EP2984022B1 - Grue commandée à distance - Google Patents

Grue commandée à distance Download PDF

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Publication number
EP2984022B1
EP2984022B1 EP14711158.7A EP14711158A EP2984022B1 EP 2984022 B1 EP2984022 B1 EP 2984022B1 EP 14711158 A EP14711158 A EP 14711158A EP 2984022 B1 EP2984022 B1 EP 2984022B1
Authority
EP
European Patent Office
Prior art keywords
crane
target
transponder
target signal
control
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.)
Active
Application number
EP14711158.7A
Other languages
German (de)
English (en)
Other versions
EP2984022A1 (fr
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/fr
Application granted granted Critical
Publication of EP2984022B1 publication Critical patent/EP2984022B1/fr
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—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 font DE 10 2008 047 425 A1 shows a crane with a radio remote control, with a distance sensor is determined whether the radio remote control is in a predefined ring around the crane and to lock the radio remote control when 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 font shows DE 10 2006 001 279 A1 a tower crane with a trolley movable trolley, wherein a transceiver on the trolley on the one hand communicates with a transponder attached to the load and on the other hand with a permanently mounted on the site transponder.
  • a transceiver on the trolley on the one hand communicates with a transponder attached to the load and on the other hand with a permanently mounted on the site transponder.
  • a crane with a movable trolley which can be directed by means of a portable handheld terminal.
  • a receiver is provided in the trolley, by means of which the signal strength of the signal received from the handheld terminal can be determined, the phonetic trolley can be moved in an automatic mode until the signal strength is maximum and the trolley is zoomed as close to the handheld terminal.
  • 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 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.
  • the crane preferably uses 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 actuating 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 unlock the starting movement before the crane control then executes the load hook movement or drives the drive devices correspondingly automatically.
  • 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 may also be an attachable directly 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 to to be able to fasten the target signal generator successively at different target points, such as settling points or loads to be picked up.
  • 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 to to be able to fasten the target signal generator successively at different target points, such as settling points or loads to be picked up.
  • 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 made passive so that it only upon receipt of a signal from the position determining means sends back a specific 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 target signal 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 include 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 a corresponding position 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.
  • 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 specification of a target point to be approached or the provision of a corresponding target point signal is also achieved by means of a virtual representation of the crane driving range and an identifiable marking of a particular location of the representation.
  • the crane comprises a display device for displaying a graphical representation of the crane working area, wherein the display device Marking means are assigned for marking a target to be approached in the graphical representation and the position determining means determine the position of the marker relative to the load hook and / or another crane element, so that the target control means of the crane control in response to a signal of the position determining means can automatically control the drive devices such that the load hook is automatically moved to the marked target point of the display or the real target point in the crane working area, which corresponds to the marking in the illustration.
  • 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.
  • the crane 1 may be formed 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 aforementioned drive devices 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 cab 6 or at the helm 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 transceiver units 10 can be measured and from this the respective distance a 1 , a 2 and a 3 of the transponder 9 to the individual transceiver 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, by guiding the mobile operating unit 7 with him, reaches the target position or position ., the start position for the load hook 12 can pretend.
  • 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 may be provided which receives from a satellite-based, global positioning system corresponding coordinates 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 be able to make a comparison between the GPS coordinates of the mobile operating unit 7 and the crane 1, depending on which the load hook 12 in the manner described automatically Can approach the target position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (8)

  1. Grue, en particulier grue-tour, grue à flèche télescopique, grue de port ou similaire, comprenant un crochet de levage (12) pouvant être descendu et levé, qui peut être déplacé dans une zone de travail de grue par des éléments de grue (2, 3, 4) mobiles et par actionnement de dispositifs d'entraînement associés aux éléments de grue, ainsi qu'un dispositif de commande (5) doté de moyens de saisie pour commander les dispositifs d'entraînement, caractérisée en ce qu'un dispositif d'affichage destiné à afficher une représentation graphique de la zone de travail de grue est prévu, des moyens de marquage destinés à marquer un point à rejoindre de la représentation graphique étant associés au dispositif d'affichage et des moyens de détermination de position (11) étant prévus pour la détermination automatique du point marqué par rapport au crochet de levage (12) et/ou à un élément de grue ainsi que des moyens de pilotage vers la cible pour commander automatiquement les dispositifs d'entraînement en fonction d'un signal des moyens de détermination de position de telle manière que le crochet de levage est déplacé automatiquement vers le point cible dans la zone de travail de grue, qui correspond au point marqué dans la représentation.
  2. Grue selon la revendication précédente, dans laquelle le dispositif d'affichage comporte un écran tactile, qui est de préférence intégré dans l'unité de commande mobile (7) de la grue et/ou qui est prévu sur un poste de commande de la grue.
  3. Grue selon l'une des revendications précédentes, comprenant en outre un générateur de signaux cibles (8) portable et mobile, qui peut être positionné de manière variable dans la zone de travail de grue, par des moyens de détermination de position (11) pour la détermination automatique de la position actuelle du générateur de signaux cibles (8) par rapport au crochet de levage (12) et/ou à un élément de grue (2, 3,4), et par des moyens de pilotage vers la cible (15) pour commander automatiquement les dispositifs d'entraînement en fonction d'un signal des moyens de détermination de position (11) de telle manière que le crochet de levage (12) est déplacé automatiquement vers le générateur de signaux cibles (8) mobile.
  4. Grue selon la revendication précédente, dans laquelle le générateur de signaux cibles (8) est intégré dans une unité de commande portable (7), en particulier une commande à distance par radio, pour la commande de la grue.
  5. Grue selon l'une des revendications 3 ou 4, dans laquelle le générateur de signaux cibles (8) mobile comprend un transpondeur (9).
  6. Grue selon la revendication précédente, dans laquelle les moyens de détermination de position (11) comportent un dispositif de localisation de transpondeur destiné à localiser le transpondeur (9).
  7. Grue selon la revendication précédente, dans laquelle le dispositif de localisation de transpondeur comporte plusieurs unités d'émission/réception (10) montées sur la grue, en particulier sur la flèche de grue (3) de manière espacée les unes des autres, destinées à communiquer avec le générateur de signaux cibles (8) portable, ainsi qu'un dispositif d'évaluation destiné à évaluer les signaux de transpondeur transmis en ce qui concerne des caractéristiques de signal prédéfinies, en particulier le temps de propagation du signal et/ou l'intensité du signal, et à déterminer la position du transpondeur (9) à partir des caractéristiques de signal.
  8. Grue selon l'une des revendications 3 à 7, dans laquelle le générateur de signaux cibles (8) comprend un récepteur de signaux GPS (14) et les moyens de détermination de position (11) comprennent un dispositif d'évaluation de signaux GPS pour déterminer la position actuelle du générateur de signaux cibles (8) par rapport au crochet de levage (12) et/ou un élément de grue à partir du signal GPS du générateur de signaux cibles (8).
EP14711158.7A 2013-04-11 2014-03-18 Grue commandée à distance Active EP2984022B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013006258.6A DE102013006258A1 (de) 2013-04-11 2013-04-11 Kran
PCT/EP2014/000732 WO2014166580A1 (fr) 2013-04-11 2014-03-18 Grue télécommandée

Publications (2)

Publication Number Publication Date
EP2984022A1 EP2984022A1 (fr) 2016-02-17
EP2984022B1 true EP2984022B1 (fr) 2017-05-03

Family

ID=50336263

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14711158.7A Active EP2984022B1 (fr) 2013-04-11 2014-03-18 Grue commandée à distance

Country Status (6)

Country Link
US (2) US9969600B2 (fr)
EP (1) EP2984022B1 (fr)
CN (1) CN105143088B (fr)
DE (1) DE102013006258A1 (fr)
ES (1) ES2636364T3 (fr)
WO (1) WO2014166580A1 (fr)

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WO2014166580A1 (fr) 2014-10-16
CN105143088A (zh) 2015-12-09
US9969600B2 (en) 2018-05-15
US20160031683A1 (en) 2016-02-04
ES2636364T3 (es) 2017-10-05
US10662033B2 (en) 2020-05-26
DE102013006258A1 (de) 2014-10-16
CN105143088B (zh) 2017-09-22
US20180229978A1 (en) 2018-08-16

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