Remote-controlled crane

Abstract

A crane system includes crane with a load hook that can be raised or lowered via movable crane elements, and moved within a crane working area by operating drive units associated with the crane elements. The crane system further includes a control unit and a mobile transponder that can be variably positioned in the crane working area, and one or more transmitting/receiving units communicatively coupled to the control unit and configured to receive signals transmitted by the mobile transponder. The control unit is configured to automatically determining the current position of the mobile transponder relative to the load hook and/or a crane element based on the signals received from the mobile transponder, and automatically control the drive units in such that the load hook is automatically moved to the mobile transponder.

Claims

1. A crane system, comprising: a crane; a trolley movably mounted on a jib, the trolley including a load hook; drive units configured to raise or lower the crane via movable crane elements and to move the crane within a crane working area; a control unit coupled to the crane; a mobile transponder; and one or more transmitting/receiving units communicatively coupled with the control unit and configured to receive signals transmitted by the mobile transponder; wherein the control unit includes computer-readable instructions stored on non-transitory memory for: automatically determining a position of the mobile transponder relative to one or more of the load hook and one of the movable crane elements based on signals from the mobile transponder received at the one or more transmitting/receiving units; and automatically controlling one or more of the drive units based on the position of the mobile transponder, such that the load hook is automatically moved to the position of the mobile transponder, wherein the instructions for automatically determining the position of the mobile transponder relative to one or more of the load hook and one of the movable crane elements comprise instructions to evaluate signal characteristics of the signals from the mobile transponder received at the one or more transmitting/receiving units and determine the position of the mobile transponder from the signal characteristics, and wherein the signal characteristics comprise one or more of a signal propagation delay and a signal strength.

2. The crane system of claim 1, wherein the mobile transponder is incorporated into a portable control panel for operating the crane.

3. The crane system of claim 2, wherein the portable control panel is a radio remote control.

4. The crane system of claim 2, wherein the portable control panel comprises a switch, and wherein the automatic control of the one or more drive units based on the position of the mobile transponder is triggered via activation of the switch.

5. The crane system of claim 4, wherein a touch display is included in the portable control panel.

6. The crane system of claim 1, wherein the control unit further includes computer-readable instructions stored on non-transitory memory for: virtually presenting the crane working area on a display; receiving, at the display, input from a crane operator of a target point within the crane working area; and automatically controlling the one or more drive units to move the load hook to the target point.

7. The crane system of claim 6, wherein the display is a touch display, and wherein the input from the crane operator received at the display is a touch input.

8. The crane system of claim 1, wherein the jib is coupled to a crane tower, and wherein the one or more transmitting/receiving units comprise transmitting/receiving units attached to the jib, spaced apart from one another.

9. The crane system of claim 1, wherein the crane is one of a tower crane, a telescopic boom crane, and a harbour crane.

10. The crane system of claim 1, wherein the control unit comprises a stationary control panel in an operator cab of the crane or at a control stand of the crane.

11. The crane system of claim 1, wherein the mobile transponder is configured to be directly attachable to a load with detachable fasteners.

12. The crane system of claim 1, wherein the mobile transponder is configured as a wearable to be worn by a crane operator.

13. A method for a crane system, comprising: transmitting signals from a mobile transponder incorporated in a portable control panel for operating a crane to one or more transmitting/receiving units communicatively coupled with a control unit of the crane, the crane comprising drive units configured to raise or lower the crane via movable crane elements and to move the crane within a crane working area; with the control unit, automatically determining a position of the mobile transponder relative to one or more of a load hook and one of the movable crane elements based on the signals from the mobile transponder received at the one or more transmitting/receiving units, and automatically controlling the drive units based on the position of the mobile transponder, such that the load hook is automatically moved to the position of the mobile transponder, wherein automatically determining the position of the mobile transponder relative to one or more of the load hook and one of the movable crane elements based on the signals from the mobile transponder received at the one or more transmitting/receiving units comprises, with the control unit, determining signal strengths of the signals from the mobile transponder received at the one or more the transmitting/receiving units, and determining the position of the mobile transponder relative to the crane based on the signal strengths.

14. A method for a crane system, comprising: transmitting signals from a mobile transponder incorporated in a portable control panel for operating a crane to one or more transmitting/receiving units communicatively coupled with a control unit of the crane, the crane comprising drive units configured to raise or lower the crane via movable crane elements and to move the crane within a crane working area; with the control unit, automatically determining a position of the mobile transponder relative to one or more of a load hook and one of the movable crane elements based on the signals from the mobile transponder received at the one or more transmitting/receiving units, and automatically controlling the drive units based on the position of the mobile transponder, such that the load hook is automatically moved to the position of the mobile transponder, wherein automatically determining the position of the mobile transponder relative to one or more of the load hook and one of the movable crane elements based on the signals from the mobile transponder received at the one or more transmitting/receiving units comprises, with the control unit, determining propagation delays of the signals from the mobile transponder received at the one or more transmitting/receiving units, and determining the position of the mobile transponder relative to the crane based on the propagation delays.

15. The method of claim 14, wherein the one or more transmitting/receiving units comprise three or more transmitting/receiving units spaced apart from each other and arranged on different portions of a jib of the crane, the method further comprising, with the control unit, automatically determining a distance of the mobile transponder from each transmitting/receiving unit based on a propagation delay and a strength of the signal from the mobile transponder received at the transmitting/receiving unit, and determining the position of the mobile transponder relative to the load hook based on the determined distances and the positions of the transmitting/receiving units at the crane.

16. The method of claim 14, wherein the portable control panel is a radio remote control.

17. The method of claim 14, wherein the one or more transmitting/receiving units comprise one or more transmitting/receiving units attached to a jib of the crane, spaced apart from one another, and wherein a trolley including the load hook is movably mounted on the jib.

18. The method of claim 14, wherein the one or more transmitting/receiving units are mounted within the working area of the crane.

19. The method of claim 14, wherein automatically controlling the drive units based on the position of the mobile transponder relative to one or more of the load hook and one of the movable crane elements based on the signals from the mobile transponder received at the one or more transmitting/receiving units comprises, with the control unit, calculating a path to be followed based on the position of the mobile transponder relative to one or more of the load hook and one of the movable crane elements, and directing the drive units to move the load hook to the position of the mobile transponder.

20. The method of claim 14, wherein automatically determining the position of the mobile transponder relative to one or more of the load hook and one of the movable crane elements based on the signals from the mobile transponder received at the one or more transmitting/receiving units comprises, with the control unit, determining signal strengths of the signals from the mobile transponder received at the one or more the transmitting/receiving units, and determining the position of the mobile transponder relative to the crane based on the signal strengths.

Description

BRIEF DESCRIPTION OF THE FIGURES

(1) FIG. 1 shows a schematic view of a crane in the form of a tower crane according to an example embodiment of the present disclosure, in which a target signal transmitter is integrated into a radio remote control or mobile control panel of the crane operator, such that the crane with its load hook can be automatically moved to the position of the crane operator or the mobile control panel.

(2) FIG. 2 shows a flow chart illustrating an example method that may be implemented for determining the position of the crane relative to a mobile control unit.

DETAILED DESCRIPTION

(3) As FIG. 1 shows, crane 1 can be designed as a tower crane whose tower 2 carries a jib 3 on which a trolley 4 is movably mounted. Jib 3 can be rotated about a vertical axis together with or without tower 2, depending on whether the crane is designed as a top slewing or bottom slewing crane, with a slewing drive that is provided. Jib 3 could also be designed to be luffable up and down around a recumbent transverse axis, whereby a suitable luffing drive could be provided that interacts, for example, with the jib bracing. The said trolley 4 can be moved by a trolley winch or another trolley drive. The said drive units are controlled by a control unit 5 which can comprise a stationary control panel with a suitable input device such as in the form of joy sticks in the crane operator's cab 6 or at the control stand of the crane.

(4) In addition to such a stationary control panel, crane 1 advantageously comprises a mobile control panel 7, for example in the form of a radio remote control which the crane operator can wear as he walks across the construction site in the crane working area of crane 1 to control crane 1 from outside the crane operator's cab 6.

(5) Advantageously, the mobile control panel 7 also comprises a portable target signal transmitter 8 which can include a transponder 9 that communicates with the crane. As an example, three or more transmitting/receiving units 10 or transponders can be provided on crane 1, for example on its jib 3, each of which communicate with the mobile control panel 7. The positioning device 11 in the control unit 5 of the crane comprises a tracking arrangement with a suitable evaluation unit to determine the position of the target signal transmitter 8 relative to crane 1 from the transmitted transponder signals. For example, the above described method can be used to measure the signal propagation delay of a signal between transponder 9 and transmitter/receiver units 10 and to determine from this the distance a1, a2 and a3 from transponder 9 to the individual transmitting/receiving units 10; as shown at FIG. 1. By means of the said three distances a1, a2 and a3, the position of the target signal transmitter 8 and thus the mobile control panel 7 relative to the crane can be determined, such that the crane operator, who is wearing the mobile control panel 7, can predetermine the moving position for the load hook 12. For example by activating a switch, automatic load hook movement on the mobile control panel 7, the crane operator can start the move into the target position. For this, the control panel 5 steers the drive units of the crane such that the load hook 12 moves in the direction of the desired target position.

(6) Since the crane position at the construction site or in the working area is known, the said transmitting/receiving unit 10 can also be firmly mounted at the construction site or in the crane working area, thus determining the position of the target signal transmitter 8 at the construction site. From this positioning, the crane can calculatewith its own known positionthe relative position of the target signal transmitter 8 and therefore move the load hook 12 into the target position.

(7) As FIG. 1 shows as well, the mobile control panel 7 can also comprise a GPS signal receiver 14 which receives corresponding coordinates from a satellite-based global positioning system and transmits them to the control panel 5 of crane 1. The control panel 5 of crane 1 can also itself comprise a corresponding GPS signal receiver 14 to match the GPS coordinates of the mobile control panel 7 to crane 1, subject to which the load hook 12 can then automatically move to the target position as described.

(8) Crane 1 of FIG. 1 may further comprise a control system 112. The control system 112 may include a processor and memory 114, in combination with sensors 116 and actuators 118, to carry out the various controls described herein. Example sensors may include GPS sensors and transponders coupled to the crane. Example actuators may include for example various motors (e.g., electric motors), various valves (e.g., electric valves and/or hydraulic valves), and various pumps (e.g., electric and/or hydraulic pumps) of the crane drive units, as well as those coupled to steering drive units and luffing units of the crane. Still other actuators may include the target signal transmitter, the load hook, and various trolleys coupled to the crane jib. In one example, control system 112 may be coupled to control panel 5 in a crane control system. The control system 112 may include, or be communicatively coupled to, one or more steering drive units. In one example, the steering drive units may be configured as joysticks. The control system receives signals from the various sensors of FIG. 1 and employs the various actuators of FIG. 1 to adjust crane operation based on the received signals and instructions stored on the memory of the control system. As one example, based on the signals transmitted to and received at the transponders, the control system may adjust the operation of the various motors and valves of the crane drive units. For example, in response to the signals, the control system may determine a target position for the load hook within a crane working area relative to a current position and accordingly control (e.g., increase) the output of a hydraulic pump and the position of a valve in a hydraulic line delivering hydraulic fluid to the crane drive unit. As a result of the actuation, there may be increased delivery of hydraulic fluid to the fluid line of the crane drive units, enabling the drive units to provide tractive force to the crane jib, allowing for the movement (e.g., telescoping or raising/lowering) of the crane jib, and movement of the load hook (e.g., raising or lowering). In an alternate example, an electric motor coupled to the crane drive unit may be operated in response to the signals received at the transponders and operation of the electric motor may provide the crane drive unit with sufficient tractive force for moving the crane jib and/or load hook.

(9) It will be appreciated that FIG. 1 shows example configurations with relative positioning of the various components. If shown directly contacting each other, or directly coupled, then such elements may be referred to as directly contacting or directly coupled, respectively, at least in one example. Similarly, elements shown contiguous or adjacent to one another may be contiguous or adjacent to each other, respectively, at least in one example. As an example, components laying in face-sharing contact with each other may be referred to as in face-sharing contact. As another example, elements positioned apart from each other with only a space there-between and no other components may be referred to as such, in at least one example.

(10) FIG. 2 shows a flow chart illustrating an example method 200 that may be implemented for determining the position of the crane relative to a mobile control unit so that the positioning of a load hook can be accordingly adjusted. Multiple transmitter/receiver units may be coupled to the crane. The mobile control panel may be variably positioned in the crane working area.

(11) At 202, the method includes transmitting signals from a transponder in the mobile control panel to the one or more receiver unit(s) on the crane. At 204, the method includes, receiving, at the receiver units on the crane, the signals transmitted from the mobile control unit. At 206, a signal propagation delay between signal transmission (by the transponder) and signal reception (at the crane) is determined at the control unit. At 208, the method includes, based on the signal propagation delay, determining at the control unit, a distance between the signal receiver unit(s) and the mobile control panel. In one example, the distance may be determined based on the strength of the signal at the time of transmission relative to the time of signal receipt. In another example, the distance may be determined based on a time elapsed since the transmission of the signal relative to the time of signal receipt. At 210, a distance between the mobile control panel and the crane may be inferred from the distance determined at 208 (since the received units are coupled to the crane). Once the location of the crane is known, a crane operator may activate automatic movement of the crane drive units and the load hook towards a desired target position. For example, at 212, the method may include transmitting the determined distance to a crane operator. At 214, the method may include displaying to a crane operator, such as on a display arrangement, a crane working area and the position of a target point within the crane working area. In one example, the crane working area may be displayed to the crane operator and then based on operator input (e.g., received directly on the display arrangement), the target point may be displayed within the crane working area. At 216, based on input from the crane operator, the control unit may adjust the operation of the crane drive units to move the load hook to the target position. For example, based on the input, the crane drive units may be moved automatically or semi-automatically. This may include, as an example, adjusting the operation of the various motors and valves of the crane drive units. For example, in response to the transmitted and received signals, the control system may determine a target position for the load hook within a crane working area relative to a current position and accordingly control (e.g., increase) the output of a hydraulic pump and the position of a valve in a hydraulic line delivering hydraulic fluid to the crane drive unit. As a result of the actuation, there may be increased delivery of hydraulic fluid to the fluid line of the crane drive units, enabling the drive units to provide tractive force to the crane jib, allowing for the movement (e.g., telescoping or raising/lowering) of the crane jib, and movement of the load hook (e.g., raising or lowering). In an alternate example, an electric motor coupled to the crane drive unit may be operated in response to the signals received at the transponders and operation of the electric motor may provide the crane drive unit with sufficient tractive force for moving the crane jib and/or load hook. In this way, crane operation can be improved.