EP3455153A1 - Method and system for avoiding collisions in cranes - Google Patents

Method and system for avoiding collisions in cranes

Info

Publication number
EP3455153A1
EP3455153A1 EP17734701.0A EP17734701A EP3455153A1 EP 3455153 A1 EP3455153 A1 EP 3455153A1 EP 17734701 A EP17734701 A EP 17734701A EP 3455153 A1 EP3455153 A1 EP 3455153A1
Authority
EP
European Patent Office
Prior art keywords
load
crane
sensors
controller
trajectory
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
EP17734701.0A
Other languages
German (de)
French (fr)
Other versions
EP3455153B1 (en
Inventor
Thomas Heimann
Marcel BALS
Axel ROTTMANN
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.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
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 Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP3455153A1 publication Critical patent/EP3455153A1/en
Application granted granted Critical
Publication of EP3455153B1 publication Critical patent/EP3455153B1/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
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—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
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers

Definitions

  • the invention relates to a method and a system for avoiding a collision of a load of a crane with an obstacle and a crane with such a system, a program for carrying out such a method and a computer-readable medium with such a system Program.
  • the invention has for its object to provide a solution for collision avoidance, which meets a security level.
  • This object is achieved by a method for avoiding a collision of a load of a crane with an obstacle, wherein the load is moved along a trajectory, wherein by means of at least two sensors for distance measurement, a height profile is detected at least along the trajectory, wherein signals of the sensors on at least two Kommunikati ⁇ onskanäle are sent to a controller with at least two Radiosys ⁇ temen of which has at least one of a security program in a secure area, wherein an obstacle along the trajectory on the basis of the height profile being ⁇ known.
  • a system for Vermei ⁇ dung a collision load of a crane with an obstacle comprising at least two sensors for measuring distances, with which a height profile at least along the trajectory is detected, a controller having at least two operation ⁇ systems, each of which has at least one of a security program in a secure area, at least two communica ⁇ tion channels for transmission of signals of the sensors to the controller and a secure communication interface for transmission of signals from the controller to a crane controller.
  • the object is further achieved by a crane, a program and a computer readable medium having the features specified in claims 18 to 20.
  • a safety level can be achieved (Safety Integrity Level "SIL” or "Performance Level”).
  • SIL Safety Integrity Level
  • PL Performance Level
  • a security level according to EN ISO 13849-1 Performance Level c category 2 (EN 954-1) can be achieved by means of internal test and test algorithms (separated in the normal and safe operating systems) and the integrated two-channel system.
  • EN 954-1 Performance Level c category 2 (EN 954-1)
  • a TÜV certificate allows for worldwide deployment and acceptance.
  • the height profile is stored at least in the safe area. This can be done "forward motion” for example, during a so Da ⁇ th for "reversing" are available and can be used for detection of an obstacle.
  • the Er ⁇ sion of the height profile can be done during the movement of the load along the trajectory, but also in advance.
  • the entire height profile Häbe ⁇ area of the crane can be taken in advance. If the crane is, for example, a container crane that unloads containers in a container terminal as loads, the stack heights of the containers, as a height profile, to a certain extent result in a container mountain.
  • the safety program sends a safe stop signal to a crane control if an obstacle in the direction of movement of the load is detected within a first distance from the load.
  • a first safety region before the load is defined, within which the crane is stopped immediately and surely upon occurrence of a Hin ⁇ countries isses.
  • the size of the first distance is adapted to a speed of the load.
  • the distance can be, for example, adjusted accordingly during stacking egg ⁇ nes container on a stack, the stack neighbor is already higher, so that no stop signal is sent at An Krebs ⁇ tion to the adjacent stack.
  • the size of the distance can also be adjusted to zero who ⁇ .
  • the distance can be increased accordingly at higher operating speeds of the crane, so that the load can be stopped in any case in time before the obstacle.
  • the safety program sends a safe brake signal to a crane control if an obstacle in the direction of movement of the load within a second distance from the load is detected.
  • a second safety area is defined in front of the load, within which the crane is promptly and safely braked when a Hin ⁇ ernis occurrence.
  • the crane control system can be signaled, for example, to go from normal working speed to "slow motion".
  • a stop signal is given to the STEU ⁇ augmentation within a first distance, since in this way the load initially braked within the second distance, and then, upon occurrence of the Hin ⁇ countries isses within the first distance at a slower drive, is stopped.
  • the size of the second distance is adapted to a speed of the load.
  • the size of the distance can also be adjusted to zero when the crane is already in creeping speed, for example.
  • the distance at size ⁇ ren operating speeds of the crane can be ßert according Magni- so that the load can be slowed down in any case in good time before the obstacle.
  • the trajectory is adapted to the height profile. In this way, a trajectory is chosen in which possible collisions with an obstacle are avoided immediately. It is also possible, if at least part of the working area of the crane has been registered as the height profile is already to choose a time ⁇ optimized trajectory that avoids potential obstacles.
  • a position of the load is detected by means of at least one sensor and compared with an already known position, and it is in a deviation, the operability of the at least ei ⁇ nes sensor for distance measurement and / or the measuring system with which the known position was determined, checked.
  • the known position values are, for example, taken from measurement ⁇ systems to the axes, results in the position of the load from the position values of the crane of the lifting mechanism and the cat. The comparison with the sensor data ensures that the position of the load is always precisely known and the crane operator is safely supported.
  • a visibility is determined by means of at least one sensor. Is the impaired sight, for example, by snow or fog, this can also be determined in an automatic mode and the operation are set (with re ⁇ du enclosureer speed) or even adjusted accordingly.
  • At least two sensors measure distances along lines that overlap in at least one point of intersection, and the measured values in at least one point of intersection are used to validate a safe measured value.
  • At least one of the sensors is designed as a 2-D laser scanner. In a further advantageous embodiment, at least one of the sensors is designed as a 3-D laser scanner. In a further advantageous embodiment, two sensors measure distances along lines that form at least one right angle. In a further advantageous embodiment, at least one sensor is designed as a multi-beam laser.
  • At least one operating system is real-time capable.
  • At least one sensor can be arranged on a cat of the crane.
  • At least one sensor can be arranged on a container harness of the crane.
  • FIG. 2 shows a controller according to the invention
  • FIG. 3 shows an arrangement of two sensors on a bridge crane
  • FIG. 1 shows a schematic representation of a crane 2, which in the figure is designed as a gantry crane (for example as RTG,
  • a height profile 6 (“container mountain”) is determined at least along the trajectory 4.
  • the trajectory 4 is adapted to a parabolic movement, which safely overcomes the obstacle 3.
  • the controller 8 has at least two operating systems 9, 10, of which at least one 10 has a safety program in a safe area.
  • the communication to a crane control system in particular for transmitting a safe stop and / or braking signal is carried over a secure communication interface 13, for example (as safe bus as Profisafe) or as a two-channel hard ⁇ ware interface can be executed.
  • FIG. 3 shows a perspective view of a crane 2 as in FIG. 1, in which a load 1 on a spreader 15 can be moved via a cat 14.
  • the Senso ⁇ ren 5 are arranged on the trolley 14, wherein at least ⁇ 2-D Laser Scanner were chosen as sensors. 5
  • One of the sensors 5 takes on one side of the load 1 over a height profile 6, while a second of the sensors 5 to the first by 90
  • This second laser scanner also records the position of the load 1 via the trolley position and the spreader height.
  • a monitoring of these security areas resulting from the security clearances 11, 12 is thereby achieved in a simple manner. se possible, for example, with an array of sensors 5, as shown in the preceding FIG.
  • the invention relates to a method and a system for avoiding a collision of a load of a crane with an obstacle and a crane with such a system, a program for carrying out such a method and a computer-readable medium with such a program.
  • a solution is pre ⁇ beat, in which the load along a trajectory is moved, wherein a height profile is detected at least along the Trajekto ⁇ rie by at least two sensors for Entfer ⁇ voltage measurement, wherein Signals of the sensors are sent via at least two communication channels to a controller with at least two operating systems, of which at least one has a safety program in a safe area, wherein an obstacle along the trajectory is detected on the basis of the height profile.
  • the controller further includes a secure communication interface for transmitting Sig ⁇ nal from the controller to a crane control.

Landscapes

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

Abstract

The invention relates to a method and to a system for preventing a collision of a load of a crane (2) with an obstacle (2) and to a crane (2) having such a system, to a program for carrying out such a method, and to a computer-readable medium having such a program. The aim of the invention is to provide a solution for collision avoidance which meets a safety level. This aim is achieved by a solution, in which the load is moved along a trajectory (4), wherein a height profile is captured at least along the trajectory (4) by means of at least two sensors (5) for distance measurement, wherein signals of the sensors (5) are transmitted via at least two communication channels (7) to a controller (8) having at least two operating systems (9, 10), of which at least one has a safety program in a secure area, wherein an obstacle (2) is identified along the trajectory (4) by means of the height profile. The controller (8) also has a secure communications interface (13) for transmitting signals from the controller (8) to a crane control.

Description

Beschreibung description

VERFAHREN UND SYSTEM ZUR VERMEIDUNG VON KOLLISIONEN BEI KRÄNEN Die Erfindung betrifft ein Verfahren und ein System zur Vermeidung einer Kollision einer Last eines Krans mit einem Hindernis sowie einen Kran mit einem derartigen System, ein Programm zur Durchführung eines derartigen Verfahrens und ein computerlesbares Medium mit einem derartigen Programm. The invention relates to a method and a system for avoiding a collision of a load of a crane with an obstacle and a crane with such a system, a program for carrying out such a method and a computer-readable medium with such a system Program.

Insbesondere beim Umgang mit Containern im Stapel-Bereich kommt es immer wieder zu Kollisionen, die unter Umständen Todesfälle zur Folge haben können. Die bisherigen Lösungen zur Kollisionsvermeidung sind nur eingeschränkt tauglich, da sie zum einen nur unterstützend wirken können (verantwortlich bleiben der Kranfahrer und der Betreiber, die entsprechend geschult werden) und zum anderen die Fehlerquote relativ hoch ist. Bei Krantypen, bei denen die Kranfahrer mit der Katze mitfahren, gibt es zudem bei der Rückwärtsfahrt keine direkte Sicht auf Hindernisse. In particular, when handling containers in the stack area, there are always collisions that may cause deaths under certain circumstances. The previous solutions for collision avoidance are only suitable to a limited extent, as they can only be supportive (responsible remain the crane operator and the operator, who are trained accordingly) and on the other hand, the error rate is relatively high. In crane types where the crane drivers ride with the cat, there is no direct view of obstacles when reversing.

Der Erfindung liegt die Aufgabe zugrunde, eine Lösung zur Kollisionsvermeidung anzugeben, die einen Sicherheitslevel erfüllt . The invention has for its object to provide a solution for collision avoidance, which meets a security level.

Diese Aufgabe wird gelöst durch ein Verfahren zur Vermeidung einer Kollision einer Last eines Krans mit einem Hindernis, wobei die Last entlang einer Trajektorie bewegt wird, wobei mittels zumindest zweier Sensoren zur Entfernungsmessung ein Höhenprofil zumindest entlang der Trajektorie erfasst wird, wobei Signale der Sensoren über zumindest zwei Kommunikati¬ onskanäle an einen Controller mit zumindest zwei Betriebssys¬ temen gesendet werden, von denen zumindest eines ein Sicherheitsprogramm in einem sicheren Bereich aufweist, wobei ein Hindernis entlang der Trajektorie anhand des Höhenprofils er¬ kannt wird. Die Aufgabe wird weiter gelöst durch ein System zur Vermei¬ dung einer Kollision einer Last eines Krans mit einem Hindernis, wobei die Last entlang einer Trajektorie bewegbar ist, aufweisend zumindest zwei Sensoren zur Entfernungsmessung, mit denen ein Höhenprofil zumindest entlang der Trajektorie erfassbar ist, einen Controller mit zumindest zwei Betriebs¬ systemen, von denen zumindest eines ein Sicherheitsprogramm in einem sicheren Bereich aufweist, zumindest zwei Kommunika¬ tionskanäle zur Übertragung von Signalen der Sensoren an den Controller sowie einer sicheren Kommunikationsschnittstelle zur Übertragung von Signalen vom Controller an eine Kransteuerung . This object is achieved by a method for avoiding a collision of a load of a crane with an obstacle, wherein the load is moved along a trajectory, wherein by means of at least two sensors for distance measurement, a height profile is detected at least along the trajectory, wherein signals of the sensors on at least two Kommunikati ¬ onskanäle are sent to a controller with at least two Betriebssys ¬ temen of which has at least one of a security program in a secure area, wherein an obstacle along the trajectory on the basis of the height profile being ¬ known. The object is further achieved by a system for Vermei ¬ dung a collision load of a crane with an obstacle, the load along a trajectory is movable, comprising at least two sensors for measuring distances, with which a height profile at least along the trajectory is detected, a controller having at least two operation ¬ systems, each of which has at least one of a security program in a secure area, at least two communica ¬ tion channels for transmission of signals of the sensors to the controller and a secure communication interface for transmission of signals from the controller to a crane controller.

Die Aufgabe wird weiter gelöst durch einen Kran, ein Programm und ein computerlesbares Medium mit den in den Ansprüchen 18 bis 20 angegebenen Merkmalen. The object is further achieved by a crane, a program and a computer readable medium having the features specified in claims 18 to 20.

Durch die Verwendung eines Controllers mit einem zweiten Betriebssystem, auf dem ein Sicherheitsprogramm (zertifiziertes Safety-Programm) in einem sicheren Bereich abläuft, und die Zwei-Kanaligkeit kann ein Sicherheitslevel erreicht werden (Sicherheitsintegritätslevel bzw. Safety Integrity Level „SIL" oder Performance Level „PL") . Wird ein Hindernis er¬ kannt, kann über die sichere Kommunikationsschnittstelle ein sicheres Signal an die Kransteuerung gesendet werden, bei¬ spielsweise über eine zwei-kanalige Hardware oder über einen Profisafe-Bus. Kollisionen können auf diese Weise, wie von den Betreibern gefordert, sicher verhindert werden. Dabei können auch im Falle von Leerfahrten Kollisionen beispiels- weise eines Containergeschirrs mit dem Hindernis verhindert werden, da dieses in dem Fall die Last ist, die entlang der Trajektorie bewegt wird. By using a controller with a second operating system on which a safety program (certified safety program) runs in a safe area, and the two-channel nature, a safety level can be achieved (Safety Integrity Level "SIL" or "Performance Level"). PL "). If an obstacle, he ¬ revoked, a safe signal can be sent to the crane control via the secure communication interface in ¬ play, via a two-channel hardware or via a PROFIsafe bus. Collisions can be safely prevented in this way as required by the operators. In the case of empty runs, collisions of, for example, a container harness with the obstacle can also be prevented, since in this case it is the load that is moved along the trajectory.

Durch interne Prüf- und Test-Algorithmen (im normalen und dem sicheren Betriebssystem getrennt) und der durchgängigen Zwei- Kanaligkeit ist z.B. ein Sicherheitslevel nach EN ISO 13849-1 Performance Level c Kategorie 2 (EN 954-1) realisierbar. Durch beispielsweise ein TÜV-Zertifikat sind ein weltweiter Einsatz und eine entsprechende Akzeptanz möglich. For example, a security level according to EN ISO 13849-1 Performance Level c category 2 (EN 954-1) can be achieved by means of internal test and test algorithms (separated in the normal and safe operating systems) and the integrated two-channel system. For example, a TÜV certificate allows for worldwide deployment and acceptance.

In einer vorteilhaften Form der Ausgestaltung wird das Höhen- profil zumindest im sicheren Bereich gespeichert. Dies kann z.B. während einer „Vorwärtsfahrt" geschehen, sodass die Da¬ ten für die „Rückwärtsfahrt" zur Verfügung stehen und für die Erkennung eines Hindernisses genutzt werden können. Die Er¬ fassung des Höhenprofils kann dabei während der Bewegung der Last entlang der Trajektorie erfolgen, aber auch vorab. Ebenso kann natürlich auch das gesamte Höhenprofil im Arbeitsbe¬ reich des Krans vorab aufgenommen werden. Handelt es sich bei dem Kran z.B. um einen Containerkran, der als Lasten Container in einem Container-Terminal entlädt, so ergeben die Sta- pelhöhen der Container als Höhenprofil gewissermaßen ein Containergebirge . In an advantageous embodiment of the embodiment, the height profile is stored at least in the safe area. This can be done "forward motion" for example, during a so Da ¬ th for "reversing" are available and can be used for detection of an obstacle. The Er ¬ sion of the height profile can be done during the movement of the load along the trajectory, but also in advance. Likewise, of course, the entire height profile Arbeitsbe ¬ area of the crane can be taken in advance. If the crane is, for example, a container crane that unloads containers in a container terminal as loads, the stack heights of the containers, as a height profile, to a certain extent result in a container mountain.

In einer weiteren vorteilhaften Ausführungsform wird von dem Sicherheitsprogramm ein sicheres Stoppsignal an eine Kran- Steuerung gesendet, wenn ein Hindernis in Bewegungsrichtung der Last innerhalb eines ersten Abstandes von der Last er- fasst wird. Hierdurch wird ein erster Sicherheitsbereich vor der Last definiert, innerhalb dessen bei Auftreten eines Hin¬ dernisses der Kran umgehend und sicher gestoppt wird. In a further advantageous embodiment, the safety program sends a safe stop signal to a crane control if an obstacle in the direction of movement of the load is detected within a first distance from the load. In this way, a first safety region before the load is defined, within which the crane is stopped immediately and surely upon occurrence of a Hin ¬ countries isses.

In einer weiteren vorteilhaften Ausführungsform wird dabei die Größe des ersten Abstandes an eine Geschwindigkeit der Last angepasst. Somit kann der Abstand z.B. beim Stapeln ei¬ nes Containers auf einen Stapel, dessen Nachbarstapel bereits höher ist, entsprechend angepasst werden, sodass bei Annähe¬ rung an den Nachbarstapel kein Stoppsignal gesendet wird. Die Größe des Abstandes kann dabei auch auf Null angepasst wer¬ den. Umgekehrt kann der Abstand bei größeren Arbeitsgeschwindigkeiten des Krans entsprechend vergrößert werden, damit die Last auf jeden Fall rechtzeitig vor dem Hindernis angehalten werden kann. In einer weiteren vorteilhaften Ausführungsform wird von dem Sicherheitsprogramm ein sicheres Bremssignal an eine Kransteuerung gesendet, wenn ein Hindernis in Bewegungsrichtung der Last innerhalb eines zweiten Abstandes von der Last er- fasst wird. Hierdurch wird ein zweiter Sicherheitsbereich vor der Last definiert, innerhalb dessen bei Auftreten eines Hin¬ dernisses der Kran umgehend und sicher gebremst wird. Dadurch kann der Kransteuerung beispielsweise signalisiert werden, von normaler Arbeitsgeschwindigkeit auf „Schleichfahrt" zu gehen. In a further advantageous embodiment, the size of the first distance is adapted to a speed of the load. Thus, the distance can be, for example, adjusted accordingly during stacking egg ¬ nes container on a stack, the stack neighbor is already higher, so that no stop signal is sent at Annähe ¬ tion to the adjacent stack. The size of the distance can also be adjusted to zero who ¬ . Conversely, the distance can be increased accordingly at higher operating speeds of the crane, so that the load can be stopped in any case in time before the obstacle. In a further advantageous embodiment, the safety program sends a safe brake signal to a crane control if an obstacle in the direction of movement of the load within a second distance from the load is detected. As a result, a second safety area is defined in front of the load, within which the crane is promptly and safely braked when a Hin ¬ ernis occurrence. As a result, the crane control system can be signaled, for example, to go from normal working speed to "slow motion".

Besonders vorteilhaft ist dabei eine Ausführungsform, in der innerhalb eines ersten Abstandes ein Stoppsignal an die Steu¬ erung gegeben wird, da somit die Last zunächst innerhalb des zweiten Abstandes gebremst und dann, bei Auftreten des Hin¬ dernisses innerhalb des ersten Abstandes bei langsamerer Fahrt, gestoppt wird. Particularly advantageous is an embodiment in which a stop signal is given to the STEU ¬ augmentation within a first distance, since in this way the load initially braked within the second distance, and then, upon occurrence of the Hin ¬ countries isses within the first distance at a slower drive, is stopped.

In einer weiteren vorteilhaften Ausführungsform wird dabei die Größe des zweiten Abstandes an eine Geschwindigkeit der Last angepasst. Die Größe des Abstandes kann dabei auch auf Null angepasst werden, wenn sich der Kran z.B. bereits in Schleichfahrt befindet. Umgekehrt kann der Abstand bei größe¬ ren Arbeitsgeschwindigkeiten des Krans entsprechend vergrö- ßert werden, damit die Last auf jeden Fall rechtzeitig vor dem Hindernis gebremst werden kann. In a further advantageous embodiment, the size of the second distance is adapted to a speed of the load. The size of the distance can also be adjusted to zero when the crane is already in creeping speed, for example. Conversely, the distance at size ¬ ren operating speeds of the crane can be ßert according Magni- so that the load can be slowed down in any case in good time before the obstacle.

In einer weiteren vorteilhaften Ausführungsform wird die Tra- jektorie an das Höhenprofil angepasst. Auf diese Weise wird eine Trajektorie gewählt, bei der mögliche Kollisionen mit einem Hindernis gleich vermieden werden. Ebenso ist es möglich, wenn bereits zumindest ein Teil des Arbeitsbereiches des Krans als Höhenprofil gespeichert worden ist, eine zeit¬ optimierte Trajektorie zu wählen, die potentielle Hindernisse umgeht. In a further advantageous embodiment, the trajectory is adapted to the height profile. In this way, a trajectory is chosen in which possible collisions with an obstacle are avoided immediately. It is also possible, if at least part of the working area of the crane has been registered as the height profile is already to choose a time ¬ optimized trajectory that avoids potential obstacles.

In einer weiteren vorteilhaften Ausführungsform wird mittels zumindest eines Sensors eine Position der Last erfasst und mit einer bereits bekannten Position verglichen, und es wird bei einer Abweichung die Funktionsfähigkeit des zumindest ei¬ nes Sensors zur Entfernungsmessung und/oder des Meßsystems, mit dem die bekannte Position ermittelt wurde, überprüft. Die bekannten Positionswerte werden dabei beispielsweise von Me߬ systemen an den Achsen abgenommen, wobei sich die Position der Last aus den Positionswerten des Krans, des Hubwerks und der Katze ergibt. Durch den Vergleich mit den Sensordaten ist sichergestellt, dass die Position der Last stets genau be- kannt ist und der Kranführer sicher unterstützt wird. In a further advantageous embodiment, a position of the load is detected by means of at least one sensor and compared with an already known position, and it is in a deviation, the operability of the at least ei ¬ nes sensor for distance measurement and / or the measuring system with which the known position was determined, checked. The known position values are, for example, taken from measurement ¬ systems to the axes, results in the position of the load from the position values of the crane of the lifting mechanism and the cat. The comparison with the sensor data ensures that the position of the load is always precisely known and the crane operator is safely supported.

In einer weiteren vorteilhaften Ausführungsform wird mittels zumindest eines Sensors eine Sichtweite ermittelt. Ist die Sichtweite beispielsweise durch Schnee oder Nebel beeinträch- tigt, kann dies auch in einem automatischen Betrieb festgestellt werden und der Betrieb entsprechend angepasst (mit re¬ duzierter Geschwindigkeit) oder sogar eingestellt werden. In a further advantageous embodiment, a visibility is determined by means of at least one sensor. Is the impaired sight, for example, by snow or fog, this can also be determined in an automatic mode and the operation are set (with re ¬ duzierter speed) or even adjusted accordingly.

In einer weiteren vorteilhaften Ausführungsform werden als Controller zumindest zwei Rechnereinheiten verwendet. Bei¬ spielsweise kann der Controller (=Steuereinheit des erfin¬ dungsgemäßen Systems) einen Standard-PC und einen Safety-PC umfassen oder auch zwei Rechnereinheiten, die in einem Gehäuse zusammengefasst sind. In a further advantageous embodiment, at least two computer units are used as controller. In ¬ play, the controller (= control unit of the system according OF INVENTION ¬ dung) may comprise a standard PC and a safety PC or two computer units, which are combined in a housing.

In einer weiteren vorteilhaften Ausführungsform messen zumindest zwei Sensoren Entfernungen entlang von Linien, die sich in zumindest einem Schnittpunkt überschneiden, und werden die Messwerte in zumindest einem Schnittpunkt zur Validierung ei- nes sicheren Messwertes verwendet. In a further advantageous embodiment, at least two sensors measure distances along lines that overlap in at least one point of intersection, and the measured values in at least one point of intersection are used to validate a safe measured value.

In einer vorteilhaften Form der Ausgestaltung des Systems ist zumindest einer der Sensoren als 2-D-Laserscanner ausgeführt. In einer weiteren vorteilhaften Ausführungsform ist zumindest einer der Sensoren als 3-D-Laserscanner ausgeführt. In einer weiteren vorteilhaften Ausführungsform messen zwei Sensoren Entfernungen entlang von Linien, die zumindest einen rechten Winkel bilden. In einer weiteren vorteilhaften Ausführungsform ist zumindest ein Sensor als Mehrstrahllaser ausgeführt. In an advantageous embodiment of the system, at least one of the sensors is designed as a 2-D laser scanner. In a further advantageous embodiment, at least one of the sensors is designed as a 3-D laser scanner. In a further advantageous embodiment, two sensors measure distances along lines that form at least one right angle. In a further advantageous embodiment, at least one sensor is designed as a multi-beam laser.

In einer weiteren vorteilhaften Ausführungsform ist zumindest ein Betriebssystem echtzeitfähig . In a further advantageous embodiment, at least one operating system is real-time capable.

In einer weiteren vorteilhaften Ausführungsform ist zumindest ein Sensor an einer Katze des Krans anordenbar. In a further advantageous embodiment, at least one sensor can be arranged on a cat of the crane.

In einer weiteren vorteilhaften Ausführungsform ist zumindest ein Sensor an einem Containergeschirr des Krans anordenbar. In a further advantageous embodiment, at least one sensor can be arranged on a container harness of the crane.

Im Folgenden wird die Erfindung anhand der in den Figuren dargestellten Ausführungsbeispiele näher beschrieben und erläutert. Es zeigen: In the following the invention will be described and explained in more detail with reference to the embodiments illustrated in the figures. Show it:

FIG 1 eine schematische Darstellung eines Krans, 1 shows a schematic representation of a crane,

FIG 2 einen erfindungsgemäßen Controller, FIG 3 eine Anordnung zweier Sensoren an einem Brückenkran, 2 shows a controller according to the invention, FIG. 3 shows an arrangement of two sensors on a bridge crane,

FIG 4 eine Darstellung von Sicherheitsabständen der Last. 4 shows a representation of safety distances of the load.

FIG 1 zeigt eine schematische Darstellung eines Krans 2, der in der Figur als Portalkran ausgeführt ist (z.B. als RTG,1 shows a schematic representation of a crane 2, which in the figure is designed as a gantry crane (for example as RTG,

„Rubber Tyred Gantry") . Eine Last 1, im Bild ein Container, ist an einem Containergeschirr 15 („Spreader") befestigt, das mittels einer Katze 14 („Trolley") im Bild von links nach rechts verfahrbar ist. Die Last 1 soll entlang einer Trajek- torie 4 bewegt werden, wobei von zumindest zwei Sensoren zur Entfernungsmessung 5 ein Höhenprofil 6 („Containergebirge") zumindest entlang der Trajektorie 4 ermittelt wird. Entlang der Trajektorie 4 befindet sich ein Hindernis 3, sodass die Last nicht auf direktem Wege an ihr Ziel transportiert werden kann (gestrichelt dargestellt) . Durch das erfindungsgemäße Verfahren wird die Trajektorie 4 zu einer parabolischen Bewegung angepasst, die das Hindernis 3 sicher überwindet. "Rubber Tyred Gantry") A load 1, in the picture a container, is attached to a container rack 15 ("spreader"), which can be moved from left to right by means of a cat 14 ("trolley") in the picture is to be moved along a Trajek- gateie 4, wherein at least two sensors for distance measurement 5, a height profile 6 ("container mountain") is determined at least along the trajectory 4. Along the trajectory 4 is an obstacle 3, so that the Load can not be transported directly to its destination (shown in dashed lines). By the method according to the invention, the trajectory 4 is adapted to a parabolic movement, which safely overcomes the obstacle 3.

FIG 2 zeigt eine Darstellung der zumindest zwei Sensoren zur Entfernungsmessung 5, die über je einen Kommunikationskanal 7 an einen Controller 8 verbunden sind. Der Controller 8 weist zumindest zwei Betriebssysteme 9, 10 auf, von denen zumindest eines 10 ein Sicherheitsprogramm in einem sicheren Bereich aufweist. Vorteilhafterweise handelt es sich bei den Be¬ triebssystemen 9, 10 um echtzeitfähige Betriebssysteme 9, 10. Die Kommunikation zu einer Kransteuerung, insbesondere zum Senden eines sicheren Stopp- und/oder Bremssignals, erfolgt über eine sichere Kommunikationsschnittstelle 13, die z.B. als sicherer Bus (wie Profisafe) oder als zweikanalige Hard¬ ware-Schnittstelle ausgeführt sein kann. 2 shows a representation of the at least two sensors for distance measurement 5, which are each connected via a communication channel 7 to a controller 8. The controller 8 has at least two operating systems 9, 10, of which at least one 10 has a safety program in a safe area. Advantageously, it is at the loading ¬ drive systems 9, 10 to real-time operating systems 9, 10. The communication to a crane control system, in particular for transmitting a safe stop and / or braking signal is carried over a secure communication interface 13, for example (as safe bus as Profisafe) or as a two-channel hard ¬ ware interface can be executed.

FIG 3 zeigt eine perspektivische Darstellung eines Krans 2 wie in FIG 1, bei dem eine Last 1 an einem Spreader 15 über eine Katze 14 verfahrbar ist. In diesem Fall sind die Senso¬ ren 5 an der Katze 14 angeordnet, wobei als Sensoren 5 zumin¬ dest 2-D-Laserscanner gewählt wurden. Einer der Sensoren 5 nimmt dabei an einer Seite der Last 1 vorbei ein Höhenprofil 6 auf, während ein zweiter der Sensoren 5 zum ersten um 903 shows a perspective view of a crane 2 as in FIG. 1, in which a load 1 on a spreader 15 can be moved via a cat 14. In this case, the Senso ¬ ren 5 are arranged on the trolley 14, wherein at least ¬ 2-D Laser Scanner were chosen as sensors. 5 One of the sensors 5 takes on one side of the load 1 over a height profile 6, while a second of the sensors 5 to the first by 90

Grad versetzt in Bewegungsrichtung des Trolleys 14 Entfernungen erfasst. Dieser zweite Laserscanner erfasst dabei über die Trolley-Position und die Spreader-Höhe zudem die Position der Last 1. Grad offset in the direction of movement of the trolley 14 distances detected. This second laser scanner also records the position of the load 1 via the trolley position and the spreader height.

FIG 4 zeigt eine Darstellung von Sicherheitsabständen 11, 12, innerhalb deren ein Hindernis 3 ein sicheres Bremssignal aus¬ löst, wenn ein Hindernis 3 innerhalb des zweiten Abstandes 12 erfasst wird, und ein sicheres Stopp-Signal auslöst, wenn ein Hindernis 3 innerhalb des ersten Abstandes 11 erfasst wird.4 shows a representation of safety distances 11, 12 within which an obstacle 3 releases a safe braking signal from ¬ when an obstacle 3 is detected within the second distance 12, and triggers a safe stop signal when an obstacle 3 within the first Distance 11 is detected.

Eine Überwachung dieser sich aus den Sicherheitsabständen 11, 12 ergebenden Sicherheitsbereiche ist dabei auf einfache Wei- se beispielsweise mit einer Anordnung von Sensoren 5 möglich, wie sie in der vorhergehenden FIG 3 dargestellt wurden. A monitoring of these security areas resulting from the security clearances 11, 12 is thereby achieved in a simple manner. se possible, for example, with an array of sensors 5, as shown in the preceding FIG.

Zusammenfassend betrifft die Erfindung ein Verfahren und ein System zur Vermeidung einer Kollision einer Last eines Krans mit einem Hindernis sowie einen Kran mit einem derartigen System, ein Programm zur Durchführung eines derartigen Verfahrens und ein computerlesbares Medium mit einem derartigen Programm. Um eine Lösung zur Kollisionsvermeidung anzugeben, die einen Sicherheitslevel erfüllt, wird eine Lösung vorge¬ schlagen, bei der die Last entlang einer Trajektorie bewegt wird, wobei mittels zumindest zweier Sensoren zur Entfer¬ nungsmessung ein Höhenprofil zumindest entlang der Trajekto¬ rie erfasst wird, wobei Signale der Sensoren über zumindest zwei Kommunikationskanäle an einen Controller mit zumindest zwei Betriebssystemen gesendet werden, von denen zumindest eines ein Sicherheitsprogramm in einem sicheren Bereich aufweist, wobei ein Hindernis entlang der Trajektorie anhand des Höhenprofils erkannt wird. Der Controller weist weiter eine sichere Kommunikationsschnittstelle zur Übertragung von Sig¬ nalen vom Controller an eine Kransteuerung auf. In summary, the invention relates to a method and a system for avoiding a collision of a load of a crane with an obstacle and a crane with such a system, a program for carrying out such a method and a computer-readable medium with such a program. In order to provide a solution for collision avoidance, which satisfies a level of security, a solution is pre ¬ beat, in which the load along a trajectory is moved, wherein a height profile is detected at least along the Trajekto ¬ rie by at least two sensors for Entfer ¬ voltage measurement, wherein Signals of the sensors are sent via at least two communication channels to a controller with at least two operating systems, of which at least one has a safety program in a safe area, wherein an obstacle along the trajectory is detected on the basis of the height profile. The controller further includes a secure communication interface for transmitting Sig ¬ nal from the controller to a crane control.

Claims

Patentansprüche claims 1. Verfahren zur Vermeidung einer Kollision einer Last (1) eines Krans (2) mit einem Hindernis (3), wobei die Last (1) entlang einer Trajektorie (4) bewegt wird, wobei mittels zu¬ mindest zweier Sensoren zur Entfernungsmessung (5) ein Höhenprofil (6) zumindest entlang der Trajektorie (4) erfasst wird, wobei Signale der Sensoren (5) über zumindest zwei Kom¬ munikationskanäle (7) an einen Controller (8) mit zumindest zwei Betriebssystemen (9, 10) gesendet werden, von denen zumindest eines (10) ein Sicherheitsprogramm in einem sicheren Bereich aufweist, wobei ein Hindernis (3) entlang der Trajektorie (4) anhand des Höhenprofils (6) erkannt wird. 1. A method for avoiding a collision of a load (1) of a crane (2) with an obstacle (3), wherein the load (1) along a trajectory (4) is moved, wherein by means of ¬ at least two sensors for distance measurement (5 ) is detected, a height profile (6) at least along the trajectory (4), the signals of the sensors (5) via at least two Kom ¬ munikationskanäle (7) to a controller (8) having at least two operating systems (9, 10) are sent, of which at least one (10) has a safety program in a safe area, an obstacle (3) being detected along the trajectory (4) on the basis of the height profile (6). 2. Verfahren nach Anspruch 1, 2. The method according to claim 1, wobei das Höhenprofil (6) zumindest im sicheren Bereich ge¬ speichert wird. wherein the height profile (6) is ge ¬ stores at least in the safe area. 3. Verfahren nach Anspruch 1 oder 2, 3. The method according to claim 1 or 2, wobei von dem Sicherheitsprogramm ein sicheres Stoppsignal an eine Kransteuerung gesendet wird, wenn ein Hindernis (3) in Bewegungsrichtung der Last (1) innerhalb eines ersten Abstan- des (11) von der Last (1) erfasst wird. wherein the safety program sends a safe stop signal to a crane control when an obstacle (3) in the direction of movement of the load (1) within a first distance (11) is detected by the load (1). 4. Verfahren nach Anspruch 3, 4. The method according to claim 3, wobei die Größe des ersten Abstandes (11) an eine Geschwin¬ digkeit der Last (1) angepasst wird. wherein the size of the first distance (11) is adapted to a Geschwin ¬ speed of the load (1). 5. Verfahren nach einem der vorhergehenden Ansprüche, wobei von dem Sicherheitsprogramm ein sicheres Bremssignal an eine Kransteuerung gesendet wird, wenn ein Hindernis (3) in Bewegungsrichtung der Last (1) innerhalb eines zweiten AbStandes (12) von der Last (1) erfasst wird. 5. The method according to any one of the preceding claims, wherein from the safety program, a safe brake signal is sent to a crane control when an obstacle (3) in the direction of movement of the load (1) within a second AbStandes (12) from the load (1) is detected , 6. Verfahren nach Anspruch 5, 6. The method according to claim 5, wobei die Größe des zweiten Abstandes (12) an eine Geschwin¬ digkeit der Last (1) angepasst wird. wherein the size of the second distance (12) is adapted to a Geschwin ¬ speed of the load (1). 7. Verfahren nach einem der vorhergehenden Ansprüche, wobei die Trajektorie (4) an das Höhenprofil (6) angepasst wird . 7. The method according to any one of the preceding claims, wherein the trajectory (4) is adapted to the height profile (6). 8. Verfahren nach einem der vorhergehenden Ansprüche, wobei mittels zumindest eines Sensors (5) eine Position der Last (1) erfasst und mit einer bereits bekannten Position verglichen wird und bei einer Abweichung die Funktionsfähigkeit des zumindest einen Sensors zur Entfernungsmessung (5) und/oder des Meßsystems, mit dem die bekannte Position ermit¬ telt wurde, überprüft wird. 8. The method according to any one of the preceding claims, wherein by means of at least one sensor (5) detects a position of the load (1) and compared with an already known position and at a deviation, the operability of the at least one sensor for distance measurement (5) and / or the measuring system with which the known position was determined ermit ¬ , is checked. 9. Verfahren nach einem der vorhergehenden Ansprüche, wobei mittels zumindest eines Sensors (5) eine Sichtweite er- mittelt wird. 9. The method according to any one of the preceding claims, wherein by means of at least one sensor (5) a visibility is determined. 10. Verfahren nach einem der vorhergehenden Ansprüche, wobei als Controller zumindest zwei Rechnereinheiten verwendet werden. 10. The method according to any one of the preceding claims, wherein at least two computer units are used as a controller. 11. Verfahren nach einem der vorhergehenden Ansprüche, wobei zumindest zwei Sensoren Entfernungen entlang von Linien messen, die sich in zumindest einem Schnittpunkt überschnei¬ den, und wobei die Messwerte in zumindest einem Schnittpunkt zur Validierung eines sicheren Messwertes verwendet werden. 11. The method according to any one of the preceding claims, wherein at least two sensors to measure distances along lines that the measured values are used at least in an intersection point for the validation of a secure measured value in at least one intersection überschnei ¬, and wherein. 12. System zur Vermeidung einer Kollision einer Last (1) eines Krans (2) mit einem Hindernis (3), wobei die Last (1) entlang einer Trajektorie (4) bewegbar ist, aufweisend zumin- dest zwei Sensoren zur Entfernungsmessung (5) , mit denen ein Höhenprofil (6) zumindest entlang der Trajektorie (4) erfass¬ bar ist, einen Controller (8) mit zumindest zwei Betriebssys¬ temen (9, 10), von denen zumindest eines (10) ein Sicher¬ heitsprogramm in einem sicheren Bereich aufweist, zumindest zwei Kommunikationskanäle (7) zur Übertragung von Signalen der Sensoren (5) an den Controller (8) sowie einer sicheren Kommunikationsschnittstelle (13) zur Übertragung von Signalen vom Controller (8) an eine Kransteuerung. 12. A system for avoiding a collision of a load (1) of a crane (2) with an obstacle (3), wherein the load (1) is movable along a trajectory (4), comprising at least two sensors for distance measurement (5). , which is easily documented ¬ bar a height profile (6) at least along the trajectory (4) a controller (8) having at least two Betriebssys ¬ temen (9, 10) of which at least one (10) is a secure ¬ standardized program in a safe area, at least two communication channels (7) for transmitting signals from the sensors (5) to the controller (8) and a secure communication interface (13) for transmitting signals from the controller (8) to a crane control. 13. System nach Anspruch 12, 13. System according to claim 12, wobei zumindest einer der Sensoren (5) als 2-D-Laserscanner ausgeführt ist. wherein at least one of the sensors (5) is designed as a 2-D laser scanner. 14. System nach Anspruch 12 oder 13, 14. System according to claim 12 or 13, wobei zumindest einer der Sensoren (5) als 3-D-Laserscanner ausgeführt ist. wherein at least one of the sensors (5) is designed as a 3-D laser scanner. 15. System nach einem der Ansprüche 12 bis 14, 15. System according to one of claims 12 to 14, wobei zwei Sensoren (5) Entfernungen entlang von Linien messen, die zumindest einen rechten Winkel bilden. wherein two sensors (5) measure distances along lines forming at least a right angle. 16. System nach einem der Ansprüche 12 bis 15, 16. System according to any one of claims 12 to 15, wobei zumindest ein Sensor (5) als Mehrstrahllaser ausgeführt ist. wherein at least one sensor (5) is designed as a multi-beam laser. 17. System nach einem der Ansprüche 12 bis 16, 17. System according to any one of claims 12 to 16, wobei zumindest ein Betriebssystem (9, 10) echtzeitfähig ist. wherein at least one operating system (9, 10) is real-time capable. 18. System nach einem der Ansprüche 12 bis 17, 18. System according to any one of claims 12 to 17, wobei zumindest ein Sensor (5) an einer Katze (14) des Krans (2) anordenbar ist. wherein at least one sensor (5) on a cat (14) of the crane (2) can be arranged. 19. System nach einem der Ansprüche 12 bis 18, 19. System according to one of claims 12 to 18, wobei zumindest ein Sensor (5) an einem Containergeschirr (15) des Krans (2) anordenbar ist. wherein at least one sensor (5) on a container harness (15) of the crane (2) can be arranged. 20. System nach einem der Ansprüche 12 bis 19, 20. System according to one of claims 12 to 19, wobei der Controller zumindest zwei Rechnereinheiten umfasst. wherein the controller comprises at least two computer units. 21. System nach einem der Ansprüche 12 bis 20, 21. System according to one of claims 12 to 20, wobei zumindest zwei Sensoren Entfernungen entlang von Linien messen, die sich in zumindest einem Schnittpunkt überschnei¬ den, und wobei die Messwerte in zumindest einem Schnittpunkt zur Validierung eines sicheren Messwertes verwendbar sind. wherein at least two sensors to measure distances along lines that the measured values are used at least an intersection point for the validation of a secure measured value in at least one intersection überschnei ¬, and wherein in. 22. Kran (2) mit einem System nach einem der Ansprüche 12 bis 21. 22. Crane (2) with a system according to one of claims 12 to 21. 23. Programm zur Durchführung eines Verfahrens nach einem der Ansprüche 1-11 bei Ablauf in einem Controller (8) eines Sys¬ tems nach einem der Ansprüche 12 bis 21. 23. A program for carrying out a method according to any one of claims 1-11 when running in a controller (8) of a sys ¬ tems according to any one of claims 12 to 21. Computerlesbares Mediun auf dem ein Programm nach An- uch 23 gespeichert ist. Computer-readable media on which a program is stored after entry 23.
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