WO2014173609A1

WO2014173609A1 - Sensor-based monitoring of wind direction and thermal radiation for a mobile work appliance

Info

Publication number: WO2014173609A1
Application number: PCT/EP2014/056112
Authority: WO
Inventors: Christoph EDELER
Original assignee: Manitowoc Crane Group Frances Sas
Priority date: 2013-04-22
Filing date: 2014-03-27
Publication date: 2014-10-30
Also published as: DE202013003782U1; DE112014002081A5; DE112014002081B4

Abstract

Mobile work appliance having: a mobile undercarriage (2), a superstructure (3) having a boom (4), a sensor (7, 8, 9) which is connected to a part of the boom (4) and records a wind strength and/or a wind direction and/or a thermal radiation intensity and/or a thermal radiation direction, and a computing unit (10) which is connected to the sensor (7, 8, 9) and receives and processes data measured by the sensor (7, 8, 9), wherein the computing unit (10) has a logic unit which determines an effect of the wind strength and/or the wind direction and/or the thermal radiation intensity and/or the thermal radiation direction on the mobile work appliance (1) on the basis of the data received from the sensor (7, 8, 9), and wherein the computing unit (10) transmits a signal to an actuating element and/or to an indicator on the basis of the determined effect and adapts a configuration of the mobile work appliance (1) to the measured wind strength and/or wind direction and/or thermal radiation intensity and/or thermal radiation direction or newly determines and/or outputs a limiting load for the mobile work appliance (1).

Description

Sensor-based monitoring of wind direction and heat radiation for a mobile implement

The invention relates to a mobile implement with a mobile undercarriage, a superstructure with a boom, at least one sensor which is connected to the boom and which detects a wind strength and / or a wind direction and / or a heat radiation intensity and / or a heat radiation direction, and a A computer connected to the at least one sensor and receiving and processing data measured by the sensor.

Jib-mounted implements may be sensitive to wind and / or heat radiation, especially when the boom is extended, as additional forces occur due to the wind which, for example, can cause high loads on connecting parts at the base of the boom due to the leverage effect, or one on the boom Boom can swing hanging force, which can also lead to a high load, which causes damage to the implement. For example, intense sunlight can result in localized material expansion that results in increased stress on the affected parts, which in turn can lead to faster wear or jamming of parts. Likewise, the material expansion can lead to deformation of the boom and thus to dangerous "inclinations" of the boom with unstable behavior.

It is an object of the invention to provide a mobile working device with a boom, the configuration of which can be adapted to the prevailing wind and / or heat load conditions and / or whose control elements "react" in such a way that overloading is avoided or if necessary even a temporary load increase is made possible. This object is solved by the subject matter of claim 1.

One aspect of the invention relates to a mobile implement with a mobile undercarriage and a superstructure with a boom. The mobile implement further comprises at least one sensor which is connected to the boom or a part of the boom. The sensor measures a wind strength and / or a wind direction and / or a heat radiation intensity and / or a heat radiation direction and converts the measured values into signals.

The mobile implement includes a computer or computing device that receives and processes data or signals sent from the sensor.

The computer has a logic or algorithm that determines, based on the data received from the sensor, an effect of wind force and / or wind direction and / or heat radiation intensity and / or heat radiation direction on the mobile work implement and in dependence on the particular one Effect sends a signal to an indicator or an actuator.

The indicator may display the current loads of the mobile implement by the current wind and heat radiation values, for example, as a graph, color code, or numerical value on a screen or to an operator by an audible or tactile signal, for example, vibrating an operating lever, when the mobile Work tool has approached or reached a critical area.

The adjusting element can convert the signal generated by the computer into an actuating movement of actuators, so that a configuration of the mobile working device can be adapted and / or a limit load of the mobile working device can be newly determined on the basis of the measured wind strength and / or wind direction and / or heat radiation intensity and / or heat radiation direction , That is, with the described mobile working device, a method can be implemented with which the load of a mobile working device can be detected by wind and / or heat influence and preferably displayed on a screen. The effects of the detected load on the implement may be calculated by the computer and upon reaching or exceeding a predetermined limit load on the implement, a configuration change to the implement may be automatically effected to return the implement back to a safe loading range below the limit.

An effect of the measured load may also be that, for example, the implement may lift a greater load than the configuration would allow for calm, low wind and / or normal temperature. That is, the results of the sensor measurement can lead to a reduction but also to an increase of permissible performance parameters of the mobile working device.

The boom of the mobile implement may be a telescoping boom having a body or outer boom body and at least one telescoping member, or a boom or telescopic boom connected to a preferably telescoping boom. The mast and / or the boom is part of the superstructure which is preferably rotatably connected to the undercarriage, so that the superstructure, for example, on the undercarriage by an angle greater than 180 °, preferably greater than 270 ° and more preferably at an angle of 360 ° or greater than 360 ° can rotate. The rotation is in both directions, that is, for example, clockwise and counterclockwise possible, with a rotation of more than 360 ° is also an unlimited number of rotations of the implement body in both directions of rotation includes.

If the mobile working device has the mast and / or outrigger with one or more telescoping parts, then each of the telescoping mast or jib parts and / or a respective base body which supports the einteleskopierten mast / Auslegerteile receives, each having at least one sensor. The sensors may be arranged so that they measure the current wind and / or the current heat radiation in the vicinity of the suspected weak points of the mobile implement, for example at or near the tip of the telescopic mast or at the tip of the boom or in the vicinity a joint connection.

The sensors may be sensors that measure only one wind direction, only one wind force, only one heat radiation direction and only one heat radiation intensity, or sensors that can detect several of the values, eg, wind direction and wind force or heat radiation direction and heat radiation intensity or wind direction and Wind strength and heat radiation direction and heat radiation intensity.

The sensors are connected to the arithmetic unit or the computer, which can not only receive and evaluate the data sent by the sensors, but can also send signals to the indicators, actuators and / or sensors to activate and deactivate them , The indicators and / or sensors can be constantly active, regardless of the current weather conditions.

Preferably, the indicators are always active, so that the operator is always informed about the current load values of the mobile implement regardless of the weather. However, the indicators can also be connected to the sensors in such a way that the indicators are always active when the sensors are also active.

The computer can sequentially activate the sensors or individual sensors in predefinable or predetermined intervals and in a predetermined sequence in order to obtain current wind and heat values. The time interval between the individual active phases of the sensors can be dependent on the measured values. That is, if the measured values result in a result that is far from the predetermined limits, the time interval may be different from the subsequent measurement or activation of the sensors for example, one second. If the measured value is closer to the limit value, the time interval can be shortened until the next measurement. In order to ensure immediate activation of the sensors in the event of a sudden change in the weather, such as during a thunderstorm, at least one sensor can be permanently active and can not be switched off intentionally or unintentionally. At least in the event of failure of this sensor, an acoustic or optical signal can be generated by the computer and / or the computer can automatically via the actuators the implement in a kind of emergency shutdown in a secure configuration, for example, the transport configuration in which all telescopic parts are einteleskopiert drive or place the boom on the carriage. Only when this sensor is operational again can work with the mobile implement be continued. The permanently active sensor may in particular be a wind sensor, since unexpected and sudden changes in the heat radiation intensity are unlikely.

The above-mentioned control elements can be driven, for example, by controlled hydraulic, pneumatic cylinders or electric motors.

The computer may include a memory storing limit curves for normal operation of the implement, and logic or algorithm that compares the data of the stored limit curves with the data calculated from the signals received from the sensor and upon reaching a predetermined limit recalculated the limit value of the mobile implement.

If necessary, the computer can send signals to the corresponding actuators based on the newly calculated values and adjust the mobile implement configuration to the new limit curves. The adaptation of the configuration of the mobile work implement may include, for example, a limitation or extension of degrees of freedom of movement and / or of a drive position and / or of a speed and / or a load limit. The adjustment can also increase or decrease a maximum load of the mobile implement and / or a change in the extended length of the telescoping mast and / or boom lead. As already described above, the adaptation can also mean the emergency shutdown of the mobile implement.

The aim of the adaptation is ultimately to keep the mobile implement in a safe operating condition or return to the safe operating condition or to use additional gained by the wind and / or heat radiation power reserves of the implement with.

The mobile work equipment may have on the operator panel or in the cockpit of the operator's cab a display, for example a screen or a display, on which the values detected by the indicators and the limit values determined by the computer can be read. These are, for example, graphics in which the operator can see in which area the implement is currently working relative to predetermined or calculated limit curves. The graph may have areas of different color that indicate to the operator whether he is working with the implement in a safe area (e.g., green), a transition area (e.g., yellow), or a border area (e.g., red). When reaching the limit, the operator can also be warned by optical signals such as flashing graphic, audible or tactile signals.

The described device can basically be used in numerous mobile working devices. However, a preferred application is a mobile crane with an undercarriage and a superstructure and a telescopic mast with a boom.

Another aspect of the invention relates to a computer program for carrying out the method described above.

The computer may include a digital microprocessor unit (CPU) data-connected to a memory system and a bus system, a random access memory (RAM). as well as a storage medium. The CPU is adapted to execute instructions executed as a program stored in a memory system, to detect input signals from the data bus, and to output signals to the data bus. The storage system may have various storage media such as optical, magnetic, solid state and other non-volatile media on which a corresponding computer program for carrying out the method and the advantageous embodiments is stored. The program may be arranged to embody or perform the methods described herein so that the CPU may perform the steps of such methods and thereby calculate and update a current load of the mobile implement from the currently measured wind and / or heat values Based on the calculations can control signals to output the current load situation, for example on a screen and / or control signals for actuators to adjust the configuration of the mobile work equipment.

Suitable for performing a method is a computer program having program code means for performing all steps of the method when the program is executed on a computer.

The computer program can be easily read into already existing control units and used to control actuators for changing a configuration of the mobile work implement and an output of the current configuration, for example on a screen, via an audible or a tactile display.

Another aspect of the invention relates to a computer program product having program code means stored on a computer-readable medium for carrying out the method described above when the program code means are executed on a computer.

The computer program product can also be integrated as a retrofit option in control units. For the entire description and claims, the term "a" is used as an indefinite article and the number of parts is not limited to a single one.If "a" has the meaning of "only one", then this is obvious to those skilled in the art from the context or is unambiguously revealed through the use of appropriate terms such as "a single".

An exemplary embodiment will be explained in more detail below with reference to the drawing. Show it:

FIG. 1: side view of a mobile crane,

FIG. 2: a view of the mobile crane of FIG. 1 from the front,

Figure 3: schematic representation of a control for a mobile implement.

In the figure, 1 is a mobile implement 1, in the illustrated embodiment, a mobile crane 1 sketched in a side view. The mobile crane has an undercarriage 2 and a superstructure 3 with a boom 4. The boom 4 is connected to the superstructure 3 via a telescopic mast 5, which in the exemplary embodiment has a first mast part 5a or base body connected to a work implement body and three telescopic mast parts 5b, 5c, 5d.

At the transition from the mast 5 in the boom 4, a sensor 7 is arranged, which can detect the current acting in this area wind and / or heat values. In this case, the sensor 7 can detect only one wind force, only one wind direction, only one heat radiation intensity or only one heat radiation direction. However, it is preferred if the sensor 7 can simultaneously detect the wind direction and the wind strength or the direction of heat radiation and the heat radiation intensity or all four values. At the end of the boom 4 pointing away from the mast 5, a further sensor 8 is mounted.

The sensor 7 may, for example, be a light and / or infrared sensor which is constructed such that it receives light incident from any direction and / or measuring light intensity or having an actuator which tracks the sun. The sensor 8 may be a wind sensor capable of measuring a wind direction and a wind force.

On the mast 5 and / or on the boom 4 further sensors 7, 8 may be provided, which may be the wind and heat sensors described to sensors 7, 8, each of which detects the wind and heat values, or sensors 7, 8, at least one of which detects the wind direction, at least one further the wind force, at least one other the heat radiation intensity and at least one additional the heat radiation direction.

The arrows in FIG. 1 indicate a wind direction from which, for example, a strong wind blows and / or the sun radiates onto the mobile crane with a high heat radiation intensity. The wind and / or the heat radiation intensity can push or elastically deform the mast 5 from the setpoint position shown by solid lines, which is determined inter alia by a held load, into the actual position shown in dashed lines. Thereby, a lever is extended between the center of gravity of the mobile crane 1 and the point of application of the load held on the tip of the boom 4, whereby the mobile crane 1 respectively the mast 5 and the boom 4 from a safe configuration by the wind / heat radiation in a could reach critical configuration, in which the mobile crane 1, for example, tilt or mast 5 can bend.

To prevent this, the data acquired by the sensor 7, which are forwarded to and processed by a computing unit 10 via, for example, fixed lines or radio, may cause the arithmetic unit 10 to be timely, that is, before the deformation or bending of the Mast 5 reaches a critical value, sends control signals to, for example, a draw-in cylinder of at least one of the telescopic mast parts 5b, 5c, 5d, so that the overall length of the mast 5 is shortened and the mobile crane 1 is thereby converted into a stable configuration. Instead of the computing unit 10, the operator of the mobile working device can also be active which can be warned by an optical, acoustic or tactile signal shortly before or upon reaching a critical configuration of the mobile crane.

FIG. 2 shows the mobile crane of FIG. 1 in a rear view with laterally extended supports. Here, the wind and / or the heat radiation from the side of the mast 5 and the boom 4 a. In order to prevent the mast 5 from bending when the lateral wind and / or heat load is too great, for example, the mast can be moved to a safer state by the operator or automatically by the arithmetic unit 10.

FIG. 3 shows a schematic regulation for the mobile implement 1. From the sensors 7, 8 and 9 and optionally other sensors, data such as wind speed, wind strength, heat radiation intensity and heat radiation direction are measured, for example, on the mast 5 and / or on the boom 4. The sensors 7, 8, 9 send the measured values representing signals to the arithmetic unit 10. In the arithmetic unit 10 1 predetermined load limit curves for the mast 5 and / or the boom 4 can be stored in a memory.

The arithmetic unit 10 furthermore has a central random access memory 12, in which the signals transmitted by the sensors 7, 8, 9 can be filtered and processed in order, by means of a predetermined algorithm, to load the mast 5 and / or jib 4 currently by the wind and to calculate the heat radiation. This result can be compared in the arithmetic unit 10 with the known load limits. If the current load is less than the predetermined limit load, this result can be displayed, for example, on a display 13, while no control signals are sent to, for example, mast 5 or boom 4 actuators. FIG. 3 shows exactly this situation, in which the results of the calculation are forwarded to the display 13, but the connections between the arithmetic unit 10 and the mast 5 and the boom 4 or corresponding actuators are interrupted. Corresponds to the calculated current load on the mast 5 or boom 4 of the predetermined limit load or exceeds them, the arithmetic unit 10 can generate control signals and send to the appropriate actuators to change a current configuration of the mast 5 and / or the boom 4 so that an entire system of the mobile crane 1 again has loads that are below the specified limits.

Although some possible embodiments of the invention have been disclosed in the foregoing description, it is to be understood that numerous other variants of embodiments exist through the possibility of combining all of the cited and further all of the obvious technical features and embodiments. It is further understood that the embodiments are to be understood as examples only, which in no way limit the scope, applicability and configuration. Rather, the foregoing description would suggest a suitable way for the skilled person to realize at least one exemplary embodiment. It should be understood that in an exemplary embodiment, numerous changes in the function and arrangement of the elements may be made without departing from the scope and equivalents disclosed in the claims.

LIST OF REFERENCE NUMBERS

1 mobile crane, mobile implement

2 undercarriage

3 superstructure

4 outriggers

5 mast

5a mast part

5b telescopic mast part

5c telescopic mast part

5d telescopic mast part

6 -

7 sensor

8 sensor

9 sensor

10 arithmetic unit

1 1 memory

12 central working memory

13 display

Claims

claims

1 . Mobile implement, comprising:

a mobile undercarriage (2),

a superstructure (3) with a boom (4),

a sensor (7, 8, 9) connected to a part of the cantilever (4) and detecting a wind force and / or a wind direction and / or a heat radiation intensity and / or a heat radiation direction, and

a computing unit (10) connected to the sensor (7, 8, 9) and receiving and processing data measured by the sensor (7, 8, 9),

wherein the arithmetic unit (10) has a logic which, on the basis of the data received from the sensor (7, 8, 9), effects the wind force and / or the wind direction and / or the heat radiation intensity and / or the heat radiation direction on the mobile working device (1 ), and

wherein the arithmetic unit (10) sends a signal to an actuator and / or an indicator depending on the particular effect and adjusts a configuration of the mobile implement (1) to the measured wind strength and / or wind direction and / or heat radiation intensity and / or heat radiation direction; redetermines and / or outputs a limit load on the mobile implement (1).

2. Mobile implement according to claim 1, wherein the boom (4) at the end of a mast (5) is fixed, wherein the mast (5) is preferably a telescoping mast (5).

3. Mobile implement according to one of the preceding claims, wherein the control elements comprise controlled hydraulic, pneumatic cylinders and / or electric motors as actuators.

4. Mobile work device according to one of the preceding claims, wherein the arithmetic unit (10) has a memory (1 1), on the limit load curves for a Normal operation of the mobile working device (1) are stored, and having an algorithm which compares data of the stored limit load curves with the data received from the sensor (7, 8, 9) and the limit load curves for the mobile implement (1) when a predetermined limit value is reached. recalculated.

5. A mobile implement according to any one of the preceding claims, wherein the adjustment of the configuration of the mobile implement (1) includes a restriction of degrees of freedom of movement and / or a drive position and / or a speed.

6. Mobile implement according to one of the preceding claims, wherein the adjustment of the configuration keeps the mobile implement (1) in a safe operating condition or returns to the safe operating condition.

7. Mobile implement according to one of the preceding claims, wherein the adjustment of the configuration, an increase or decrease in the maximum permissible load of the mobile implement (1) and / or a shortening of the length of the telescopic mast (5) and / or the boom (4) includes.

8. Mobile implement according to one of the preceding claims, wherein the adaptation is an emergency shutdown of the mobile working device (1).

9. Mobile implement according to one of the preceding claims, wherein the mobile implement (1) in the cockpit has a display (13) on which the determined by the computing unit corrected Grenzbelastungswerte and / or curves are readable.

10. A mobile implement according to the preceding claim, wherein the new limit load values and / or curves are shown in a graph.

1 1. Mobile implement according to one of the preceding claims, wherein the mobile implement (1) is a mobile crane (1).