EP3408211A1

EP3408211A1 - Crane

Info

Publication number: EP3408211A1
Application number: EP17717626.0A
Authority: EP
Inventors: Michael PALBERG; Juergen Resch; Oliver Fenker
Original assignee: Liebherr Components Biberach GmbH
Current assignee: Liebherr Werk Biberach GmbH
Priority date: 2016-04-08
Filing date: 2017-04-06
Publication date: 2018-12-05
Anticipated expiration: 2037-04-06
Also published as: CN109153548B; RU2734966C2; RU2018139050A; BR112018070462A2; WO2017174196A1; ES2924051T3; US20190112165A1; RU2018139050A3; EP3408211B1; US11807501B2; US11084691B2; CN109153548A; US20210339988A1

Abstract

The invention relates to a crane (1), in particular a rotating tower crane, comprising a load bearing means (208) attached to a lifting cable, comprising driving devices for moving a plurality of crane elements and for moving the load-bearing means, and comprising a control system (3) for controlling the driving devices in such a way that the load bearing means travels along a movement path between at least two target points, wherein the control device has a movement path determination module (300) for determining a desired movement path between the at least two target points, and an automatic movement control module (310) for automatically moving the load bearing means along the specified movement path.

Description

crane

The present invention relates to a crane, in particular a tower crane, with a lifting device attached to a lifting device, drive means for moving a plurality of crane elements and methods of lifting device, and a control device for controlling the drive means such that the load receiving means moves along a travel path between at least two target points.

To be able to move the load hook of a crane between two target points, usually various drive means must be operated and controlled. For example, in a tower crane in which the hoist rope runs from a trolley, which is movable on the boom of the crane, usually the slewing, by means of which the tower with the boom provided thereon or the boom relative to the tower can be rotated about an upright axis of rotation , as well as the cat drive, by means of which the trolley can be moved along the boom, and the hoist, by means of which the hoist rope adjusted and thus the load hook can be raised and lowered, respectively operated and controlled. The said drive means are hereby usually the crane operator via appropriate controls such For example, in the form of joysticks, toggle switches or knobs and the like operated and controlled, which experience has required much feeling and experience to approach the target points quickly and yet gently without major oscillations. It should be driven as quickly as possible between the target points, while gently stopping at the respective target point.

Such a control of the drive means of a crane is tiring in view of the required concentration for the crane operator, especially since often recurring travels and monotonous tasks are to be done, for example, when concreting a crane hook recorded concrete bucket often between a concrete mixer, where the concrete bucket is filled and a concreting area in which the concrete bucket is emptied, must be moved back and forth. On the other hand, with decreasing concentration or even insufficient experience with the respective crane type, larger pendulum movements of the absorbed load and thus a corresponding risk potential occur.

The present invention is based on the object to provide an improved crane of the type mentioned above, which avoids the disadvantages of the prior art and further develops the latter in an advantageous manner. In particular, fatigue-free crane operation is to be achieved with a reduced risk of undesired load pendulum movements.

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.

It is therefore proposed to design the control device in the sense of an autopilot, which can automatically move the load handling device of the crane between at least two target points. In the control device, an automatic mode is implemented, in which the control device without manual Operation of the controls of the control station by the machine operator moves the load hook or the load-carrying means between the target points. According to the invention, the control device has a travel path determination module for determining a desired travel path between the at least two target points, and an automatic travel control module for automatically moving the load pickup along the determined travel path. With said path determination module it is possible to interpolate between two target points or to carry out a calculation of intermediate positions which determine the path of travel between two target points in more detail. The traversing control module then controls the drive controllers or drive devices on the basis of the interpolated or calculated intermediate positions in order to approach the intermediate positions and target points mentioned with the load handling device or to automatically travel down the specific traversing path.

The said automatic mode of the control device avoids premature fatigue of the crane operator and facilitates in particular monotonous work such as a constant reciprocating between two fixed target points. On the other hand, the automatic determination of the travel path between the target points and the activation of the drive devices as a function of the trajectory thus determined undesirable oscillations of the recorded load can be avoided by clumsy operation of the manual controls or poorly selected paths.

The determination of the travel path between the target points can in principle take place in different ways. For example, said trajectory determination module may comprise a PTP or point-to-point control module configured to accurately approach two target points, but the trajectory between the points is not firmly defined.

Such a PTP control module may in this case include a blending function, by means of which the travel path is determined such that the time-optimal method a defined target point is not exactly approached, but is bent to reach the next point when it reaches the grinding area.

In a further development of the invention, said over-grinding function of the PTP control module can be formed asynchronously operating, so that the smoothing is started when the last to be actuated drive axle or drive device reaches the space sphere around the said point. Alternatively, the blending function may also be synchronized, so that the blending is started as soon as the leading drive axis enters the space sphere around the programmed point.

Alternatively, or in addition to said PTP control module, however, the travel path determination module may also comprise a multi-point control module which determines a plurality of intermediate points between two target points to be approached, preferably such that said intermediate points form a dense series of equidistant points. The approach of such time equidistant intermediate points, which are arranged in close succession, requires approximately the same time span, so that a total harmonic actuation of the drive means and thus a harmonious method of the crane elements can be achieved.

Alternatively or in addition to such a multi-point control module, the determination of the travel path can also be effected by a path control module which calculates a continuous, mathematically defined trajectory between the target points. Such a path control module may comprise an interpolator which, in accordance with a given path function or subfunction, for example in the form of a straight line, a circle or a polynomial, determines intermediate values on the calculated space curve and transmits them to the drive devices or their drive controllers. Such an interpolator can be a linear interpolation and / or a circular interpolation and / or a spline interpolation and / or special interpolations, for example Bezier or Spiral interpolations, this can be done with or without blending.

The programming or determination of the web guide or the travel path can be done online or offline.

In an online programming, the determination of the desired travel can be made in particular by a teach-in device, by means of which desired target and intermediate points of the desired travel are approached by manual operation of the controls of the control device or by operating a programming handset, the Teach-in device stores the mentioned target and intermediate points. Advantageously, an experienced crane operator with the control console can move the crane or its load hook along a desired travel path between the end points. All coordinates or intermediate points achieved in this way can be stored in the control. In automatic mode, the control device of the crane can then autonomously approach all stored destination and intermediate points.

As an alternative or in addition to such a teach-in device, the travel path determination module can also have a playback device for determining the desired travel path by manually moving the load hook along the desired travel path. During manual guidance of the load hook along the desired travel path coordinates or intermediate points are recorded, so that the control device of the crane can accurately repeat the corresponding movements.

Alternatively or additionally, further measures can also be taken for online programming of the desired travel path, for example online programming of predefined program blocks or sensor-based programming. An offline determination of the desired path can be done in an advantageous embodiment of the invention, in particular by connecting the Verfahrweg- determination module to an external host, which has access to a building data model and based on the digital data of the building data model target and / or intermediate points for the determination of Travel path provides. Based on the target and / or intermediate points provided from the building data model, the travel path determination module can then determine the travel path in the previously explained manner, for example by PTP control, multipoint control or path control.

In such a building data model, which is also referred to as BIM model, digital information about the structure to be built or to be included, which is in particular an overall model, which is usually the three-dimensional planning of all trades, the schedule and also includes the cost plan. Such Baudatendaten- or BIM models are usually computer-readable files or file conglomerates and possibly processing computer program modules for processing such data, in which information and characteristics that describe the structure to be constructed and its relevant properties in the form of digital data ,

Based on the advantageously three-dimensional structure data that can be present as CAD data, the destination points can be determined for crane strokes, for which a Kranhub determination module can be present, which identifies target points for such a crane stroke and their coordinates, for example, the delivery station of a Concrete mixer and the emptying area of the concrete bucket for a concreting task. In addition, in order to determine the travel path, structural data representing the geometry of the construction in the respective construction phase can then be taken into account in order to avoid collisions with already existing contours of the construction. If in such a way the target points and collisions avoiding intermediate points for the travel path are identified, these can be made available to the travel path determination module, which then determines the travel path on the basis of these target and intermediate points in the manner already described.

Intermediate points can also be used to determine the travel path, taking into account the work area limitations of the crane, for example to avoid collisions with other cranes. Such work area boundaries or data defining work area boundaries can also be obtained from the building data model mentioned. Alternatively or additionally, a manual input of such work area limitations directly on the crane is possible, which can then also be considered if the desired travel for an automated stroke determined and intermediate points are set for this. Advantageously, such workspace boundaries can also be dynamically taken into account, especially if corresponding digital data for the workspace boundaries are provided from the building data model or BIM model, which takes into account construction progresses and resulting changes in different construction phases.

The automatic movement control module of the control device of the crane can basically work differently, wherein the movement control module can be designed in particular self-sufficient to the effect that traversing speeds and / or accelerations and the corresponding drive signals for the drive devices do not correspond to the speeds or accelerations which have been specified, for example, during the teach-in process or during playback programming. The traversing control module can independently determine the traversing speeds and / or accelerations of the drives, in particular to the effect that on the one hand reaches high traversing speeds and the power of the drive means is utilized, on the other hand, however, a smooth and pendulum-free approach of the target points is achieved. In particular, said travel control module can be connected to a pendulum damping device and / or take into account specifications of a pendulum damping device. Such

Pendelämpfungseinrichtungen for cranes are basically known in various designs, for example by controlling the slewing, rocker and trolley drives in response to certain sensor signals, such as inclination and / or gyroscope signals. For example, the documents DE 20 2008 018 260 U1 or DE 10 2009 032 270 A1 show known load pendulum damping on cranes, on the subject matter of which, i. E. with regard to the design of the pendulum damping device, reference is expressly made.

In a development of the invention, the travel control module for pendulum damping can take into account, in particular, the deflection angle or the diagonal pull of the load hook of the crane relative to a vertical, which can pass through the trolley or the suspension point of the hoisting rope. A corresponding detection device for detecting the deflection of the lifting device relative to the vertical can be designed, for example, optically working and have an imaging sensor, such as a camera, which looks from the suspension point of the hoist, for example, the trolley, substantially vertically downwards. An image evaluation device can identify the crane hook in the image provided by the imaging sensor and determine its eccentricity or its displacement out of the image center, which is a measure of the deflection of the crane hook relative to the vertical and thus characterizes the load oscillation.

Said movement control module can take into account the deflection of the load hook determined in this way and drive the drive devices in such a way and / or their accelerations and speeds in such a way Determine that the deflections of the load hook relative to the vertical are minimized or do not exceed a certain level.

Advantageously, the position sensor system may be designed to detect the load relative to a fixed world coordinate system and / or the travel control device may be configured to position the load relative to a fixed world coordinate system.

Advantageously, a control device can be provided which positions the load relative to the fixed world coordinate system or the crane foundation and thus is not directly dependent on the crane structure vibration and the crane position. By such a control device, the load position is decoupled from the crane vibration, wherein the load is not guided directly relative to the crane, but relative to the fixed world coordinate system or the crane foundation.

In particular, structural vibrations of the crane or its structural parts can be taken into account in the control device and damped by the driving behavior. This in turn has a gentle effect on the steel construction, which is less stressed.

By the load position detection can also be realized a Schrägzugreglung, which eliminates static deformation by the attached load or at least reduced. In order to reduce a vibration dynamics or not to let arise, the pendulum damping device can be designed to correct the slewing and the trolley so that the rope is always possible in vertical perpendicular to the load, even if the crane by the increasing Load torque tends more and more forward. For example, when lifting a load from the ground, the pitching motion of the crane due to its deformation under the load can be considered and the trolley can be tracked, taking into account the detected load position, or positioned under foresighted estimation of pitch deflection such that the hoist rope is vertical in resulting crane deformation Lot over the Last stands. The largest static deformation occurs at the point where the load leaves the ground. Then no diagonal tension control is necessary. Correspondingly, as an alternative or in addition, the slewing gear can also be traced under consideration of the detected load position and / or be positioned under forward-looking estimation of a transverse deformation in such a way that the hoist rope is in vertical perpendicular above the load during the resulting crane deformation.

Such a diagonal tension control can be reactivated by the operator at a later time, who can thereby use the crane as a manipulator. Hereby this can reposition the load only by pushing and / or pulling. The skew control tries to follow the deflection caused by the operator. As a result, a manipulator control can be realized.

In particular, the motion control module can take into account not only the actual pendulum motion of the rope in the pendulum damping measures, but also the dynamics of the steel structure of the crane and its drive trains. The crane is no longer assumed to be a rigid rigid body, the drive movements of the drive means directly and identically, i. 1: 1 in movements of the suspension point of the hoist converts. Instead, the pendulum damper regards the crane as a soft structure exhibiting elasticity and compliance in acceleration accelerations in its steel components such as the tower grid and in drive trains, and takes into account this dynamics of the crane's structural parts in controlling the control of the drive mechanisms.

Advantageously, the pendulum damping device may comprise determining means for determining dynamic deformations and movements of structural components under dynamic loads, wherein the control module of the pendulum damping device, which influences the driving of the drive device in a pendulum-damping manner, is designed to influence the Control of the drive means to take into account the specific dynamic deformations of the structural components of the crane.

The pendulum damping device thus advantageously does not consider the crane or machine structure as a rigid, so to speak infinitely stiff structure, but is based on elastically deformable and / or resilient and / or relatively soft structure, which - in addition to the Stellbewegungsachsen the machine such as the Auslegerwippachse or the tower axis of rotation - allows movements and / or position changes by deformations of the structural components.

The consideration of the mobility of the machine structure as a result of structural deformations under load or dynamic loads is especially important for elongated, slender and deliberately static and dynamic boundary conditions - taking into account the necessary collateral - structures such as tower cranes, since here noticeable movement shares for example the boom and thus the load hook position to be added by the deformations of the structural components. To better combat the causes of pendulum, the pendulum damping takes into account such deformations and movements of the machine structure under dynamic loads.

As a result, considerable advantages can be achieved:

First, the vibration dynamics of the structural components is reduced by the control behavior of the control device. The vibration is actively dampened by the driving behavior or not excited by the control behavior.

Likewise, the steel construction is spared and less stressed. In particular shock loads are reduced by the control behavior. Furthermore, this method can be used to define the influence of driving behavior.

Due to the knowledge of structural dynamics and the control method, in particular the pitching vibration can be reduced and damped. As a result, the load behaves calmer and no longer fluctuates up and down in the rest position.

The aforementioned elastic deformations and movements of the structural components and drive trains and the resulting self-motions can basically be determined in various ways. In a further development of the invention, the said determination means may comprise an estimation device which detects the deformations and movements of the machine structure under dynamic loads which depend on control commands entered at the control station and / or in response to certain drive actions of the drive devices and / or and / or acceleration profiles of the drive devices, estimated taking into account conditions characterizing the crane structure.

Such an estimation device can, for example, access a data model in which structural variables of the crane such as tower height, boom length, stiffness, area moment of inertia and the like are stored and / or linked together, and then based on a specific load situation, ie weight of the load recorded on the load hook and instantaneous overhang to estimate what dynamic effects, ie deformations in the steel structure and in the drive trains for a specific operation of a drive device result. Depending on such an estimated dynamic effect, the pendulum damping device can then intervene in the control of the drive means and influence the manipulated variables of the drive controller of the drive means to avoid or reduce oscillations of the load hook and the hoisting rope. In particular, the determination device for determining such structural deformations can have a calculation unit which calculates these structural deformations and resulting structural part movements on the basis of a stored calculation model as a function of the control commands entered at the control station. Such a model can be constructed similar to a finite element model or be a finite element model, but advantageously a model that is significantly simplified compared to a finite element model is used, for example empirically by detecting structural deformations under certain control commands and / or load conditions on the real crane or the real machine can be determined. Such a calculation model can, for example, work with tables in which specific deformations are assigned to specific control commands, wherein intermediate values of the control commands can be converted into corresponding deformations by means of an interpolation device.

As an alternative or in addition to an estimation or calculation of the elastic deformations and dynamic movements of the structural components, the pendulum damping device can also comprise a suitable sensor system by means of which such elastic deformations and movements of structural components under dynamic loads are detected. Such sensors may include, for example, deformation sensors such as strain gauges on the steel structure of the crane, for example the trellises of the tower and / or the jib. Alternatively or additionally, acceleration and / or velocity sensors may be provided to detect certain movements of structural components, such as cantilevers of the cantilever tip and / or rotational dynamic effects on the cantilever.

Alternatively or additionally, inclination sensors or gyroscopes can also be provided, for example, on the tower, in particular on its upper section on which the arm is mounted, in order to detect the dynamics of the tower. For example, jerky strokes lead to pitching movements of the boom, which are associated with bending movements of the tower, wherein a Ringing of the tower in turn leads to pitching oscillations of the boom, which is associated with corresponding load hook movements. Alternatively or additionally, motion and / or acceleration sensors can also be assigned to the drive trains in order to be able to detect the dynamics of the drive trains. For example, the pulleys of the trolley for the hoist rope and / or pulleys for a guy rope of a luffing jib to be assigned rotary encoder to capture the actual rope speed at the relevant point can.

Advantageously, the drive devices themselves are also assigned suitable motion and / or speed and / or acceleration sensors in order to appropriately detect the drive movements of the drive devices and to be able to set them in connection with the estimated and / or detected deformations of the structural components such as the steel structure and in the drive trains ,

Alternatively or in addition to such consideration of the specifications of a pendulum damping device by the movement control module, counter-damping measures can also be taken into account in the planning or determination of the desired travel path. For example, the travel determination module may round kinks of travel, or generously dimension curve radii and / or avoid serpentine lines.

The invention will be explained in more detail with reference to preferred embodiments and associated drawings. In the drawings show:

1 shows a schematic representation of a tower crane whose load hook is to be moved back and forth between two target points in the form of a concrete delivery station and a concreting field, 2 is a schematic diagram illustrating the operation of a PTP control module, which determines the travel path in the sense of a point-to-point control,

3 is a schematic diagram to illustrate the operation of a

Multi-point control module which determines the travel path in terms of multi-point control,

4: the trajectory generated by a multi-point control, which is defined by a dense sequence of equidistant points, and

5 shows two schematic diagrams to illustrate the operation of a path control module, which determines the travel as a continuous, mathematically calculated trajectory, wherein the partial diagram (a) shows a path control without smoothing and the partial diagram (b) shows a path control with smoothing,

6 shows a schematic representation of a control module which is connected to the

Load hook or a component attached thereto can be docked in order to finely adjust the load hook at a target point or to be able to manually move along a desired path for a play-back or teach-in programming, and

Fig. 7: a schematic representation of deformations and

Vibration forms of a tower crane under load and their damping or avoidance by a Schrägzugregelung, the partial view a.) Shows a pitch deformation of the tower crane under load and an associated diagonal pull of the hoisting rope, the partial views b.) And c.) A transverse deformation of the tower crane in show a perspective view and in plan view from above, and the partial views d.) and e.) Show an associated with such transverse deformations diagonal train of the hoisting rope. As shown in Fig. 1, the crane may be formed as a tower crane. The tower crane shown in Fig. 1, for example, in a conventional manner have a tower 201 which carries a boom 202 which is balanced by a counter-jib 203, on which a counterweight 204 is provided. Said boom 202 can be rotated together with the counter-arm 203 about an upright pivot axis 205, which may be coaxial with the tower axis, by a slewing gear. On the boom 202, a trolley 206 can be moved by a cat drive, wherein from the trolley 206, a hoist rope 207 runs, to which a load hook 208 is attached.

As also shown in FIG. 1, the crane 2 can have an electronic control device 3 which, for example, can comprise a control computer arranged on the crane itself. Said control device 3 can in this case control various actuators, hydraulic circuits, electric motors, drive devices and other working units on the respective construction machine. This can, for example, in the crane shown its hoist, the slewing gear, the cat drive, whose -ggf. existing - boom rocker drive or the like.

The said electronic control device 3 can in this case communicate with a terminal 4, which can be arranged on the control station or in the driver's cab and, for example, in the form of a tablet with touchscreen and / or joysticks, so that on the one hand different information from the control computer 3 to the terminal 4 displayed and vice versa control commands via the terminal 4 in the control device 3 can be entered.

The said control device 3 of the crane 1 can in particular be designed to control the said drive devices of the hoist, the trolley and the slewing gear even if the load hook 208 and / or a component picked up thereon, such as a concrete bucket, are manually handled by a machine operator by means of a manual control module 65 with a handle 66 is manipulated, as shown in FIG. 6, that is pressed in one direction or pulled and / or twisted or this is attempted to enable a manual Feindirigieren the load hook and thus concrete bucket position, for example, during concreting.

For this purpose, the crane 1 may comprise a detection device 60, which makes a diagonal pull of the hoist rope 207 and / or deflections of the load hook 208 with respect to a vertical 61 which is defined by the suspension point of the load hook 208, i. the trolley 206 goes detected.

The determination means 62 of the detection device 60 provided for this purpose can, for example, operate optically in order to determine the said deflection. In particular, a camera 63 or another imaging sensor can be attached to the trolley 206, which looks downwards vertically from the trolley 206, so that when the load hook 208 is undeflected, its image reproduction lies in the center of the image provided by the camera 63. If, however, the load hook 208 is deflected relative to the vertical 61, for example by manual pressing or pulling on the load hook 208 or the concrete bucket 50 shown in FIG. 9, the image reproduction of the load hook 208 moves out of the center of the camera image, which is determined by an image evaluation device 64 can be.

Depending on the detected deflection relative to the vertical 61, in particular taking into account the direction and magnitude of the deflection, the control device 3 can control the slew drive and the trolley drive to bring the trolley 206 again more or less accurately over the load hook 208, ie the control device 3 controls the drive devices of the crane 1 such that the diagonal train or the detected deflection is compensated as possible. This allows an intuitive, simple direction and fine adjustment of the position of the load hook and a load recorded thereon can be achieved. Alternatively or additionally, said detection means 60 may also comprise said control module 65, which may be mobile and may be dockable to the load hook 208 and / or a load attached thereto. As shown in FIG. 6, such a hand-expensive module 65 may comprise, for example, a handle 66, which may be releasably secured by suitable retaining means 67 to the load receiving means 208 and / or a component such as the concrete bucket articulated thereto. The holding means 67 may comprise, for example, magnet holders, suction cups, snap-in holders, bayonet catch holders or the like.

Force and / or torque sensors 68 and, if necessary, with a possible movable mounting or design of the handle 66 may also be assigned motion sensors to the said handle 66, by means of which forces and / or moments and / or movements exerted on the handle 66 can be detected. The sensor system associated with the handle 66 is advantageously designed such that the forces and / or moments and / or movements can be detected with regard to their direction of action and / or magnitude, cf. Fig. 6.

On the basis of the manipulation forces and / or moments and / or movements exerted on the handle 66, which are detected by the detection device 60, the control device 3 can control the drive devices of the crane 1 in such a way that the detected manual manipulations are converted into motor crane adjustment movements.

The thus made possible manual directing the concrete bucket or the lifting device 208 makes it possible on the one hand again fine-tune automatically targeted target positions. On the other hand, it also makes it possible to determine the desired travel path between two target points in the sense of a playback control. In order to be able to execute automated crane lifts, for example, to be able to automatically move between the concrete delivery station and the concreting area, the control device 3 comprises a travel path determination module 300 for determining a desired travel distance between at least two destination points and an automatic travel control module 310 for automatic movement of the load receiving means along the determined travel by appropriate driving of the drive means of the crane 200th

In order to enable various modes of operation, the said travel determination module 300 may have different operating modes and corresponding modules, in particular a PTP or point-to-point control module 301, a multi-point control module 302 and a path control module 303, cf. Fig. 1.

Such a PTP control module 301 may in this case include a blending function by means of which the travel path is determined such that, for the time-optimized method, a defined target point is not approached exactly, but is bent to the next point when it reaches its blending area, cf. Fig. 2.

In a further development of the invention, said over-grinding function of the PTP control module 301 can be formed asynchronously operating, so that the smoothing is started when the last to be actuated drive axle or drive device reaches the space sphere around said point. Alternatively, the blending function may also be synchronized, so that the blending is started as soon as the leading drive axis enters the space sphere around the programmed point.

Alternatively, or in addition to said PTP control module 301, however, the travel path determination module 300 may also include a multi-point control module 302, cf. Fig. 3, which determines a plurality of intermediate points 501, 502, 503, 504 ... n between two target points to be approached 500, 510, preferably such that said intermediate points 501, 502, 503, 504 ... n form a dense sequence of equidistant points, cf. Fig. 4. The approach of such time equidistant intermediate points 501, 502, 503, 504 ... n, which are arranged in close succession, requires approximately the same time period, so that a total harmonic actuation of the drive means and thus a harmonious method of the crane elements can be achieved can.

As an alternative or in addition to such a multipoint control module 302, the determination of the travel path can also be effected by a path control module 303 which calculates a continuous, mathematically defined trajectory between the target points, cf. In this case, such a path control module can comprise an interpolator which, in accordance with a predetermined path function or subfunction, for example in the form of a straight line, a circle or a polynomial, determines intermediate values on the calculated space curve and transmits them to the drive devices or their drive controllers. Such an interpolator can perform a linear interpolation and / or a circular interpolation and / or a spline interpolation and / or special interpolations, for example Bezier or spiral interpolations, this being able to be carried out with or without blending. Fig. 5a shows a web without blending, Fig. 5b a web with blanks.

In the case of online programming, the determination of the desired travel path can be carried out in particular by a teach-in device 320, by means of which desired target and intermediate points of the desired travel path are approached by manual actuation of the control elements of the control device or by operation of a programming hand-held device the teach-in device 320 stores said target and intermediate points. Advantageously, an experienced crane operator with the control console, the crane 2 and its load hook 208 along a move the desired travel path between the endpoints. All coordinates or intermediate points achieved in this way can be stored in the controller 3. In automatic mode, the control device 3 of the crane 2 can then autonomously approach all stored destination and intermediate points.

As an alternative or in addition to such a teach-in device 320, the travel path determination module 300 can also have a playback device 330 for determining the desired travel path by manually moving the load hook along the desired travel path. During the manual guidance of the load hook 208 along the desired travel, which can be done, for example, by means of the manual control module 65, cf. 6, coordinates or intermediate points are recorded, so that the control device 3 of the crane 2 can exactly repeat the corresponding movements.

The automatic movement control module 310 can advantageously take into account specifications of a pendulum damping device 340, said pendulum damping device 340 advantageously being able to use the signals of the aforementioned detection device 60, which detects the deflection of the load hook 208 relative to the vertical 61.

As further shown in FIG. 1, the control device 3 can be connected to an external, separate host computer 400, which can have access to a building data model in the sense of a BIM model and can provide digital data from this building data model to the control device 3. In the manner explained in the introduction, these digital data from the building data model can be used, in particular, to provide target points and intermediate points for determining the desired travel path, which can dynamically take into account building data in different phases and working area boundaries.

The said control device 3 of the crane 1 can be designed in particular to the said drive devices of the hoist, the Trolley and the slewing even then control when said pendulum damper 340 detects pendulum-relevant motion parameters.

For this purpose, the crane 1 can use the said detection device 60, which makes a diagonal pull of the hoist rope 207 and / or deflections of the load hook 208 with respect to the vertical 61, which is defined by the suspension point of the load hook 208, i. the trolley 206 goes detected. In particular, the cable angle φ may be against the gravity line of action, i. the vertical 61 are detected, cf. Fig. 1.

Depending on the detected deflection relative to the vertical 61, in particular taking into account the direction and magnitude of the deflection, the control device 3 can control the slew drive and the trolley drive with the aid of the pendulum damping device 340 to bring the trolley 206 more or less precisely over the load hook 208 again and compensate for oscillations, or to reduce or not even let occur.

For this purpose, the pendulum damping device 340 may also have determining means 342 for determining dynamic deformations of structural components, wherein the control module 341 of the pendulum damping device 340, which influences the driving of the drive means pendelock damping, is designed to influence the specific dynamic deformations of the structural components of the To consider cranes.

In this case, the determination means 342 may comprise an estimation device 343 which detects the deformations and movements of the machine structure under dynamic loads which depend on control commands entered in the control station and / or in response to certain drive actions of the drive devices and / or in dependence on specific speed and / or acceleration profiles give the drive devices estimated, taking into account the crane structure characterizing conditions. In particular, a calculation unit 348 may Calculate structural deformations and resulting structural part movements on the basis of a stored calculation model as a function of the control commands entered at the control station.

Alternatively or additionally, the pendulum damping device 340 may also include a suitable sensor 344, by means of which such elastic deformations and movements of structural components are detected under dynamic loads. Such a sensor 344 may include, for example deformation sensors such as strain gauges on the steel structure of the crane, for example, the grid frameworks of the tower 201 or the boom 202. Alternatively or additionally, acceleration and / or speed sensors may be provided to detect certain movements of structural components, such as jib tip pitch pitch motions or rotational dynamics effects on the boom 202. Alternatively or additionally, tilt sensors or gyroscopes, for example, on the tower 201, in particular on its upper portion on which the boom is mounted, be provided to detect the dynamics of the tower 201. Alternatively or additionally, motion and / or acceleration sensors can also be assigned to the drive trains in order to be able to detect the dynamics of the drive trains. For example, the pulleys of the trolley 206 for the hoist rope and / or pulleys for a guy rope of a luffing jib can be assigned rotary encoder to detect the actual rope speed at the relevant point can.

In particular, the pendulum damping device 340 may include a filter device or an observer 345, which observes the crane reactions that occur at certain manipulated variables of the drive controller 347 and taking into account predetermined regularities of a dynamics model of the crane, which may be basically different and by analysis and simulation of the Steel structure can be obtained, based on the observed crane reactions influenced the manipulated variables of the controller. Such a filter or observer device 345 can be designed in particular in the form of a so-called Kalman filter 346, to which the manipulated variables of the drive controller 347 of the crane and the crane movements, in particular the cable pull angle φ with respect to the vertical 62 and / or its temporal change or the Angular velocity of the said Schrägzugs is supplied, and from these input variables based on Kaiman equations that model the dynamics system of the crane structure, in particular its steel components and drive trains, the manipulated variables of the controller 347 influenced accordingly to achieve the desired pendulum damping effect.

With the aid of such an oblique draft regulation, in particular deformations and vibration modes of the tower crane under load can be damped or avoided from the start, as shown by way of example in FIG. 7, where the partial view a.) First schematically shows a pitch deformation of the tower elbow under load as a result of bending of the tower 201 with the concomitant lowering of the boom 202 and an associated diagonal pull of the hoisting rope,.

Furthermore, the partial views b.) And c.) Of FIG. 7 schematically show, by way of example, a transverse deformation of the tower crane in a perspective view and in a plan view from above with the deformations of the tower 201 and the boom 202 occurring in the process.

Finally, FIG. 7 shows, in its partial views d.) And e.), An oblique pull of the hoist cable associated with such transverse deformations.

In order to counteract the corresponding vibration dynamics, the pendulum damping device 340 may comprise a diagonal tension control. In particular, by means of the determination means 62, the position of the load hook 208, in particular also its diagonal pull relative to the vertical, that is the Detected deflection of the hoisting rope 207 relative to the vertical and supplied to said Kalman filter 346.

Advantageously, the position sensor system may be designed to detect the load or the load hook 208 relative to a fixed world coordinate system and / or the pendulum damping device 340 may be designed to position the load relative to a fixed world coordinate system.

By means of the load position detection, an oblique tension regulation can be realized which eliminates or at least reduces static deformation due to the attached load. In order to reduce a vibration dynamics or not even let arise, the pendulum damper 340 may be configured to correct the slewing and the trolley so that the rope as possible in the vertical perpendicular to the load, even if the crane by the Increasing load torque tilts more and more forward.

For example, when lifting a load from the ground, the pitching motion of the crane due to its deformation under the load can be considered and the trolley can be tracked, taking into account the detected load position, or positioned under foresighted estimation of pitch deflection such that the hoist rope is vertical in resulting crane deformation Lot stands over the load. The largest static deformation occurs at the point where the load leaves the ground. Then no diagonal tension control is necessary. Correspondingly, as an alternative or in addition, the slewing gear can also be traced under consideration of the detected load position and / or be positioned under forward-looking estimation of a transverse deformation in such a way that the hoist rope is in vertical perpendicular above the load during the resulting crane deformation.

Such a diagonal tension control can be reactivated by the operator at a later time, who can thereby use the crane as a manipulator. Hereby this can only load the load by pushing and / or pulling repositioning. The skew control tries to follow the deflection caused by the operator. As a result, a manipulator control can be realized.

Claims

claims

1. Crane, in particular tower crane, with a hoisting cable (207) mounted load-receiving means (208), drive means for moving a plurality of crane elements and method of the load receiving means (208), and a control device (3) for controlling the drive means such that the load-carrying means ( 208) moves along a travel path between at least two target points (500, 510), characterized in that the control device (3)

a travel path determination module (300) for determining a desired travel path between the at least two target points (500, 510), and

- An automatic travel control module (310) for automatically moving the lifting device (208) along the particular travel path

having.

A crane according to the preceding claim, wherein the travel determining module (300) comprises a point-to-point control module (301) for determining the travel distance between the target points (500, 510).

3. Crane according to the preceding claim, wherein the point-to-point control module (301) has a blending function and is designed to operate asynchronously such that when reaching a blending area of a target point without exact approach of this target point is bent to the next target point, with The smoothing is started when the last axis of movement reaches a space ball around the target point.

4. Crane according to claim 2, wherein the point-to-point control module (301) has a blending function and is designed to operate in synchronism such that when reaching a blending area of a target point without exact approach of this target point is bent to the next target point, with the Smoothing is started when the leading axis of motion reaches a space sphere around the target point.

A crane according to any one of the preceding claims, wherein said travel determining module (300) comprises a multi-point control module (302) for determining a plurality of intermediate points (501, 502, 503 ...) between two target points (500, 510).

6. Crane according to the preceding claim, wherein the multi-point control module (302) is adapted to set the plurality of intermediate points equidistant from each other.

A crane as claimed in any one of the preceding claims, wherein the travel determination module (300) comprises a path control module (303) for determining a continuous, mathematically defined path between two target points (500, 510).

A crane as claimed in any one of the preceding claims, wherein the travel determining module (300) is coupled to a teach-in means (320) for determining the desired travel by manually approaching the desired target and intermediate points (500 ... 510) ,

A crane as claimed in any one of the preceding claims, wherein the travel determining module (300) comprises a playback device (330) for determining the desired travel and / or desired destination and intermediate points (500 ... 510) of the travel by manual method of the lifting device along the desired travel path is connected.

A crane as claimed in any one of the preceding claims, wherein said travel determination module (300) is connected to an external host computer (400) having access to a building data model (BIM) and destined and intermediate points (500 ... 510) for Determining the travel path provides.

A crane as claimed in any one of the preceding claims, wherein the travel determination module (300) is adapted to account for work area limitations and to determine the travel around work area boundaries.

12. Crane according to the two preceding claims, wherein by the master computer (400) cyclically or continuously updated data concerning the work area boundaries and / or building contours of different phases are provided and the Verfahrweg- determination module is adapted to determine the travel in the determination of the updated data concerning work area limitation and / or building contours.

13. Crane according to one of the preceding claims, wherein a pendulum damping device (340) is provided, wherein the automatic travel control module (310) specifications and / or a signal of the pendulum damping device (340) in the control of the drive means and the determination of the travel speeds and / or accelerations of the drive devices taken into account.

14. Crane according to the preceding claim, wherein the pendulum damping device (340) comprises a detection device (60) for detecting the deflection of the hoist rope (207) and / or the load receiving means (208) relative to a vertical (61) by a suspension point of the hoist rope (207). wherein the automatic travel control module (310) drives the drive means in response to a deflection and / or skew signal of said detection means (61).

15. Crane according to one of the two preceding claims, wherein the pendulum damping device (340) comprises determining means (342) for determining deformations and / or movements of structural components of the crane due to dynamic loads, wherein the control module (341) of the pendulum damping device (340) is formed is to take into account the specific deformations and / or movements of the structural components due to dynamic loads when influencing the control of the drive means.

16. Crane according to the preceding claim, wherein the structural components comprise a tower (201) and / or a boom (202) and the determining means (342) are adapted to deformations and / or loads of the tower (201) and / or the boom (202) due to dynamic loads.

17. Crane according to one of the two preceding claims, wherein the structural components comprise drive train parts such as slewing gear parts, Katzantriebsteile and the like, and the determining means (342) are adapted to determine deformations and / or movements of the drive train parts due to dynamic loads.

A crane according to any of claims 15 to 17, wherein the determining means (342) comprises estimating means (343) for estimating the deformations and / or movements of the structural members due to dynamic loads based on digital data of a data model describing the crane structure.

A crane according to any one of claims 15 to 18, wherein the determining means (342) comprises a calculation unit (348) that computes structural deformations and resulting structural sub-motions based on a stored computation model in response to control commands input to the control station.

20. Crane according to one of claims 15 to 19, wherein the determining means (342) have a sensor (344) for detecting the deformations and / or dynamic parameters of the structural components.

A crane as claimed in the preceding claim, wherein the sensors (344) include a tilt and / or acceleration sensor for detecting tower pitches and / or speeds, a rotational speed and / or acceleration sensor for detecting the rotational speed and / or acceleration of a boom, and / or a pitching motion sensor for detecting pitching movements and / or accelerations of the boom, and / or a rope speed and / or acceleration sensor for detecting rope speeds and / or accelerations of the hoisting rope (207).

22. Crane according to one of claims 15 to 21, wherein the pendulum damping device (340) has a filter and / or observer device (345) for influencing the control variables of drive controllers (347) for driving the drive means, said filter and / or Observer device (345) is adapted to receive as input variables, the manipulated variables of the drive controller (347) and the detected and / or estimated movements of crane elements and / or deformations and / or movements of structural components that occur as a result of dynamic loads, and in dependence for certain controller manipulated variables obtained dynamics-induced movements of crane elements and / or deformations of structural components to influence the controller manipulated variables.

23. Crane according to the preceding claim, wherein the filter and / or observer device (345) as a Kalman filter (346) is formed.

24. Crane according to the preceding claim, wherein in the Kalman filter (346) detected and / or estimated and / or calculated and / or simulated functions that characterize the dynamics of the structural components of the crane, are implemented.

25. Crane according to one of the preceding claims, wherein the control device (3) comprises a position sensor which is adapted to detect the load receiving means (208) relative to a fixed world coordinate system, and / or is adapted to the load receiving means (208) relative to postionieren to a fixed world coordinate system.