EP3455153B1 - Verfahren und system zur vermeidung von kollisionen bei kränen - Google Patents

Verfahren und system zur vermeidung von kollisionen bei kränen 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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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.)
Active
Application number
EP17734701.0A
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German (de)
English (en)
French (fr)
Other versions
EP3455153A1 (de
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
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Siemens AG
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Publication of EP3455153A1 publication Critical patent/EP3455153A1/de
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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.
EP17734701.0A 2016-07-04 2017-06-27 Verfahren und system zur vermeidung von kollisionen bei kränen Active EP3455153B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016212123 2016-07-04
PCT/EP2017/065835 WO2018007203A1 (de) 2016-07-04 2017-06-27 Verfahren und system zur vermeidung von kollisionen bei kränen

Publications (2)

Publication Number Publication Date
EP3455153A1 EP3455153A1 (de) 2019-03-20
EP3455153B1 true EP3455153B1 (de) 2020-05-27

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Application Number Title Priority Date Filing Date
EP17734701.0A Active EP3455153B1 (de) 2016-07-04 2017-06-27 Verfahren und system zur vermeidung von kollisionen bei kränen

Country Status (6)

Country Link
US (1) US11167959B2 (ko)
EP (1) EP3455153B1 (ko)
KR (1) KR102256546B1 (ko)
CN (1) CN109415190B (ko)
SG (1) SG11201811732PA (ko)
WO (1) WO2018007203A1 (ko)

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FI127422B (fi) * 2016-12-20 2018-05-31 Konecranes Global Oy Menetelmä, tietokoneohjelma ja laitteisto nosturin ohjaamiseksi ja menetelmä nosturin päivittämiseksi
JP7003353B2 (ja) * 2018-01-25 2022-01-20 株式会社日立プラントメカニクス クレーン衝突防止装置
EP3660231B1 (en) * 2018-11-08 2022-02-23 Intsite Ltd System and method for autonomous operation of heavy machinery
EP3733586A1 (de) * 2019-04-30 2020-11-04 Siemens Aktiengesellschaft Verfahren zur kollisionsfreien bewegung einer last mit einem kran
JP7429151B2 (ja) * 2020-04-15 2024-02-07 住友重機械搬送システム株式会社 自動ｒｔｇシステム、制御装置、及びコンテナ搬送経路設定方法
CN112073090B (zh) * 2020-11-13 2021-04-02 新乡先立起重机电科技有限公司 起重机监控数据的处理方法及系统
CN112374374A (zh) * 2020-11-26 2021-02-19 中国第一汽车股份有限公司 一种能够防碰撞的吊具
CN113205723A (zh) * 2021-05-14 2021-08-03 上海振华重工(集团)股份有限公司 一种起重机自动化模拟器

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WO2006018485A1 (fr) 2004-07-19 2006-02-23 Societe De Materiel Industriel Et D'equipement-Smie Procede et systeme d'evitement de collision pour engins mobiles
JP2006151574A (ja) * 2004-11-29 2006-06-15 Mitsubishi Heavy Ind Ltd コンテナ用荷役機械、コンテナ管理システム、及びコンテナ荷役方法
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Also Published As

Publication number Publication date
CN109415190A (zh) 2019-03-01
CN109415190B (zh) 2021-07-02
US20190308852A1 (en) 2019-10-10
KR102256546B1 (ko) 2021-05-26
WO2018007203A1 (de) 2018-01-11
KR20190025001A (ko) 2019-03-08
EP3455153A1 (de) 2019-03-20
US11167959B2 (en) 2021-11-09
SG11201811732PA (en) 2019-01-30

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