EP3912950A1 - System zur steuerung der betriebsarten eines mobilen krans auf einer baustelle - Google Patents

System zur steuerung der betriebsarten eines mobilen krans auf einer baustelle Download PDF

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Publication number
EP3912950A1
EP3912950A1 EP21305368.9A EP21305368A EP3912950A1 EP 3912950 A1 EP3912950 A1 EP 3912950A1 EP 21305368 A EP21305368 A EP 21305368A EP 3912950 A1 EP3912950 A1 EP 3912950A1
Authority
EP
European Patent Office
Prior art keywords
crane
mobile
mode
mobile crane
site
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
EP21305368.9A
Other languages
English (en)
French (fr)
Other versions
EP3912950C0 (de
EP3912950B1 (de
Inventor
Mohamed CHETTIBI
Mikael PATINET
Frédéric VISSEROT
Jean-Claude Billebaut
Said RKHAMI
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.)
Amcs Technologies
Original Assignee
Amcs Technologies
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 Amcs Technologies filed Critical Amcs Technologies
Priority to EP21305368.9A priority Critical patent/EP3912950B1/de
Publication of EP3912950A1 publication Critical patent/EP3912950A1/de
Priority to PCT/EP2022/055992 priority patent/WO2022200041A1/fr
Priority to IL305822A priority patent/IL305822A/en
Priority to US18/282,550 priority patent/US20240158209A1/en
Application granted granted Critical
Publication of EP3912950C0 publication Critical patent/EP3912950C0/de
Publication of EP3912950B1 publication Critical patent/EP3912950B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/084—Protection measures

Definitions

  • the subject of the invention is a system for managing different working modes of a mobile crane on a building site and an anti-collision management system for a crane on a building site on which a mobile crane is arranged and equipped with a work mode management system according to the invention.
  • This type of anti-collision system comprises a set of sensors making it possible to determine in real time the position and orientation of the crane jib as well as the position of the crane hook.
  • the collision avoidance system can be used to avoid a collision with existing structures on the job site.
  • the anti-collision system uses a site map, defines so-called prohibited zones in which the hook and / or the crane jib must not be located at the risk of having a collision or a load drop.
  • the anti-collision system detects that the boom or the crane hook is approaching a prohibited zone, it is possible to trigger an alarm for the crane operator or to act directly on the crane controls to limit the movement and thus avoid any risk of collision.
  • Anti-collision systems also allow the management of complex construction sites in which several construction machines can work simultaneously.
  • the anti-collision device of a crane needs to know in real time the position of other cranes likely to collide with it.
  • the figure 1 illustrates a configuration in which two cranes, G1 and G2, work simultaneously on a site. As shown on the figure 1 , it is possible to define for each crane a work zone Z1, respectively Z2 in which the jib of each crane can move.
  • the Applicant's anti-collision system makes it possible to avoid the risk of collision between the two cranes G1 and G2, in particular in the interference zone ZI.
  • the anti-collision system allows the two cranes to find themselves simultaneously in the interference zone.
  • the system will limit the movements of one crane or the other when it determines (through the calculation of positions) that the elements of the cranes (boom, hook, etc.) are approaching dangerously.
  • This anti-collision system requires real-time knowledge of the positions of each crane. Site cranes must therefore communicate their respective positions in real time.
  • the anti-collision devices of the other cranes treat the zone of common interference with the faulty crane as a prohibited zone. This action is commonly referred to as activating the positive safety of the collision avoidance device.
  • the G2 crane anti-collision device will treat the interference zone as a forbidden zone and prevent the operator of the G2 crane. to go to said area.
  • An object of the present invention is to provide a system for solving this problem.
  • a system for managing the working modes of a mobile crane on a site makes it possible to limit the impact of a positioning fault of a fixed crane on a site having an anti-collision device.
  • the working mode management module makes it possible to distinguish between situations in which the mobile crane is moving from situations in which the mobile crane is stationary on the site.
  • the mobile crane when in “fixed work” mode, it can be treated by the anti-collision system like a fixed crane in the event of a fault in its position.
  • the prohibited zone does not necessarily extend to the entire site, making it possible to limit the prohibited zone to the zone around the fixed position of the mobile crane, thus preserving the productivity of the site.
  • the anti-collision system according to the invention taking into account the working modes of the mobile crane, the loss of productivity in the event of a fault in the mobile crane is limited.
  • the invention relates to a system 10 for managing different working modes of a mobile crane on a construction site.
  • a mobile crane is understood to mean a crane configured to move freely on a site, unlike a fixed crane or tower crane whose base is fixed or translates on a rail in a predefined direction.
  • a mobile crane also known as a truck crane, truck mounted crane, self-propelled crane, can move on wheels or on crawlers before being deployed to allow the handling of loads.
  • the position sensor 12 of the mobile crane on the site makes it possible to determine the position of at least one reference point of the mobile crane on the site.
  • the position of the mobile crane can be expressed in a site reference frame.
  • the position sensor 12 is configured to allow a geolocation function by a satellite positioning system (GNSS), for example the GPS, Galileo or Glonass system.
  • GNSS satellite positioning system
  • the position sensor 12 can also be configured to communicate with a GNSS correction system.
  • the position sensor 14 of the mobile crane hook makes it possible to determine the position of the mobile crane hook relative to a fixed point of the crane.
  • the position of the mobile crane hook can be determined by the orientation of the mobile crane boom and / or the extension of the mobile crane boom and / or the height of the mobile crane hook and / or l tilt of the boom of the mobile crane.
  • the working mode management module can be linked to the position sensors 12 and 14, for example to determine the working mode of the mobile crane.
  • the management module 16 of the working mode of the mobile crane automatically defines the working mode of the mobile crane by means of the position sensor of the mobile crane on the site and / or the position sensor of the hook of the mobile crane with respect to a reference point of said mobile crane.
  • a configuration makes it possible to avoid human intervention and allows the operator of the mobile crane to be able to concentrate on the operation of the crane.
  • the passage from one working mode to another can be carried out totally or partially manually.
  • the operator of the mobile crane indicates by means of an interface specific to the management module of the working mode in which the mobile crane is located.
  • the work mode management module can also offer a work mode to the operator who confirms or not the work mode determined by the work mode management module.
  • the mobile crane work mode management module is configured to define the work mode as “displacement” by default.
  • the work mode in the event of a fault in the mobile crane, it will be treated by the other cranes on the site as being on the move, triggering the positive safety of the anti-collision devices of the site cranes.
  • the mobile crane can automatically determine the working mode of the mobile crane, for example the mobile crane working mode management module sets the working mode as "fixed work” when the mobile crane skids are out.
  • the management module 16 of the working mode of the mobile crane is configured to define a “parking” mode corresponding to a situation in which the mobile crane is parked and the position of its hook. its arrow is fixed.
  • the mobile crane is parked at a given station, usually the boom folded and powered off.
  • the management module 16 of the crane working mode is configured in “parking” mode
  • the position of the crane on the site and the position of the hook are stored, for example by the other cranes present on the site.
  • the productivity of the other cranes on the site is not affected.
  • the communication device 18 is configured to communicate to at least one other crane G2 on the site an indication of the working mode of the mobile crane.
  • the communication between the communication device 18 and the at least one other crane is typically carried out by radio communication.
  • the communication device 18 is configured to communicate in real time, typically with a period of less than 2 seconds, preferably less than 1.2 seconds, to the at least one other crane G2 for an indication of the working mode. of the mobile crane.
  • communication is in real time if the period between two updates of information is less than 2 seconds, preferably less than 1.2 seconds.
  • the communication device is configured to communicate in real time to said at least one other crane G2 an indication of the position of the mobile crane on the site as well as of the position of the hook of the mobile crane when the mobile crane is in “travel” mode.
  • the anti-collision devices of the other cranes on the site go into positive safety.
  • the invention makes it possible to limit this impact to situations where the mobile crane is in “displacement” mode.
  • the communication device can be configured to communicate in real time when the mobile crane is in "fixed work” mode to said at least one other crane with an indication of the position of the hook of the mobile crane.
  • "fixed work” mode the position of the crane on the site is known, preferably recorded by all the cranes on the site in communication with the mobile crane. There is therefore no need to communicate in real time the position of the fixed crane on the site.
  • the communication device is configured to communicate an indication of the position of the mobile crane on the site when switching to “fixed work” mode.
  • the invention when the mobile crane is in “fixed work” mode, the invention makes it possible to limit the impact of a fault in the mobile crane to only interfering cranes.
  • the mobile crane when the mobile crane is in "fixed work” mode, it is treated by the collision avoidance system like a fixed crane.
  • the communication device can be configured to communicate an indication of the position of the mobile crane on the job site and the position of the hook. of the mobile crane when switching to "parking" mode.
  • the position of the mobile crane and of the mobile elements are memorized by the other cranes on the site.
  • the productivity of the interfering cranes is not impacted.
  • the invention also relates to an anti-collision management system illustrated in figure 4 .
  • the anti-collision management system of the invention is intended for a first crane placed on a site on which a second crane is also placed, the second crane being mobile and equipped with a work mode management system according to the invention.
  • the first crane can be a fixed crane, for example a conventional tower crane, or a mobile crane.
  • the anti-collision device 22 of the first crane is configured to avoid a collision between the first crane and its surroundings.
  • the anti-collision management system is installed on the first crane and, in the event of a risk of collision of the first crane with an element of its environment, either to trigger an alarm or to act on the crane controls. in order to avoid the collision.
  • the anti-collision management system can be an anti-collision system already used by the applicant on a large number of construction sites.
  • a way of determining a risk of collision by taking into account the position of the crane and of its hook is known to those skilled in the art. It is also known to those skilled in the art a way of triggering an alarm or acting on the crane controls in the event of a risk of collision.
  • the communication device 24 is configured to receive from the second crane an indication of the position of the second crane on the site and / or of the position of the hook of the jib of the second crane.
  • the communication device 24 is configured to communicate with the second crane in real time and for example by radio communication. This type of communication is already used between two fixed cranes for the applicant's anti-collision systems.
  • the indications of the position of the second crane on the site and / or of the position of the hook of the jib of the second crane are used by the anti-collision management system in a conventional manner but adapted to take into account the working mode of the second crane. .
  • the communication device 24 is also configured to receive an indication of the working mode of the second crane.
  • the second crane G2 being a mobile crane equipped with a working mode management system according to the invention, it can communicate to the first crane an indication of its working mode.
  • the communication of the working mode of the second crane is preferably carried out in real time and for example by radio communication.
  • the communication of the working mode of the second crane makes it possible to limit the impact on the productivity of the first crane in the event of a fault in the second crane.
  • the anti-collision management module is configured to activate the positive safety of the anti-collision device of the first crane in the event of a fault in the second crane, for example in the event of loss of position of the second crane.
  • the fault of the second crane may be a loss of the position of the second crane due for example to a fault in one of the position sensors of the second crane or to a communication fault between the first and the second crane.
  • the anti-collision management module can consider that the second crane is faulty if, for a time of more than 5 seconds, preferably 2 seconds, preferably 1.2 seconds, the communication device 24 of the first crane n 'received no indication of the position and / or working mode of the second crane.
  • the fact of treating the second crane as a fixed crane with a known position when said second crane is in “fixed work” mode makes it possible to avoid bringing the entire site to a standstill in the event of a fault with the second crane. .
  • the prohibited zone for the first crane is then limited to the common reach zone with the second crane.
  • the respective positions on the site of the first and second cranes do not imply a common reach zone between the two cranes, the first crane is not affected by a fault in the second crane.
  • the first crane can be stopped until the second crane is restored.
  • the anti-collision management module 26 is configured to, in the event of a fault in the second crane, activate the positive safety of the anti-collision device by preventing any movement of the first crane when the second crane is in "travel" mode.
  • an alarm is triggered, for example at the level of the first crane or the anti-collision device makes it possible to slow down the movements of the first crane.
  • the work mode management system of the second crane can be configured to define a “parking” mode. It is then advantageous for the anti-collision management module 26 of the anti-collision management system of the first crane to be configured to, in the event of a fault in the second crane, activate the positive safety of the anti-collision device by considering the position of the anti-collision device. second crane and its hook as known when said crane is in “parking” mode.
  • the fault of the second crane may be a loss of the position of the second crane due for example to a fault in one of the position sensors of the second crane or to a communication fault between the first and the second crane.
  • the taking into account of the “parking” mode of the second by the anti-collision management module of the first crane makes it possible to further reduce the impact of a fault in the second crane on the productivity of the first crane.
  • the anti-collision management module of the first crane is configured to consider the working mode of the second crane as “on the move” when the first crane does not receive an indication from the vehicle. working mode of the second crane.
  • the anti-collision management module of the first crane can also include a memory making it possible to record the working mode and the position of the second crane.
  • the anti-collision management module of the first crane is configured to consider the working mode of the second crane as “on the move” when the first crane does not receive any traffic. indication the working mode of the second crane and that the recorded mode is not the “parking” mode.
  • the communication device 24 of the first crane is configured to send to the second crane a confirmation of the receipt of the indication of the position of the second crane on the construction site when the indication of the position of the second crane corresponds to a distance from the first crane less than or equal to a first threshold value Zc.
  • the anti-collision management module of the first crane is configured to activate the anti-collision device of the first crane when the indication of the position of the second crane corresponds to a distance from the first crane. less than or equal to a second threshold value Zd less than the first threshold value Zc.
  • the second threshold value the second threshold value Zd is greater than or equal to the sum of the maximum spans of the first crane and of the second crane.
  • the second threshold value is equal to 1.1 times the sum of the maximum spans of the first crane and of the second crane.
  • the first threshold value can be equal to twice the first threshold value.
  • the first threshold value Zc is greater than Zd + 10 m.
  • this embodiment makes it possible to limit the impact on the productivity of the first crane of the defects of the second crane.
  • the defects of the second crane are taken into account at the level of the anti-collision device of the first crane only when the second crane is quite close to the first crane, at a distance less than or equal to a first threshold value Zc.
  • the anti-collision management module of the first crane is configured to deactivate the anti-collision device of the first crane when the indication of the position of the second crane corresponds to a distance from the first. crane greater than a third threshold value Zv greater than the second threshold value Zd and less than the first threshold value Zc, for example Zd ⁇ Zv ⁇ Zc, or else Zd + 2m ⁇ Zv ⁇ Zc - 2m.
  • the use of a third threshold value greater than the second threshold value Zd and less than the first threshold value Zc for the deactivation of the device of the first crane makes it possible to prevent, when the second crane moves at a distance around the second threshold value Zd, unwanted triggering and deactivation of the anti-collision device of the first crane.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP21305368.9A 2021-03-24 2021-03-24 System zur steuerung der betriebsarten eines mobilen krans auf einer baustelle Active EP3912950B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21305368.9A EP3912950B1 (de) 2021-03-24 2021-03-24 System zur steuerung der betriebsarten eines mobilen krans auf einer baustelle
PCT/EP2022/055992 WO2022200041A1 (fr) 2021-03-24 2022-03-09 Système de gestion de modes de travail d'une grue mobile sur un chantier
IL305822A IL305822A (en) 2021-03-24 2022-03-09 Collision prevention system for a crane on a job site
US18/282,550 US20240158209A1 (en) 2021-03-24 2022-03-09 System for managing work modes of a mobile crane on a work site

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21305368.9A EP3912950B1 (de) 2021-03-24 2021-03-24 System zur steuerung der betriebsarten eines mobilen krans auf einer baustelle

Publications (3)

Publication Number Publication Date
EP3912950A1 true EP3912950A1 (de) 2021-11-24
EP3912950C0 EP3912950C0 (de) 2023-06-07
EP3912950B1 EP3912950B1 (de) 2023-06-07

Family

ID=75497875

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21305368.9A Active EP3912950B1 (de) 2021-03-24 2021-03-24 System zur steuerung der betriebsarten eines mobilen krans auf einer baustelle

Country Status (4)

Country Link
US (1) US20240158209A1 (de)
EP (1) EP3912950B1 (de)
IL (1) IL305822A (de)
WO (1) WO2022200041A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2670195A1 (fr) * 1990-12-06 1992-06-12 Euro Montage Sa Dispositif anti-collision pour grues a fleche distributrice.
US20100070179A1 (en) * 2008-09-17 2010-03-18 Cameron John F Providing an autonomous position of a point of interest to a lifting device to avoid collision
WO2013006625A2 (en) * 2011-07-05 2013-01-10 Trimble Navigation Limited Crane maneuvering assistance

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2670195A1 (fr) * 1990-12-06 1992-06-12 Euro Montage Sa Dispositif anti-collision pour grues a fleche distributrice.
US20100070179A1 (en) * 2008-09-17 2010-03-18 Cameron John F Providing an autonomous position of a point of interest to a lifting device to avoid collision
WO2013006625A2 (en) * 2011-07-05 2013-01-10 Trimble Navigation Limited Crane maneuvering assistance

Also Published As

Publication number Publication date
EP3912950C0 (de) 2023-06-07
IL305822A (en) 2023-11-01
EP3912950B1 (de) 2023-06-07
WO2022200041A1 (fr) 2022-09-29
US20240158209A1 (en) 2024-05-16

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