PROCESS FOR THE ASSISTED PERFORMANCE OF CRANE MOVEMENTS BY A CRANE, AS WELL AS A CRANE

Abstract

The present invention relates to a process for the assisted performance of crane movements by a crane with at least two boom elements that are movable relative to one another, whereby an auxiliary control module, after activation by the user, determines at least one target position of the boom system, determines the crane movements necessary for achieving the target position and, after active user confirmation, indirectly or directly activates the specific crane actuators for the performance of the crane movements determined by means of the crane control.

Claims

1. A process for the assisted performance of crane movements by a crane with at least two boom elements that are movable relative to one another, whereby an auxiliary control module, after activation by the user, determines at least one target position of the boom system, determines the crane movements necessary for achieving the target position and, after active user confirmation, activates the specific crane actuators for the performance of the crane movements determined indirectly or directly by the crane control.

2. A process in accordance with claim 1, wherein a monitoring and/or regulation of the crane movements performed occurs, whereby the current position or the condition of the crane, respectively, particularly of the boom, is determined by one or more angle sensor and/or force measuring devices and/or length sensor and/or limit switches and/or optical systems and is checked for the observance of boundary values for the measured values and/or of a bearing load table and/or of permissible installation areas.

3. A process in accordance with claim 1, wherein the determination of the target position occurs through the direct inputting of a target position by the user, such as through a statement of a theoretical angle of rotation and/or of a theoretical working radius and/or through geographical inputting of coordinates, for example, particularly by longitude and latitude.

4. A process in accordance with claim 3, wherein the inputting of a target position occurs through the selection of a predefined target position, whereby the predefined target position is a crane position previously started up manually, particularly a started-up position for load removal and/or load acceptance.

5. A process in accordance with claim 1, wherein the determination of the target position occurs if the user previously selects a supported crane function, particularly an autonomous start-up of a situation-dependent shut-down position and/or a scaffold-dependent autonomous set-up or a dismounting of the crane boom system, respectively, and/or an autonomous start-up of an installation position, preferably for the assembly/dismantling of a load block.

6. A process in accordance with claim 5, wherein upon the selection of the function of autonomous start-up of a shut-down position, the auxiliary control module determines the current and/or future weather data and, in particular, queries a wind speed and/or wind direction to be expected and preferably computes the target position on the basis of an optimal shut-down position and/or determines the same through a query to an internal or external databank.

7. A process in accordance with claim 6, wherein the weather data is determined by a crane sensor or is downloaded from an external information server.

8. A process in accordance with claim 6, wherein the weather data is also examined for changes in the shut-down position and a new target position or shut-down position, respectively, is determined and started up, if necessary.

9. A process in accordance with claim 5, wherein upon the selection of the function of autonomous set-up or dismounting, a query of parameters and/or information occurs for the computation of the sequence of a set-up or dismounting process and, in particular, parameters relating to the current boom configuration and/or the use of any possible auxiliary means, such as of a trolley cart for the support of the tip of the boom, for example, are recorded and/or information concerning the carrying capacity of the supporting ground is determined.

10. A process in accordance with claim 9, wherein on the basis of the parameter and/or information query, at least one possible target position for the setting up or dismounting of the boom system, respectively, is determined and, preferably, a first target position is initially determined and, as a result, additional target positions for the achievement of the definitive target position.

11. A process in accordance with claim 9, wherein additional user specifications relating to the performance of the set-up or disassembly process are considered for the determination of the one or more target positions, particularly those relating to the quantity of ballast used and/or on the point in time of the raising of a luffing jib from the support surface and/or the setting up with an extended boom.

12. A process in accordance with claim 1, wherein the determination of the crane movements is optimized for achieving the target position in dependence on a user specification and, in particular, a specification may relate to the optimization of the length of the crane movement and/or the load of the crane structure appearing during the crane movement and/or a ballast-economical movement and/or a minimization of the acceleration processes appearing.

13. A process in accordance with claim 1, wherein the crane movements required for achieving the target position may be divided into control commands on the crane rotary mechanism and on the drive units for the tilting up and down of the boom system, respectively.

14. An auxiliary control module for a crane with means for the performance of the process in accordance with claim 1.

15. A crane, particularly a mobile crane, with a crane control and at least one auxiliary control module for the performance of the process in accordance with claim 1.

16. A process in accordance with claim 2, wherein the determination of the target position occurs through the direct inputting of a target position by the user, such as through a statement of a theoretical angle of rotation and/or of a theoretical working radius and/or through geographical inputting of coordinates, for example, particularly by longitude and latitude.

17. A process in accordance with claim 16, wherein the inputting of a target position occurs through the selection of a predefined target position, whereby the predefined target position is a crane position previously started up manually, particularly a started-up position for load removal and/or load acceptance.

18. A process in accordance with claim 17, wherein the determination of the target position occurs if the user previously selects a supported crane function, particularly an autonomous start-up of a situation-dependent shut-down position and/or a scaffold-dependent autonomous set-up or a dismounting of the crane boom system, respectively, and/or an autonomous start-up of an installation position, preferably for the assembly/dismantling of a load block.

19. A process in accordance with claim 16, wherein the determination of the target position occurs if the user previously selects a supported crane function, particularly an autonomous start-up of a situation-dependent shut-down position and/or a scaffold-dependent autonomous set-up or a dismounting of the crane boom system, respectively, and/or an autonomous start-up of an installation position, preferably for the assembly/dismantling of a load block.

20. A process in accordance with claim 4, wherein the determination of the target position occurs if the user previously selects a supported crane function, particularly an autonomous start-up of a situation-dependent shut-down position and/or a scaffold-dependent autonomous set-up or a dismounting of the crane boom system, respectively, and/or an autonomous start-up of an installation position, preferably for the assembly/dismantling of a load block.

Description

[0027] Additional advantages and characteristics of the invention will be explained in further detail in the following by means of an embodiment depicted in the figures. These depict the following:

[0028] FIG. 1: An embodiment of the process in accordance with the invention for the assisted performance of crane movements by a crane, and

[0029] FIG. 2: An embodiment of the process in accordance with the invention for the assisted performance of crane movements by a crane with an additional derrick boom.

[0030] An embodiment of the process in accordance with the invention for the assisted performance of crane movements by a crane will be explained in the following in accordance with FIG. 1. The crane of the embodiment includes a primary luffing boom and a luffing boom extension coordinated with it, such as a luffing jib, a slender boom, etc., for example. The process in accordance with the invention primarily serves for the automatic setting up of the cranei.e., the setting up of the boom systembut it can also be advantageously used for other crane actions.

[0031] The starting point is a sensor on the crane of the type already available, particularly an angle sensor, by means of which the individual positions of the boom elements can be determined precisely. For example, the angle of the needle, i.e., the angle of the luffing jib relative to the horizontal, can precisely determine an intermediate angle, i.e., the angle between both boom elements, as well as the angle of the main boom, i.e., the angle of the main boom relative to the horizontal. Through this precise detection of the actual boom position, the crane operator can, within the bearing load table, either with or without load but also outside the bearing load table, switch to a semi-autonomous movement of the crane upon the setting up and dismounting of the boom system. The crane is then optimally brought into the desired target position in accordance with specific magnitudes. The crane operator can, in particular, make specifications in accordance with which the autonomous crane movements are performed as gently as possible relative to the crane structure, the crane is moved as in a manner as ballast-economical as possible, the crane movements are performed with as high a speed as possible, a minimization of the necessary set-up time is aimed at, or the acceleration processes upon the activation of the crane elements remain as small as small possible in terms of amounts.

[0032] For the performance of the process in accordance with the invention for the autonomous set-up, reference is made primarily to an auxiliary control module that may be either a component of the existing crane control or even integrated into the crane as an external element, or it may be connected with the same by means of an interface. After the activation of the auxiliary control module by the operator, the query of the parameters for the computation of the sequence of the set-up or disassembly process is performed. The parameters can, for example, additionally make information about the boom configuration, such as whether the head of the boom is movably supported by means of a trolley cart or else how high the carrying capacity of the supporting ground is, necessary. The existence of a trolley cart can also be automatically recognized by means of a camera on the crane.

[0033] The auxiliary control module determines a possible first target position from the information available and, as the result, additional target positions for the achievement of the definitive target position in which the crane can begin its actual crane operations, if necessary. One example of different target positions can be inferred from the figure in steps 1, 2, 3 and 4 for the achievement of the LMD range of the bearing load table. During step 1, the boom system is located nearly extended into the base position and the boom system is located almost entirely on the ground. The luffing jib is thereby supported by a trolley cart.

[0034] For the performance of step 2, there are three different procedures, which depend on the crane scaffold. In accordance with case 1, a luffing jib of medium length is mounted, so that the main boom can be tilted up far enough until a minimal intermediate angle between the main boom and luffing jib is reached.

[0035] In case 2, a short luffing jib is prepared, so that the main boom is tilted up far enough that the luffing jib has a minimal needle angle (negative angle) relative to the horizontal. In the case of particularly long luffing jibs (case 3), the main boom is initially set up at a maximum angle of the main boom.

[0036] For cases 1 and 2, the subsequent target position consists of the main boom now being tilted up only to the position of the maximum angle of the main boom, through which the luffing jib raises up from the ground. For the achievement of step 4, the luffing jib is correspondingly adjusted in order to occupy a nearly horizontal position. The angle of the main boom thereby remains unchangeable.

[0037] The performance of the process is, however, also possible with the alternative crane scaffold in accordance with FIG. 2. The crane here also includes a main boom and, as in case 1 of FIG. 1, a short luffing jib articulated in a luffing manner. A derrick boom with corresponding derrick ballast is additionally provided. For the performance of the process, the current position of the derrick boom and/or of the derrick ballast must likewise be considered, in addition to the relative positions of the main boom and the luffing jib. The different target positions of steps 1 to 4 essentially correspond to those of steps 1 to 4 of case 1 in FIG. 1.

[0038] For the performance of the process in accordance with FIG. 1 and FIG. 2, the individually required crane movements are carried out autonomously by the auxiliary control module and, specifically so, in dependence on the specific set-up configurationi.e., in dependence on the luffing jib installed on the optional derrick boom, including the derrick ballast, the use of an auxiliary cart for the luffing jib, or the strategy for the set-up process specified by the user. The determination of the individual target positions is determined inside the module, in accordance with the detection of the crane configuration and the user specifications. The target position can hereby be either computed from the following parameters or read off by comparison with the data stored in memory in a databank. Through the active release by a switching element by the auxiliary control module, the movement required for the new position is divided into control commands issued to the rotary mechanism as well as to the drive units for the tilting of the primary and the tip boom up and down or the activation of the derrick boom, respectively. The crane-side monitoring occurs within the context of the data available in the crane, the bearing load tables, or their installation areas, as well as the sensors present in the crane, which may consist of angle sensors, a force measuring device, length sensors, limit switches, and even optical systems. The crane operator must assess the current operating condition and issue a release for the semi-autonomous control through the active transfer of control to the control module. This release can be carried out by means of tactile sensors, as well as by additional optical sensors.

[0039] The position identification for the monitoring occurs through the direct measurement of the specific angle. It is particularly preferable, during the setting up of the boom system, that an angle-based monitoring process, in which corresponding boundary values for the measuring angle are present inside the crane control and the crane movements, can be monitored through a direct comparison of the measured values, or interventions can be carried out in a controlling manner.

[0040] The process in accordance with the invention offers extensive advantages, particularly upon automatic set-up. During the process of the tilting up of the main mast during the automatic setting up, the table edge of a bearing load table is usually reached, which, as a rule, is not steady, but has fringes, which point is explained by the iterative determination of bearing load and the interpolation methods. If the crane approaches the table edge, then a switching-off occurs. As the result of this, it is thereby often very difficult for the crane operator to make the correct decision for the subsequent crane movements. The auxiliary control module can, however, automatically introduce a correction movement in order to solve this problem. During the set-up process, for example, an intermediate angle correctioni.e., a correction of the angle between the main boom and the luffing jibcan thereby occur, so that the boom system has a greater distance from the table edge of a bearing load table and the process can be concluded as securely as possible.

[0041] By means of the auxiliary control module in accordance with the invention, a semi-autonomous start-up of boom positions for the parking position of a crane cab can, in addition to the automatic set-up, also move into the out-of-operation mode in order to move the crane, such as into a favorable position for that purpose, for example, for the case of possible higher wind speeds than are specified in the specific bearing load table.

[0042] The sensors provided on the crane and their measured values are thereby used for the determination of the optimal position. The determination of the optimal position occurs by means of data computed in advance or else computed for the running time. In addition, current weather data for the positioning or data about expected weather or for the decision about the necessary dismounting of the boom system can be obtained by querying. After the activation of the auxiliary control module by the operator, the querying of the expected wind speed at which the crane should remain in the parking position is carried out. A possible target position is determined from the same by the auxiliary control module. The determination of the target position can occur through a computation on the crane or else from data stored in a databank on the crane. If no target position is possible, then the dismounting of the boom may be necessary.

[0043] A distribution of the control commands to the rotary mechanism and the drive units for the tilting of the boom up and down for the achievement of the new position occurs after active release by means of a switching element by the auxiliary control module occurs here, too.

[0044] The crane-side monitoring or regulation of the drives may also be carried out here by means of an angle-based process.

[0045] As a third variant, a semi-autonomous start-up boom position may be carried out by the auxiliary system inside a bearing load table, both with and without a load. Through the selection of different modes, the auxiliary control module can coordinate and adjust different movements. A superimposed movement for the reduction of the movement times and a reduction of the load on the structure is provided here. The use of position data for the load acceptance or load removal is reasonable.

[0046] After the activation of the auxiliary control module by the operator, the query of a target position occurs. The position information can be provided through a statement of the angle of rotation and/or of a working radius and/or through an inputting of geographical coordinates by the user by means of longitude and latitude.

[0047] After the active release by means of a switching element, the movement required for the new position is divided into control commands by the control unit on the rotary mechanism and the drive units for the tilting of the boom up and down.