device (24). - A crane in accordance with claim 1, characterised in that both the crane monitoring device (10) and the operations planner (18) have their own control and display units.
- A crane in accordance with either of claims 1 or 2, characterised in that the control and display unit (20) of the operations planner (18) can be switched between the display of the apparatus for planning the crane operation (22) and the crane monitoring unit (24).
- A crane in accordance with any one of the preceding claims, characterised in that at least one comparator unit compares the crane operation values determined independently from one another in the operations planner (18), on the one hand, and in the crane monitoring device (10) and, on the occurrence of an inadmissible deviation, generates an error message; and/or influences the crane control such that the crane is maintained in a safe condition or moves to a safe condition.
- A crane in accordance with any one of the preceding claims, characterised in that the operations planner (18) as an apparatus (22) for planning the operation of the crane includes a load capacity program, a configuration selection program, a ballast determination program, a planning program for simulating the planned operation of the crane, a supporting force calculation program, a crawler contact pressure program and an anti-collision device.
- A crane in accordance with any one of the preceding claims, characterised in that the operations planner (18) as a redundant crane monitoring unit (24) calculates then current values to be monitored such as the maximum permitted load capacity, the maximum possible working range or other values based on limit value tables stored in its memory and geometrical data for the set then current crane setting values and the then current crane sensor values received from various sensors.
- A crane in accordance with any one of the preceding claims, characterised in that the then current crane condition can be graphically represented to scale via the operations planner (18) on a monitor (20) in the crane for different set-up variants.
Applications Claiming Priority (3)
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DE102005034333 | 2005-07-22 | ||
DE102005036058 | 2005-08-01 | ||
DE102005059768A DE102005059768A1 (en) | 2005-07-22 | 2005-12-14 | Crane, preferably caterpillar or vehicle crane |
Publications (3)
Publication Number | Publication Date |
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EP1746064A2 EP1746064A2 (en) | 2007-01-24 |
EP1746064A3 EP1746064A3 (en) | 2008-08-27 |
EP1746064B1 true EP1746064B1 (en) | 2009-11-18 |
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EP06014466A Active EP1746064B1 (en) | 2005-07-22 | 2006-07-12 | Crane, in particular mobile crane or crawler crane |
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US (1) | US8505754B2 (en) |
EP (1) | EP1746064B1 (en) |
JP (1) | JP5464782B2 (en) |
DE (2) | DE102005059768A1 (en) |
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2005
- 2005-12-14 DE DE102005059768A patent/DE102005059768A1/en not_active Withdrawn
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2006
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- 2006-07-12 DE DE502006005380T patent/DE502006005380D1/en active Active
- 2006-07-19 JP JP2006197076A patent/JP5464782B2/en active Active
- 2006-07-20 US US11/490,718 patent/US8505754B2/en active Active
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EP1746064A3 (en) | 2008-08-27 |
DE102005059768A1 (en) | 2007-01-25 |
US8505754B2 (en) | 2013-08-13 |
JP5464782B2 (en) | 2014-04-09 |
JP2007031150A (en) | 2007-02-08 |
DE502006005380D1 (en) | 2009-12-31 |
EP1746064A2 (en) | 2007-01-24 |
US20070034587A1 (en) | 2007-02-15 |
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