EP4086215B1 - Grue à faible consommation d'énergie et son procédé - Google Patents

Grue à faible consommation d'énergie et son procédé Download PDF

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Publication number
EP4086215B1
EP4086215B1 EP21171987.7A EP21171987A EP4086215B1 EP 4086215 B1 EP4086215 B1 EP 4086215B1 EP 21171987 A EP21171987 A EP 21171987A EP 4086215 B1 EP4086215 B1 EP 4086215B1
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EP
European Patent Office
Prior art keywords
crane
hydraulic
hydraulic actuators
estimated
components
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EP21171987.7A
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German (de)
English (en)
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EP4086215C0 (fr
EP4086215A1 (fr
Inventor
Marcus RÖSTH
Pelle Gustafsson
Alessandro Santini
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Hiab AB
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Hiab AB
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    • 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
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • B66C13/20—Control systems or devices for non-electric drives

Definitions

  • the present disclosure relates to a crane and a method of a crane, and particularly a loader crane intended to work more energy efficient than presently used cranes which is particularly advantageous if the crane is a hydraulic crane with an electric power source.
  • Waste energy here being defined as supplied energy to the hydraulic system that is not used for movements of crane components.
  • waste energy is not only unwanted because it increases the amount of energy that is needed for the system without performing any actual movements of the crane components. It is furthermore a disadvantage in that waste energy is dissipated as heat which increases the temperature of the hydraulic fluid in the system. The temperature increase degrades the quality of the hydraulic fluid and hence affects the service frequency of the system. Thus, by reducing the waste energy, the effects of these associated problems will also be reduced.
  • the waste energy may even be larger than the useful energy that is used for actually moving the crane components. This is due to the fact that if one function demands a high pressure, that high pressure will then be the system pressure for all functions. If a concurrently used crane function only requires low pressure but high flow, a large portion of waste energy will be the result.
  • US20190308851A1 discloses a crane arrangement mounted on a vehicle.
  • the crane arrangement comprising a first boom connected to the first column and a second boom connected to the first boom.
  • a hydraulic system is configured to move the crane boom by a hydraulic actuator. The hydraulic flow is dumped into a reservoir if measured pressure of the hydraulic system is higher than a maximum working pressure.
  • US20140060030A1 discloses a crane system on a vehicle and a controller is provided configured to move a work tool in accordance with an operator instruction received via an input device. Accumulator pressure is stored which is associated with the movement of an actuator which is further compared with the current pressure measured by the sensors. An alert is generated if the measured value is not in the range of a threshold value.
  • WO2019206774A1 discloses a truck mounted crane system according to the preamble of claim 1 wherein, the crane system comprises multiple booms connected to each other and the crane is a mobile crane. The hydraulic actuator of the crane boom system is operated by hydraulic fluid flow where the fluid is discharged from the pump using an electric motor. Further, it is disclosed that the required pressure is measured for the desired movement of the boom, and a computing device collects the data from the pressure sensor to control the pressure of hydraulic drives.
  • US20170268541A1 discloses a crane system with a lifting arm, and a crane maneuvering handle is provided to control the displacement of the first hydraulic power to move the arm. Further, when pressure detected by a first pressure sensor reaches a predetermined minimum working pressure then the hydraulic flow is cut-off to increase the efficiency of the crane system.
  • the present invention relates to cranes and evaluating the operation performance of the crane, in particular in terms of energy efficiency.
  • the main object of the invention is to reduce waste energy and hence save energy in crane applications, and a more specific object is to achieve a more inherently energy efficient automatized operation of the crane.
  • the crane described herein comprises a so-called automatic eco operational mode.
  • this operation mode is active and it is determined in accordance with the present invention that an estimated waste contribution measure is larger than a predetermined level, an action is automatically issued by the crane controller to reduce the waste energy for the crane by limiting the flow of at least one of the hydraulic actuators controlling crane functions that require high flow of the hydraulic fluid.
  • the speed in the movement generated by that actuator will also be reduced, and preferably non-proportional to a lever stroke of a maneuvering unit.
  • an estimated waste contribution measure is determined, that is the difference between the working pressure of the hydraulic pump and the estimated pressure levels multiplied by the estimated required flow level of each of the hydraulic actuators for each of the wanted movements of the crane components.
  • the estimated waste contribution measure is hence an estimation of the hydraulic power that is wasted by the system, i.e. not utilized for active movements of the boom system.
  • the present invention may further also be implemented on a crane with a control interface comprising a communication interface to an autonomous system controlling the crane and optionally also the vehicle that the crane is mounted to.
  • a control interface comprising a communication interface to an autonomous system controlling the crane and optionally also the vehicle that the crane is mounted to.
  • an external monitoring service would monitor and evaluate the performance of the crane and the autonomous system in addition to, or instead of, monitoring and evaluating the operation skills of an operator.
  • the main advantage achieved by the crane disclosed herein is the automatized, i.e. inherent, energy saving by reducing waste energy. This is a significant advantage especially for electrically operated cranes where less energy consumption equals longer use time for the customer between charging or a smaller and then a less costly battery with same use time.
  • Another advantage of the solution applied by the present invention is that it does not require any extra sensors or other hardware, as it is a pure software solution which means that it may be implemented in existing products and hardware.
  • the invention may further be used as a learning tool that encourages energy efficient operation of the crane. If a crane operator is trained with a crane according to the invention as defined by the claims, the energy efficient operation strategy encouraged by the learning tool may be continued to be used on other cranes.
  • the energy supplied by a hydraulic pump of a crane is defined as the integral of the hydraulic power over a time period of operation.
  • the hydraulic power is calculated by the pressure multiplied by the flow supplied by the pump.
  • the different hydraulic cylinders used for crane functions like the slewing of the crane, the first boom movement, the second boom movement and the extension/retraction of the second boom telescopic boom system, have different working requirements in terms of pressure and flow.
  • the required pressure may further be dependent on the load and the position of the respective crane components but may be monitored using pressure sensors and further estimated for future movements based on input from the pressure sensors and/or known parameters of the planned movements.
  • waste component When operating multiple functions at the same time, it is the function that requires the largest pressure that determines the working pressure level of the hydraulic pump. This implies that there will be a waste component if also other crane functions requiring a lower working pressure are activated at the same time. The waste component will further be dependent on the flow requirement of the other crane functions, as the hydraulic power supplied to the system is further dependent on the flow of the hydraulic fluid. A portion of the consumed energy of the hydraulic system is hence waste, i.e. not used for moving the crane components, if operating multiple functions at the same time that are not matched in terms of working pressure and to some extent flow.
  • the waste energy may even be larger than the useful energy that is used for actually moving the crane components. This is due to the fact that if one function demands a high pressure, that high pressure will then be the system pressure for all functions. If a concurrently used crane function only requires low pressure but high flow, a large portion of waste energy will be the result.
  • Figures 1-3 are graphs illustrating the energy consumption during use of an exemplary crane provided with an inner boom (IB), an outer boom (OB), and an extension (EXT).
  • IB inner boom
  • OB outer boom
  • EXT extension
  • SLEW energy consumption during slewing
  • the required energy for the movements is shown by dashed areas, and energy waste is shown by dotted areas.
  • the consumed energy of the hydraulic system is the sum of the required energy for the movements and the waste energy.
  • the Y-axis designates pressure and the X-axis designates flow.
  • FIG 1 an energy consumption graph is shown, where multiple crane functions are operated simultaneously.
  • the inner boom (IB) requires high pressure and the extension (EXT) requires high flow but low pressure.
  • the waste energy for the extension function is larger than the amount of energy used for the actual movements. This happens when all functions are simultaneously driven without taking waste energy into account.
  • the total input is 49.6kW, and the waste is 30.8kW, i.e. the waste energy is 164.44% of the useful energy.
  • the waste energy may be decreased from 30.8 kW to 12.9kW in this specific example, see figure 2 , where the inner boom (IB) is activated at another point in time and is not illustrated in figure 2 .
  • the total energy input is 28.3kW
  • the waste energy is 12.9kW, i.e. 83.78% of the useful energy.
  • the waste energy may be further decreased to 1.3 kW in another specific case, by also refraining from operating the outer boom (OB), see figure 3 (the outer boom function is hence not illustrated in figure 3 as it is activated individually at another point in time).
  • the total input energy is 14.2kW
  • the waste energy is 1.3kW, i.e. 9.68% of the useful energy.
  • the simplest version of an energy efficient path planner would be moving only one crane function at a time to reach the target angle or length to reach the target position or geometry. As an example, first slew, then the first boom, then the second boom, and then finish by moving the extensions. By doing so we would not get any energy waste at all. However, the time for completing the movement would be considerably longer than compared to the normal case with simultaneous multiple functions and the crane components would likely hit either the vehicle or some obstacles in the environment.
  • the path planner must be smarter, the easiest method is to move the known high pressure functions first, normally the first and the second boom which pressures can be assumed high, or measured.
  • the above-described planner is a "simple" example of the planner to illustrate the crane and method as defined by the appended claims. If this should be implemented in a product, more complex approach in the planner could further take into account effects of bending, pressures, flow needs, the distance from start to end position when planning a path which is as efficient as possible but not slowing down the crane.
  • the present invention relates to a crane 2 arranged to be mounted to e.g. a vehicle 4, or any other object, e.g. a boat, a building, or a wind turbine.
  • the crane comprises a crane boom system, comprising crane components 6 that includes a crane tip 8 arranged at a free end of an outermost crane boom.
  • the crane components 6 may comprise a crane column arranged to rotate, or slew, around a vertical axis perpendicular to the plane of the vehicle, a first (inner) boom connected to the crane column, and a second (outer) telescopic boom connected to the first boom and provided with one or more extensions. Additional components, such as additional telescopic booms (also referred to as jibs) or crane tool may form part of the crane components.
  • additional telescopic booms also referred to as jibs
  • crane tool may form part of the crane components.
  • the crane comprises a system 10 of hydraulic actuators of the crane boom system arranged to be operated by hydraulic fluid with a hydraulic flow, where the hydraulic fluid being discharged from a hydraulic pump 12 at a variable working pressure.
  • the hydraulic actuators are further arranged to apply movements to the crane boom system such that the crane tip 8 is moved from a current position to a target position in response to received driving instructions 14.
  • the crane also comprises a sensor system 16 configured to monitor current positions of the crane components, and operating conditions of the system 10 of hydraulic actuators, and to generate sensor signals 18 in response to the monitored current positions and operating conditions.
  • the sensor system is configured to monitor current positions of the crane components, and comprises sensors arranged to measure e.g. an angle of a crane boom compared to a reference plane, or the extension length of the telescopic boom.
  • the sensor system is also configured to monitor the operating conditions of the system of the hydraulic actuators and the hydraulic pump, and to generate sensor signals in response to measured pressures and flows at specific parts of the hydraulic system.
  • the sensor system is hence used to monitor current positions and operating conditions of the crane.
  • the crane comprises a control interface 20 arranged to receive an operating instruction, preferably from an input unit 22, defining wanted movements of the crane components.
  • the crane also comprises a crane controller 24 configured to generate driving instructions 14 to be applied to the system 10 of hydraulic actuators of the crane boom system based on the received set of operating instructions defining wanted movements of the crane components.
  • the input unit 22, e.g. a maneuvering unit, may be used by an operator to operate the crane, remotely or at the site of the working assignment for the crane.
  • the control interface 20 of the crane may alternatively comprise an interface to an autonomous system controlling the crane and optionally also the vehicle that the crane is mounted to.
  • the crane operator may by pulling a first and a second lever at the maneuvering unit, generate operating instructions for raising the first boom of the crane and at the same time extending the second boom telescopic extensions.
  • the operation instructions will be received over the control interface and the crane controller will generate driving instructions to be applied to the hydraulic system so that the hydraulic cylinders of the first boom and extension cylinders are supplied with hydraulic fluid accordingly.
  • the crane controller 24 is further configured to estimate a pressure level of a required working pressure of the hydraulic pump 12 and required flow level of each of the hydraulic actuators for the wanted movements of the crane components 6, based on the generated sensor signals 18 and/or predetermined operating conditions.
  • the crane controller 24 is also configured to estimate a waste contribution measure for the wanted movements of the crane components 6, based on the difference between the working pressure of the hydraulic pump 12 and the estimated pressure levels and further the estimated required flow level, of each of the hydraulic actuators for the wanted movements of the crane components 6.
  • the waste contribution measure is a measure of the energy waste if the wanted movements of the crane components are performed in comparison to the energy required for each of the involved hydraulic actuators at specific point of time.
  • the crane controller 24 is configured to compare the estimated waste contribution measure to a predetermined level, and in response to determining that the estimated waste contribution measure is larger than the predetermined level, the crane controller 24 is configured to determine and generate at least one driving instruction 14 to reduce the estimated required flow level of at least one of the hydraulic actuators for the wanted movements of the crane components.
  • the determined at least one driving instruction 14 being such that the estimated waste contribution measure is reduced to a level equal or below the predetermined level.
  • the crane controller 24 is preferably provided with a set of rules to be applied.
  • the set of rule may comprise one or many of the following exemplary rules: A rule that is applied to identify the hydraulic actuator having the highest estimated required flow level and then reducing the flow level, e.g. by a preset percentage.
  • the predetermined level is a predefined percentage of the hydraulic power required for the wanted movements of the crane components 6.
  • the predetermined level may be in the range of 25%-50% of the hydraulic power required for the wanted movements.
  • the waste contribution measure may be a constant, configurable by e.g. the operator, the fleet manager, or preset when installing the crane on e.g. the vehicle.
  • the energy supplied by the hydraulic pump to the crane components is defined as the integral of the hydraulic power over a time period of operation.
  • the hydraulic power is calculated by the pressure multiplied by the flow supplied by the pump.
  • the different hydraulic cylinders used for crane functions like the slewing of the crane, the first boom movement, the second boom movement and the extension/retraction of the second boom telescopic boom system, have different working requirements in terms of pressure and flow.
  • the required pressure may further be dependent on the load and the position of the respective crane components but may be monitored using pressure sensors and further estimated for future movements based on input from the pressure sensors and/or known parameters of the planned movements.
  • the crane controller 24 is further configured to identify, in response to determining that the estimated waste contribution measure is larger than the predetermined level, at least one of the hydraulic actuators as a crane function to deactivate, or to reduce energy consumption of, and to generate driving instructions 14 to deactivate, or to reduce energy consumption of, the identified at least one of the hydraulic actuators.
  • the crane function to deactivate, or to reduce energy consumption of is preferably identified as a crane function with a low estimated pressure level and a high estimated flow level relative to the other hydraulic actuators or as a crane function with a high pressure relative to the other hydraulic actuators.
  • the crane controller 24 is configured to control the effect of a lever stroke activation of a maneuvering unit 22 such that a lever stroke activation of the maneuvering unit results is a non-proportional activation of the a least one hydraulic actuator controlled by the lever.
  • the crane further comprises a communication interface 34 for transmitting crane operation data to a crane monitoring service.
  • the crane controller 24 is further configured to receive driving instructions from the crane monitoring service via the communication interface 34.
  • the optional communication interface 34 is indicated in figure 5 as a dashed box. The communication may be performed using any available wireless communication protocol, e.g. via Bluetooth, or Internet.
  • the crane controller 24 may be implemented by one or many processing units. These processing unit may have different dedicated tasks, e.g. by so-called edge computing. Edge computing is a distributed computing method that brings computation and data storage closer to the location where it is needed, in order to improve response times and save bandwidth. As an example, one processing unit may perform the actual control of the crane, and another may perform calculations and analysis by extracting data from the crane operation procedures, that advantageously may be communicated to an external crane monitoring service.
  • the crane comprises at least one electric motor 26 arranged to be powered by a battery system 28 and further being arranged to drive the hydraulic pump 12.
  • the electrical energy from the battery system to the electric motor is illustrated by a bold arrow in figure 5 , which also indicates the driving power to the hydraulic pump.
  • the hydraulic pump is driven by a diesel engine on the vehicle.
  • a vehicle 4 that comprises a crane 2 as described above.
  • the present invention also relates to a method of a crane 2 arranged to be mounted to e.g. a vehicle 4.
  • the crane has been described in detail above and it is herein referred to that description. The method will now be described with references to the flow diagram shown in figure 6 .
  • the method comprises:
  • the predetermined level is a predefined percentage of the hydraulic power required for the wanted movements of the crane components.
  • the method comprises identifying, in response to determining that the estimated waste contribution measure is larger than the predetermined level, at least one of the hydraulic actuators as a crane function to deactivate, or to reduce energy consumption of, the identified at least one of the hydraulic actuators.
  • the crane function to deactivate, or to reduce energy consumption of is preferably identified as a crane function with a low estimated pressure level and a high estimated flow level relative to the other hydraulic actuators or as a crane function with a high pressure relative to the other hydraulic actuators.
  • the method preferably further comprises controlling the effect of a lever stroke activation of a maneuvering unit such that a lever stroke activation of the maneuvering unit results is a non-proportional activation of the a least one hydraulic actuator controlled by the lever.
  • the method comprises transmitting crane operation data to a crane monitoring service, and receiving driving instructions from the crane monitoring service via the communication interface.

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

Claims (14)

  1. Grue (2) agencée pour être montée sur un véhicule (4) par exemple, la grue comprenant :
    - un système de flèche de grue, comprenant des composants de grue (6), qui inclut un nez de grue (8) agencé au niveau d'une extrémité libre d'une flèche de grue le plus à l'extérieur ;
    - un système (10) d'actionneurs hydrauliques du système de flèche de grue agencé pour être actionné par du fluide hydraulique avec un flux hydraulique, le fluide hydraulique étant évacué à partir d'une pompe hydraulique (12) à une pression de travail variable et dans laquelle les actionneurs hydrauliques sont en outre agencés pour appliquer des mouvements sur le système de flèche de grue en réponse à des instructions de conduite (14) reçues ;
    - un système de capteurs (16) configuré pour surveiller les positions actuelles des composants de grue et les conditions de fonctionnement du système (10) d'actionneurs hydrauliques, et pour générer des signaux de capteur (18) en réponse aux positions actuelles et aux conditions de fonctionnement surveillées ;
    - une interface de commande (20) agencée pour recevoir un ensemble d'instructions de fonctionnement, définissant les mouvements souhaités des composants de grue, et
    - un dispositif de commande de grue (24) configuré pour générer des instructions de conduite (14) devant être appliquées par le système (10) d'actionneurs hydrauliques du système de flèche de grue sur la base de l'ensemble d'instructions de fonctionnement reçu définissant les mouvements souhaités des composants de grue,
    caractérisée en ce que le dispositif de commande de grue (24) est en outre configuré pour estimer un niveau de pression d'une pression de travail requise de la pompe hydraulique (12) et un niveau de flux requis de chacun des actionneurs hydrauliques pour les mouvements souhaités des composants de grue (6), sur la base des signaux de capteur (18) générés et/ou de conditions de fonctionnement prédéterminées,
    et pour estimer une mesure de contribution au gaspillage pour les mouvements souhaités des composants de grue (6), sur la base de la différence entre la pression de travail de la pompe hydraulique (12) et les niveaux de pression estimés et en outre le niveau de flux requis estimé, de chacun des actionneurs hydrauliques pour les mouvements souhaités des composants de grue (6), dans laquelle le dispositif de commande de grue (24) est configuré pour comparer la mesure de contribution au gaspillage estimée à un niveau prédéterminé, et en réponse à la détermination du fait que la mesure de contribution au gaspillage estimée est supérieure au niveau prédéterminé, le dispositif de commande de grue (24) est configuré pour déterminer et générer au moins une instruction de conduite (14) pour réduire le niveau de flux requis estimé d'au moins l'un des actionneurs hydrauliques pour les mouvements souhaités des composants de grue, et dans laquelle l'au moins une instruction de conduite (14) déterminée est telle que la mesure de contribution au gaspillage estimée est réduite à un niveau inférieur ou égal au niveau prédéterminé.
  2. Grue (2) selon la revendication 1, dans laquelle ledit niveau prédéterminé est un pourcentage prédéfini de la puissance hydraulique requise pour les mouvements souhaités des composants de grue (6).
  3. Grue (2) selon la revendication 1 ou 2, dans laquelle le dispositif de commande de grue (24) est agencé en outre pour identifier, en réponse à la détermination du fait que la contribution au gaspillage estimée est supérieure au niveau prédéterminé, au moins l'un des actionneurs hydrauliques en tant que fonction de grue pour désactiver ou pour réduire la consommation d'énergie, et pour générer des instructions de conduite (14) pour désactiver ou pour réduire la consommation d'énergie, dudit au moins l'un des actionneurs hydrauliques identifié.
  4. Grue (2) selon la revendication 3, dans laquelle la fonction de grue pour désactiver ou réduire la consommation d'énergie, est identifiée en tant que fonction de grue avec un niveau de pression estimé faible et un niveau de flux estimé élevé par rapport aux autres actionneurs hydrauliques ou en tant que fonction de grue nécessitant une pression hydraulique élevée par rapport aux autres actionneurs hydrauliques.
  5. Grue (2) selon l'une quelconque des revendications 3 ou 4, dans laquelle, lors de la réduction du flux vers au moins l'un des actionneurs hydrauliques pour les mouvements souhaités des composants de grue (6) résultant en ce que la vitesse de mouvement généré par cet actionneur hydraulique sera également réduite, le dispositif de commande de grue (24) est configuré pour commander l'effet d'une activation de course de levier d'une unité de manoeuvre (22) de telle sorte qu'une activation de course de levier de l'unité de manoeuvre résulte en une activation non proportionnelle de l'au moins un actionneur hydraulique commandé par le levier.
  6. Grue (2) selon l'une quelconque des revendications 1 à 5, comprenant en outre une interface de communication (34) pour transmettre des données de fonctionnement de grue à un service de surveillance de grue, dans laquelle le dispositif de commande de grue (24) est en outre configuré pour recevoir des instructions de conduite du service de surveillance de grue via l'interface de communication (34).
  7. Grue selon l'une quelconque des revendications 1 à 6, comprenant en outre au moins un moteur électrique (26) agencé pour être alimenté par un système de batterie (28) ou une pile à combustible, et étant en outre agencé pour entraîner la pompe hydraulique (12).
  8. Procédé d'une grue agencée pour être montée sur un véhicule, la grue comprenant :
    - un système de flèche de grue, comprenant des composants de grue (6), qui inclut un nez de grue (8) agencé au niveau d'une extrémité libre d'une flèche de grue le plus à l'extérieur ;
    - un système (10) d'actionneurs hydrauliques du système de flèche de grue agencé pour être actionné par du fluide hydraulique avec un flux hydraulique, le fluide hydraulique étant évacué d'une pompe hydraulique (12) à une pression de travail variable et dans lequel les actionneurs hydrauliques sont en outre agencés pour appliquer des mouvements sur le système de flèche de grue en réponse à des instructions de conduite (14) reçues ;
    - un système de capteurs (16) configuré pour surveiller les positions actuelles des composants de grue et les conditions de fonctionnement du système (10) d'actionneurs hydrauliques, et pour générer des signaux de capteur (18) en réponse aux positions actuelles et aux conditions de fonctionnement surveillées ;
    - une interface de commande (20) agencée pour recevoir un ensemble d'instructions de fonctionnement, définissant les mouvements souhaités des composants de grue, et
    - un dispositif de commande de grue (24) configuré pour générer des instructions de conduite (14) devant être appliquées par le système (10) d'actionneurs hydrauliques du système de flèche de grue sur la base de l'ensemble d'instructions de fonctionnement reçu définissant des mouvement souhaités des composants de grue,
    caractérisé en ce que le procédé comprend :
    A - l'estimation d'un niveau de pression de la pression de travail requise de la pompe hydraulique et d'un niveau de flux requis de chacun des actionneurs hydrauliques pour les mouvements souhaités des composants de grue, sur la base des signaux de capteur générés et/ou de conditions de fonctionnement prédéterminées,
    B - l'estimation d'une mesure de contribution au gaspillage pour les mouvements souhaités des composants de grue, sur la base de la différence entre la pression de travail de la pompe hydraulique et les niveaux de pression requis et en outre le niveau de flux requis estimé, de chacun des actionneurs hydrauliques pour les mouvements souhaités des composants de grue,
    C - la comparaison de la mesure de contribution au gaspillage estimée à un niveau prédéterminé, et en réponse à la détermination du fait que la mesure de contribution au gaspillage estimée est supérieure au niveau prédéterminé, le procédé comprend en outre :
    D - la détermination et la génération d'au moins une instruction de conduite pour réduire le niveau de flux requis estimé d'au moins l'un des actionneurs hydrauliques pour les mouvements souhaités des composants de grue, et dans lequel l'au moins une instruction de conduite déterminée étant telle que la mesure de contribution au gaspillage estimée est réduite à un niveau inférieur ou égal au niveau prédéterminé.
  9. Procédé selon la revendication 8, dans lequel ledit niveau prédéterminé est un pourcentage prédéfini de la puissance hydraulique requise pour les mouvements souhaités des composants de grue.
  10. Procédé selon la revendication 8 ou 9, comprenant l'identification, en réponse à la détermination du fait que la contribution au gaspillage estimée est supérieure au niveau prédéterminé, d'au moins l'un des actionneurs hydrauliques en tant que fonction de grue pour désactiver ou pour réduire la consommation d'énergie, et la génération d'instructions de conduite pour désactiver ou pour réduire la consommation d'énergie, dudit au moins l'un des actionneurs hydrauliques identifié.
  11. Procédé selon la revendication 10, dans lequel la fonction de grue pour désactiver ou réduire la consommation d'énergie est identifiée en tant que fonction de grue avec un niveau de pression estimé faible et un niveau de flux estimé élevé par rapport aux autres actionneurs hydrauliques ou en tant que fonction de grue nécessitant une pression hydraulique élevée par rapport aux autres actionneurs hydrauliques.
  12. Procédé selon l'une quelconque des revendications 10 ou 11, dans lequel, lors de la réduction du flux vers au moins l'un des actionneurs hydrauliques pour les mouvements souhaités des composants de grue résultant en ce que la vitesse dans le mouvement généré par cet actionneur hydraulique sera également réduite, le procédé comprend en outre la commande de l'effet d'une activation de course de levier d'une unité de manoeuvre de telle sorte qu'une activation de course de levier de l'unité de manoeuvre résulte en une activation non proportionnelle de l'au moins un actionneur hydraulique commandé par le levier.
  13. Procédé selon l'une quelconque des revendications 8 à 12, comprenant la transmission de données de fonctionnement de grue à un service de surveillance de grue, et la réception d'instructions de conduite du service de surveillance de grue via l'interface de communication.
  14. Véhicule (4) comprenant une grue (2) selon l'une quelconque des revendications 1 à 7.
EP21171987.7A 2021-05-04 2021-05-04 Grue à faible consommation d'énergie et son procédé Active EP4086215B1 (fr)

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US20140060030A1 (en) 2012-08-31 2014-03-06 Caterpillar Inc. Hydraulic accumulator health monitor
BR112017010895A2 (pt) 2014-11-24 2017-12-26 Xuzhou Heavy Machinery Co Ltd método e sistema para recuperar e utilizar energia de operação de guindaste, e guindaste
DK3257805T3 (en) 2016-06-13 2019-04-01 Cargotec Patenter Ab HYDRAULIC CRANE
DE102018206271A1 (de) 2018-04-24 2019-10-24 Putzmeister Engineering Gmbh Verfahren zur Bewegungssteuerung eines Masts und Arbeitsmaschine

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