EP4368558A1 - Procédé de commande de la position d'un élément de charge et/ou d'une charge d'une grue maintenue par un élément de charge - Google Patents

Procédé de commande de la position d'un élément de charge et/ou d'une charge d'une grue maintenue par un élément de charge Download PDF

Info

Publication number
EP4368558A1
EP4368558A1 EP22206755.5A EP22206755A EP4368558A1 EP 4368558 A1 EP4368558 A1 EP 4368558A1 EP 22206755 A EP22206755 A EP 22206755A EP 4368558 A1 EP4368558 A1 EP 4368558A1
Authority
EP
European Patent Office
Prior art keywords
load
crane
load element
designed
drive devices
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
EP22206755.5A
Other languages
German (de)
English (en)
Inventor
Dr.-Ing. Oliver Fenker
Dr.-Ing. Martin Inderelst
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.)
XCMG European Research Center GmbH
Original Assignee
XCMG European Research Center 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 XCMG European Research Center GmbH filed Critical XCMG European Research Center GmbH
Priority to EP22206755.5A priority Critical patent/EP4368558A1/fr
Priority to PCT/EP2023/080545 priority patent/WO2024099866A1/fr
Publication of EP4368558A1 publication Critical patent/EP4368558A1/fr
Pending legal-status Critical Current

Links

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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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

Definitions

  • the invention relates to a method for controlling the position of a load element and/or a load held by a load element of a crane such as a tower crane, gantry crane, telescopic boom crane or the like, wherein the crane comprises movable crane elements which can be moved by controlling drive devices assigned to the crane elements, and a load element which can be raised and lowered, wherein a detection system for detecting the position of the load element is provided, which comprises at least one position detection element and a computing unit, wherein the crane further comprises a control device which communicates on the one hand with the detection system for the purpose of determining the position of the load element and on the other hand with the drive devices and controls the drive devices taking into account the detected position.
  • a detection system for detecting the position of the load element is provided, which comprises at least one position detection element and a computing unit
  • the crane further comprises a control device which communicates on the one hand with the detection system for the purpose of determining the position of the load element and on the other hand with the drive devices and controls the
  • Such methods are known from practice and are used to enable a load to be approached precisely with the load element or to be approached precisely at a place where a load is to be set down.
  • the object of the invention is to avoid the aforementioned disadvantages and to provide a generic method with which the control of the position of a load element and/or a load of a crane held by a load element can be carried out in an improved manner.
  • This task is solved in a generic method in that the computing unit evaluates the temporal sequence of the recorded positions to detect oscillating movements including swinging of the load element and that the computing unit is designed for the targeted control of the drive devices for the purpose of dampening the oscillation behavior and carries out such targeted control of the drive devices if oscillating movements of the load element are detected.
  • the computing unit evaluates the temporal sequence of the recorded positions to detect oscillating movements including swinging of the load element and that the computing unit is designed for the targeted control of the drive devices for the purpose of dampening the oscillation behavior and carries out such targeted control of the drive devices if oscillating movements of the load element are detected.
  • the recorded position can be an absolute position or a relative position that is related to certain reference points.
  • the crane can be designed as a telescopic boom crane and the load element as a platform or a basket.
  • the drive devices are usually designed as hydraulic cylinders.
  • the load element can be designed as a load-carrying device that works by means of frictional locking and/or positive locking.
  • This is the case with most cranes, which can be designed, for example, as tower cranes, gantry cranes, telescopic boom cranes or the like.
  • load-carrying device for example, designed as a hook or clamping device, such as a clamping pliers.
  • Other alternative forms are, for example, an electro-magnet or a vacuum suction lifter.
  • a load held by the load element can be provided, so that vibrations can be dampened not only when the load element is moved to a load, but also when a load is transported.
  • a load held by the load element can be provided and at least one position detection element can be provided at an end region of the load.
  • This end region of the load can be, for example, an end region in the horizontal and/or vertical direction, such as a lower edge or a lower end of the load, a side edge or a lateral end of the load.
  • the load can usually be flat or elongated.
  • position detection elements can also be provided on the load in order to detect the respective position of several end areas of the load.
  • a position detection element can be provided at each end area. In this way, the position of the load can be detected precisely and Movements of the load can be determined from the temporal sequence of the recorded positions.
  • At least one position detection element for detecting an absolute position of the load element or of a load held by the load element, can be designed as a GPS receiver provided on the load element or on the load held by it, which first determines the position values for the absolute position of the load element or the load and then passes these position values determined by it on to the computing unit.
  • At least one position detection element can be provided on the load element or on the load held by it, which first determines the position values for the relative position of the load element or the load and then passes these position values determined by it on to the computing unit.
  • At least one position detection element can be designed to function independently, preferably as an ultrasonic rangefinder, laser rangefinder, mono camera or stereo camera. This makes it possible to determine a position without the need for additional equipment (e.g. the GPS satellite network) and possibly even without it having to be provided and/or installed.
  • additional equipment e.g. the GPS satellite network
  • the detection system can also comprise at least one signal transmitter positioned in the environment of the crane, preferably in the working area of the crane, wherein the detection system is designed such that the position detection element cooperates with at least one signal transmitter positioned in the environment for detecting the relative position of the load element or for detecting the relative position of a load held by the load element.
  • At least one position detection element interacting with a signal generator can be designed as a camera and the associated signal generator can be designed as a light source, such as a laser or position light.
  • At least one position detection element interacting with a signal generator can also be designed as a radio receiver and the associated signal generator as a radio transmitter.
  • At least one position detection element interacting with a signal generator can be designed as a sound wave receiver and the associated signal generator can be designed as a sound wave source.
  • the invention further relates to a crane, such as a tower crane, gantry crane, telescopic boom crane or the like, wherein the crane comprises movable crane elements which can be moved by controlling drive devices assigned to the crane elements, and a load element which can be raised and lowered, wherein a detection system is provided for detecting the position of the load element or of a load held thereby, which comprises at least one position detection element and a computing unit, wherein the crane further comprises a control device which can communicate both with the detection system for the purpose of determining the position of the load element or of the load held thereby and with the drive devices and is designed to control the drive devices taking into account the detected position.
  • a crane such as a tower crane, gantry crane, telescopic boom crane or the like
  • the crane comprises movable crane elements which can be moved by controlling drive devices assigned to the crane elements, and a load element which can be raised and lowered
  • a detection system is provided for detecting the position of the load element or of a load held thereby,
  • the computing unit should be designed to evaluate the temporal sequence of the recorded positions in order to detect oscillation movements of the load element or the load held by it and that the computing unit should also be designed for the targeted control of the drive devices for the purpose of damping the oscillation behavior. and is designed to carry out such targeted control of the drive devices in the event of detection of oscillatory movements of the load element.
  • Such an improved crane can be operated in particular with a method improved according to the invention.
  • vibrational movements can be detected at an early stage, which usually represent an undesirable operating condition.
  • This condition can also be automatically counteracted by the computing unit specifically controlling the drive devices, thus dampening the vibration behavior.
  • the invention also relates to a system comprising, on the one hand, a crane, such as a tower crane, gantry crane, telescopic boom crane or the like, wherein the crane comprises movable crane elements which can be moved by controlling drive devices assigned to the crane elements, and a load element which can be raised and lowered, wherein a detection system is provided for detecting the position of the load element or of a load held thereby, which comprises at least one position detection element and a computing unit, wherein the crane further comprises a control device which can communicate both with the detection system for the purpose of determining the position of the load element and with the drive devices and is designed to control the drive devices taking into account the detected position.
  • a crane such as a tower crane, gantry crane, telescopic boom crane or the like
  • the crane comprises movable crane elements which can be moved by controlling drive devices assigned to the crane elements, and a load element which can be raised and lowered
  • a detection system is provided for detecting the position of the load element or of a load
  • the system should comprise at least one position signal positioned in the environment and/or a signal transmitter which is connected to at least is designed to cooperate with a position detection element, wherein the computing unit is designed to evaluate the temporal sequence of the detected positions in order to detect oscillatory movements of the load element or the load held thereby and, in the event of oscillation behavior detected during the evaluation, is designed accordingly to control the drive devices for the purpose of damping the oscillation behavior.
  • Such an improved system can be operated in particular with a method improved according to the invention.
  • the detection system can comprise at least one signal transmitter positioned in the environment of the crane, preferably in the working area of the crane, wherein the detection system is designed such that the position detection element is designed to cooperate with at least one signal transmitter positioned in the environment for detecting the relative position of the load element or for detecting the relative position of a load held by this load element.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP22206755.5A 2022-11-10 2022-11-10 Procédé de commande de la position d'un élément de charge et/ou d'une charge d'une grue maintenue par un élément de charge Pending EP4368558A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP22206755.5A EP4368558A1 (fr) 2022-11-10 2022-11-10 Procédé de commande de la position d'un élément de charge et/ou d'une charge d'une grue maintenue par un élément de charge
PCT/EP2023/080545 WO2024099866A1 (fr) 2022-11-10 2023-11-02 Procédé de commande de la position d'un élément de charge et/ou d'une charge de grue maintenue par un élément de charge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22206755.5A EP4368558A1 (fr) 2022-11-10 2022-11-10 Procédé de commande de la position d'un élément de charge et/ou d'une charge d'une grue maintenue par un élément de charge

Publications (1)

Publication Number Publication Date
EP4368558A1 true EP4368558A1 (fr) 2024-05-15

Family

ID=84331354

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22206755.5A Pending EP4368558A1 (fr) 2022-11-10 2022-11-10 Procédé de commande de la position d'un élément de charge et/ou d'une charge d'une grue maintenue par un élément de charge

Country Status (2)

Country Link
EP (1) EP4368558A1 (fr)
WO (1) WO2024099866A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102120545A (zh) * 2010-12-22 2011-07-13 长沙中联重工科技发展股份有限公司 起重机防摇系统
WO2011155749A2 (fr) * 2010-06-07 2011-12-15 연세대학교 산학협력단 Système de navigation pour grue à tour
EP2436637A1 (fr) * 2009-11-20 2012-04-04 Hunan Sany Intelligent Control Equipment Co., Ltd Équipement de détection de pose de crochet et grue
US20150291399A1 (en) * 2012-11-19 2015-10-15 Tadano Ltd. Slow stopping apparatus for working machine
EP3034455A1 (fr) * 2014-12-18 2016-06-22 Iveco Magirus Ag Procédé pour commander un appareil aérien, appareil aérien avec contrôleur mettant en oeuvre ce procédé
US20210122615A1 (en) * 2018-06-26 2021-04-29 Liebherr-Components Biberach Gmbh Crane And Method For Controlling Such A Crane
EP3822219A1 (fr) * 2018-07-11 2021-05-19 Tadano Ltd. Grue

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110709602B (zh) * 2017-06-12 2022-04-15 西门子歌美飒可再生能源公司 离岸风力涡轮机安装装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2436637A1 (fr) * 2009-11-20 2012-04-04 Hunan Sany Intelligent Control Equipment Co., Ltd Équipement de détection de pose de crochet et grue
WO2011155749A2 (fr) * 2010-06-07 2011-12-15 연세대학교 산학협력단 Système de navigation pour grue à tour
CN102120545A (zh) * 2010-12-22 2011-07-13 长沙中联重工科技发展股份有限公司 起重机防摇系统
US20150291399A1 (en) * 2012-11-19 2015-10-15 Tadano Ltd. Slow stopping apparatus for working machine
EP3034455A1 (fr) * 2014-12-18 2016-06-22 Iveco Magirus Ag Procédé pour commander un appareil aérien, appareil aérien avec contrôleur mettant en oeuvre ce procédé
US20210122615A1 (en) * 2018-06-26 2021-04-29 Liebherr-Components Biberach Gmbh Crane And Method For Controlling Such A Crane
EP3822219A1 (fr) * 2018-07-11 2021-05-19 Tadano Ltd. Grue

Also Published As

Publication number Publication date
WO2024099866A1 (fr) 2024-05-16

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