EP3556711B1 - Système de déplacement automatique d'un bras articulé, en particulier d'une grue auxiliaire, vers une position cible - Google Patents

Système de déplacement automatique d'un bras articulé, en particulier d'une grue auxiliaire, vers une position cible Download PDF

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Publication number
EP3556711B1
EP3556711B1 EP19153048.4A EP19153048A EP3556711B1 EP 3556711 B1 EP3556711 B1 EP 3556711B1 EP 19153048 A EP19153048 A EP 19153048A EP 3556711 B1 EP3556711 B1 EP 3556711B1
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EP
European Patent Office
Prior art keywords
probe
emitting probe
absolute
detecting
emitting
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EP19153048.4A
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German (de)
English (en)
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EP3556711A1 (fr
Inventor
Ivan MAFFEIS
Valentino Birolini
Roberto Signori
Rossano Ceresoli
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FASSI GRU SpA
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FASSI GRU SpA
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Priority to PL19153048T priority Critical patent/PL3556711T3/pl
Publication of EP3556711A1 publication Critical patent/EP3556711A1/fr
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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
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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

Definitions

  • the present invention refers to a system for automatically moving an articulated arm, particularly, of an articulated crane, towards a target position.
  • articulated arm means a system provided with a plurality of bodies, consecutively connected to each other in order to form an open kinematic chain provided with a plurality of translative and/or rotative degrees of freedom in the space.
  • Overhead cranes or truss cranes are known to be provided with a plurality of detecting probes and remote control used by the operators for moving the crane itself by an emitting probe, so that the crane, upon a suitable instruction, automatically moves towards the remote control, which represents the target position to be reached.
  • the known systems provided for tracking a target position are not completely satisfying when, for example, one or more detecting probes are not capable to communicate with the emitting probe due to boundary conditions.
  • a further disadvantage of the known systems is due to the fact that these generally operate correctly if the operator handling the remote control, remains in a stationary position, in other words if he/she does not move during the crane movement.
  • Document US 2010/095835 A1 discloses a system for automatically moving an articulated arm towards a target position, comprising: said articulated arm comprising a plurality of consecutively connected bodies forming an open kinematic chain with an end-effector, having a plurality of translative and/or rotative degrees of freedom and a plurality of actuators for moving said bodies; a plurality of sensors associated to said bodies, adapted to supply signals representative of linear or angular positions such to enable to determine the absolute coordinates of the end-effector; a user interface device configured for commanding the articulated arm by an operator; at least one first, one second, one third and one fourth detecting probes, positioned in a predetermined different point of the (articulated arm of a) work vehicle; a control unit operatively connected to said actuators, sensors, emitting probe, detecting probes, and user interface device, said control unit being configured for, at each sampling instant of a plurality of subsequent sampling instants: determining, based on the signals from said first, second,
  • FIG. 1 it shows an example of a possible articulated arm, particularly an articulated crane, for example a hydraulic loader crane generally indicated by the reference 101.
  • the crane 101 comprises a column 102 rotatable about its own axis, and one or more possibly extendable arms 103', 103".
  • the possibility of extending the arms, if provided, is obtained by a plurality of extensions 104 reciprocally translatingly movable in order to modify the axial length of the respective arm.
  • only the second arm 103" is extendable by moving the extensions 104.
  • the first arm 103' which is devoid of extensions, will be called “main arm”, while the second arm 103", provided with extensions 104, will be called “secondary arm”.
  • the main arm 103' is rotatable with respect to the column 102, while the secondary arm 103" is rotatable with respect to the main arm 103'.
  • the free end 105 of the last extension of the secondary arm 103" is usually known as end-effector.
  • a hook 106 movable for example by a rope winch 107 is provided at the end-effector 105.
  • a PLE on the contrary can be provided with a basket, for example.
  • the crane 101 comprises a plurality of actuators for moving the bodies forming the kinematic chain.
  • Figure 1 shows a first hydraulic jack 108, moving the main arm 103' with respect to the column 102, a second hydraulic jack 109 moving the secondary arm 103" with respect to the main arm 103', and an actuator 111 for moving the column 102 with respect to the stationary reference.
  • further actuators can be provided, for example of the hydraulic type, for moving the extensions 104.
  • actuators of a different type electrical or pneumatic, for example
  • the crane 101 comprises a plurality of sensors capable of enabling to determine the absolute coordinates of the end-effector 105, particularly the Cartesian coordinates thereof.
  • the absolute coordinates of the end-effector 105 can be expressed by three values x, y, z.
  • the plurality of sensors can include, for example:
  • the sensors can include linear or angular encoders, magnetostrictive sensors or similar. From the signals of the above cited sensors, it is possible to determine the absolute coordinates of the end-effector 105, by geometrical relationships, as it will be shown in the following.
  • the crane 101 comprises a control unit operatively connected to the actuators, for moving them, and to the sensors, for receiving signals indicative of the above cited magnitudes.
  • a user interface device 110 connected to the control unit for enabling an operator to manually move the crane and possibly to gain access to other functions, is provided.
  • the user interface device can comprise a remote control
  • the control unit can comprise a transmission module for communicating with this latter (a radio transmission module, for example).
  • the operator can visually move the end-effector 105 between following positions by acting for example on a joystick of the remote control.
  • the control unit is configured so that, upon an instruction of moving the end-effector towards a certain absolute coordinate, such movement is obtained as a function of a predetermined logic for operating the actuators.
  • an actuating logic can be one adapted to minimize the oil flow rate required for operating the actuators, or to minimize the consumed hydraulic energy.
  • a further logic can be one of the travelled minimum distance of the end-effector for reaching the desired position.
  • a frequently used further criterion for example, combined with one of the above cited ones, consists of maintaining the actuators far from the stop position.
  • the predetermined operative logics are per se known and therefore will not be particularly described.
  • This particularly designed system causes the end-effector 105 to follow a sequence of movements intersecting consecutive points identified by preferably Cartesian absolute coordinates, with respect to the reference system.
  • At least one first 1, one second 2, one third 3, and one fourth detecting probes 4 are associated to the crane.
  • Such detecting probes are positioned in different known points of the crane, which can be stationary (the detecting probes can be positioned in the stationary base of the articulated arm, for example) or, as an alternative, can be movable (in other words the detecting probes are fixed to the movable bodies of the articulated arm at known positions, and they move with the movable bodies. Or the detecting probes can be positioned on lateral stabilizing arms of the crane).
  • the absolute coordinates invariable with respect to the reference system are known.
  • the varying position of the detecting probes can be determined as the articulated arm is gradually moved. According to further variants, it is observed that the detecting probes can be more than four.
  • an emitting probe 5 capable of communicating with each detecting probe, is provided so that the relative distance between the emitting probe and each detecting probes can be determined.
  • the emitting probe 5 is adapted to be located in the target position.
  • the emitting probe 5 and detecting probes 1-4 are preferably of the radio type, still more preferably of the ultra-wideband (UWB) type.
  • the emitting probe 5 generates pulses which are sensed by each detecting probe and, based on the time elapsing between the pulse emission and pulse reception, it is possible to determine the relative distance between the emitting probe and the respective detecting probe. It is observed that the measurement that is performed between the emitting probe and detecting probes is of a scalar type, in other words it is only possible to determine a distance, but not a relative position, between the emitting probe and the respective detecting probe.
  • the information obtained from each pair of emitting probe-detecting probe is that the emitting probe lies on the surface of a sphere having as a center the detecting probe and as a radius the detected distance between the detecting probe and emitting probe.
  • the terms "emitting” and "detecting” are given only in a conventional way. Therefore, alternatively, the pulse can be emitted by the detecting probes and detected by the emitting probe.
  • the emitting probe 5 is positioned on the user interface device 110, in order to calculate the distance among such user interface device and the four detecting probes.
  • the control unit is operatively connected to the detecting probes and emitting probes, for example by a Wi-Fi communication module.
  • the control unit is capable of determining the position of the emitting probe 5 and, for this matter, at a plurality of consecutive sampling instants distanced from each other by a sampling time, it is configured to:
  • the system will be capable to approach the end-effector 105 to the target position, determined by the emitting probe 5, both when this latter is still, and when this latter is moving. Indeed, in the first case, variations in the absolute position of the emitting probe 5 during the following sampling instants are not detected, so that the end-effector 105 will continue to follow its movement until it reaches it. In the second case, at each sampling instant, a new absolute position of the emitting probe will be determined and therefore the control unit updates the movement logic of the actuators for taking into account the variation of the target position.
  • FIG. 2 it schematically shows an articulated arm 101 provided with a column 102 (simply outlined in the example as perfectly vertical, however it can form a determined inclination angle with the vertical) of a length a, a main arm 103' of a length b and rotatable with respect to the column 102, and a secondary arm 103" rotatable with respect to the main arm 103' and of a length c, wherein the secondary arm 103" further comprises one or more extensions 104 which project of a varying amount ⁇ d with respect to the secondary arm 103".
  • the sensors of the articulated arm comprise a sensor for measuring the angle ⁇ between the main arm 103' and horizontal, a sensor for measuring the angle ⁇ between the secondary 103" and horizontal, a sensor for measuring the linear projection amount ⁇ d of the extensions 104 with respect to the secondary arm 103".
  • a rotation sensor of the column 102 capable of detecting an angle ⁇ with respect to a stationary reference, for example the base of the articulated arm, is provided.
  • the detecting probes 1, 2, 3, 4 they will respectively have absolute coordinates with respect to the same reference system x, y, z: x1, y1, z1; x2, y2, z2; x3, y3, z3 and x4, y4, z4. If the detecting probes are in a stationary position, such absolute coordinates are known and do not change over time. On the contrary, if one or more of them are fixed to movable parts of the articulated arm in known positions, the absolute coordinates thereof will vary over time, but are anyway obtainable at each sampling instant by mathematical relationships analogous to the ones given for determining the absolute coordinates of the end-effector 105.
  • the emitting probe 5 positioned for example on the remote control, in turn has the coordinates xT, yT, zT which can be fixed or variable.
  • control unit is configured to estimate, at each sampling instant, the actual absolute position of the emitting probe 5, in other words the target position, as an intersection point of four spheres respectively having as a center the absolute coordinate of the respective detecting probe, and as a radius, the distance between said detecting probe and emitting probe.
  • control unit for the purpose of reducing the computational load for determining the intersection point of four spheres, the control unit is configured to:
  • the control unit can operate in the following way.
  • control unit is advantageously configured to:
  • control unit is configured to identify as absolute coordinates of the target position the absolute coordinates of the target position determined at the previous sampling instant. If these previously cited coordinates are not available, for example because the considered sampling instant is the first, preferably the control unit does not perform the automatic movement of the end-effector 105 due to safety reasons.
  • control unit moves the actuators so that the end-effector 105 reaches the target position according to a substantially rectilinear trajectory.
  • the movement strategy consists of minimizing the oil flow rate to the actuators, required for the motion, or the consumed hydraulic energy.
  • control unit moves the actuators so that the end-effector 105 moves according to a ramp speed, in other words so that it gradually accelerates when it starts moving, then moves at an approximately constant speed and finally gradually slows in proximity of the target position.
  • control unit moves the actuators so that the end-effector 105 moves to a position in proximity of a distance from the target position. In this way, the end-effector is prevented from hitting an operator handling the user interface device, particularly when the operator is still.
  • the user interface device comprises a storing command so that, upon activating it, the target position is held fixed and is not updated after a certain sampling instant even though the emitting probe 5 is moved.
  • the operator handling the user interface device provided with the emitting probe is allowed to move from his/her initial position, in which he/she started the automatic movement process, without being reached by the end-effector 105 since this latter will stop moving on its arrival in the stored target position.
  • the user interface device comprises a tracking actuation command which must be kept pressed in order to start and hold the above described automatic movement process of the end-effector towards the target position. The process is automatically stopped when such command is released. Also this feature is designed for the safety of the operator.
  • control unit and also the elements indicated by the term “module”, can be implemented by hardware devices (central units, for example), by software or by a combination of hardware and software.

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

Claims (13)

  1. Système de déplacement automatique d'un bras articulé (101) vers une position cible, comprenant :
    - ledit bras articulé (101) comprenant une pluralité de corps reliés de manière consécutive, formant une chaîne cinématique ouverte avec un effecteur terminal (105), présentant une pluralité de degrés de liberté en translation et/ou en rotation et une pluralité d'actionneurs permettant de déplacer lesdits corps ;
    - une pluralité de capteurs associés auxdits corps, conçus pour fournir des signaux représentatifs de positions linéaires ou angulaires de manière à permettre de déterminer les coordonnées absolues de l'effecteur terminal (105) ;
    - un dispositif d'interface utilisateur configuré pour commander le bras articulé du fait d'un opérateur ;
    - une sonde émettrice (5) positionnée dans la position cible, et au moins une première (1), une deuxième (2), une troisième (3) et une quatrième sondes de détection (4), chacune étant positionnée en un point différent prédéterminé du bras articulé, et conçue pour communiquer avec la sonde émettrice de sorte que chaque paire sonde émettrice-sonde de détection fournit un signal indicatif de sa distance relative ;
    - une unité de commande reliée fonctionnellement auxdits actionneurs, capteurs, à la sonde émettrice, aux sondes de détection et au dispositif d'interface utilisateur, ladite unité de commande étant configurée pour, à chaque moment d'échantillonnage d'une pluralité de moments d'échantillonnage successifs :
    - estimer, sur la base des signaux provenant desdites première, deuxième, troisième, quatrième sondes émettrices (1, 2, 3, 4) et à partir de ladite sonde de détection (5), la position absolue réelle de la sonde émettrice (5) ;
    - déterminer la position absolue réelle de l'effecteur terminal (105) sur la base des signaux provenant desdits capteurs ;
    - actionner les actionneurs de sorte que l'effecteur terminal (105) se déplace vers la position absolue réelle estimée de la sonde émettrice (5).
  2. Système selon la revendication 1, dans lequel l'unité de commande est configurée pour estimer, à chaque moment d'échantillonnage, la position absolue réelle de la sonde émettrice (5) en tant que point d'intersection de quatre sphères ayant pour centre les coordonnées absolues de la sonde de détection respective, et pour rayon la distance entre ladite sonde de détection et la sonde émettrice.
  3. Système selon la revendication 1 ou 2, dans lequel, à chaque moment d'échantillonnage, l'unité de commande est configurée pour :
    - déterminer les coordonnées absolues réelles des deux points d'intersection de trois sphères ayant respectivement pour centre les coordonnées absolues des première (1), deuxième (2) et troisième sondes de détection (3), et pour rayon la distance entre la sonde de détection respective et la sonde émettrice (5) ;
    - identifier, comme position absolue réelle de la sonde émettrice (5), le point entre lesdits deux points d'intersection, lequel est compris dans le volume de la sphère ayant pour centre les coordonnées absolues de la quatrième sonde de détection (4), et pour rayon la distance entre la quatrième sonde de détection (4) et la sonde émettrice (5).
  4. Système selon l'une quelconque des revendications précédentes, dans lequel l'unité de commande est configurée pour, en l'absence de communication entre la première sonde de détection (1) et la sonde émettrice (5), à un moment d'échantillonnage :
    - déterminer les coordonnées absolues de deux points d'intersection de trois sphères ayant respectivement pour centre les coordonnées absolues des deuxième (2), troisième (3) et quatrième sondes de détection (4), et pour rayon la distance entre ladite sonde de détection et la sonde émettrice (5) ;
    - identifier, comme coordonnées absolues de la sonde émettrice (5), le point entre lesdits deux points d'intersection, le plus proche de la position absolue de la sonde émettrice (5) estimée au moment d'échantillonnage précédent.
  5. Système selon l'une quelconque des revendications précédentes, dans lequel l'unité de commande est configurée pour, en l'absence de communication entre deux sondes de détection et la sonde émettrice à un moment d'échantillonnage, identifier, comme coordonnées absolues réelles de la sonde émettrice (5), les coordonnées absolues de la sonde émettrice (5) estimées au moment d'échantillonnage précédent.
  6. Système selon l'une quelconque des revendications précédentes, dans lequel lesdites première (1) et/ou deuxième (2) et/ou troisième (3) et/ou quatrième sondes émettrices (4) sont reliées au bras articulé (101) de sorte que leurs coordonnées absolues sont constantes, ou sont reliées de manière fixe dans des positions prédéterminées aux corps du bras articulé ou aux parties mobiles du bras articulé.
  7. Système selon l'une quelconque des revendications précédentes, dans lequel le dispositif d'interface utilisateur (110) est mobile, et la sonde émettrice (5) est disposée sur le dispositif d'interface utilisateur (110).
  8. Système selon l'une quelconque des revendications précédentes, dans lequel l'unité de commande est configurée pour déplacer les actionneurs de sorte que l'effecteur terminal (105) se déplace vers une position à proximité et à distance de la position cible.
  9. Système selon l'une quelconque des revendications précédentes, dans lequel ledit dispositif d'interface utilisateur comprend une commande de stockage, et l'unité de commande est configurée pour stocker la dernière position cible déterminée avant d'activer la commande de stockage, et pour la maintenir également lors des déplacements de la sonde émettrice.
  10. Système selon l'une quelconque des revendications précédentes, dans lequel ledit dispositif d'interface utilisateur comprend une commande de démarrage et de maintien, l'unité de commande étant configurée pour déplacer l'effecteur terminal (105) vers la position cible uniquement jusqu'à ce que ladite commande de démarrage et de maintien soit active.
  11. Système selon l'une quelconque des revendications précédentes, dans lequel lesdites coordonnées absolues de l'effecteur terminal (105) sont des coordonnées cartésiennes absolues dans un espace 3D.
  12. Système selon l'une quelconque des revendications précédentes, dans lequel ledit bras articulé (101) comprend une grue articulée.
  13. Système selon la revendication précédente, dans lequel ladite grue articulée comprend une colonne (102) rotative autour de son axe, un bras principal (103') rotatif autour de la colonne (102), un bras secondaire (103") rotatif par rapport au bras principal (103'), et comprenant au moins une extension déployable en translation par rapport au bras secondaire lui-même, et ladite pluralité de capteurs comprend un capteur angulaire permettant de mesurer la rotation de la colonne (102) autour de son axe, un capteur angulaire permettant de mesurer la rotation absolue du bras principal (103'), un capteur angulaire permettant de mesurer la rotation absolue du bras secondaire (103"), un capteur linéaire permettant de mesurer la translation de l'au moins une extension (104) par rapport au bras secondaire (103").
EP19153048.4A 2018-04-18 2019-01-22 Système de déplacement automatique d'un bras articulé, en particulier d'une grue auxiliaire, vers une position cible Active EP3556711B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL19153048T PL3556711T3 (pl) 2018-04-18 2019-01-22 System do automatycznego poruszania przegubowego ramienia, a zwłaszcza żurawia załadunkowego, do położenia docelowego

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102018000004677A IT201800004677A1 (it) 2018-04-18 2018-04-18 Sistema per la movimentazione automatica di un braccio articolato, in particolare di una gru articolata, verso una posizione target

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EP3556711A1 EP3556711A1 (fr) 2019-10-23
EP3556711B1 true EP3556711B1 (fr) 2020-03-04

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EP (1) EP3556711B1 (fr)
DK (1) DK3556711T3 (fr)
ES (1) ES2784978T3 (fr)
IT (1) IT201800004677A1 (fr)
PL (1) PL3556711T3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021207079A1 (de) 2021-07-06 2023-01-12 Putzmeister Engineering Gmbh Arbeitsmaschine
DE102021207076A1 (de) 2021-07-06 2023-01-12 Putzmeister Engineering Gmbh Arbeitsmaschine

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JPS6296300A (ja) * 1985-10-22 1987-05-02 日立建機株式会社 高所作業車における作業台の水平保持装置
FR2834505B1 (fr) * 2002-01-09 2004-05-07 Potain Sa Procede et dispositif de commande/controle securise du depliage et repliage d'une grue a tour
US8352129B2 (en) * 2008-10-16 2013-01-08 Eaton Corporation Motion control of work vehicle

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102021207079A1 (de) 2021-07-06 2023-01-12 Putzmeister Engineering Gmbh Arbeitsmaschine
DE102021207076A1 (de) 2021-07-06 2023-01-12 Putzmeister Engineering Gmbh Arbeitsmaschine

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DK3556711T3 (da) 2020-03-30
EP3556711A1 (fr) 2019-10-23
PL3556711T3 (pl) 2020-08-10
IT201800004677A1 (it) 2019-10-18
ES2784978T3 (es) 2020-10-02

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