EP3455153B1 - Method and system for avoiding collisions by cranes - Google Patents

Method and system for avoiding collisions by cranes Download PDF

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Publication number
EP3455153B1
EP3455153B1 EP17734701.0A EP17734701A EP3455153B1 EP 3455153 B1 EP3455153 B1 EP 3455153B1 EP 17734701 A EP17734701 A EP 17734701A EP 3455153 B1 EP3455153 B1 EP 3455153B1
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European Patent Office
Prior art keywords
load
crane
sensors
controller
trajectory
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EP17734701.0A
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German (de)
French (fr)
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EP3455153A1 (en
Inventor
Thomas Heimann
Marcel BALS
Axel ROTTMANN
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Siemens AG
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Siemens AG
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    • 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 program.
  • 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.
  • the previous solutions for collision avoidance are only suitable to a limited extent, since on the one hand they can only have a supporting effect (the crane driver and the operator remain responsible, who are trained accordingly) and on the other hand the error rate is relatively high.
  • the crane types in which the crane operator drives the cat there is also no direct view of obstacles when driving backwards.
  • JP 2005 104665 A A system for collision avoidance, in which the path is scanned in the direction of travel by means of a 2D laser, is out JP 2005 104665 A known. This document discloses the features and steps according to the preamble of claim 1 and the technical features according to the preamble of claim 12.
  • the invention has for its object to provide a solution for collision avoidance that meets a security level.
  • This object is achieved by a method for avoiding a collision of a load of a crane with an obstacle, the load being moved along a trajectory, a height profile at least along the trajectory being detected by means of at least two sensors for distance measurement, signals from the sensors being transmitted via at least two communication channels are sent to a controller with at least two operating systems, at least one of which is a safety program has in a safe area, an obstacle along the trajectory being recognized on the basis of the height profile.
  • a system for avoiding a collision of a load of a crane with an obstacle comprising at least two sensors for distance measurement, with which a height profile can be detected at least along the trajectory, with a controller at least two operating systems, at least one of which has a safety program in a safe area, at least two communication channels for transmitting signals from the sensors to the controller and a safe communication interface for transmitting signals from the controller to a crane controller.
  • the object is further achieved by a crane, a program and a computer-readable medium with the features specified in claims 18 to 20.
  • a safety level can be achieved (safety integrity level "SIL” or performance level " PL "). If an obstacle is detected, a safe signal can be sent to the crane controller via the safe communication interface, for example via two-channel hardware or via a Profisafe bus. In this way, collisions can be safely prevented, as required by the operators. In the event of empty runs, collisions, for example of a container tableware, with the obstacle can also be prevented, since in this case this is the load that is moved along the trajectory.
  • 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.
  • a TÜV certificate for example, enables worldwide use and corresponding acceptance.
  • the height profile is stored at least in the safe area. This can e.g. happen during a "forward drive” so that the data are available for the "reverse drive” and can be used for the detection of an obstacle.
  • the height profile can be recorded during the movement of the load along the trajectory, but also in advance.
  • the entire height profile in the crane's working area can of course also be recorded in advance. If the crane is e.g. around a container crane that unloads containers in a container terminal as loads, the stacking heights of the containers as a height profile result in a container mountain.
  • the safety program sends a safe stop signal to a crane control when an obstacle in the direction of movement of the load is detected within a first distance from the load. This defines a first safety area in front of the load, within which the crane is stopped immediately and safely if an obstacle occurs.
  • the size of the first distance is adapted to a speed of the load.
  • the distance can thus be adjusted accordingly, for example when stacking a container on a stack whose neighboring stack is already higher, so that no stop signal is sent when the container is approached.
  • the size of the distance can also be adjusted to zero.
  • the distance can be increased accordingly at higher working speeds of the crane so that the Load can be stopped in time in front of 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 is detected within a second distance from the load.
  • An embodiment is particularly advantageous in which a stop signal is sent to the controller within a first distance, since the load is therefore first braked within the second distance and then stopped when the obstacle occurs within the first distance when driving slowly.
  • 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 if the crane e.g. is already in crawl. Conversely, the distance can be increased accordingly at higher working speeds of the crane so that the load can be braked in good time in front of the obstacle.
  • the trajectory is adapted to the height profile. In this way, a trajectory is selected in which possible collisions with an obstacle are immediately avoided. It is also possible, if at least part of the crane's working area has already been saved as a height profile, to select 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 if there is a deviation, the functionality of the at least one sensor for distance measurement and / or the measuring system with which the known position was determined is determined , checked.
  • the known position values are taken, for example, from measuring systems on the axles, the position of the load resulting from the position values of the crane, the hoist and the trolley. The comparison with the sensor data ensures that the position of the load is always known exactly and that the crane operator is supported safely.
  • a visual range is determined by means of at least one sensor. If the visibility is impaired, for example by snow or fog, this can also be determined in an automatic mode and the operation can be adjusted accordingly (at a reduced speed) or even set.
  • At least two sensors measure distances along lines that overlap in at least one intersection point, and the measured values in at least one intersection point are used to validate a reliable measured value.
  • At least one of the sensors is designed as a 2-D laser scanner.
  • At least one of the sensors is designed as a 3-D laser scanner.
  • two sensors measure distances along lines that form at least a right angle.
  • 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. 1 shows a schematic representation of a crane 2, which is designed in the figure as a gantry crane (for example as RTG, "Rubber Tyred Gantry”).
  • a load 1 in the picture a container, is attached to a container tableware 15 ("spreader") which can be moved from left to right in the picture by means of a cat 14 ("trolley").
  • the load 1 is to be moved along a trajectory 4, a height profile 6 (“container mountains”) being determined at least along the trajectory 4 by at least two sensors for distance measurement 5.
  • the trajectory 4 is adapted by the method according to the invention to a parabolic movement which surely overcomes the obstacle 3.
  • FIG 2 shows a representation of the at least two sensors for distance measurement 5, each of which is connected to a controller 8 via a communication channel 7.
  • the controller 8 has at least two operating systems 9, 10, of which at least one 10 has a security program in a safe area.
  • Operating systems 9, 10 are advantageously real-time operating systems 9, 10.
  • a safe communication interface 13 which is used, for example, as a safe bus (such as Profisafe ) or as a two-channel hardware interface.
  • FIG 3 shows a perspective view of a crane 2 as in FIG FIG. 1 , in which a load 1 on a spreader 15 can be moved via a cat 14.
  • the sensors 5 are arranged on the cat 14, at least 2-D laser scanners being selected as sensors 5.
  • One of the sensors 5 records a height profile 6 past one side of the load 1, while a second one of the sensors 5 detects distances from the first one by 90 degrees in the direction of movement of the trolley 14. This second laser scanner also detects the position of the load 1 via the trolley position and the spreader height.
  • FIG 4 shows a representation of safety distances 11, 12, within which an obstacle 3 triggers a safe brake signal when an obstacle 3 is detected within the second distance 12, and triggers a safe stop signal when an obstacle 3 is detected within the first distance 11 .
  • Monitoring of these security areas resulting from the security clearances 11, 12 is simple in this case for example possible with an arrangement of sensors 5, as in the previous one FIG 3 were shown.
  • 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 proposed in which the load is moved along a trajectory, wherein a height profile is recorded at least along the trajectory by means of at least two sensors for distance measurement, signals from the sensors being sent via at least two Communication channels are sent to a controller with at least two operating systems, at least one of which has a safety program in a safe area, an obstacle along the trajectory being recognized on the basis of the height profile.
  • the controller also has a secure communication interface for transmitting signals from the controller to a crane controller.

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

Description

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. 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.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 particular when handling containers in the stack area, there are always collisions that can result in fatalities. The previous solutions for collision avoidance are only suitable to a limited extent, since on the one hand they can only have a supporting effect (the crane driver and the operator remain responsible, who are trained accordingly) and on the other hand the error rate is relatively high. In the case of crane types in which the crane operator drives the cat, there is also no direct view of obstacles when driving backwards.

Ein System zur Kollisionsvermeidung, bei dem mittels eines 2D-Lasers der Weg in Verfahrrichtung gescannt wird, ist aus JP 2005 104665 A bekannt. Diese Schrift offenbart die Merkmale und Schritte gemäß dem Oberbegriff des Anspruchs 1 sowie die technischen Merkmale gemäß dem Oberbegriff des Anspruchs 12.A system for collision avoidance, in which the path is scanned in the direction of travel by means of a 2D laser, is out JP 2005 104665 A known. This document discloses the features and steps according to the preamble of claim 1 and the technical features according to the preamble of claim 12.

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 that 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 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.This object is achieved by a method for avoiding a collision of a load of a crane with an obstacle, the load being moved along a trajectory, a height profile at least along the trajectory being detected by means of at least two sensors for distance measurement, signals from the sensors being transmitted via at least two communication channels are sent to a controller with at least two operating systems, at least one of which is a safety program has in a safe area, an obstacle along the trajectory being recognized on the basis of the height profile.

Die Aufgabe wird weiter gelöst durch ein System zur Vermeidung 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 Betriebssystemen, von denen zumindest eines ein Sicherheitsprogramm in einem sicheren Bereich aufweist, zumindest zwei Kommunikationskanäle zur Übertragung von Signalen der Sensoren an den Controller sowie einer sicheren Kommunikationsschnittstelle zur Übertragung von Signalen vom Controller an eine Kransteuerung.The object is further achieved by a system for avoiding a collision of a load of a crane with an obstacle, the load being movable along a trajectory, comprising at least two sensors for distance measurement, with which a height profile can be detected at least along the trajectory, with a controller at least two operating systems, at least one of which has a safety program in a safe area, at least two communication channels for transmitting signals from the sensors to the controller and a safe communication interface for transmitting 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 with 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 erkannt, kann über die sichere Kommunikationsschnittstelle ein sicheres Signal an die Kransteuerung gesendet werden, beispielsweise 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 beispielsweise 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 system, a safety level can be achieved (safety integrity level "SIL" or performance level " PL "). If an obstacle is detected, a safe signal can be sent to the crane controller via the safe communication interface, for example via two-channel hardware or via a Profisafe bus. In this way, collisions can be safely prevented, as required by the operators. In the event of empty runs, collisions, for example of a container tableware, with the obstacle can also be prevented, since in this case this 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.Through internal test and test algorithms (separated in the normal and the secure operating system) and the universal two-channel system, e.g. A security level according to EN ISO 13849-1 performance level c category 2 (EN 954-1) can be achieved. A TÜV certificate, for example, enables worldwide use and corresponding acceptance.

In einer vorteilhaften Form der Ausgestaltung wird das Höhenprofil zumindest im sicheren Bereich gespeichert. Dies kann z.B. während einer "Vorwärtsfahrt" geschehen, sodass die Daten für die "Rückwärtsfahrt" zur Verfügung stehen und für die Erkennung eines Hindernisses genutzt werden können. Die Erfassung des Höhenprofils kann dabei während der Bewegung der Last entlang der Trajektorie erfolgen, aber auch vorab. Ebenso kann natürlich auch das gesamte Höhenprofil im Arbeitsbereich 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 Stapelhöhen der Container als Höhenprofil gewissermaßen ein Containergebirge.In an advantageous form of the configuration, the height profile is stored at least in the safe area. This can e.g. happen during a "forward drive" so that the data are available for the "reverse drive" and can be used for the detection of an obstacle. The height profile can be recorded during the movement of the load along the trajectory, but also in advance. The entire height profile in the crane's working area can of course also be recorded in advance. If the crane is e.g. around a container crane that unloads containers in a container terminal as loads, the stacking heights of the containers as a height profile result in a container mountain.

In einer weiteren vorteilhaften Ausführungsform wird von dem Sicherheitsprogramm ein sicheres Stoppsignal an eine Kransteuerung gesendet, wenn ein Hindernis in Bewegungsrichtung der Last innerhalb eines ersten Abstandes von der Last erfasst wird. Hierdurch wird ein erster Sicherheitsbereich vor der Last definiert, innerhalb dessen bei Auftreten eines Hindernisses der Kran umgehend und sicher gestoppt wird.In a further advantageous embodiment, the safety program sends a safe stop signal to a crane control when an obstacle in the direction of movement of the load is detected within a first distance from the load. This defines a first safety area in front of the load, within which the crane is stopped immediately and safely if an obstacle occurs.

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 eines Containers auf einen Stapel, dessen Nachbarstapel bereits höher ist, entsprechend angepasst werden, sodass bei Annäherung an den Nachbarstapel kein Stoppsignal gesendet wird. Die Größe des Abstandes kann dabei auch auf Null angepasst werden. 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 a further advantageous embodiment, the size of the first distance is adapted to a speed of the load. The distance can thus be adjusted accordingly, for example when stacking a container on a stack whose neighboring stack is already higher, so that no stop signal is sent when the container is approached. The size of the distance can also be adjusted to zero. Conversely, the distance can be increased accordingly at higher working speeds of the crane so that the Load can be stopped in time in front of the obstacle.

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 erfasst wird. Hierdurch wird ein zweiter Sicherheitsbereich vor der Last definiert, innerhalb dessen bei Auftreten eines Hindernisses 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 safety program sends a safe brake signal to a crane control if an obstacle in the direction of movement of the load is detected within a second distance from the load. This defines a second safety area in front of the load, within which the crane brakes immediately and safely if an obstacle occurs. This can signal the crane controller, for example, to switch from normal working speed to "creep speed".

Besonders vorteilhaft ist dabei eine Ausführungsform, in der innerhalb eines ersten Abstandes ein Stoppsignal an die Steuerung gegeben wird, da somit die Last zunächst innerhalb des zweiten Abstandes gebremst und dann, bei Auftreten des Hindernisses innerhalb des ersten Abstandes bei langsamerer Fahrt, gestoppt wird.An embodiment is particularly advantageous in which a stop signal is sent to the controller within a first distance, since the load is therefore first braked within the second distance and then stopped when the obstacle occurs within the first distance when driving slowly.

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 größeren Arbeitsgeschwindigkeiten des Krans entsprechend vergrößert 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 if the crane e.g. is already in crawl. Conversely, the distance can be increased accordingly at higher working speeds of the crane so that the load can be braked in good time in front of the obstacle.

In einer weiteren vorteilhaften Ausführungsform wird die Trajektorie 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 zeitoptimierte 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 selected in which possible collisions with an obstacle are immediately avoided. It is also possible, if at least part of the crane's working area has already been saved as a height profile, to select 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 eines Sensors zur Entfernungsmessung und/oder des Meßsystems, mit dem die bekannte Position ermittelt wurde, überprüft. Die bekannten Positionswerte werden dabei beispielsweise von Meßsystemen 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 bekannt 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 if there is a deviation, the functionality of the at least one sensor for distance measurement and / or the measuring system with which the known position was determined is determined , checked. The known position values are taken, for example, from measuring systems on the axles, the position of the load resulting from the position values of the crane, the hoist and the trolley. The comparison with the sensor data ensures that the position of the load is always known exactly and that the crane operator is supported safely.

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

In einer weiteren vorteilhaften Ausführungsform werden als Controller zumindest zwei Rechnereinheiten verwendet. Beispielsweise kann der Controller (=Steuereinheit des erfindungsgemäßen 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 controllers. For example, the controller (= control unit of the system according to the invention) can comprise a standard PC and a safety PC or two computer units that are combined in one 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 eines sicheren Messwertes verwendet.In a further advantageous embodiment, at least two sensors measure distances along lines that overlap in at least one intersection point, and the measured values in at least one intersection point are used to validate a reliable measured value.

In einer vorteilhaften Form der Ausgestaltung des Systems ist zumindest einer der Sensoren als 2-D-Laserscanner ausgeführt.In an advantageous form of the configuration of the system, at least one of the sensors is designed as a 2-D laser scanner.

In einer weiteren vorteilhaften Ausführungsform ist zumindest einer der Sensoren als 3-D-Laserscanner ausgeführt.In a further advantageous embodiment, at least one of the sensors is designed as a 3-D laser scanner.

In einer weiteren vorteilhaften Ausführungsform messen zwei Sensoren Entfernungen entlang von Linien, die zumindest einen rechten Winkel bilden.In a further advantageous embodiment, two sensors measure distances along lines that form at least a right angle.

In einer weiteren vorteilhaften Ausführungsform ist zumindest ein Sensor als Mehrstrahllaser ausgeführt.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:

FIG 1
eine schematische Darstellung eines Krans,
FIG 2
einen erfindungsgemäßen Controller,
FIG 3
eine Anordnung zweier Sensoren an einem Brückenkran,
FIG 4
eine Darstellung von Sicherheitsabständen der Last.
The invention is described and explained in more detail below on the basis of the exemplary embodiments illustrated in the figures. Show it:
FIG. 1
a schematic representation of a crane,
FIG 2
a controller according to the invention,
FIG 3
an arrangement of two sensors on a gantry crane,
FIG 4
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, "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 Trajektorie 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. FIG. 1 shows a schematic representation of a crane 2, which is designed in the figure as a gantry crane (for example as RTG, "Rubber Tyred Gantry"). A load 1, in the picture a container, is attached to a container tableware 15 ("spreader") which can be moved from left to right in the picture by means of a cat 14 ("trolley"). The load 1 is to be moved along a trajectory 4, a height profile 6 (“container mountains”) being determined at least along the trajectory 4 by at least two sensors for distance measurement 5. There is an obstacle 3 along the trajectory 4, so that the The load cannot be transported directly to your destination (shown in dashed lines). The trajectory 4 is adapted by the method according to the invention to a parabolic movement which surely 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 Betriebssystemen 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 Hardware-Schnittstelle ausgeführt sein kann. FIG 2 shows a representation of the at least two sensors for distance measurement 5, each of which is connected to a controller 8 via a communication channel 7. The controller 8 has at least two operating systems 9, 10, of which at least one 10 has a security program in a safe area. Operating systems 9, 10 are advantageously real-time operating systems 9, 10. Communication with a crane controller, in particular for sending a safe stop and / or brake signal, takes place via a safe communication interface 13, which is used, for example, as a safe bus (such as Profisafe ) or as a two-channel hardware interface.

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 Sensoren 5 an der Katze 14 angeordnet, wobei als Sensoren 5 zumindest 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 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. FIG 3 shows a perspective view of a crane 2 as in FIG FIG. 1 , in which a load 1 on a spreader 15 can be moved via a cat 14. In this case, the sensors 5 are arranged on the cat 14, at least 2-D laser scanners being selected as sensors 5. One of the sensors 5 records a height profile 6 past one side of the load 1, while a second one of the sensors 5 detects distances from the first one by 90 degrees in the direction of movement of the trolley 14. This second laser scanner also detects 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 auslöst, 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. Eine Überwachung dieser sich aus den Sicherheitsabständen 11, 12 ergebenden Sicherheitsbereiche ist dabei auf einfache Weise beispielsweise mit einer Anordnung von Sensoren 5 möglich, wie sie in der vorhergehenden FIG 3 dargestellt wurden. FIG 4 shows a representation of safety distances 11, 12, within which an obstacle 3 triggers a safe brake signal when an obstacle 3 is detected within the second distance 12, and triggers a safe stop signal when an obstacle 3 is detected within the first distance 11 . Monitoring of these security areas resulting from the security clearances 11, 12 is simple in this case for example possible with an arrangement of sensors 5, as in the previous one FIG 3 were shown.

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 vorgeschlagen, bei der 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 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 Signalen 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 that fulfills a safety level, a solution is proposed in which the load is moved along a trajectory, wherein a height profile is recorded at least along the trajectory by means of at least two sensors for distance measurement, signals from the sensors being sent via at least two Communication channels are sent to a controller with at least two operating systems, at least one of which has a safety program in a safe area, an obstacle along the trajectory being recognized on the basis of the height profile. The controller also has a secure communication interface for transmitting signals from the controller to a crane controller.

Claims (24)

  1. Method for avoiding a collision of a load (1) of a crane (2) with an obstacle (3), wherein the load (1) is moved along a trajectory (4), wherein a height profile (6) is acquired at least along the trajectory (4) by means of at least two sensors for distance measurement (5), characterised in that signals of the sensors (5) are sent via at least two communication channels (7) to a controller (8) with at least two operating systems (9, 10), of which at least one (10) has a safety program in a secure region, wherein an obstacle (3) along the trajectory (4) is identified on the basis of the height profile (6).
  2. Method according to claim 1,
    wherein the height profile (6) is at least stored in the secure region.
  3. Method according to claim 1 or 2,
    wherein a secure stop signal is sent to a crane control by the safety program if an obstacle (3) is acquired within a first clearance (11) from the load (1) in the direction of movement of the load (1).
  4. Method according to claim 3,
    wherein the size of the first clearance (11) is adapted to a speed of the load (1).
  5. Method according to one of the preceding claims,
    wherein a secure brake signal is sent to a crane control by the safety program if an obstacle (3) is acquired within a second clearance (12) from the load (1) in the direction of movement of the load (1).
  6. Method according to claim 5,
    wherein the size of the second clearance (12) is adapted to a speed of the load (1).
  7. Method according to one of the preceding claims,
    wherein the trajectory (4) is adapted to the height profile (6) .
  8. Method according to one of the preceding claims,
    wherein a position of the load (1) is acquired by means of at least one sensor (5) and compared with an already known position, and if these differ, the functionality of the at least one sensor for distance measurement (5) and/or of the measuring system, with which the known position has been determined, is checked.
  9. Method according to one of the preceding claims,
    wherein a range of visibility is determined by means of at least one sensor (5).
  10. Method according to one of the preceding claims,
    wherein at least two computing units are used as controller.
  11. Method according to one of the preceding claims,
    wherein at least two sensors measure distances along lines which intersect at at least one point of intersection, and wherein the measured values at at least one point of intersection are used for validating a secure measured value.
  12. System for avoiding a collision of a load (1) of a crane (2) with an obstacle (3), wherein the load (1) is able to be moved along a trajectory (4), having at least two sensors for distance measurement (5), with which a height profile (6) is able to be acquired at least along the trajectory (4),
    characterised in that the system furthermore has a controller (8) with at least two operating systems (9, 10), of which at least one (10) has a safety program in a secure region, at least two communication channels (7) for transmitting signals of the sensors (5) to the controller (8), and also a secure communication interface (13) for transmitting signals from the controller (8) to a crane control.
  13. System according to claim 12,
    wherein at least one of the sensors (5) is designed as a 2D laser scanner.
  14. System according to claim 12 or 13,
    wherein at least one of the sensors (5) is designed as a 3D laser scanner.
  15. System according to one of claims 12 to 14,
    wherein two sensors (5) measure distances along lines which form at least one right angle.
  16. System according to one of claims 12 to 15,
    wherein at least one sensor (5) is designed as a multibeam laser.
  17. System according to one of claims 12 to 16,
    wherein at least one operating system (9, 10) is real-time-capable.
  18. System according to one of claims 12 to 17,
    wherein at least one sensor (5) is able to be arranged on a trolley (14) of the crane (2).
  19. System according to one of claims 12 to 18,
    wherein at least one sensor (5) is able to be arranged on a container spreader (15) of the crane (2).
  20. System according to one of claims 12 to 19,
    wherein the controller comprises at least two computing units.
  21. System according to one of claims 12 to 20,
    wherein at least two sensors measure distances along lines which intersect at at least one point of intersection, and wherein the measured values at at least one point of intersection are to be used for validating a secure measured value.
  22. Crane (2) with a system according to one of claims 12 to 21.
  23. Program for carrying out a method according to one of claims 1-11 when executed in a controller (8) of a system according to one of claims 12 to 21.
  24. Computer-readable medium, on which the program according to claim 23 is stored.
EP17734701.0A 2016-07-04 2017-06-27 Method and system for avoiding collisions by cranes Active EP3455153B1 (en)

Applications Claiming Priority (2)

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DE102016212123 2016-07-04
PCT/EP2017/065835 WO2018007203A1 (en) 2016-07-04 2017-06-27 Method and system for avoiding collisions in cranes

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EP (1) EP3455153B1 (en)
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EP3455153A1 (en) 2019-03-20
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CN109415190A (en) 2019-03-01
KR102256546B1 (en) 2021-05-26
WO2018007203A1 (en) 2018-01-11
KR20190025001A (en) 2019-03-08
CN109415190B (en) 2021-07-02
US11167959B2 (en) 2021-11-09

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