WO1997045359A1 - Procede et dispositif pour la programmation automatisee, assistee par ordinateur, du parcours d'une charge suspendue a transporter au moyen d'un appareil de deplacement d'une telle charge - Google Patents

Procede et dispositif pour la programmation automatisee, assistee par ordinateur, du parcours d'une charge suspendue a transporter au moyen d'un appareil de deplacement d'une telle charge Download PDF

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Publication number
WO1997045359A1
WO1997045359A1 PCT/DE1997/001056 DE9701056W WO9745359A1 WO 1997045359 A1 WO1997045359 A1 WO 1997045359A1 DE 9701056 W DE9701056 W DE 9701056W WO 9745359 A1 WO9745359 A1 WO 9745359A1
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WO
WIPO (PCT)
Prior art keywords
profile
path
height
cell
planning
Prior art date
Application number
PCT/DE1997/001056
Other languages
German (de)
English (en)
Inventor
Uwe Wienkop
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO1997045359A1 publication Critical patent/WO1997045359A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—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

Definitions

  • the invention relates to a method and an arrangement for improving the transport operation of suspended load transport devices, in particular of rotating cranes, goal cranes and construction site crane vehicles. In particular, this also applies to guaranteeing transport operations in poor visibility.
  • the object on which the invention is based is to improve the transport of suspended loads by means of suspended load transport devices, in that the invention is intended to ensure greater automation of the transport process.
  • the invention is intended to improve the interaction between a plurality of such suspended load transport devices when their working areas overlap. Furthermore, operation should also be possible if the view of the goods to be transported is obstructed.
  • a sensor in the method according to the invention, regularly updated survey profiles of the working area of the suspended load transport device are created.
  • the survey profile is particularly advantageously represented by cells with assigned height values, since effort and the computational effort required to determine a path for a transport process is significantly reduced.
  • a very simple algorithm is used particularly advantageously in path planning, which initially only connects the mechanical conditions of the suspended load transport device with the existing elevation profile and attempts to take a direct path. In this way it is guaranteed that only a minimal computational effort has to be carried out for each transport operation.
  • the hook height is mostly not known
  • the load size is known a priori, so the safety zone is preferably also used to take the load extension into account.
  • the inventive method can simply provide a vertical security area by merely increasing the height values of the matrix cells by a constant amount.
  • this can advantageously ensure a constant load distance to the survey profile, and on the other hand, since it is a constant for each matrix cell, the calculation process in path planning can be kept simple.
  • the method according to the invention is particularly advantageously carried out iteratively and in several steps in that, if no direct path is possible, random points are inserted into the path of the path for the transport process.
  • the analysis of this composite path trajectory can be carried out in the same way as the analysis of the direct connection between the starting and destination points, it only requires several analysis processes for each section of the planned path trajectory.
  • the planned path of the hanging load is smoothed again after random points have been inserted into the path trajectory in order to avoid undesired and unnecessary changes of direction when the hanging load is being transported.
  • the invention thus ensures in a simple manner that a composite path trajectory manages with as few intermediate points as possible.
  • the invention particularly advantageously ensures that several suspended load transport devices can work together. Communication advantageously takes place between the controls of these various suspended load transport devices, by means of which they communicate to each other at which position load transport-relevant parts of these transport devices are currently located. If necessary, this corresponding position data can then alternately enter the planning profiles, preferably as height values, in the event that the two work areas currently overlap and both hanging load transport devices work in a common work area , are entered.
  • the invention ensures that, depending on the dimensions of the respective suspension load transport device and the position of the load, for example on a trolley, as well as the length of a suspended suspension rope and the length of, for example, the crane boom of lifting cranes, an optimal one Pathway over the Survey profile can also be ensured for several suspended load transport devices.
  • a taller crane can move its load in the same area by swinging the load over a low crane.
  • a crane boom can also be prevented from getting caught in the transport rope of a higher crane by only extending the trolley of the higher crane to such an extent that it cannot touch the crane boom of the lower crane.
  • an optimal energy expenditure for the transport is advantageously ensured by trying to move the load along the elevation profile as much as possible when planning the path.
  • a target point to be approached multiple times is advantageously marked with the aid of a marking means, for example a direction finder transmitter, since this considerably simplifies the control effort for an operator and also marks target points which cannot be seen.
  • a marking means for example a direction finder transmitter
  • a multi-axis servo control is advantageously provided in the arrangement according to the invention, which allows the load movement to be coordinated in several dimensions simultaneously.
  • a sensor for determining the elevation profile is particularly advantageously attached to a moving part of the suspended load transport device, since the most important part of the elevation pro files is updated, namely the one in which the load is moving.
  • a view-independent sensor for determining the elevation profile such as, for example, an ultrasound sensor, or a radar device, or other sensors operating in the invisible spectrum, since this also means that the method is operated at night or during poor visibility is possible.
  • Figure 1 shows an example of a suspended load transport device.
  • Figure 2 shows an example of a survey profile.
  • FIG. 3 shows a transport process with an assembled path trajectory.
  • Figures 4 to 7 give examples of planning profiles.
  • Figure 8 illustrates a web smoothing process.
  • Figure 9 illustrates operation in poor visibility.
  • FIG. 1 shows schematically a suspension load movement device, here in the form of a lifting crane K.
  • This lifting crane K has a hoist HW and a jib AL, along which a trolley LK can move.
  • a suspension load SL is attached to this trolley LK by means of a lifting rope of rope length L.
  • a working area AB is provided for this lifting load movement device, the lifting crane K, for example.
  • loading cranes which, for example, do not have a rigid crane jib AL, but a vertically pivotable jib.
  • goal cranes are also suitable for the use of the invention.
  • the adaptation of the measurement data, which are measured by a sensor SEN only requires the use of simple trigonometric functions in other devices, which are familiar to the person skilled in the art.
  • a distance measuring sensor SEN is preferably attached to the trolley LK of the crane K, or another part moving during the transport of the load, which, for example, generates a measuring cone MK which has an opening angle TET.
  • the sensor detects different sections from the working area AB and can measure the distance and store an elevation profile in a controller provided, for example, in the hoist HW , capture sections of the entire surface. It is also conceivable that the sensor SEN is attached directly in the area of the load and not above it, then only the extended length of the hoisting rope L must be related to the measurement result of the sensor in order to obtain a correct elevation profile.
  • Such a sensor can preferably be provided as an ultrasonic distance measuring sensor or as a laser distance radar.
  • Optical cameras are also possible. With these, however, the evaluation of the images to obtain an elevation profile is more difficult than with ultrasonic distance measuring sensors, since distances cannot be determined in a defined manner by them, but must be determined using a reference.
  • another elevation profile which is also not determined with the suspended load movement device, can also be driven from the outside. For example, defined initial states for operation can be created.
  • Figure 2 shows, for example, an elevation profile EP, a work area AB under a suspended load movement device.
  • the height of individual obstacles is indicated in the Z direction, and the area of the working area AB from FIG. 1 is spanned in the Y direction and X direction. Elevations which run along the Y direction can be clearly seen along the Y direction at the coordinates 0, 30 and 75.
  • This survey profile can now be used, for example, to identify inadmissible movements of the load movement device due to incorrect operation and to regulate them in a controlled manner.
  • Target size a braking maneuver is initiated; if a further, more closely selected, safety size is undershot, the device is preferably stopped.
  • This method thereby contributes to increasing the safety when handling suspension load movement devices.
  • FIG. 3 shows an example of the transport of a hanging load over an obstacle H.
  • the load SL is to be moved by a rotating crane K by means of a rope L on a trolley, which is attached to a jib AL.
  • a rotating crane K by means of a rope L on a trolley, which is attached to a jib AL.
  • an attempt is made to move the load directly between the starting point S and the target point Z.
  • the obstacle H is located on this trajectory.
  • the working area AB is measured by means of the sensor SEN and, for example, a survey profile is determined.
  • This elevation profile has an elevation at the edge at which the obstacle H is located.
  • the work area AB is divided into adjacent matrix cells according to the method according to the invention. It is important to note that the shape of the matrix cells is not essential for carrying out the method according to the invention.
  • height values are assigned to these cells in accordance with the elevations present on the work area.
  • Height values are preferably used which are scaled such that the maximum height between the crane and the lowest point of the working area is exhausted by the height values.
  • the height values are preferably discretized in order to simplify the computational effort in the course planning. It is important to also take into account when planning the rail load SL that this also has dimensions. On the one hand, this can be taken into account by entering the dimensions of the largest loads directly into the control of the hand-held load movement device for loads of approximately the same size and thus being able to be taken into account. Furthermore, the dimension of the load can also be taken into account by an addition in the vertical safety profile.
  • the direct route for the load transport is selected.
  • the trajectory TJ shows that the load can also be optimally moved along the elevation profile in order to save energy.
  • the path trajectory TJ shown can also be found by inserting an intermediate point ZP into the path trajectory.
  • it is then examined whether each section allows the suspension load SL to be transported by itself and, if this is the case, the load moves along this trajectory. Before this trajectory is planned, however, it is preferably examined whether intermediate points, if there are several, can be removed again so that they are as smooth as possible Path course is reached and changes of direction, which are undesirable, do not take place.
  • Figure 4 shows an example of a planning profile of a work area. Particularly high elevations are preferably indicated by 5 in the matrix cells, which are selected here, for example, to be square. Zeros in the matrix cells correspond to the floor of the work area and the ones to a small elevation, the height of which is, for example, 1/5 of the height of the wall with the height value 5. This is only intended to state that a linear scale does not always have to be selected. In individual applications, it may make sense to discretize more finely or non-linearly for smaller surveys or for larger surveys and to choose a different scale. In some cases it may also be necessary to provide more than five or less than five height values.
  • FIG. 5 illustrates the case of a planning profile in which two work areas of suspended load movement devices overlap.
  • the boom of a slewing crane is marked here.
  • the two controls of the rotating cranes assumed here, for example, preferably communicate with one another and in the process exchange position data of parts which are relevant for the movement of a suspended load to be transported. This position data is then preferably taken into account in such a way that the position of a jib is alternately entered in the planning profiles of the respective slewing cranes in the form of height values of the matrix cells of the planning profile concerned.
  • the jib of an adjacent slewing crane is identified by matrix cells with the height value 8.
  • this survey profile is supplemented by the current positions of the overlapping neighboring cranes before the route planning is carried out.
  • the jib of lower-lying neighboring cranes is considered as a wall corresponding to the jib length and height.
  • the other crane also knows which trajectory it wants to travel, a corresponding volume can also be blocked.
  • the crane for which the planning profile under consideration is a lower crane than the height 8
  • the position of the innermost 8 in the center of the map can only be used to mark the position of the trolley of the higher slewing crane . This is sufficient to keep the movement of the two cranes against each other without hindrance when pivoting.
  • FIG. 6 shows the planning profile from FIG. 5 to show how a horizontal security zone can be formed using the method according to the invention.
  • This initial profile is shown on the far left in FIG. 6 and the cell in question is outlined with the height value 1.
  • the relevant cells which surround it must be considered. These relevant cells are also highlighted by a bold square.
  • the height value 8 is found for an adjacent cell and this is assigned to the corresponding cell. The result is shown in the middle in FIG. 6.
  • the cell framed in bold now has a safety value of 8. If this procedure is carried out for all cells, starting from the left planning profile of the work area, the right horizontal security profile is obtained, as indicated by the arrow AZEL.
  • the obstacles are preferably widened by a defined security area.
  • each cell is preferably replaced by the maximum value of this and all direct neighboring cells; if necessary, the procedure should be repeated with fine discretization of the cell size until a sufficiently large safety margin is reached.
  • each cell value is preferred in order to increase the security zone.
  • FIG. 7 shows the horizontal security profile from FIG. 6, which is now formed into a vertical security profile to ensure security in the vertical direction of movement.
  • the height value of a respective matrix cell is increased by 1 or by another constant value. Only the increase of 1 is shown here.
  • the planning profile from FIG. 5 can also be used to form a vertical security profile.
  • FIG. 8 illustrates the smoothing process of the trajectory.
  • a path trajectory S-P-Z is shown which leads between obstacles marked with X.
  • an attempt is made to omit the intermediate point P.
  • the direct connection between S and Z does not work on the left side, as this would intersect the insurmountable obstacles X.
  • This situation is different on the right-hand side of the diagram, on which the straight trajectory can be planned, since none of the obstacles X are touched.
  • the intermediate point P is therefore left out of the planned path trajectory.
  • a rapid route search method is preferably applied to an existing planning or security profile.
  • a path from the start to the target cell of the survey profile can be found, which preferably fulfills the following boundary conditions:
  • the path planning must be fast (about less than 1 second).
  • the path planning works, for example, according to the following recursive pattern: 1. First, an attempt is made to determine whether the start and finish can be connected directly; any obstacles lying on the way are crossed. If this succeeds, the control computer has found a way that can be post-processed in a further step in order to achieve "round" courses as possible. 2.If an obstacle cannot be climbed due to its height (exceeding the max. Crane height), a new random point is placed on any cell on the map. 3. Now an attempt is first made to get to this 'random point' from the starting point and then from there finally to the destination; If this succeeds, a way has been found and post-processing can take place. 4.
  • a post-processing step is preferably required in order to further improve the result.
  • the path found is checked for superfluous changes of direction and, if necessary, corrected. Such changes of direction can result from the discretization of the work area (tiling), since the search procedure can now only operate on this discrete work area. For this purpose, for example, in each case for three successive support points of the trajectory, to determine whether the included central point is really needed, ie whether the direct connection between the first and third points is not unobstructed. If this direct connection is free of obstacles, this point can be deleted.
  • the suspension load movement device can automatically load from the current position to another shown point through the described combination of automatic environment detection, entry of target points, preparation of the environmental information for path planning, actual path planning, postprocessing of the found path and back calculation to world coordinates promote. Existing static obstacles and also the jib position of neighboring cranes are automatically taken into account.
  • FIG. 9 shows a building G on which, for example, a crane K is to be used.
  • the working area in the area of the hanging load SL cannot be seen by the operator, for example due to fog or a cloud W.
  • the path planning from the start POS1 to the destination POS2 can be carried out here, for example, using an elevation profile, which was obtained by a sensor SEN, which works in the invisible spectral range. Examples of working principles of such sensors are ultrasound, infrared, or radar, to name just a few. Since cranes have a significant share in the work progress in the body-in-white area, the expansion of the work area described below is particularly important under bad weather conditions. The plays especially in high-rise construction The operator's field of vision plays a major role.
  • the method is preferably based on the integration of methods for Cartesian multi-axis control, environmental detection and automatic path planning.
  • the aim is, among other things, to obtain a survey profile of the construction site.
  • This survey profile changes continuously as construction progresses, but only slowly with rather marginal changes.
  • This survey profile is preferred a method for automatic path planning, which makes it possible to automatically carry loads to a predetermined destination, taking known obstacles into account.
  • visual contact with the construction site is no longer necessary, since all relevant information about areas which cannot be traveled on is already stored in the survey profile and the positions of other cranes can also be taken into account when planning the path.
  • this method can preferably also be used in poor weather conditions or in otherwise poor visibility conditions for the expansion of the working area.
  • the existing survey profile and the path planning can be used to bridge such gaps in visibility.
  • the survey profile itself does not necessarily have to be updated on this day or at these bad weather times due to the low speed of construction progress, for example if data is still available from the day before, on which the visibility was better.
  • Radar sensors can preferably also be used here. Such sensors are able to penetrate fog or the like.
  • the survey profile can be displayed to the operator, who then only has to specify the positions to which the crane is to move and to control fine work directly under the crane, which he can usually still see. Should the view from the pulpit become too bad, it would also be possible for the operator to control the crane remotely from the ground using a remote control. It is therefore always possible for the operator to be able to control the crane in an area of use by visual monitoring.
  • the other position to be approached by the crane can be marked with a small direction finder, for example.
  • the position of this direction finder POS 2 can then be recognized by the crane and automatically approached by the path planning. It is also possible to roughly enter the second position using a suitable input medium using a (3D) joystick, light pen, pen, trackball, etc. and to have a second operator with remote control ready at this position, who takes over the fine positioning at this point. For safety reasons, it makes sense not to approach this second position, which is not directly visible to the operator, for example, but with a safety distance of approx. 2.5 m higher, in order to avoid possible accidents.
  • the great benefit of the work area expansion presented here lies in the automatic 'bridging' of the large area in between. This can range from e.g. mean up to 200m in the plane or also 100m in depth.
  • the environmental detection and automatic path planning as well as a position characterized by input media such as joystick, light pen or direction finder, the working range of cranes is considerably expanded, in particular under bad weather conditions.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention a pour objet un procédé et un dispositif pour la programmation automatisée, assistée par ordinateur, du parcours (TJ) d'une charge suspendue à transporter (SL), au moyen d'un appareil de déplacement d'une telle charge. Le procédé concerne la programmation des trajectoires de parcours de charges suspendues (SL), par exemple lors du transport au moyen d'une grue pivotante (K) ou d'une grue à portique. Une zone de travail de la grue est subdivisée en une matrice cellulaire, des valeurs élevées d'un profil d'élévation déterminé par un détecteur étant assignées à cette matrice. La programmation du parcours (TJ) s'effectue par commande aléatoire, au moyen d'un profil de hauteur pouvant être déterminé, même en cours de fonctionnement, par un détecteur, et conformément aux dimensions de la grue (K). L'invention fournit également une solution pour l'interaction de plusieurs dispositifs de transport dont les zones de travail se chevauchent. L'invention est particulièrement appropriée pour l'utilisation sur des sites de construction, dans des conditions de mauvaise visibilité, conjointement avec des émetteurs de repérage et des systèmes de commande à distance pour la fixation de l'objectif.
PCT/DE1997/001056 1996-05-24 1997-05-23 Procede et dispositif pour la programmation automatisee, assistee par ordinateur, du parcours d'une charge suspendue a transporter au moyen d'un appareil de deplacement d'une telle charge WO1997045359A1 (fr)

Applications Claiming Priority (2)

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DE19621115.8 1996-05-24
DE19621115 1996-05-24

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WO1997045359A1 true WO1997045359A1 (fr) 1997-12-04

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007037878A1 (de) * 2007-08-10 2009-02-12 Siemens Ag Verfahren und Steuerungsprogramm zur Bewegung einer seilgeführten Last von einem Startpunkt zu einem Zielpunkt
DE202009016124U1 (de) * 2009-11-26 2011-04-14 Liebherr-Werk Ehingen Gmbh Kran, vorzugsweise Mobil- und Raupenkran
DE102016004266A1 (de) * 2016-04-08 2017-10-12 Liebherr-Werk Biberach Gmbh Baumaschine, insbesondere Kran, und Verfahren zu deren Steuerung
CN113396123A (zh) * 2019-02-04 2021-09-14 西门子股份公司 无碰撞地路径引导悬挂在绳索处的负载

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4403898A1 (de) * 1993-02-14 1994-08-18 Alexander Lepek Hebezeug
JPH0717684A (ja) * 1993-07-05 1995-01-20 Kajima Corp タワークレーンの衝突防止方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4403898A1 (de) * 1993-02-14 1994-08-18 Alexander Lepek Hebezeug
JPH0717684A (ja) * 1993-07-05 1995-01-20 Kajima Corp タワークレーンの衝突防止方法

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007037878A1 (de) * 2007-08-10 2009-02-12 Siemens Ag Verfahren und Steuerungsprogramm zur Bewegung einer seilgeführten Last von einem Startpunkt zu einem Zielpunkt
DE202009016124U1 (de) * 2009-11-26 2011-04-14 Liebherr-Werk Ehingen Gmbh Kran, vorzugsweise Mobil- und Raupenkran
DE102016004266A1 (de) * 2016-04-08 2017-10-12 Liebherr-Werk Biberach Gmbh Baumaschine, insbesondere Kran, und Verfahren zu deren Steuerung
US11119467B2 (en) 2016-04-08 2021-09-14 Liebherr-Werk Biberach Gmbh Construction machine, in particular a crane, and method for the control thereof
US11599092B2 (en) 2016-04-08 2023-03-07 Liebherr-Components Biberach Gmbh Construction machine, in particular a crane, and method for the control thereof
CN113396123A (zh) * 2019-02-04 2021-09-14 西门子股份公司 无碰撞地路径引导悬挂在绳索处的负载
US11390496B2 (en) 2019-02-04 2022-07-19 Siemens Aktiengesellschaft Collision-free guidance of a load suspended from a cable

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