EP3713867A1 - Grue muni d'un dispositif anti-collision et procédé pour faire fonctionner plusieurs grues de ce type - Google Patents

Grue muni d'un dispositif anti-collision et procédé pour faire fonctionner plusieurs grues de ce type

Info

Publication number
EP3713867A1
EP3713867A1 EP19700636.4A EP19700636A EP3713867A1 EP 3713867 A1 EP3713867 A1 EP 3713867A1 EP 19700636 A EP19700636 A EP 19700636A EP 3713867 A1 EP3713867 A1 EP 3713867A1
Authority
EP
European Patent Office
Prior art keywords
crane
movement
collision
control
remote control
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.)
Granted
Application number
EP19700636.4A
Other languages
German (de)
English (en)
Other versions
EP3713867B1 (fr
Inventor
Christoph Eiwan
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.)
Liebherr Werk Biberach GmbH
Original Assignee
Liebherr Werk Biberach GmbH
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 Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Publication of EP3713867A1 publication Critical patent/EP3713867A1/fr
Application granted granted Critical
Publication of EP3713867B1 publication Critical patent/EP3713867B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—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
    • 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 method for operating a plurality of cranes whose movements are monitored by anti-collision devices of the cranes for impending collisions, as well as cranes with at least one movement device for moving a crane element, a control unit for controlling the movement device and an anti Collision device for monitoring the crane movements of the crane element for possible collisions with another crane.
  • the said anti-collision devices can determine the position or position and movement of the own crane via a suitable sensor system, for example by a rotary encoder on the slewing gear, the alignment of the boom about the upright axis of rotation, by a rocker sensor the rocking position of the interpretive or by a trolley sensor, the position of the trolley on the boom and thus the projection of the hoisting rope.
  • a suitable sensor system for example by a rotary encoder on the slewing gear, the alignment of the boom about the upright axis of rotation, by a rocker sensor the rocking position of the interpretive or by a trolley sensor, the position of the trolley on the boom and thus the projection of the hoisting rope.
  • the anti-collision device uses the sensor-detected crane position to know when the crane is moving in the aforementioned overlap area, which carries the risk of collision with another crane.
  • the anti-collision devices of the cranes can communicate with each other, so that each anti-collision device knows whether the other crane is also moving or heading in the overlapping area.
  • the anti-collision devices transmit the respective sensory or otherwise determined position and / or status data of "their" crane to the anti-collision devices of the other cranes, so that the anti-collision device of a respective one Krans can take into account the position and / or condition data of the other cranes when it comes to deciding whether to intervene in the crane control and to influence, in particular to stop, a respective crane movement.
  • an anti-collision system which includes the anti-collision devices of the individual cranes connected via a network, may, in certain situations, bring about restrictions which undesirably hinder the construction site operation.
  • a crane is out of operation, for example, in the wind release, it is usually not possible to drive out this unoccupied crane from the collision area, so that another crane whose working area overlaps with the unoccupied crane, hampered in its operating radius accordingly is.
  • the anti-collision device only the movements of the own crane depending on the Position and / or status information of the other crane may affect the unoccupied crane can not be operated and moved away.
  • a crane operator must come to activate the unoccupied crane and drive out of the collision area, or the work task of the disabled crane must be postponed until the unoccupied crane is again occupied.
  • the document FR 30 30 469 A1 proposes not entirely using an unoccupied crane in the wind release position but put into an autopilot mode, in which the crane can freely align itself with the wind, as long as no other crane wants to drive in the collision area. However, if an adjacent crane wants to drive into the collision area, the autopilot function controls the unoccupied crane automatically from the overlap area.
  • the unoccupied crane anti-collision device continues to receive the position data of the adjacent crane, and then, if the adjacent crane approaches the overlap area, the unoccupied crane necessary to automatically move out of the overlap area, the crane is only rotated so far that its boom extends approximately tangentially to the circular working area of the adjacent crane to keep the threat of additional wind resistance as small as possible.
  • the present invention is therefore based on the object to provide an improved method and an improved crane of the type mentioned, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner.
  • an improved use and training of the anti-collision device is to be created, which safely prevents collisions but at the same time avoids unwanted obstructions of work tasks, without requiring complex crane control retrofits.
  • the control commands are transmitted via the network of anti-collision devices, via which the position and / or condition data of the cranes are otherwise transmitted between the anti-collision devices.
  • the use of the communication network between the anti-collision devices is particularly advantageous because the already existing infrastructure is used and the anti-collision devices can directly monitor the expected movements based on the control commands.
  • the said control commands for remote control of the crane to be moved away can be generated on the aforementioned first crane in a different manner.
  • the control unit and its input means can be used, which is present per se for controlling the first crane.
  • the control commands for remotely controlling the second crane may be generated by actuating the input means of the control unit of the first crane and then transmitted to said second crane by said remote control communication link.
  • the said input means may be designed to be manually operable, but may also include other input means which are, for example, acoustically or by gesture control or otherwise operable.
  • Such input means may comprise, for example, a joystick, actuation switch and / or slider, a rotary knob or a touchscreen.
  • said input means may be provided in the crane operator cab of the respective crane. If appropriate, however, the input means can also be used for a portable actuating and / or control unit of the first crane, by means of which said first crane can be actuated by a crane operator who is on the ground. Since the "own" first crane, to which the control unit together with input means belongs, is shut down, the control commands generated here are not executed by the first crane itself, but can be transmitted via the remote control connection to the second crane.
  • the Control unit of the first crane and / or its anti-collision device operates in a remote control mode, in which the control commands generated on the input means are not used to control the drives of the own crane, but are sent via the remote control connection to the second crane.
  • control commands for remote control of the second crane can also be generated automatically or semi-automatically by a motion control module of the anti-collision device of the first crane if the first crane has been stopped in the above-mentioned manner and the remote control connection to the second crane Crane was built.
  • a motion control module can be embodied, for example, in the form of a software component in the electronically designed anti-collision device and stored there, for example in a memory, and processed by a microprocessor of the anti-collision device.
  • Said movement control module can in this case generate the control commands for remotely controlling the second crane and moving the second crane out of the collision area on the basis of the position and / or status data which the second crane transmits to the first crane and / or on the basis of the position and or status data determined by the anti-collision device of the first crane with respect to the first crane.
  • a semiautomatic generation of the control commands for remote control of the moving away crane by said movement control module of the anti-Kollisons device of the first crane can take place, for example, such that the crane operator of the first crane is made a proposal for a corresponding control command, for example, is displayed on a display or another display device, if necessary in combination with a confirmation request, so that the crane operator can confirm the proposed control command, if he considers it useful.
  • the generation of the control commands for remote control of the second crane on the first crane can also be fully automatic.
  • the second crane can also be completely remotely controlled manually, which may also include acoustical, genetic engineering or other control inputs.
  • the crane operator of the first crane can actuate its crane control and the associated input means in a manner known per se in order to remotely control the second crane and to move it out of the collision area.
  • This allows a particularly simple design of the crane control units, which can remain conventionally formed per se and can only be provided with an interface for receiving and / or outputting remote control commands.
  • the remote control commands received at the control unit of the second crane are processed in a conventional manner by the control unit of the second crane, in particular how control signals are handled which would have been input to the input means of the control unit of the second crane itself.
  • the control unit of the second crane can convert the received remote control signals into corresponding control signals to the at least one movement device of the second crane in order to start or accelerate their drives or to stop them.
  • various movements can be remotely controlled via the remote control device of the anti-collision devices.
  • the slewing gear of the second crane can be actuated in order to turn its boom about an upright axis and thereby move it out of the collision area.
  • said remote control means may cause movement of the trolley of the second crane.
  • the remote control device can also resolve a collision by tipping the boom of the second crane and thereby reducing its outreach, which, for example, in FIG Combined with a twisting of the boom about its upright axis can take place.
  • the aforementioned steps of stopping the first crane and setting up the remote control connection are carried out in a sequential manner in an orderly manner.
  • first the first crane can be stopped before the remote control connection between the first crane and the second crane is set up.
  • the remote control connection can first be interrupted again before the first crane is started again.
  • the said stopping of the first crane may include that all drive devices are out of gear or stopped or deactivated and the associated movement devices are braked.
  • the turntable for rotating the boom about an upright axis and / or the hoist for raising and lowering a hoisting rope and the load hook attached thereto and / or a trolley drive for moving a trolley can be stopped and braked.
  • said shutdown of the first crane may continue to include in that the control command connections between the control unit of the first crane and its movement devices are deactivated and / or the drive devices are decoupled by the control unit and / or the generated control commands are, so to speak, diverted to the remote control device.
  • the signal outputs of the input means can be switched to the remote control module and separated from the usual control signal connections to the drive means of the first crane. This can be achieved by appropriate hardware soft, but also software technology, for example, by a corresponding data bus control done.
  • the described remote control module can not only be used to move an unoccupied, interfering crane out of the overlap area, but also be used for other crane work tasks.
  • crane movements of several cranes, such as tandem hoppers, coordinated with one another can thereby be controlled and executed in a simple manner.
  • a plurality of cranes can be moved in a coordinated manner by determining, at least on a first crane, motion and / or position and / or status data and / or control commands for moving the first crane during the coordinated movement of its anti-collision device and transmitted to a second crane, wherein the motion and / or position and / or status data and / or control commands of the first crane determined on the first crane are displayed on a display device on the second crane and or be used by the control unit of said second crane for controlling at least one movement device of the first and / or second crane for carrying out the coordinated movement.
  • the data or information and / or control commands transmitted by the interconnected anti-collision devices can also be used to to influence the crane movements to be coordinated semi-automatically or fully automatically.
  • one of the cranes or its control unit can process the transmitted position and / or movement and / or status data and / or the transmitted control commands in such a way that at least one movement device is activated in such a way that that the crane receiving the said data or control commands carries out a crane movement which images the crane movement of the other crane in the desired manner.
  • a synchronous crane movement can be carried out on the basis of the received data and / or control commands.
  • the control commands generated on a crane can be used to control the drives of the "own" crane as well as by remote control transmission to control the drives of at least one other crane, so that a crane operator on the first crane simultaneously controls the second crane or two cranes are simultaneously actuated with a control unit of a crane.
  • control unit of a respective crane can have a slave operating mode in which the control unit of the crane controls at least one movement device on the basis of the transmitted movement data and / or control commands in such a way that the crane controls the crane movements of the crane transmitting the data the desired manner, in particular at least approximately synchronously or, for example, in opposite directions, follows.
  • the crane movements can be matched to one another on the basis of the alternately transmitted motion and / or position and / or status data and / or control commands, which are provided by the anti-collision devices communicating with one another For example, the cranes perform a tandem stroke.
  • At least the control unit of a crane can have a teach-in mode, in which the control unit learns a movement sequence and / or a movement path on the basis of movement and / or position data and / or control commands be transmitted to another crane.
  • the aforementioned remote control mode can be used to teach the crane to be remotely controlled a trajectory, which can then be recalled in order to carry out the said tandem stroke or another coordinated crane stroke together with another crane.
  • the corresponding data and control commands can also be transmitted via the communication network of the anti-collision devices.
  • Fig. 1 a schematic representation of two cranes, partially overlapping
  • Fig. 2 a plan view of the two cranes of Fig. 1, the overlapping
  • FIG. 3 shows a schematic side view of the two cranes from FIG. 1 during the execution of a tandem stroke.
  • the cranes 1 and 2 can each be designed as tower cranes
  • the boom 3 is in each case sitting on a tower 4 and can be rotated about an upright axis by means of a slewing gear 5, wherein the cranes are designed as toppers or bottom rotors can.
  • a trolley 6 can be moved by means of a trolley 7 along said boom 3 in order to be able to change the outreach of the hoist rope 8 leaving the trolley 6 and the load hook 9 fastened thereto.
  • the said hoist rope 8 can be overtaken or lowered by a hoist 10 in order to raise or lower the load hook 9.
  • the cranes 1 and 2 may have substantially circular working areas 11 and 12, respectively, which partially overlap, the overlapping of the working areas 11 and 12 being indicated by the reference numeral 130.
  • the aforementioned work areas 11 and 12 come about by the rotatability of the boom 3 and the mobility of the trolley 6.
  • the jibs 3 of the cranes 1 and 2 can be arranged at different heights so that the jibs 3 can be moved one above the other or with one another. However, depending on the position of the trolley 6, collisions with the running hoist rope 8 can nevertheless occur. However, it is understood that the cranes 1 and 2 with their arms 3 can also be arranged at the same height, so that then the arms 3 themselves could collide with each other.
  • Each of the cranes 1 and 2 has a crane control with an electronic control unit 13, which may have, for example, a microprocessor in order to be able to execute control programs stored in a memory.
  • each crane comprises a sensor 14 in order to be able to determine movements and / or the position of the movable crane elements, in particular the rotary position of the boom 3, the position of the trolley 6 on the respective boom 3 and the height of the load hook 9 This can be determined, for example, by sensors associated with the slewing gear 5, the trolley 7 and the hoist 10. are net.
  • GPS sensors may also be used which can determine the positions of the crane elements in a global positioning system. Other determining means such as radar sensors may also be provided.
  • Input means 15 for inputting control commands which control the crane movements can be connected to said control unit 13.
  • the aforementioned input means 15 may be provided, for example, in a crane cab 16.
  • each of the cranes 1 and 2 comprises an anti-collision device 17 and 18 which monitors the crane movements of the respective crane, for example by evaluating the signals of said sensors 14.
  • the anti-collision devices can be used.
  • Devices 17 and 18 of the cranes 1 and 2 communicate with each other via a communication network 19 of the anti-collision system 20, to which the anti-collision devices 17 and 18 belong, so that the collision-prone cranes 1 and 2 or the anti-collision devices 17 and 18 each know in which position the other crane is located or which movement the other crane is currently executing.
  • the anticollision devices 17 and 18 transmit position and / or movement and / or status data of "their" crane to the respectively other crane via the said communication connection 19 of the anti-collision system 20.
  • the anti-collision devices 17 and 18 can respectively evaluate the data mentioned and, for example, execute a collision determination program which can be stored in a memory and executed by a microprocessor of the electronic anti-collision device. If a collision threatens, the respective anti-collision device 17 or 18 can intervene in the control of its own crane and, for example, display a warning signal to the crane driver and / or stop the movement of the crane. If a collision with an unoccupied out-of-gear crane threatens a movement to be executed, the following can be done:
  • the anti-collision Device 17 of the first crane 1 first a warning signal and optionally engages in the crane control of the first crane 1 in order to stop the crane movement and to prevent a collision.
  • the anti-collision device 17 of the first crane 1 stops the first crane 1, for which purpose the drives are stopped and the movement devices can be braked, in particular Furthermore, the control unit 13 can be switched to a remote control mode and / or the control command connection of the control unit 13 of the first crane 1 to its drive devices can be deactivated, so that actuation of the input means 15 can not cause any movement on the first crane.
  • a wake-up signal from the first crane 1 to the second crane 2 can also be sent via the communication network 19 of the anti-collision system 20 to wake up its control unit 13 and switch it to a remote control mode , Said wake-up signal can be generated by the anti-collision device 17 of the first crane or its control unit 13 and sent via the network 19 to the second crane 2.
  • a remote connection or a remote control connection 21 between the cranes can be set up via the communication network 19 of the anti-collision system 20 in order to operate on the cranes first crane 1 generated control commands to transmit the second crane 2.
  • the said control commands can be generated by actuating the input means 15 of the control unit 13 of the first crane so that the crane operator of the first crane 1 controls the second crane in a conventional manner and out of the collision area, ie the overlapping area 130 , can move out.
  • the first crane 1 or its anti-collision device 17 and / or its control unit 13 then logs off again from the second crane 2 and logs on again into its own control system.
  • the aforementioned remote control connection 21 is deactivated again and the control unit 13 of the first crane 1 is set back from the aforementioned remote control mode into the normal operating mode, in order to control its own drive devices.
  • the first crane 1 can perform the intended crane movement into and over the lap area 130.
  • FIG. 3 illustrates a further possible use which makes the said remote control mode or the communication via the anti-collision system 20 possible.
  • the two cranes 1 and 2 can carry out coordinated crane movements in a simple manner, for example in the form of a tandem stroke, in which a common workpiece 22 is fastened to the load hooks 9 of both cranes 1 and 2 and shared by both cranes 1 and 2 is lifted.
  • the workpiece 22 can be raised from a first point to a second point and / or lowered and / or moved, the travel can be linear or curved, with the workpiece 22 retain its orientation or angular position in space or can also be twisted.
  • the anti-collision devices 17 and 18 communicating with each other transmit the position and / or movement and / or status data respectively determined to their crane to the other crane, wherein they be displayed on the respective receiving crane, for example on a display that can see the crane operator.
  • the respective crane operator always knows currently in which position or position the respective other crane is located or in which direction the respective other crane is moving.
  • control commands can also be transmitted from one crane to the other crane and possibly displayed there, the control commands, for example, being generated on the first crane 1 by actuating its input means and correspondingly moving the first crane, onto the second crane 2 can be transmitted. If the control commands are displayed there, that is to say on the second crane 2, the crane operator located there can simulate the corresponding control commands accordingly.
  • crane-to-crane-transmitting control commands can also be used in a remote control mode to move the crane receiving the control commands synchronously with the crane transmitting the control commands.
  • the receiving control unit may appropriately implement the commands to move the receiving crane in synchronism with the transmitting crane.
  • a crane can also be taught in a corresponding manner in order to learn a desired movement path in a teach-in mode, which can then be activated or called up for a coordinated movement of the two cranes.

Landscapes

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

Abstract

L'invention concerne un procédé pour faire fonctionner une pluralité de grues (1, 2) dont les mouvements sont surveillés par des dispositifs anti-collision des grues afin de détecter des collisions imminentes, et des grues ayant au moins un dispositif de déplacement pour déplacer un élément de grue, une unité de commande (13) pour commander le dispositif de déplacement et un dispositif anti-collision (17, 18) pour surveiller les mouvements de grue de l'élément de grue pour détecter des collisions possibles avec un autre grue. Selon l'invention, en cas de collision imminente entre une première grue (1) en service et une deuxième grue (2) hors service, la première grue est arrêtée, une connexion de commande à distance (21) est établie entre la première grue et la deuxième grue, la deuxième grue est sortie, par des instructions de commande qui sont émises sur la première grue (1) arrêtée et sont transmis à la deuxième grue (2) qui est hors service au moyen de la connexion de commande à distance (21), de la zone de collision (130) qui interfère avec un mouvement prévu de la première grue, et la deuxième grue est arrêtée après le mouvement commandé à distance hors de la zone de collision et la première grue est redémarrée afin que la première grue puisse exécuter sa tâche.
EP19700636.4A 2018-01-04 2019-01-04 Grue muni d'un dispositif anti-collision et procédé pour faire fonctionner plusieurs grues de ce type Active EP3713867B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018100133.9A DE102018100133A1 (de) 2018-01-04 2018-01-04 Kran mit Anti-Kollisions-Einrichtung sowie Verfahren zum Betreiben mehrerer solcher Krane
PCT/EP2019/050155 WO2019134966A1 (fr) 2018-01-04 2019-01-04 Grue muni d'un dispositif anti-collision et procédé pour faire fonctionner plusieurs grues de ce type

Publications (2)

Publication Number Publication Date
EP3713867A1 true EP3713867A1 (fr) 2020-09-30
EP3713867B1 EP3713867B1 (fr) 2023-07-26

Family

ID=65031026

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19700636.4A Active EP3713867B1 (fr) 2018-01-04 2019-01-04 Grue muni d'un dispositif anti-collision et procédé pour faire fonctionner plusieurs grues de ce type

Country Status (7)

Country Link
US (1) US11286137B2 (fr)
EP (1) EP3713867B1 (fr)
CN (1) CN111712458B (fr)
BR (1) BR112020013525A2 (fr)
DE (1) DE102018100133A1 (fr)
ES (1) ES2960799T3 (fr)
WO (1) WO2019134966A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018100133A1 (de) 2018-01-04 2019-07-04 Liebherr-Werk Biberach Gmbh Kran mit Anti-Kollisions-Einrichtung sowie Verfahren zum Betreiben mehrerer solcher Krane
JP7443710B2 (ja) * 2019-09-20 2024-03-06 株式会社タダノ 作業車両連携システムおよび高所作業車
CN112073090B (zh) * 2020-11-13 2021-04-02 新乡先立起重机电科技有限公司 起重机监控数据的处理方法及系统
FR3132293B1 (fr) 2022-02-01 2023-12-15 Manitowoc Crane Group France Procédé de pilotage automatique pour une orientation de mise en sécurité autonome de la flèche en risque d’interférence
DE102022126938A1 (de) 2022-10-14 2024-04-25 Liebherr-Werk Biberach Gmbh Anti-Kollisionseinrichtung für Baumaschinen sowie Verfahren zum Betreiben mehrerer Baumaschinen

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2715391B1 (fr) * 1994-01-24 1996-03-22 Lorraine Laminage Dispositif et procédé d'anticollision pour un mobile.
JP2008509058A (ja) * 2004-05-14 2008-03-27 パセコ コーポレイション コンテナ荷捌機用ステータス報告デバイスを作成するための方法及び装置
FR2876992B1 (fr) * 2004-10-27 2007-04-13 Materiel Ind Et D Equipement S Procede et dispositif de commande de mise en girouette automatique d'une grue a tour
DE102006040782A1 (de) * 2006-08-31 2008-03-20 Liebherr-Werk Nenzing Gmbh, Nenzing Sicherungs- und Steuerungsverfahren für Krane
US9415976B2 (en) * 2012-05-10 2016-08-16 Trimble Navigation Limited Crane collision avoidance
KR20140132602A (ko) * 2013-05-08 2014-11-18 김헌성 타워크레인의 원격관리장치
CA3021671C (fr) * 2014-05-16 2020-12-15 Laird Technologies Inc. Procede, systeme et dispositifs associes permettant de faire fonctionner de multiples grues simultanement.
FR3030469B1 (fr) 2014-12-22 2017-01-27 Bouygues Construction Materiel Pilotage automatise d'une grue sans grutier et systeme associe
DE102015010726A1 (de) * 2015-08-17 2017-02-23 Liebherr-Werk Biberach Gmbh Verfahren zur Baustellenüberwachung, Arbeitsmaschine und System zur Baustellenüberwachung
DK179592B1 (en) * 2016-03-21 2019-02-22 Apm Terminals Management Bv Communication device for a container handling equipment device and communication method
DK179085B1 (en) * 2016-03-21 2017-10-16 Apm Terminals Man Bv Container handling equipment controller arrangement
DE102016004266A1 (de) * 2016-04-08 2017-10-12 Liebherr-Werk Biberach Gmbh Baumaschine, insbesondere Kran, und Verfahren zu deren Steuerung
NL2021043B1 (en) * 2018-06-01 2019-12-10 Itrec Bv Offshore wind turbine installation vessel and a crane for providing such a vessel and method for upending a monopile
DE102018100133A1 (de) 2018-01-04 2019-07-04 Liebherr-Werk Biberach Gmbh Kran mit Anti-Kollisions-Einrichtung sowie Verfahren zum Betreiben mehrerer solcher Krane

Also Published As

Publication number Publication date
CN111712458A (zh) 2020-09-25
US20200399098A1 (en) 2020-12-24
CN111712458B (zh) 2022-10-28
EP3713867B1 (fr) 2023-07-26
ES2960799T3 (es) 2024-03-06
WO2019134966A1 (fr) 2019-07-11
DE102018100133A1 (de) 2019-07-04
RU2020125401A3 (fr) 2022-04-18
BR112020013525A2 (pt) 2020-12-01
US11286137B2 (en) 2022-03-29
RU2020125401A (ru) 2022-02-04

Similar Documents

Publication Publication Date Title
EP3713867B1 (fr) Grue muni d'un dispositif anti-collision et procédé pour faire fonctionner plusieurs grues de ce type
EP2139803B1 (fr) Procédé pour assurer la commande d'un dispositif de déplacement de charge et commande de dispositif de déplacement de charge
EP3365211B1 (fr) Procédé et dispositif pour réduire le risque de collision d'un véhicule à moteur avec un objet
EP2748101B1 (fr) Procédé et système de commande permettant de faire fonctionner parallèlement au moins deux engins de levage, notamment des grues
EP1894882B1 (fr) Procédé de protection et de commande pour grue
EP3099618B1 (fr) Commande de grue
EP3303732B1 (fr) Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable
EP2650161A1 (fr) Engin ou véhicule utilitaire avec actionneurs multifonction pour des fonctions essentielles de conduite et de travail
DE102012108949B4 (de) Steuernde Kommunikationseinrichtung, gesteuerte Körper-Kommunikationseinrichtung und Steuerungs-Kommunikationssystem
DE102009016366A1 (de) Kran sowie Verfahren und System zum Betreiben eines Krans mit Hilfe von GPS
EP3622114A1 (fr) Procédé pour la commande d'un engin de pose de voie
DE102015215807A1 (de) Entfernte Fahrerunterstützung
EP3625783B1 (fr) Commutateur de commande, système de commande et procédé de commande d'une grue
DE19931301B4 (de) Verfahren und Vorrichtung zum Führen eines Kranlasthakens
WO2020104273A1 (fr) Grue avec un dispositif anti-collision ainsi que procédé de réglage d'un tel dispositif anti-collision
EP3368462B1 (fr) Procédé pour faire fonctionner au moins deux appareils de levage en groupe, et ensemble comportant au moins deux appareils de levage
EP3631587A1 (fr) Procédé de fonctionnement d'une installation de production et de construction de l'installation de production
EP0747535A1 (fr) Dispositif et procédé pour déplacer des bâtiments
EP3128170B1 (fr) Éolienne avec entrainement azimutal
EP3270238B1 (fr) Procédé de commande d'un entraînement
EP2315090B1 (fr) Méthode de commande en temps réel pour un dispositif de commande d'un processus industriel et méthode de commande en temps réel pour un ordinateur
EP3017918B1 (fr) Parties souples a cadence optimisee d'un espace de travail pour robot
DE10063674B4 (de) Numerische Steuerung und Verfahren zum automatischen Freifahren einer Achse nach einem Überfahren sicherer Endlagen
DE102020102210A1 (de) Mobile Baumaschine und Verfahren zur Steuerung einer mobilen Baumaschine
DE102007061901B4 (de) Verfahren zum Betrieb eines Cabrioletverdeck-Steuergeräts sowie zur Ausführung des Verfahrens vorgesehenes Steuergerät

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200623

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20210715

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20230302

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230704

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502019008647

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230726

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231027

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231126

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231127

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231026

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231126

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20231027

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2960799

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20240306

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20240201

Year of fee payment: 6

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20240124

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230726

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240201

Year of fee payment: 6

Ref country code: GB

Payment date: 20240124

Year of fee payment: 6

Ref country code: CH

Payment date: 20240202

Year of fee payment: 6