EP3754151B1 - Method for controlling a telescopic lifting device, and telescopic lifting device - Google Patents
Method for controlling a telescopic lifting device, and telescopic lifting device Download PDFInfo
- Publication number
- EP3754151B1 EP3754151B1 EP20181243.5A EP20181243A EP3754151B1 EP 3754151 B1 EP3754151 B1 EP 3754151B1 EP 20181243 A EP20181243 A EP 20181243A EP 3754151 B1 EP3754151 B1 EP 3754151B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- arm
- support element
- lifting device
- base
- rescue support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 19
- 230000009466 transformation Effects 0.000 claims description 5
- 238000000605 extraction Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06C—LADDERS
- E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
- E06C5/02—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members
- E06C5/04—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles with rigid longitudinal members capable of being elevated or extended ; Fastening means during transport, e.g. mechanical, hydraulic
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06C—LADDERS
- E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
- E06C5/32—Accessories, e.g. brakes on ladders
- E06C5/42—Devices for altering inclination; Latching devices therefor ; Balancing arrangements
Definitions
- the present invention refers to a method for controlling a telescopic lifting device for articulate turntable ladders or rescue vehicles as well as to a telescopic lifting device for performing such method.
- the telescopic lifting device comprises, as its general main components, a set of telescopically extendable elements which can be extended or retracted in a linear direction with respect to each other.
- these telescopically extendable elements are ladder elements to be extended or retracted the whole set is pivotally mounted to a base to be elevated, i.e. lifted by an angular movement, around a horizontal pivot axis, or to be declined, i. e. lowered, in the opposite direction.
- a telescopic arm is attached to the free end of the set. It can be articulated with respect to the set and telescopically extended or retracted.
- a rescue support element is mounted at the free end of the arm. This rescue support element can be a rescue cage or a rescue stretcher to accommodate persons to be rescued.
- the telescopic arm represents a large advantage in many situations, because it extends the degrees of freedom along which the telescopic lifting device can be moved. For example, when positioned horizontally, the telescopic arm can be introduced in a linear direction into a window of a building.
- control can be automatized to some extend by implementing an automatic transformation of a control command for moving the rescue support element into movements of components of the telescopic lifting device.
- the user may input only control commands related directly to the position or the moving path of the rescue support element, while the individual movements of the components of the telescopic lifting device, including the set of telescopically extendable elements, the telescopic arm and the rescue support element, are calculated by a controller implemented into the telescopic lifting device.
- the human operator does not have to care about controlling individual drives for moving the components relative to each other but may concentrate on the position of the rescue support element.
- EP 2865842 A1 discloses a method for controlling an articulated turntable ladder of a rescue vehicle, wherein a telescopic arm attached to the free end of the ladder set is maintained in a constant absolute inclination angle when elevating or declining the ladder set with respect to the base. This method dispenses the operator from controlling the inclination angle of the arm when he intends to elevate or decline the ladder set.
- a control command for moving the rescue support element along a horizontal straight line is transformed into movements of the different components of the telescopic lifting device automatically. For example, in a forward movement of the rescue support element away from the base, a corresponding control command input by a human operator is automatically transformed into different relative movements of the components of the telescopic lifting device to result in such a horizontal movement along a linear path.
- a movement of the rescue support element might be achieved in different ways of moving the individual components relative to each other, while it is impossible for the controller of the telescopic lifting device which carries out the automatic transformation of the control command how to achieve the resulting movement, because of the absence of any priorities to be set, i. e. which component should be moved preferentially, while other components have to be calculated according to the
- a movement of the arm can be prioritized over other individual movements of components of the telescopic lifting device.
- an extraction/retraction movement of the arm may be prioritized over an extraction/retraction movement of the telescopically extendable elements of the set.
- an articulation movement of the arm i. e. an angular elevation/declination of the arm, may be prioritized over a corresponding articulation movement of the set with respect to the base.
- a human operator is dispensed from setting a priority which component of the telescopic lifting device may be moved preferentially to result in a desired movement of the rescue support element.
- Limits or different parameters defining a working condition may be pre-set and stored to be used in the calculation of the resulting movement, such as the horizontal and/or vertical distance between the rescue support element and the base, the elevation angle of the set, and its extension length.
- the arm is articulated downward and telescopically retracted. This corresponds to a movement of the rescue support element close to the base but in a certain elevation over the base, i. e. with an elevation angle of the set with respect to the base which exceeds a certain limit.
- the term "small horizontal distance” shall designate a value of the horizontal distance which is below a certain limit which can be predetermined and stored beforehand.
- the arm is articulated downward and telescopically extended.
- This might represent a rescue situation in which a rescue operation is carried out near the base (that is, below a certain distance limit) but in a very low vertical position (i.e. below a limit for the elevation angle), even below the ground level on which the base is located.
- the set as well as the arm may both be declined in a downward direction, while the additional telescopic extension of the arm positions the rescue support element even lower.
- the arm is articulated downward and telescopically retracted.
- the set can be positioned in a relatively low elevation angle but higher than the elevation angle as described above, i.e. in a rescue operation below ground level.
- the set can be positioned horizontal or in an elevation range around the horizontal position.
- the arm is articulated downward to a maximum declination determined by a load acting on a set and/or an elevation angle of the set.
- the arm is articulated upward and telescopically retracted. This corresponds to a situation in which a transport position, i. e. a non-use position of the telescopic lifting device shall be taken.
- the arm is moved into a horizontal position and telescopically extended. This corresponds to a situation in which the telescopic lifting device is close to its outreach limit, or if the rescue height shall be extended.
- the arm is articulated upward and telescopically extended. This corresponds to a position of the telescopic lifting device close to the maximum rescue height and/or a maximum possible overall extension length.
- the term "large” with respect to the elevation angle of the set may designate a value for the elevation angle which is larger than a predetermined value. The same is the case for the vertical distance between the rescue support element and the base.
- An articulation of the arm is prioritized over a telescopic extension or retraction of the arm depending on an elevation/declination speed of the set and/or an extension/retraction speed of the set.
- one of the possible movements of the arm along different degrees of freedom i. e. an articulation on one hand and a telescopic movement on the other hand
- a telescopic extension or retraction of the arm is prioritized over an articulation of the arm depending on an elevation/declination speed of the set and/or and extension/retraction speed of the set. For example, if the elevation/declination speed of the set is lower than its extension/retraction speed, a telescopic movement of the arm is prioritized over an articulation of the arm.
- FIG. 1 shows a telescopic lifting device 10, which is a turntable ladder of a firefighting vehicle.
- the vehicle 12 is located on a horizontal plane 13, representing the ground.
- a base 14 is mounted which carries a set 16 of telescopically extendable elements which can be extended or retracted in a linear direction with respect to each other. In the present example, these elements are ladder segments.
- the set 16 is pivotably mounted to the base 14 to be elevated around a horizontal pivot axis.
- a telescopic arm 18 is attached to the free end of the set, i. e. the end of the set 16 opposite to the end which is attached to the base 14. This telescopic arm 18 can be articulated with respect to the set 16 and telescopically extended and retracted.
- a rescue support element 20 is mounted, which is a rescue cage in the present example.
- Figure 1 further shows the vertical front wall 22 of a building, in front of which a rescue operation shall be carried out.
- the rescue support element 20 shall be positioned with respect to the wall 22 of the building.
- the operation space of the telescopic lifting device 10 is delimited in the lower vertical direction by the ground 13 and in one lateral direction by the wall 22 standing vertical to the ground 13.
- the telescopic lifting device 10 can be controlled by a human controller at a control stand (not shown) located at or near the base 14. Another control stand can be located at the rescue support element 20, for example, inside a rescue cage. Control commands input by the human operator at the control stand, for example, by a joystick or any other input device are transformed into different movements of components of the telescopic lifting device 10, including movements of the set 16, the telescopic arm 18 and the rescue support element 20.
- This automatic transformation includes the calculation of individual control commands for drives the different components, including an elevation drive for elevating the set 16 with respect to the base 14 around its horizontal pivot axis, a linear drive for extending or retracting the telescopically extendable elements of the set 16, an articulation drive for articulating the telescopic arm 18 with respect to the set, and a pivot drive at the free end of the arm 18 for and articulation of the rescue support element 20 with respect to the arm 18, to compensate an articulation of the arm 18 with respect to the set 16, with the result that the rescue support element 20 is maintained in a constant angular position.
- the control command for moving the rescue support element 20, which is input by the user, is a command related directly to an absolute movement of the rescue support element 20 within the working space.
- a control command for moving the rescue support element 20 may include a vertical movement, a horizontal movement, a lateral movement, etc.
- this control command is transformed into individual movements of the components of the telescopic lifting device 10.
- this "UP" command is automatically transformed into a complex movement of the individual components of the telescopic lifting device 10.
- the elevation of the set 16 with respect to the base 14 is increased.
- the set 16 is telescopically extended, and the angle between the telescopic arm 18 and the set 16 as well as the angle between the rescue support element 20 and the telescopic arm 18 is adapted accordingly.
- a movement of the arm 18 includes an articulation of the arm 18 with respect to the set 16 and/or a telescopic extension or retraction of the arm 18.
- Such a movement including an articulation movement as well as a telescopic movement, as described above, is controlled according to a working condition of the telescopic lifting device 10.
- This working condition includes at least one of the following parameters:
- the horizontal distance between the rescue support element 20 and the base 14 is small, i.e. being beneath a certain threshold, while at the same time, the elevation angle of the set 16 is large, i. e. it exceeds a certain threshold.
- the arm 18 is articulated downward and telescopically retracted. This means that in a situation which the rescue support element 20 is moved close enough to the base 14 in the horizontal direction, beneath a certain limit, and the elevation angle of the set 16 is large at the same time, an automatic preference is set to articulate the arm 18 downward and to retract it telescopically. In the present case, the arm 18 is articulated downward to a maximum declination which is determined by a load acting on the set 16 and/or an elevation angle of the set.
- Figure 2 shows a different situation on rescuing persons from low heights, below the level of the ground 13.
- the rescue support element 20 is moved such that the horizontal distance between the rescue support element 20 and the base 14 is still small, while the elevation angle of the set 16 is extremely low, i. e. below a certain limit.
- the preference of the movement of the arm 16 is set such that the arm 18 is articulated downward but telescopically extended.
- Figure 3 shows a situation in which the rescue support element 20 is moved close to the base 14, even closer than in the situation in Figure 2 , and the elevation angle of the set 16 is low, i.e. horizontal or in a relatively low range of the elevation angle somewhat higher than in Figure 2 .
- the rescue support element 20 can be moved close to the ground 13 to allow persons to enter or leave the rescue support element 20.
- the preference of the movement of the arm 18 is set such that the arm 18 is articulated downward but telescopically retracted.
- FIG. 4 shows a different situation in which the telescopic lifting device 10 is close to its outreach limit, such that the rescue support element 20 takes a maximum distance from the base 14 in the horizontal direction.
- the elevation angle of the set 16 with respect to the base 14 is large. The arm 18 is moved into a horizontal position and telescopically extended, so that the maximum outreach in the horizontal direction is possible.
- Figure 5 shows a situation different from Figure 4 , in which the elevation angle of the set 16 is also high, but it is desired to move the rescue support element 20 towards its maximum rescue height, i. e. the vertical distance between the rescue support element 20 and the base 14 shall be large.
- the arm 18 is articulated upward and telescopically extended.
- the articulation movement of the arm 18 and its telescopic movement can be performed at the same time.
- the articulation of the arm 18 may be prioritized over a telescopic extension or retraction of the arm 18, depending on an elevation/declination speed of the set 16 and/or an extension/retraction speed of the set 16. For example, if the elevation/declination speed of the set 16 is higher than the extraction/retraction speed of the set 16, the articulation movement of the arm 18 has priority, because the arm 18 has to compensate an angular change of the set 16. On the other hand, if the elevation/declination speed of the set 16 is lower than the extraction/retraction speed of the set 16, the telescopic movement of the arm 18 has priority over the articulation movement of the arm 18.
- the present invention is also applicable to an embodiment of the telescopic lifting device 10 in which the rescue support element 20 is moved in a linear vertical direction according to a simple UP/DOWN input control command of the user, which is performed by combined movement of the components of the telescopic lifting device 10.
- any formulations like "a horizontal/vertical distance between any two components being small/large” shall designate that this distance shall be below/above a certain predetermined limit.
- a formulation saying that an elevation angle of an element being small/large shall designate that this elevation angle is below/above a certain limit.
- Such limits can be set in advance before operating the telescopic lifting device 10.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Vehicle Body Suspensions (AREA)
- Ladders (AREA)
- Fluid-Damping Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Emergency Lowering Means (AREA)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IT102019000009738A IT201900009738A1 (it) | 2019-06-21 | 2019-06-21 | Metodo per controllare un dispositivo di sollevamento telescopico e dispositivo di sollevamento telescopico |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3754151A1 EP3754151A1 (en) | 2020-12-23 |
EP3754151B1 true EP3754151B1 (en) | 2022-06-01 |
Family
ID=68073104
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20181243.5A Active EP3754151B1 (en) | 2019-06-21 | 2020-06-19 | Method for controlling a telescopic lifting device, and telescopic lifting device |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3754151B1 (it) |
ES (1) | ES2919232T3 (it) |
IT (1) | IT201900009738A1 (it) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1726773B1 (en) * | 2005-05-25 | 2013-06-19 | Iveco Magirus Ag | Turntable ladder for rescue vehicles |
EP2022749B1 (en) * | 2007-08-10 | 2014-06-18 | Iveco Magirus Ag | Turntable ladder |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2684836A1 (en) * | 2012-07-12 | 2014-01-15 | Miguel Leon Gonzalez | Direction and speed control device for telescopic and articulated hydraulic lifting equipments. |
EP2865842B1 (en) | 2013-10-24 | 2016-09-14 | Iveco Magirus Ag | Method for controlling an articulated turntable ladder of a rescue vehicle |
-
2019
- 2019-06-21 IT IT102019000009738A patent/IT201900009738A1/it unknown
-
2020
- 2020-06-19 EP EP20181243.5A patent/EP3754151B1/en active Active
- 2020-06-19 ES ES20181243T patent/ES2919232T3/es active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1726773B1 (en) * | 2005-05-25 | 2013-06-19 | Iveco Magirus Ag | Turntable ladder for rescue vehicles |
EP2022749B1 (en) * | 2007-08-10 | 2014-06-18 | Iveco Magirus Ag | Turntable ladder |
Also Published As
Publication number | Publication date |
---|---|
EP3754151A1 (en) | 2020-12-23 |
IT201900009738A1 (it) | 2020-12-21 |
ES2919232T3 (es) | 2022-07-22 |
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