EP1894882B1 - Safety and steering method for cranes - Google Patents

Description

The present invention relates to a safety and control method for lifting and / or transporting a common load with a plurality of cranes. So far, such a lifting or transporting operation for large, heavy or complex loads, in which several cranes must be used, usually carried out via an instructor. Each of the participating cranes is controlled by a crane driver, with the instructor coordinating all the crane drivers involved. This naturally results in a lot of error potentials, not least because the individual crane drivers have no overview of the overall situation and communication and communication problems can lead to errors. Also, such a procedure is not very effective, since the necessary coordination over the instructor allows only a very slow work.

Regardless of the problems caused by misunderstandings, however, the further problem arises that the safety systems of the individual cranes are not sufficient for such a common stroke or transport of a load. This is based primarily on the fact that damage events on a crane, such. As an overload or a collision can be caused not only by the movement of the crane itself, but also by the movement of other cranes.

The known overload protection of individual cranes, which only prevent movements of each crane that would damage this crane, can not take into account damage events on other cranes. The same applies to anti-collision systems, which also take into account only the movements of the crane itself and allow static disturbing objects at most. Also, the motion sequences are much more complex with several cranes than with only one crane.

From the DE 24 41 785 A1 For example, a method and apparatus is known that allows cranes to move in common in the area of overlap, but constantly checks the distance of the outriggers from each other and, when a minimum value is reached, locks the dangerous collisions.

Object of the present invention is therefore to be able to perform the lifting and / or transporting a common load with a plurality of cranes safer and more effective.

According to the invention, this object is achieved by a securing method for lifting and / or transporting a common load with a plurality of cranes according to claim 1. This method includes determining possible damage events for motion vectors of the cranes and activating a warning function when predetermined motion vectors result in damage events and / or restricting the motion vectors used to drive the cranes to those motion vectors that do not cause damage events in any of the cranes.

As a result of the securing method according to the invention, this essentially results in two options for controlling the cranes. On the one hand, the individual cranes can continue to be operated by one crane driver each, but the motion vectors predetermined by the crane drivers are checked by the safety method of the present invention to determine whether they lead to damage events. If a motion vector given by the crane operators leads to a damage event on any of the cranes, either a warning function is activated which warns the crane driver of the impending damage event when the movement is being carried out. But it can also be an automatic limitation of the motion vectors used to control the cranes be carried out so that movements that would lead to damage events, not even executed.

Alternatively, the securing method according to the invention can also be used within a control method for the cranes. As a result of the inventive determination of possible damage events for the motion vectors of the cranes, it is thus automatically determined by the control method which motion vectors are available for safe control of the cranes. The control system can select the most appropriate one of these motion vectors to achieve the desired motion.

A motion vector of the cranes represents a data record which contains information for the control of all cranes. Thus, the movements of all involved cranes are checked for possible damage events of all involved cranes. As a result, it is automatically ensured by the securing method according to the invention during operation that the movement of a single crane not only does not cause damage to this crane itself, but also not to damage the other cranes.

Advantageously, the damage events, which are determined in the securing method according to the invention, comprise at least one overload of the cranes. This ensures that no movements of the cranes are carried out, which would lead to an overload of one of the cranes. In contrast to the prior art, in which the individual load torque limitations of the cranes could only determine whether a movement leads to an overload on his own crane, it is ensured by the safety system according to the invention, that it does not in any other crane with a movement of a crane Overload comes.

Advantageously, possible overloads can be determined via the load torque limits assigned to the respective crane. It can therefore be used in the method according to the invention certainly on existing load torque limits. However, it will not just be the movement of an individual Crane is checked by its own load torque limit, but it is the motion vector of all cranes checked by the load torque limits of all cranes. Thus, on the one hand, existing technology can be used, but on the other hand, the security of the common hub or transport can be considerably better protected by a plurality of cranes. The existing load torque limits do not necessarily have to be arranged at the individual cranes. Rather, a central processing unit is conceivable in which the individual cranes associated load torque limits are implemented.

Advantageously, the allowable motion vectors are determined by a predictive calculation in the backup method according to the invention. This not only checks whether a current movement leads directly to a damage event, but also whether a future movement could provoke a future damage event. In particular, it is advantageously taken into account that only those motion vectors are permissible in which a movement sequence is available which does not lead to damage events. Such a forward-looking calculation is particularly important because in a common stroke or transport by a plurality of cranes there may be situations in which all movements of the cranes would lead to a damage event in at least one of the involved cranes. Such situations, from which the entire system can no longer be maneuvered out safely, on the other hand are prevented by the predictive calculation of the security method according to the invention. Even with damage events other than an overload, such a forward-looking calculation can be of great importance, as this results in eg. B. collisions can be prevented by taking into account that the system must still be able to come to a halt after each movement carried out, without causing a collision.

Advantageously, the permissible motion vectors are determined by an iterative method. In this way, it can be reliably and reliably determined whether a first motion vector permits later motion vectors, which are free from damage events are. This can ensure that there is always a damage-free motion sequence available. In such an iterative method, first of all the control of the cranes with a first motion vector can be simulated, and from the resulting new situation a further movement with a new motion vector can be simulated and so on, so that a chain of permissible motion vectors results.

Likewise, however, an iterative method can already be used in the individual steps, so that the safety of a first crane is first checked to determine permissible motion vectors, whereupon the permissibility for the next crane is checked for the vectors permissible there, and so on.

In a further advantageous manner, in the safety method according to the invention, the possible damage events include a collision of the cranes with one another. Thus, it can be ensured by the safety system according to the invention that the several cranes, which indeed act in the same area, do not collide with each other. Here again the influence of the movements of all cranes is taken into account, so that the security against known anti-collision systems, in which only the movement of a single crane can be taken into account, massively increased.

In a further advantageous manner, the possible damage events include a collision of the cranes with the load. This ensures that even with the lifting or transport of complex loads by multiple cranes, the cranes do not collide with the load. Again, the inventive consideration of the movement of all cranes is necessary because the movement of a crane can move the load so that it collides with another crane, without this would have moved.

In the case of the securing method according to the invention, determining the possible collisions is advantageously based at least on a geometric model of the cranes and possibly the load. Such a geometric model includes z. B. data about the cranes such as the boom length, height, etc and can this Combine crane data together with position data such as the angle of rotation and rocking angle advantageously to a three-dimensional model of the cranes and the load, so that in the geometric model, the actual stroke situation can be realistically simulated. As a result, no rigid area allocations are necessary because the anti-collision device can respond dynamically to different situations through the geometric model.

Advantageously, geometry data of the load can be entered and / or determined in the safety method according to the invention. Thus, a reliable geometric model of the load can be created, making the anti-collision test of the security method according to the invention even more reliable. In this case, the position and / or extent of the load can advantageously be determined via the positions of the load receptacles of the cranes.

In a further advantageous manner, in the safety method according to the invention, geometric data of possible interfering objects can be input and possible collisions of the cranes and / or the load with the interfering objects can be calculated. In this way, realistic scenarios of the stroke or transport can be created, in which also disturbing objects such. B. buildings can be considered.

Advantageously, the calculation of the possible collisions is based on a geometric model of the cranes, the load and / or the disturbing objects. This geometric model thus represents a scenario in three dimensions, in which possible collisions of the cranes, the load and / or the disturbing objects are determined.

In a further advantageous manner, the possible damage events include limit overruns of the momentum sum of the cranes. In particular, when the cranes firmly on an object such. As a ship or a platform, the moments of the cranes can add up so that it comes to dangerous situations such as overloads on the platform or excessive heeling of the ship. After the system according to the invention also checks whether Motion vectors of the cranes lead to limit exceedings of the momentum of the cranes, such problems can be avoided.

In a further advantageous manner, the possible damage events include limit overruns for external constraints such. B. a maximum allowable heeling of a ship, a maximum allowable ground pressure or a maximum allowable moment of a platform. These external restrictions, which must be complied with not only by a single crane, but by all cranes together, can be safely adhered to by the securing method according to the invention.

Advantageously, in the security procedure according to the invention, possible damage events are identified in a forward-looking calculation, taking into account their possible prevention. Thus, for each motion vector in a predictive computation it is checked whether with this motion vector another motion sequence is possible, which is free from damage events. Thus, only those movements are carried out in which it is established that the possibility exists to avert damage events. For example, in the case of the predictive calculation, motion sequences can be checked up to standstill.

Advantageously, in the safety method according to the invention, the predictive calculations are made on the basis of the dynamic properties of the cranes, in particular the maximum possible speeds and / or accelerations of the crane drives. The consideration of the dynamic properties of the cranes is of great importance, since of course only those movements actually remain realistic without damage, which can be performed by the cranes actually. For this it is important that the motion vectors of the cranes used in the calculation include only those motion vectors which lie within the maximum possible speeds and / or accelerations of the crane drives. A motion vector of the cranes advantageously comprises data on the speeds and / or accelerations of each individual crane drive of all cranes, so that a restriction of the motion vectors to the actual feasible motion vectors is easily feasible. However, in order to reduce the computational burden, a motion vector of the cranes may also contain higher level data, such as: As the movement and / or acceleration of the boom tip, which must be translated into movements and / or accelerations of the crane drives. It should be noted, however, that such data at a higher level such. B. a certain speed and acceleration of the crane jib tip by different movements of the crane drives can be possible, so that these motion vectors at a higher level may correspond to a plurality of motion vectors at the lowest level.

In a further advantageous manner, the deformation of the cranes is taken into account in the securing method according to the invention. Thus, the actual movement process can be more realistic in the system, which increases security.

Advantageously, in the safety method according to the invention, the warning function includes an automatic shutdown of the cranes. In particular, when all cranes are controlled by their own crane operator, it is automatically ensured that no movements are carried out which would lead to a damage event. Alternatively, the movements may be limited only in the direction that would lead to a damage event.

In a further advantageous manner, safety distances to the possible damage events can be selected in the safety system according to the invention. Thus, the safety of the system can be further increased by ensuring that the motion vectors used to control the cranes only lead to the situation which has a certain safety margin to damage events. In the case of the anti-collision test, such a safety distance can be a spatial distance between the cranes with one another or with the load or interfering objects, which must not be undershot. For other damage events such. B. overloading is ensured so that all cranes in one Be moved range in which they still have a certain safety margin from their respective overloads.

In a further advantageous manner in the backup method according to the invention data to external systems such. B. forwarded Balastierungssteuerung a ship, in particular to control this, and / or it will be exchanged with this external system data. Since the safety of a common hub or transport often depends not only on the cranes themselves, but also on external influences, such a data exchange and a possible control of external systems can further increase security. In particular, if the cranes are firmly mounted on a ship, the Balastierungsanlage the ship can be controlled by the crane control here to prevent excessive heeling. Alternatively, it is also conceivable that the safety system of the cranes receives data from the balancing control or other external systems, so that, if necessary, the limits for certain restrictions can be adapted.

In a further advantageous manner, the cranes are movable in the securing method according to the invention, wherein they have means for determining their position, in particular GPS devices. The backup method according to the invention is thus suitable for a variety of cranes such. As mobile cranes, crawler cranes or other mobile cranes can be used. The means for determining the position of the individual cranes then ensure that the safety system knows the individual positions of the cranes and thus can reliably determine damage events.

The present invention further includes a security system for operating a plurality of cranes according to one of the backup methods described above. Such a security system, in which the above-mentioned security methods are implemented, has the same advantages as the methods described above. Such a security system usually comprises an arithmetic unit on which the security procedure automatically, in particular during the operation of the cranes, ie during the stroke or transport of the common Load through the multiple cranes, is performed. Such an automated security system has the great advantage that it checks the movements of all cranes and includes in the calculation, whereby also occurring only during the actual use of the crane influences can be taken into account by the security system according to the invention.

However, the present invention is not limited to a mere backup system. Rather, it can also be implemented in a control system for multiple cranes.

The present invention therefore also comprises a control system for lifting and / or transporting a common load with a plurality of cranes, with input means for specifying a desired movement of the load or cranes and at least one arithmetic unit for determining possible damage events for motion vectors of the cranes, wherein the motion vectors used to drive the cranes are limited to those motion vectors that do not cause damage events in any of the cranes. Such a control system has the same advantages as the backup systems described above, in which case the control system automatically takes over the backup. In particular, the control system can thus also encompass all of the other features of the security systems described above.

It is also possible that all cranes are controlled individually either by a separate crane driver or each individually but centrally, the control system of the invention only ensures that the individual cranes are not moved so that it could lead to damage events.

Advantageously, a single source is used to specify the desired movement of the load or cranes. This means that all cranes can be centrally controlled. Advantageously, the movement of the load is predetermined by the single source, so that the crane operator is completely focused on the movement of the load Load while the control system controls the individual cranes.

Advantageously, the control system determines possible motion vectors of the cranes or the load on the basis of the dynamic properties of the cranes, in particular the maximum possible speeds and / or accelerations of the crane drives. Thus, advantageously only those motion vectors are allowed for control, which can actually be performed by the corresponding crane drives. In particular, this is in the specification of the desired movement of the load of great importance. This ensures that the crane operator can only specify those movements of the load, which are also feasible.

Advantageously, the specification of the desired load movement while the desired load position, the desired direction of movement and / or the desired orientation of the load. It is usually entered by the crane operator a direction, a position or a rotation of the load movement. However, the motion vector of the load usually has considerably fewer degrees of freedom than the motion vector of the cranes, since a plurality of cranes are present and these have a plurality of drives. Although boundary conditions such. B. a certain position of the articulation points to the load and thus a certain position of the articulation points of the cranes are respected each other, as well as the given by the security system boundary conditions, however, this still often results in several ways, for example, a certain direction of movement of the load by movements of the cranes implement.

The control system according to the invention can therefore select from the possible and permissible motion vectors the motion vectors actually used for the control of the cranes by certain strategies.

Advantageously, the motion vectors used to control the cranes are selectable, weightable and / or predetermined strategies selected. If strategies are specified, the crane operator can choose between the individual strategies depending on the situation or, if necessary, weight them among each other.

Advantageously, the strategies include a slightest deviation from the specifications for the desired movement. Thus, if the crane operator specifies a certain movement of the cranes or of the load, this strategy ensures that the permissible motion vectors are used to drive the crane drives, which only minimally deviates from the actual movement of the load and / or cranes desired generated.

In a further advantageous manner, the strategies may include at least one of the following: Increasing the security distances from the security system, blocking a plant, or assigning priorities to individual plants. Increasing the safety distances from the safety system leads to a particularly safe lifting or transport of the load. By blocking individual plants or assigning priorities to individual plants, on the other hand, the effectiveness of the control system can be increased.

It is also possible to use such strategies in which certain parameters of the movement are automatically kept constant by the crane control. So it is z. B. conceivable to keep the orientation of the load during a stroke or transport constant, so that the crane operator only has to pretend in which direction the load is to move. Alternatively, it is conceivable, the position z. B. the center of the load to keep constant while the crane operator dictates a certain rotation of the load.

Advantageously, in the control system according to the invention between a specification of a desired movement of the load and the specification of a desired movement of the individual cranes can be selected in particular from a single source. So especially for driving the cranes over the load Each crane is individually controlled by the crane operator to position the crane over the load. Then it can be switched to another mode of operation, in which only the movement of the load is specified, so that the crane operator from now on must concentrate entirely on the movement of the load and not on the control of the individual cranes.

Advantageously, the cranes are controlled so that a once set distance between the suspension points of the load on the individual cranes during the load movement is not changed. The suspension points of the cranes must thus only once correctly over the load, such. B. be positioned over a cross member, whereupon the crane control automatically ensures that during the process of the load, the distance between the suspension points remains constant.

In a further advantageous manner, the cranes can be controlled so that a once set orientation of the load is not changed during the load movement. The crane operator must therefore only specify the direction of movement of the load.

Furthermore, the cranes can advantageously be controlled so that a desired orientation of the load is approached during the load movement. The crane operator specifies the desired rotation of the load.

In a further advantageous manner, the position and / or orientation of the load in the control system according to the invention can be determined by determining the position of the cranes over the load. The crane operator only has to correctly position the cranes over the load, whereupon the control system according to the invention knows at the touch of a button how the load is aligned and how big it is. So must the absolute distance z. B. the suspension points are no longer entered by hand, but can be determined by the distance of the suspension points on the cranes.

Advantageously, in the control system according to the invention, the specification of the desired movement online via an input device such. B. made a joystick. This way, the crane driver always has control over the movement of the cranes or the load.

In a further advantageous manner, the specification of the desired movement also offline via a crane crew z. B. done by adopting a stored trajectory. The insert can thus be planned in advance at the crane application planner and stored in a corresponding file. By adopting a trajectory from this file, the cranes can then be activated during actual use. Advantageously, however, the crane operator can also intervene online via an input device for security purposes.

Advantageously, in the control system according to the invention, only those specifications of the desired movement are permissible, which can be carried out by motion vectors which do not lead to damage events in any of the cranes. This ensures a particularly comfortable operation, since the crane operator can already only specify those movements which do not lead to damage events. He does not subsequently block the movements he has specified, but he knows from the outset which movements can be carried out without damage events.

The present invention further comprises a control method for lifting and / or transporting a common load with a plurality of cranes, comprising the steps of: specifying a desired movement of the load or cranes, and determining possible damage events for motion vectors of the cranes, wherein the Control of the cranes used motion vectors are limited to those motion vectors, which do not lead to damage events in any of the cranes. The control method according to the invention has the same advantages as the control system described above.

Advantageously, the control method according to the invention comprises the features of the control systems or the safety methods as described above.

The present invention further comprises a control method for lifting and / or transporting a common load with a plurality of cranes, the permissible motion vectors for controlling the cranes being determined on the basis of a securing method, in particular according to one of the securing methods described above. Thus, the same advantages can be achieved with this control method as with these backup methods.

The present invention will now be described in more detail with reference to embodiments and drawings.

Figur 1:

das Bedienfeld eines Sicherungssystems,

Figur 2:

die Bewegung einer Last mit zwei Kranen nach dem Steuerungssystem der vorliegenden Erfindung,

Figur 3:

die Ausrichtung einer Last mit zwei Kranen nach dem Steuerungssystem der vorliegenden Erfindung,

Figur 4:

die dynamische Antikollision nach dem Sicherungsverfahren der vorliegenden Erfindung,

Figur 5:

die direkte Ansteuerung zweier Krane von einer Quelle aus nach dem Steuerungsverfahren der vorliegenden Erfindung,

Figur 6:

die Bewegung einer Last mit zwei Schiffskranen nach dem Steuerungssystem der vorliegenden Erfindung.

Showing:

FIG. 1:

the control panel of a security system,

FIG. 2:

the movement of a load with two cranes according to the control system of the present invention,

FIG. 3:

the alignment of a load with two cranes according to the control system of the present invention,

FIG. 4:

the dynamic anti-collision according to the security method of the present invention,

FIG. 5:

the direct control of two cranes from a source according to the control method of the present invention,

FIG. 6:

the movement of a load with two ship cranes according to the control system of the present invention.

In known methods, the lifting process or the transport of heavy and large loads was carried out with several cranes on a guide who coordinates all involved crane operators. Each crane driver operates his own crane and only has the safety systems of the respective crane. However, this results in a whole series of safety problems, since in such an operation overloads can be caused by an uneven load distribution, by non-uniform lifting movements of the cranes and in particular an overload of a crane by the movement of another crane. Furthermore, collisions of the cranes with each other, with the load and with buildings can result. Also, communication problems between the referrer and the crane driver may arise, with the individual crane driver often no longer correctly assess the situation. In addition, the addition of the load moments of the individual cranes influences external systems. So it may be z. B. in several mounted on a ship cranes to an unauthorized Verkrängung the ship by an addition of the load moments come.

In the present exemplary embodiments of the invention, a safety strategy results in order to avoid these dangers, which results in particular in the consideration of safety-relevant data of all cranes involved in the lifting or transport. In a first step, the data of the individual cranes are recorded and are thus available to the safety systems. For this purpose, it is possible to fall back on the measuring systems already present on the cranes, for example for the LBM and the drive control. The data on the cranes then consists of the positions, speeds and accelerations of the individual crane drives or the positions, speeds and accelerations of the cranes or crane parts such as the boom. Likewise, data on the load can be determined.

From this data can then for the crane operator more relevant data such. The current position of the crane hooks in up to four dimensions (three axes and one rotation), the instantaneous speed of the crane hooks also in four dimensions, the maximum possible instantaneous speeds of the crane hooks, the loads of the individual cranes, the utilization rates of the cranes, the sum of the momentums of the cranes be determined in two axes and the heeling of the cranes about two axes. As in FIG. 1 shown, these data or a selection of these data can now be displayed on any number of monitors, so that the individual crane operators gain a better overview of the overall situation. Such a representation of data of the other involved cranes, in particular of all involved cranes in a crane, can of course also be independent of the security system according to the invention of great advantage. Crane operators are better able to assess potential safety risks and respond better to them.

However, these security risks can also be assessed by the security system according to the invention, so that the display of the data on the monitors can also be omitted. The safety system according to the invention can determine possible damage events for motion vectors of the cranes. In the exemplary embodiment, such a motion vector represents a data record which describes the movement of all cranes. The motion vectors can either be specified by the crane operators themselves by operating the control of the cranes. Alternatively, however, these motion vectors can also represent possible motion vectors, which are checked in a crane control to determine whether they lead to damage events.

When the motion vectors of the cranes are given by the crane operators, the safety system of the present invention responds to the detection of a possible damage event by the predetermined movement by activating at least one warning function. This alert warns the crane operators to continue with the intended movement. The safety system of the present invention has the great advantage that every crane operator over Possible damage events for all other cranes are also automatically informed by the security system. To increase safety, when a possible damage event is detected, it can also be automatically prevented by either stopping the movement of all cranes or at least restricting movement to those directions that do not result in a damage event.

The permissible motion vectors of the cranes, which do not lead to damage events in any of the cranes, are determined according to the present invention by a predictive calculation. Such predictive calculation is particularly important in avoiding the cranes being maneuvered into positions that they can not leave without causing damage events to any of the cranes. The permissible motion vectors, which do not lead to such a situation, are thereby determined by an iterative method. During such an iterative process so z. B. first be checked whether a particular motion vector in any of the cranes leads to damage events, whereupon must continue to be checked whether in turn motion vectors are possible after driving the cranes with this motion vector, which do not lead to damage events in any of the cranes and so on. However, using iterative methods may also be necessary because the possible damage events of each individual crane are dependent on the total motion vector, i. H. depend on the movements of all cranes. Thus, a valid vector can be determined by first determining the allowable vectors for a crane, then checking them for the next crane, and so on.

The safety system according to the invention can also be used in a control system. Here, either all cranes can be controlled by a single source to specify the desired load movement or the desired movement of the cranes. Alternatively, however, even without a singular source, the system can only serve to monitor and limit these movements with a separate specification of the desired movement of each individual crane.

The securing method of the present invention can now be used in such a crane control to dynamically restrict the motion vectors used to drive the cranes. When checking which motion vectors leads to damage events on the individual cranes, each crane limits the amount of available motion vectors available. The resulting limited amount of motion vectors, which do not lead to damage events in any of the cranes, can then be used to safely control the cranes. The influencing factors which restrict the motion vectors are in particular an anti-collision control, the load moment limitation (LMB) of the individual cranes and the consideration of the limitation of external systems. These influencing factors will now be described in more detail.

When determining whether certain movements lead to a collision, the movement of all participating cranes is taken into account. This anti-collision check of the cranes is accomplished by a predictive calculation up to a possible standstill. Here, the predetermined dynamic properties of the cranes, in particular the possible speeds and accelerations of the crane drives are taken into account. In the predictive calculation must therefore be checked for each movement of the cranes, whether under the given dynamic characteristics of the cranes and taking into account the other factors such. B. the load torque limit preventing the collision z. B. is possible by a possible standstill. This predictive calculation allows the cranes to move freely as long as no collision is imminent. Both collisions of the cranes with each other, with the load or with interfering objects can be taken into account. In particular, a three-dimensional interference check can take place. This makes it possible to secure even complicated movements, which would no longer be possible in a two-dimensional collision check. In particular, such a three-dimensional collision test is important in complex loads, so that a possible collisions of the load with the cranes or with interfering objects are taken into account. Therefor In the safety system according to the invention, a three-dimensional model of both the cranes and the load and, if appropriate, the disturbing objects is used. In particular, since the movement of the load also depends on the movement of all cranes, three-dimensional models of all cranes and the load must be used for an effective anti-collision test when lifting and / or transporting a common load with multiple cranes. In addition, any safety distance can still be used as a protection area around the objects in order to further increase safety. This anti-collision device can also be active when using a single crane.

Furthermore, it is determined whether motion vectors lead to an overload of individual cranes. For this purpose, the LMBs already present for the individual cranes can be used, so that the overloads determined by the individual LMBs for a motion vector limit the amount of permissible motion vectors. Again, a predictive calculation by an iterative method is used. In this case, either the already existing LMBs of the individual cranes can be used, but these LMBs can also be implemented in a central computer system. Thus, movements can be prevented from the outset, which would lead to a shutdown of the cranes due to the LMBs.

Furthermore, as damage events and limitations of external systems, such. As the maximum allowable ground pressure, the heeling of a ship or the maximum allowable moment of a platform are taken into account. Thus, the security method according to the invention ensures that these systems are protected.

If all cranes are controlled centrally, the crane operator only has to specify the desired load movement. The specification of the desired load movement or the desired spatial position of the load can either online z. B. via a joystick or offline via a rail planning z. B. be generated by transferring the trajectories from a file of a crane dispatch planner. The movement sequence of the load has six degrees of freedom, of which three correspond to the translations and three to the rotations. The rotations can be entered by any virtual point, with up to three directions being possible, depending on the number of cranes and load-handling devices. The angular range of the rotational movement is usually geometrically and physically limited because the cranes are not arbitrarily movable over each other and also the load can not be tilted arbitrarily. On the other hand, the rotation axis can be freely defined in the control system of the present invention.

A e.g. given load direction can usually be possible by many different motion vectors of the cranes, of which none leads to a damage event. This is because the cranes have a greater number of degrees of freedom z. B. about their luffing and turning and possibly have their landing gear. The safety and control system according to the invention is designed in particular for rocker cranes, which are particularly well suited to the common lifting and transport of a load by multiple cranes. To select the motion vectors and thus the sequence of movements, which is used to control the cranes, there are now several predefined strategies available from which can be selected or which can be provided with priorities. As strategies are z. For example, it is possible to use such motion vectors for the cranes for which the actual values for the direction, speed and acceleration of the load deviate as little as possible from the given values. It can also be used as a strategy to increase the safety distances from the anticollision. Likewise, individual works can be blocked or priorities can be assigned to the individual values. Also, certain parameters of the load movement can be kept constant so that the crane operator can e.g. only specifies the direction of the load movement or only one rotation.

Possible control modes are now based on the FIGS. 2 to 5 explained in more detail. These show a tandem crane, which consists of two permanently mounted Drehwippkranen, as he z. B. can be mounted on ships. The cranes have both via a slewing gear and a luffing mechanism for the boom as well as a hoist with which the rope length can be changed. The two cranes are used to lift or transport a load together, eg by means of a crossbeam.

At the in FIG. 2 The direction of movement for the load via the direction of the joystick is specified online while the cranes are controlled so that the orientation of the load during the parallel movement is not changed. In order to move from position 1 to position 2 along the direction given by the joystick, the jibs of both cranes must be swung open and the cranes rotated in opposite directions. The luffing of the boom and the rotation of the two cranes is coordinated so that the load does not rotate. In order to avoid tilting of the load, the cable length must be adjusted accordingly in order to keep the load in the horizontal. The reference point for the movement in this operating mode is either the jib tip of the own crane or the load center point.

In FIG. 3 now a rotational movement of the load is shown, in which the load is rotated about a vertical axis of rotation. In order to move the load from position 1 to position 2, the boom of crane 1 must be swung up, as well as the boom of crane 2. However, the rotation of the cranes is now different than in FIG. 2 shown operating mode in the same direction, here both times clockwise. This changes the position z. B. the center of the load is not, but the load is rotated. The cable lengths are adjusted accordingly to further ensure horizontal alignment of the load.

Likewise, a combined movement of the tandem crane from a parallel movement and a rotational movement is possible. The load can thus be both moved and aligned.

In order to enable the shown movements of the load, the maximum speeds and acceleration of the respective cranes have to be controlled Turning and luffing works and the hoists are considered. The desired direction is then maintained by the reduction of velocities and accelerations depending on the currently active constraints.

Restrictions arise on the one hand from the required movement of the load, in particular the fact that the length between the suspension points of the traverse must be kept constant. In addition, the protection system according to the invention is used which comprises a dynamic anti-collision device. This prevents the collision of the cranes with each other and a collision of the cranes with the load. Free movement is possible as long as no collision can occur. The control is thus based on a predictive calculation of the robot movement, which takes into account the anti-collision distance and the dynamics of all cranes. If necessary, the calculations can be carried out in parallel in all cranes so that each crane executes braking maneuvers when a collision is detected.

If a future collision is detected, the motion vectors used to drive the cranes are limited in the appropriate direction to prevent a collision. In particular, since collisions of the load with the cranes are also to be considered, a three-dimensional anti-collision test is performed based on a corresponding three-dimensional geometric model of the cranes and the load.

This anti-collision system is now in FIG. 4 described in more detail. Here an anticollision vector as well as intersection points for a future movement are calculated. If a future collision is detected, the master switching signal or the motion vector of the cranes is limited in the direction of the expected collision. However, the movement is only braked in the direction that would lead to a collision. The same integration times / ramps are used for anti-collision as for normal operation.

FIG. 5 now shows an operating mode in which crane 1 or crane 2 can be controlled separately, which is used in particular for receiving the load or for positioning the cranes over the load. In Fig. 5 Crane 2 is controlled from the cabin of crane 1. Crane 2 is thereby controlled that the default for the movement of the crane tip of crane 2 is issued by the position of the master switch in crane 1. The crane control then translates this specification into a corresponding control of the luffing and luffing mechanism of crane 2. About this separate control of the cranes and the truss length can be set at the time of the preselection of tandem operation. The cranes are moved to the appropriate positions above the traverse, whereupon the positions of the cranes can be detected and stored by pressing a button. These positions then give the length and position of the traverse or the position and dimensions of the load. As a result, no input of the absolute length is necessary. The truss length can be determined in particular automatically when selecting the tandem operation as the current distance of the load receiving points and the cranes. A correction can take place in that the tandem operation is deselected, corrective movements of the individual cranes are performed and then again the tandem operation is selected.

In addition, the influence of external systems by the cranes and vice versa can be taken into account in the control system according to the invention. Are the cranes, as in Fig. 6 Mounted on a heavy duty vessel, the total moment of the cranes affects the heeling of the ship. Here, either the security system can be designed so that the heeling of the ship remains within certain limits. In addition, the Balastierungseinrichtung the ship can be supplied with information or equally controlled so that in conjunction with the cranes excessive heeling is avoided. For this, the total moment of the cranes around two axes can be determined, as well as the center of gravity in three axes and the cranks around two axes. After reconciliation can be controlled depending on the driving speed and the center of gravity the Balastierungspunkte the ship, the In addition, crew can intervene at any time. By controlling the Balastierungseinrichtung it is possible to allow larger amounts of torque of the cranes.

The safety or control system of the present invention can be connected to existing controls of the cranes and use this. It can be z. B. be connected to an on-board electronic CAN bus.

In order to provide data for aligning the cranes and for determining data on the load, it is possible to fall back on the sensors already present on the crane. This sensor is usually already for purposes of overload protection of the individual cranes and to drive the cranes available. The transmission of this data can also be done via CAN bus. The display of the control can also be done via on-board standard monitors. Advantageously, the representation of arbitrary distances of the known objects is possible. It is also possible to resort to the existing overload protection of the individual cranes, each crane independently detects its overload and also reacts by the safety system according to the invention on the overload detection of other cranes.

Claims (34)

1. A safety method for the lifting and/or transporting of a common load using a plurality of cranes, comprising the steps:

   - determining of possible damage incidents for movement vectors of the cranes;

   - activation of an alarm function if predetermined movement vectors result in damage incidents; and/or

   - limitation of the movement vectors used for the control of the cranes to those movement vectors which do not result in damage incidents in any of the cranes,

   characterized in that
   the permitted movement vectors are determined by a predictive calculation.
2. A safety method in accordance with claim 1, wherein the damage incidents include at least one overload of the cranes.
3. A safety method in accordance with claim 2, wherein a possible overload is determined via the load torque limitations associated with the respective cranes.
4. A safety method in accordance with claim 1, wherein the determination of permitted movement vectors is based on an iterative method.
5. A safety method in accordance with one of the preceding claims, wherein the possible damage incidents include a collision of the cranes between one another.
6. A safety method in accordance with one of the preceding claims, wherein the possible damage incidents include a collision of the cranes with the load.
7. A safety method in accordance with one of claims 5 or 6, wherein the determination of the possible collisions is based on at least one geometrical model of the cranes and, optionally, of the load.
8. A safety method in accordance with one of the preceding claims, wherein geometrical data of the load are input and/or determined.
9. A safety method in accordance with one of the preceding claims, wherein geometrical data of possible disturbance objects are input and possible collisions of the cranes and/or of the load with the disturbance objects are calculated.
10. A safety method in accordance with one of the preceding claims, wherein a calculation of the possible collisions is based on a geometrical model of the cranes, of the load and/or of the disturbance objects.
11. A safety method in accordance with one of the preceding claims, wherein the possible damage incidents include exceeding the limits of the torque sum of the cranes.
12. A safety method in accordance with one of the preceding claims, wherein the possible damage incidents include exceeding the limits for external limitations such as a maximum permitted heeling of a ship, a maximum permitted ground pressure or a maximum permitted torque of a platform.
13. A safety method in accordance with one of the preceding claims, wherein possible damage incidents are recognized in a predictive calculation, with their possible prevention being taken into account.
14. A safety method in accordance with one of the preceding claims, wherein the predictive calculations are carried out on the basis of the dynamic properties of the cranes, in particular on the maximum possible speeds and/or accelerations of the crane drives.
15. A safety method in accordance with one of the preceding claims, wherein the deformation of the cranes is taken into account.
16. A safety method in accordance with one of the preceding claims, wherein the alarm function includes an automatic deactivation of the cranes.
17. A safety method in accordance with one of the preceding claims, wherein safety distances from the possible damage incidents can be selected.
18. A safety method in accordance with one of the preceding claims, wherein data are forwarded to external systems such as the ballasting control of a ship, in particular to control them and/or to exchange data with these external systems.
19. A safety method in accordance with one of the preceding claims, wherein the cranes can be moved and have means for the determination of their positions, in particular GPS devices.
20. A control system for the lifting and/or transporting of a common load using a plurality of cranes in accordance with the safety method in accordance with one of the claims 1 to 19, comprising input means for the presetting of a desired movement of the load or of the cranes; and
    at least one processing unit for the determining of possible damage incidents for movement vectors of the cranes,
    wherein the movement vectors used for the control of the cranes are limited to those movement vectors which do not result in damage incidents in any of the cranes.
21. A control system in accordance with claim 20, wherein a single source serves the presetting of the desired movement of the load or of the cranes.
22. A control system in accordance with claim 21, wherein possible movement vectors of the cranes or of the load are determined on the basis of the dynamic properties of the cranes, in particular on the maximum possible speeds and/or accelerations of the crane drives.
23. A control system in accordance with claim 20, wherein the presetting of the desired load movement includes the presetting of the desired load position, of the desired movement direction and/or of the desired alignment of the load.
24. A control system in accordance with claim 20, wherein the movement vectors used for the control of the cranes are selected by selectable, weightable and/or preset strategies.
25. A control system in accordance with claim 24, wherein the strategies include a lowest deviation from the preset values for the desired movement.
26. A control system in accordance with claim 24, wherein the strategies include at least one of the following preset values:

    - increasing the safety distances from the safety system;

    - blocking a mechanism;

    - association of priorities to individual mechanisms.
27. A control system in accordance with claim 20, wherein a choice can in particular be made between a preset value of a desired movement of the load and the preset value of a desired movement of the individual cranes, in particular from one source.
28. A control system in accordance with claim 20, wherein an input means is provided on whose actuation the current position of the holding means is determined, with in particular the position and/or alignment of the load being determined via it.
29. A control system in accordance with claim 20, wherein the cranes are controlled such that once a distance has been set between the suspension points of the load at the individual cranes, it is not changed during the load movement.
30. A control system in accordance with claim 20, wherein the cranes are controlled such that once an alignment of the load has been set, it is not changed during the load movement.
31. A control system in accordance with claim 20, wherein the cranes are controlled such that a desired alignment of the load is moved to during the load movement.
32. A control system in accordance with claim 20, wherein the presetting of the desired movement takes place online via an input device such as a joystick.
33. A control system in accordance with claim 20, wherein the presetting of the desired movement takes place offline via a crane deployment planner, e.g. by taking over a stored trajectory.
34. A control system in accordance with claim 20, wherein only those preset values of the desired movement are permitted which can be carried out by movement vectors which do not result in damage incidents in any of the cranes.

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