EP3915929A1 - Steuerungssystem zur kollisionsvermeidung eines mobilen krans auf einer baustelle - Google Patents

Steuerungssystem zur kollisionsvermeidung eines mobilen krans auf einer baustelle Download PDF

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Publication number
EP3915929A1
EP3915929A1 EP21305367.1A EP21305367A EP3915929A1 EP 3915929 A1 EP3915929 A1 EP 3915929A1 EP 21305367 A EP21305367 A EP 21305367A EP 3915929 A1 EP3915929 A1 EP 3915929A1
Authority
EP
European Patent Office
Prior art keywords
crane
collision
site
indication
threshold value
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
EP21305367.1A
Other languages
English (en)
French (fr)
Other versions
EP3915929C0 (de
EP3915929B1 (de
Inventor
Mohammed CHETTIBI
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 EP21305367.1A priority Critical patent/EP3915929B1/de
Publication of EP3915929A1 publication Critical patent/EP3915929A1/de
Priority to US18/282,800 priority patent/US20240166475A1/en
Priority to IL305821A priority patent/IL305821A/en
Priority to PCT/EP2022/055991 priority patent/WO2022200040A1/fr
Application granted granted Critical
Publication of EP3915929C0 publication Critical patent/EP3915929C0/de
Publication of EP3915929B1 publication Critical patent/EP3915929B1/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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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 subject of the invention is an anti-collision management system for a first crane on a site on which a second crane is placed, the second crane being mobile 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 mapping of the site, defines so-called prohibited zones in which the hook and / or the boom of the crane must not be located at the risk of causing 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 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 of 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 from 'go to said area.
  • An object of the present invention is to provide a system for solving this problem.
  • the anti-collision management system enables the anti-collision system to be activated only when the second crane is near the first crane.
  • a communication problem between the two cranes does not affect the productivity of the first crane only when the mobile crane is at a distance less than the first threshold value Zd of said first crane.
  • the invention allows the cranes to continue working together when they present an interference zone ZI by warning the operator or by preventing any movement of the elements of the cranes (boom, hook, etc.) presenting a risk. collision on the one hand, and by authorizing movements without risk of collision on the other hand.
  • the invention therefore makes it possible to maintain a level of productivity in the event of proximity between the various construction elements of a site.
  • 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 invention relates to an anti-collision management system 10 for a crane on a construction site, on which a second crane G2 is placed, the second crane being mobile.
  • the first crane can be a fixed crane, for example a conventional tower crane, or a mobile crane.
  • a mobile crane is understood to mean a crane configured to move freely on a site, unlike a fixed crane or tower crane, the base of which is fixed or translates on a rail in a predefined direction.
  • a mobile crane also called a truck crane, truck mounted crane, self-propelled crane, can move on wheels or on tracks before being deployed to allow the handling of loads.
  • the anti-collision management system 10 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 controls of the crane. crane in order to avoid the collision.
  • the anti-collision management system can be an anti-collision management 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 anti-collision system 12 of the first crane is configured to avoid a collision between the first crane and its surroundings.
  • the communication device 14 is configured to receive from the second crane an indication of the position of the second crane on the construction site and / or of the position of the hook of the jib of the second crane, and to send a confirmation to the second crane receiving the indication of the position of the second crane on the 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 communication device 14 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 anti-collision management module 16 of the first crane is configured to activate the anti-collision system 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 at 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 faults of the second crane are taken into account at the level of the anti-collision system 12 of the first crane only when the second crane is quite close to the first crane, at a distance less than or equal to the first threshold value Zc .
  • the anti-collision management module 16 of the first crane is configured to deactivate the anti-collision system 12 of the first crane when the indication of the position of the second crane corresponds to a distance by relative to 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 anti-collision system 12 of the first crane when activated, it can be deactivated when the distance between the two cranes is greater than the third threshold value Zv.
  • 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 anti-collision system 12 of the first crane makes it possible to avoid, when the second crane is moving at a distance around the second threshold value Zd, inadvertent tripping and deactivation of the collision avoidance device of the first crane.
  • the anti-collision management system 10 comprises an anti-collision system for the second crane configured to avoid a collision between the second crane and its environment.
  • the anti-collision management module of the second crane is configured to trigger an alarm for the operator of the second crane and / or prevent the second crane from approaching at a distance of the first crane lower than the second threshold value Zd when the second crane does not receive confirmation of the reception of the indication of its position
  • the anti-collision system allows, in the event of a risk of collision, the triggering of an alarm for the operator of the crane concerned.
  • the anti-collision system makes it possible, in the event of a risk of collision, to automatically stop the movements of the crane concerned.
  • the position sensor 22 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 22 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 22 can also be configured to communicate with a GNSS correction system.
  • the mobile crane hook position sensor 24 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 22 and 24, for example to determine the working mode of the mobile crane.
  • the working mode management module 26 of the mobile crane automatically defines the working mode of the mobile crane by means of the sensor. position 22 of the mobile crane on the site and / or the position sensor of the hook 24 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 change from one working mode to another can be done 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 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 26 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 26 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 28 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 28 and at least one other crane is typically carried out by radio communication.
  • the communication device 28 is configured to communicate in real time, typically with a period of less than 2 seconds, preferably less than 1.2 seconds, to at least one other crane G2 an indication of the working mode of the device. the mobile crane.
  • a communication is in real time if the period between two information updates is less than 2 seconds, preferably less than 1.2 seconds.
  • the working mode communication device 28 is configured to trigger an alarm when the latter does not receive confirmation of the reception of the indication of its working mode and the indication of the position of the second crane corresponds to a distance from the first crane less than or equal to the first threshold value Zc.
  • 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 stopping all the movements of the first crane and to limit the prohibited zone to the sole perimeter. of 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 anti-collision management module 16 is configured to, in the event of a fault with 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 "displacement" mode and close to the first crane, or when the site configuration requires it. allow and that the risk of collision between tower cranes and moving mobile cranes is zero, leaving free the movements of the first 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 of the working mode of the second crane and that the recorded mode is not “parking” mode.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP21305367.1A 2021-03-24 2021-03-24 Steuerungssystem zur kollisionsvermeidung eines mobilen krans auf einer baustelle Active EP3915929B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP21305367.1A EP3915929B1 (de) 2021-03-24 2021-03-24 Steuerungssystem zur kollisionsvermeidung eines mobilen krans auf einer baustelle
US18/282,800 US20240166475A1 (en) 2021-03-24 2022-03-09 Collision avoidance system for a mobile crane on a work site
IL305821A IL305821A (en) 2021-03-24 2022-03-09 Collision prevention system for a crane on a job site
PCT/EP2022/055991 WO2022200040A1 (fr) 2021-03-24 2022-03-09 Système de gestion d'anticollision d'une grue mobile sur un chantier

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21305367.1A EP3915929B1 (de) 2021-03-24 2021-03-24 Steuerungssystem zur kollisionsvermeidung eines mobilen krans auf einer baustelle

Publications (3)

Publication Number Publication Date
EP3915929A1 true EP3915929A1 (de) 2021-12-01
EP3915929C0 EP3915929C0 (de) 2023-08-23
EP3915929B1 EP3915929B1 (de) 2023-08-23

Family

ID=75497874

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21305367.1A Active EP3915929B1 (de) 2021-03-24 2021-03-24 Steuerungssystem zur kollisionsvermeidung eines mobilen krans auf einer baustelle

Country Status (4)

Country Link
US (1) US20240166475A1 (de)
EP (1) EP3915929B1 (de)
IL (1) IL305821A (de)
WO (1) WO2022200040A1 (de)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2638440A1 (fr) * 1988-11-03 1990-05-04 Grp Francais Construction Installation d'assistance a la conduite pour engins de manutention tels que des grues
FR2670195A1 (fr) * 1990-12-06 1992-06-12 Euro Montage Sa Dispositif anti-collision pour grues a fleche distributrice.
WO2019107648A1 (ko) * 2017-11-29 2019-06-06 주식회사 무스마 크레인 충돌 방지 시스템 및 방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2638440A1 (fr) * 1988-11-03 1990-05-04 Grp Francais Construction Installation d'assistance a la conduite pour engins de manutention tels que des grues
FR2670195A1 (fr) * 1990-12-06 1992-06-12 Euro Montage Sa Dispositif anti-collision pour grues a fleche distributrice.
WO2019107648A1 (ko) * 2017-11-29 2019-06-06 주식회사 무스마 크레인 충돌 방지 시스템 및 방법

Also Published As

Publication number Publication date
US20240166475A1 (en) 2024-05-23
EP3915929C0 (de) 2023-08-23
WO2022200040A1 (fr) 2022-09-29
IL305821A (en) 2023-11-01
EP3915929B1 (de) 2023-08-23

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