Remote-controlled crane

Abstract

The present disclosure concerns a crane, in particular a tower crane, telescopic boom crane, harbor crane and the like, 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 is provided with a control unit with input means to control the drive units. According to the present disclosure, the crane uses a mobile portable target signal transmitter that can be variably positioned in the crane working area, and positioning means for automatically determining the current position of the target signal transmitter relative to the load hook and/or a crane element, and target control means for automatically controlling the drive units in response to a signal from the positioning means, such that the load hook is automatically moved to the mobile target signal transmitter.

Claims

1. A crane system, comprising: a crane with a jib coupled to a crane tower; a trolley movably mounted on the jib, the trolley including a load hook; one or more transponders positioned along the jib; a positioning device coupled to the crane tower including one or more crane drive units; a control unit coupled to the crane tower; and a portable control panel communicatively coupled to the control unit, the portable control panel including a signal transmitter and a touch display, wherein the portable control panel includes computer readable instructions stored on non-transitory memory for: transmitting a signal from the signal transmitter to the one or more transponders, where the control unit receives an indication of receiving of the transmitted signal at the one or more transponders, and where the control unit estimates a distance between the portable control panel and the crane based on a time elapsed between the transmitting of the signal and receiving of the transmitted signal; receiving, on the touch display, operator input indicative of a target position of the load hook; and sending a signal to the positioning device to operate the one or more crane drive units to move the load hook to the target position.

2. The system of claim 1, wherein the portable control panel includes computer readable instructions stored on non-transitory memory for: displaying, to an operator, a crane map working area and the target position of the load hook within the crane map working area.

3. The system of claim 1, wherein the sending a signal includes sending a signal automatically without receiving additional operator input.

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

5. A crane system, comprising: a crane with a jib coupled to a crane tower; a trolley movably mounted on the jib, the trolley including a load hook; one or more transponders positioned along the jib; a positioning device coupled to the crane tower including one or more crane drive units; a control unit coupled to the crane tower; and a portable control panel communicatively coupled to the control unit, the portable control panel including a signal transmitter and a touch display, wherein the portable control panel includes computer readable instructions stored on non-transitory memory for: transmitting a signal from the signal transmitter to the one or more transponders where the control unit receives an indication of receiving of the transmitted signal at the one or more transponders, and where the control unit estimates a distance between the portable control panel and the crane based on a time elapsed between the transmitting of the signal and receiving of the transmitted signal; receiving, on the touch display, operator input indicative of a target position of the load hook; and sending a signal to the positioning device to operate the one or more crane drive units to move the load hook to the target position, wherein the positioning device further includes a GPS unit for estimating a GPS position of the crane tower relative to a position of the signal transmitter, and wherein a path to move the load hook to the target position is calculated based on the GPS position of the crane tower relative to the position of the signal transmitter.

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.