EP2240748A1 - Systeme indicateur de charge - Google Patents

Systeme indicateur de charge

Info

Publication number
EP2240748A1
EP2240748A1 EP09709127A EP09709127A EP2240748A1 EP 2240748 A1 EP2240748 A1 EP 2240748A1 EP 09709127 A EP09709127 A EP 09709127A EP 09709127 A EP09709127 A EP 09709127A EP 2240748 A1 EP2240748 A1 EP 2240748A1
Authority
EP
European Patent Office
Prior art keywords
load
sensitive device
tilt
control unit
accordance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09709127A
Other languages
German (de)
English (en)
Inventor
Benjamin Shaia
Roni Shurki
Eyal Bortman
Dani Alon
Frank Sweeney
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.)
Tedea Huntleigh International Ltd
Original Assignee
Tedea Huntleigh International Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Tedea Huntleigh International Ltd filed Critical Tedea Huntleigh International Ltd
Priority to EP09709127A priority Critical patent/EP2240748A1/fr
Publication of EP2240748A1 publication Critical patent/EP2240748A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/14—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing suspended loads
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G23/00—Auxiliary devices for weighing apparatus
    • G01G23/002—Means for correcting for obliquity of mounting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G23/00—Auxiliary devices for weighing apparatus
    • G01G23/18—Indicating devices, e.g. for remote indication; Recording devices; Scales, e.g. graduated
    • G01G23/36—Indicating the weight by electrical means, e.g. using photoelectric cells
    • G01G23/37—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting
    • G01G23/3728—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting with wireless means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G23/00—Auxiliary devices for weighing apparatus
    • G01G23/18—Indicating devices, e.g. for remote indication; Recording devices; Scales, e.g. graduated
    • G01G23/36—Indicating the weight by electrical means, e.g. using photoelectric cells
    • G01G23/37—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting
    • G01G23/3728—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting with wireless means
    • G01G23/3735—Indicating the weight by electrical means, e.g. using photoelectric cells involving digital counting with wireless means using a digital network

Definitions

  • the present invention relates to a load indicating system which comprises at least one load sensitive device for determining a load value, i.e. for measuring force and /or weight.
  • a system of the aforementioned kind is generally known and is typically used to indicate the state of load of a load handling apparatus such as, for example, a mobile vehicle crane, a cable laying system, a mooring, a winch, a torque meter or a web tension system.
  • a load handling apparatus such as, for example, a mobile vehicle crane, a cable laying system, a mooring, a winch, a torque meter or a web tension system.
  • a known load indicating system encounters the problem of being difficult to employ in situations where the presence of cabling would produce un- desirable hazards regarding entrapment of cables and/ or lack of mobility of a system, or in situations where the force direction is not aligned with the measuring direction of the load sensitive device.
  • the system of the invention comprises at least one load sensitive device for determining a first load value; at least one tilt sensitive device for determining a tilt angle formed between a load sensitive axis of the load sensitive device and a predefined plane of reference; a control unit coupled to the load sensitive device and the tilt sensitive device for determining a tilt compensated second load value based on the first load value and the tilt angle; and a wireless communication link to communicate data between the control unit and a remote indicating means.
  • the determination of a tilt angle formed between the load sensitive axis of the load sensitive device and the predetermined plane of reference allows for the determination of a tilt compensated second load value based on the first load value and the tilt angle, which in turn makes it possible to accurately determine and indicate the state of load of a load handling appara- tus, even if the direction of force or weight is not aligned with the measuring direction of the load sensitive device.
  • the load sensitive device may have one load sensitive axis or two load sensitive axes, thus making single axis or dual axes tilt compensation possible.
  • data relating to the first load value, the tilt angle and /or the tilt compensated second load value can be communicated from the control unit to the remote indicating means for displaying and/ or further processing, even if the control unit and the indicating means are arranged at a distant from each other and /or the control unit is located in an inaccessible position.
  • the system of the invention is beneficial in that it allows a highly sophisticated weighing and/ or force measuring system to be employed in situations where the presence of cabling would produce undesirable haz- ards regarding entrapment of cables and/or lack of mobility of the system, and/ or in situations where the force direction is not aligned with the sensor measuring direction.
  • the predefined plane of reference is an arti- ficial horizon with respect to the earth.
  • the second load value may be determined by applying to the first load value a correction factor that is based on the tilt angle.
  • the control unit may be coupled to a position receiving device for receiving latitude and elevation data from a global positioning system.
  • the latitude and elevation data may be entered manually by an opera- tor of the system via a user interface and transmitted to the control unit, for example, via the wireless communication link.
  • the control unit may be configured to correct the second load value based on data obtained from a pre-programmed lookup table or a corresponding mathematical calculation based on the received latitude and elevation data.
  • the correction for local gravity conditions makes it possible to further refine the accuracy of the indicated state of load, in particular, when the system is used in a mobile application.
  • control unit is configured to evalu- ate the input from the load sensitive device, i.e. the weight/force readings, and/ or the input from the tilt sensitive device, i.e. the tilt readings, in terms of amplitude variations and/or frequency of change.
  • control unit may be configured to determine from the input from the load sensitive device and/ or from the tilt sensitive device whether a de- tected motion of the load obeys Simple Harmonic Motion (SHM) behaviour indicating a natural freely moving motion typical of a suspended mass.
  • SHM Simple Harmonic Motion
  • control unit is capable of automatically detecting severe motion conditions, such as when a crane is moving particularly quickly and the weight/ force reading is distorted by the acceleration or, in a web tension application, when the web angle changes abruptly and /or drastically, for example, because the web was torn or due to an external event.
  • control unit may be configured to determine based on the input from the load sensitive device and/ or the tilt sensitive device if a weight indication or a force indication is to be employed.
  • control unit is capable of automatically choosing the correct type of indication of the determined second load value, i.e. the control unit itself decides whether the determined second load value is to be displayed, for instance on a user display, in terms of units of weight such as Kilogram (kg) or units of force such as Newton (N).
  • a load sensitive device typically is primarily sensitive to a load imposed along its load sensitive axis, which is also referred to as the primary axis, and as such less sensitive to a load operating at an angle with respect to the load sensitive or primary axis.
  • the control unit can use the resulting oscillating signal from the load sensitive device to determine the true weight by employing, for example, a peak detection calculation.
  • the tilt sensitive de- vice which is intimately sensing the orientation of the load sensitive device will report the tilt angle(s) to the control unit which then in turn will compensate for the reduction in the determined load by application of a correction governed by the cosine of the tilt angle(s), in order to indicate the true weight.
  • a further condition to consider is when the load is not completely free to move under the influence of the force of gravity but is grounded or restrained in some manner.
  • the load sensitive device may also be operating at an angle. In these circumstances, the tilt sensitive device will indicate to the control unit that since the changes in angle of the load sensitive device is not consistent with a freely oscillating load the load value should be indicated in units of force rather than in units of weight.
  • the load sensitive device includes at least one element of the group comprising a strain gauge, a hydraulic load cell, a magneto-elastic load cell and a piezo-electric load cell.
  • the load sensitive device is an integral part of a load handling apparatus, i.e. it is intimately constructed into the load handling apparatus. Accordingly, the tilt sensitive device may be integrated into the load handling apparatus.
  • the remote indicating means comprises a display, a controller and a user interface.
  • the display may be used to display the determined state of load of a load handling apparatus to an operator of the apparatus.
  • a user can enter user commands into the controller, which can be communicated to the control unit via the wireless communication link.
  • the display, the controller and the user interface may be integrated to form a unit.
  • FIG. 1 is a schematic illustration of a load indicating system of the invention
  • Fig. 2 is a flow diagram illustrating steps performed in the method of the invention.
  • Fig. 3 is a schematic illustration of different load situations that can be distinguished by the system and method of the invention.
  • Fig. 1 shows a load indicating system for indicating the state of load of a load handling apparatus.
  • the load handling apparatus may, for example, be a mobile vehicle crane, a cable laying system, a mooring, a winch, a torque meter or a web tension system.
  • the load indicating system comprises a load sensitive device or transducer 10 which is subject to mechanical forces imposed by the load handling apparatus.
  • the load sensitive device 10 is mounted on the load handling apparatus at a position suitable for measuring the magnitude of a load 80, i.e. a force or a weight, handled by the load handling apparatus.
  • the load sensitive device 10 comprises at least one strain gauge.
  • the load sensitive device 10 may comprise a hydraulic load cell, a magneto-elastic load cell and/or a piezo-electric load cell.
  • the load sensitive device 10 receives electrical power via a signal conditioning and digitizing sub- system 12.
  • the signal conditioning and digitizing sub-system 12 and other constituent parts are provided with electrical power from a power supply unit 14.
  • the power supply unit 14 may be constructed using rechargeable or non-rechargeable batteries, or it may utilize power derived from the host system, i.e. from the load handling apparatus.
  • the signal conditioning and digitizing sub- system 12 monitors the load sensitive device 10 and converts an analog signal output from the load sensitive device 10 into a digital load signal Ll suitable for postprocessing.
  • the digital load signal Ll is passed to a control unit 16 which converts the signal into engineering units using calibration details stored in a local non- volatile memory sub- system 18.
  • a single or dual axis angle meter 20 is provided for measuring an angle or angles T formed between a load sensitive axis or load sensitive axes, respectively, of the load sensitive device 10 and a plane generated as an artificial horizon with respect to the earth.
  • the angle meter 20 may be implemented by an inclinometer, an accelerometer or a similar transducer, and is connected to the control unit 16.
  • the control unit 16 uses the angle data output T from the angle meter 20 to compensate for reduction in the indicated weight output Ll from the load sensitive device 10 brought about by the tilt effect of the measured force. In other words, the control unit 16 calculates a tilt compensated load value L2 based on the load value Ll output from the load sensitive device 10 and the tilt angle T output from the angle meter 20, as will be described in more detail with reference to Figs. 2 and 3.
  • the tilt compensated load signal L2 is then further enhanced and modified by applying a local gravity correction factor to account for significantly mobile applications.
  • the control unit 16 is connected to a position receiving device 22 which receives latitude and elevation data from a global positioning system.
  • the local gravity correction factor is automatically determined from a corresponding pre-programmed lookup table or an equivalent mathematical calculation based on the received latitude and elevation data.
  • Reference numeral 23 designates an antenna coupled to the position receiving device 22.
  • the calibration details and other details will be stored in the non-volatile memory sub- system 18 for later retrieval and use by the control unit 16.
  • the load sensitive device 10, the signal conditioning and digitizing sub- system 12, the power supply unit 14, the control unit 16, the memory sub-system 18, the angle meter 20, and the position receiving device 22 are arranged in a housing 24 which is mounted on the load handling apparatus such that the load handled by the load handling apparatus and to be determined by the load indicating system acts only on the load sensi- tive device 10, whereas the housing 24 itself and the other system components contained therein are not subject to external forces.
  • a radio transceiver 26 coupled to the control unit 16 and enabling communication between the control unit 16 and a controller 28 of a remote indicating means 30 via a wireless radio link 32.
  • Reference numeral 27 designates an antenna coupled to the transceiver 26.
  • the wireless radio link 32 can be implemented using any kind of wireless communication technology, for instance Zigbee, Wi-Fi, Bluetooth, private network, etc. operating on ISM band or any other certified frequency or modulation mode, including by way of example a private network operating in the ISM band of 2.4 GHz.
  • wireless communication technology for instance Zigbee, Wi-Fi, Bluetooth, private network, etc. operating on ISM band or any other certified frequency or modulation mode, including by way of example a private network operating in the ISM band of 2.4 GHz.
  • the remote indicating means 30 further comprises a display 34 connected to the controller 28 and a user interface 36 connected to the controller 28.
  • Reference numeral 29 designates an antenna coupled to the controller 28.
  • the controller 28 of the remote indicating means 30 receives data relating to the measured load from the control unit 16 for further processing and/ or to be displayed on the display 34. Similarly, the controller 28 may retrieve calibration details and other data stored in the non-volatile memory sub-system 18 via the wireless radio link 32.
  • the user interface 36 allows an operator of the system to enter user commands to be transmitted to the control unit 16 in order to update data contained in the lookup table, to update software implemented in the con- trol unit 16, to enter latitude and elevation data for the position receiving device 22, and/ or to generally adapt the load indicating system to different operating conditions.
  • the controller 28, the display 34 and the user interface 36 are integrated to form a single unit. However, it will be understood that it is also possible to realize the controller 28, the display 34 and the user interface 36 as two or three separate modules.
  • control unit 16 deter- mines based on the input from the load sensitive device 10 and/ or the angle meter 20 whether a weight indication or a force indication is to be employed, i.e. whether the determined true load value L2 is to be displayed, e.g. on the display 34, in terms of units of weight such as Kilogram (kg) or units of force such as Newton (N) .
  • a first step 50 the control unit 16 receives a load value Ll from the load sensitive device 10 and a tilt angle T from the angle meter 20.
  • Tilt angle T represents the angle formed between the load sensitive axis of the load sensitive device 10 and a plane of reference extending in x and y directions generated as an artificial horizon with respect to the earth.
  • Tilt angle T has two components Tx and Ty representing the tilt angle of the load sensitive axis in the x and y direction, respectively.
  • step 54 the control unit 16 determines if the load value Ll output from the load sensitive device 10 obeys Simple Harmonic Motion (SHM). If no, the method proceeds to step 58; otherwise the method proceeds to step 60.
  • SHM Simple Harmonic Motion
  • step 58 it is established that the load sensitive device 10 is positioned such that its load sensitive axis is aligned both with the direction in which the load 80 acts and with the direction of the force of gravity (case 1).
  • Fig. 3a illustrates an exemplary situation for case 1.
  • the load 80 is suspended from the housing 24 carrying the load sensitive device 10, wherein the housing 24 is connected to a support structure (not shown) such as a crane boom.
  • the housing 24 may form an integral part of the support structure.
  • step 60 it is established that the load 80 swings freely to and fro below the load sensitive device 10, e.g. at a fun- damental frequency in the order of less than a few cycles per second (case 2).
  • the control unit 16 determines the true weight L2 of the load 80 by employing, for example, a peak detection calculation on the oscillating signal Ll from the load sensitive device 10.
  • the true weight L2 will be indicated in units of weight in step 64.
  • Fig. 3b illustrates an exemplary situation for case 2.
  • the load 80 is suspended from the housing 24 carrying the load sensitive device 10, wherein the housing 24 is connected to a support structure (not shown) such as a crane boom.
  • the housing 24 may form an integral part of the support structure. While the load sensitive device 10 is not tilted with respect to the plane of reference and remains essentially stationary, the load 80 swings freely to and fro below the load sensitive device 10.
  • step 56 the control unit 16 determines if the tilt angle T output from the angle meter 20 obeys Simple Harmonic Motion (SHM). If yes, the method proceeds to step 66; otherwise the method proceeds to step 68.
  • SHM Simple Harmonic Motion
  • step 66 the control unit 16 establishes that the load sensitive device 10 itself freely moves so that its load sensitive axis is in line with the forces exerted by the freely moving suspended load 80 acting under the force of gravitation (case 3).
  • the control unit 16 thus compensates for the reduction in the load value Ll sensed by the load sensitive device 10 by application of a correction governed by the cosines of the tilt angles Tx and Ty, in order to determine the true weight L2:
  • the true weight L2 will be indicated in units of weight in step 70.
  • Fig. 3c illustrates an exemplary situation for case 3.
  • the load 80 is suspended from the housing 24 carrying the load sensitive device 10, wherein the housing 24 itself is suspended from a support structure (not shown) such as a crane boom.
  • the load sensitive device 10 and the load 80 swing together to and fro below the support structure.
  • the control unit 16 establishes that the load 80 is not completely free to move under the influence of the force of gravity but is grounded or restrained in some manner and that the load sensitive device 10 operates at an angle (case 4), as is illustrated in Fig. 3d.
  • the load value Ll sensed by the load sensitive device 10 will be indicated as the true load L2 in units of force rather than in units of weight in step 72.
  • the true load or weight L2 may be further enhanced and modified by applying a local gravity correction factor before being displayed on the display 34.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Selective Calling Equipment (AREA)

Abstract

La présente invention concerne un système indicateur de charge comprenant : au moins un dispositif sensible à la charge destiné à déterminer une première valeur de charge ; au moins un dispositif sensible à l’inclinaison destiné à déterminer un angle d’inclinaison formé entre un axe de sensibilité à la charge du dispositif sensible à la charge et un plan de référence prédéfini ; une unité de commande couplée au dispositif sensible à la charge et au dispositif sensible à l’inclinaison destiné à déterminer une seconde valeur de charge compensée par l’inclinaison basée sur la première valeur de charge et l'angle d'inclinaison ; une liaison de communication sans fil permettant de communiquer les données entre l'unité de commande et un moyen indicateur distant.
EP09709127A 2008-02-07 2009-02-09 Systeme indicateur de charge Withdrawn EP2240748A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP09709127A EP2240748A1 (fr) 2008-02-07 2009-02-09 Systeme indicateur de charge

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP08002278A EP2088407A1 (fr) 2008-02-07 2008-02-07 Système indicateur de charge
PCT/EP2009/000888 WO2009098087A1 (fr) 2008-02-07 2009-02-09 Système indicateur de charge
EP09709127A EP2240748A1 (fr) 2008-02-07 2009-02-09 Systeme indicateur de charge

Publications (1)

Publication Number Publication Date
EP2240748A1 true EP2240748A1 (fr) 2010-10-20

Family

ID=39591612

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08002278A Withdrawn EP2088407A1 (fr) 2008-02-07 2008-02-07 Système indicateur de charge
EP09709127A Withdrawn EP2240748A1 (fr) 2008-02-07 2009-02-09 Systeme indicateur de charge

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP08002278A Withdrawn EP2088407A1 (fr) 2008-02-07 2008-02-07 Système indicateur de charge

Country Status (2)

Country Link
EP (2) EP2088407A1 (fr)
WO (1) WO2009098087A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102954830A (zh) * 2011-08-31 2013-03-06 深圳富泰宏精密工业有限公司 电子称重方法及系统
DE102017126417A1 (de) * 2017-11-10 2019-05-16 Claas Tractor Sas Landwirtschaftliches Fahrzeug
CN114414016B (zh) * 2021-12-30 2024-04-09 北京万集科技股份有限公司 目标车辆的检测方法和装置、存储介质及电子设备

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
DE1067230B (de) * 1959-10-15 Carl Schenck Maschinenfabrik G.m.b.H., Darmstadt Seilzugwaage, insbesondere für einen Kran mit beweglichem Ausleger
DE3939959C2 (de) * 1988-12-20 1994-04-21 Sartorius Gmbh Elektronische Waage
DE4011260C2 (de) * 1990-04-05 1993-12-02 Mannesmann Ag Meßeinrichtung und Meßverfahren an einem Hubmittel, insbesondere einem unter Last stehenden Hubseil für Hebeeinrichtungen
US6474922B2 (en) * 2000-05-10 2002-11-05 Del Mar Avionics Remote operation auxiliary hoist control and precision load positioner
ATE358271T1 (de) * 2003-12-11 2007-04-15 Mettler Toledo Ag Verfahren und vorrichtung zur überwachung der ausrichtung einer messvorrichtung und messvorrichtung
FI118276B (fi) * 2004-03-30 2007-09-14 Tamtron Oy Menetelmä ja laite punnitusmittausten tarkkuuden parantamiseksi
NZ538885A (en) * 2005-03-15 2006-10-27 Actronic Ltd Weighing device for excavator payloads
JP5301768B2 (ja) * 2006-06-21 2013-09-25 古河ユニック株式会社 車両搭載用クレーンの遠隔操作器

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See references of WO2009098087A1 *

Also Published As

Publication number Publication date
EP2088407A1 (fr) 2009-08-12
WO2009098087A1 (fr) 2009-08-13

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