EP2674384A1 - Method for monitoring crane safety and crane - Google Patents

Abstract

The method involves calculating one or more changeable parameters depending admissible load during the crane operation. The current changeable parameters are detected by a sensor (10) during the crane operation. One or more sensor values (11-13) are modified based on the current changeable parameters before calculation of the admissible load, to intend the permissible load for one or more future parameters. Independent claims are included for the following: (1) crane; (2) control unit; and (3) data storage medium storing program for implementation of method for driving crane.

Description

The invention relates to a method for monitoring the crane safety of a crane and a crane with a variable support base.

It is known to monitor the crane safety by means of a crane control during crane operation. The guarantee of crane safety is based on compliance with various safety criteria. As a possible safety criteria, the component strength of cantilever systems, hoisting ropes, load hooks, turntables, luffing cylinders, mechanical connections etc. on the one hand and the stability of the crane on the other hand are mentioned as examples. Crane stability criteria include, for example, tilting the crane in the direction of load, tilting the crane in the opposite direction, wind speed, planned superstructure angle, etc. Permissible limits can be determined for each of these criteria, which monitors compliance for crane safety during crane operation Need to become.

The monitoring process is carried out automatically by an implemented crane control, in particular the load moment limitation of the crane. monitoring Events can indicate and possibly lead to intervention in the crane movement.

During the manufacture and testing of the crane, so-called load tables are calculated in advance for all the criteria mentioned, whose table entries for concrete crane configurations define maximum permissible loads.

In general, a crane is operated supported, wherein the size of the support base is dependent on the Ausschiebezustand or unfolded state of the sliding or Klapholme the support device. If a symmetrical support is impossible due to the location, the EP 0 779 238 B1 To reduce the entire support base to the smallest existing Ausschiebezustand or Ausklappzustand. The disadvantage is lost in this approach in many parts of the superstructure angle actually existing load. In addition, in this embodiment, the position of the sliding or folding arms is limited to predetermined concrete positions, since the crane operation is permitted only for a limited number of support positions.

An alternative solution suggests the EP 0 779 238 B1 in front. This specifies individual rotation angle ranges for the superstructure and specifies a uniform maximum load capacity for each area. This particular maximum payload corresponds to the smallest payload permitted in each area. Even with this solution is actually lost due to the jump between the rotation angle ranges existing load.

From the DE 20 2006 017 730 U1 An alternative approach is known. The abovementioned safety criteria are no longer monitored exclusively on the basis of pre-calculated and stored load tables, but a part of these criteria is also monitored individually relative to the values currently present on the crane. As a result, a certain diversity in crane monitoring is achieved, however, due to the use of individual load tables, the maximum possible load can not be exhausted.

The DE 10 2005 035 460 A1 Proposes to remove individual support points from the existing load tables for specific crane conditions and to determine the currently present maximum load based on these support values by means of interpolation. Again, the certain permissible load is subject to a degree of inaccuracy, which may lead to a significant loss of maximum load.

The variants known from the prior art, it is common that recourse is always made to pre-calculated load tables. However, a variable crane configuration, particularly a variable support base, results in an infinite number of possible crane configurations and corresponding load tables. It is desirable to be able to design the crane configuration as flexibly as possible, in particular at the place of use.

Known cranes are operated in such a way that the parameters may be changed until the permissible load corresponds to or exceeds the actual load. The crane control is intended to prevent the crane from entering an inadmissible area and prevents further crane movements that would lead to the crossing of the boundary. The permissible load is determined in each case on the basis of the stored load tables. However, if one deviates from the usual practice with precalculated load tables, these necessary fixed limit values are missing and no fixed intervention limits and warning limits can be defined.

If this limit is exceeded during crane operation, possibly due to changing weather conditions, the crane is in an inadmissible working area. In order to reduce the dangers emanating therefrom an intervention of the load moment limitation in the crane control, which can lead to the complete blockade of all crane movements.

So far, a so-called key switch was provided, which allowed the execution of crane movements without or only partially active load torque limit. Useful this function was to establish the readiness of the crane or even to move out of a non-permitted working area, for example, if the load torque limit has stopped a crane movement.

If a key-operated switch is no longer installed, crane movements can only be carried out if they occur within the permissible payload range. However, if the crane has been moved to a non-permissible range, the load moment limitation interrupts the current crane movement and blocks all further crane movements.

The object of the present invention is to further develop a known from the prior art method for overload protection on cranes.

This object is achieved by a method according to the feature of claim 1. Further advantageous embodiments of the method are the subject of the following dependent claims.

According to claim 1, a method for monitoring the crane safety of a crane with a variable support base and a monitoring unit is proposed. The support base is determined by the extended or unfolded state of the support device. The monitoring unit monitors several safety criteria during crane operation to ensure crane safety.

The individual safety criteria may relate, for example, to component strength, component load and the stability of the crane. This includes in particular the tilting of the crane in the direction of load, tilting of the crane in opposite direction, rupture of the hoisting rope, component strength of the boom system, wind speed, load limits of the undercarriage, strength of the load hook, slewing ring load, Wippzylinderfestigkeit, strength of the mechanical connections and the intended to be used angle of rotation of the superstructure with boom during crane operation.

Specified calculation examples for the monitoring of individual criteria are, for example, the small test load, the large test load, load rupture, tilt angle, tilting backwards without load and a total of far more than 30 criteria. Individual criteria can be specified, for example, in the corresponding DIN standard.

According to the invention, it is now provided that the monitoring unit is calculated for each criterion which depends on at least one parameter relating to crane configuration and / or crane movement during crane operation, an admissible specific limit value during crane operation. It is therefore completely omitted to consider a payload table for corresponding criteria.

A criterion depends on at least one parameter relating to the crane configuration and / or crane movement during crane operation as soon as the actual crane configuration at the place of use or during crane operation has an influence on the compliance with the criterion. In addition to the setup configuration, this also includes any crane movement that has an influence on a corresponding criterion. For example, the current boom positions, the support base, the superstructure angle, etc.

At least one specific limit value represents the permissible specific load, up to which a corresponding criterion is met and the crane safety is not endangered.

The individual specific limit values or permissible specific payloads can be monitored separately during crane operation and compared with the actually existing crane state values. Alternatively or additionally, it may be advantageous to determine a common permissible load from the individual permissible specific limit values or payloads. In this case For each crane condition or crane configuration, a common maximum permissible load is determined.

By calculating the criteria on the crane, the maximum possible load, which results from the criteria for the current situation, results in every situation. This is the outstanding advantage over pre-calculated tables, which always represent a minimum over certain dimensions and never fully exploit the possible load capacity of the crane. The criteria no longer calculated according to the invention are calculated on the crane at runtime, ie during crane operation. The embodiment of the method according to the invention now leads to a method or a monitoring device which has an arbitrary support base, i. H. Any position of the supporting spars permits and simultaneously monitored. So far, although any position was mechanically possible, but this was not secured for each case of the monitoring device.

It may be expedient that for the calculation of the common permissible load the individual criteria be divided into at least two different types of criteria. For example, the individual criteria are divided into linearly dependent and linearly independent criteria types. Linearly dependent means preferably that such a criterion depends on at least one further criterion. In particular, at least one linearly dependent criterion of at least one calculated specific limit value / load may be dependent on at least one further linearly dependent and / or linearly independent criterion.

A particularly advantageous embodiment of the method results from the fact that in a first step the permissible specific load is calculated for each linearly independent criterion. From the set of specific payloads for the linearly independent criteria, the minimum of these payloads is then determined. The permissible load of the linearly dependent criteria is determined by iteration. It is conceivable that the iteration with the minimum of permissible Payloads of linearly independent criteria begins and a minimum of the loads of the linearly dependent criteria is determined, which also corresponds to the common permissible load for the crane.

To accelerate the method for determining the permissible load, for example, the section, in particular continued Bisektion set. This reduces the calculation time for determining the permissible load.

It is possible, in addition to the method according to the invention, to deposit one or more load tables in a storage unit of the crane and to consider them for monitoring the crane. The stored load tables, however, are exclusively those which are not dependent on a parameter relating to crane configuration and / or crane movement during crane operation. When drawing up the load tables, all criteria which depend on at least one parameter concerning crane configuration during crane operation are excluded. Consequently, mainly load-related load restrictions are deposited on the crane as pre-calculated load tables. These contain limit values whose adherence avoids lasting damage to the crane due to mechanical overloading, for example due to load absorption.

According to claim 9, a method for operating a crane is proposed with a monitoring unit, wherein the monitoring unit calculates a permissible load dependent on one or more variable parameters during crane operation. The inventive method requires no or no full load table. The calculation takes place during crane operation on the crane. Particularly preferably, the calculation of the permissible load takes place in accordance with the method according to the invention described above, ie according to the method of one of claims 1 to 8. However, this method can also be implemented independently of the method according to claims 1 to 8.

The current variable parameter (s) are arbitrary. One or more parameters characterize, for example, the current crane configuration or crane movements or activities being performed. The parameter may be a parameter relating to the position of the crane or crane component.

At least one parameter may be the boom length, the boom angle, the direct ballast radius and / or the rotational angle of the turntable. As stated, these are examples, of course other parameters are also conceivable.

In addition, a sensor system is provided which detects the current variable parameters during crane operation and provides the monitoring unit. According to the invention, it is provided that one or more sensor values are modified before the calculation of the permissible load. In this way it is possible to determine the permissible load for one or more future parameters.

The method according to the invention consequently permits a forward-looking calculation of the possible permissible load for future crane movements. The monitoring unit of the crane thus calculates in real time on the crane and at any time which permissible loads will occur in the near future if the currently performed crane movements are continued. Furthermore, extensive forecasts for the development of the future permissible load capacity can be made as a function of current and future crane activities. This procedure may be necessary in particular if there are no fixed limit values, ie load tables, for crane monitoring. Preferably, the crane always calculates parallel to the method according to one of claims 1 to 8, a look-ahead, as the permissible load changes when the current actual movement or current possible crane movement is carried out further.

The inventive method does not require a comprehensive extension of an existing crane or a monitoring unit. Rather, minor modifications are sufficient to accommodate existing systems for carrying out the method. Only means for manipulating the detected sensor values are to be provided.

It is particularly advantageous if the monitoring unit changes at least one parameter during crane operation as a function of the calculated permissible load in order to control the permissible load. For example, the speed of the parameter change can be continuously or gradually reduced or stopped before a parameter value is reached in which the permissible load corresponds to the actual load. The monitoring unit reacts as soon as the load changes in the direction of zero. A pending crane movement can be slowed down or stopped in time to avoid exceeding the permissible load. Alternatively or additionally, an output or display of a possible overshoot or an approximation to a possible overshoot can be made to the crane operator.

Depending on the result of the forecast, the desired nominal movement of the crane is permitted, restricted or completely blocked. An essential feature here is the steepness of the change in the permissible load. This calculation is made via all relevant sensors.

The reduction can be continuous or stepwise. For example, the reduction of the speed may be such as to reduce it to zero at or before reaching the correspondence between allowable and actual payload from a value reduced from the other rate of change, or to reach zero by continuously reducing the speed.

It can be provided that the speed of the parameter change is greater than a difference between the actual and the permissible load, ie. H. is reduced continuously or stepwise over a certain distance.

This difference may take a constant value or a value which depends on the actual and / or permissible load or their difference or the ratio of this difference to the actual and / or permissible load.

It is particularly advantageous if the change of the parameter or parameters is carried out in such a way that the actual load can not exceed the permissible load.

In a particularly advantageous embodiment of the invention can be provided that is checked by targeted modification of at least one sensor value, which parameter change or parameter changes lead to a decrease in the actual load and or or to an increase in the permissible load. This advantageous embodiment of the method is particularly useful when the crane is already in an inadmissible operating range, d. H. the current load exceeds or exceeds a permissible load. In this case, the method shows preferred crane movements, which allow a particularly fast and safe movement out of the impermissible range.

Preferably, any crane movement is stopped as soon as the current load exceeds or exceeds the permissible load. Subsequently, one or more possible parameter changes, ie crane movements, are selected for the crane operator, in order to be able to safely and reliably drive the crane out of the impermissible area.

It may be sufficient to indicate to the crane operator a possible parameter change. It is better, however, to provide the operator with a choice of possible parameter changes.

In addition, it is expedient to release only the parameter changes by the crane control, which allow the safest possible and fast exit from the non-permissible operating range. Other crane movements or parameter changes are limited or completely blocked.

In addition to at least one of the aforementioned methods, it can be provided that an integrated crane application planner is used for the diverse crane monitoring during crane operation. The crane planner preferably uses stored limit curves or envelopes for at least a part of the crane parameters. Accordingly, there are two independent crane monitoring methods, on the one hand to ensure the redundancy of the monitoring and, on the other hand, to check the functionality of the overall system by the two independently provided monitoring methods checking the functionality of the other monitoring method. In this context, full attention is paid to the DE 10 2008 021 627 taken.

The invention further relates to a crane with a monitoring device. According to the invention, the monitoring device carries out at least one of the above-described method according to the invention or an advantageous embodiment of the method according to the invention. The advantages and properties of the crane obviously correspond to those of the method according to the invention, which is why it should be dispensed with at this point to a new description. Particularly preferably, both methods are carried out as a combination.

Furthermore, the invention relates to a crane monitoring device, in particular a load moment limitation, for carrying out at least one of the methods according to the invention or an advantageous embodiment of the method.

A further aspect of the invention relates to a data carrier with stored software for carrying out at least one of the methods according to the invention or an advantageous embodiment of at least one of the methods on a crane monitoring device. The advantages and properties of the crane monitoring device or of the data carrier obviously correspond to those of the method according to the invention, which is why a repeated description is dispensed with here as well.

Figuren 1 bis 4:

eine graphische Darstellung der Traglastverteilung in Abhängigkeit des Oberwagendrehwinkels bzw. der maximalen Ausladung, berechnet nach einem Verfahren gemäß Stand der Technik,

Figuren 5 bis 8:

eine graphische Darstellung der Traglastverteilung in Abhängigkeit des Oberwagendrehwinkels sowie der maximalen Ausladung, berechnet nach dem erfindungsgemäßen Verfahren,

Figur 9:

eine schematische Darstellung der erfindungsgemäßen Überwachungseinheit und

Figur 10:

ein Flussdiagramm des erfindungsgemäßen Verfahrensablaufs.

Further advantages and features of the invention will be explained in more detail with reference to drawings. Show it:

FIGS. 1 to 4:

a graphical representation of the load distribution as a function of the Oberwagendrehwinkels or the maximum projection, calculated according to a method according to the prior art,

FIGS. 5 to 8:

a graphical representation of the load distribution as a function of the superstructure angle of rotation and the maximum projection, calculated according to the inventive method,

FIG. 9:

a schematic representation of the monitoring unit according to the invention and

FIG. 10:

a flow chart of the process sequence according to the invention.

The FIGS. 1 to 8 show the distribution of the permissible load of a crane as a function of its radius or the angle of the upper carriage. The centrally outlined crane comprises an undercarriage, a superstructure rotatably mounted on the undercarriage and a variable support. The variable support comprises a total of four sliding beams, which can be extended in different support positions. In addition, a tilting crane boom is arranged on the superstructure, which telescopes can be designed. During crane operation, the actual load depends on the angle of rotation of the superstructure and the load deflection, ie the angle of the boom.

A monitoring device of the crane monitors compliance with the permissible load during crane operation. In particular, an arbitrary position of the support beams is not only allowed by the method according to the invention but also monitored by the monitoring device.

• Kleine Prüflast gemäß DIN 15019 Teil 2
• Große Prüflast gemäß DIN 15019 Teil 2
• Lastabriss gemäß DIN 15019 Teil 2
• Kippwinkel gemäß DE 13000 Anhang F
• Kippen nach hinten ohne Last gemäß BS 1757 und ISO 43053.3.2

The crane or monitoring device relies on a few load tables, which include strength-relevant load capacity restrictions of the crane. These are intended, for example, prevent lasting damage to the crane by mechanical overloading. For safety criteria, which depend on one or more operating parameters of the crane, the permissible load is calculated on the crane during operation by the monitoring device, ie during crane operation. Among other things, the following criteria are calculated:

• Small test load according to DIN 15019 Part 2
• Large test load according to DIN 15019 Part 2
• Load rupture according to DIN 15019 Part 2
• Tilt angle according to DE 13000 Appendix F
• Tilting backwards without load according to BS 1757 and ISO 43053.3.2

In addition, a total of more than 30 criteria can be expected. The calculation of the criteria on the crane makes it possible to exploit the maximum possible load capacity in every situation and not to have to take into account interpolation or estimation-related inaccuracies, which always require a conservatively determined permissible load for safety reasons.

wobei die Kipplast die Last bei der der Kran kippt darstellt und das Auslegerkopfgewicht durch einen definierten Gewichtsanteil am Ausleger definiert ist. Für die linear abhängige Berechnungsart kann beispielsweise das Kriterium der kleinen Prüflast herangezogen werden, die sich nach der Formel: $$\mathit{TL}=\frac{\mathit{Kipplast}-\mathit{Hdyn}-W\left(\mathit{TL}\right)}{1,1}$$

berechnet. Auch hier stellt die Kipplast die Last bei der der Kran kippt dar. Hdyn charakterisiert den dynamischen Hublastbeiwert. W führt den Windeinfluss in die Berechnung ein, der unter Berücksichtigung der Traglast berechnet wird. Die kleine Prüflast ist demnach von der berechneten Traglast wenigstens eines Kriteriums abhängig, was als linear abhängig bezeichnet wird. Denkbar ist es ebenfalls, dass die Berechnung rekursiv ist. Für die Berechnung des Windeinflusses werden beispielsweise 1,2 m² Windangriffsfläche pro 1 t Traglast angenommen.To calculate the permissible load, the criteria are divided into different, ie at least two different types of calculation. For example For the calculation of the large test load, a linearly independent calculation method applies. The large test load is calculated using the following formula $$\mathit{TL}=\frac{\mathit{tipping\; load}-0.1*\mathit{<figure-callout\; id="1"\; label="Auslegerkopgewicht"\; filenames="imgf0005.png,imgf0009.png"\; state="\{\{state\}\}">Auslegerkopgewicht</figure-callout>}}{1.25}.$$

wherein the tipping load represents the load at which the crane tilts and the boom head weight is defined by a defined weight fraction on the boom. For the linearly dependent calculation type, for example, the criterion of the small test load can be used, which follows the formula: $$\mathit{TL}=\frac{\mathit{tipping\; load}-\mathit{Hdyn}-\mathrm{<figure-callout\; id="1"\; label="W\; TL"\; filenames="imgf0005.png,imgf0009.png"\; state="\{\{state\}\}">W\; </figure-callout>}\left(\mathit{TL}\right)\left(\mathit{}\right)}{1.1}$$

calculated. Again, the tipping load represents the load at which the crane tilts. Hdyn characterizes the dynamic lifting load coefficient. W introduces the influence of wind into the calculation, which is calculated taking into account the load. The small test load is therefore dependent on the calculated load of at least one criterion, which is referred to as linearly dependent. It is also conceivable that the calculation is recursive. For the calculation of the wind influence, for example, 1.2 m ² windfall area per 1 t load capacity are assumed.

The calculation algorithm divides the criteria into linearly dependent and linearly independent criteria. In the first step, the permissible load is determined for each linearly independent criterion. Subsequently, the minimum of these TL _{criteria A of} these loads is determined and recorded.

In a second method step, an iteration of the permissible load is performed with the previously determined minimum TL _{criteria A} as the starting value. In the iteration, the linearly dependent criterion is checked for its admissibility in each step. If the criterion is admissible, the next criterion is used. As soon as a criterion is no longer allowed, the next iteration step in skipped the criterion in question without carrying out any further examination of the other criteria.

With this new load TL, the second step is restarted. This takes place until the second step supplies a permissible load TL _criteria B for all criteria. This becomes the permissible maximum load TL. After execution of the n-iteration steps, the method according to the invention should deliver as large a value as possible for the permissible load TL. The determination of the load TL can also be carried out with the help of the continued bisection.

The advantages of the invention will be apparent from the illustrations of FIGS. 5 to 8 and the load-bearing representations according to the prior art ( FIGS. 1 to 4 ).

The scale on the right-hand side of the screen assigns load values corresponding to the gray values. The crane configurations of the FIGS. 1 and 5 . 2 and 6 . 3 and 7 such as 4 and 8th are identical and are used for the comparison.

In all figures, three telescopic shots of the boom system are 46% extended. The sliding beams of the support are in the crane configuration according to FIGS. 1 and 5 fully extended and allow a maximum support base. The configuration of Figures 2 and 6 On the other hand, to operate the crane without support and to leave the sliding beams fully retracted. The crane according to Figures 3 and 7 works with a limited support, with two lying on a crane side sliding beams fully extended and the opposite spars are fully retracted. The crane configuration of the FIGS. 4 and 8th envisages crane operation with three fully extended and one retracted sliding beam.

The representation of the permissible load in the FIGS. 5 to 8 is based on a calculation during crane operation based on the method according to the invention, whereas the representation of the FIGS. 1 to 4 on the use of load tables which were created before crane operation with the help of an operational planner.

Especially the comparison of Figures 2 and 6 shows the significant gain in load, which can be achieved with the aid of the method according to the invention. The prior art method assumes a minimal support base for the total circumference of the rotation angle, whereas the method according to the invention calculates these exactly during crane operation and thus reaches different permissible carrying loads over the rotation angle range. In particular, no permissible load is given away at the front and rear of the crane, since in this rotation angle range, the missing support device is compensated by the crane longitudinal dimension and thus is higher than in the side region of the crane.

Interesting is not only the outer contour of the payload curve, but also the inner contour, ie the white field around the axis of rotation of the superstructure. This area shows the impermissible area, as it can be tilted backwards due to the crane ballast. Also in this case can according to FIG. 6 this impermissible area is clearly opposite the area FIG. 2 be reduced.

The gain in allowable load due to the optimized calculation will also be in the rest Figures 5 . 7 and 8th clear. The outer contour also clearly shows the gain in load. In the area in which the boom on one of the sliding beams, ie located on the Krandiagonale, also a significant load increase can be recorded.

In FIG. 5 For example, the darker area of greater load nearly forms a square with concave sides. The permissible load is in particular along the diagonal opposite to the variant FIG. 1 elevated.

Also very strong improvements show the comparisons of Figures 3 and 7 as well as 4 and 8. Here, the change can be explained by the fact that in a calculation according to the prior art, the minimum in the range around 360 ° rotation range of the superstructure is assumed to be the maximum load for the entire turning range of the superstructure. From this way of thinking, the invention solves and can determine the load individually for each angular position of the upper carriage.

The illustrated system of FIG. 9 shows a load torque limit 20, which monitors all crane movements in terms of safety during crane operation and optionally triggers a safety shutdown or restriction of the permissible crane movement. This system can according to the above-described embodiment of FIGS. 5 to 8 be executed and run the presented inventive method. The following procedure is an extension of this method. However, this is not a mandatory requirement for carrying out the following method steps, which are independent of the method according to FIGS FIGS. 5 to 8 are executable.

The load torque limit 20 receives during the crane operation of a plurality of sensors 10 measured values that characterize individual parameters during crane operation. It should be noted that FIG. 9 merely by way of example shows a number of three sensors. However, in a realistic environment, the system is based on a variety of sensors, the number of which is not limited.

The individual measured values of the sensors 10 characterize, for example, the angle of rotation, rocking angle or also cylinder pressure of the luffing cylinder of the crane. Based on the sensor data provided, the load torque limit calculates the permissible load for the current crane state.

To ensure safety during crane operation, it should only be operated within the permissible working range. The permissible range is characterized by the fact that the current load of the crane is less than the permissible load in the current operating state. If the current load exceeds the permissible value, the crane will operate in an inadmissible range.

The method according to the invention is intended to ensure that the load moment limitation triggers an early braking of the crane movement before it enters an unacceptable working range. In addition, a limited crane movement in the non-permissible range should be made possible under certain circumstances and still be carried out a monitoring of the safety of the crane by the load torque limit.

For this purpose, the sensor values 11, 12, 13 for the calculation of the forecast of the permissible load are selectively changed in suitably selected steps. In the illustrated embodiment of the FIG. 9 the sensor value 11 of the sensor 1 is manipulated in order to be able to calculate the permissible load for this future parameter, ie future actual value of the sensor 1. The load torque limit 20 calculates the permissibility of the crane movement for the changed sensor values and can therefore estimate when the crane is being controlled while maintaining the current crane movement in a non-permissible range.

Any existing system of sensors 10 and load moment limitation 20 can be expanded by integration of the means 50 in order to be able to carry out a targeted manipulation of at least one sensor value 11.

The load torque limit 20 thus calculates in real time on the crane and at any time which permissible loads will occur in the near future if the current crane movement is continued. With the help of the predicted development of the load, the load torque limit can detect at an early stage whether the permissible load converges to the value zero. In this case, the crane movement can be braked in time or stopped completely. Likewise, an output of a corresponding warning to the crane operator is possible.

In addition, by the method according to the invention a limited crane movement in the non-permissible range can be made possible, which simultaneously from the load torque limit 20 is monitored. It should be noted that the load torque limit 20 has the task of stopping a crane movement substantially before the occurrence of actual faults or an accident. Operation in the non-permissible range therefore does not mean an acute danger situation, but merely the exceeding of a specially defined limit value.

The flowchart of FIG. 10 shows the inventive method for checking permissible crane movements in the non-permitted range. The state 200 characterizes the regular crane operation, the crane movement is carried out unhindered in method step 110 and monitored continuously by the load torque limitation 20 in block 120 for compliance with the permissible load.

Due to the inventive predictive calculation of the permissible load, the crane movement can be slowed down in time or completely stopped. If such an emergency stop has occurred, the load torque limit 20 is transferred to method step 200. Here, it is determined from the calculated foresight with which or which crane movements the crane can safely be driven out of the non-permissible range again. The operator is also shown a possible choice. The crane operator can therefore choose the situation-dependent cheapest variant. In step 300, the release of the selected crane movement is checked. This ensures that only the crane movements released by the load torque limitation and indicated in step 200 are executed and any remaining crane movements are blocked.

When the operator selects a released motion, it is executed 400 and continuously monitored 500 by the load torque limit. Does the crane move not produce the desired result, i. to leave the non-permitted range, so again a safety stop is triggered by the load torque limit. Only after leaving the impermissible work area, the load torque limit enters the regular state 100 and unlocks all crane movements.

Claims (19)

Method for monitoring the crane safety of a crane with a variable support base and a monitoring unit, wherein several safety criteria are monitored during crane operation, by a permissible specific for each criterion that depends on at least one of the crane configuration and / or crane movement during crane operation related parameters Limit is calculated during crane operation and monitored for compliance. Method according to claim 1, characterized in that the at least one parameter concerning the crane configuration and / or crane movement during crane operation relates to the variable support base and / or the uppercarriage rotation angle. Method according to one of the preceding claims, characterized in that at least one specific limit value is the permissible specific load. Method according to one of the preceding claims, characterized in that the permissible total load is calculated from the individual specific limits or permissible specific loads of the individual criteria. A method according to claim 4, characterized in that for the calculation of the permissible total load the criteria are divided into at least two different calculation types, in particular in linearly dependent and linearly independent calculation types. A method according to claim 5, characterized in that in a first step for each linearly independent criterion calculates the permissible load and then the minimum of these loads is determined and determined in a second step by means of iteration an allowable load for the linearly dependent criteria, the Iteration preferably begins with the minimum of the load of linearly independent criteria. A method according to claim 6, characterized in that the determination of the load takes place by means of a continuous bisection. Method according to one of the preceding claims, characterized in that one or more pre-calculated load tables are retrievably stored on the crane, wherein the tables include strength-relevant limits. Method for operating a crane with a monitoring unit that calculates a permissible load dependent on one or more variable parameters during crane operation, and a sensor system that detects the current variable parameters during crane operation and provides them to the monitoring unit, wherein one or more sensor values are modified prior to calculating the allowable payload to determine the allowable payload for one or more future parameters. A method according to claim 9, characterized in that the monitoring unit changes the one or more parameters such that the actual load can not exceed the calculated allowable load, wherein the change of at least one of the parameters is preferably made such that the speed of the parameter change is continuous or is gradually reduced or stopped before a parameter value is reached at which the allowable load corresponds to the actual load. Method according to one of the preceding claims, characterized in that at least one parameter is a parameter relating to the position of the crane or a crane component and / or at least one further parameter by one the boom length, the boom angle, the Derrickballastradius and / or the angle of rotation of the turntable is concerned parameters. Method according to one of the preceding claims, characterized in that the speed of the parameter change from below a difference between actual and permissible load continuously or step by step is reduced. Method according to one of the preceding claims, characterized in that is checked by targeted modification of at least one sensor value, which parameter change or parameter changes to a decrease in the actual load and / or an increase in the permissible Carrying load and at least one of these parameter changes or crane movements are displayed and / or released. A method according to claim 13, characterized in that the check is carried out as soon as the actual load corresponds to the permissible load or exceeds and the monitoring unit has stopped or limited the crane movement. Method according to one of claims 9 to 14, characterized in that it is combined with the method according to claims 1 to 8. Method according to one of the preceding claims, characterized in that an integrated crane deployment planner is used for a diverse crane monitoring. Crane with a monitoring device and preferably a variable support base for carrying out the method according to one of claims 1 to 8 and / or the method according to one of claims 9 to 17. Crane monitoring unit for a crane, in particular load moment limitation, for carrying out the method according to one of claims 1 to 8 and / or the method according to one of claims 9 to 17. Data carrier with stored software for a crane monitoring unit for carrying out the method according to one of claims 1 to 9 and / or the method according to one of claims 9 to 17.

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