EP2168903A1 - Multifunktionsvorrichtung zur ferngesteuerten Instandhaltung und Fernbedienung, insbesondere für Kräne - Google Patents

Multifunktionsvorrichtung zur ferngesteuerten Instandhaltung und Fernbedienung, insbesondere für Kräne Download PDF

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Publication number
EP2168903A1
EP2168903A1 EP09171508A EP09171508A EP2168903A1 EP 2168903 A1 EP2168903 A1 EP 2168903A1 EP 09171508 A EP09171508 A EP 09171508A EP 09171508 A EP09171508 A EP 09171508A EP 2168903 A1 EP2168903 A1 EP 2168903A1
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EP
European Patent Office
Prior art keywords
control module
crane
motors
communications
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09171508A
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English (en)
French (fr)
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EP2168903B1 (de
Inventor
Giulio Benedini
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GRU Benedini di Benedini Giulio e Famiglia SNC
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GRU Benedini di Benedini Giulio e Famiglia SNC
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Publication of EP2168903A1 publication Critical patent/EP2168903A1/de
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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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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

Definitions

  • the invention concerns a multifunction device for maintenance and remote control applications, in particular for cranes.
  • cranes used for lifting in the construction sector are constituted by a fixed structure upon which a vertical first member is mounted to support a horizontal second member, the second member being provided with a sliding carriage which is provided with load lifting means, and being rotatable relative to the vertical member, for example by the interposition of a fifth wheel coupling.
  • Apparatus of this kind usually exhibit a lifting motor group which is powered by inverters and provided with programmable functions and appropriate safety systems, including maximum load and maximum moment limiters, and ascent and descent limit stops. At least one motor is provided to drive the carriage, and a further motor group is provided to rotate the member supporting the carriage, both groups also being programmable and powered by respective inverters.
  • the invention primarily seeks to solve an initial technical problem of a general nature, that is, to provide the crane with a remote maintenance service which does not require continuous on-site intervention by a specialist operator.
  • the second technical problem which is subordinate to the first, is to obtain this control activity by means of a multifunction device using a type of communications protocol which is known in the industrial field.
  • known communications protocols are not easily applied to the remote control of cranes and give rise to a series of technical drawbacks.
  • the Modbus ASCII protocol and the Modbus RTU protocol are among the communications protocols used in industrial applications, both of which are suitable for communication, via a serial port, between a control and information requesting device, known as the Master, and a plurality of devices, known as Slaves, which receive, and respond to, the commands of the Master device.
  • ASCII protocol all characters which convey information from one device to another are converted into ASCII characters, a number of control characters being left to define the beginning and the end of a data packet, or string.
  • Modbus RTU protocol a binary protocol in which all 256 values of a byte convey information, all the data can be transmitted without conversion to ASCII and so the number of bytes for each data packet is significantly reduced, the resulting communication being more rapid.
  • the beginning and the end of a data packet is identified by measuring the pause between one data packet and the subsequent one and between one character and the subsequent one. In particular, if a pause of 3.5 times the transmission time of a character over the serial line is detected, it means that the data packet has ended and its analysis can therefore begin.
  • the Slave's response takes place after a minimum pause of 3.5 characters between the data packet it has received and the data packet which it must transmit.
  • the Modbus RTU protocol unlike the ASCII version, does not tolerate interruption of data packet strings during a transmission and is therefore not used in communications via modem; it is therefore not suitable for use as a protocol for managing a remote maintenance device for a crane via radio.
  • An aim of the invention is to obviate the above-mentioned drawbacks, by providing a multifunction device for remote maintenance and remote control applications, in particular for cranes.
  • a further aim of the invention is to provide a device for remote maintenance and remote control of cranes which functions reliably and safely and is capable of using a communications protocol of the Modbus RTU type.
  • a multifunction device for remote maintenance and remote control applications for cranes in which the crane is provided with a plurality of motor groups to power its moving parts, each of the motor groups being controlled by a respective electronic power unit, the multifunction device being characterised in that it exhibits at least a control module which is connected to the electronic power units via at least a communications port, and which is capable of detecting data pertinent to monitoring and controlling the crane's functions, and at least a communications module, associated to the control module and capable of receiving and transmitting data packets of information relative to the crane's functions via radio.
  • the data packets of information are received by, and transmitted to, a remote maintenance and control station by means of which an operator can check and if necessary modify the crane's operating parameters.
  • communications via radio between the remote maintenance and control station and the communications module on board the crane take place via the GSM or GPRS network; communication between the monitoring module and the electronic power units of the motors takes place instead via the RS 486 and/or RS 232 serial port(s), depending on the electronic devices which are installed on the crane.
  • control module comprises means for managing the information received from the remote maintenance station via the communications module.
  • the means for managing use the Modbus RTU protocol to send data packets of information between the control module and the electronic power units of the motors.
  • the means for managing comprise that before being sent on to the electronic power units of the motors, the data packets constituting the information are stored temporarily in a memory unit subsequent to reception of the last piece of data for a much longer period of time than the time specified in Modbus RTU specifications, which period of time is sufficient to be certain that the data packet has been concluded.
  • this time varies between 80 and 120 ms and is preferably 100 ms.
  • the information management means are integrated in the firmware which manages the operations of the control module and the memory unit is a buffer memory integrated in the control module.
  • control module is also provided with analogue and digital outputs, which are connected to sensors and actuators to control certain functions of the crane.
  • data packet requesting information sent by the remote station to the control module over the communications module, can be in the form of an SMS message.
  • the monitoring module can also be provided with serial communications port of the RS 232 type which can be connected to a PLC (programmable logic controller) by means of which it is possible to control and manage some of the operating parameters of the crane.
  • PLC programmable logic controller
  • a crane 1 of known type comprises a vertical member 2 which at an upper end thereof supports a horizontal member 3 to which a lifting organ 4 is associated, which lifting organ 4 is supported by a carriage of a usual type (not shown), which carriage translates the lifting organ 4 on the horizontal member 3; the lifting organ 4 is driven by an electric motor 5 powered by an electronic unit 6 of the AC/AC inverter type.
  • the vertical member 2 rests on a support platform 7 through interposing of a fifth wheel coupling 7' which enables the member 2 to rotate. Rotation of the member 2 takes place thanks to an electric motor 8 which is powered an electronic unit 9 of the AC/AC inverter type.
  • a multifunction device 10 is installed on the crane, and an aerial 11 is associated thereto in order to transmit and receive data.
  • Data transmission and reception are performed by the base station 12, which is provided with appropriate hardware and software means and with an antenna 13.
  • the base station 12 is of the remote type and can be installed for example on the premises of the company running the remote maintenance service, or it can be located on a mobile station.
  • the multifunction device 10 comprises a control module 14 to which a communications module 20 is associated, in this case a GSM/GPRS modem, which receives and transmits data packets from and to the base station via a GSM/GPRS network.
  • a communications module 20 in this case a GSM/GPRS modem, which receives and transmits data packets from and to the base station via a GSM/GPRS network.
  • the control module is provided with a first serial communications port 15, of the RS 485 type, connected to the electronic units 6 and 9 ( figure 2 ) of the respective electric drive motors 5 and 7.
  • the electronic units 6 and 9 are usual inverters of the AC/AC type which are provided with RS 485 serial ports. Thanks to this connection at least the following crane functions can be controlled and/or modified:
  • Data is transmitted from the control module to the devices connected to the RS 485-type communications port 15 using the Modbus RTU protocol.
  • control module 14 comprises means (not illustrated) which manage the received data packets, storing them in a memory unit associated to the control module 14, and subsequently sending the data packets to the electronic units 6 and 9 via the communications port 15.
  • data managing means are integrated in the management firmware of the control module 14, while the memory unit is integrated in the control module 14.
  • the control module Upon receipt of a data packet, the control module stores the incoming data in the buffer memory and waits 100 ms before sending the data packet received from the base station to the electronic devices. Tests carried out have shown that this time interval is sufficient to ensure that all the data of the packet has been received by the monitoring module before transmission to the electronic units powering the motors takes place.
  • the control module is also provided with a second serial communications port, of the RS 232 type, for connecting to a PLC which is installed on board the electronic control units 6 and 9, that is, the two AC/AC inverters. Via this connection it is possible to take the following actions regarding the crane:
  • control module is also provided with analogical and digital input and output ports 19, through which it is possible to monitor/control the following crane functions:
  • RS 232 takes place using the communications module 20, which in this case is the GSM/GPRS modem in dial-up mode.
  • the device of the invention enables operations of remote maintenance to the crane to be performed from a remote station in a simple way.
  • the operator at the base station 12 need only send a data packet to the control module 14 via the communications module 20; the control module 14 first of all stores the received data packet in a buffer memory and then transfers it to the communications ports 15 and 16. If instead the incoming data packet is in the form of an SMS text message, the monitoring module 14 ascertains that the data packet is in the form of an SMS text message and implements the instructions contained in the message through the analog and digital ports 19.
  • the invention provides a series of important advantages, including being able to identify breakdowns and anomalies from a remote and/or portable station, or vary and re-program the setting parameters of the crane by acting on the PLC or the inverters of the crane.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Organic Low-Molecular-Weight Compounds And Preparation Thereof (AREA)
  • Selective Calling Equipment (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP09171508A 2008-09-30 2009-09-28 Multifunktionsvorrichtung zur ferngesteuerten Instandhaltung und Fernbedienung, insbesondere für Kräne Active EP2168903B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITRE2008A000090A IT1391161B1 (it) 2008-09-30 2008-09-30 Dispositivo multifunzione per applicazioni di teleassistenza e telecontrollo, in particolare per gru

Publications (2)

Publication Number Publication Date
EP2168903A1 true EP2168903A1 (de) 2010-03-31
EP2168903B1 EP2168903B1 (de) 2012-02-08

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EP09171508A Active EP2168903B1 (de) 2008-09-30 2009-09-28 Multifunktionsvorrichtung zur ferngesteuerten Instandhaltung und Fernbedienung, insbesondere für Kräne

Country Status (3)

Country Link
EP (1) EP2168903B1 (de)
AT (1) ATE544721T1 (de)
IT (1) IT1391161B1 (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20111648A1 (it) * 2011-09-14 2013-03-15 Fassi Gru S P A Sistema elettronico per la manutenzione remota di una gru
WO2018210750A1 (de) 2017-05-17 2018-11-22 Konecranes Global Corporation Steuerschalter, steuersystem und verfahren zur bedienung eines krans
CN113135498A (zh) * 2021-03-31 2021-07-20 三一海洋重工有限公司 多个操作台的共享操作方法及系统、存储介质及电子设备
IT202000005878A1 (it) * 2020-03-19 2021-09-19 Selpro Srl Sistema di gestione perfezionato per un insieme di dispositivi elettrici
EP4151807A1 (de) * 2018-05-04 2023-03-22 Liebherr-Werk Biberach GmbH Verfahren und vorrichtung zum warten und/oder reparieren einer baumaschine

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001328792A (ja) * 2000-05-19 2001-11-27 Mitsubishi Heavy Ind Ltd 遠隔監視保守システム
EP1281656A1 (de) * 2001-07-30 2003-02-05 VOITH WERKE Ing. A. Fritz Voith Gesellschaft m.b.H. & Co. KG. System zur Fernwartung eines Krans und Vorrichtung hierfür
WO2008111907A1 (en) * 2007-03-12 2008-09-18 Bromma Conquip Aktiebolag Method and arrangement for spreader maintenance

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001328792A (ja) * 2000-05-19 2001-11-27 Mitsubishi Heavy Ind Ltd 遠隔監視保守システム
EP1281656A1 (de) * 2001-07-30 2003-02-05 VOITH WERKE Ing. A. Fritz Voith Gesellschaft m.b.H. & Co. KG. System zur Fernwartung eines Krans und Vorrichtung hierfür
WO2008111907A1 (en) * 2007-03-12 2008-09-18 Bromma Conquip Aktiebolag Method and arrangement for spreader maintenance

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20111648A1 (it) * 2011-09-14 2013-03-15 Fassi Gru S P A Sistema elettronico per la manutenzione remota di una gru
EP2570380A1 (de) 2011-09-14 2013-03-20 FASSI GRU S.p.A. Elektronisches Kranfernwartungssystem
EP2570380B1 (de) 2011-09-14 2015-03-18 FASSI GRU S.p.A. Elektronisches kranfernwartungssystem
WO2018210750A1 (de) 2017-05-17 2018-11-22 Konecranes Global Corporation Steuerschalter, steuersystem und verfahren zur bedienung eines krans
DE102017110715A1 (de) * 2017-05-17 2018-11-22 Konecranes Global Corporation Steuerschalter, Steuersystem und Verfahren zur Bedienung eines Krans
US11208301B2 (en) 2017-05-17 2021-12-28 Konecranes Global Corporation Control switch, control system and method for operating a crane
EP4151807A1 (de) * 2018-05-04 2023-03-22 Liebherr-Werk Biberach GmbH Verfahren und vorrichtung zum warten und/oder reparieren einer baumaschine
IT202000005878A1 (it) * 2020-03-19 2021-09-19 Selpro Srl Sistema di gestione perfezionato per un insieme di dispositivi elettrici
EP3882532A1 (de) * 2020-03-19 2021-09-22 Selpro Srl Verbessertes verwaltungssystem zur verwaltung eines satzes von elektrischen vorrichtungen
US11715367B2 (en) 2020-03-19 2023-08-01 Selpro Srl Management system for managing a set of electrical devices
CN113135498A (zh) * 2021-03-31 2021-07-20 三一海洋重工有限公司 多个操作台的共享操作方法及系统、存储介质及电子设备

Also Published As

Publication number Publication date
IT1391161B1 (it) 2011-11-18
ITRE20080090A1 (it) 2010-04-01
ATE544721T1 (de) 2012-02-15
EP2168903B1 (de) 2012-02-08

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