WO2021176056A1 - Dispositif de surveillance de benne preneuse - Google Patents

Dispositif de surveillance de benne preneuse Download PDF

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Publication number
WO2021176056A1
WO2021176056A1 PCT/EP2021/055592 EP2021055592W WO2021176056A1 WO 2021176056 A1 WO2021176056 A1 WO 2021176056A1 EP 2021055592 W EP2021055592 W EP 2021055592W WO 2021176056 A1 WO2021176056 A1 WO 2021176056A1
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WO
WIPO (PCT)
Prior art keywords
grab
signal
monitoring device
remote receiver
motion sensor
Prior art date
Application number
PCT/EP2021/055592
Other languages
English (en)
Inventor
Johannes Jacobus Maria VAN VLIET
Original Assignee
Verstegen-Grijpers B.V.
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 Verstegen-Grijpers B.V. filed Critical Verstegen-Grijpers B.V.
Priority to EP21708696.6A priority Critical patent/EP4114779A1/fr
Publication of WO2021176056A1 publication Critical patent/WO2021176056A1/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
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the present invention relates to a grab monitoring device.
  • the present invention further relates to a use of a grab monitoring device, to a mechanical grab, to a grab monitoring system, to a method for tracking a mechanical grab and to a method for equipping a mechanical grab with a grab monitoring device.
  • Mechanical grabs are operated around the world for handling bulk materials, such as sand, rocks and ores. Mechanical grabs are particularly used in ports, for loading and unloading ships, or in bulk storage yards. Mechanical grabs are typically fully mechanical objects, which generally do not comprise any electronic components and which are attached to a crane by means of cables.
  • the known device does have the drawback that it is not suited for grabs that do not travel along a more or less predefined path. For such movements, the entire movement of the grab may take place outside a zone in which the communication units are able transmit signals, thus not being able to be detected.
  • An example of an unsuited application is the use for slewing cranes, in which grabs travel both in radial directions and in tangential directions, seen with respect to a rotation axis of the crane. It is therefore an object of the present invention to provide a grab monitoring device that can be used to track movement of grabs in various applications, or at least to provide an alternative grab monitoring device.
  • the present invention provides grab monitoring device, which is configured to be mounted on a mechanical grab, for example a rope-operated mechanical grab, for tracking movements of the grab, wherein the grab monitoring device comprises: at least one motion sensor, which is adapted to be mounted on the grab and which is configured to provide motion sensor signals that are representative for motions of the grab, a transmitter device, which is configured to transmit a signal from the grab monitoring device to a remote receiver, a control unit, which is operatively connected to the motion sensor and the transmitter device, wherein the control unit is configured to deduct movement cycles of the grab on the basis of the motion sensor signals and configured to output a movement cycle signal on the basis of the deducted movement cycles, and wherein the transmitter device is configured to transmit the movement cycle signal to the remote receiver.
  • the grab monitoring device comprises: at least one motion sensor, which is adapted to be mounted on the grab and which is configured to provide motion sensor signals that are representative for motions of the grab, a transmitter device, which is configured to transmit a signal from the grab monitoring device to a remote receiver,
  • the grab monitoring device no longer requires a fixed reference point along which the grab needs to be moved in order to detect movements of the grab. This enables the grab monitoring to not only track movement of grabs that follow a more or less predefined path, such as grabs that are used for gantry cranes, but also for tracking movements of grabs that move more freely, e.g. in combinations of all three orthogonal directions.
  • the grab monitoring device is configured to be mounted on a grab, for example on a grab head or on an arm of the grab, such that the grab monitoring device is subject to the same movements as the grab itself.
  • the grab monitoring device comprises at least one motion sensor.
  • This motion sensor is configured to track movements of the grab monitoring device, and therefore also configured to track movements of the grab.
  • the motion sensor signal that is emitted by the at least one motion sensor may comprise information about an absolute position of the grab and may, alternatively or additionally, comprise information about velocities and/or accelerations of the grab. Upon integrating such velocity sensor signals, and upon integrating such acceleration sensor signals twice, a position of the grab may be established.
  • the at least one motion sensor may comprise a single sensor to determine either positions, velocities or accelerations of the grab.
  • the at least one motion sensor may comprise more than a single sensor, for example comprising separate sensors to respectively determine positions, velocities and/or accelerations of the grab.
  • this motion sensor signal is transmitted towards a control unit of the grab monitoring device.
  • This control unit for example a programmable computer device, such as a PCB, is configured to deduct movement cycles on the basis of the motion sensor signal.
  • This deducting implies that the control unit is able to recognize various patterns in the motion sensor signal, wherein the patterns may for example correspond to typical movements of a grab.
  • a pattern may for example comprise an acceleration and deceleration in a downwards directions, representing a downward movement of the grab for loading thereof, an upward acceleration and a sideways acceleration and deceleration, representing the lifting of the grab after loading and the sideways displacement towards a discharging location, followed by a sideways acceleration in an opposite direction, which would represent a displacement in an opposite direction, e.g. back to the loading location, after discharging has taken place.
  • the at least one motion sensor may be a stand-alone sensor, which means that it is capable of determining motion sensor signals by itself, without requiring an external device, such as an external reference unit.
  • This motion sensor thereby differs from the first and second communication units in the device that is known from the prior art.
  • the fixed reference therein significantly reduced the movement of the grab that could be tracked, since those paths needed to be along the second communication unit that was mounted onto the crane’s leg.
  • a further benefit of the present grab monitoring device, and in particular the stand-alone manner of operation, is that the movements can be directly related to the respective grab to which the grab monitoring device is attached.
  • the usage of the grab with grab monitoring device is not limited to the single crane to which the respective communication unit is attached, but, instead, the grab can be exchanged between multiple different cranes, if desired, whilst not requiring modifications to the grab monitoring device and/or the crane to remain able to transmit movement cycle signals.
  • This single pattern of movements of the grab corresponds to a single movement cycle.
  • a movement cycle may thus be defined as being an overall combination of movements, e.g. displacements of the grab from a first loading step, via a displacement step, a discharging step and a displacement step back towards another loading step.
  • the control unit is configured to emit a movement cycle signal.
  • This movement cycle signal may for example comprise a pulse for each time a complete movement cycle has been made by the grab.
  • the total number of pulses may be added-up by the control unit, in order to provide a counter signal value that represents an overall number of movement cycles.
  • the transmitter device is configured to emit the movement cycle signal to the remote receiver, for example via a wireless connection.
  • the communication between the grab monitoring device and the remote receiver may thus be as minimal as a series of pulses or a counted number of pulses. This way of communicating only requires a signal to be transmitted at discrete time intervals, e.g. at most after each movement cycle, but optionally after a predetermined number of movement cycles and/or after a predetermined amount of time has elapsed.
  • the remote receiver may comprise a cloud network, which is configured to store the received signals from a respective grab monitoring device in a cloud storage folder for the respective grab.
  • a cloud network may be a virtual network environment on which the received signals are stored and which can be accessed via the internet. The obtained information about the grab can therefore be accessed from all places around the world, provided that there is an internet connection available.
  • This cloud network thereby enables simultaneous monitoring of many grabs that are operable around the world. This may be particularly convenient for owners of a large fleet of grabs, allowing all grabs to be monitored.
  • the remote receiver may be a mobile communication device, such as a mobile phone, which may be used to remotely monitor the grab, via the grab monitoring device.
  • the remote receiver does not have a function in determining the position of the grab monitoring device, since that may function as a stand-alone server. It is stressed that the remote receiver forms no fixed reference, with respect to which the position of the grab is monitored.
  • the grab monitoring device also enables data communication at a lower cost, as a result of the reduced amount of data. Furthermore, the grab monitoring device may, as a result of the reduced amount of data, be used at locations where the speed of the internet is less favourable, for example at remote harbour locations in developing countries or offshore, outside port areas.
  • the grab monitoring device is furthermore configured to work independent of a reference point and can thus be used more flexibly, for example in slewing cranes, for which the grabs could travel more complex paths than gantry cranes. As such, the movements of the grab can be tracked in more applications, which provides that the grab monitoring device has an increased flexibility, when compared to the grab monitoring devices that are known from the prior art.
  • the motion sensor comprises one or more of: a three-axis accelerometer, which is configured to provide an acceleration sensor signal that is representative for an acceleration level of the motion sensor in three orthogonal directions, a three-axis magnetometer, which is configured to provide a magnetic orientation sensor signal that is representative for an absolute position of the motion sensor in three orthogonal directions, e.g. with respect to the earth magnetic field, and/or a three-axis gyroscope, which is configured to provide an angular velocity sensor signal that is representative for an angular velocity of the motion sensor in three orthogonal directions, and wherein the motion sensor signal comprises one or more of the acceleration sensor signal, the magnetic orientation sensor signal and/or the angular velocity sensor signal.
  • the at least one motion sensor according to this embodiment may comprise more than a single sensor, either being provided individually or being combined as a single motion sensor.
  • the three-axis accelerometer is configured to detect accelerations of the grab in three orthogonal directions, for example being two orthogonal horizontal directions and a vertical direction.
  • the measured acceleration level may represent combined accelerations in one or more of these three orthogonal directions, such that the acceleration sensor signal comprises a magnitude of the acceleration level and a direction thereof.
  • the tracking of the movements of the grab may thus be done in the absence of information regarding the absolute position of the grab, which may provide that a three-axis accelerometer may be the only sensor within the motion sensor of the grab monitoring device, without requiring the determining of an absolute position.
  • the three-axis magnetometer may be configured to determine absolute positions of the grab, by reference to the earth magnetic field.
  • the magnetometer is configured to detect this change and is configured to emit a magnetic orientation sensor signal towards the control unit, on the basis of which the control unit may deduct the movement cycle for the grab.
  • the three-axis gyroscope is configured to detect tilting of the grab, e.g. rotational velocities thereof, by means of a rotating element that has a certain rotational inertia.
  • tilting of the grab e.g. rotational velocities thereof
  • a rotating element that has a certain rotational inertia.
  • the respective forces that act on the rotating element will change. This change in forces can be detected by the gyroscope and is configured to be emitted as the angular velocity signal towards the control unit.
  • control unit is configured to count a number of movement cycles of the grab within a period of time, wherein the movement cycle signal comprises the counted number of movement cycles within the period of time.
  • the counting of the movement cycles implies that the productivity of the grab, e.g. the amount of movement cycles, may be established over a certain period of time. This time period may for example be an hour, a working shift duration of a crane operator, a day and/or even a year. This way of counting movement cycles implies that an average value of movement cycles may become known, which is less subject to fluctuations, when compared to an instantaneous pulse for each movement cycle.
  • control unit is only configured to output the movement cycle signal after a predefined period of time has elapsed. This means that not every pulse, e.g. for every movement cycle of the grab, is transmitted via the transmitter device, but that the movement cycle signal is only sent after multiple movement cycles have been completed.
  • this embodiment of the grab monitoring device enables that the movement cycle signal only needs to be transmitted every hour, every working shift, every year or even only once per year. This intermitted transmission of the movement cycle signal may further reduce the data consumption of the grab monitoring device.
  • control unit is configured to compare an acceleration level in the motion sensor signal with a threshold acceleration level and configured to output an impact shock signal when the acceleration level exceeds the threshold acceleration level, and the transmitter device is configured to transmit the impact shock signal to the remote receiver.
  • the grab monitoring device can be used to verify whether the grab is used carefully or whether it is used too rough, for example having many collisions with external objects, for example rigid or fixed objects, such as the sides of a bulk container or ship.
  • the threshold acceleration level may be the largest acceptable acceleration during normal use, which means that any acceleration larger than that is qualified as rough usage, which will be flagged by the transmitting of the impact shock signal.
  • the grab monitoring device further comprises a GPS sensor, which is configured to provide a GPS sensor signal that is representative for a location of the grab.
  • the GPS sensor signal is configured to establish a location of the grab, being an absolute position thereof. This may be useful to verify where the grab is situated in the harbour, for example to verify whether it is connected to crane and, if so, to which crane.
  • the established GPS location may not be as precise that it enables the tracking of movements of the grab in a way for deducting movement cycles as described above, which would also require a continuous exchange of GPS positon data, but it may be sufficient to enable a rough position estimate of the grab.
  • the established GPS location may be particularly useful for verifying the crane to which the grab is attached.
  • Ports or bulk handling facilities generally comprise multiple cranes that are positioned at various locations. With the established GPS location, it may be verified to which of the multiple cranes a specific grab is attached.
  • the GPS sensor is operatively connected to the transmitter device, and the transmitter device is configured to transmit the GPS sensor signal to the remote receiver.
  • the GPS sensor signal can thereby be transmitted to the remote receiver directly, instead of only via the control unit of the grab monitoring device.
  • the location of the grab, established via the GPS sensor can thereby be transmitted independent from the movement cycle signal, for example at a different predefined time interval than the time interval for transmitting the movement cycle signal.
  • control unit is further configured to detect the number of times that a shell of the grab is moved in an open position and/or that the shell of the grab is moved in a closed position and configured to output a counter signal on the basis of the detected number of opening and/or closing movements of the shell, and the transmitter device is configured to transmit the counter signal to the remote receiver.
  • This detecting of opening and closing to the grab’s shell may be done on the basis of the motion sensor signal and/or may involve the use of other sensors that are disposed between two shells of the grab and/or between a stationary part of the grab, such as the head of the grab, and a nonstationary part of the grab, such as a pulley or shell of the grab.
  • This counter signal may correspond to the movement cycle signal, when every movement cycle involves opening and closing of the shells, but may also be different. In particular when both signals are different, the transmitting of the counter signal for the opening and closing of the shells may be useful for tracking wear and/or lubrication of hinge elements for the shells, such as pins and bushings thereof.
  • the grab monitoring device further comprises a fluid level sensor, which is operatively connected to the control unit and which is configured to be associated with a lubricant storage of the grab, wherein the fluid level sensor is configured to output a lubricant level sensor signal that is representative for a lubricant level in the lubrication storage, wherein the control unit is configured to receive the lubricant level sensor signal to compare the lubricant level with a predetermined minimum lubricant level and configured to output a lubrication signal when the measured lubricant level is lower than the predetermined minimum lubricant level, and the transmitter device is configured to transmit the lubrication signal to the remote receiver.
  • a fluid level sensor which is operatively connected to the control unit and which is configured to be associated with a lubricant storage of the grab
  • the fluid level sensor is configured to output a lubricant level sensor signal that is representative for a lubricant level in the lubrication storage
  • the control unit is configured to receive the lubricant level sensor
  • This fluid level sensor enables detection of the lubricant level and provides that the lubrication signal can be issued before in fact all lubricant from the lubricant storage has been used and before the lubricant has run out. As such, the lubricant storage can be replenished in time, in order to prevent shortfalls in lubricant.
  • the fluid level sensor may be used in particular in combination with an automated mechanical lubrication device that is configured to automatically provide an accurate amount of lubricant with each of the grab’s lubrication points.
  • the lubrication may be done in an autonomous manner, only requiring manual labour for filling the lubricant storage after the lubrication signal has been transmitted towards the remote receiver.
  • the grab monitoring device may comprise a fluid pressure sensor.
  • This fluid pressure sensor may be associated with a hydraulic cylinder of the grab that is configured to close the grab’s shells and that is configured hold the shells in the closed positon after having been moved into the closed position by means of the ropes, e.g. closing wires.
  • the pressure in the hydraulic cylinder may be representative for the amount of material that is loaded in the grab, which implies that pressure sensor signals from the pressure sensor may be transmitted towards the remote receiver for monitoring the amount of transported material. As such, the productivity of the grab may be monitored.
  • the control unit may also be configured to compute a cumulative value for the amount of material handled by the grab, being accumulated over a certain predefined period of time, after which this cumulative value is transmitted towards the remote receiver.
  • the grab monitoring device may also comprise a temperature sensor that is configured to emit a temperature sensor signal that is representative for an exterior temperature for the grab.
  • the temperature sensor may be associated with the transmitter device that is, in turn, configured to transmit the temperature sensor signal to the remote receiver.
  • the working conditions of the grab may be monitored.
  • the service life of a grab may be dependent on the climate conditions in which the grab is used, for example being governed by a lubrication interval and/or a wear period. With the working temperature of the grab being known, the condition of the grab may be monitored and safeguarded more accurately.
  • the grab monitoring device comprises further communication ports to which further sensor devices may be coupled for establishing a connection with the control unit and/or with the transmitter device.
  • further functionalities may be provided for the grab monitoring device, e.g. for monitoring further parameters of the grab.
  • the grab monitoring device further comprises an electric power supply, for example being an exchangeable battery. Since the grab monitoring device is particularly suited to be attached to mechanical grabs, no electric power may be available at the grab, since mechanical grabs are only operated by means of cables, for example a set of suspension cables and a set of cables for opening and closing the shells of the grab.
  • an electric power supply for example being an exchangeable battery. Since the grab monitoring device is particularly suited to be attached to mechanical grabs, no electric power may be available at the grab, since mechanical grabs are only operated by means of cables, for example a set of suspension cables and a set of cables for opening and closing the shells of the grab.
  • the grab monitoring device may be energized with electrical power in order to enable functioning of the monitoring device. Since the grab monitoring device according to the present invention relies on a relatively low amount of exchanged data towards the remote receiver, the energy consumption of the grab monitoring device is relatively low.
  • the amount of electric energy stored therein may be sufficient to enable the grab monitoring device to work for a relatively long period of time, after which the battery may be changed, for example during servicing of the grab or while filling the lubricant storage of the grab with fresh lubricant.
  • the grab monitoring device does not need complex systems for providing electrical power, for example solar panels or the like, which might be prone to damaging and which are relatively expensive.
  • control unit is configured to at least temporarily minimize a supply of electric power from the electric power supply when no movement cycles have been deducted during a certain predefined period of time, in order to bring the grab monitoring device in a hibernation state.
  • the grab monitoring device When the grab monitoring device is not used for a certain period of time, it can be brought in the hibernation state, in which it uses virtually no electrical power. The hibernating thus ensures a longer battery life for the grab monitoring device, thereby reducing the amount of servicing that is necessary.
  • the present invention further provides the use of a grab monitoring device as described above, for tracking movements of a grab, such as a hydraulic grab or a mechanical grab, for example of a rope-operated mechanical grab.
  • the present invention also provides a mechanical grab, for example a rope-operated mechanical grab, comprising a grab monitoring device as described above, wherein the grab monitoring device is for example mounted at a head of the grab.
  • the placement of the grab monitoring device at the grab head may provide for a relatively protected housing, since the grab head is located relatively far away from the shells of the grab, which could collide with sides of a bulk container or with a ship and which are configured to hold the grabbed material that could otherwise possibly damage the grab monitoring device.
  • the present invention further provides a grab monitoring system for monitoring a grab, comprising: the grab monitoring device as described above, and a remote receiver, wherein the system is configured to establish a direct or indirect wireless connection between the transmitter device and the remote receiver, and wherein the remote receiver is configured to receive signals, in particular movement cycle signals, from the grab monitoring device via the wireless connection and configured to display and/or store the received signals at a remote location from the grab.
  • the grab monitoring system enables tracking of the grab at a location that is remote from the grab.
  • the monitoring system may be used by an owner of a fleet of multiple grabs, in order to monitor the usage of each of his grabs from a distance.
  • the grabs may thereto each be equipped with a grab monitoring device, which are each configured to transmit movement cycle signals to the remote receiver.
  • the remote receiver may store the respective received movement cycle signals, for example in order to be retrieved later, or may display the movement cycle signals on a display device.
  • the owner of the grabs may thereto gain insight in the usage of his grabs, which was not possible before.
  • the grab owner may see how many loading or unloading cycles are made with each of his grabs, he may find out where a specific grab is located, for example attached to a certain crane or being out of service for maintenance or storage, and the amount of materials that is being handled with the specific grab.
  • the grab monitoring system is not bound to a specific crane that is equipped with a receiver device or as a fixed reference point, but may rather act in a stand-alone manner, not requiring any fixed objects.
  • the deducted movement cycle signals may be sent towards the remote receiver in a wireless manner, which implies that it is obsolete to read out the grabs usage afterwards while the grab is not being used. Instead, the status and usage of the grab may be monitored instantaneously. Accordingly, possible irregularities or ways of improving the usage of the grab may be detected relatively early, enabling timely reactions thereon.
  • the remote receiver comprises a cloud network, which is configured to store the received signals from a respective grab monitoring device in a cloud storage folder for the respective grab.
  • Such a cloud network may be a virtual network environment on which the received signals are stored and which can be accessed via the internet.
  • the obtained information about the grab can therefore be accessed from all places around the world, provided that there is an internet connection available.
  • This cloud network thereby enables simultaneous monitoring of many grabs that are operable around the world. This may be particularly convenient for owners of a large fleet of grabs, allowing all grabs to be monitored.
  • the transmitter device and the remote receiver are connected via a wireless network, such as a 2G-, 3G-, 4G- and/or 5G-network.
  • a 4G-network connection may be established as a main connection for the transfer of signals, whereas a 2G-network connection may be established as a back-up connection.
  • a wireless cellular network enables the transmitting of signals in a wireless manner, without requiring a physical connection towards the grab for reading out the signals.
  • Cellular networks are widely available across the world and enable transmission of the signals from the grab monitoring device, without requiring a dedicated receiver positioned in the proximity of the grab. Instead, the cellular network enables the grab monitoring device to be operated more universally and by itself, without requiring the provision of dedicated antennae or beacons in the surroundings of the grab.
  • the communication over the wireless network may be as minimal as a series of pulses, or a counted number of pulses.
  • This way of communicating only requires a signal to be transmitted at discrete time intervals, e.g. at most after each movement cycle, but optionally after a number of movement cycles and/or after a predetermined amount of time has elapsed.
  • the grab monitoring system also enables data communication at a lower cost, as a result of the reduced amount of data. Furthermore, the grab monitoring device may, as a result of the reduced amount of data, even be used at location where the availability of the wireless network is less favourable, for example at remote harbour locations in developing countries or offshore.
  • the remote receiver is configured to compare a number of movement cycles in the movement cycle signal with a predetermined number of movement cycles, and configured to output a notification signal when the number of movement cycles exceeds the predetermined number of times, and the remote receiver to output the notification signal as a visible and/or audible warning signal.
  • the grab monitoring system is configured to issue a warning signal when the grab has been used for more cycles than the predetermined number of cycles.
  • This predetermined number of cycles may be set for a specific grab, either being governed by technical limitations that are set by the grab’s manufacturer, or being governed from an economical point of view.
  • the notification signal may comprise a visual warning signal, for example being displayed on a display of the remote receiver, and/or may comprise an audible warning signal that is emitted by a loudspeaker that is associated with the remote receiver.
  • an operator of the grab monitoring system may acts accordingly, for example by ordering the grab to be serviced, lubricated or the like.
  • the remote receiver is configured to compare a number of opening and/or closing movements in a counter signal with a predetermined number of opening and/or closing movements, and configured to output a notification signal when the number of opening and/or closing movements exceeds the predetermined number of opening and/or closing movements, and the remote receiver to output the notification signal as a visible and/or audible warning signal.
  • the operator may be notified accordingly.
  • the number of opening and/or closing movements is not necessarily the same as the number of movement cycles, since not all opening and closing movements are necessarily followed by movement of the grab. Hence, the predetermined number of opening and/or closing movement may differ from the predetermined number of movement cycles.
  • the predetermined number represents a service interval of the grab and/or a lubrication interval of the grab and/or a wear period of the grab.
  • a notification signal may be issued when it is required to service the grab, e.g. after lapse of the service interval. Similarly, it may be notified that the grab requires lubrication after the lubrication interval has lapsed, or it may be notified that several parts of the grab that suffer from wear, such as the shells of the grab that come in contact with the material that is grabbed or pins and bushings in hinges of the grab, might need to be replaced.
  • the grab monitoring system is associated with the mechanical grab that is described above, wherein the grab monitoring device of the grab monitoring system is for example mounted at a head of the grab.
  • the present invention further provides a method for tracking of a mechanical grab, for example a rope-operated mechanical grab, by means of a grab monitoring system as described above, wherein the method comprises the steps of: mounting the grab monitoring device on the grab, providing, with the at least one motion sensor, motion sensor signals that are representative for motions of the grab, deducting, with the control unit, movement cycles of the grab on the basis of the motion sensor signals, output, with the control unit, a movement cycle signal on the basis of the deducted movement cycles, establishing a wireless connection between the transmitter device and the remote receiver, transmitting, with the transmitter device, the movement cycle signal to the remote receiver, receiving, with the remote receiver, the movement cycle signal, and storing the received movement cycle signal on the remote receiver and/or displaying the received movement cycle signal with the remote receiver.
  • the present invention also provides a for equipping a grab, for example a mechanical grab, such as a rope-operated mechanical grab, with a grab monitoring device as described above.
  • a grab monitoring device for example a mechanical grab, such as a rope-operated mechanical grab
  • existing grabs may be retrofitted with a grab monitoring device.
  • the monitoring functionality may be added to grabs that are already in service, since it only requires the mounting of a monitoring device. Since the grab monitoring device is able to operate in a stand-alone manner, no further significant modifications are required to be made to the grab to provide it with remote monitoring functionalities.
  • Figure 1 schematically depicts a grab monitoring system according to an embodiment of the invention
  • Figure 2 schematically depicts the grab monitoring device of the grab monitoring system according to the embodiment of Figure 1.
  • An embodiment of the grab monitoring system (12), which is depicted in Figure 1, comprises a rope-operated mechanical grab (1), provided with a grab monitoring device (2) and remote receivers (90, 91).
  • the grab monitoring device (2) is mounted on an arm of the grab (1), in order to be positioned remotely from the grab’s shell that come in contact with the materials that are to be handled.
  • the grab monitoring device may also be mounted on other parts of the grab, such as a grab head or grab shell.
  • the grab is further provided with a lubricant storage (92) to hold a lubricant for lubricating parts of the grab (1).
  • the grab monitoring device (2) is mounted on the rope-operated mechanical grab (1), for tracking movements of the grab, and comprises a motion sensor (3), a transmitter device (4), a control unit (5), a GPS sensor (9), a fluid level sensor (10) and an electric power supply (11).
  • the motion sensor (3) is mounted on the grab (1), in order to move along with the grab (1).
  • the motion sensor (3) comprises a three-axis accelerometer (6), which is operatively connected to the control unit (5) and is configured to provide an acceleration sensor signal that is representative for an acceleration level of the motion sensor (3).
  • the motion sensor (3) further comprises a three-axis magnetometer (7), which is configured to provide a magnetic orientation sensor signal that is representative for an absolute position of the motion sensor (3), for example with respect to the earth magnetic field.
  • the motion sensor (3) also comprises a three-axis gyroscope (8), which is configured to provide an angular velocity sensor signal that is representative for an angular velocity of the motion sensor (3).
  • the motion sensor (3) is configured to provide motion sensor signals that are representative for motions of the grab (1) in three orthogonal directions, comprising the signals from the three- axis accelerometer (6), the three-axis magnetometer (7) and the three-axis gyroscope (8).
  • the GPS sensor (9) is operatively connected to the transmitter device (4) and the control device (5), and is configured to provide a GPS sensor signal that is representative for a location of the grab (1).
  • the fluid level sensor (10) is operatively connected to the control unit (5) and is configured to be associated with a lubricant storage (92) of the grab (1).
  • the fluid level sensor (10) is configured to output a lubricant level sensor signal that is representative for a lubricant level in the lubrication storage (92).
  • Figure 2 represents that the fluid level sensor (10) is within the system boundaries of the grab monitoring device (20), the fluid level sensor (10) may be located outside a common housing of the motion sensor (3) and the control unit (5).
  • the electric power supply (11) is an exchangeable battery, located inside the grab monitoring device (2) and electrically connected to electricity-consuming parts of the grab monitoring device (2). Supply of electric power from the electric power supply (11) may be controlled by the control unit (5), for example by bringing the grab monitoring device (2) in a hibernation state to minimize electric power consumption when no movement cycles have been deducted during a certain predefined period of time.
  • a power supply may be located in a separate housing, and be mounted on a different part of the grab.
  • the power supply may, for example, comprise an external battery and/or a second battery.
  • the control unit (5) is operatively connected to the motion sensor (3), the transmitter device (4), the GPS sensor (9), the fluid sensor (10) and the power supply (11).
  • the control unit (5) is configured to deduct movement cycles of the grab (1) on the basis of the motion sensor signals, and to count the number of deducted movement cycles within a predefined period of time.
  • the control unit (5) is further configured to detect the number of times that a shell of the grab is moved in an open position and/or that the shell of the grab is moved in a closed position, and configured to only output a counter signal comprising the detected number of times that the grab (1) is moved and a movement cycle signal comprising the counted number of deducted movement cycles after the predefined period has elapsed.
  • the control unit (5) is further configured to compare an acceleration level in the motion sensor signal with a threshold acceleration level and configured to output an impact shock signal when the acceleration level exceeds the threshold acceleration level.
  • the control unit (5) is further configured to receive the lubricant level sensor signal from the fluid sensor (10) to compare the lubricant level in the lubricant storage (92) with a predetermined minimum lubricant level and configured to output a lubrication signal when the measured lubricant level in the lubricant storage (92) is lower than the predetermined minimum lubricant level.
  • the transmitter device (4) is operatively connected to the control unit (5) and the GPS sensor (9) and is configured to transmit signals, such as the counter signal, the movement cycle signal, the impact shock signal, the GPS sensor signal and the lubrication signal, to the remote receiver (90, 91), using a wireless connection, such as a such as a cellular network connection.
  • the transmitter device (4) may transmit signals to a cloud network comprised in the remote receiver (90, 91), for example indirectly via an internet network using antennas on a communication mast (91).
  • the transmitter device (4) may directly transmit signals to a separate external device, such as a mobile phone (90).
  • the transmitter device (4) may transmit signals to a separate external device, such as the mobile phone (90), indirectly via a communication mast (91).
  • the remote receiver (90, 91) to which signals have been transmitted by the transmitter device (4) may compare received signals, such as the number of opening and/or closing movements in a counter signal, with predetermined numbers and output a notification signal, such as a visual and/or audible warning signal, when one of the received signals exceeds a respective one of the predetermined numbers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Alarm Systems (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un dispositif de surveillance de benne preneuse (2) conçu pour être monté sur une benne preneuse mécanique (1) destiné à suivre les mouvements de la benne preneuse, ce dispositif comprenant : • - au moins un capteur de mouvement (3) conçu pour être monté sur la benne preneuse et configuré pour fournir des signaux de capteur de mouvement représentatifs des mouvements de la benne preneuse, • - un dispositif émetteur (4) conçu pour transmettre un signal du dispositif de surveillance de benne preneuse à un récepteur à distance (90, 91), et • - une unité de commande (5) reliée fonctionnelle au capteur de mouvement et au dispositif émetteur, ladite unité de commande étant configurée pour déduire des cycles de mouvement de la benne preneuse en fonction des signaux de capteur de mouvement et pour émettre en sortie un signal de cycle de mouvement en fonction des cycles de mouvement déduits, et le dispositif émetteur étant configuré pour transmettre le signal de cycle de mouvement au récepteur distant.
PCT/EP2021/055592 2020-03-05 2021-03-05 Dispositif de surveillance de benne preneuse WO2021176056A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21708696.6A EP4114779A1 (fr) 2020-03-05 2021-03-05 Dispositif de surveillance de benne preneuse

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2025060A NL2025060B1 (en) 2020-03-05 2020-03-05 Grab monitoring device
NL2025060 2020-03-05

Publications (1)

Publication Number Publication Date
WO2021176056A1 true WO2021176056A1 (fr) 2021-09-10

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Country Status (3)

Country Link
EP (1) EP4114779A1 (fr)
NL (1) NL2025060B1 (fr)
WO (1) WO2021176056A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023040078A1 (fr) * 2021-09-18 2023-03-23 法兰泰克重工股份有限公司 Système de commande de manutention de matériau automatique

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6134815A (en) * 1998-02-18 2000-10-24 Rohr Gmbh Monitoring device for motor-driven underwater grab bucket dredge gear
EP1671918A1 (fr) 2004-12-20 2006-06-21 Nemag B.V. Procédé et système pour la détection d'un grappin
US8682541B2 (en) * 2010-02-01 2014-03-25 Trimble Navigation Limited Sensor unit system
EP2952634A1 (fr) * 2014-06-03 2015-12-09 Enel Produzione S.p.A. Système de détection de l'état ouvert ou fermé d'un dispositif preneur ainsi que engin de travail avec un tel dispositif preneur et un tel système

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6134815A (en) * 1998-02-18 2000-10-24 Rohr Gmbh Monitoring device for motor-driven underwater grab bucket dredge gear
EP1671918A1 (fr) 2004-12-20 2006-06-21 Nemag B.V. Procédé et système pour la détection d'un grappin
US8682541B2 (en) * 2010-02-01 2014-03-25 Trimble Navigation Limited Sensor unit system
EP2952634A1 (fr) * 2014-06-03 2015-12-09 Enel Produzione S.p.A. Système de détection de l'état ouvert ou fermé d'un dispositif preneur ainsi que engin de travail avec un tel dispositif preneur et un tel système

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023040078A1 (fr) * 2021-09-18 2023-03-23 法兰泰克重工股份有限公司 Système de commande de manutention de matériau automatique

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EP4114779A1 (fr) 2023-01-11
NL2025060B1 (en) 2021-10-14

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