EP2984022A1 - Remote-controlled crane - Google Patents

Remote-controlled crane

Info

Publication number
EP2984022A1
EP2984022A1 EP14711158.7A EP14711158A EP2984022A1 EP 2984022 A1 EP2984022 A1 EP 2984022A1 EP 14711158 A EP14711158 A EP 14711158A EP 2984022 A1 EP2984022 A1 EP 2984022A1
Authority
EP
European Patent Office
Prior art keywords
crane
signal generator
target
transponder
target signal
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
EP14711158.7A
Other languages
German (de)
French (fr)
Other versions
EP2984022B1 (en
Inventor
Oliver Fenker
Roman Hofmann
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 Components Biberach GmbH
Original Assignee
Liebherr Components Biberach GmbH
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 Liebherr Components Biberach GmbH filed Critical Liebherr Components Biberach GmbH
Publication of EP2984022A1 publication Critical patent/EP2984022A1/en
Application granted granted Critical
Publication of EP2984022B1 publication Critical patent/EP2984022B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • 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
    • B66C13/44—Electrical transmitters
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/082—Control of the secondary movements, e.g. travelling, slewing, luffing of the jib, changing of the range
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/088—Remote control of electric cranes

Definitions

  • the present invention relates to a crane, in particular a tower crane, telescopic jib crane, port crane and the like, with a lifting hook which can be moved by movable crane elements and actuation of drive devices associated with the crane elements in a crane working area, and a control device with input means for controlling the drive devices ,
  • the load hook can usually be raised and lowered by means of a hoisting rope, which runs from a crane boom, and an associated hoisting winch and additionally moved by adjusting movable crane elements in a horizontal plane, of course, combined movements in multiple axes are possible to be able to approach various points in the crane work area.
  • the tower can be rotated together with the boom provided thereon about an upright axis by means of a slewing drive and a trolley on the boom by means of a Katzfahrantriebs be moved to drive the load hook in the desired position can.
  • said boom can be tilted up and down and on and be telescoped to adjust the reach of the load hook, wherein the boom carrying the rotating platform can be rotated about an upright axis, to drive together with said boom adjustment the load hook in the desired position.
  • corresponding mobile crane elements are moved by this associated drive devices to drive the load hook to the desired point in space of the crane working area.
  • the control of the drive devices via input means on the radio remote control has the advantage that the crane operator is much closer to the crane hook to be moved and looks at the final approach to the male load or the Absetzort the relative position of the load hook to target position much more accurate, so that he the drives can control more sensitively.
  • the operation of the remote control requires some practice, since depending on how the crane operator with the remote control provides the crane, the axes of movement of the joystick of the remote control can be twisted to the actual axes of motion.
  • the document DE 10 2008 047 425 A1 shows a crane with a radio remote control, wherein a distance sensor is used to determine whether the radio remote control is located in a predefined ring around the crane and to block the radio remote control if it is outside of said ring. This is to avoid that the crane operator with his feet under the Abstützfusede of the Cranes get when they are lowered, or too far away from the crane to observe the lowering of the feet sufficiently.
  • the aforementioned problem with the load hook to be able to approach a load or a Absetzort precisely remains unresolved.
  • a crane which is controllable by means of a mobile remote control.
  • a disconnection function is realized for the remote control, according to which the crane operator must take a defined and non-hazardous location to perform a particular crane movement by means of remote control.
  • several transponders are attached to the crane, by means of which the remote control is released with appropriate approach. If, for example, the crane operator wants to extend the support feet on the right-hand side of the crane, he must go with the remote control to a specific transponder or in the vicinity of the crane, which brings the crane operator out of the danger zone.
  • the document DE 10 2006 001 279 A1 shows a tower crane with a trolley movable on the boom, wherein a transceiver communicates on the trolley on the one hand with a transponder attached to the load and on the other hand with a permanently mounted on the site transponder.
  • a transceiver communicates on the trolley on the one hand with a transponder attached to the load and on the other hand with a permanently mounted on the site transponder.
  • the present invention is therefore an object of the invention to provide an improved crane of the type mentioned above, which avoids the disadvantages of the prior art and the latter further develops in an advantageous manner.
  • the precise, controlled startup of a load or a Absetzorts be simplified with the load hook.
  • the crane uses for this purpose a mobile, portable target signal generator, which is variably positionable in the crane working area, position determining means for automatically determining the current position of the target signal transmitter relative to the load hook and / or a crane element, and target control means for automatically driving the drive devices in response to a signal of the position determining means such that the load hook is automatically moved to the mobile Zielsignalgeber.
  • the automatic start of the mobile target signal generator with the hook can be done fully automatically, so that the crane executes respective crane movements when the portable signal generator is moved, so that the load hook the mobile target signal transmitter or going to the target signal generator on the site crane operator like a Dog is running after.
  • the starting of a desired target position can advantageously also be semi-automatic in such a way that the crane operator must first release the starting movement before the crane control then executes the load hook movement or drives the drive devices accordingly.
  • the crane operator can go with the portable target signal generator to the desired destination and then, for example by pressing a switch or input means on the radio remote control, trigger the automated load hook approach movement, the crane operator then but not just by joystick, the individual drive devices such as slewing, Katzfahrantrieb and hoist winch manually per Joystick or the like must manually control itself, but the necessary drive movements are automatically controlled by the controller.
  • the portable target signal transmitter can be integrated in the portable remote control or the mobile operating unit, by means of which the crane operator can control the crane outside the crane cabin or the control station.
  • the crane operator can specify the target position or the target point signal in a simple manner in that he runs with the remote control in front of the load hook or goes to the desired destination.
  • the portable target signal generator can also be designed externally or as a separate portable device module, for example in the form of a necklace or a watch-like bracelet unit, which the crane operator can carry on the body.
  • the portable target signal generator can also be a directly attachable to the load attachment unit having suitable fastening means for attachment to the male load, such as a fastening magnet, a clip or similar suitable form-fitting fastening means, wherein the fastening means are advantageously detachable in order to fix the target signal generator in succession at different target points such as Absetzorten or male loads can.
  • suitable fastening means for attachment to the male load such as a fastening magnet, a clip or similar suitable form-fitting fastening means, wherein the fastening means are advantageously detachable in order to fix the target signal generator in succession at different target points such as Absetzorten or male loads can.
  • the mobile target signal generator can basically be designed differently and communicate with the position determining means in various ways.
  • the portable target signal generator can be designed as a transponder or radio signal transmitter and communicate with the position determining means by radio data transmission.
  • the transponder can be designed to be passive in such a way that it can only be detected when it receives a signal from the positron. Onsbeticiansmittel sends back a certain response signal.
  • the transponder can also be designed to be active and transmit a transponder signal to the position determination means by itself, that is to say even without a call signal.
  • the position-determining means may comprise a suitable transponder locating device for locating the transponder.
  • a transponder locating device can have a plurality of transmitting / receiving modules mounted on the crane, in particular on a crane jib, for communicating with the transponder of the portable target signal generator, wherein an evaluating device evaluates the received transponder signals with regard to specific signal properties in order to determine the position of the transponder relative to the transmit / receive modules.
  • said evaluation device can determine a signal propagation time, for example the time interval from the issuing of a ringing signal to the receipt of a transponder response signal, for the different, spaced-apart transmitting and / or receiving modules on the crane in order to determine the distances of the transponder to the various receiving modules and in turn, to determine the position of the Zielsignalgeber- transponder relative to the crane.
  • the transponder locating device or its evaluation device can also use or take into account a signal strength of the transponder signals obtained from the transponder of the target signal generator, in order to determine the spacing from the receiving modules on the crane and, therefrom, the position of the transponder.
  • the location device can operate in the manner of a radio cell location, as is known in mobile telephones and in which the signal communication with a plurality of transceiver units is evaluated.
  • the target signal generator may also comprise a GPS unit, in particular a GPS signal receiver, which determines the current position of the target signal generator from a global, satellite-based position determination system and generates a corresponding position signal.
  • Signal transmitted to the position determining means of the crane may advantageously also be equipped with such a GPS unit or a GPS signal receiver in order to determine the position of the crane or a crane element such as the crane base or the crane trolley in the same coordinate system as the GPS position of the target signal generator so that the relative position of the target signal generator and crane can be determined, from which the crane control can then calculate the approaching path and start the drive devices accordingly to travel with the load hook to the target signal generator position.
  • the position determining means of the crane need not necessarily have such a GPS signal receiver itself. If the GPS coordinates of the crane installation location are known, these could possibly also be entered manually into the crane control or read in by it in a suitable manner.
  • the target signal generator can also provide an optical target signal, for example in the form of a light signal such as a light beam or else only in the form of an optical marking, for example in the form of a target ring structure.
  • the positioning means provided on the crane may include a camera or other suitable optical sensor to determine the relative position of the optical marker relative to the crane, then automatically control the automatically approaching of the target position with the load hook from the thus determined relative position by the crane control Actuate drive devices accordingly.
  • the presetting of a target point to be approached or the provision of a corresponding target point signal can also be achieved by means of a virtual representation of the crane driving range and a marking of a specific location of the display which can be undertaken therein.
  • the crane may comprise a display device for displaying a graphical representation of the crane working area, wherein the display device marking means for marking a target to be approached are assigned in the graphical representation and the position determining means determine the position of the marking relative to the load hook and / or another crane element so that the target control means of the crane control can automatically control the drive devices in response to a signal from the position determining means that the load hook is automatically moved to the marked target point of the representation or the real target point in the crane work area, which corresponds to the marking in the representation.
  • Such a display device can advantageously be provided in the radio remote control or mobile control unit of the crane, wherein the radio remote control or operating unit can advantageously comprise a touch display on which the crane work area can be displayed, for example in the form of the construction site, so that the crane operator by touching a desired Point the representation can set the target point and generate the corresponding target point signal.
  • the radio remote control or operating unit can advantageously comprise a touch display on which the crane work area can be displayed, for example in the form of the construction site, so that the crane operator by touching a desired Point the representation can set the target point and generate the corresponding target point signal.
  • a display can of course also be provided in the cab of the crane.
  • FIG. 1 is a schematic representation of a crane in the form of a tower crane according to an advantageous embodiment of the invention, in which in a radio remote control or mobile control unit of the crane operator, a target signal generator is integrated, so that the crane with his load hook automatically the position of the crane operator or the mobile control unit can start.
  • the crane 1 can be designed as a tower crane whose tower 2 carries a boom 3, on which a trolley 4 is movably mounted.
  • the extension arm 3 could also be designed so that it can be tilted up and down about a horizontal transverse axis, wherein a suitable rocker drive could be provided, for example, in cooperation with the boom extension.
  • Said trolley 4 can be moved by means of a trolley catwalk or other Katzfahrantriebs.
  • the drive devices mentioned are controlled by a control device 5, which may comprise a stationary operating unit with suitable input means, for example in the form of joysticks in the crane operator cab 6 or at the control station of the crane.
  • the crane 1 advantageously comprises a mobile operating unit 7, for example in the form of a radio remote control, which the crane operator can carry with him when he walks over the construction site in the crane working area of the crane 1, also outside the crane operator cab 6 to be able to control.
  • a mobile operating unit 7 for example in the form of a radio remote control, which the crane operator can carry with him when he walks over the construction site in the crane working area of the crane 1, also outside the crane operator cab 6 to be able to control.
  • a portable target signal generator 8 is advantageously integrated, which may include a transponder 9, which communicates with the crane.
  • a transponder 9 which communicates with the crane.
  • Position determining means 11 in the control device 5 of the crane comprise a locating device with a suitable evaluation unit in order to determine from the transmitted transponder signals the position of the target signal generator 8 relative to the crane 1.
  • the signal propagation time of a signal between transponder 9 and the transmitting / receiving units 10 can be measured and from this the respective distance a-1, a2 and a 3 of the transponder 9 to the individual transmitting / receiving units 10 can be determined, cf. , Fig. 1.
  • the relative position of the target signal generator 8 and thus of the mobile operating unit 7 to the crane can be determined, so that the crane operator can specify the target position or the starting position for the load hook 12 by guiding the mobile operating unit 7.
  • the crane operator can then start the approach to the target position by actuating a switch "automatic load hook starting" on the mobile operating unit 7.
  • the control device 5 controls the drive devices of the crane accordingly, so that the load hook 12 approaches the desired target position.
  • said transmitting / receiving units 10 can also be fixedly mounted on the construction site or the crane action area and thus determine the position of the target signal generator 8 on the construction site. From this position specification, the crane can then calculate the relative position of the target signal generator 8 together with its own known position and approach the target position in a corresponding manner with the load hook 12.
  • a GPS signal receiver 14 can also be provided in the mobile operating unit 7, which receives corresponding coordinates from a satellite-supported, global position system and can transmit a corresponding position signal to the control device 5 of the crane 1.
  • the control device 5 of the crane 1 may itself also include a corresponding GPS signal receiver 14 in order to make a comparison between the GPS coordinates of the mobile control unit 7 and the crane 1, in response to which the load hook 12 in the manner described automatically Can approach the target position.

Abstract

The present invention relates to a crane [1] having a load hook [12] that can be raised and lowered and can be moved in a crane working area by movable crane elements [2, 3, 4] and by operating drive devices assigned to said crane elements, and having a control device [5] with input means for controlling the drive devices. According to the invention, the crane [1] uses to this end a mobile, portable, target signal transmitter [8], which can be variably positioned in the crane working area, and also position determining means [11] for automatically determining the current position of the target signal transmitter [8] relative to the load hook [12] and/or a crane element [2, 3, 4], and target control means for automatically controlling the drive devices as a function of a signal from the position determining means [11] in such a manner that the load hook [12] is automatically moved to the mobile target signal transmitter [8].

Description

FERNGESTEUERTER KRAN  REMOTE-CONTROLLED CRANE
Die vorliegende Erfindung betrifft einen Kran, insbesondere Turmdrehkran, Teleskopauslegerkran, Hafenkran und dergleichen, mit einem anheb- und absenkbaren Lasthaken, der durch bewegliche Kranelemente und Betätigen von den Kranelementen zugeordneten Antriebsvorrichtungen in einem Kranarbeitsbereich verfahrbar ist, sowie einer Steuervorrichtung mit Eingabemitteln zum Steuern der Antriebsvorrichtungen. The present invention relates to a crane, in particular a tower crane, telescopic jib crane, port crane and the like, with a lifting hook which can be moved by movable crane elements and actuation of drive devices associated with the crane elements in a crane working area, and a control device with input means for controlling the drive devices ,
Bei Kranen der genannten Art kann der Lasthaken üblicherweise mittels eines Hubseils, das von einem Kranausleger abläuft, und einer zugehörigen Hubwerkswinde angehoben und abgesenkt werden und zusätzlich durch Verstellen beweglicher Kranelemente in einer horizontalen Ebene verfahren werden, wobei natürlich auch kombinierte Bewegungen in mehreren Achsen möglich sind, um verschiedene Punkte im Kranarbeitsbereich anfahren zu können. Bei einem Turmdrehkran kann beispielsweise der Turm zusammen mit dem daran vorgesehenen Ausleger um eine aufrechte Achse mittels eines Drehwerksantriebs verdreht und eine Laufkatze am Ausleger mittels eines Katzfahrantriebs verfahren werden, um den Lasthaken in die gewünschte Position fahren zu können. Bei einem Kran mit wippbarem Teleskopausleger kann der genannte Ausleger auf und nieder gewippt und ein- und austeleskopiert werden, um die Ausladung des Lasthakens zu verstellen, wobei die den Ausleger tragende Drehbühne um eine aufrechte Achse verdreht werden kann, um zusammen mit der genannten Auslegerverstellung den Lasthaken in die gewünschte Position zu fahren. Je nach Krantyp werden entsprechende bewegliche Kranelemente durch diesen zugeordnete Antriebsvorrichtungen verfahren, um den Lasthaken an den gewünschten Raumpunkt des Kranarbeitsbereichs zu fahren. In cranes of the type mentioned, the load hook can usually be raised and lowered by means of a hoisting rope, which runs from a crane boom, and an associated hoisting winch and additionally moved by adjusting movable crane elements in a horizontal plane, of course, combined movements in multiple axes are possible to be able to approach various points in the crane work area. In a tower crane, for example, the tower can be rotated together with the boom provided thereon about an upright axis by means of a slewing drive and a trolley on the boom by means of a Katzfahrantriebs be moved to drive the load hook in the desired position can. In a crane with teetering telescopic boom said boom can be tilted up and down and on and be telescoped to adjust the reach of the load hook, wherein the boom carrying the rotating platform can be rotated about an upright axis, to drive together with said boom adjustment the load hook in the desired position. Depending on the crane type corresponding mobile crane elements are moved by this associated drive devices to drive the load hook to the desired point in space of the crane working area.
Auf Baustellen ist es dabei einerseits bekannt, die beweglichen Kranelemente von der Kabine aus über die dort vorgesehenen Eingabemittel der Steuervorrichtung - beispielsweise in Form eines Joysticks - zu steuern und die Antriebe zu betätigen, so dass der Lasthaken an die gewünschte Stelle gefahren wird. Der Kranführer schätzt dabei mit seiner Erfahrung und seinem Auge den zu verfahrenden Weg ab und betätigt intuitiv die Antriebsvorrichtungen in der notwendigen Weise. Alternativ oder zusätzlich ist es auf Baustellen auch bekannt, den Kran nicht von der Kabine aus, sondern mit Hilfe einer Funkfernsteuerung zu steuern. Hierbei befindet sich der Kranführer auf der Baustelle und folgt dem Kranhaken zur angeschlagenen Last, so dass er bei Erreichen des Ziels die Last anschlagen und diese dann an die gewünschte Position verfahren kann. Die Steuerung der Antriebsvorrichtungen über Eingabemittel an der Funkfernsteuerung besitzt den Vorteil, dass der Kranführer sehr viel näher am zu verfahrenden Kranhaken ist und bei der Endannäherung an die aufzunehmende Last bzw. den Absetzort die Relativposition des Lasthakens zu Zielposition sehr viel genauer sieht, so dass er die Antriebe feinfühliger ansteuern kann. Die Bedienung der Fernsteuerung erfordert allerdings einige Übung, da je nachdem, wie sich der Kranführer mit der Fernbedienung zum Kran stellt, die Bewegungsachsen des Joysticks der Fernsteuerung zu den tatsächlichen Bewegungsachsen verdreht sein können. On construction sites, it is known, on the one hand, to control the movable crane elements from the cabin via the input means of the control device provided there, for example in the form of a joystick, and to actuate the drives, so that the load hook is moved to the desired location. The crane operator estimates with his experience and his eye the way to be traveled and intuitively actuates the drive devices in the necessary manner. Alternatively or additionally, it is also known on construction sites not to control the crane from the cab but with the aid of a radio remote control. Here, the crane operator is on site and follows the crane hook to the posted load, so that he can hit the load on reaching the target and then move them to the desired position. The control of the drive devices via input means on the radio remote control has the advantage that the crane operator is much closer to the crane hook to be moved and looks at the final approach to the male load or the Absetzort the relative position of the load hook to target position much more accurate, so that he the drives can control more sensitively. The operation of the remote control, however, requires some practice, since depending on how the crane operator with the remote control provides the crane, the axes of movement of the joystick of the remote control can be twisted to the actual axes of motion.
Die Schrift DE 10 2008 047 425 A1 zeigt einen Kran mit einer Funkfernsteuerung, wobei mit einem Abstandssensor ermittelt wird, ob sich die Funkfernsteuerung in einem vordefinierten Ring um den Kran befindet und die Funkfernsteuerung zu sperren, wenn sie sich außerhalb des genannten Rings befindet. Hierdurch soll vermieden werden, dass der Kranführer mit den Füßen unter die Abstützfüße des Krans gelangt, wenn diese abgesenkt werden, bzw. zu weit vom Kran entfernt steht, um das Absenken der Füße ausreichend beobachten zu können. Die vorgenannte Problematik, mit dem Lasthaken eine Last oder einen Absetzort präzise anfahren zu können, bleibt jedoch ungelöst. The document DE 10 2008 047 425 A1 shows a crane with a radio remote control, wherein a distance sensor is used to determine whether the radio remote control is located in a predefined ring around the crane and to block the radio remote control if it is outside of said ring. This is to avoid that the crane operator with his feet under the Abstützfüße of the Cranes get when they are lowered, or too far away from the crane to observe the lowering of the feet sufficiently. However, the aforementioned problem with the load hook to be able to approach a load or a Absetzort precisely remains unresolved.
Aus der Schrift DE 10 2011 120 734 A1 ist ebenfalls ein Kran bekannt, der mittels einer mobilen Fernsteuerung steuerbar ist. Dabei ist für die Fernsteuerung eine Freischaltfunktion realisiert, gemäß der der Kranführer zum Ausführen einer bestimmten Kranbewegung mittels der Fernsteuerung einen definierten und ungefährlichen Standort einnehmen muss. Hierzu sind am Kran mehrere Transponder angebracht, mittels derer die Fernsteuerung bei entsprechender Annäherung freigeschaltet wird. Will beispielsweise der Kranführer die Stützfüße auf der rechten Kranseite ausfahren, muss er sich mit der Fernsteuerung zu einem bestimmten Transponder bzw. in dessen Nähe am Kran begeben, der den Kranführer aus dem Gefahrenbereich bringt. From document DE 10 2011 120 734 A1 a crane is also known, which is controllable by means of a mobile remote control. In this case, a disconnection function is realized for the remote control, according to which the crane operator must take a defined and non-hazardous location to perform a particular crane movement by means of remote control. For this purpose, several transponders are attached to the crane, by means of which the remote control is released with appropriate approach. If, for example, the crane operator wants to extend the support feet on the right-hand side of the crane, he must go with the remote control to a specific transponder or in the vicinity of the crane, which brings the crane operator out of the danger zone.
Ferner zeigt die Schrift DE 10 2006 001 279 A1 einen Turmdrehkran mit einer am Ausleger verfahrbaren Laufkatze, wobei ein Sende-/Empfangsgerät an der Laufkatze einerseits mit einem an der Last befestigten Transponder und andererseits mit einem fest auf der Baustelle montierten Transponder kommuniziert. Durch die Kommunikation mit dem erstgenannten Transponder können Pendelbewegungen der Last gegenüber der Katze bestimmt bzw. bei Ausbleiben der Pendelbewegungen bestimmt werden, dass die Last abgesetzt ist. Die Kommunikation mit dem zweitgenannten Transponder ermöglicht die Bestimmung der Laufkatzenposition und damit der aktuellen Ausladung der Last, so dass zusammen mit dem bekannten Lastgewicht das auf den Kran wirkende Lastmoment bestimmt werden kann, so dass bei Überschreiten einer vorbestimmten Grenze entsprechende Kranbewegungen unterbunden werden können. Die vorgenannte Problematik, mit dem Lasthaken in einfache Weise präzise eine Last bzw. einen Absetzort anfahren zu können, wird jedoch auch hierdurch nicht gelöst. Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, einen verbesserten Kran der eingangs genannten Art zu schaffen, der Nachteile des Standes der Technik vermeidet und Letzteren in vorteilhafter Weise weiterbildet. Insbesondere soll das präzise, kontrollierte Anfahren einer Last bzw. eines Absetzorts mit dem Lasthaken vereinfacht werden. Furthermore, the document DE 10 2006 001 279 A1 shows a tower crane with a trolley movable on the boom, wherein a transceiver communicates on the trolley on the one hand with a transponder attached to the load and on the other hand with a permanently mounted on the site transponder. By communicating with the former transponder oscillating movements of the load relative to the cat can be determined or determined in the absence of oscillations, that the load is discontinued. The communication with the second-mentioned transponder allows the determination of the trolley position and thus the current unloading of the load, so that together with the known load weight acting on the crane load torque can be determined so that when a predetermined limit corresponding crane movements can be prevented. However, the aforementioned problem, with the load hook in a simple way to approach a precise load or a Absetzort, but this is not solved. The present invention is therefore an object of the invention to provide an improved crane of the type mentioned above, which avoids the disadvantages of the prior art and the latter further develops in an advantageous manner. In particular, the precise, controlled startup of a load or a Absetzorts be simplified with the load hook.
Erfindungsgemäß wird die genannte Aufgabe durch einen Kran gemäß Anspruch 1 gelöst. Bevorzugte Ausgestaltungen der Erfindung sind Gegenstand der abhängigen Ansprüche. According to the invention, said object is achieved by a crane according to claim 1. Preferred embodiments of the invention are the subject of the dependent claims.
Es wird vorgeschlagen, das Anfahren eines bestimmten Zielpunkts im Kranarbeitsbereich mit dem Lasthaken zu automatisieren. Der Kranführer kann einen Zielpunkt bzw. ein Zielpunktsignal vorgeben und ein automatisiertes Anfahren dieses Zielpunktes auslösen, wobei die Antriebsvorrichtungen des Krans dabei nicht mehr manuell vom Kranführer betätigt bzw. gesteuert werden müssen, sondern von der Kransteuerung automatisiert angesteuert werden. Erfindungsgemäß verwendet der Kran hierzu einen mobilen, tragbaren Zielsignalgeber, der im Kranarbeitsbereich variabel positionierbar ist, ferner Positionsbestimmungsmittel zum automatischen Bestimmen der aktuellen Position des Zielsignalgebers relativ zum Lasthaken und/oder einem Kranelement, sowie Zielsteuermittel zum automatischen Ansteuern der Antriebsvorrichtungen in Abhängigkeit eines Signals der Positionsbestimmungsmittel derart, dass der Lasthaken automatisch zum mobilen Zielsignalgeber verfahren wird. Das automatische Anfahren des mobilen Zielsignalgebers mit dem Lasthaken kann dabei vollautomatisch erfolgen, so dass der Kran jeweils entsprechende Kranbewegungen ausführt, wenn der tragbare Signalgeber bewegt wird, so dass der Lasthaken dem mobilen Zielsignalgeber bzw. dem mit dem Zielsignalgeber über die Baustelle gehenden Kranführer wie ein Hund hinterher läuft. Alternativ zu einer solchen vollautomatischen Lasthaken-Verfahrsteuerung kann das Anfahren einer gewünschten Zielposition vorteilhafterweise jedoch auch halbautomatisch erfolgen dergestalt, dass der Kranführer die Anfahrbewegung erst freischalten muss, bevor die Kransteuerung die Lasthakenbewegung dann ausführt bzw. die Antriebsvorrichtungen entsprechend automatisch ansteuert. Der Kranführer kann mit dem tragbaren Zielsignalgeber zum gewünschten Zielpunkt gehen und dann, beispielsweise durch Betätigen eines Schalters bzw. Eingabemittels an der Funkfernsteuerung, die automatisierte Lasthaken-Anfahrbewegung auslösen, wobei der Kranführer dann allerdings eben nicht per Joystick die einzelnen Antriebsvorrichtungen wie Drehwerk, Katzfahrantrieb und Hubseilwinde manuell per Joystick oder Ähnliches manuell selbst steuern müssen, sondern die notwendigen Antriebsbewegungen von der Steuereinrichtung automatisch gesteuert werden. It is proposed to automate the approach of a specific target point in the crane working area with the load hook. The crane operator can specify a destination point or a target point signal and trigger an automated approach to this destination point, wherein the drive devices of the crane are no longer manually operated or controlled by the crane operator, but are automatically controlled by the crane control. According to the invention, the crane uses for this purpose a mobile, portable target signal generator, which is variably positionable in the crane working area, position determining means for automatically determining the current position of the target signal transmitter relative to the load hook and / or a crane element, and target control means for automatically driving the drive devices in response to a signal of the position determining means such that the load hook is automatically moved to the mobile Zielsignalgeber. The automatic start of the mobile target signal generator with the hook can be done fully automatically, so that the crane executes respective crane movements when the portable signal generator is moved, so that the load hook the mobile target signal transmitter or going to the target signal generator on the site crane operator like a Dog is running after. As an alternative to such a fully automatic load hook travel control, however, the starting of a desired target position can advantageously also be semi-automatic in such a way that the crane operator must first release the starting movement before the crane control then executes the load hook movement or drives the drive devices accordingly. The crane operator can go with the portable target signal generator to the desired destination and then, for example by pressing a switch or input means on the radio remote control, trigger the automated load hook approach movement, the crane operator then but not just by joystick, the individual drive devices such as slewing, Katzfahrantrieb and hoist winch manually per Joystick or the like must manually control itself, but the necessary drive movements are automatically controlled by the controller.
In Weiterbildung der Erfindung kann der tragbare Zielsignalgeber in die tragbare Fernsteuerung bzw. die mobile Bedieneinheit, mittels derer der Kranführer den Kran außerhalb der Krankabine bzw. des Steuerstands steuern kann, integriert sein. Hierdurch kann der Kranführer die Zielposition bzw. das Zielpunktsignal in einfacher Weise dadurch vorgeben, dass er mit der Fernsteuerung vor dem Lasthaken herläuft bzw. zum gewünschten Zielpunkt geht. Alternativ zu einem solchen Einbau in die mobile Bedieneinheit kann in Weiterbildung der Erfindung der tragbare Zielsignalgeber jedoch auch extern bzw. als separater tragbarer Gerätebaustein ausgebildet sein, beispielsweise in Form einer Halskette oder einer uhrenähnlichen Armbandeinheit, die der Kranführer am Körper tragen kann. Alternativ oder zusätzlich kann der tragbare Zielsignalgeber auch eine direkt an der Last anbringbare An- baueinheit sein, die geeignete Befestigungsmittel zum Befestigen an der aufzunehmenden Last besitzt, beispielsweise einen Befestigungsmagneten, einen einhängbaren Clips oder ähnliche geeignete formschlüssige Befestigungsmittel, wobei die Befestigungsmittel vorteilhafterweise lösbar ausgebildet sind, um den Zielsignalgeber nacheinander an verschiedenen Zielpunkten wie beispielsweise Absetzorten oder aufzunehmenden Lasten befestigen zu können. In a further development of the invention, the portable target signal transmitter can be integrated in the portable remote control or the mobile operating unit, by means of which the crane operator can control the crane outside the crane cabin or the control station. As a result, the crane operator can specify the target position or the target point signal in a simple manner in that he runs with the remote control in front of the load hook or goes to the desired destination. As an alternative to such installation in the mobile operating unit, however, the portable target signal generator can also be designed externally or as a separate portable device module, for example in the form of a necklace or a watch-like bracelet unit, which the crane operator can carry on the body. Alternatively or additionally, the portable target signal generator can also be a directly attachable to the load attachment unit having suitable fastening means for attachment to the male load, such as a fastening magnet, a clip or similar suitable form-fitting fastening means, wherein the fastening means are advantageously detachable in order to fix the target signal generator in succession at different target points such as Absetzorten or male loads can.
Der mobile Zielsignalgeber kann dabei grundsätzlich verschieden ausgebildet sein und mit den Positionsbestimmungsmitteln in verschiedener Weise kommunizieren. Nach einer vorteilhaften Ausbildung der Erfindung kann der tragbare Zielsignalgeber als Transponder oder Funksignalgeber ausgebildet sein und mit dem Positionsbestimmungsmittel per Datenfunk kommunizieren. Der Transponder kann dabei passiv ausgebildet sein derart, dass er nur bei Empfang eines Signals vom Positi- onsbestimmungsmittel ein bestimmtes Antwortsignal zurücksendet. Der Transponder kann alternativ aber auch aktiv ausgebildet sein und von selbst, also auch ohne Rufsignal ein Transpondersignal zu den Positionsbestimmungsmitteln senden. The mobile target signal generator can basically be designed differently and communicate with the position determining means in various ways. According to an advantageous embodiment of the invention, the portable target signal generator can be designed as a transponder or radio signal transmitter and communicate with the position determining means by radio data transmission. The transponder can be designed to be passive in such a way that it can only be detected when it receives a signal from the positron. Onsbestimmungsmittel sends back a certain response signal. Alternatively, the transponder can also be designed to be active and transmit a transponder signal to the position determination means by itself, that is to say even without a call signal.
Die Positionsbestimmungsmittel können bei Verwendung eines Transponders als Zielsignalgeber eine geeignete Transponder-Ortungsvorrichtung zum Orten des Transponders aufweisen. Beispielsweise kann eine solche Transponder- Ortungsvorrichtung mehrere am Kran, insbesondere an einem Kranausleger, voneinander beabstandet angebrachte Sende-/Empfangsmodule zum Kommunizieren mit dem Transponder des tragbaren Zielsignalgebers aufweisen, wobei eine Auswerteeinrichtung die empfangenen Transpondersignale hinsichtlich bestimmter Signaleigenschaften auswertet, um hieraus die Position des Transponders relativ zu den Sende-/Empfangsmodulen zu bestimmen. Insbesondere kann die genannte Auswerteeinrichtung eine Signallaufzeit, beispielsweise die Zeitspanne vom Absetzen eines Rufsignals bis zum Empfang eines Transponder-Antwortsignals, für die verschiedenen, voneinander beabstandeten Sende- und/oder Empfangsmodule am Kran bestimmen, um hieraus die Abstände des Transponders zu den verschiedenen Empfangsmodulen und hieraus wiederum die Position des Zielsignalgeber- Transponders relativ zum Kran zu bestimmen. Alternativ oder zusätzlich kann die Transponder-Ortungsvorrichtung bzw. deren Auswerteeinrichtung auch eine Signalstärke der vom Transponder des Zielsignalgebers erhaltenen Transpondersignale verwenden bzw. berücksichtigen, um die Beabstandung von den Empfangsmodulen am Kran und hieraus die Position des Transponders zu bestimmen. When using a transponder as a target signal generator, the position-determining means may comprise a suitable transponder locating device for locating the transponder. By way of example, such a transponder locating device can have a plurality of transmitting / receiving modules mounted on the crane, in particular on a crane jib, for communicating with the transponder of the portable target signal generator, wherein an evaluating device evaluates the received transponder signals with regard to specific signal properties in order to determine the position of the transponder relative to the transmit / receive modules. In particular, said evaluation device can determine a signal propagation time, for example the time interval from the issuing of a ringing signal to the receipt of a transponder response signal, for the different, spaced-apart transmitting and / or receiving modules on the crane in order to determine the distances of the transponder to the various receiving modules and in turn, to determine the position of the Zielsignalgeber- transponder relative to the crane. Alternatively or additionally, the transponder locating device or its evaluation device can also use or take into account a signal strength of the transponder signals obtained from the transponder of the target signal generator, in order to determine the spacing from the receiving modules on the crane and, therefrom, the position of the transponder.
Die Ortungsvorrichtung kann nach Art einer Funkzellenortung arbeiten, wie sie bei Mobiltelefonen bekannt ist und bei der die Signalkommunikation mit mehreren Sende/Empfangseinheiten ausgewertet wird. The location device can operate in the manner of a radio cell location, as is known in mobile telephones and in which the signal communication with a plurality of transceiver units is evaluated.
Alternativ oder zusätzlich zu einer solchen Transponderortung kann der Zielsignalgeber auch eine GPS-Einheit, insbesondere einen GPS-Signalempfänger umfassen, der aus einem globalen, satellitengestützten Positionsbestimmungssystem die aktuelle Position des Zielsignalgebers bestimmt und ein entsprechendes Positions- Signal an die Positionsbestimmungsmittel des Krans übermittelt. Die Positionsbestimmungsmittel des Krans können vorteilhafterweise ebenfalls mit einer solchen GPS-Einheit bzw. einem GPS-Signalempfänger ausgestattet sein, um die Position des Krans bzw. eines Kranelements wie beispielsweise der Kranbasis oder der Kranlaufkatze in demselben Koordinatensystem zu bestimmen wie die GPS- Position des Zielsignalgebers, so dass die relative Position von Zielsignalgeber und Kran bestimmt werden kann, aus der dann die Kransteuerung den anzufahrenden Weg berechnen und die Antriebsvorrichtungen entsprechend in Gang setzen kann, um mit dem Lasthaken zur Zielsignalgeber-Position zu fahren. Die Positionsbestimmungsmittel des Krans brauchen dabei selbst nicht zwangsweise einen solchen GPS-Signalempfänger besitzen. Wenn die GPS-Koordinaten des Kranaufstellorts bekannt sind, könnten diese ggf. auch manuell in die Kransteuerung eingegeben bzw. von dieser in geeigneter Weise eingelesen werden. As an alternative or in addition to such a transponder location, the target signal generator may also comprise a GPS unit, in particular a GPS signal receiver, which determines the current position of the target signal generator from a global, satellite-based position determination system and generates a corresponding position signal. Signal transmitted to the position determining means of the crane. The crane's position-determining means may advantageously also be equipped with such a GPS unit or a GPS signal receiver in order to determine the position of the crane or a crane element such as the crane base or the crane trolley in the same coordinate system as the GPS position of the target signal generator so that the relative position of the target signal generator and crane can be determined, from which the crane control can then calculate the approaching path and start the drive devices accordingly to travel with the load hook to the target signal generator position. The position determining means of the crane need not necessarily have such a GPS signal receiver itself. If the GPS coordinates of the crane installation location are known, these could possibly also be entered manually into the crane control or read in by it in a suitable manner.
Alternativ oder zusätzlich zu einem solchen GPS-Signalgenerator kann der Zielsignalgeber auch ein optisches Zielsignal bereitstellen, beispielsweise in Form eines Lichtsignals wie Lichtstrahls oder auch nur in Form einer optischen Markierung beispielsweise in Form einer Zielscheibenringstruktur. Die am Kran vorgesehenen Positionsbestimmungsmittel können eine Kamera oder eine andere geeignete optische Sensorik umfassen, um die Relativposition des optischen Markers relativ zum Kran zu bestimmen, um dann aus der solchermaßen bestimmten Relativposition durch die Kransteuerung das automatische Anfahren der Zielposition mit dem Lasthaken automatisch steuern und die Antriebsvorrichtungen entsprechend betätigen zu können. As an alternative or in addition to such a GPS signal generator, the target signal generator can also provide an optical target signal, for example in the form of a light signal such as a light beam or else only in the form of an optical marking, for example in the form of a target ring structure. The positioning means provided on the crane may include a camera or other suitable optical sensor to determine the relative position of the optical marker relative to the crane, then automatically control the automatically approaching of the target position with the load hook from the thus determined relative position by the crane control Actuate drive devices accordingly.
Alternativ oder zusätzlich zu einem solchen tragbaren Zielsignalgeber kann nach einem weiteren Aspekt der vorliegenden Erfindung die Vorgabe eines anzufahrenden Zielpunkts bzw. die Bereitstellung eines entsprechenden Zielpunktsignals auch mittels einer virtuellen Darstellung des Kranfahrbereichs und einer darin vornehmbaren Markierung eines bestimmten Orts der Darstellung erreicht werden. Erfindungsgemäß kann der Kran eine Anzeigevorrichtung zum Anzeigen einer grafischen Darstellung des Kranarbeitsbereichs umfassen, wobei der Anzeigevorrich- tung Markierungsmittel zum Markieren eines anzufahrenden Zielpunkts in der grafischen Darstellung zugeordnet sind und die Positionsbestimmungsmittel die Position der Markierung relativ zum Lasthaken und/oder einem anderen Kranelement bestimmen, so dass die Zielsteuermittel der Kransteuerung in Abhängigkeit eines Signals der Positionsbestimmungsmittel die Antriebsvorrichtungen automatisch ansteuern können derart, dass der Lasthaken automatisch zum markierten Zielpunkt der Darstellung bzw. dem realen Zielpunkt im Kranarbeitsbereich, der der Markierung in der Darstellung entspricht, verfahren wird. As an alternative or in addition to such a portable target signal generator, according to a further aspect of the present invention, the presetting of a target point to be approached or the provision of a corresponding target point signal can also be achieved by means of a virtual representation of the crane driving range and a marking of a specific location of the display which can be undertaken therein. According to the invention, the crane may comprise a display device for displaying a graphical representation of the crane working area, wherein the display device marking means for marking a target to be approached are assigned in the graphical representation and the position determining means determine the position of the marking relative to the load hook and / or another crane element so that the target control means of the crane control can automatically control the drive devices in response to a signal from the position determining means that the load hook is automatically moved to the marked target point of the representation or the real target point in the crane work area, which corresponds to the marking in the representation.
Eine solche Anzeigevorrichtung kann vorteilhafterweise in der Funkfernsteuerung bzw. mobilen Bedieneinheit des Krans vorgesehen sein, wobei die Funkfernsteuerung bzw. Bedieneinheit vorteilhafterweise ein Touchdisplay umfassen kann, auf dem der Kranarbeitsbereich beispielsweise in Form des Baustellengeländes dargestellt werden kann, so dass der Kranführer durch Berühren eines gewünschten Punktes der Darstellung den Zielpunkt setzen und das entsprechende Zielpunktsignal generieren kann. Alternativ oder zusätzlich kann ein solches Display natürlich auch im Führerstand des Krans vorgesehen sein. Such a display device can advantageously be provided in the radio remote control or mobile control unit of the crane, wherein the radio remote control or operating unit can advantageously comprise a touch display on which the crane work area can be displayed, for example in the form of the construction site, so that the crane operator by touching a desired Point the representation can set the target point and generate the corresponding target point signal. Alternatively or additionally, such a display can of course also be provided in the cab of the crane.
Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels und zugehöriger Zeichnungen näher erläutert. In den Zeichnungen zeigen: The invention will be explained in more detail below with reference to a preferred embodiment and associated drawings. In the drawings show:
Fig. 1 : eine schematische Darstellung eines Krans in Form eines Turmdrehkrans nach einer vorteilhaften Ausführung der Erfindung, bei dem in eine Funkfernsteuerung bzw. mobile Bedieneinheit des Kranführers ein Zielsignalgeber integriert ist, so dass der Kran mit seinem Lasthaken automatisch die Position des Kranführer bzw. der mobilen Bedieneinheit anfahren kann. 1 is a schematic representation of a crane in the form of a tower crane according to an advantageous embodiment of the invention, in which in a radio remote control or mobile control unit of the crane operator, a target signal generator is integrated, so that the crane with his load hook automatically the position of the crane operator or the mobile control unit can start.
Wie Fig. 1 zeigt, kann der Kran 1 als Turmdrehkran ausgebildet sein, dessen Turm 2 einen Ausleger 3 trägt, an dem eine Laufkatze 4 verfahrbar gelagert ist. Der Ausleger 3 kann zusammen mit dem Turm 2 oder auch ohne den Turm 2 - je nach Ausbildung des Krans als Oben- oder Untendreher - um eine aufrechte Achse verdreht werden, wozu ein Drehwerksantrieb vorgesehen ist. Der Ausleger 3 könnte ggf. auch auf und nieder wippbar um eine liegende Querachse ausgebildet sein, wobei ein geeigneter Wippantrieb beispielsweise im Zusammenspiel mit der Auslegerabspannung vorgesehen sein könnte. Die genannte Laufkatze 4 kann mittels einer Katzfahrwinde oder eines anderen Katzfahrantriebs verfahren werden. Die genannten Antriebsvorrichtungen werden von einer Steuervorrichtung 5 angesteuert, die eine stationäre Bedieneinheit mit geeigneten Eingabemitteln beispielsweise in Form von Joysticks in der Kranführerkabine 6 bzw. am Steuerstand des Krans umfassen kann. As shown in FIG. 1, the crane 1 can be designed as a tower crane whose tower 2 carries a boom 3, on which a trolley 4 is movably mounted. The boom 3, together with the tower 2 or even without the tower 2 - depending on the design of the crane as a top or bottom rotator - about an upright axis be rotated, including a slewing drive is provided. If necessary, the extension arm 3 could also be designed so that it can be tilted up and down about a horizontal transverse axis, wherein a suitable rocker drive could be provided, for example, in cooperation with the boom extension. Said trolley 4 can be moved by means of a trolley catwalk or other Katzfahrantriebs. The drive devices mentioned are controlled by a control device 5, which may comprise a stationary operating unit with suitable input means, for example in the form of joysticks in the crane operator cab 6 or at the control station of the crane.
Zusätzlich zu einer solchen stationären Bedieneinheit umfasst der Kran 1 vorteilhafterweise eine mobile Bedieneinheit 7 beispielsweise in Form einer Funkfernsteuerung, die der Kranführer bei sich tragen kann, wenn er im Kranarbeitsbereich des Krans 1 über die Baustelle läuft, um den Kran 1 auch außerhalb der Kranführerkabine 6 steuern zu können. In addition to such a stationary operating unit, the crane 1 advantageously comprises a mobile operating unit 7, for example in the form of a radio remote control, which the crane operator can carry with him when he walks over the construction site in the crane working area of the crane 1, also outside the crane operator cab 6 to be able to control.
In der mobilen Bedieneinheit 7 ist vorteilhafterweise ein tragbarer Zielsignalgeber 8 integriert, der einen Transponder 9 umfassen kann, der mit dem Kran kommuniziert. Am Kran 1 , beispielsweise an dessen Ausleger 3, können beispielsweise drei oder auch mehr Sende-/Empfangseinheiten 10 oder Transponder vorgesehen sein, die mit dem Transponder 9 in der mobilen Bedieneinheit 7 kommunizieren. Positionsbestimmungsmittel 11 in der Steuervorrichtung 5 des Krans umfassen eine Ortungsvorrichtung mit einer geeigneten Auswerteeinheit, um aus den übertragenen Transpondersignalen die Position des Zielsignalgebers 8 relativ zum Kran 1 zu bestimmen. Beispielsweise kann in der zuvor beschriebenen Weise die Signallaufzeit eines Signals zwischen Transponder 9 und den Sende-/ Empfangseinheiten 10 gemessen und hieraus die jeweilige Distanz a-ι, a2 und a3 des Transponders 9 zu den einzelnen Sende-/Empfangseinheiten 10 bestimmt werden, vgl. Fig. 1. Mit Hilfe der genannten drei Abstände , &2 und &z kann dann die relative Position des Zielsignalgebers 8 und damit der mobilen Bedieneinheit 7 zum Kran bestimmt werden, so dass der Kranführer durch Mit-sich-Führen der mobilen Bedieneinheit 7 die Zielposition bzw. die Anfahrposition für den Lasthaken 12 vorgeben kann. Beispiels- weise durch Betätigen eines Schalters„automatisches Lasthakenanfahren" an der mobilen Bedieneinheit 7 kann der Kranführer dann das Anfahren der Zielposition starten. Die Steuervorrichtung 5 steuert hierzu die Antriebsvorrichtungen des Krans entsprechend an, so dass der Lasthaken 12 die gewünschte Zielposition anfährt. In the mobile operating unit 7, a portable target signal generator 8 is advantageously integrated, which may include a transponder 9, which communicates with the crane. On the crane 1, for example, on the boom 3, for example, three or more transceiver units 10 or transponder can be provided, which communicate with the transponder 9 in the mobile control unit 7. Position determining means 11 in the control device 5 of the crane comprise a locating device with a suitable evaluation unit in order to determine from the transmitted transponder signals the position of the target signal generator 8 relative to the crane 1. For example, in the manner described above, the signal propagation time of a signal between transponder 9 and the transmitting / receiving units 10 can be measured and from this the respective distance a-1, a2 and a 3 of the transponder 9 to the individual transmitting / receiving units 10 can be determined, cf. , Fig. 1. With the help of said three distances , & 2 and & z then the relative position of the target signal generator 8 and thus of the mobile operating unit 7 to the crane can be determined, so that the crane operator can specify the target position or the starting position for the load hook 12 by guiding the mobile operating unit 7. Beispiels- The crane operator can then start the approach to the target position by actuating a switch "automatic load hook starting" on the mobile operating unit 7. The control device 5 controls the drive devices of the crane accordingly, so that the load hook 12 approaches the desired target position.
Da die Kranposition auf der Baustelle bzw. dem Wirkungsgelände bekannt ist, können die genannten Sende-/Empfangseinheiten 10 auch fest an der Baustelle bzw. dem Kranwirkungsgelände angebracht sein und somit die Position des Zielsignalgebers 8 auf der Baustelle bestimmen. Aus dieser Positionsangabe kann der Kran dann zusammen mit seiner eigenen bekannten Position die relative Lage des Zielsignalgebers 8 berechnen und in entsprechender Weise mit dem Lasthaken 12 die Zielposition anfahren. Since the crane position is known on the construction site or the area of action, said transmitting / receiving units 10 can also be fixedly mounted on the construction site or the crane action area and thus determine the position of the target signal generator 8 on the construction site. From this position specification, the crane can then calculate the relative position of the target signal generator 8 together with its own known position and approach the target position in a corresponding manner with the load hook 12.
Wie Fig. 1 ebenfalls zeigt, kann in der mobilen Bedieneinheit 7 auch ein GPS- Signalempfänger 14 vorgesehen sein, der aus einem satellitengestützten, globalen Positionssystem entsprechende Koordinaten empfängt und ein entsprechendes Positionssignal an die Steuervorrichtung 5 des Krans 1 übertragen kann. Die Steuervorrichtung 5 des Krans 1 kann selbst ebenfalls einen entsprechenden GPS- Signalempfänger 14 umfassen, um einen Abgleich zwischen den GPS-Koordinaten der mobilen Bedieneinheit 7 und des Krans 1 machen zu können, in Abhängigkeit dessen dann der Lasthaken 12 in der beschriebenen Weise automatisch die Zielposition anfahren kann. As also shown in FIG. 1, a GPS signal receiver 14 can also be provided in the mobile operating unit 7, which receives corresponding coordinates from a satellite-supported, global position system and can transmit a corresponding position signal to the control device 5 of the crane 1. The control device 5 of the crane 1 may itself also include a corresponding GPS signal receiver 14 in order to make a comparison between the GPS coordinates of the mobile control unit 7 and the crane 1, in response to which the load hook 12 in the manner described automatically Can approach the target position.

Claims

Patentansprüche claims
1. Kran, insbesondere Turmdrehkran, Teleskopauslegerkran, Hafenkran und dergleichen, mit einem absenkbaren und anhebbaren Lasthaken (12), der durch bewegliche Kranelemente (2, 3, 4) und Betätigen von den Kranelementen zugeordneten Antriebsvorrichtungen in einem Kranarbeitsbereich verfahrbar ist, sowie einer Steuervorrichtung (5) mit Eingabemitteln zum Steuern der Antriebsvorrichtungen, gekennzeichnet durch einen mobilen, tragbaren Zielsignalgeber (8), der im Kranarbeitsbereich variabel positionierbar ist, durch Positionsbestimmungsmittel (11 ) zum automatischen Bestimmen der aktuellen Position des Zielsignalgebers (8) relativ zum Lasthaken (12) und/oder einem Kranelement (2, 3, 4), und durch Zielsteuermittel (15) zum automatischen Ansteuern der Antriebsvorrichtungen in Abhängigkeit eines Signals der Positionsbestimmungsmittel (11 ) derart, dass der Lasthaken (12) automatisch zum mobilen Zielsignalgeber (8) verfahren wird. 1. Crane, in particular tower crane, telescopic jib crane, port crane and the like, with a lowerable and liftable load hook (12) movable by movable crane elements (2, 3, 4) and actuation of the crane elements associated drive devices in a crane working area, and a control device (5) with input means for controlling the drive devices, characterized by a mobile, portable target signal generator (8), which is variably positionable in the crane working area, by position determining means (11) for automatically determining the current position of the target signal generator (8) relative to the load hook (12) and / or a crane element (2, 3, 4), and by target control means (15) for automatically driving the drive devices in response to a signal of the position determining means (11) such that the load hook (12) is automatically moved to the mobile target signal generator (8) ,
2. Kran nach dem vorhergehenden Anspruch, wobei der mobile Zielsignalgeber (8) in eine tragbare Bedieneinheit (7), insbesondere Funkfernsteuerung, zum Bedienen des Krans integriert ist. 2. Crane according to the preceding claim, wherein the mobile target signal generator (8) in a portable control unit (7), in particular radio remote control, is integrated to operate the crane.
3. Kran nach einem der vorhergehenden Ansprüche, wobei der mobile Zielsignalgeber (8) einen Transponder (9) umfasst. 3. Crane according to one of the preceding claims, wherein the mobile target signal generator (8) comprises a transponder (9).
4. Kran nach dem vorhergehenden Anspruch, wobei die Positionsbestimmungsmittel (11 ) eine Transponder-Ortungsvorrichtung zum Orten des Transponders (9) aufweisen. 4. Crane according to the preceding claim, wherein the position determining means (11) comprise a transponder locating device for locating the transponder (9).
5. Kran nach dem vorhergehenden Anspruch, wobei die Transponder- Ortungsvorrichtung mehrere am Kran, insbesondere am Kranausleger (3), voneinander beabstandet angebrachte Sende-/Empfangseinheiten (10) zum Kommunizieren mit dem tragbaren Zielsignalgeber (8) sowie eine Auswerteeinrichtung zum Auswerten der übertragenen Transpondersignale hinsichtlich vorbestimmter Signaleigenschaften, insbesondere Signallaufzeit und/oder Signalstärke, und Bestimmen der Position des Transponders (9) aus den Signaleigenschaften aufweist. 5. Crane according to the preceding claim, wherein the transponder locating device on the crane, in particular on the crane jib (3), spaced from each other mounted transmitting / receiving units (10) for communicating with the portable target signal generator (8) and an evaluation device for evaluating the transmitted Transponder signals with respect to predetermined signal properties, in particular signal propagation time and / or signal strength, and determining the position of the transponder (9) from the signal properties.
6. Kran nach einem der vorhergehenden Ansprüche, wobei der Zielsignalgeber (8) einen GPS-Signalempfänger (14) umfasst und die Positionsbestimmungsmittel (11 ) eine GPS-Signalauswerteeinrichtung zum Bestimmen der aktuellen Position des Zielsignalgebers (8) relativ zum Lasthaken (12) und/oder ein Kranelement aus dem GPS-Signal des Zielsignalgebers (8) umfassen. 6. Crane according to one of the preceding claims, wherein the target signal generator (8) comprises a GPS signal receiver (14) and the position determining means (11) a GPS signal evaluation device for determining the current position of the target signal generator (8) relative to the load hook (12) and or comprise a crane element from the GPS signal of the target signal generator (8).
7. Kran nach dem Oberbegriff des Anspruchs 1 oder einem der vorhergehenden Ansprüche, wobei eine Anzeigeeinrichtung zum Anzeigen einer grafischen Darstellung des Kranarbeitsbereichs vorgesehen ist, wobei der Anzeigevorrichtung Markierungsmittel zum Markieren eines anzufahrenden Punkts der grafischen Darstellung zugeordnet sind und Positionsbestimmungsmittel (11 ) zum automatischen Bestimmen des markierten Punkts relativ zum Lasthaken (12) und/oder einem Kranelement sowie Zielsteuermittel zum automatischen Ansteuern der Antriebsvorrichtungen in Abhängigkeit eines Signals der Positionsbestimmungsmittel derart, dass der Lasthaken automatisch zum Zielpunkt im Kranarbeitsbereich, der dem markierten Punkt in der Darstellung entspricht, verfahren wird, vorgesehen sind. 7. A crane according to the preamble of claim 1 or any one of the preceding claims, wherein a display device is provided for displaying a graphical representation of the crane working area, wherein the display device marking means for marking a point to be approached are associated with the graphical representation and position determining means (11) for automatically determining the marked point relative to the load hook (12) and / or a crane element and target control means for automatically driving the drive devices in response to a signal of the position determining means such that the load hook automatically approaches the target point in the crane working area corresponding to the marked point in the Representation corresponds, is moved, are provided.
8. Kran nach dem vorhergehenden Anspruch, wobei die Anzeigeeinrichtung ein Touchdisplay aufweist, das vorzugsweise in die mobile Bedieneinheit (7) des Krans integriert ist und/oder an einem Steuerstand des Krans vorgesehen ist. 8. Crane according to the preceding claim, wherein the display device comprises a touch display, which is preferably integrated in the mobile control unit (7) of the crane and / or provided on a control station of the crane.
EP14711158.7A 2013-04-11 2014-03-18 Remotely operated crane Active EP2984022B1 (en)

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