EP3553015A1 - Grue et procédé de fonctionnement d'une grue - Google Patents

Grue et procédé de fonctionnement d'une grue Download PDF

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Publication number
EP3553015A1
EP3553015A1 EP19163621.6A EP19163621A EP3553015A1 EP 3553015 A1 EP3553015 A1 EP 3553015A1 EP 19163621 A EP19163621 A EP 19163621A EP 3553015 A1 EP3553015 A1 EP 3553015A1
Authority
EP
European Patent Office
Prior art keywords
configuration
crane
lifting system
control unit
structures
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.)
Pending
Application number
EP19163621.6A
Other languages
German (de)
English (en)
Inventor
Tobias Magnussen Griis Skouboe
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.)
HMF Group AS
Original Assignee
HMF Group AS
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 HMF Group AS filed Critical HMF Group AS
Publication of EP3553015A1 publication Critical patent/EP3553015A1/fr
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • 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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/44—Jib-cranes adapted for attachment to standard vehicles, e.g. agricultural tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/58—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes arranged to carry out a desired sequence of operations automatically, e.g. hoisting followed by luffing and slewing
    • B66C23/585—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes arranged to carry out a desired sequence of operations automatically, e.g. hoisting followed by luffing and slewing electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear

Definitions

  • the present invention relates to a crane and a method for operating a crane. More particularly, the invention relates to a method for operating a crane to perform a task automatically without manual assistance.
  • WO2015001401A1 discloses a crane and a method of controlling a crane that comprises a lift system configured to be arranged in a plurality of configurations.
  • the lifting system comprises a plurality of structures that are movably arranged relative to each other and actuator adapted to move the structures relative to each other.
  • the method according to the invention is a method for controlling a crane, in particular a lorry crane, having a lifting system configured to be arranged in a plurality of configurations, wherein the lifting system comprises a plurality of structures moveably arranged relative to each other and one or more actuators arranged to move the structures relative to each other, wherein the method comprises the following steps:
  • the lifting system comprises a plurality of structures moveably arranged relative to each other. These structures may be a crane base, a column being rotatably attached to the crane base, a jib comprising a number of booms.
  • the structures may comprise a plurality of booms displaceable arranged with respect to each other.
  • the plurality of booms may preferably be arranged in a telescopical manner with respect to each other.
  • the lifting system comprises one or more actuators arranged to move the structures relative to each other.
  • the actuators may be of any suitable size and type.
  • the actuators are formed as hydraulic cylinders.
  • the method comprises the step of selecting a first configuration by means of a control system comprising an operable control unit.
  • the method comprises the step of selecting a second configuration by means of the control unit.
  • the first configuration and/or the second configuration may e.g. be selected from a predefined list or may be selected by any indication means e.g. by pointing out a position on a map on a user interface (e.g. a display).
  • the first and/or second configurations may be positions (e.g. lifting positions of a load), it may alternatively be a configuration of a boom/crane arm such as an un-folded configuration of the boom/crane arm or a folded configuration of the boom/crane arm.
  • the method comprises the step of activating the control unit to automatically bringing the lifting system from the first configuration into the second configuration by using one or more actuators.
  • first configuration and/or the second configuration is a position of a load being carried by the crane or a position of a structure of the lifting system. This means that the first configuration and/or the second configuration can be defined by the position, at which a load carried by the crane or to be carried by the crane is located.
  • first configuration and/or the second configuration are selected from a list being visibly available on a user interface.
  • the list may include numbers and/or other text or symbols.
  • one configuration may be the lifting system in a folded configuration, in which the lifting system takes up less space than during lifting tasks.
  • one configuration may be the lifting system in an un-folded configuration, in which the lifting system is ready to lift a load (e.g. from a first position to another position).
  • the method comprises the step of selecting the first configuration and/or the second configuration by indicating a position in a map displayed on a user interface or by using an external transmitter unit.
  • the selecting process is eased in a user-friendly manner. Furthermore, in some applications it allows the operator to get an overview over the surrounding.
  • the method comprises the step of keeping the structures in positions, in which the distance between the structures and one or more zones and/or positions is larger than a predefined length.
  • the invention ensures that fragile objects are protected from impacts and contact with the lifting system. This is of major importance if a lorry crane carries fragile cargo that is not resistant to collision with the lifting system of the crane.
  • the method is furthermore capable of protecting moving objects.
  • the position of moving objects e.g. a human, an animal or a vehicle
  • the method comprises the step of automatically stopping the actuators when the distance between the structures and the one or more zones and/or positions is equal to or smaller than the predefined length.
  • the actuators it is possible to control the crane in a safe manner, in which collision with objects can be prevented.
  • predefine the cab of a lorry to be a "safe zone", wherein the lifting system is required to be provided within a predefined minimum distance to the safe zone.
  • the method comprises the step of automatically reducing the rotational and/or linear speed of one or more of the structures of the lifting system when the distance between the structures and the one or more zones and/or positions is equal to or smaller than the predefined length. Reducing the speed may be accomplished by controlling one or more of the actuators.
  • the actuators it is possible to control the crane in an even more safe manner, because the speed of structures of the lifting system can be reduced when the structures approach predefined positions or zones.
  • the method comprises the step of detecting one or more zones and/or positions by using one or more sensors.
  • zones and/or positions are predefined or are set by default or set by the user/operator of the crane.
  • the one or the one or more sensors is a camera, an ultrasonic sensor, a proximity sensor or an optic distance sensor.
  • the method comprises the step of carrying out calculations in order to recognise one or more detected objects in order to make decisions according to a predefined scheme.
  • a proximity sensor By using a proximity sensor, it is possible to detect if an object is within a predefined range from a predefined area (e.g. a structure of the lifting system).
  • an optic distance sensor By using an optic distance sensor, it is possible to detect one or more distances optically.
  • control unit comprises an object recognition unit configured to recognise one or more objects of predefined size and/or geometry and/or speed based on data provided by means of a camera.
  • object recognition unit configured to recognise one or more objects and take this into account e.g. in order to stop the movement of the lifting system or to move the lifting system away from the object in order to avoid collision.
  • the objects may be moving objects such as a human or an animal.
  • the objects may also be a vehicle such as a car, a bicycle or a motorcycle.
  • the method comprises the step of detecting the length of a structure of the lifting system and/or an angular position of a structure of the lifting system, wherein the control unit applies the length of a structure and/or the angular position of a structure to calculate a path, through which path the control unit brings the lifting system from the first configuration into the second configuration by using one or more actuators. Due to the constrains in the lifting system, detection of the length and angles of the structures of the lifting system will provide information sufficient to calculate one or more possible paths through which the lifting system can be brought from the first configuration into the second configuration by using one or more actuators.
  • angular position may include an angle between adjacent structures or an angle of a structure relative to a predefined orientation (e.g. vertical or horizontal).
  • the method comprises the step of regulating the speed (translation and rotation) of the structures in dependency of the distance between the structures and the one or more zones and/or positions.
  • the crane according to the invention is a crane that comprises a lifting system configured to be arranged in a plurality of configurations, wherein the lifting system comprises:
  • the lifting system comprises a plurality of structures moveably arranged relative to each other. These structures may be a crane base, a column being rotatably attached to the crane base, a jib comprising a number of booms.
  • the structures may comprise a plurality of booms displaceably arranged with respect to each other.
  • the plurality of booms may preferably be arranged in a telescopically manner with respect to each other.
  • the lifting system comprises one or more actuators arranged to move the structures relative to each other.
  • the actuators may be of any suitable size and type.
  • the actuators are formed as hydraulic cylinders.
  • the control unit enables the operator to select a first configuration by means of the control system comprising the operable control unit.
  • the first configuration and/or the second configuration may e.g. be selected from a predefined list or may be selected by any indication means e.g. by pointing out a position on a map on a user interface (e.g. a display).
  • the first and/or second configurations may be positions (e.g. lifting positions of a load), it may alternatively be a configuration of a boom/crane arm such as an un-folded configuration of the boom/crane arm or a folded configuration of the boom/crane arm.
  • first configuration and/or the second configuration is a position of a load being carried by the crane or a position of a structure of the lifting system. This means that the first configuration and/or the second configuration can be defined by the position, at which a load carried by the crane or to be carried by the crane is located.
  • first configuration and/or the second configuration are selected from a list being visibly available on a user interface.
  • the operator can easily select among predefined configurations.
  • the crane is a lorry crane.
  • the first configuration and/or the second configuration is a position of a load being carried by the crane or a position of a structure of the lifting system.
  • the position may be defined in any suitable coordinate system, e.g. a Cartesian coordinate system, a spherical coordinate system or a polar coordinate system.
  • the crane comprises a user interface, by which it is possible to select the first configuration and/or the second configuration.
  • a user interface makes it easier for the operator to select the configurations.
  • the user interface is configured to allow the user to select a first configuration and a second configuration and a third configuration (that may correspond to the first configuration).
  • the crane comprises a user interface configured to visually display a map, by which it is possible to select the first configuration and/or the second configuration.
  • the map may be a one-dimensional map or preferably a two-dimensional map or a three-dimensional map.
  • control system comprises one or more sensors arranged and configured to detect the distance between the structures and one or more zones and/or positions.
  • the distance between the structures and one or more zones and/or positions can be detected.
  • control system is configured to detect when the distance between the structures and the one or more zones and/or positions is larger than a predefined length.
  • control unit is configured to automatically stop the actuators when the distance between the structures and one or more zones and/or positions is equal to or smaller than the predefined length.
  • the crane can carry out movements of the lifting system and automatically avoid collisions with predefined objects positioned in predefined positions or zones.
  • the zones and/or positions may be predefined if they are set by default or set by the user/operator of the crane.
  • the one or the one or more sensors may be a camera, an ultrasonic sensor, a proximity sensor or an optic distance sensor.
  • control unit comprises an object recognition unit configured to recognise one or more objects of predefined size and/or geometry and/or speed based on data provided by means of a camera.
  • object recognition unit may comprise a computer-implemented system that may be configurable.
  • the objects may be moving objects such as a human, an animal or a vehicle.
  • control unit is configured to detect the length of a structure of the lifting system and/or an angular position of a structure of the lifting system by means of one or more sensors, wherein the control unit is configured to apply the length of a structure and/or the angular position of a structure to calculate a path, through which the control unit brings the lifting system from the first configuration into the second configuration by using one or more actuators.
  • the sensors can provide information sufficient to make sure that all positions of the lifting system are known. Put in other words, the position of the lifting system will be known on a continuous basis.
  • the path is determined continuously during the operation of the lifting system.
  • the control unit is configured to on a continuous basis look for the most optimum path based on at least one predefined criterion.
  • the sensors for detecting the length of a structure of the lifting system and/or an angular position of a structure of the lifting system may be any suitable type of sensors including angle sensors and distance sensors.
  • angular position may include the angle between adjacent structures and the angle of a structure relative of a predefined orientation (e.g. a vertical or a horizontal axis).
  • the crane is configured to regulate the speed (translation and rotation) of the structures in dependency of the distance between the structures and the one or more zones and/or positions. This may be done by using the control unit of the crane.
  • a system according to the invention comprises a crane, preferably a lorry crane, an external transmitter unit and a receiving unit, wherein the transmitter unit is configured to transmit its position information to the receiving unit.
  • the external transmitter unit can be positioned in a desirable position (e.g. on the ground at an area in which a cargo has to be delivered) and the position of the external transmitter unit can be detected by the receiving unit so that the position of the external transmitter unit can be used as a setting in the control unit. Accordingly, the crane can deliver the cargo in the right position by selecting the said position as the "second configuration of the lifting system".
  • the crane comprises a control unit configured to control the lifting system of the crane in such a manner that the crane can perform an automatic loading process that includes loading of a plurality of objects/loads into a predefined area.
  • the crane comprises a control unit configured to control the lifting system of the crane in such a manner that the crane can load a truck bed with objects/loads from a stockpile (e.g. on the ground).
  • a stockpile e.g. on the ground
  • the crane comprises a control unit configured to control the lifting system of the crane in such a manner that the crane can unload a truck bed and place the objects/loads from the truck bed to a predefined area (e.g. a stockpile on the ground).
  • a control unit configured to control the lifting system of the crane in such a manner that the crane can unload a truck bed and place the objects/loads from the truck bed to a predefined area (e.g. a stockpile on the ground).
  • the crane comprises a user interface configured to display a setup that allows the operator to select and perform an automatic loading process.
  • the crane comprises visual detection units (e.g. cameras and/or distance censors) arranged and configured to detect the position and/or orientation of objects/loads to be loaded and/or unloaded (e.g. to a truck bed of a lorry crane).
  • visual detection units e.g. cameras and/or distance censors
  • the lifting system of the crane in the correct position in order to lift the objects/loads (e.g. pallets) from their initial position (e.g. in a stockpile). This may be visually illustrated by using a user interface.
  • the crane comprises visual detection units (e.g. cameras and/or distance censors) that are arranged and configured to detect the position and/or orientation of receiving areas (e.g. of the truck bed or an area on the ground). It is preferred that the crane comprises a control unit configured to receive and determine the position of receiving areas.
  • visual detection units e.g. cameras and/or distance censors
  • the crane comprises a control unit configured to receive and determine the position of receiving areas.
  • the position of receiving areas may be determined on the basis of knowledge of the size and geometry of the objects/loads and area into which the objects/loads have to be placed.
  • the crane comprises a user interface configured to allow the user to select the size and/or geometry of the objects/loads to be carried, so that the control unit can process this information in order to calculate the size and position of the receiving areas.
  • a crane 2 of the present invention is illustrated in Fig. 1A .
  • Fig. 1A illustrates a side view of a crane 2 according to the invention comprising a lifting system 28 arranged in a first configuration I.
  • Fig. 1B illustrates a side view of the crane 2 shown in Fig. 1A , wherein the lifting system 28 is arranged in a second configuration II
  • Fig. 1C illustrates a side view of the crane 2 shown in Fig. 1A , wherein the lifting system 28 is arranged in a third configuration III.
  • the crane 2 is arranged on a lorry comprising a cab 16 and a truck bed configured to receive and transport objects as the load 12 that is arranged on the cargo 18 positioned in the rear side of the truck bed.
  • a fragile member 20 is arranged in the central portion of the track bed of the lorry.
  • a zone Z 1 showing an area within a predefined distance to the fragile member 20 is indicated.
  • the distance D 1 from the lifting system 28 to the zone Z 1 is shown.
  • the invention makes it possible to define the zone Z 1 in such a manner that the structures of the lifting system 28 are kept in positions, in which the distance D 1 between the structures and the zone Z 1 is larger than a predefined length L 1 .
  • the lorry is arranged on the ground G by means of its ground-engaging wheels 52.
  • the crane 2 comprises a lifting system 28 arranged in a first configuration.
  • the lifting system 28 comprises a crane base 4 fixed to the truck bed, a column 6 protruding from the crane base 4 and a jib 26 rotatably attached to the column 6.
  • the lifting system 28 comprises an actuator (a hydraulic cylinder) 22 arranged and configured to rotate the jib 26 relative to the column 6.
  • the jib 26 comprises a plurality of telescopic displaceable booms sections 8, 8, 8", 8"', 8"".
  • the telescopic displaceable booms sections 8, 8, 8", 8"', 8"" are arranged to be displaced relative to each other by means of hydraulic actuators 24 extending along the longitudinal axis of the booms sections 8, 8, 8", 8"', 8"".
  • a hook 10 is arranged at the distal end of the distal boom section 8"". In Fig. 1B and Fig. 1C , the hook 10 holds a sling 14 fixed to the load 12.
  • the crane 2 moves the load 12 from its initial position on the top of the cargo 18 (see Fig. 1B ) to the ground G (see Fig. 1C ).
  • Fig. 1A the lifting system is arranged in a folded configuration.
  • Fig. 1B the lifting system 28 has been partly unfolded and the hydraulic actuator 22 has increased the angle between the column 6 and the jib 26.
  • the boom of the jib 26 has been partly extended in order to align the hook 10 at the top of the sling 14.
  • Fig. 1C the jib 26 has been extended further by means of the hydraulic actuators 24.
  • the angle between the column 6 and the jib 26 has been decreased by using the hydraulic actuator 22.
  • the crane 2 is configured to control and bring the lifting system 28 from a first configuration to a second configuration. This is accomplished by selecting a first configuration and a second configuration by means of a control system comprising an operable control unit (see Fig. 7A, Fig. 7B , Fig. 8 , Fig. 9A and Fig, 9B ).
  • the control unit is configured to initiate that the actuators 22, 24 brings the lifting system 28 from the first configuration (e.g. the figuration arranged in Fig. 1A ) into the second configuration (e.g. the figuration arranged in Fig. 1B ) by using one or more of the actuators 22, 24. This means that the operator can bring the lifting system 28 from the first configuration to the second configuration automatically without any manual input required.
  • the crane is configured to bring the lifting system 28 from an un-folded configuration (as shown in Fig. 1A ) to a predefined second configuration. In another embodiment, the crane is configured to bring the lifting system 28 from a first configuration to the un-folded configuration (as shown in Fig. 1A ).
  • the crane 2 is configured to bring the lifting system 26 from a first selected configuration to a second selected configuration in a manner in which the lifting system 28 avoids collision with one or more predefined areas or objects (e.g. the fragile member 20).
  • the crane 2 comprises a control unit configured to select one or more areas or objects that the lifting system 28 and the load 12 carried by it should be kept in a distance from (in order to prevent collision).
  • Fig. 2A illustrates a view of a crane 2 according to the invention having a lifting system 28 arranged in a first configuration I.
  • Fig. 2B illustrates a side view of the crane 2 shown in Fig. 2A , wherein the lifting system 28 is arranged in a second configuration II.
  • Fig. 2C illustrates a side view of the crane 2 shown in Fig. 2A , wherein the lifting system 28 is arranged in a third configuration III.
  • the crane 2 is mounted on the rear side of a lorry having a cab 16.
  • a zone Z 1 surrounding the cab 16 is indicated.
  • the zone Z 1 represents a safety zone, from which the lifting system 28 should be kept in a distance exceeding a predefined level so that collision with the cab 16 can be avoided.
  • a zone Z 2 surrounding a fragile member 20 arranged on the truck bed is indicated. This zone Z 2 represents an area, from which the lifting system 28 should be kept in a distance exceeding a predefined level so that collision with the fragile member 20 can be avoided.
  • the crane 2 comprises a control system (not show) comprising an operable control unit (not shown), by which it is possible to define the position and extension (volume or area) of the zones Z 1 , Z 2 .
  • the control unit further is configured to be used to define one or more predefined lengths, wherein the control unit controls the actuators 22, 24 in a manner, in which the structures of the lifting system 28 are kept in positions in which the distance between said structures and the zones Z 1 , Z 2 is larger than the predefined length(s).
  • the crane 2 ensures that fragile objects 20, 16 are protected from impacts and contact with the structures of the lifting system 28.
  • the crane 2 comprises outrigger legs 44, 44' arranged to increase the stability (and decrease the risk for tipping) of the crane 2.
  • the crane 2 comprises a lifting system 28 configured to be arranged in a plurality of configurations I, II, III.
  • the lifting system 28 comprises a plurality of structures: a base 4, a column 6 and a jib 26 comprising a plurality of slidably arranged booms 8, 8', 8", 8"'.
  • the structures are moveably arranged relative to each other by means of actuators 22, 24 arranged to move the structures relative to each other.
  • the crane 2 is configured to select a first configuration I by means of the control system comprising the operable control unit, select a second configuration II by means of the control unit and activate the control unit to automatically bring the lifting system 28 from the first configuration I into the second configuration II or from the second configuration II to the third configuration III by using the actuators 22, 24.
  • the crane 2 makes it possible for the operator to let the crane 2 carry out selected crane tasks automatically.
  • Fig. 3A illustrates a view of a portion of a crane 2 according to the invention having a lifting system 28 arranged in a first configuration I.
  • Fig. 3B illustrates a side view of the crane 2 shown in Fig. 3A , wherein the lifting system 28 is arranged in a second configuration II.
  • Fig. 3C illustrates a side view of the crane 2 shown in Fig. 3A , wherein the lifting system 28 is arranged in a third configuration III and
  • Fig. 3D illustrates a side view of the crane 2 shown in Fig. 3A , wherein the lifting system 28 is arranged in a fourth configuration IV.
  • the crane 2 is brought from an unfolded configuration I into a folded configuration IV during the steps shown in Fig. 3A to Fig. 3D .
  • the crane 2 comprises a lifting system comprising a jib 26 rotatably attached to a column 6 that is rotatably attached to a crane base 4.
  • the crane 2 comprises actuators 22, 22', 24 arranged and configured to move structures of the lifting system 28 relative to each other.
  • a hook 10 is arranged in the distal end of the outermost boom of the jib 26.
  • the crane 2 and method for controlling the crane 2 is configured to bring the lifting system 28 into the folded configuration IV shown in Fig. 3D .
  • This may be done when the lifting system 28 is arranged in the first configuration I as shown in Fig. 3A , when the lifting system 28 is arranged in the second configuration II as shown in Fig. 3A or when the lifting system 28 is arranged in the third configuration III as shown in Fig. 3C .
  • the operator can automatically (without any required operator control action) bring the lifting system 28 into the folded configuration IV shown in Fig. 3D in a simple and user-friendly manner. Besides, collision with objects can automatically be avoided.
  • the crane 2 and the method for controlling the crane 2 may preferably be configured to automatically bring the lifting system 28 from into any of the configurations I, II, III, IV to any of the configurations I, II, III, IV shown in Fig. 3A, Fig. 3B, Fig. 3C or Fig. 3D .
  • Fig. 4 illustrates a view of a lifting system 28 of a crane 2 according to the invention and a moving object 36 passing by.
  • the moving object is a running man 36.
  • the lifting system 28 of the crane 2 comprises a jib 26 comprising booms slidably arranged with respect to each other.
  • the jib 26 is rotatably attached to a column 6.
  • the lifting system 28 comprises a number of actuators 22, 24 arranged and configured to move structures of the lifting system 28 relative to each other.
  • a plurality of cameras 34, 34', 34", 34"' are provided on the jib 26.
  • the cameras 34, 34', 34", 34'" are arranged and configured to visually detect objects such as the running man 36.
  • the crane 2 comprises a control unit (not shown) comprising an object recognition unit (not shown) configured to recognise one or more objects 36 of predefined size and/or geometry and/or speed based on data provided by means of one or more of the cameras 34, 34', 34", 34"'. Accordingly, it may be predefined that objects having a volume that exceeds a certain size (e.g.
  • 500 ml, 2000 ml or more should cause the actuators to stop or move the structures of the lifting system in another direction in order to avoid collision with the object, if these objects are in predefined distance from the structures of the lifting system 28. Furthermore, it may be predefined that objects moving with a speed exceeding a predefined level should cause the actuators to stop or move the structures of the lifting system 28 in another direction in order to avoid collision with the object.
  • the crane 2 comprises a control unit configured to stop or move the structures of the lifting system 28 in another direction in order to avoid collision with the object 36 by using the actuators 22, 24, if the distance D 1 between a structure of the lifting system 28 or a load 12 carried by the lifting system 28 is equal to or below a predefined length L 1 as illustrated.
  • a control unit configured to stop or move the structures of the lifting system 28 in another direction in order to avoid collision with the object 36 by using the actuators 22, 24, if the distance D 1 between a structure of the lifting system 28 or a load 12 carried by the lifting system 28 is equal to or below a predefined length L 1 as illustrated.
  • the first camera 34 arranged in the distal end of the jib 26 receives detected signals 38 indicated with dotted lines. Likewise, two of the other cameras 34", 34'" receives detected signals 38", 38"'.
  • Fig. 5 illustrates a crane 2 according to the invention and a transmitter unit 42 used to detect the position, in which a load 12 has to be positioned.
  • the crane 2 comprises a front-mounted lifting system 28 provided on a lorry comprising wheels 52 arranged on the ground.
  • the crane 2 comprises a lifting system 28 comprising a crane base 4, a column 6 rotatably attached to the crane base 4 and a jib 26 rotatably attached to the column 6.
  • the jib 26 comprises a plurality of booms telescopically arranged with respect to each other.
  • the lifting system 28 comprises a hydraulic actuator 22 arranged to rotate the jib 26 relative to the column 6 and another actuator 22' arranged to rotate structures of the jib 26 relative to each other.
  • the jib 26 moreover comprises a hydraulic actuator 24 arranged to displace the telescopically arranged booms with respect to each other.
  • the lorry comprises a cab 16 that may be selected as a safe zone as default in a preferred embodiment in order to avoid collision of the lifting structure 28 and loads 12 carried by the lifting structure 28 with the cab 16.
  • the jib 26 comprises a hook 10 mounted in its distal end.
  • the hook 10 carries a load 12.
  • the transmitter unit 42 is arranged at the end of a rod.
  • the transmitter unit 42 transmits signals that are received by a receiving unit 48 connected to the control unit 30 of the crane 2. Accordingly, the transmitter unit 42 can be used to determine the position of the transmitter unit 42 in order to select the place of delivery. By using the control unit, it is possible to deliver the load 12 in the position marked by means of the transmitter unit 42.
  • Fig. 6A illustrates a schematic top view of a crane 2 according to the invention having a front end mounted lifting system 28, wherein Fig. 6B illustrates a schematic top view of a crane 2 according to the invention having a front end mounted lifting system 28.
  • Both the crane 2 shown in Fig. 6A and in Fig. 6B is mounted on a lorry having ground-engaging wheels 52 and outrigger legs 44, 44', 46, 46'.
  • the lifting system 28 comprises a jib 26 rotatably attached to a column.
  • a first zone Z 1 is indicated. It can be seen that when the jib 26 is moved from the first configuration I to the second configuration II, the jib 26 is moved in a path P 1 indicated by a dotted line. In the first configuration II, the distance D 1 between the lifting system 28 (the distal portion of the jib 26) and the zone Z 1 is indicated. As this distance D 1 is larger than the required minimum length L 1 between the lifting system and the zone Z 1 , movement of the jib 26 along the shown path P 1 will not cause the control unit to stop the actuators causing the movement.
  • the control unit of the crane would stop the actuator(s) (not shown) or cause the actuator(s) to reverse the motion.
  • the distance D 1 may be detected by using any suitable means, e.g. by using sensors detecting the position and/or angle of the structures of the lifting system 28 including the jib 26 and/or sensors configured to determine the position of the zone Z 1 .
  • a second zone Z 2 is illustrated. It can be seen that when the jib 26 is moved from the first configuration I to the second configuration II, the jib 26 is moved in a path P 2 indicated by a dotted line. In the first configuration II, the distance D 2 between the lifting system 28 (the distal portion of the jib 26) and the zone Z 2 is indicated. As this distance D 2 is larger than the required minimum length L 2 between the lifting system and the zone Z 2 , movement of the jib 26 along the shown path P 2 will not cause the control unit (not shown) to stop the actuators (not shown) causing the movement.
  • Fig. 7A illustrates a view of a display of a user interface 32 according to the invention
  • Fig. 7B illustrates a view of a display of another user interface 32 according to the invention.
  • the user interface 32 shown in Fig. 7A comprises a left column, from which the operator can select a start position (configuration I).
  • the user interface 32 shown in Fig. 7A moreover comprises a right column, from which the operator can select an end position (configuration II).
  • the operator has selected "Position B36" as the first configuration I.
  • “Position B36” may be a default start position or configuration.
  • the operator has selected "Position E12" as the second configuration II.
  • “Position E12” may be a default end position or configuration.
  • the user interface 32 shows a map with a crane 2 positioned on the street next to a building 50.
  • the operator can select the start configuration I and the end configuration II by using the user interface 32. It can be seen that the operator has selected an end configuration II on the flagstones outside the building 50. Accordingly, the crane 2 enables the operator to bring the load 12 carried by the jib of the crane 2 to move into a position in which the load 12 is delivered on the selected position (configuration II).
  • the user interface 32 shown in Fig. 7A and in Fig. 7B comprises a start button 54, a pause button 54' and a stop button 54", that the operator can apply if desired.
  • the use of any of these buttons 54, 54', 54" will "over rule” the control unit.
  • Fig. 8 illustrates an operator 40 applying a user interface 32 according to the invention to control a crane 2 according to the invention.
  • the crane 2 comprises a lifting system 28 comprising a column 6 and a jib 26 moveably attached to said column 6.
  • the jib 26 comprises a displaceably mounted boom section 8.
  • the lifting system 28 comprises actuators 22, 22', 24 arranged and configured to move structures of the lifting system 28 relative to each other.
  • the operator 40 is capable of selecting a first configuration (start configuration of the crane 2) and a second configuration (end configuration of the crane 2) and initiate a control system (not shown) of the crane 2 to bring the lifting system 28 of the crane 2 from the first configuration to the second configuration.
  • a hook 10 arranged in the distal end of the boom section 8 is attached to the sling of a load 12.
  • the load 12 is arranged in a distance D 2 from a zone Z 2 surrounding a lamp that is fragile and thus cannot be brought into contact with either the load 12 or the lifting system 28.
  • a predefined minimum “allowable" length L2 is indicated.
  • the crane 2 is configured to prevent that the load 12 or the lifting system is brought into a distance D 2 that is equal to or shorter than L 2 . Accordingly, collision with the lamp can be avoided.
  • Fig. 9B illustrates a view of a crane 2 according to the invention having a lifting system 28 arranged in a first configuration I
  • Fig. 9B illustrates a view of the crane 2 shown in Fig. 9A , wherein the lifting system 28 is arranged in another configuration II.
  • the crane 2 comprises a lifting system 28 comprising a crane base 4 and a column 6 rotatably attached thereto.
  • a jib 26 is moveably attached to the column 6.
  • the jib 26 comprises displaceably mounted boom sections 8, 8'.
  • the lifting system 28 comprises actuators 22 arranged and configured to move structures of the lifting system 28 relative to each other.
  • a hook 10 is arranged in the distal end of the outermost boom section 8'.
  • a load 12 is carried by the crane 2. The load 12 is attached to the hook 10.
  • the crane 2 comprises a cab 16 that may be defined as a zone from which the lifting system 28 and the load 12 carried by the lifting system 28 should be kept within a distance exceeding a predefined minimum level.
  • the crane 2 is mounted in the front end of a truck bed of a lorry having wheels engaging the ground G.
  • the crane 2 comprises a control unit 30 configured to receive control signals transmitted by a user interface 32 handled by an operator 40.
  • the operator 40 can control the crane 2 by selecting a start configuration I and an end configuration II and make the crane 2 move the load 12 from the position shown in Fig. 9A to the position shown in Fig. 9B .
  • Fig. 10A illustrates a view of a crane 2 according to the invention performing an automatic lifting task comprising the step of loading the truck bed 58 of a lorry.
  • Fig. 10B illustrates the crane 2 shown in Fig. 10A , wherein the truck bed 58 has almost been loaded.
  • the crane 2 basically corresponds to the crane explained with reference to Fig. 9A and Fig. 9B , however, the hook has been replaced by a fork 11 arranged to lift pallets 12' and load the truck bed 58 of the lorry.
  • the pallets 12' are arranged in a stockpile 56 on the ground G next to the lorry.
  • Fig. 10B a plurality of the pallets 12' have been moved from the stockpile 56 and are arranged on the truck bed 58 of the lorry.
  • Fig. 11A illustrates a view of a display of a user interface 32 according to the invention, wherein the user interface 32 allows the operator to select and perform an automatic loading process.
  • Fig. 11B illustrates a view of the user interface 32 shown in Fig. 11A , when the loading process has been accomplished.
  • the loading process includes loading pallets 12'.
  • the pallets may by way of example contain a building material roof tile, bricks, flagstone.
  • the size and geometry of the pallets is predetermined, it is possible to forecast where to arrange the pallets on the truck bed 58. Accordingly, it is possible to carry out an automatic loading process.
  • the crane 2 comprises visual detection units (e.g. cameras and/or distance censors) arranged and configured to detect the position and/or orientation of the pallets 12' to be loaded on the truck bed 58.
  • visual detection units e.g. cameras and/or distance censors
  • the visual detection units are arranged and configured to detect the position and/or orientation of receiving areas 60, 60', 60" on the truck bed 58.
  • the crane 2 comprises a control unit configured to receive and determine the position of receiving areas 60, 60', 60" of the truck bed 58.
  • the position of receiving areas 60, 60', 60" of the truck bed 58 may be determined on the basis of knowledge of the size and geometry of the pallets 12' and the truck bed 58.
  • Fig. 11A and Fig. 11B it can be seen that the truck bed 58 is divided into 24 receiving areas 60, 60', 60" indicated by dotted lines. These receiving areas 60, 60', 60" can each receive a pallet 12' of the stockpile 56.
  • the user interface 32 is configured to allow the user to select the size and/or geometry of the load 12' to be carried, so that the control unit can process this information in order to calculate the size and position of the receiving areas 60, 60', 60".
  • the pallets 12' were smaller than the one shown in Fig. 11A and Fig. 11B , the number of the receiving areas 60, 60', 60" may have been higher, whereas the size of the receiving areas 60, 60', 60" may have been smaller.
  • the operator selects the option "Automatic load of 24 pallets" in the menu and presses the start button 54.
  • the automatic loading process is initiated.
  • the operator hereby defines the start configuration I, as to load pallets 12' from the stockpile 56 and the second configuration II, as to load the truck bed 58.
  • the operator has the option of pausing the loading process by pressing the pause button 54' or stopping the loading process by pressing the stop button 54".
  • Fig. 11B it can be seen that the user interface 32 reads "Task completed", which indicates that the truck bed 58 has been loaded with pallets 12'.
  • Fig. 11A and Fig. 11B it can be seen that a plurality of pallets 12' have been removed from the stockpile 56 and that these pallets 12' have been arranged in the predefined receiving areas 60, 60', 60" of the truck bed 58.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Agronomy & Crop Science (AREA)
  • Jib Cranes (AREA)
EP19163621.6A 2018-04-13 2019-03-19 Grue et procédé de fonctionnement d'une grue Pending EP3553015A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DKPA201800157A DK179958B1 (en) 2018-04-13 2018-04-13 Crane and Method for Operating a Crane

Publications (1)

Publication Number Publication Date
EP3553015A1 true EP3553015A1 (fr) 2019-10-16

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EP19163621.6A Pending EP3553015A1 (fr) 2018-04-13 2019-03-19 Grue et procédé de fonctionnement d'une grue

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EP (1) EP3553015A1 (fr)
DK (1) DK179958B1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3839675A1 (fr) * 2019-12-20 2021-06-23 Hiab AB Système de commande de grue, véhicule et procédé en relation avec le système
WO2021216006A1 (fr) * 2020-04-23 2021-10-28 Tajfun Liv, Proizvodnja In Razvoj D.O.O. Grue mobile commandée par ordinateur
EP3907171A1 (fr) * 2020-05-06 2021-11-10 Hiab AB Grue, véhicule et procédé de la grue
CN116281664A (zh) * 2023-03-06 2023-06-23 中海福陆重工有限公司 一种基于spmt的履带吊承载装置及控制系统
AT17996U1 (de) * 2022-05-13 2023-10-15 Palfinger Ag Verfahren zum Bewegen einer Hebevorrichtung
EP4269322A1 (fr) * 2022-04-27 2023-11-01 Hunan Sinoboom Intelligent Equipment Co., Ltd. Procédé et système de détection et de commande anti-collision, système de chariot élévateur à fourche et chariot élévateur à fourche
CN117422835A (zh) * 2023-11-14 2024-01-19 国网湖北省电力有限公司超高压公司 一种基于球极坐标系的吊车安全作业范围评估方法及系统

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US4091943A (en) * 1974-09-27 1978-05-30 Schmith Niels Bay Method and apparatus for loading a vehicle with bales of crop material or similar units
GB2353515A (en) * 1999-07-07 2001-02-28 Liebherr Werk Ehingen Controlling the path of a crane hook
US6826452B1 (en) * 2002-03-29 2004-11-30 The Penn State Research Foundation Cable array robot for material handling
CN201358142Y (zh) * 2009-02-25 2009-12-09 中国船舶重工集团公司第七一三研究所 伸缩臂起重机自动控制系统
WO2015113084A1 (fr) * 2014-01-31 2015-08-06 Palfinger Ag Commande de grue
CN107145149A (zh) * 2017-06-16 2017-09-08 广东科达洁能股份有限公司 一种桥式行车装置及其避让行走方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4091943A (en) * 1974-09-27 1978-05-30 Schmith Niels Bay Method and apparatus for loading a vehicle with bales of crop material or similar units
GB2353515A (en) * 1999-07-07 2001-02-28 Liebherr Werk Ehingen Controlling the path of a crane hook
US6826452B1 (en) * 2002-03-29 2004-11-30 The Penn State Research Foundation Cable array robot for material handling
CN201358142Y (zh) * 2009-02-25 2009-12-09 中国船舶重工集团公司第七一三研究所 伸缩臂起重机自动控制系统
WO2015113084A1 (fr) * 2014-01-31 2015-08-06 Palfinger Ag Commande de grue
CN107145149A (zh) * 2017-06-16 2017-09-08 广东科达洁能股份有限公司 一种桥式行车装置及其避让行走方法

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3839675A1 (fr) * 2019-12-20 2021-06-23 Hiab AB Système de commande de grue, véhicule et procédé en relation avec le système
WO2021216006A1 (fr) * 2020-04-23 2021-10-28 Tajfun Liv, Proizvodnja In Razvoj D.O.O. Grue mobile commandée par ordinateur
EP3907171A1 (fr) * 2020-05-06 2021-11-10 Hiab AB Grue, véhicule et procédé de la grue
EP4269322A1 (fr) * 2022-04-27 2023-11-01 Hunan Sinoboom Intelligent Equipment Co., Ltd. Procédé et système de détection et de commande anti-collision, système de chariot élévateur à fourche et chariot élévateur à fourche
AT17996U1 (de) * 2022-05-13 2023-10-15 Palfinger Ag Verfahren zum Bewegen einer Hebevorrichtung
CN116281664A (zh) * 2023-03-06 2023-06-23 中海福陆重工有限公司 一种基于spmt的履带吊承载装置及控制系统
CN116281664B (zh) * 2023-03-06 2024-01-23 中海福陆重工有限公司 一种基于spmt的履带吊承载装置及控制系统
CN117422835A (zh) * 2023-11-14 2024-01-19 国网湖北省电力有限公司超高压公司 一种基于球极坐标系的吊车安全作业范围评估方法及系统

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