EP2298688A2 - Système de détection automatique de cycles de charges d'une machine destinée à envelopper des charges - Google Patents

Système de détection automatique de cycles de charges d'une machine destinée à envelopper des charges Download PDF

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Publication number
EP2298688A2
EP2298688A2 EP10008610A EP10008610A EP2298688A2 EP 2298688 A2 EP2298688 A2 EP 2298688A2 EP 10008610 A EP10008610 A EP 10008610A EP 10008610 A EP10008610 A EP 10008610A EP 2298688 A2 EP2298688 A2 EP 2298688A2
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EP
European Patent Office
Prior art keywords
load
cycle
change
detection
weight
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
EP10008610A
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German (de)
English (en)
Other versions
EP2298688B1 (fr
EP2298688A3 (fr
Inventor
Klaus Schneider
Jürgen Sonderegger
Martin Amann
Mathias Schneller
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.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
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Publication of EP2298688A2 publication Critical patent/EP2298688A2/fr
Publication of EP2298688A3 publication Critical patent/EP2298688A3/fr
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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
    • 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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the present invention relates to a system for automatically detecting load cycles of a load handling machine, the machine comprising a lifting device for lifting the load and a transport device for moving the load horizontally.
  • the transport device may in particular be the slewing gear and / or the luffing gear of the crane.
  • the system comprises a load change detection for automatically detecting a load change based at least on the output signals of a Hubkraft-measuring device, a load position detection, which detects the position of the load in at least one horizontal direction, and a load cycle detection for automatically detecting a load cycle, wherein the load cycle detection at least Basis of the output signals of the load change detection and the load position detection takes place.
  • the known systems have a variety of problems, which are due in particular to the need for manual interaction by the crane operator.
  • the trigger threshold or the angle of rotation is often not set or at a wrong position, so that no or a corrupted recording takes place.
  • very high load thresholds are used to determine the start point and stop point of the cycle to avoid fault detection of load cycles.
  • the weight of the payload is often significantly less than the weight of the lifting device and the lifting means and order of magnitude smaller than the maximum load, a reliable detection of load cycles can not be guaranteed.
  • the measuring system must be designed very accurately.
  • the object of the present invention is therefore to provide a system for the automatic detection of load cycles of a machine for handling loads, which manages with less and as far as possible without any manual interaction and yet with great reliability load cycles and / or the weight of the lifting device recognizes.
  • the present invention includes a system for automatically detecting load cycles of a load handling machine, the machine a lifting device for lifting the load and a transport device for moving the load horizontally.
  • the inventive system can, for. B. be used in a crane.
  • it may then z. B. to the hoist of the crane, in the transport device z. B. act on the slewing and / or luffing of the crane.
  • the hoist By moving the hoist the load hanging on the crane rope can be raised and lowered.
  • the load By rotating and / or rocking up and down the boom of the crane, the load can be moved in at least one horizontal direction.
  • the system according to the invention can be used not only in a crane, but also in other handling machines, in particular in construction machines, transport equipment, vehicle conveyors, Reachstackers and / or wheel loaders. All of these devices have a lifting device, via which a load can be raised and lowered again, and a transport device for moving the load horizontally.
  • the inventive system comprises a load change detection for automatically detecting a load change based at least on the output signals of a Hubkraft-measuring device, a load position detection, which detects the position of the load at least in the horizontal direction, and a load cycle detection for automatically detecting a load cycle, wherein the load cycle detection at least Basis of the output signals of the load change detection and the load position detection takes place.
  • the load cycle detection detects the position of the load as a load receiving point when a positive load change has been detected. Such a positive load change is then evaluated as the beginning of a new load cycle based on a query as to whether the load has been moved a predetermined distance to the load pick-up point in the horizontal.
  • the system according to the invention advantageously detects a positive load change only as the beginning of a new load cycle when the load has been moved a predetermined distance to the load receiving point in the horizontal after detecting the positive load change. This avoids that when repeated raising and lowering of the load at the load receiving point, which can be done for example for better positioning of a load receiving device, each time a new load cycle is detected. This makes the system according to the invention much safer with regard to the detection of the load cycles. Furthermore, it is no longer necessary to manually specify a trigger threshold. Rather, by comparing the current position of the load with the stored load receiving point and the query whether the load has been moved a predetermined distance to the load pick-up point in the horizontal, a sure criterion for reliably detecting a new load cycle.
  • the trigger threshold for confirming a duty cycle is thus automatically generated in the present invention and in dependence on the respective load receiving point.
  • the predetermined distance to the load receiving point may be, for example, a fixed distance by which the load was moved away from the load receiving point. For example, this may be a distance of three meters. In particular, the distance should be greater than the usual Rangierweg used for accurate positioning of the load.
  • the load position detection can determine the position of the load, for example, based on the machine coordinates, in a crane, for example, based on the angle of rotation and the rocking angle of the boom.
  • the position and / or movement of the load or the load-receiving means is advantageously determined by the position and / or speed of the boom tip.
  • the position and / or movement of the load or of the load-receiving means (which is only required in the horizontal direction) corresponds to the position and / or speed of the jib tip.
  • the system according to the invention advantageously further comprises a load speed detection which detects the speed of the load at least in the horizontal direction, wherein the load cycle detection is further based on the output signals of the load speed detection.
  • the load speed detection can be carried out more advantageously on the basis of machine coordinates, in particular based on the rotation angle and / or the rocking angle or the rotational speed and the rocking speed of the crane.
  • the load cycle detection evaluates a positive load change based on a query whether the load speed during the positive load change has not exceeded a predetermined value, as the beginning of a new load cycle.
  • a positive load change is only considered as the beginning of a new load cycle if the load speed during the positive load change does not exceed the predetermined value.
  • Strong fluctuations in the output signals of the Hubkraft measuring device can occur, for example, by vibrations of the load during the horizontal movement of the load.
  • fluctuations are not considered by the system according to the invention as the beginning of a new load cycle, since the speed of the load in the horizontal direction at the time of this load fluctuation usually exceeds the predetermined value.
  • the load handler is usually not or only slightly moved in the horizontal direction, since it must be aligned with the load. The load speed thus offers a good criterion for sorting out load changes which do not correspond to the beginning of a new load cycle.
  • the load cycle detection determines the end of an active duty cycle based on a query as to whether a negative load change occurs.
  • the system according to the invention only evaluates a negative load change as the end of an active load cycle when the beginning of a new load cycle is subsequently detected.
  • a positive load change which is not considered to be the beginning of a new load cycle, is due to a negative load change, because the load speed exceeds a predetermined value during the positive load change, then the negative load change is likewise not considered to be the end of an active load cycle.
  • the load cycle detection takes place on the basis of a discrete state machine.
  • a discrete state machine allows a simple implementation of the load cycle detection according to the invention.
  • the discrete state machine has at least the following states: No load, positive load change detected, active load cycle confirmed.
  • the state machine is initially in a no load state. In this state, the measurement signal generated by the Hubkraft measuring device is used to determine the mass of the lifting device. If a positive load change is detected, the system switches to the state positive load change detected. At the same time the position of the load stored during the positive load change as a load acceptance point. If the load has now been moved after a positive load change by a predetermined distance to the load pick-up point in the horizontal, the state machine switches to the state active load cycle confirmed. This detects the beginning of a new load cycle. Confirmed in the active load cycle state, for example, the mass is determined based on the signals of the lifting force measuring device.
  • the state machine switches back to the no load state without an active load cycle being detected. Conversely, if the state machine is asserted in the active load cycle state and a negative load change occurs, the state machine switches to the no load state, thereby detecting the end of the active duty cycle.
  • the data on the completed load cycle is advantageously stored in a memory unit such as a memory unit. a database stored.
  • the state machine is modified as follows: The state machine switches from the state no load to the state positive load change detected if a positive load change occurs and the speed is below the predetermined value lies. If, on the other hand, a positive load change occurs at a load speed which is above the predetermined value, then the automaton does not switch from the state directly to the state active load cycle confirmed. If a negative load change is confirmed in the active load cycle state, the state machine switches to the no load state. However, this is only counted as the end of an active load cycle when the state machine then switches to the state of positive load changes detected. On the other hand, if the state machine switches directly to the active load cycle state, a continuous active load cycle is assumed. In order to evaluate when the beginning and when the end of an active load cycle is present, for example, a higher-level selection logic can be used.
  • the load cycle detection detects the load weight on the basis of the output signals of the Hubkraft measuring device, in particular by averaging over the active load cycle or a portion of the active load cycle. Automatic load cycle detection is used to determine the load weight for each active load cycle.
  • the system according to the invention also advantageously comprises a load receiving means detecting unit which automatically detects the weight of the load receiving means. This eliminates manual taring of the system.
  • the automatic detection of the weight of the lifting device is advantageously carried out on the basis of the discrete state machine. If a state machine is used, as has been described above, then the determination of the weight of the load receiving means advantageously takes place in the no load state.
  • the weight of the lifting device is advantageously formed by an averaging, wherein phases in which the output of the lifting force measuring device falls below a certain limit below the previously determined weight of the lifting device are not taken into account. As a result, it can be prevented that a drop in the output signal of the lifting force measuring device when fitting the receiving means to the load falsifies the determination of the weight of the load receiving means.
  • a positive load change is advantageously detected by the load change detection when the output signal of the lifting force measuring device exceeds the weight of the lifting device by a predetermined value.
  • a negative load change is advantageously detected when the output signal of the lifting force measuring device approaches the weight of the load receiving means again up to the predetermined value.
  • the present invention further includes a system for automatically detecting changes in the load handler in a load handling machine, the machine including a lifting device for lifting the load.
  • the system comprises a lifting force measuring device for measuring the lifting force and a load receiving means detecting unit which automatically detects a change of the load receiving means based at least on the output signals of the lifting force measuring device.
  • the present invention thus makes it possible to automatically detect and take into account a change of the load receiving means and thus a change in the weight of the load receiving means.
  • the system advantageously comprises a position detection, which detects the position of the load receiving means in at least one horizontal direction, wherein the load receiving means detecting unit automatically detects a change of the load receiving means based at least on the basis of the output signals of the lifting force measuring device and on the basis of the position detection.
  • the system further advantageously comprises a load change detection for automatically detecting a load change based at least on the output signals of the Hubkraft measuring device, wherein the load receiving means detecting unit detects a change of the load receiving means based on the detected by the load change detection load changes.
  • the load receiving means detecting unit stores the position of the load receiving means whenever a load change has taken place.
  • the determination of whether such a load change corresponds to a change of the load receiving means then takes place advantageously at least on the basis of a query of the distance of the load receiving means to this stored position in the horizontal direction.
  • the system further advantageously includes load cycle detection for automatically detecting a duty cycle, wherein the load receiving means detection unit operates based on the duty cycle detection.
  • the detection of a change of the load receiving means takes place on the basis of a load cycle detection, as has been shown above.
  • the system according to the invention for the automatic detection of changes of the load receiving means is obviously also independent of the system according to the invention for automatically detecting load cycles of great advantage.
  • a change of the load receiving means is detected using one or more discrete state machines. These make it possible to reliably detect the change of a lifting device, even if only the output of the Hubkraft measuring device and the machine coordinates are used.
  • the load receiving means detection takes place on the basis of a load cycle detection and stores the position of the load receiving means when a negative load change has occurred, while there is no active load cycle.
  • a negative load change while no active load cycle is detected, based on a query whether after the negative load change, the load receiving means has been moved a predetermined distance to the stored position in the horizontal, as a change to a lighter load-receiving means.
  • a negative load change in a state in which there is no active load cycle is thereby detected when the output of the Hubkraft measuring device falls by a predetermined amount below the previously detected weight of the lifting device.
  • the load receiving means or the machine for handling loads by a predetermined distance in the horizontal moves without the output of the Hubkraft measuring device has returned in the range of the previously detected weight of the lifting device or has exceeded this range, this is considered to be a change to a lighter load handling device. Thereafter, the detected weight of the lifting device is updated.
  • the load receiving means detection is realized via a state machine, it changes from the state no load to a state negative load changes detected when a negative load change occurs, that is, when the output of the Hubkraft measuring device by a certain value below the previously detected weight of the lifting device falls.
  • a state negative load changes detected when a negative load change occurs, that is, when the output of the Hubkraft measuring device by a certain value below the previously detected weight of the lifting device falls.
  • the load handling device or the machine are moved to turn the load in the horizontal direction. If this movement exceeds a certain predetermined value, for example six meters, this is considered to be a change to a lighter load handling device.
  • the state machine then switches back to the no load state, updating the detected weight of the load handler.
  • the state machine If, on the other hand, a positive load change is detected, then the state machine returns to the no load state without the detected weight of the load receiving means being updated. A positive load change is detected in this state when the output of the lifting force measuring device again rises above a predetermined value below the detected weight of the lifting device.
  • the invention provides that the load receiving means detection unit detects a change of the load receiving means based on several parallel running discrete state machine whose states are checked by a higher-level Kontrollogik.
  • the change to a heavy load handling device can be detected.
  • a first state machine confirms an active load cycle
  • a second state machine is started. This second state machine starts in the state no load and thus detects the correspondingly higher weight than the weight of the load handling device.
  • the higher-level control logic decides which of the parallel-running state machines actually detects the correct active load cycle and which of the state machines must be deleted again. In particular, this decides the control logic whenever one of the state machines detects the end of an active duty cycle.
  • a first state machine detects the end of an active load cycle
  • first a predetermined time is waited for, if more state machines recognize the end of an active duty cycle. If this is not the case, the first state machine is evaluated as the state machine, which indicates the correct duty cycle.
  • the decision is made on the basis of another criterion. For this purpose, the location at which the first state machine has detected the end of the active duty cycle is stored. It is then checked which weight is currently measured when the load-carrying means has moved away from this point in the horizontal direction by a predetermined distance, for example by three meters. Subsequently, the state machine is considered to be the correct state machine whose detected weight of the load handler corresponds to the currently determined load weight at that time.
  • the load cycle detection according to the invention stores load cycle data in a database for each detected load cycle, wherein the database enables a later evaluation of the data.
  • the system according to the invention enables a comprehensive and accurate evaluation of the workflows when handling the loads.
  • the load cycle data thereby include one or more of the following data: load weight, duration load cycle, start and stop position, start and stop time, weight of the load receiving means, minimum and maximum value of the load during the load cycle, travel distance, characteristics of the machine or the drives of Machine.
  • load weight load weight
  • duration load cycle duration load cycle
  • start and stop position start and stop position
  • start and stop time weight of the load receiving means
  • minimum and maximum value of the load during the load cycle travel distance
  • characteristics of the machine or the drives of Machine characteristics of the machine or the drives of Machine.
  • several of these data can be stored in the database.
  • the evaluation of the data includes determining one or more of the following data: energy / fuel consumption, total weight of cargo handled, average cargo handling, performance / performance indexes.
  • the evaluation of the data can be done directly in the system or alternatively by an additional device to which the data from the database are transferred.
  • the data of the load cycle detection according to the invention can be used to evenly load a ship.
  • the payload per hatch can be accurately determined by means of the load cycle detection according to the invention. As a result, an asymmetrical loading of the ship can be avoided.
  • the data of the load cycle detection can be used to prove a certain guaranteed turnover performance.
  • the present invention in addition to the system for automatically detecting load cycles and the system for automatically detecting the change of a Lifting device, as presented above, further an envelope machine with one or both systems.
  • the handling machine may be e.g. to act a crane, the lifting device corresponds to the hoist of the crane.
  • the lifting force measuring device is advantageously a device for measuring the cable force in the hoisting rope. If it is a slewing crane, then the transport device corresponds to the slewing gear and / or luffing mechanism of the crane.
  • the transfer machine it may be e.g. also, a reach stacker, a forklift, an excavator, a wheel loader or any other transport machine with a lifting device for lifting a load act.
  • the systems according to the invention can be used without problems, since the load cycle detection and the load receiving means detection is independent of the specific embodiment of the material handling machine based solely on the force measurement and the position determination.
  • the present invention further includes a method of detecting load cycles of a load handling machine, the machine comprising a lifting device for lifting the load and a transporting device for horizontally moving the load.
  • the method according to the invention comprises the steps of: determining the lifting force of the lifting device; Detecting a load change based at least on the determined lifting force; Detecting the position of the loads at least in the horizontal direction; automatic detection of a load cycle based at least on a detected load change and the position of the load.
  • the invention further provides the steps of detecting the position of the load as a load receiving point when a positive load change has been detected and positive load change values as the start of a new load cycle based on a query as to whether the load has been moved a predetermined distance to the load receiving point in the horizontal ,
  • FIG. 1 shows an embodiment of a machine according to the invention for handling loads, in which an embodiment of a system according to the invention for automatically detecting load cycles and an embodiment of a system according to the invention for detecting the change of a load receiving means is used.
  • the exemplary embodiment is a crane, in particular a mobile harbor crane.
  • the crane has an undercarriage 1 with a chassis 9. This allows the crane to be moved in the port. At the Hubort the crane can then be supported on support units 10.
  • a tower 2 is arranged rotatably about a vertical axis of rotation. At tower 2 is around a horizontal axis articulated a boom 5.
  • the boom 5 can be pivoted about the hydraulic cylinder 7 in the rocker plane up and down.
  • the crane has a hoist rope 4, which is guided around a deflection roller 11 at the tip of the boom.
  • a load-receiving means 12 is arranged, with which a load 3 can be accommodated.
  • the load-receiving means 12 and the load 3 are thereby raised or lowered by moving the hoisting rope 4.
  • the change of the position of the load receiving means 12 and the load 3 in the vertical direction is thus carried out by reducing or increasing the length I S of the hoisting rope 4.
  • a winch 13 is provided, which moves the hoist rope.
  • the winch 13 is arranged on the superstructure.
  • the hoist rope 4 is first guided by the winch 13 via a first deflection roller 6 at the top of the tower 2 to a deflection roller 14 at the top of the boom 5 and from there back to the tower 2, where it via a second guide roller 8 to a deflection roller 11 is guided on the jib tip, from where the hoist rope runs down to the load 3.
  • the load receiving means 12 and the load can be further moved by turning the tower 2 by the angle ⁇ D and by rocking up and down the boom 5 by the angle ⁇ A in the horizontal. Due to the arrangement of the winch 13 on the superstructure, the lifting and luffing of the jib 5 results in addition to the movement of the load in the radial direction, a lifting movement of the load 3. This must optionally be compensated by a corresponding control of the winch 13.
  • FIG. 2 Now a typical envelope situation for the inventive machine for handling loads is shown.
  • the load is thereby raised at point A, moved along the path 20 in the horizontal and then stored at point B again.
  • Such a cycle of lifting the load, moving the load in the horizontal direction and depositing the load describes a load cycle.
  • the crane operator manually set a trigger threshold 30.
  • this trigger threshold 30 with the load is exceeded, a new load cycle is counted and the currently measured load mass is stored for this load cycle. This resulted in a variety of problems, which have already been described in more detail above.
  • the automatic load cycle detection system at point A automatically recognizes that the load has been lifted.
  • the load cycle detection now saves the position of the load as load pickup point A. Subsequently, the current position of the load is continuously compared with this stored load pickup point. The picking up of the load is only counted as a new load cycle if, after being picked up, the load has been moved a predetermined distance d to the load pick-up point in the horizontal.
  • an automatically generated trigger threshold 40 is thus provided according to the present invention, which is automatically placed around the detected load acceptance point.
  • the trigger threshold 40 is thus automatically generated when a load is received as a function of the detected load acceptance point.
  • the load cycle detection is much more reliable and is also completely automatic and without interaction by the crane operator feasible.
  • the recording of a load is detected automatically by a load change detection.
  • the load change detection works on the basis of the output signals of a lifting force measuring device.
  • This lifting force measuring device can be arranged, for example, in the articulation of the winch 13 or in the articulation of the deflection roller 8. Alternatively, such a lifting force measuring device can also be arranged in the region of the load receiving means 12. However, the arrangement of the lifting force measuring device on the winch 13 or on the deflection roller 8 has the advantage that no additional wiring to the load receiving means must be provided.
  • the lifting force measuring device initially measures the force which is present in the hoisting rope 4 at the corresponding measuring position. The lifting force measuring device calculated from this cable force the mass of the lifting device 12 and the attached load. 3
  • the lifting force measuring device then outputs as output the currently measured load weight, which corresponds to the sum of the weight of the load receiving means 12 and the load 3.
  • the load cycle detection initially determines the weight of the load receiving means 12, as will be shown in more detail below.
  • the load change detection now detects a load change based on the weight of the load receiving means 12 and the currently measured load weight.
  • a positive load change is detected in the embodiment, when the currently measured load weight exceeds the previously detected weight of the load receiving means 12 by a certain value T.
  • T a value of 0.8 t can be selected as the value T.
  • a negative load change is detected when, after a positive load change, the load weight again falls below the limit value T above the previously determined weight of the load receiving means 12.
  • the signal of the lifting force measuring device differs depending on the type of stroke or on the type of load receiving means used 12.
  • Two typical curves of the output signal of the lifting force measuring device are in the FIGS. 3a and 3b shown.
  • FIG. 3a A typical load weight signal is shown when using a hook as the only load handler. The hook itself has a mass of about 4 t. At time 100, a load with a mass of about 6 t is attached to the hook and lifted, deposed at time 101, resumed at time 102 and finally discontinued at time 103. However, it is not possible to determine from this load signal alone whether a load cycle or two load cycles or even no load cycle actually took place here.
  • FIG. 3b A typical load weight signal curve is shown using a spreader with which containers can be picked up and dropped.
  • the spreader is attached to the hook of the crane and even has a mass of about 13 t, so that together with the load hook results in a load weight of the load handling device of about 17 t.
  • the spreader is placed on the container.
  • the currently measured load weight drops sharply down, since the container supports at least a portion of the weight of the spreader.
  • the load weight then increases to a value of about 33 t.
  • the container is dropped off again.
  • the multiple force peaks result from the fact that the container is raised and lowered several times to exactly z.
  • the load cycle detection according to the invention for the two in the FIGS. 3a and 3b shown situations is now in the FIGS. 4a and 4b shown schematically.
  • the load cycle detection initially detects the weight G of the load receiving means, while no load has been recorded. As soon as the currently measured load weight 113 exceeds the detected weight G of the load receiving means by a value T, a positive load change is detected. This is in both cases at time 110 the case.
  • the load change is detected, the position of the load or the lifting device is saved. However, the positive load change at the time 110 is only evaluated at time 111 as the beginning of a new load cycle.
  • the current position 114 of the load or the lifting device is compared with the load receiving point. Only after the load or the lifting device has been moved relative to the load receiving point by a distance d in the horizontal, the previous positive load change is considered as the beginning of the new load cycle.
  • the end of the load cycle is detected at time 112, at which a negative load change takes place, in which the currently measured load weight 113 falls below the threshold value T over the weight G of the load receiving means again.
  • the load changes 116 that also occur when the load is lowered are likewise not considered to be the start of a new active load cycle since the load was not moved by the distance d until the next negative load change was reached.
  • FIG. 6 a state machine is now shown, through which the cycle detection according to the invention has been realized.
  • the state machine initially has an initialization state 120 in which the system starts. Depending on whether a cycle end or cycle start is detected, the system then changes to states 121 and 122.
  • the actual state machine for load cycle detection is formed by the states 121 to 124:
  • the state machine assumes that there is no load on the hoist rope and thus that the load weight corresponds to the weight G of the load suspension device LSM (Load Suspension Means).
  • the load cycle detection determines the weight G of the load receiving means.
  • the weight G of the load-receiving means is determined at least each time the state machine changes from the end of the cycle 124 to the state 121 in which no load is attached to the load-handling device.
  • the weight G of the load receiving means may also be determined each time when changing to the state 121. As a result, manual taring of the system is no longer necessary. Rather, the system automatically detects the weight of the lifting device.
  • the determination of the load weight G of the load receiving means can take place via an average value filter.
  • the averaging is advantageously carried out only over those periods in which the current load weight L is in a certain range to the previously determined weight G of the load-lifting device. In particular, those values of the currently measured load weight L are not taken into account in the averaging, which are located in an area GT '. Otherwise, in load handling devices, which load weight signals as in FIGS. 3b and 4b shown to determine a too low weight G of the lifting device.
  • the lower limit value T ' can be selected, for example, equal to the limit value T for detecting a positive load change.
  • the load change detection constantly monitors the current load weight and compares this with the weight G of the load handler. As long as the current load weight does not exceed the weight G by a value T, d. H. as long as no positive load change is detected, the state machine remains in state 121.
  • the state machine switches to state 122. In this state, a positive load change has been detected, so that there may be an active cycle.
  • the position of the load or the load receiving means is simultaneously stored as a load receiving point LA.
  • the system now continuously compares the current position P of the load or the lifting device with the stored load pick-up point LA and determines therefrom the distance of the load from the load pick-up point in the horizontal direction [P-LA]. As long as this transverse distance [P-LA] is smaller than the minimum distance d, which is used as a trigger threshold, the remains State machine in state 122. In addition, the load weight L is continuously determined. If this falls below the value G + T, then the state machine returns to state 121.
  • the state machine changes to state 123. This confirms that there is an active cycle. The last positive load change is thus recognized as the start of an active cycle.
  • the weight GL of the load is determined.
  • the weight G of the load-carrying means is subtracted from the currently measured load weight L.
  • averaging can be provided via an average filter.
  • the average value filter is updated or restarted when the load weight increases significantly.
  • the state machine monitors the current load weight L and constantly compares this with the weight G of the load handling device. As soon as the current load weight falls below the value G + T again, the state machine changes from state 123 to state 124, thus detecting the end of the active cycle. In state 124, the data is stored for the active cycle just completed. This may in particular be the weight GL of the load as well as further data about the active cycle just ended. For example, while the load pick-up point and the time of lifting the load can be stored. In addition, the position and, if appropriate, the time at which the end of the cycle was detected can be stored. Furthermore or alternatively, the duration of the cycle, the distance traveled during the cycle, maximum and minimum values of the load weight and the like can be stored.
  • the state machine After storing the data, the state machine changes from state 124 back to state 121, which corresponds to a state without an attached load. Now again the weight G of the lifting device is determined.
  • FIG. 7 shows an example of such a load weight curve.
  • the load weight is shown as the solid line 133.
  • Positive load changes are shown as continuous vertical lines 134, negative load changes as dotted lines 135.
  • a positive load change is detected.
  • the load is then moved transversely, so that this positive load change is detected as the beginning of an active load cycle.
  • the load weight fluctuates very strongly due to dynamic processes, so that it briefly falls below the limit value G + T.
  • G + T the limit value
  • another criterion can be used to detect the beginning and end of an active duty cycle. For this purpose, when detecting a positive load change, not only the current position of the load or the load receiving means is stored, but also determines the speed of the load or the load-receiving means in the horizontal direction. Only if this speed v is below a certain limit r, this positive load change can correspond to the beginning of a new active load cycle. On the other hand, if the speed v is above the limit r, the system concludes that a dynamic failure has occurred and the previous active duty cycle continues.
  • FIG. 8 An extension of the in FIG. 6 State machine shown that takes into account this additional criterion, is in FIG. 8 shown.
  • the states 121 to 124 essentially work in the same way as with respect to FIG. 6 was presented.
  • the additional criterion now comes into play when in state 121 a positive load change was detected. If a transverse velocity v smaller than r is detected during the positive load change, then the state machine switches to state 122 as before. A cycle type 1 is stored in this case.
  • the state machine determines a transversal velocity v, which is greater than the limit r, during a positive load change in state 121, the state machine changes directly to state 123. Furthermore, a cycle type 2 is stored.
  • the state 124 d. H. the state switched from the state 123 during a negative load change, its data to a logic 125 on.
  • This logic 125 now waits, which is stored for a cycle type at the next change from state 121. If a cycle type 1 is stored, the logic evaluates the data for the previous cycle as data of a completed active cycle. If, on the other hand, a cycle type 2 is output, the logic 125 evaluates the data of the last cycle merely as a subcycle of the now active cycle.
  • the logic 125 is necessary because, with respect to the end of the cycle 124, no criterion regarding the speed of the lifting device or the load should be provided. It may well happen that when unloading the load, the load picking tool is moved further, z. B. when bulk material is distributed over a gripper over a longer distance. The state machine therefore switches from state 123, ie from an active cycle, to the end of the cycle whenever the load falls below the threshold G + T. Logic 125 then determines, based on the next transition from state 121 to either state 122 or directly to state 123, whether it has actually been at the end of an active duty cycle or whether the last active duty cycle is merely continuing.
  • the system determines a negative load change in state 121, in which no load attaches to the load-bearing means.
  • This negative load change from the state 121 is detected when the current load weight L falls by a value T 'below the previously detected weight G of the load receiving means.
  • the limit value T ' can be selected to be the same as the limit value T, z. B. 0.8 t.
  • the averaging is suspended for the weight G of the load receiving means, so that this initially remains constant at the last detected value.
  • the system evaluates this as a change of the load-carrying means and updates the weight G of the load-receiving means accordingly to the currently measured load weight L.
  • This automatic detection of the change to a lighter load handling device can be achieved by an extension of the in FIG. 8 state machine shown done.
  • the extension of the state machine is in FIG. 10 shown, for the sake of clarity, only state 121 from FIG. 8 is shown with.
  • the weight G is determined by averaging. However, only those periods are taken into account in which the current load weight L does not fall below a specific limit value T 'below the previously determined load weight G, ie as long as L is greater than GT'.
  • the system detects in state 126 that the load-bearing means has been moved a distance d 'away from the load-receiving point, it changes to state 127 and thus confirms the change to a lighter load-handling device. Then the weight G of the lifting device is updated to the now lower value. The system then returns to state 121 and continues to operate with the now updated weight G of the load handler.
  • FIG. 11a a flow is shown in which at time 1 a load is picked up. However, for example, the load is partially dragged for a while so that at time 3 the weight of the load increases significantly again. The load is then stored again at time 6.
  • FIG. 11b on the other hand, at time 1 there is a change from a first load-carrying means to a second, heavier load-carrying means. At time 3, a load is then raised with the second load handling device. This is deposited again at time 5, wherein the load-bearing means is briefly supported on the load and so the currently measured load weight falls further.
  • a new state machine is generated whenever a change from state 122 to state 123 occurs and an active duty cycle is acknowledged upon detection of a positive load change.
  • the maximum number of state machines which operate in parallel to one another can be limited to a predetermined value n max .
  • a new state machine is started at time 2 at which the active load cycle is confirmed.
  • the new state machine in turn starts in state 121 and therefore determines the higher load weight, which is measured after the positive load change at 1, as the weight G of the load receiving means.
  • the second state machine detects a positive load change, which is confirmed at time 4 respectively.
  • a third state machine is started, which in turn starts in the state 121 and sets the correspondingly higher load weight than the weight G of the load receiving means.
  • the second state machine SM2 now detects the end of the active cycle and changes to state 124. Initially, however, the system does not know whether this actually corresponds to the end of the actual load cycle. Therefore, the system waits a certain amount of time k after the first state machine detects the end of an active cycle. Notifies within this period k, which z. For example, if there is no additional state machine at the end of an active duty cycle, the system assumes that the state machine that reported the end of the duty cycle corresponds to the actual load cycle. Then all other state machines can be deleted again.
  • the first state machine SM1 also reports the end of its active duty cycle within the time period k. First, therefore, it can not be determined which of the two state machines represents the actual state of the system.
  • the position of the load handler or the load is determined. After the load-handling device has been moved in the transverse direction by the distance d "from this position, it can be decided which state machine represents the actual state by comparing the currently measured load weight with the weight G of the respective state machine the accessory.
  • the system determines the difference between the currently measured load weight L and the weights G of the load handler the individual state machines that have detected the end of a cycle.
  • the state machine at which this difference is least, is then judged to be the state machine, which corresponds to the actual state.
  • the state machine is selected whose value G for the load weight of the load-receiving means is closer to the currently measured load weight L.
  • this is the state machine SM2. This will now be the only state machine continue to operate while all other state machines are cleared.
  • the present invention thus makes it possible to automatically detect the change of the load receiving means without the need for sensors on the load receiving means would be necessary. Rather, the detection takes place solely on the basis of the signal of the lifting force measuring device and on the basis of the movements of the material handling machine. As a result, the changing weight of the load receiving means can be automatically taken into account when changing the load receiving means.
  • the cycle detection according to the invention enables extremely reliable and accurate detection of the load cycles.
  • the data stored by the cycle detection according to the invention thereby enable a variety of functions.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP10008610.7A 2009-09-16 2010-08-18 Système de détection automatique de cycles de charges d'une machine destinée à envelopper des charges Active EP2298688B1 (fr)

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DE102009041661A DE102009041661A1 (de) 2009-09-16 2009-09-16 System zur automatischen Erfassung von Lastzyklen einer Maschine zum Umschlagen von Lasten

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EP2298688A2 true EP2298688A2 (fr) 2011-03-23
EP2298688A3 EP2298688A3 (fr) 2013-08-21
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JP (2) JP5725776B2 (fr)
KR (1) KR101831990B1 (fr)
CN (1) CN102020201B (fr)
AU (1) AU2010214735B2 (fr)
BR (1) BRPI1003528A2 (fr)
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CN102020201A (zh) 2011-04-20
KR20110030357A (ko) 2011-03-23
US8793011B2 (en) 2014-07-29
EP2298688B1 (fr) 2014-10-08
DE102009041661A1 (de) 2011-03-24
KR101831990B1 (ko) 2018-02-23
ES2527598T3 (es) 2015-01-27
CN102020201B (zh) 2015-11-25
RU2010138225A (ru) 2012-03-20
AU2010214735B2 (en) 2014-04-10
CA2713651C (fr) 2017-01-10
JP2011063444A (ja) 2011-03-31
EP2298688A3 (fr) 2013-08-21
JP5815820B2 (ja) 2015-11-17
RU2544074C2 (ru) 2015-03-10
JP2014218379A (ja) 2014-11-20
CA2713651A1 (fr) 2011-03-16
BRPI1003528A2 (pt) 2013-01-08
AU2010214735A1 (en) 2011-03-31
US20110062104A1 (en) 2011-03-17
JP5725776B2 (ja) 2015-05-27

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