EP4299858A1 - Procédé de surveillance de la stabilité d'une machine de travail - Google Patents

Procédé de surveillance de la stabilité d'une machine de travail Download PDF

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Publication number
EP4299858A1
EP4299858A1 EP23165800.6A EP23165800A EP4299858A1 EP 4299858 A1 EP4299858 A1 EP 4299858A1 EP 23165800 A EP23165800 A EP 23165800A EP 4299858 A1 EP4299858 A1 EP 4299858A1
Authority
EP
European Patent Office
Prior art keywords
work machine
center
vector
gravity
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.)
Pending
Application number
EP23165800.6A
Other languages
German (de)
English (en)
Inventor
Peter Mielke
Christian WIERLING
Karl Westermann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Mischtecknik GmbH
Original Assignee
Liebherr Mischtecknik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liebherr Mischtecknik GmbH filed Critical Liebherr Mischtecknik GmbH
Publication of EP4299858A1 publication Critical patent/EP4299858A1/fr
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms

Definitions

  • the present invention relates to a method for monitoring the stability of a work machine, in particular a truck-mounted concrete pump, according to the preamble of claim 1, a work machine with a control unit that is set up to carry out the method according to the invention, and a corresponding computer program product.
  • truck-mounted concrete pumps with a distribution boom that is rotatably mounted on an undercarriage can, for example, be rotatably mounted on a mast frame connected to a vehicle frame.
  • the statements apply analogously to other generic work machines such as mobile cranes or crawler concrete pumps with placing booms.
  • the tipping moments in truck-mounted concrete pumps essentially result from the placing boom including its own and operating loads as well as unfavorable external influences such as wind. From a mathematical superposition of the center of gravity of the distribution boom with the center of gravity of the undercarriage, the so-called center of gravity of the working machine results as a circular area within which the center of gravity of the entire machine is located when the distribution boom moves.
  • a truck-mounted concrete pump (or generally any supported machine) has at least three, but usually four, support feet and thus tilting edges, whereby the number of support feet and tilting edges is unlimited. All tilting edges of the machine enclose any geometric surface. If the overall center of gravity of the machine is within this area, the machine is considered stable.
  • One goal in the design of truck-mounted concrete pumps is to make the best possible use of the area enclosed by the tipping edges.
  • the support geometries of truck-mounted concrete pumps are usually discretely dimensioned so that the tilting edges do not touch the center of gravity circle at the respective point of the shortest distance to the center of the center of gravity circle.
  • the most unfavorable placing boom position permitted or intended for the respective support configuration is usually assumed.
  • the advantage of this approach which focuses on borderline situations, is the comparatively simple calculation regardless of the actual position of the placing boom.
  • the disadvantage of this approach lies in its conservative approach: the assumption of a support-specific maximum outreach of the placing boom, especially with narrow supports, unnecessarily restricts the pivoting ranges of the placing boom compared to a high probability that in reality it is not the case unfavorably placed distribution boom.
  • the mapping of the tilting moment as a center of gravity circle is not congruent with the area formed by the tilting edges - there remain areas outside the center of gravity circle but within the area enclosed by the tilting edges that are not used as the working area of the placing boom.
  • a tilting moment can be determined by measuring the hydraulic pressure in the cylinder drive of the first distribution boom joint in conjunction with recording the angle of inclination of this arm and the pivot angle of the distribution boom.
  • the further mast position is only taken into account to the extent that further discrete data signals are available.
  • An inclination of the machine that is relevant to stability is also not recorded in real time (e.g. a shortening of the lever arms due to an inclination compared to an ideally horizontal structure), but is usually taken into account indirectly using conservative assumptions when designing the support system.
  • the determined load moment can then be compared with a standing moment from specified machine data and a path or swivel angle measurement of the horizontal support leg drives and thus with the respective support leg position.
  • Such a system works two-dimensionally horizontally, but vertical effects are not taken into account.
  • a further disadvantage is that experience has shown that real-time measurement of load data such as hydraulic pressures brings with it the problem of a large degree of uncertainty in the measurement data due to measurement noise, which must be compensated for by the system using appropriate filters and thus at the expense of compromises in performance.
  • the present invention is therefore based on the object of specifying a method which enables safe and efficient monitoring of the stability of work machines of the generic type and which knows how to overcome the aforementioned disadvantages.
  • the work machine includes an undercarriage, a structure rotatably mounted on the undercarriage and an adjustable support for supporting the work machine.
  • the undercarriage is preferably movable and can have a wheeled or crawler chassis.
  • a current three-dimensional center of gravity vector is determined based on at least one measured current position of the work machine.
  • the center of gravity vector therefore has not only horizontal but also a vertical component.
  • the determined current center of gravity vector is projected onto an auxiliary plane, resulting in a two-dimensional projected center of gravity vector, the coordinates of which depend on the choice of the auxiliary plane.
  • the measured current position of the work machine can relate to a single movable component, for example an articulated arm of the body, or to several movable components.
  • the current center of gravity vector can also be based on other information such as geometric data of one or more moving parts of the work machine or the structure.
  • a current tilting edge of the work machine defined by the support is projected onto said auxiliary plane. From these projections, a boundary vector is determined which extends within the auxiliary plane from the origin of the center of gravity vector or the projected center of gravity vector along the direction specified by the latter to the projected tipping edge.
  • the tipping edge may itself be defined by vectors that refer to the same origin as the center of gravity vector.
  • the tilting edge mentioned can be a tilting edge vector. It is also conceivable that several or all tilting edges of the current support are projected onto the auxiliary plane at the same time.
  • a difference between the projected center of gravity vector and the limit vector is calculated, said difference being the amount of the difference vector or the difference between the amounts of the projected center of gravity vector and the limit vector.
  • the sign obtained says something about whether the center of gravity associated with the center of gravity vector is located inside or outside the tipping edge and thus whether an increase in range is possible through a continued movement of the body (for example a further unfolding of a distribution boom) or not.
  • an action is automatically carried out on the basis of the calculated difference, for example by a control unit of the work machine that carries out the calculations described above.
  • Said action which therefore depends on the value of the calculated difference, can include the control of at least one drive of the work machine (for example an actuator of the body) and/or the output of a signal.
  • the output of a signal can include a simple display of a value and/or a graphical representation on a display unit, for example a monitor in a driver's cab or on a driver's cab of the work machine or on a mobile control device for controlling the work machine.
  • There is also a regulation of one or more Actuators of the work machine based on the signals from the control unit and thus based on a regular calculation of the difference are conceivable.
  • the basic idea of the present invention is therefore to spatially assign both the position of a center of gravity of the work machine relevant to tipping safety (characterized by the current center of gravity vector) and the position of the tipping edge(s) (e.g. characterized by corresponding tipping edge vectors) in relation to a common origin describe and equate it as a stability condition by projecting onto a common reference plane (auxiliary plane).
  • the stability condition corresponds to the mathematical comparison by forming the difference between the projected center of gravity vector and the limit vector, in particular the amounts of the projected center of gravity vector and the limit vector.
  • the value of the difference provides information about how far the center of gravity is from the tipping edge relevant to the current movement, so that if an approach occurs, an early warning can be displayed or countermeasures can be initiated. If the tilting moments are equal to the standing moments, the difference is zero.
  • the vectorial approach makes it possible to allow the center of gravity relevant to the tipping safety of the machine, for example the center of gravity of the body or, in the case of a truck-mounted concrete pump, the center of gravity of the placing boom, to follow, as far as geometrically and mechanically possible, any surface enclosed by a theoretically unlimited number of tipping edges and thus not to give away any possible work areas.
  • the common origin to which the center of mass vector and the boundary vector refer can be any point in the auxiliary plane. It is also conceivable that the origin is determined in one, two or three dimensions by a mechanical or geometric condition of the work machine, for example by an articulation point of a movable part of the structure or an axis of rotation of the structure or a part thereof.
  • the center of gravity vector and/or the limit vector is determined at regular time intervals during operation of the work machine. This enables continuous or real-time monitoring of the stability of the machine.
  • the actually available working area, within which stability is guaranteed, is preferably fully utilized for each movement of the work machine.
  • the determination of the center of gravity vector and/or the limit vector occurs during operation of the work machine in response to a movement of the work machine, in particular a movement or change in the support and/or the structure. If the machine is at a standstill, the calculation of the vectors or the difference does not need to be updated. However, if a movement occurs, the values are updated or recalculated.
  • the event- or movement-based monitoring can be superimposed on the determination of the center of gravity and/or boundary vectors, which occurs at regular intervals, for example by regularly updating the values at larger time intervals, regardless of a movement.
  • the auxiliary plane is oriented horizontally. It is also conceivable that the orientation of the auxiliary plane can be determined, for example by an input from the machine operator into an input means.
  • the orientation of the auxiliary plane is preferably independent of the actual orientation or inclination of the work machine, so that an inclination of the work machine that affects the stability can be taken into account during monitoring.
  • the current three-dimensional center of gravity vector relates to the overall center of gravity of the work machine.
  • the current three-dimensional center of gravity vector can refer to the overall center of gravity of the structure (in the case of a truck-mounted concrete pump, therefore to the overall center of gravity of the placing boom) or even just to a center of gravity of a part of the structure, in particular a first articulated arm of the structure.
  • the machine is preferably equipped with comprehensive measurement technology for recording the aforementioned measured variables.
  • the vector calculation necessary for the stability statement can be carried out in real time, for example on the control device or the control unit of the working machine and preferably taking machine-specific constants such as articulated arm and/or support leg lengths into account.
  • the measured real-time data from the machine is preferably low-noise geometry data from path and angle measurements.
  • a measurement of the hydraulic pressure in relation to a hydraulic drive of the work machine, for example the hydraulic cylinder of the A-joint of a distribution boom, can then optionally be used in addition to improving the informative value of the stability monitoring, as described further below.
  • this information can be geometric data relating to at least one component of the undercarriage and/or the structure and/or the support, for example articulated arm lengths, component masses, support leg lengths and the like.
  • This data can be stored in a database of the work machine, for example on a memory of the control unit of the work machine or on a separate memory module to which the control unit has access. It is also conceivable that the data is stored on an external computer unit or in a cloud with which the work machine is in a wireless communicative connection, so that the required data can be made available to the control unit.
  • the determination of the current three-dimensional center of gravity vector and/or the determination of the current tilting edge is based exclusively on measured variables that are obtained through path and/or angle measurements. Such measurements are particularly low-noise and therefore meaningful.
  • a hydraulic pressure measurement in the cylinder of the A-joint of a distribution boom of a truck-mounted concrete pump could, for example, provide information about whether the assumed maximum density of the pumped medium is actually achieved. At a lower density, a greater reach of the placing boom could be permitted depending on the support geometry.
  • the measurement of wind strength and/or direction already mentioned can also provide additional data for stability monitoring in order to improve its informative value.
  • a planning mode is provided which makes it possible, depending on a spatial target position desired by the operator of the work machine, for example in the case of a truck-mounted concrete pump Distribution boom tip, a minimum support geometry required, that is to say ensuring stability, must be calculated before the machine is put into use.
  • the planning mode allows a desired position of the work machine, in particular the structure, to be determined, in particular by input via an input means.
  • a corresponding future three-dimensional center of gravity vector is then calculated for the desired position and projected onto the auxiliary plane.
  • a safe support position and/or tipping edge is determined, the projection of which onto the auxiliary plane results in a difference in the amounts of the projected center of gravity vector and limit vector, which corresponds to a specific value.
  • This value can be zero (i.e. the stability condition is exactly fulfilled at the calculated tipping edge), or a tipping edge is determined at a certain safety distance, i.e. the value of the difference between the vector amounts corresponds to a defined and in particular definable negative value (since the projected center of gravity is within the tilting edges).
  • the safety distance can be set or adjustable by the operator or at the factory.
  • the planning can be carried out by the operator of the work machine himself, i.e. the target position is entered using an input device directly on or in the work machine (e.g. on a driver's cab or in a driver's cab).
  • the planning takes place outside the work machine and the corresponding data is sent wirelessly to the work machine or the planning module/planning means that carries out the planning.
  • the planning mode can be carried out by a planning agent.
  • This can be a computer that is separate from the control unit of the work machine and can be located in the work machine or at another location.
  • the planning means can also be a software module that is executed, for example, in the control unit of the work machine.
  • the planned movement of the work machine or the structure could optionally be "run through” without actually moving the machine, with the difference for the virtual movement or the corresponding positions being calculated according to the method according to the invention and the stability being checked.
  • This makes it possible, for example, to show the operator for a desired target position of the work machine whether this is possible or not at the current support position. If this is not possible, the operator could possibly be presented with a suggestion for an alternative, safe movement/position or for a change in the support that allows the desired movement to be carried out safely.
  • the support comprises at least three support feet, the support feet preferably being able to be extended and retracted in a direction parallel to the axis of rotation of the structure (i.e. in the case of a horizontal base, the support feet move in and out vertically, for example via corresponding ones hydraulic support cylinders, which themselves can form the support feet).
  • at least two support feet are preferably each arranged on a support leg which is pivotably and/or telescopically mounted on the undercarriage.
  • the work machine is preferably equipped with comprehensive measuring technology for recording the aforementioned measured variables, in particular in all existing support feet or legs.
  • additional information can also be obtained here via one or more pressure sensors for detecting one or more hydraulic pressures, with low-noise angle and path measurements preferably primarily being used for the calculations.
  • a current movement of the structure is automatically braked or stopped as soon as the calculated difference between the projected center of gravity vector and the limit vector corresponds to a value of zero or a defined and in particular definable value. This prevents the tipping edge from being driven over and the machine from tipping over.
  • a controlled braking process takes place as soon as the calculated difference reaches a defined value, i.e. before the tipping edge is reached.
  • a warning signal can be issued as soon as the calculated difference between the projected center of gravity vector and the limit vector corresponds to a value of zero or a defined and, in particular, definable value.
  • This can be, for example, a visual and/or acoustic warning signal.
  • a continuous display of the relevant values and/or a graphical display of the work machine can be carried out and/or the actual or projected center of gravity and/or the actual or projected tilting edges on a display unit so that the operator can keep an eye on the current operating situation and stability of the work machine.
  • the present invention further relates to a work machine with a control unit which is set up to carry out the method according to the invention. This obviously results in the same advantages and properties as for the method according to the invention, which is why a repeated description is omitted.
  • the work machine preferably comprises at least one sensor which is in communicative connection with the control unit. This can be one or more of the above-mentioned sensors for detecting the variables included in the calculation of the difference.
  • the work machine according to the invention is a truck-mounted concrete pump with a concrete distribution boom which is rotatably mounted on the undercarriage and in particular is foldable.
  • the latter can be mounted on a mast frame which is mounted on a vehicle frame.
  • the present invention further relates to a computer program product which comprises commands which, when the program is executed by a control unit of a work machine, cause the control unit to carry out the method according to the invention.
  • the computer program product can include a calculation means that determines the center of gravity and boundary vectors and calculates the difference.
  • the computer program product can include a control means which, based on the calculated difference, generates control commands and/or signals for corresponding displays in order to carry out or initiate the respective intended action.
  • the computer program product may include a planning means, as above described.
  • the computer program product can include a display means that generates a corresponding numerical display of one or more of the calculated values and/or a graphical display that is displayed to an operator on a display unit such as a display provided in/on the work machine or a mobile device becomes.
  • the Figure 1 shows various components of a work machine according to the invention according to an exemplary embodiment for carrying out the method according to the invention for stability monitoring, with only the most important components being shown schematically here.
  • a control unit 10 of the work machine receives measurements from a series of sensors, which are collectively designated by the box 12. Although this can in principle be a single sensor 12, it is preferred if several sensors 12 deliver different measured values for the position of the work machine and its support in order to obtain the most precise information possible about stability.
  • the sensors 12 can be angle sensors, odometers, pressure sensors, anemometers, inclination sensors, acceleration sensors, optical sensors, acoustic sensors, etc., which deliver their measured values to the control unit 10.
  • control unit 10 determines a three-dimensional center of gravity vector corresponding to the current position of the work machine (or the part of it used for the center of gravity calculation - this can, for example, only be the structure 1 rotatably mounted on the undercarriage).
  • S ⁇ which is projected onto a horizontal auxiliary plane H (in the exemplary embodiment described here).
  • a schematic representation of the relevant quantities and vectors can be found in the Figure 2 .
  • the working machine is supported by a support comprising four support feet (schematically represented by points 20), which can be extended and extended via hydraulic support cylinders.
  • the support feet can be located on pivoting and/or telescopic support legs that are connected to the undercarriage of the work machine.
  • the connecting straight lines between the support feet 20 form tilting edges K.
  • the tilting edges K are also projected onto the common auxiliary plane H.
  • the projected tilt edges H' can be represented by vectors or tilt edge vectors.
  • the control unit 10 accesses machine data such as constants, component masses or geometric data of components of the work machine, which are stored in a memory or a database 14. This can be located inside or outside the work machine or be part of the control unit 10.
  • control unit 10 determines a limit vector Q ⁇ , which is from the origin point U of the center of mass vector S ⁇ along a through the projected center of mass vector S ′ ⁇ defined straight line extends to the projected tipping edge K ⁇ .
  • the boundary vector Q ⁇ also lies within the common auxiliary plane H and runs parallel to the projected center of gravity vector S ′ ⁇ .
  • the control unit 10 now calculates the difference S ′ ⁇ ⁇ Q ⁇ the magnitudes of the projected center of gravity vector S ′ ⁇ and the boundary vector Q ⁇ . If this difference is zero, the center of gravity is exactly on the tipping edge K ⁇ . If the difference has a negative sign, the center of gravity is within the tipping edges K ⁇ , so that stability is guaranteed. A positive sign indicates that the center of gravity is outside the tilting edges K ⁇ (as in the Figure 2 to see). In this situation there is a risk of the machine tipping over, which must be avoided
  • the control unit 10 is connected to a display unit 40 and transmits signals to it. It is conceivable that the relevant values, for example the calculated difference and/or some or all of the recorded measured values and/or variables derived therefrom, are displayed numerically and/or graphically on the display unit 40.
  • control unit 10 can be connected to at least one actuator 30 of the implement and send corresponding control signals to it in order to automatically stop the current movement or brake it in a controlled manner. This can be done fully automatically or initially only a warning can be displayed to the operator.
  • actuators 30, for example the entire structure (or distribution boom in the case of a truck-mounted concrete pump), can be controlled by the control unit 10.
  • a planning means 16 can also be implemented in the form of a software module in order, for example, to calculate a required minimum support geometry or safe tipping edge for a desired target position of the structure 1 (e.g. in the case of a truck-mounted concrete pump, a target position of the distribution boom tip).
  • the work machine can be a truck-mounted concrete pump with a distribution boom 1 rotatably mounted on an undercarriage.
  • the mast 1 is in particular designed to be foldable and comprises a plurality of articulated arms which are connected to one another in an articulated manner and which can be moved or pivoted by corresponding actuators (in particular hydraulic cylinders).
  • FIG. 3 An exemplary embodiment of a distribution boom 1 of a truck-mounted concrete pump is shown schematically in a side view, with only the first two articulated arms 3, 4 and the mast trestle 5 being shown.
  • the first articulated arm 3 is articulated on the mast frame 5 via a first joint 2 (so-called A-joint) and can be pivoted via a first hydraulic cylinder (not shown).
  • the center of gravity vector on which the monitoring method according to the invention is based S ⁇ can refer to the overall center of gravity of the truck-mounted concrete pump (i.e. undercarriage and placing boom 1 combined). In order to simplify the calculations and measurement technology, only the center of gravity of the distribution boom 1 can be used as a basis.
  • the ideal machine equipment with measurement technology can be reduced if necessary - with normal machine inclinations and excavations, for example, differences in excavation of the support cylinders are usually of little importance.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
EP23165800.6A 2022-06-30 2023-03-31 Procédé de surveillance de la stabilité d'une machine de travail Pending EP4299858A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022116319.9A DE102022116319A1 (de) 2022-06-30 2022-06-30 Verfahren zur Überwachung der Standsicherheit einer Arbeitsmaschine

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EP4299858A1 true EP4299858A1 (fr) 2024-01-03

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DE (1) DE102022116319A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002075076A2 (fr) * 2001-03-02 2002-09-26 Putzmeister Aktiengesellschaft Appareil de travail mobile comprenant un systeme de surveillance de stabilite statique
EP2113481A1 (fr) * 2008-04-30 2009-11-04 Liebherr-Werk Ehingen GmbH Grue mobile avec système de supervision
WO2020104282A1 (fr) * 2018-11-21 2020-05-28 Liebherr-Werk Biberach Gmbh Grue et procédé pour surveiller le fonctionnement d'une telle grue
CN113353823A (zh) * 2021-06-18 2021-09-07 安徽柳工起重机有限公司 基于起重机性能表数据库的起重机控制方法
CN113608464A (zh) * 2021-07-21 2021-11-05 徐州徐工施维英机械有限公司 一种泵车的防倾覆安全控制方法、装置及系统

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019105814A1 (de) 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe
CN111761574B (zh) 2020-05-28 2022-08-02 中联重科股份有限公司 判断臂架可进行的操作的安全性的方法和装置及工程机械

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002075076A2 (fr) * 2001-03-02 2002-09-26 Putzmeister Aktiengesellschaft Appareil de travail mobile comprenant un systeme de surveillance de stabilite statique
EP2113481A1 (fr) * 2008-04-30 2009-11-04 Liebherr-Werk Ehingen GmbH Grue mobile avec système de supervision
WO2020104282A1 (fr) * 2018-11-21 2020-05-28 Liebherr-Werk Biberach Gmbh Grue et procédé pour surveiller le fonctionnement d'une telle grue
CN113353823A (zh) * 2021-06-18 2021-09-07 安徽柳工起重机有限公司 基于起重机性能表数据库的起重机控制方法
CN113608464A (zh) * 2021-07-21 2021-11-05 徐州徐工施维英机械有限公司 一种泵车的防倾覆安全控制方法、装置及系统

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