WO2017076390A1 - Construction device stabilization method and system - Google Patents

Construction device stabilization method and system Download PDF

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Publication number
WO2017076390A1
WO2017076390A1 PCT/DE2016/100515 DE2016100515W WO2017076390A1 WO 2017076390 A1 WO2017076390 A1 WO 2017076390A1 DE 2016100515 W DE2016100515 W DE 2016100515W WO 2017076390 A1 WO2017076390 A1 WO 2017076390A1
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WO
WIPO (PCT)
Prior art keywords
construction equipment
inclination
subgrade
model
characterized
Prior art date
Application number
PCT/DE2016/100515
Other languages
German (de)
French (fr)
Inventor
Jürgen Grabe
Marius MILATZ
Dominik ZOBEL
Original Assignee
Technische Universität Hamburg-Harburg
Tutech Innovation 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
Priority to DE102015118719 priority Critical
Priority to DE102015118719.1 priority
Application filed by Technische Universität Hamburg-Harburg, Tutech Innovation Gmbh filed Critical Technische Universität Hamburg-Harburg
Publication of WO2017076390A1 publication Critical patent/WO2017076390A1/en

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Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26Indicating devices
    • E02F9/261Surveying the work-site to be treated
    • E02F9/262Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/46Position indicators for suspended loads or for crane elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes 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
    • B66C23/88Safety gear
    • B66C23/90Devices for indicating or limiting lifting moment
    • B66C23/905Devices for indicating or limiting lifting moment electrical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00Safety devices, e.g. for limiting or indicating lifting force
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22Component parts
    • E02F3/26Safety or control devices
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26Indicating devices
    • E02F9/264Sensors and their calibration for indicating the position of the work tool
    • E02F9/265Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

The invention relates to a construction device stabilization method for a construction device (1) standing or driving on a soft subgrade. The construction device (1) has working devices (13) and components which can be moved relative to one another and form a detectable changing system state, and a measurement of the inclination of the construction device (1) is taken continuously or is sampled with a high sampling rate. The method is characterized by the steps of generating a subgrade model with which the softness of the subgrade under load can be calculated in advance; calculating the load on the subgrade for each system state of the construction device (1); calculating a predictive inclination of the construction device (1) in advance while taking into consideration the system state and the subgrade model; comparing the predictive inclination of the construction device (1) with the currently measured inclination of the construction device (1) and iteratively adapting the subgrade model in order to minimize the difference between the predictive inclination and the measured inclination; comparing the predictive inclination for each system state with a specified tilting criterion while taking into consideration the subgrade model, and initiating safety measures if the tilting criterion is reached. The invention further relates to a construction device stabilization system comprising a construction device (1) standing or driving on a soft subgrade, said construction device having working devices (13) and components which can be moved relative to one another and which form a detectable changing system state, and comprising at least one inclination sensor (21). The system is characterized in that an analysis unit (3) and a control unit (4) are provided, wherein the analysis unit (3) contains a subgrade model with which the softness of the subgrade under load can be calculated in advance, and the analysis unit analyzes inclination data measured by the inclination sensor (21) while taking into consideration the respective system state and compares same with specified thresholds. If the thresholds are exceeded, the control unit (4) is actuated by the analysis unit (3) so as to change the system state in order to relieve the load on the construction device (1) in the tilting direction.

Description

DESCRIPTION

Construction Equipment level alarm method and system

The invention relates to a construction apparatus prior assurance procedures for a subject on a flexible subgrade or traveling construction equipment, wherein the construction equipment tools and components which are adjustable to each other and form a detectable, variable system status, wherein a continuous or sampled at a high sampling inclination measurement is carried out, as well as a construction equipment prior system for this. Resilient subgrade here means that the contact surface on which the construction equipment is stationary or moving, from

for various reasons is not sufficiently stable. For example, an insufficiently compacted soil, a soil mechanics variable bottom, other cavities in the substrate or voids may be present. It does not matter, the material from which the surface is formed since the resilience alone of the substrate, including the danger of a ground failure compromise the stability of the construction equipment.

Construction, particularly with high center of gravity are at risk of tipping over on yielding ground. In the design of such equipment is considered in accordance with the current standards of a rigid ground level and as a result, the stability limits for the excavator (construction equipment) are defined. In fact, however, a poorly paved ground can yield gradually or suddenly under a standing, driving or being in the operating mode excavators, which can lead to overturning and hence to substantial material damage and possibly injury. Overload warning or -abschalteinrichtungen for a hoist, as a crane or a particular hydraulic excavators are already long known how

for example, from DE 23 43 941 A1. However, the bearing capacity of the soil, the subsoil, that is ignored and provided a rigid subgrade.

In contrast, DE 103 20 382 A1 describes a mobile

Working machine which is provided with telescopic support feet, which can be supported to increase the stability on a substrate and thereby lifting the chassis, in which are arranged in the region of the supporting feet measuring devices having a vertical load sensor, and a supporting-foot-movement sensor for detecting the instantaneous vertical load and the

have Stützfußbewegung when erecting. For a reliable prediction about the sustainability of the ground can be made when setting up the machine. Accordingly, an evaluation unit is provided which is responsive to the output signals of the measuring device and having an evaluation for the detection and combination of the output signals of the supporting-foot motion sensors, and vertical load sensors and their extrapolation for determining the supporting-foot-ground bearing capacity in the working phase.

This type of determination of the ground bearing capacity is, however, only with stationary supporting feet not run on tracks construction equipment, which also draws on the lot, applicable. In order to determine the stability of a construction machine in construction site tour eg for a crawler crane without support, proposes the

DE 10 2010 012 888 A1 in construction machines with an undercarriage and the undercarriage mounted to rotate relatively via a roller rotary connection

Superstructure before to provide a measuring means for measuring the forces in tension, compression and horizontal directions on the roller rotary connection, wherein the

supplied measured values ​​of a control, and the level alarm can be monitored. Adds to the force sensors can also be equipped with a tilt sensor, the construction machine, for example, the slope of the

Superstructure determined about a vertical axis. Furthermore, can also be closed on the bead geometry and / or the floor panels of the known soil pressure in addition to monitoring of the operating and stability of the crawler crane or of the mobile crane. However, a disadvantage is that ground reactions can not be detected. From DE 10 2008 009 002 B4 is a passive electromechanical

known tilt controls with adjustable damping for the Kippsicherheitsüberwachung in construction machinery and agricultural equipment. It is also disadvantageous in this tilt switch that the inclination limits again assume a rigid Planum and such anti-tilt one

can not determine in situ soil failure.

From EP 2060530 A1 discloses a method for checking the stability of a construction machine, comprising implements and devices, which are adjustable to each other and form a detectable, variable system state, known in which a continuous inclination measurement. Here a critical tilt angle are calculated for each system state, the current inclination with the applicable critical tilt angle compared and triggered security measures before reaching the respective critical tilt angle from the current inclination of the construction equipment.

From US 8,548,689 B2 is a slope determining system

known construction equipment having tilt sensors and acceleration sensors, which measured values ​​are processed via an evaluation unit. Here will be issued as a precautionary measure compensating movements and / or warning signals when critical situations arise inclination.

Further, from DE 202 06 677 IM a safety device for cranes with at least one adjustable position of the load receiving means, a

known load sensor, a position sensor, a control and monitoring device and a warning device, in which a sensor for continuously

Detecting the horizontal and / or vertical alignment position of the crane is provided for the duration of its formation. Here, a comparison means in the control and monitoring device is provided which compares a stored Ausrichtpositionssignal with a current transmitted from the Ausrichtpositionssensor Ausrichtpositionssignal and outputs a position signal to the control and monitoring device, and the control and

Monitoring means when a predetermined value of the position signal outputs an activation signal to the warning device, which triggers them.

Based on the difficulties in attention to the sustainability of the existing soil was at the conference Spezialtiefbau BG BAU on 09 June 2011 in Hamburg a lecture entitled

"Stability of civil engineering Devices" by Karl Krollmann, Jürgen grave and Marius Milatz maintained. It is stated that Geräteumstürze are mostly due to yielding of the track formation and thus a

Reduce such accidents only in addition to the effects of

is building ground possible. Accordingly, improvement of stability over software-based solutions to be achieved in a research project, which also geomechanical aspects involving.

According to this document, it is an object of the invention to provide a

indicate prior backup method and a prior system for equipment with high center of gravity, which takes into account the construction equipment-soil interaction in conventional, ground mechanically variable, yielding ground.

This object is achieved by a method according to claim 1 and by a construction equipment state management system according to claim 12th

By creating a subgrade model with which the resilience of the subgrade can be predicted with stress; Calculating the load of the subgrade for each system status of the construction equipment; Advance calculation of a predictive inclination of Baugerätes taking into account the

System state and the subgrade model; Comparison of the inclination of the predictive Baugerätes with the actually measured slope of the construction equipment and iterative adjustment of the subgrade model to minimize the difference between the predictive tilt and the measured tilt; Comparing the predictive tendency to respective system status taking into account the

Planum model with a predetermined Kippkriterium and

Triggering of safeguards on reaching the Kippkriteriums ensures that critical load situations can be registered in advance. Here, the subgrade model created so that after a short account the products resulting from the construction equipment in the load changes due to the resilience of the track formation at the load,

"Settling" the character of the subgrade, in particular its response to stress is displayed, so that an advance calculation of an inclination of the construction equipment taking into account the system state and the

can be done in the meantime recognized compliance of the subgrade (Planum model). In the comparison of the respective system state, taking account of the track formation model with a predetermined Kippkriterium can thus already ahead a danger of tilting can be detected and upon reaching the

Kippkriteriums appropriate precautionary measures may be triggered.

In this case, security measures on the one hand means outputting

Warning signals to the plant operators in the form of visual and audible warning signals, as well as active control of the construction equipment as well as its

Tools and components for reducing the Kipprisikos. For example, a scheduled on construction equipment piling plant can be placed on the ground or adjusted in its inclination to construction equipment such that the center of gravity further into wanders back to his booth space. The security measures are thus both passive warnings, as well as actively induced changes to the system of the construction equipment to provide the stability restored. The interim measures taken can change the

cause system state, which leads to a reduction of the construction equipment in the tilt direction. Thus, opposite by shifting the center of gravity to the tilting direction feared a heavy load or overload of

Subsoil reduced in this direction, for example a drilling or pile driver can set down on the ground, a deflected superstructure rotated back into alignment with the undercarriage or an implement to be pivoted to the construction equipment according to the tilting direction. Each of the critical system state characterizing gravity moves back closer to the central, vertical axis of the construction apparatus or the weight of the construction equipment is initiated by an additional support on the ground more evenly across the variable resilient building, whereby unwanted ground overloads and a critical yield of the subsoil be avoided. Accordingly, in a state of construction equipment management system, a

Evaluation unit and a control unit is provided, wherein the evaluation unit comprises a subgrade model with which the resilience of the track formation at

Load can be calculated in advance, and evaluates measured by the inclination sensor slope data taking into account the respective system state, and compares them with predetermined limit values ​​and the control unit of the evaluation unit on exceeding of the limit values ​​for changing the state of the system on the discharge of the construction equipment is driven in the tilting direction.

If the system state of the construction equipment is simulated as a vehicle model with different coupled mass points, the system state of the can

Construction apparatus with its working devices and components which are adjustable to each other and form a detectable, variable system state be replicated in a vehicle model. Thus loads can and

Torques of the entire construction apparatus are reproduced in its respective system status. This makes it possible to take into account the complex dependencies between the respective working situation of the construction equipment and underneath, yielding subgrade.

The fact that external loads, namely attacking wind loads and / or on construction equipment adhering soil in the vehicle model to be considered on construction equipment, can be simulated in the vehicle model also the stability of influencing external loads and changing priorities and torques.

If the vehicle model takes into account changes to the system state of the construction equipment, as well as the external loads dynamically the dynamically acting inertia of the entire system as well as a possible can

Vibration behavior be considered in the overall evaluation.

Characterized in that a contact model between the vehicle model and formation model simulates the mutual interference, the interaction between the construction equipment and the subgrade in the model can flow. Wrd particularly heavily loaded, for example by the system status of the construction equipment an outer side of the footprint, this increased ballast acts accordingly on the flexible substrate so that the resist reflecting on construction equipment tendency not only by the deflection of the construction equipment, but also on an additional sinking of the chain suspension of due this strongly loaded point of the subgrade. This may use the contact model as

are calculated interaction between the vehicle model and formation model and thus vohergesagt.

Characterized in that in the iterative prediction of the predictive inclination of Baugerätes the vehicle model and the subgrade model are taken into account, wherein the predictive inclination of Baugerätes with the actually measured slope of the construction equipment is compared and an iterative adjustment of the track formation model and the vehicle model in order to minimize the difference between the predictive tilt and the measured tilt is carried out, a further adjustment of the two models, namely subgrade model and vehicle model to the actual measured response of the construction equipment is achieved in the working operation. This iterative adjustment thus improving the prediction of the autogenous corresponding changes in inclination of the construction apparatus in consideration of both of the subgrade as well as the system status of the construction equipment.

If a for each system state matching, critical tilt angle is calculated as Kippkriterium, which is compared with the predictive inclination, a prediction of a risk of tipping over can be derived, which also determined from the previous responses of the system in addition to the actual state of the system, future reactions both of the construction equipment, as well as the subgrade considered.

Alternatively or additionally, the data of the tilt measurement and / or the data of the predictive inclination can be compared with predetermined, critical movement patterns, said security measures are triggered when a match, this can critical

Movement patterns, including dynamic effects are detected, which could lead to a critical situation or overturning of the construction equipment.

In a further embodiment may include the first derivative of

Tilt measurement data is calculated as a criterion for initiation of security measures, characterized by forming the first derivative of the tilt measurement data, calculating a critical inclination rate for each system state, comparing the tilt measurement data first derivative with the applicable critical pitch rate, triggering the

Precautionary measure shortly before reaching its current critical pitch rate.

By forming the second time derivative of the inclination measurement data,

Calculating a critical gradient acceleration for each system state, comparing the tilt measurement data second derivative with the applicable critical inclination acceleration, triggering of the first safety measure shortly before reaching its current critical inclination acceleration is provided a supplementary criterion for initiating protective measures.

When the tilt measurement data is filtered for attenuating and / or smoothing, operating vibrations considerably higher than the frequent to be able

Umkippsicherung festzustellenden, time-varying slope values, are eliminated for further evaluation.

When exceeding the critical angle of tilt, the critical pitch rate and / or the critical inclination acceleration or when a certain movement pattern, a change of the system state can be triggered as a further security measure, leading to a protection of the Construction Equipment and leader of the construction equipment. Here are active

Protective action against the consequences of a now unstoppable tilting example, against the risk of crushing of the cabin under the construction equipment by turning outside the driver's cab of the critical region, triggering of pretensioners and airbags driver (passive

Precautions) possibly also protected the construction equipment construction equipment even the leader and or reduced damage as a result of overturning.

When the data of the tilt measurement are compared with predetermined, critical movement patterns, at a sufficient

Match the first or second safety measure is triggered, certain critical motion sequences can be determined in advance and relatively quickly recognized their occurrence based on the comparison with the current measured data and in accordance with appropriate safety measures can be initiated. To interpret the detected in high sampling rate measured values ​​or derived therefrom values ​​for pitch rate and pitch accelerations, the predetermined, critical movement pattern is a time series of slope data, pitch rate or inclination accelerations, which with the respective measurement data, its first time derivative or its second time derivative is compared via a tracking time window. This can be determined for example by filtering and / or deconvolution. To a sufficiently rapid reaction on the one hand and sufficient

Database for recognizing the critical movement pattern (typical

to achieve finder impression), observed with the revolving time window, a retrospective on the instantaneous time period of 0, 1 to 10 s, in particular 0.3 to 3 s. When the construction equipment has a self-propelled undercarriage and arranged rotatably thereon an upper structure having at least one working device, belonging to the respective system state geometries and from the instantaneous center of gravity and the resulting ground pressure can be calculated. When the undercarriage has a tracked traveling gear, are prepared from the

Geometry data determining the rocking edge of each of the chassis and determines therefrom the stability and depending on the location of the instantaneous center of gravity of the chassis below the chain acting locally variable floor load. If the implement on the superstructure is a drill or pile driver, there is a very high center of gravity, which increases the risk of tipping significantly.

Characterized in that a first inclination sensor in the undercarriage and a second tilt sensor are disposed in the superstructure, can also

are inclination differences between the upper and lower carriages, for instance due to play in the slewing detected and taken into account in the evaluation.

Hereinafter, an embodiment of the invention with reference to the

described accompanying drawings. Therein shows: a schematic diagram of the realized in the construction equipment

Level alarm system; a diagram showing inclination measuring data before and after filtering; the filtered tilt measurement data of Figure 2, in a diagram with marked trip points for safety measures.

Fig. 4 is a diagram of the pitch rate over time.

In Fig. 1, a construction equipment prior system is shown schematically. A construction apparatus 1 with a lower structure 11 with track drive 10 and a pivotally rotatable on the undercarriage 1 1 about a vertical axis Z upper carriage 12 has a valve disposed on the upper carriage 12 working device 13, for example, a pile driver, and on the upper carriage 12, a driver's cabin 14. Further, 1 sensors 2 are provided on the construction equipment, of which the position sensors 22

System status of the construction apparatus 1, namely the position of the upper carriage 12 to the chassis 11, the inclination and orientation of the pile driver 13, as well as at least one inclination sensor 21, the inclination of the construction apparatus 1 to the vertical axis Z can acquire.

Further, in the construction equipment 1 an evaluation unit 3 is provided which has a

Control unit 4 is connected downstream. From the sensors 2, namely

Tilt sensor 21 and position sensor 22 go active compounds 23 to the evaluation unit 3. The measurement data of the tilt sensor 21 in the evaluation unit 3, first through a filter 31 passed. The filter 31 is a low pass filter, the higher frequency signals from the tilt sensors 21, resulting from vibration during operation of the construction equipment 1, such as the diesel engine, the hydraulic or the working device 13 which filters. In Fig. 2 a diagram of the inclination data is shown over the time axis, wherein the unfiltered raw data, the low-pass filtered signal is shown a plurality of high-frequency interference signals and include dashed thereto.

In the evaluation unit 3 of the system status of the construction apparatus 1 is detected from the signals of the position sensors 22 and from the current

Center of gravity, taking into account of any inclination of the

Construction apparatus 1 calculates the vertical axis Z. Under the Zugrundlegung

Instrument data of the construction equipment 1 and the detected system state, the tilt resistance could already be calculated under the condition of a fixed track formation. To account for the resilience of the subgrade under load, a subgrade model is created now that the characteristics of the land on which the construction equipment is to replicate, and in particular may predict their response to stress. Furthermore, a vehicle model is created that the

Load distribution in the construction equipment to the respective system state of the construction equipment (position of the implement) and the components in the construction equipment, for example, with

simulates different, coupled mass points and a

can be calculated in advance from construction equipment and formation model contact between the vehicle model and the subgrade model, the overall reaction of the system. The thereby resulting predictive inclination of the construction apparatus is then compared with the actually measured slope of the construction equipment and by iterative adaptation of the model and, if necessary subgrade. Of the vehicle model for

Minimizing the difference between measured and predictive inclination inclination adjusted.

The thus optimized Planum model and vehicle model then provides

predicted (predictive) tilt values ​​that can be directly compared with predetermined Kippkriterien. It can be an early decision (in advance) thus whether a critical state could arise. According safeguards can then be triggered to alert the driver of the construction equipment to actively intervene in the control and change the center of gravity of a positive or a no longer

preventing overturning located appropriate protective measures for the vehicle driver and the construction equipment or in the environment to make to protect persons and property. This requires that the relevant environment of the construction equipment continuously by a suitable sensor, for example, with imaging methods, the data of a

Recognition software are supplied to monitor. here may

People, buildings, obstacles and other equipment are recorded.

Accordingly, a personal injury can be prevented at a finding of a revolution as far as possible and an unavoidable material damage are minimized.

is characterized in that the sensor signals are scanned in a high sampling rate by the evaluation unit 3 and keep the current system state and also the respective measured inclination to the vertical axis Z will be updated and the time course of change in inclination in the evaluation unit 3 viewed, safety of the control unit can 4 to the in

Cab sent 14 seated Construction driver and / or active

Action by the control unit 4 are executed.

As shown in Fig. 3, a first optical and acoustic warning to the equipment driver with 50% of the critical tilt angle in accordance with A (1 circle) could be sent for example in the continuous comparison of the current bank with always newly calculated critical tilt angle for each system status. Upon reaching 75% of the critical tilt angle in accordance with B (2 in the circle) in FIG. 3, a change in the system status of the construction equipment is then, for example, via the control unit 4 besides a visual and audible warning to the construction equipment driver is driven to discharge in the tilting direction to the acting danger of overturning of the construction equipment 1 active counter. In still increasing proximity to the critical tilt angle 3 immediate discontinuation of the working device 13 or a rapid extension of safety supports are, for example, at 90% of the critical tilt angle in accordance with C (3 in the circle) in FIG., A significant relief of the tipping moment by changing the equipment center of gravity to achieve or increase the loads on the building.

. This measure can not be performed or does not lead to the desired success and after exceeding the critical tilt angle (Point of no return) and / or by comparing the pitch rate as shown in Fig 4 by an idler, retrospective time window no longer aufzuhaltendes overturning of the construction equipment found be initiated via the control unit 4 immediate protective measures. For example, the triggering of airbags in the cab 14 and / or pretensioners and turning out of the cab 14 of a critical impact area to avoid personal injury. Further, automatic measures to reduce the material damage may be initiated by a quasi driving safety assistant be initiated, for example, automatic tilting of the working device, turning the superstructure of the construction apparatus or method.

Thus, the invention provides a roll-over failure from a construction 1 with a high center of gravity, such as a drill or pile-driving device 13 by dynamic values ​​are measured with the sensors 2, namely

Tilt sensor 21 and position sensor 22 detected. For this, both the

System state in a vehicle model as well as the floor in a

Planum model detected in consideration of the current inclination and the inclination gradient for analysis and regulation by the evaluation unit 3 and control unit 4, so that safety measures, if necessary automatically, can be taken immediately in order to protect human life and property. This case, in the dynamic data acquisition with high

Sampling rate monitors the current inclination of the construction apparatus 1 and the temporal change of the inclination. For this done a differentiation of the

Inclination measuring values, namely executing the first and possibly second

Time derivative of the measurement signal, wherein the loss of the safety position, when comparing the measurement signals and the measurement signals derived at a certain critical movement pattern (quasi critical "fingerprint") detected

In this critical movement patterns by modeling empirical investigation or collected data from real accidents can be predetermined, and as a time series of slope data, pitch rate or

Inclination acceleration are stored, and then the actually measured slope data, if necessary, of which the first time derivative or second time derivative thereof over an idler time window using this predetermined critical movement patterns are compared. This can revolving time window, consider the current time in retrospect a period of, for example, 0, 1 to 10 seconds, in particular 0.3 to 3 seconds, are performed by corresponding digital signal processing by means of time series comparison, filtering methods and / or deconvolution. What is important is that the retrospective time window is short enough to still be able to perform adequate protective measures before the overturning of the Baugerätes, wherein for the time period up to the collision in an overturning of a Baugerätes quite several seconds depending in particular on the system dimensions of the construction apparatus with working device and its center of gravity must be recognized. On the other hand, the window must be long enough to distinguish the corresponding critical movement patterns of non-critical movement patterns. For this distinction also with Planum- and vehicle model can calculated predictive

Movement behavior are used.

Depending on the detected condition corresponding stepped can then

Security measures are triggered. First range warning tones and warning lights in the cab to alert the driver construction equipment. In a next step automatic, situation-dependent changes by means of driving safety assistant in the system state of the construction equipment, for example, changing the inclination of the attachment, control of the running gear for moving the entire construction apparatus, actuation of the pivot between the top and undercarriage and possibly unfolding of supplementary safety restraints could be triggered , Upon detection of the typical "fingerprint" of an upset immediately the workflows are then to interrupt and activate security measures on the

Control unit 4 on the basis of the performed in the evaluation unit 3 analyzing the measurement data output by the construction equipment turning the cab from the danger zone and actuation of belt pretensioner and driver airbags as well as any protective measures for the construction equipment itself and its

affect environment so that the construction equipment with the least possible damage and overturn without endangering people as possible can.

Thus, the inventive system and method provides a help for Construction driver to support its activities, to protect the

Construction Equipment driver and particularly to prevent serious upheavals.

LIST OF REFERENCE NUMBERS

1 construction equipment

10 Kettenfahrwerk

1 1 Undercarriage

12 superstructure

13 working machine, pile-driving device

14 cab

2 sensor

21 tilt sensor

22 position sensor

3 evaluation unit

31 filter

4 control unit

A first critical tilt angle (in the circle 1) B second critical tilt angle (2 in a circle) the third C-critical tilt angle (3 in a circle)

Z vertical axis

Claims

Ü patent claims CHE
Construction equipment prior backup method for a stationary on a subgrade or resilient traveling construction equipment, (1) where
the construction equipment (1) having tools (13) and components which are adjustable to each other and form a detectable, variable system status, and
a continuous or sampled at a high sampling rate measuring the inclination of the construction equipment (1) takes place,
characterized by the steps
Creating a subgrade model with which the resilience of the subgrade can be predicted with stress;
Calculating the load of the subgrade for respectively
System status of the construction equipment (1);
Advance calculation of a predictive inclination of Baugerätes (1) taking into account the system state and
Planum model;
Comparison of the inclination of the predictive Baugerätes (1) with the actually measured slope of the construction equipment (1) and iterative adjustment of the subgrade model to minimize the difference between the predictive tilt and the measured tilt;
Comparing the predictive inclination to the respective system state, taking account of the model with a subgrade
predetermined Kippkriterium and
- triggering of safeguards on reaching the
Kippkriteriums.
Construction equipment prior backup method according to claim 1, characterized in that the system status of the construction equipment (1) is simulated as a vehicle model with different coupled mass points. Construction equipment prior backup method according to claim 2, characterized in that external loads, namely attacking wind loads and / or on construction equipment adhering soil in the vehicle model are taken into account in the construction equipment.
Construction equipment prior backup method according to claim 3, characterized in that the vehicle model changes in the
System status of the construction equipment (1) and taken into account when dynamically to external loads.
Construction equipment prior backup method of claim 2, 3 or 4, characterized in that a contact model between the vehicle model and formation model simulates the mutual interference.
Construction equipment prior backup method according to claim 5, characterized in that in the prediction of the predictive inclination of Baugerätes (1) the vehicle model and the
are planum model takes into account the inclination of the predictive Baugerätes (1) with the actually measured slope of the construction apparatus (1) is compared, and is carried out an iterative adjustment of the track formation model and the vehicle model in order to minimize the difference between the predictive tilt and the measured tilt.
Construction equipment prior backup method according to one of the preceding claims, characterized in that a system state to the respective matching, critical tilt angle is calculated as Kippkriterium, which is compared with the predictive inclination.
Construction equipment prior backup method according to one of the preceding claims, characterized, in that the data of the
Tilt measurement and / or the data of the predictive slope are compared with predetermined, critical movement patterns, said security measures are triggered when a match.
Construction equipment prior backup method according to claim 8, characterized in that the predetermined, critical
Movement pattern is a time series of slope data, pitch rate or inclination accelerations, which is compared with the respective measured data, the first time derivative or second time derivative thereof over an idler time window.
10. Construction Equipment stand backup method according to one of the preceding claims, characterized in that the tilt measurement data for
Attenuation and / or smoothing are filtered.
11. Construction Equipment stand backup method according to one of the preceding claims, characterized in that the environment around the construction equipment (1) is monitored by detection sensor. 12 Construction Equipment stand system with a compliant on a
Planum stationary or moving construction equipment (1), the tools (13) and components which are adjustable to each other and form a detectable, variable system status, and at least one tilt sensor (21), characterized in that an evaluation unit (3) and a control unit (4) are provided, wherein
the evaluation unit (3) contains a subgrade model with which the resilience of the subgrade can be predicted when loaded, and the inclination sensor (21) measured
Slope data, taking into account the respective
evaluates the system status and compares it with predetermined limit values ​​and the control unit (4) by the evaluation unit (3) when exceeding the threshold values ​​for changing the state of the system on the discharge of the construction apparatus (1) is driven in the tilting direction.
Stand construction equipment control system according to claim 12, characterized in that the construction equipment (1) a self-propelled undercarriage (11) with a chain gear (10) and rotatably disposed thereon an upper structure (12) with at least one
Working equipment (13).
Stand construction equipment control system according to claim 13, characterized in that the tool (13) on the superstructure (12) drill or pile-driving device (13).
Construction Equipment stand system of claim 13 or 14, characterized in that the system of sensors on the construction equipment, its
Working equipment and components for detecting the state of the system, a first inclination sensor in the undercarriage (1: 1) and a second
Inclination sensor in the superstructure (12) are arranged.
PCT/DE2016/100515 2015-11-02 2016-11-02 Construction device stabilization method and system WO2017076390A1 (en)

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DE20206677U1 (en) 2002-04-26 2002-07-25 Wiesian Willi Safety device for cranes
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EP2060530A1 (en) 2007-11-14 2009-05-20 Honeywell International Inc. Apparatus and method for monitoring the stability of a construction machine
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2343941A1 (en) 1973-08-31 1975-03-13 Rheinstahl Ag Hanomag Baumasch Mobile hydraulic excavator - lifting mechanism with overload warning and cut off switches
US20020059320A1 (en) * 2000-10-12 2002-05-16 Masatake Tamaru Work machine management system
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