EP2123589A1 - Determination and reconstruction of load changes in lifting devices - Google Patents
Determination and reconstruction of load changes in lifting devices Download PDFInfo
- Publication number
- EP2123589A1 EP2123589A1 EP09159387A EP09159387A EP2123589A1 EP 2123589 A1 EP2123589 A1 EP 2123589A1 EP 09159387 A EP09159387 A EP 09159387A EP 09159387 A EP09159387 A EP 09159387A EP 2123589 A1 EP2123589 A1 EP 2123589A1
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- European Patent Office
- Prior art keywords
- load
- changes
- gradient
- data
- criterion
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- Granted
Links
- 238000000034 method Methods 0.000 claims abstract description 23
- 230000007704 transition Effects 0.000 claims abstract description 14
- 230000029142 excretion Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000010972 statistical evaluation Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
Definitions
- the invention relates to the determination and reconstruction of load changes to lifting equipment.
- it relates to the field of hoists used on cranes, especially mobile cranes, and also to the hoist as a whole (e.g., crane / mobile crane), as well as the components directly or indirectly affected by the load change.
- the determination and reconstruction of load changes is generally used to log the operation of the hoist. This finds e.g. Application in accident reconstruction or usage-based invoicing. Furthermore, this information forms the basis for calculating the structural load of the hoist.
- load changes are generally based on the recognition of load absorption and load settling according to the prior art.
- This load change detection is done with the help of additional information such as control functions that can be expected to raise or lower a load. If now recorded load curves must be subdivided for evaluation, this subdivision is done on the basis of such additional information (control information) or by external events, such as the bridging a safety device.
- additional information control information
- external events such as the bridging a safety device.
- the data sets generated in this way are usually stored in a data logger with the aim of subsequently recording load cases and reconstructing them as needed.
- a reliable reconstruction of the load cases should be made possible so that calculations based on this can be optimized.
- a load change at a transition point of the load profile gradient is determined in load profile data. Furthermore, the load curve at the transition points is subdivided into discrete-time viewing intervals.
- the present invention discloses a new method of subdividing load histories. The viewing intervals generated in this way enable the generation of data-reduced information, from which subsequently any continuous-time load profiles can be reconstructed, since they do not relate to the detection of the pickup and the setting-down of a load.
- the use of the load gradient gradient makes it possible to carry out an optimized subdivision and thus evaluation with information that is inherent in the load profile, that is, does not need to be determined separately.
- the determination according to the method according to the invention can be carried out on the basis of stored load profile data, but also on the basis of real-time load profile data.
- the load history is recorded, ie stored, and at transition points, a memory pulse is generated or entered as a load change indication or load change event in the course of load.
- consideration intervals are ignored or suppressed, which obviously or irrelevant according to an excretion criterion.
- the elimination criterion can be, in particular, a time criterion (for example too short an interval) or a criterion that takes into account external influences on the load profile (external events, control information).
- the transition point can be determined or entered as a load history transition in the load history when the load gradient gradient changes the sign or changes to zero. Furthermore, a transition point can then be detected or entered if the gradient is changed consecutively more than once with the same sign, that is, if the load curve continues to rise or fall, but the slope of the curve changes.
- the invention further relates, in a somewhat more extensive aspect, to a method for the reconstruction of load cases on hoists, in which a method is used for determining the load changes, as has been described above in various embodiments.
- load case reconstruction other load changes can be taken into account, which come from operating data of the hoist or were determined to special operating cases.
- the present invention may also be characterized as disclosing a method for analyzing load changes on lifting gear for evaluating and reconstructing load cases which is not based mainly or not exclusively on the basis of the detection of lift start and lift end.
- An evaluation device divides the course of the load into time-discrete viewing intervals, and each load change can be used to subdivide an evaluation interval.
- the subdivision takes place on the basis of gradient changes in the load curve, and, in particular, temporally offset load changes with the same gradient sign can also be used to subdivide the evaluation interval.
- the Fig. 2b shows here according to the invention a (compared to the Fig. 2a ) greater subdivision of the load profile, taking into account the corresponding gradient changes.
- a gradient is thus formed, and from the sweeps of the Lastgradienten a memory pulse is generated accordingly, namely at the respective event (transition).
- the data used for this purpose are stored or real-time recorded data, which contain direct or indirect information about the current load on the hoist.
- the method according to the invention allows the reconstruction of time-continuous load changes basically independent of the detection of a load pick-up or a load release and thus also allows the reconstruction of loads that change during a stroke.
- FIG. 1 the load gradient detection and the above-mentioned sequence of events is shown in the upper part, whereby the information about the load gradient as well as about the events during operation is evaluated and stored as a memory pulse in the data memory. This stores raw data or processed data whose validity range is between a previous memory pulse and a new memory pulse.
- the Fig. 1 shows that data originating from the operation of the hoist can be processed and additionally used as an input data record for the data memory. Together with the data obtained in accordance with the invention (evaluated gradient detection), this system then requires a higher amount of data to be stored, but allows a more detailed reconstruction of any load profiles as a function of the stored data. In addition, a statistical evaluation of the generated viewing intervals can be used to calculate the structural stress of the hoist and to evaluate it during the reconstruction.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Tourism & Hospitality (AREA)
- Strategic Management (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- Economics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Jib Cranes (AREA)
Abstract
Description
Die Erfindung betrifft die Bestimmung und Rekonstruktion von Laständerungen an Hebezeugen. Insbesondere betrifft sie das Gebiet der Hebezeuge, die an Kranen, speziell Mobilkranen verwendet werden und auch das Hebezeug als Ganzes (z.B. Kran/Mobilkran), sowie die Komponenten die von dem Lastwechsel direkt oder indirekt betroffen sind.The invention relates to the determination and reconstruction of load changes to lifting equipment. In particular, it relates to the field of hoists used on cranes, especially mobile cranes, and also to the hoist as a whole (e.g., crane / mobile crane), as well as the components directly or indirectly affected by the load change.
Die Bestimmung und Rekonstruktion von Laständerungen dient im Allgemeinen der Protokollierung des Betriebes des Hebezeugs. Dieses findet z.B. Anwendung in der Unfallrekonstruktion oder bei einer nutzungsbasierten Rechnungsstellung. Ferner bilden diese Informationen die Grundlage zur Berechnung der strukturellen Beanspruchung des Hebezeugs.The determination and reconstruction of load changes is generally used to log the operation of the hoist. This finds e.g. Application in accident reconstruction or usage-based invoicing. Furthermore, this information forms the basis for calculating the structural load of the hoist.
Derartige Lastwechsel beruhen im Allgemeinen gemäß dem Stand der Technik auf einer Erkennung von Lastaufnahme und Lastabsetzen. Diese Laständerungs-Erkennung geschieht unter Zuhilfenahme von Zusatzinformationen wie z.B. Ansteuerungsfunktionen, die ein Heben oder Senken einer Last erwarten lassen. Wenn nun aufgezeichnete Lastkurven zur Auswertung unterteilt werden müssen, geschieht diese Unterteilung anhand solcher Zusatzinformationen (Ansteuerungsinformationen) oder durch äußere Ereignisse, wie z.B. das Überbrücken einer Sicherheitseinrichtung. Dabei wird insbesondere davon ausgegangen, dass einer Lastaufnahme zwangsläufig ein Lastabsetzen folgt und umgekehrt. Die so erzeugten Datensätze werden in der Regel in einem Datenlogger gespeichert, mit dem Ziel nachträglich Lastfälle zu erfassen und diese bei Bedarf zu rekonstruieren. Diese Verfahren gemäß dem Stand der Technik erlauben zwar die zeitdiskrete Betrachtung eines Auswerteintervalls in den vom System erkannten Grenzen, nämlich Lastaufnahme - Lastabsetzen - Lastaufnahme, usw. (Die
Es ist deshalb die Aufgabe der vorliegenden Erfindung, ein Verfahren zur Bestimmung von Laständerungen an Hebezeugen aufzuzeigen, welches die genannten Nachteile des Standes der Technik mindestens teilweise überwindet. Insbesondere soll eine zuverlässige Rekonstruktion der Lastfälle ermöglicht werden, damit hierauf aufbauende Berechnungen optimiert werden können.It is therefore the object of the present invention to provide a method for determining load changes on hoists, which at least partially overcomes the disadvantages of the prior art. In particular, a reliable reconstruction of the load cases should be made possible so that calculations based on this can be optimized.
Diese Aufgabe wird erfindungsgemäß durch ein Verfahren zur Bestimmung von Laständerungen an Hebezeugen gelöst, wie es im Anspruch 1 beschrieben wird. Die Unteransprüche definieren bevorzugte Ausführungsformen der Erfindung.This object is achieved by a method for determining changes in load on lifting equipment, as described in claim 1. The subclaims define preferred embodiments of the invention.
Beim erfindungsgemäßen Verfahren wird in Lastverlaufsdaten eine Laständerung an einer Transitionsstelle des Lastverlaufs-Gradienten festgestellt. Ferner wird der Lastverlauf an den Transitionsstellen in zeitdiskrete Betrachtungsintervalle unterteilt. Mit anderen Worten offenbart die vorliegende Erfindung ein neues Verfahren zur Unterteilung von Lastverläufen. Die so erzeugten Betrachtungsintervalle ermöglichen die Generierung von datenreduzierten Informationen, aus denen sich nachträglich beliebige zeitkontinuierliche Lastverläufe rekonstruieren lassen, da sie sich nicht auf der Erkennung der Aufnahme und des Absetzen einer Last beziehen.
Speziell die Verwendung des Lastverlaufs-Gradienten macht es möglich, mit einer Information, die dem Lastverlauf innewohnt, also nicht separat ermittelt werden muss, eine optimierte Unterteilung und damit Auswertung vorzunehmen.In the method according to the invention, a load change at a transition point of the load profile gradient is determined in load profile data. Furthermore, the load curve at the transition points is subdivided into discrete-time viewing intervals. In other words, the present invention discloses a new method of subdividing load histories. The viewing intervals generated in this way enable the generation of data-reduced information, from which subsequently any continuous-time load profiles can be reconstructed, since they do not relate to the detection of the pickup and the setting-down of a load.
Specifically, the use of the load gradient gradient makes it possible to carry out an optimized subdivision and thus evaluation with information that is inherent in the load profile, that is, does not need to be determined separately.
Die Bestimmung gemäß dem erfindungsgemäßen Verfahren kann anhand von gespeicherten Lastverlaufsdaten erfolgen, aber auch anhand von Echtzeit-Lastverlaufsdaten. Insbesondere wird der Lastverlauf aufgezeichnet, d.h. gespeichert, und an Transitionsstellen wird ein Speicherimpuls als Laständerungsanzeige bzw. Laständerungsereignis im Lastverlauf erzeugt bzw. eingetragen.The determination according to the method according to the invention can be carried out on the basis of stored load profile data, but also on the basis of real-time load profile data. In particular, the load history is recorded, ie stored, and at transition points, a memory pulse is generated or entered as a load change indication or load change event in the course of load.
Bei einer Ausführungsform der Erfindung bleiben Betrachtungsintervalle unberücksichtigt bzw. werden unterdrückt, die offensichtlicherweise oder gemäß einem Ausscheidungskriterium unbeachtlich sind. Dabei kann das Ausscheidungskriterium insbesondere ein zeitliches Kriterium sein (z.B. zu kurzes Intervall) oder ein Kriterium, das äußere Einflüsse auf den Lastverlauf berücksichtigt (externe Ereignisse, Steuerungsinformationen).In one embodiment of the invention, consideration intervals are ignored or suppressed, which obviously or irrelevant according to an excretion criterion. In this case, the elimination criterion can be, in particular, a time criterion (for example too short an interval) or a criterion that takes into account external influences on the load profile (external events, control information).
Die Transitionsstelle kann festgestellt werden oder als Lastverlaufs-Transition in den Lastverlauf eingetragen werden, wenn der Lastverlaufs-Gradient das Vorzeichen wechselt oder auf Null wechselt. Ferner kann eine Transitionsstelle dann festgestellt oder eingetragen werden, wenn der Gradient aufeinander folgend mehr als einmal mit dem selben Vorzeichen verändert wird, wenn also der Lastverlauf zwar weiter steigt oder fällt, aber die Steilheit der Kurve sich dabei ändert.The transition point can be determined or entered as a load history transition in the load history when the load gradient gradient changes the sign or changes to zero. Furthermore, a transition point can then be detected or entered if the gradient is changed consecutively more than once with the same sign, that is, if the load curve continues to rise or fall, but the slope of the curve changes.
Die Erfindung betrifft ferner gemäß einem etwas weiter greifenden Aspekt ein Verfahren zur Rekonstruktion von Lastfällen an Hebezeugen, bei dem zur Bestimmung der Laständerungen ein Verfahren verwendet wird, wie es oben in verschiedenen Ausführungsformen beschrieben wurde. Insbesondere können bei der Lastfall-Rekonstruktion auch weitere Laständerungen berücksichtigt werden, die aus Betriebsdaten des Hebezeugs stammen oder zu besonderen Betriebsfällen ermittelt wurden.The invention further relates, in a somewhat more extensive aspect, to a method for the reconstruction of load cases on hoists, in which a method is used for determining the load changes, as has been described above in various embodiments. In particular, in load case reconstruction, other load changes can be taken into account, which come from operating data of the hoist or were determined to special operating cases.
Die Erfindung wird im Weiteren anhand einer Ausführungsform und mit Hilfe der beiliegenden Grafiken näher erläutert. Sie kann alle hierin beschriebenen Merkmale einzeln sowie in jedweder sinnvollen Kombination umfassen. Die beiliegenden Grafiken zeigen in
- Fig. 1
- einen schematischen Systemaufbau für das erfindungsgemäße Verfahen;
- Fig. 2a
- einen Lastverlauf mit eingetragenen Unterteilungs-Ereignissen gemäß dem Stand der Technik; und
- Fig. 2b
- einen Lastverlauf mit einer Unterteilung gemäß der vorliegenden Erfindung.
- Fig. 1
- a schematic system structure for the method according to the invention;
- Fig. 2a
- a load history with registered subdivision events according to the prior art; and
- Fig. 2b
- a load curve with a subdivision according to the present invention.
Die vorliegende Erfindung kann als besondere Ausführungsform auch so charakterisiert werden, dass sie ein Verfahren zur Analyse von Laständerungen an Hebezeugen zur Auswertung und Rekonstruktion von Lastfällen offenbart, welches nicht hauptsächlich bzw. nicht ausschließlich auf der Basis der Erkennung von Liftstart und Liftende basiert. Eine Bewertungseinrichtung unterteilt den Verlauf der Last in zeitdiskrete Betrachtungsintervalle, und jede Laständerung kann zur Unterteilung eines Auswerteintervalls herangezogen werden. Die Unterteilung (Laständerungsereignis) erfolgt aufgrund von Gradientenänderungen im Lastverlauf, und speziell können hierzu auch zeitlich versetzte Laständerungen mit gleichem Gradientenvorzeichen zur Unterteilung des Auswerteintervalls herangezogen werden. Die
Das erfindungsgemäße Verfahren erlaubt also die Rekonstruktion von zeitkontinuierlichen Laständerungen grundsätzlich unabhängig von der Erkennung einer Lastaufnahme oder eines Lastabsetzens und ermöglicht somit auch die Rekonstruktion von Lasten, die sich während eines Hubes verändern.Thus, the method according to the invention allows the reconstruction of time-continuous load changes basically independent of the detection of a load pick-up or a load release and thus also allows the reconstruction of loads that change during a stroke.
Natürlich können aber weitere systembekannte Informationen zusätzlich zu den erfindungsgemäß erhaltenen Informationen verarbeitet werden, um möglichst optimierte Ergebnisse zu erhalten. Beispielsweise können Ereignisse, die nachträglich gesondert betrachtet werden sollen (z.B. Betätigung einer Sicherheitseinrichtung) einen zusätzlichen Speicherimpuls generieren oder einen anderen eliminieren. In der
Die
Claims (9)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008024215.2A DE102008024215B4 (en) | 2008-05-19 | 2008-05-19 | Determination and reconstruction of load changes on hoists |
Publications (2)
Publication Number | Publication Date |
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EP2123589A1 true EP2123589A1 (en) | 2009-11-25 |
EP2123589B1 EP2123589B1 (en) | 2013-12-18 |
Family
ID=40942512
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP09159387.1A Active EP2123589B1 (en) | 2008-05-19 | 2009-05-05 | Determination and reconstruction of load changes in lifting devices |
Country Status (8)
Country | Link |
---|---|
US (1) | US8200401B2 (en) |
EP (1) | EP2123589B1 (en) |
JP (1) | JP5396148B2 (en) |
KR (1) | KR101108325B1 (en) |
CN (1) | CN101585485B (en) |
CA (1) | CA2666015C (en) |
DE (1) | DE102008024215B4 (en) |
ES (1) | ES2451506T3 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102167259B (en) * | 2010-12-28 | 2013-02-06 | 天津天安起重电器有限公司 | Measuring method of loading quality of hoisting machine |
FR3037681B1 (en) * | 2015-06-18 | 2017-11-24 | Manitowoc Crane Group France | METHOD OF DEFINING AN OPTIMIZED LOAD CURVE FOR CRANE, METHOD AND CONTROL DEVICE FOR CONTROLLING THE SUSPENDED LOAD TO A CRANE FROM THE OPTIMIZED LOAD CURVE |
DE102021108964B4 (en) | 2021-04-11 | 2022-12-01 | Core Sensing Gmbh | Method for detecting a load spectrum and load spectrum detection device and machine element with a load spectrum detection device |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4953053A (en) * | 1989-01-31 | 1990-08-28 | Harnischfeger Corporation | Method and apparatus for detecting mechanical overload of a hoist |
EP0638876A1 (en) * | 1993-08-06 | 1995-02-15 | Ainf Sa | Method and device for controlling a mobile machine |
EP0737851A2 (en) | 1995-04-13 | 1996-10-16 | Bruger + Fischer Krananlagen und Hebezeuge GmbH | Method and device for determining charges of lifting and tension equipments |
US20020144968A1 (en) | 2001-02-16 | 2002-10-10 | Ruddy Thomas A. | Method and system for load measurement in a crane hoist |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3835522A1 (en) | 1988-10-19 | 1990-05-03 | Man Ghh Krantechnik | CRANE CONTROL |
FI91058C (en) * | 1991-03-18 | 1996-01-10 | Kci Kone Cranes Int Oy | Procedure for controlling a crane |
JPH05273083A (en) * | 1992-03-26 | 1993-10-22 | Matsushita Electric Ind Co Ltd | Method and its device for inspecting parts having click feeling |
FR2701467B1 (en) | 1993-02-12 | 1995-05-12 | Caillard | Control system for controlling the speed of movement of a pendulum load and lifting device comprising such a system. |
DE29503416U1 (en) * | 1995-03-02 | 1995-07-20 | Sudhop Helmut Dipl Ing | Device for determining the dynamic stress on components, systems and machines |
DE19956265B4 (en) | 1999-11-23 | 2005-06-30 | Liebherr-Werk Ehingen Gmbh | Device for monitoring the operation of hoisting winches |
JP3673689B2 (en) | 2000-02-29 | 2005-07-20 | 独立行政法人科学技術振興機構 | Gear dynamic performance evaluation system and evaluation method |
JP2002241079A (en) * | 2001-02-13 | 2002-08-28 | Mitsubishi Heavy Ind Ltd | Stacking control method and device for crane |
DE20318718U1 (en) | 2003-07-10 | 2004-04-08 | Rösch, Michael | Computer control of braking phase in motion control of a drive system uses motion cycle profile data |
EP1818308A1 (en) | 2006-02-09 | 2007-08-15 | Franke Henning | Crane control |
-
2008
- 2008-05-19 DE DE102008024215.2A patent/DE102008024215B4/en active Active
-
2009
- 2009-05-05 EP EP09159387.1A patent/EP2123589B1/en active Active
- 2009-05-05 ES ES09159387.1T patent/ES2451506T3/en active Active
- 2009-05-11 CN CN2009101387824A patent/CN101585485B/en active Active
- 2009-05-15 CA CA2666015A patent/CA2666015C/en not_active Expired - Fee Related
- 2009-05-18 US US12/467,585 patent/US8200401B2/en active Active
- 2009-05-19 KR KR1020090043670A patent/KR101108325B1/en not_active IP Right Cessation
- 2009-05-19 JP JP2009120627A patent/JP5396148B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4953053A (en) * | 1989-01-31 | 1990-08-28 | Harnischfeger Corporation | Method and apparatus for detecting mechanical overload of a hoist |
EP0638876A1 (en) * | 1993-08-06 | 1995-02-15 | Ainf Sa | Method and device for controlling a mobile machine |
EP0737851A2 (en) | 1995-04-13 | 1996-10-16 | Bruger + Fischer Krananlagen und Hebezeuge GmbH | Method and device for determining charges of lifting and tension equipments |
US20020144968A1 (en) | 2001-02-16 | 2002-10-10 | Ruddy Thomas A. | Method and system for load measurement in a crane hoist |
Also Published As
Publication number | Publication date |
---|---|
KR101108325B1 (en) | 2012-01-25 |
CN101585485A (en) | 2009-11-25 |
US8200401B2 (en) | 2012-06-12 |
CA2666015A1 (en) | 2009-11-19 |
DE102008024215A1 (en) | 2009-12-03 |
ES2451506T3 (en) | 2014-03-27 |
EP2123589B1 (en) | 2013-12-18 |
JP5396148B2 (en) | 2014-01-22 |
JP2010006607A (en) | 2010-01-14 |
KR20090120428A (en) | 2009-11-24 |
DE102008024215B4 (en) | 2015-08-20 |
CN101585485B (en) | 2013-05-29 |
US20090287381A1 (en) | 2009-11-19 |
CA2666015C (en) | 2011-07-26 |
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