EP3694804A1 - Procédé et système de commande prédictive de stabilité pour grues montées sur camion - Google Patents

Procédé et système de commande prédictive de stabilité pour grues montées sur camion

Info

Publication number
EP3694804A1
EP3694804A1 EP18793479.9A EP18793479A EP3694804A1 EP 3694804 A1 EP3694804 A1 EP 3694804A1 EP 18793479 A EP18793479 A EP 18793479A EP 3694804 A1 EP3694804 A1 EP 3694804A1
Authority
EP
European Patent Office
Prior art keywords
crane
truck
load radius
representative values
function
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
EP18793479.9A
Other languages
German (de)
English (en)
Inventor
Francesco Marinelli
Alessandro Bacchi
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.)
Hyva Holding BV
Original Assignee
Hyva Holding BV
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 Hyva Holding BV filed Critical Hyva Holding BV
Publication of EP3694804A1 publication Critical patent/EP3694804A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment

Definitions

  • the present invention relates to a predictive stability control method and system for self-propelled work machines, predisposed for the lifting of loads, such as truck-mounted cranes or the like.
  • Cranes comprising a respective articulated and/or extensible arm predisposed on a motor truck and mainly used for loading and unloading material from and onto a truck body of the truck.
  • two cross-members can be provided, arranged perpendicular to the longitudinal axis of the truck and reciprocally joined by a pair of longitudinal members, to define the mentioned support frame.
  • Two shafts are slidably inserted in each of the cross-members which bear, at the distal ends thereof, respective rest feet, which are vertically mobile.
  • one of the cross-members is located immediately behind the cabin, while the other cross-member is arranged behind the rear axle.
  • four telescopic outriggers are defined, two for each flank of the vehicle.
  • the outriggers are in a retracted configuration, in which they have a minimum lateral dimension with respect to the advancement direction of the truck.
  • the outriggers Before the loading and unloading steps, the outriggers must be brought into an extended configuration, in which the respective shafts are extracted from the relative cross-member so as to project at the flanks of the truck, and the feet are lowered down to the ground.
  • the positioning of the outriggers is dependent on a multitude of variables, which do not always allow for the outriggers to be extended fully, nor be positioned substantially equal; for example, the vehicle may be constrained by its surroundings in extending the outriggers laterally with respect to the vehicle, by for example, but not limited to objects such as structures or vehicles, preventing the one- or multiple outriggers from extending fully.
  • the machines must be operated on a supportive surface featuring irregularities, unevenness, and/or a slope, requiring unequal descent of the feet.
  • the positioning of the outriggers is crucial because it determines the freedom of movement of the arm predisposed on the truck for a given load, and the consequent stability of the truck-mounted crane during operating steps.
  • the positioning of the outriggers and the allowable range of the arm are decided by the machine's operator, and they are based on the machine's designated product specifications, common sense judgments and prior experience of the operator, to avoid any risk of loss of load and/or the tipping over of the truck and related arm.
  • the purpose of the present invention is to realize a predictive stability control method/system for truck-mounted cranes capable of overcoming the disadvantages of the prior art.
  • the specific aim of the present invention is to realize a predictive stability control method/system for truck-mounted cranes that allows maximizing the efficiency of the truck-crane system while maintaining operating safety conditions.
  • the present invention describes a predictive stability control method for truck-mounted cranes, according to what is described in claim 1 .
  • the present invention describes a predictive stability control system for truck-mounted cranes, according to what is described in claim 15.
  • the method is a computer implemented method.
  • the present invention describes a graphical interface for stability control for truck-mounted cranes, according to what is described in claim 23.
  • the present invention describes a computer program configured for, when loaded in a computer, performing one or more of the steps of the third aspect.
  • the invention confers the main technical effect to maximize the efficiency of the truck-mounted crane while maintaining operating safety conditions.
  • the technical effect is achieved through a predictive analysis of the tolerated working radius from the column axis of the crane defined prior to stabilizing the truck-mounted crane and/or performing operating steps.
  • the technical effect is achieved through a predictive analysis of the tolerated working radius from the column axis of the crane defined, prior to the actual stabilization of the truck-mounted crane and handling of the crane, as a non-limitative function of a provided load and of a provided positioning of the outriggers.
  • Figure 1 is a schematic view of the truck-crane system, according to the invention.
  • Figure 2 shows a schematic view of the crane assembled on the truck of figure 1 ;
  • Figure 3 shows a block diagram of the processing unit of the invention.
  • Figures 4A,4B,4C show three different graphical visualizations of the safety load, according to the invention, wherein the reference row from 0° to 180° coincides with the longitudinal axis of the truck-mounted cranes.
  • Figure 5 shows a graphical interface for the predictive stability control for truck-mounted cranes, according to the invention.
  • Figure 6 is a schematic view of the truck-crane system, according to the invention with the crane's column axis located at the rear of the truck cabin.
  • the invention describes a predictive stability control method and system, operating prior to stabilizing the truck-mounted crane and/or performing operating steps for a calculation of the freedom of movement of the arm, admissible for safe operation, allowing the truck-mounted crane to be setup and used more efficiently, for a narrower margin of safety may be used. It should be understood and appreciated that the method/system may also be used in-between the machine's operating steps, to make predictions related to the stability of the machine, for a current or alternative provided load and/or provided positioning of the outriggers.
  • the truck-mounted crane predisposed for the lifting of loads comprises a truck 4, equipped with outriggers 2; the truck 4 supports a crane 3 comprising a respective arm 5.
  • the crane 3 handles a load P1 ,P2 at a safe working radius.
  • the safe working radius is a safe load radius X respect to its traverse axis AX2 (fig.2).
  • the crane 3 during loading activity must be performed such, that the stability of the truck-mounted crane and its structural integrity are guaranteed.
  • the crane's column axis AX1 (fig.2) is located at the rear of the truck cabin 4, as shown in figure 1 and 6, the crane 3 will be able to handle a given load across a larger load radius X over the rear quadrant, than it is able to do so over the front of the vehicle, because in the first situation the tipping axis (for example, but not limited to a front outrigger (fig.6)) is more distant from the crane's centre of gravity, resulting in a greater (crane) leverage when compared to the load's leverage.
  • the tipping axis for example, but not limited to a front outrigger (fig.6)
  • the invention provides a predictive stability method on the described truck-mounted cranes, predisposed for the lifting of loads P such as to safeguard all the provided safety conditions.
  • the method is a computer implemented method.
  • the invention provides also a predictive stability control system for the described truck-mounted cranes comprising a processing unit 100 configured to calculate a safe load radius X for a crane 3 that allows safeguarding all the provided safety conditions.
  • this loading radius may be a function of arm length(s) and arm angle(s).
  • the load radius/working radius is computed as a function of at least one between a. boom length and a boom angle(s).
  • the remaining tilt may also be a component of the load radius (vehicle tilt).
  • the processing unit 100 is presented as being split into distinct functional modules (storage modules or operative modules) for the sole purpose of describing its functionalities clearly and completely.
  • this processing unit 3 can comprise a single electronic device, appropriately programmed to perform the functionalities described, and the different modules can correspond to hardware entities and/or routine software that are part of the programmed device. Alternatively, or in addition, such functions may be performed by a plurality of electronic devices over which the aforesaid functional modules can be distributed.
  • the processing unit can moreover rely on one or more processors to execute the instructions contained in the memory modules.
  • the invention provides to set a first representative value V1 of the load to be lifted with the crane 3.
  • the processing unit 100 comprises a first setting module 101 configured to set the first representative value V1 of the load P1 ,P2 to be lifted with the crane 3.
  • the first representative value V1 is the weight of the load (P) to be lifted.
  • the second representative values V2i comprise lengths of the stabilizing shafts 24 extended.
  • the environmental conditions comprise one or more from:
  • the invention provides to calculate a safe load radius X of the crane 3 respect to its traverse axis AX2 as a function of the representative values V1 , V2i.
  • this step is performed prior to stabilizing the truck-mounted crane and/or performing the operating steps.
  • this step is performed prior to stabilizing the truck-mounted crane and before handling the crane 3.
  • the processing unit 100 comprises a first processing module 103 configured to calculate the aforesaid safe load radius X.
  • the processing unit 100 comprises a third setting module 104 configured to set the aforesaid third representative values V3a.
  • the third representative values V3a correspond to predefined rotation angles a of the crane 3 around one of its column axis AX1 (fig.2).
  • the safe load radius X is defined also as a function of the third representative value V3a.
  • the processing unit 100 comprises a second processing module 105 configured to calculate the safe load radius X also as a function of the third representative values V3a.
  • the third representative values V3a are representative of a correction of the safe load radius X corresponding to predefined rotation angles a of the crane 3 around its column axis AX1 defined as a function of a structural configuration of said truck 4 supporting the crane 3.
  • the combination of the third representative values V3a and second representative values V2i is represented by a load pressure ps liftable calculated on the main cylinder 6 (fig. 2).
  • the load pressure ps takes into account of the correction of the crane capacity at the variation of the extension of the shafts 24 and of the angular position a of the crane. Therefore, the load pressure ps is defined as a function of two variables, that is the extension of the shafts 24 and the rotation angle a of the crane 3.
  • the fourth representative value ⁇ 4 ⁇ represents an angle ⁇ between the column axis AX1 and a horizontal plane. It has to be understood that If ⁇ 0°, the vehicle is inclined.
  • representative value ⁇ 4 ⁇ does not have any technical sense for mobile cranes, crawler cranes, or the like, which operate substantially level, particularly within 1 % of grade, wherein ⁇ is substantially ⁇ 0,57°.
  • the load radius X is defined also as a function of the fourth representative value ⁇ 4 ⁇ .
  • the fourth representative value ⁇ 4 ⁇ is representative of the correction of the load radius X corresponding to inclination angle ⁇ of the crane 3 with regard to the horizontal plane.
  • the processing unit 100 comprises a fourth setting module 106 configured to set fourth representative values ⁇ 4 ⁇ of a correction of said safe load radius X corresponding to a predicted inclination of the truck-mounted crane.
  • the processing unit 100 comprises a fourth processing module 107 configured to calculate the safe load radius X also as a function of the fourth representative value ⁇ 4 ⁇ .
  • the fourth representative value ⁇ 4 ⁇ is substantially equal to 0°, it will have little to no effect on safe load radius X.
  • all truck wheels will be required to touch the ground during operating steps.
  • the truck 3 comprises wheels required to touch the ground during operating steps
  • the vehicle When the support surface is substantially uneven and/or sloped, the vehicle might not be levelled to a degree in which the vehicle is substantially horizontal, while at the same time all wheels are in contact with the support surface, forcing the vehicle to be operated at the angle ⁇ defined as the angle of the crane 3 with regard to the horizontal plane. It should be appreciated that this is not the case for mobile cranes, crawler cranes, or the like, which operate substantially level, particularly within 1 % of grade.
  • Processing also the fourth representative value ⁇ 4 ⁇ make it possible to further increase the efficiency of the truck-mounted crane while maintaining operating safety conditions.
  • the invention provides, furthermore, to set values of more conditions processable for a correction of the safe load radius by the predictive stability control method and system of the invention.
  • the truck is provided with a wind sensor 25 configured to sense the wind speed WS.
  • the wind sensor 25 is mounted on the top of the crane column.
  • the wind speed WS could be measured using a portable anemometer or another (at ground level) located wind sensor, and corrected to represent the actual wind speed at the top of the crane column.
  • such a corrected wind speed could be received from a remote (sensing) data source
  • the processing unit 100 comprises a sensing module 108 (fig. 3) configured to receive a representative value for the wind speed WS and/or direction thereof and to set a fifth representative values V5 of a correction of the safe load radius (X).
  • a sensing module 108 (fig. 3) configured to receive a representative value for the wind speed WS and/or direction thereof and to set a fifth representative values V5 of a correction of the safe load radius (X).
  • the wind speed WS and/or direction thereof is sensed by the wind sensor 25.
  • the invention provides to represent graphically the safe load radius X as a function of at least the representative values V1 ,V2i,V3a in a diagram distance X - rotation angle a, for a given load P1 .P2.
  • the shape of the corresponding second area A2 (fig. 4B) is shaped substantially equal to that of the first area A1 , but in a smaller scale; in other words, the correction of the safe load radius X will follow the angular variations already described for the figure 4A, but the absolute value of the safe load radius X will be lower based on the provided load P2>P1 .
  • the third representative values V3a of the figure 4C are different from those of the previous figures 4A and 4B; in particular, the third representative values V3a take into account an environmental condition CO, that is limits of space to the extension of the stabilizing shafts 24, more particularly the shafts located on the left with respect to the forward direction of the truck-mounted crane.
  • a third area A3 in grey corresponding to the operating safety area for the truck-mounted crane, which has a shape different from the first area A1 , while simulating the same load P1 .
  • the area A3 in fact, is corrected in with regard to the left side of the truck- mounted crane where the outriggers have been extended only partially. From the graph in figure 4C, the operator understands, therefore, that he can allow "ranging" the crane 3 at determined angles a of its possible rotation which are reduced respect to the cases shown in figures 4A and 4B.
  • the diagram in figures 4A,4B and 4C is defined on the basis of reference intervals ⁇ and angular ones ⁇ (fig. 4A).
  • the reference intervals ⁇ are variable as a function of the structural characteristics of the crane 3, for example the length.
  • said intervals are proportioned to the maximum reachable theoretical distance
  • the reference intervals ⁇ will be normally proportioned to said distances for example approximately 2m .
  • the invention provides to represent graphically the safe load radius X as a function of at least the representative values V1 ,V2i,V3a in a diagram distance X - rotation angle a, for a given load P1 .P2.
  • the invention provides to represent graphically the safe load radius X also as a function of the fourth representative value ⁇ 4 ⁇ .
  • the invention provides to represent graphically the safe load radius X also as a function of the wind speed value WS.
  • the invention provides to represent graphically the safe load radius X also as a function of a fifth representative values V5.
  • a graphical interface 300 for the described predictive stability control is provided.
  • the graphical interface 300 comprises:
  • a first selectable area F1 ,F2,F3,F6,F7,F8 configured to set a first representative value V1 of the load to be lifted by the crane 3.
  • the selectable areas comprise a touch screen display.
  • the selectable areas could be obtained as augmented reality images.
  • said second representative values V2i make it possible to set a value of extension of the stabilizing shafts 24 indicated as a percentage (for example 25%,50%,75%,100%) of the maximum extension structurally allowed.
  • the interface 300 comprises a visualization area AV configured to visualize a calculated safe load radius X of the crane 3 respect to one of its traverse axis AX2, as a function of the representative values V1 , V2i and one among the third representative values V3a, the fourth representative value ⁇ 4 ⁇ and the fifth representative value V5, wherein the step of calculating the safe load radius X is performed before stabilizing the truck-mounted crane and/or performing the operating steps
  • the visualization area AV comprises a touch screen display.
  • the visualization area AV could be obtained as augmented reality image.
  • the interface 300 show in figure 5, provides to display the load diagram before extending the outriggers with stabilizing shafts not yet on the ground (predictive mode).
  • the invention confers the main technical effect to maximize the efficiency of the truck-mounted crane while maintaining operating safety conditions.
  • the technical effect is achieved through a predictive analysis of the tolerated load radii from the axis of the column of the crane defined, in- between operating steps or prior to the actual stabilization of the truck- mounted crane and handling of the crane as a function of a provided load and of a provided positioning of the outriggers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

L'invention concerne un procédé de commande prédictive de stabilité pour grues montées sur camion, conçu pour lever des charges (P1, P2), comprenant les étapes suivantes : réglage d'une première valeur représentative (V1) de la charge à lever avec ladite grue (3); réglage de deuxièmes valeurs représentatives (V2i; i=1..n) d'extensions fournies d'arbres de stabilisation (24) de stabilisateurs (2) en fonction de conditions environnementales (C0, C1, C2) de travail pour ladite grue montée sur camion; calcul d'un rayon de charge sécurisé (X) de ladite grue (3) par rapport à son axe transversal (AX2) en fonction desdites valeurs représentatives (V1, V2i), ladite étape de calcul dudit rayon de charge sécurisé (X) étant réalisée avant la stabilisation de ladite grue et/ou la réalisation des étapes de fonctionnement. L'invention concerne également un système de commande prédictive de stabilité correspondant et une interface graphique de commande prédictive de stabilité.
EP18793479.9A 2017-10-13 2018-10-15 Procédé et système de commande prédictive de stabilité pour grues montées sur camion Pending EP3694804A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102017000115700A IT201700115700A1 (it) 2017-10-13 2017-10-13 A predictive stability control method and system for self-propelled work machines
PCT/IB2018/057962 WO2019073456A1 (fr) 2017-10-13 2018-10-15 Procédé et système de commande prédictive de stabilité pour grues montées sur camion

Publications (1)

Publication Number Publication Date
EP3694804A1 true EP3694804A1 (fr) 2020-08-19

Family

ID=61025007

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18793479.9A Pending EP3694804A1 (fr) 2017-10-13 2018-10-15 Procédé et système de commande prédictive de stabilité pour grues montées sur camion

Country Status (3)

Country Link
EP (1) EP3694804A1 (fr)
IT (1) IT201700115700A1 (fr)
WO (1) WO2019073456A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113735000B (zh) * 2021-07-29 2022-11-01 中联重科股份有限公司 用于轮胎式起重机的控制方法、控制装置及轮胎式起重机

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4027801A (en) * 1976-05-21 1977-06-07 Bucyrus-Erie Company Outrigger system for vehicles
GB2072343B (en) 1980-03-07 1983-09-21 Philips Electronic Associated Computerised safe load indicating arrangement for cranes and other lifting apparatus
US5823370A (en) 1995-03-03 1998-10-20 Komatsu Ltd. Movable range indicating apparatus for mobile crane vehicle
DE29612377U1 (de) 1996-07-23 1996-09-12 Kaulen, Ralf, Dipl.-Ing., 52064 Aachen Steuervorrichtung für ein Hubrettungsfahrzeug
JP2000034093A (ja) * 1998-07-21 2000-02-02 Kobe Steel Ltd 旋回式作業機械とその安全作業領域及び定格荷重の設定方法
US7014054B2 (en) 2002-07-01 2006-03-21 Jlg Industries, Inc. Overturning moment measurement system
DE202010014310U1 (de) * 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
DE102011119654B4 (de) * 2011-11-29 2015-11-12 Liebherr-Werk Ehingen Gmbh Mobile Arbeitsmaschine, insbesondere Fahrzeugkran
DE102014105618A1 (de) 2014-04-22 2015-10-22 Terex Cranes Germany Gmbh Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran

Also Published As

Publication number Publication date
WO2019073456A1 (fr) 2019-04-18
WO2019073456A9 (fr) 2019-09-06
IT201700115700A1 (it) 2019-04-13

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