EP2135834B1 - Crane, preferably mobile or caterpillar crane - Google Patents

Crane, preferably mobile or caterpillar crane Download PDF

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Publication number
EP2135834B1
EP2135834B1 EP09004392.8A EP09004392A EP2135834B1 EP 2135834 B1 EP2135834 B1 EP 2135834B1 EP 09004392 A EP09004392 A EP 09004392A EP 2135834 B1 EP2135834 B1 EP 2135834B1
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Prior art keywords
crane
receivers
boom
components
controller
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German (de)
French (fr)
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EP2135834A1 (en
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Erwin Morath
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Liebherr Werk Ehingen GmbH
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Liebherr Werk Ehingen GmbH
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    • 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 invention relates to a crane, preferably a mobile or crawler crane, with a series of mobile crane components, such as a main boom, guy blocks, a hook block and other moving elements.
  • Mobile crane components may be, for example, the following elements: the main boom, the luffing jib, the derrick boom, the jib and guying rods, the derrick ballast and the hook hook on which the load is received.
  • the determination of the position of the movable components is primarily used to determine the unloading of the load. Load unloading is a significant amount of overload protection.
  • the respective positions of the moving components are calculated from existing geometric data, such as the component length, and from geometry values obtained via sensors.
  • the ejection state of the telescopic shots of the main boom and the rocking angle of the main boom can serve.
  • the outreach can be calculated from this.
  • the respective data are passed on from the existing sensors to a crane control and processed there. For example, this calculates the load that can be picked up at a given radius.
  • the aforementioned methods all have in common that they use the existing geometric data of the components as a basis for calculating the position.
  • the existing geometry data of the components deviate from the theoretical geometry data. These are - especially for large cranes - not just negligible inaccuracies that are not to be considered.
  • the components are subject to severe and insufficiently detectable deformations in crane operation, which can lead to sometimes considerable deviations of the ideal geometry data. These deformations thus justify the uncertainties of the measurement and calculation results.
  • the FIG. 2 represents with the dashed lines how the various components can be deformed in reality.
  • document P 2006 219 246 A discloses a crane which detects the position of a fairlead by means of a GPS system.
  • the object of the present invention is now to provide a crane that allows the exact position determination of the various components or elements of the crane in operation, the real deformations of the components are fully taken into account.
  • a crane is provided with a boom with a control and with means for determining the position of the different crane components, in which these means for determining the position consist of receivers of a satellite-based system for global positioning. Each of these receivers receives its exact position via the satellite-supported system, which can be passed on to the crane control and used there for exact position determination.
  • the control of the end positions of the mobile crane component can be specified exactly.
  • the receivers of the satellite-based system for worldwide position determination are receivers for the GPS system which is used worldwide. These GPS receivers can be used to precisely determine the position of the respective mobile crane components.
  • a controller can calculate distances from the respective signals of the GPS receiver. If absolute and unaltered signals are supplied, they can be processed directly by the controller.
  • a reference receiver is arranged on the crane, to which the values of the remaining receivers can be related.
  • inaccuracies and distortions that actually occur can be compensated for by reference to the reference receiver. If all GPS receivers now supply their data to the controller, the difference in position between the reference receiver and the respective receivers on the moving components or elements can be used to determine the position inaccuracies actually applied be filtered out again. This means that even changing inaccuracies can be filtered out because the reception time of each receiver is known exactly.
  • the reference receiver is located near the axis of rotation of the crane, preferably near the axis of rotation of the mobile crane's uppercarriage.
  • the values originating from the receivers can be transmitted wirelessly to the controller. But it is also possible to connect all receivers via cable, in particular a bus system.
  • the data transmitted via the receiver can also be used to determine the working area via the controller.
  • the work area is here the freedom of movement in relation to the working area of other cranes or, for example, the inclusion of fixed interfering edges, for example of neighboring houses.
  • the workspace is composed of the "envelope" of each of the receiver-provided locations and resulting links. Thus, turning and rocking movements are always detected and collisions are avoided.
  • the working space of the crane is provided and monitored over the known widths of the components with appropriate safety impacts.
  • the controller can respond appropriately. This can be a warning or an intervention in the speed of movement of the component in question to the standstill of the entire crane range. Power lines, other cranes, houses, trees or areas that may not be used for any other reason can be referred to as interference edges.
  • the superstructure 10 of a mobile crane not shown here is shown schematically.
  • the superstructure 10 is rotatable about a rotation axis 12 in a known manner.
  • a main boom 14 At the superstructure is a main boom 14 and at this a luffing jib 16 hinged.
  • two guy blocks 18A and 18B are provided.
  • the mobile crane shown here also has a derrick boom 20 and a derrick ballast 22. On the boom hangs a load 24. Further details of the structure of the mobile crane are known in the art, so that can be dispensed with a further detailing of the structure at this point.
  • the respective position of the mobile crane components or elements 14, 16, 18A, 18B and 22 can now be determined by corresponding receivers of a satellite-supported system for global position determination 26.
  • receivers are the currently marketed system so-called GPS receiver.
  • the GPS receivers 26 provide the spatial position (X, Y, Z position) of any mobile crane component.
  • the GPS receiver 26 are each arranged at the distal end of the respective components.
  • a reference GPS receiver 28 is mounted in the vicinity of the axis of rotation 12 of the superstructure 10. So here is always a difference calculation between the reference GPS receiver 28 and the individual GPS receivers 26 at the end of each movable components are carried out for position determination. Also suddenly applied position inaccuracies can be averaged out again. Also, a position determination of the load 24 is possible via a specially attached to the load GPS receiver 30.
  • FIG. 2 is in turn the schematic representation of the mobile crane superstructure 10 accordingly FIG. 1 played.
  • FIG. 2 is in turn the schematic representation of the mobile crane superstructure 10 accordingly FIG. 1 played.
  • dashed lines possible deformations of the moving parts under load.
  • prior art inclinometers have been arranged at various locations on the main boom 14, as indicated by reference numeral 32 in FIG FIG. 2 is clarified.
  • FIG. 3 the displacement of the spatial position at the end of the jib 16 by the inclusion of the load 24.
  • This composite displacement now no longer needs to be calculated, but can be detected directly by the GPS receiver.

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

Description

Die Erfindung betrifft einen Kran, vorzugsweise Mobil- oder Raupenkran, mit einer Reihe von beweglichen Kranbauteilen, wie beispielsweise einem Hauptausleger, Abspann-böcken, einer Hakenflasche und weiteren beweglichen Elementen.The invention relates to a crane, preferably a mobile or crawler crane, with a series of mobile crane components, such as a main boom, guy blocks, a hook block and other moving elements.

Für den Kranbetrieb ist es grundsätzlich wichtig, die genaue Position der beweglichen Bauteile und Elemente zu kennen. Bewegliche Kranbauteile können beispielsweise folgende Elemente sein: der Hauptausleger, der Spitzenausleger, der Derrickausleger, die Abspannböcke und Abspannstangen, der Derrickballast sowie die Hakenflasche, an der die Last aufgenommen ist. Diese Aufzählung ist selbstverständlich nur beispielhaft. Die Positionsbestimmung der beweglichen Bauteile dient in erster Linie dazu, die Ausladung der Last festzustellen. Bei der Ausladung der Last handelt es sich um eine wesentliche Größe der Überlastsicherung. Bei konventionellen Kranen werden die jeweiligen Positionen der beweglichen Bauteile aus vorhandenen geometrischen Daten, wie beispielsweise die Bauteillänge, und aus Geometriewerten, die über Sensoren ermittelt werden, errechnet. Im Fall eines Mobilkrans kann als Beispiel der Ausschubzustand der Teleskopschüsse des Hauptauslegers und der Wippwinkel des Hauptauslegers dienen. Bei einer Reihe von Krankonfigurationen kann hieraus die Ausladung berechnet werden. Die jeweiligen Daten werden von den vorhandenen Sensoren an eine Kransteuerung weitergegeben und dort verarbeitet. So wird hier beispielsweise errechnet, welche Last bei einer bestimmten Ausladung aufgenommen werden kann.For crane operation it is basically important to know the exact position of the moving parts and elements. Mobile crane components may be, for example, the following elements: the main boom, the luffing jib, the derrick boom, the jib and guying rods, the derrick ballast and the hook hook on which the load is received. Of course, this list is only an example. The determination of the position of the movable components is primarily used to determine the unloading of the load. Load unloading is a significant amount of overload protection. In conventional cranes, the respective positions of the moving components are calculated from existing geometric data, such as the component length, and from geometry values obtained via sensors. In the case of a mobile crane, for example, the ejection state of the telescopic shots of the main boom and the rocking angle of the main boom can serve. In a row From crane configurations, the outreach can be calculated from this. The respective data are passed on from the existing sensors to a crane control and processed there. For example, this calculates the load that can be picked up at a given radius.

Aus der EP 0 921 093 B1 ist es in diesem Zusammenhang bekannt, ein System zur Messung des Kippwinkels eines Kranes über einen berührungslosen Entfernungsmesser zu realisieren, der an der Nasensektion eines ersten Auslegers befestigt ist und den Abstand zu einem zweiten Ausleger mißt, der schwenkbar mit dem ersten Ausleger verbunden ist. Die berührungslose Entfernungsmeßeinrichtung erfaßt den Abstand zwischen den beiden Auslegern und gibt diesen an eine Steuereinrichtung weiter, die den gemessenen Abstand in den Kippwinkel umwandelt.From the EP 0 921 093 B1 It is in this context known to realize a system for measuring the tilt angle of a crane via a non-contact rangefinder, which is attached to the nose section of a first boom and measures the distance to a second boom, which is pivotally connected to the first boom. The non-contact distance measuring device detects the distance between the two arms and passes it on to a control device which converts the measured distance into the tilt angle.

Die vorgenannten Verfahren haben alle gemein, dass sie zur Positionsbestimmung die vorhandenen Geometriedaten der Bauteile als Berechnungsgrundlage verwenden. Im realen Betrieb weichen die vorhandenen Geometriedaten der Bauteile von den theoretischen Geometriedaten ab. Hierbei handelt es sich - insbesondere bei großen Kranen - nicht nur um zu vernachlässigende Ungenauigkeiten die nicht zu berücksichtigen sind. Die Bauteile sind im Kranbetrieb nämlich nur schwer und unzureichend feststellbaren Verformungen unterworden, die zu teilweise beträchtlichen Abweichungen der idealen Geometriedaten führen können. Diese Verformungen begründen somit die Unsicherheiten der Meß- und Rechenergebnisse. Um derartige Verformungsunsicherheiten zu kompensieren, wurde es bereits vorgeschlagen, mehrere Neigungsmesser an einem Ausleger einzusetzen, wie dies beispielhaft in der Figur 2 gezeigt ist. Die Figur 2 stellt mit den gestrichelten Linien dar, wie die verschiedenen Bauteile in der Realität verformt werden können.The aforementioned methods all have in common that they use the existing geometric data of the components as a basis for calculating the position. In real operation, the existing geometry data of the components deviate from the theoretical geometry data. These are - especially for large cranes - not just negligible inaccuracies that are not to be considered. The components are subject to severe and insufficiently detectable deformations in crane operation, which can lead to sometimes considerable deviations of the ideal geometry data. These deformations thus justify the uncertainties of the measurement and calculation results. To compensate for such deformation uncertainties, it has already been proposed to use several inclinometers on a boom, as exemplified in FIG. 2 is shown. The FIG. 2 represents with the dashed lines how the various components can be deformed in reality.

Dokument P 2006 219 246 A offenbart ein Kran der die Position einer Auslegespitze mittels eines GPS-System erfasst.document P 2006 219 246 A discloses a crane which detects the position of a fairlead by means of a GPS system.

Aufgabe der vorliegenden Erfindung ist es nun, einen Kran an die Hand zu geben, der die genaue Positionsbestimmung der unterschiedlichen Bauteile bzw. Elemente des Kranes im Betrieb erlaubt, wobei die realen Verformungen der Bauteile vollständig berücksichtigt werden.The object of the present invention is now to provide a crane that allows the exact position determination of the various components or elements of the crane in operation, the real deformations of the components are fully taken into account.

Erfindungsgemäß wird diese Aufgabe durch die Kombination der Merkmale des Anspruchs 1 gelöst.According to the invention this object is achieved by the combination of the features of claim 1.

Demnach wird ein Kran mit einem Ausleger mit einer Steuerung und mit Mitteln zur Ermittlung der Stellung der unterschiedlichen Kranbauteile zur Verfügung gestellt, bei dem diese Mittel zur Ermittlung der Stellung aus Empfängern eines satellitengestützten Systems zur weltweiten Positionsbestimmung bestehen. Jeder dieser Empfänger erhält über das satellitengestützte System seine exakte Position, die an die Kransteuerung weitergegeben werden kann und dort zur exakten Positionsbestimmung verwendet werden kann. Damit können der Steuerung die Endlagen von dem beweglichen Kranbauteil genau angegeben werden. Diese Positionsangaben sind nun vollständig unabhängig von eventuellen Durchbiegungen oder anderen Verformungen der beweglichen Kranbauteile bzw. Elemente.Accordingly, a crane is provided with a boom with a control and with means for determining the position of the different crane components, in which these means for determining the position consist of receivers of a satellite-based system for global positioning. Each of these receivers receives its exact position via the satellite-supported system, which can be passed on to the crane control and used there for exact position determination. Thus, the control of the end positions of the mobile crane component can be specified exactly. These position details are now completely independent of possible deflections or other deformations of the mobile crane components or elements.

Vorteilhafte Ausgestaltungen der Erfindung ergeben sich aus den sich an den Hauptanspruch anschließenden Unteransprüchen.Advantageous embodiments of the invention will become apparent from the subsequent claims to the main claim.

Gemäß einer ersten vorteilhaften Ausgestaltung der Erfindung handelt es sich bei den Empfängern des satellitengestützten Systems zur weltweiten Positionsbestimmung um Empfänger für das weltweit verbreitete GPS-System. Durch diese GPS-Empfänger kann die Position der jeweiligen beweglichen Kranbauteile exakt bestimmt werden. Eine Steuerung kann aus den jeweiligen Signalen der GPS-Empfänger Abstände berechnen. Falls absolute und unverfälschte Signale geliefert werden, können diese direkt von der Steuerung verarbeitet werden.According to a first advantageous embodiment of the invention, the receivers of the satellite-based system for worldwide position determination are receivers for the GPS system which is used worldwide. These GPS receivers can be used to precisely determine the position of the respective mobile crane components. A controller can calculate distances from the respective signals of the GPS receiver. If absolute and unaltered signals are supplied, they can be processed directly by the controller.

Besonders vorteilhaft ist es, wenn an dem Kran ein Referenzempfänger angeordnet ist, zu dem die Werte der übrigen Empfänger in Relation gesetzt werden können. Hierdurch können real auftretende Ungenauigkeiten und Verfälschungen aufgrund der Bezugnahme auf den Referenzempfänger ausgeglichen werden. Liefern nun alle GPS-Empfänger ihre Daten an die Steuerung, so kann über die Differenzrechnung zwischen dem Referenzempfänger und den jeweiligen Empfängern an den beweglichen Bauteilen bzw. Elementen die real aufgebrachten Positionsungenauigkeiten wieder herausgefiltert werden. So können auch wechselnde Ungenauigkeiten herausgefiltert werden, da die Empfangszeit jedes Empfängers exakt bekannt ist.It is particularly advantageous if a reference receiver is arranged on the crane, to which the values of the remaining receivers can be related. As a result, inaccuracies and distortions that actually occur can be compensated for by reference to the reference receiver. If all GPS receivers now supply their data to the controller, the difference in position between the reference receiver and the respective receivers on the moving components or elements can be used to determine the position inaccuracies actually applied be filtered out again. This means that even changing inaccuracies can be filtered out because the reception time of each receiver is known exactly.

Zur Vereinfachung der Berechnung ist der Referenzempfänger in der Nähe der Drehachse des Krans, vorzugsweise in der Nähe der Drehachse des Oberwagens des Mobilkranes, angeordnet.For ease of calculation, the reference receiver is located near the axis of rotation of the crane, preferably near the axis of rotation of the mobile crane's uppercarriage.

Besonders vorteilhaft ist es, dass die von den Empfängern stammenden Werte kabellos an die Steuerung übertragbar sind. Es ist aber ebenso möglich, alle Empfänger über Kabel, insbesondere ein Bussystem, zu verbinden.It is particularly advantageous that the values originating from the receivers can be transmitted wirelessly to the controller. But it is also possible to connect all receivers via cable, in particular a bus system.

Vorteilhaft werden von den GPS-Empfängern alle Arten von Bewegungen erfaßt. So ist es unerheblich, aufgrund welcher Bewegung sich die Ausladung verändert. Beispiele für solche Bewegungen sind

  • das Teleskopieren eines Auslegers,
  • das Wippen eines Auslegers und/oder
  • das Verändern der Durchbiegung eines Auslegers, beispielsweise wegen der Aufnahme bzw. dem Absetzen einer Last.
Advantageously, all kinds of movements are detected by the GPS receivers. So it is irrelevant, because of which movement the discharge changes. Examples of such movements are
  • telescoping a jib,
  • the rocking of a boom and / or
  • changing the deflection of a boom, for example, because of the inclusion or the discontinuation of a load.

Durch Anbringen eines GPS-Empfängers an der Last kann auch die Position der Last selbst bestimmt werden.By attaching a GPS receiver to the load, the position of the load itself can be determined.

Schließlich können über die Steuerung auch die über die Empfänger übermittelten Daten zur Bestimmung des Arbeitsbereichs verwendet werden. Bei dem Arbeitsbereich handelt es sich hier um die Bewegungsfreiheit gegenüber dem Arbeitsbereich anderer Krane oder beispielsweise auch um die Einbeziehung von festen Störkanten, beispielsweise von benachbarten Häusern. Der Arbeitsbereich setzt sich aus der "Hüllkurve" der einzelnen von den Empfängern bereitgestellten Positionen und resultierenden Verbindungen zusammen. Somit werden Dreh- und Wippbewegungen stets erfaßt und Kollisionen werden vermieden. Der Arbeitsraum des Kranes wird dabei über die bekannten Breiten der Bauteile mit entsprechenden Sicherheitsaufschlägen versehen und überwacht. Bei definierten Abständen des Arbeitsbereiches zu Störkanten kann die Steuerung geeignet reagieren. Dies kann eine Warnung oder ein Eingriff in die Bewegungsgeschwindigkeit der betreffenden Komponente bis hin zum Stillstand des gesamten Krans reichen. Als Störkanten können Stromleitungen, andere Krane, Häuser, Bäume oder Bereiche, die aus anderweitigen Gründen nicht benutzt werden dürfen, bezeichnet werden.Finally, the data transmitted via the receiver can also be used to determine the working area via the controller. The work area is here the freedom of movement in relation to the working area of other cranes or, for example, the inclusion of fixed interfering edges, for example of neighboring houses. The workspace is composed of the "envelope" of each of the receiver-provided locations and resulting links. Thus, turning and rocking movements are always detected and collisions are avoided. The working space of the crane is provided and monitored over the known widths of the components with appropriate safety impacts. At defined distances of the working area to interference edges, the controller can respond appropriately. This can be a warning or an intervention in the speed of movement of the component in question to the standstill of the entire crane range. Power lines, other cranes, houses, trees or areas that may not be used for any other reason can be referred to as interference edges.

Das hier vorgestellte System zur Positionsbestimmung der Bauteile kann neben einen an sich bekannten in der Kransteuerung vorhandenen Kranüberwachungssystem konventioneller Art einsetzbar sein um so ein diversitäres Überwachungssystem zu schaffen. Neben dem aus dem konventionellen System errechneten Werten würden hier durch das satellitengestützte System zur weltweiten Positionsbestimmung die exakte Position bestimmbar sein.The presented here system for determining the position of the components can be used in addition to a known in the crane control crane monitoring system conventional type to create a diverse monitoring system. In addition to the values calculated from the conventional system, the exact position could be determined here by the satellite-based system for determining the position of the globe worldwide.

Die Positionen, welche die GPS-Empfänger an die Steuerung liefern, können zusätzlich zur Überprüfung des Rüstzustandes verwendet werden. Üblicherweise gibt der Kranfahrer in die Steuerung Daten bezüglich des vorhandenen Auslegersystems und weiterer Komponenten am Kran, sowie Daten zur Länge des Hauptauslegers und des weiteren Auslegersystems ein. Über die empfangenen Signale können einige Angaben des Kranfahrers erstmalig gegengeprüft werden. Beispielhaft sind hier zu erwähnen:

  1. 1. Die Länge des Hauptauslegers und des weiteren Auslegersystems und
  2. 2. Prüfung auf vorhandenes Auslegersystem und teilweise vorhandene Komponenten. Diese ist möglich, da bei Fehlen einer Komponenten ja kein Positionssignal gesendet werden kann.
The positions that the GPS receivers deliver to the controller can also be used to check the setup state. Typically, the crane operator enters into the controller data relating to the existing boom system and other components on the crane, as well as data on the length of the main boom and the further boom system. Some information from the crane operator can be checked for the first time via the received signals. By way of example, mention should be made of:
  1. 1. The length of the main boom and the other boom system and
  2. 2. Check for existing boom system and partially existing components. This is possible because in the absence of a component yes no position signal can be sent.

Weitere Merkmale, Einzelheiten und Vorteile der Erfindung ergeben sich aus einem in der Zeichnung dargestellten Ausführungsbeispiel. Es zeigen:

Figur 1:
eine schematische Darstellung des Oberwagens eines Mobilkrans gemäß der vorliegenden Erfindung,
Figur 2:
eine schematische Darstellung des Oberwagens eines Mobilkrans, anhand der die möglichen Durchbiegungen langgestreckter Bauteile verdeutlicht sind und
Figur 3:
eine schematische Darstellung gemäß Figur 1 zur Verdeutlichung der Durchbiegung in Folge der Lastaufnahme.
Further features, details and advantages of the invention will become apparent from an embodiment shown in the drawing. Show it:
FIG. 1:
a schematic representation of the upper carriage of a mobile crane according to the present invention,
FIG. 2:
a schematic representation of the upper carriage of a mobile crane, based on the possible deflections of elongated components are illustrated and
FIG. 3:
a schematic representation according to FIG. 1 to illustrate the deflection as a result of load absorption.

In der Figur 1 ist der Oberwagen 10 eines hier nicht vollständig dargestellten Mobilkrans schematisch dargestellt. Der Oberwagen 10 ist um eine Drehachse 12 in bekannter Art und Weise drehbar. Am Oberwagen ist ein Hauptausleger 14 und an diesem ein Spitzenausleger 16 angelenkt. Zusätzlich sind zwei Abspannböcke 18A und 18B vorgesehen. Der hier dargestellte Mobilkran weist weiterhin einen Derrickausleger 20 und einen Derrickballast 22 auf. Am Ausleger hängt eine Last 24. Weitere Einzelheiten des Aufbaus des Mobilkrans sind dem Fachmann bekannt, so dass auf eine weitere Detaillierung des Aufbaus an dieser Stelle verzichtet werden kann.In the FIG. 1 the superstructure 10 of a mobile crane not shown here is shown schematically. The superstructure 10 is rotatable about a rotation axis 12 in a known manner. At the superstructure is a main boom 14 and at this a luffing jib 16 hinged. In addition, two guy blocks 18A and 18B are provided. The mobile crane shown here also has a derrick boom 20 and a derrick ballast 22. On the boom hangs a load 24. Further details of the structure of the mobile crane are known in the art, so that can be dispensed with a further detailing of the structure at this point.

Gemäß der vorliegenden Erfindung kann nun die jeweilige Position der beweglichen Kranbauteile bzw. Elemente 14, 16, 18A, 18B und 22 durch entsprechende Empfänger eines satellitengestützten Systems zur weltweiten Positionsbestimmung 26 bestimmt werden. Bei diesen Empfängern handelt es sich bei dem derzeit marktüblichen System um sogenannte GPS-Empfänger.According to the present invention, the respective position of the mobile crane components or elements 14, 16, 18A, 18B and 22 can now be determined by corresponding receivers of a satellite-supported system for global position determination 26. These receivers are the currently marketed system so-called GPS receiver.

Die GPS-Empfänger 26 liefern die räumliche Position (X-, Y-, Z-Position) eines jeglichen beweglichen Kranbauteils. Hierzu sind die GPS-Empfänger 26 jeweils an dem distalen Ende der jeweiligen Bauteile angeordnet. Am Mobilkran ist ein Referenz-GPS-Empfänger 28 in der Nähe der Drehachse 12 des Oberwagens 10 angebracht. Hier kann also immer eine Differenzrechnung zwischen dem Referenz-GPS-Empfänger 28 und den einzelnen GPS-Empfängern 26 am Ende der jeweils beweglichen Bauteile zur Positionsbestimmung durchgeführt werden. Auch plötzlich aufgebrachte Positionsungenauigkeiten können so wieder herausgemittelt werden. Auch eine Positionsbestimmung der Last 24 ist über einen eigens an der Last angebrachten GPS-Empfänger 30 möglich.The GPS receivers 26 provide the spatial position (X, Y, Z position) of any mobile crane component. For this purpose, the GPS receiver 26 are each arranged at the distal end of the respective components. On the mobile crane, a reference GPS receiver 28 is mounted in the vicinity of the axis of rotation 12 of the superstructure 10. So here is always a difference calculation between the reference GPS receiver 28 and the individual GPS receivers 26 at the end of each movable components are carried out for position determination. Also suddenly applied position inaccuracies can be averaged out again. Also, a position determination of the load 24 is possible via a specially attached to the load GPS receiver 30.

In der Figur 1 bezeichnet A die Ausladung der Last 24, die aufgrund der GPS-Empfänger sehr genau bestimmbar ist.In the FIG. 1 A denotes the projection of the load 24, which can be determined very accurately due to the GPS receiver.

In der Figur 2 ist wiederum die schematische Darstellung des Mobilkranoberwagens 10 entsprechend Figur 1 wiedergegeben. Hier sind durch die gestrichelten Linien mögliche Verformungen der beweglichen Teile unter Belastung dargestellt. Um diese Verformungen festzustellen, sind im Stand der Technik Neigungsmesser an verschiedenen Stellen des Hauptauslegers 14 angeordnet worden, wie dies mit den Bezugszeichen 32 in der Figur 2 verdeutlicht wird.In the FIG. 2 is in turn the schematic representation of the mobile crane superstructure 10 accordingly FIG. 1 played. Here are shown by the dashed lines possible deformations of the moving parts under load. In order to detect these deformations, prior art inclinometers have been arranged at various locations on the main boom 14, as indicated by reference numeral 32 in FIG FIG. 2 is clarified.

Schließlich verdeutlicht die Figur 3 die Verschiebung der räumlichen Lage am Ende des Spitzenauslegers 16 durch die Aufnahme der Last 24. Wie hier anhand der Figur 3 deutlich wird, verschiebt sich die Spitze des Spitzenauslegers 16 zum einen aufgrund der Verschiebung des Befestigungspunktes 34 vom Hauptausleger und zum anderen aufgrund der eigenen Durchbiegung. Diese zusammengesetzte Verlagerung braucht nun nicht mehr berechnet werden, sondern kann direkt durch den GPS-Empfänger erfaßt werden.Finally, the clarifies FIG. 3 the displacement of the spatial position at the end of the jib 16 by the inclusion of the load 24. As shown here with reference to FIG. 3 becomes clear, moves the tip of the jib 16 on the one hand due to the displacement of the attachment point 34 of the main boom and on the other hand due to its own deflection. This composite displacement now no longer needs to be calculated, but can be detected directly by the GPS receiver.

Claims (9)

  1. A crane, preferably a mobile or crawler crane, with a boom, with a controller and with means for determining the position of different crane components such as main boom, fly boom, derrick boom, bracing trestles, derrick ballast and/or hook block, wherein these means consist of receivers of a satellite-based system for worldwide determination of the position,
    characterized in that
    the receivers each are arranged on the respective crane components and can directly supply the respective position of the movable crane components.
  2. The crane according to claim 1, characterized in that the means consist of GPS receivers.
  3. The crane according to claim 1 or 2, characterized in that a reference receiver is arranged on the crane, to which the values of the remaining receivers can be put in relation.
  4. The crane according to claim 3, characterized in that the reference receiver is arranged in the vicinity of the axis of rotation of the crane, preferably in the vicinity of the axis of rotation of the uppercarriage of a mobile crane.
  5. The crane according to any of the preceding claims, characterized in that the values originating from the receivers can wirelessly be transmitted to the controller.
  6. The crane according to any of the preceding claims, characterized in that in addition a receiver is arranged on the load.
  7. The crane according to any of the preceding claims, characterized in that by means of the controller the data transmitted via the receivers are usable for determining the working range.
  8. The crane according to claim 7, characterized in that the currently existing outreach of the load is communicated directly to the controller for calculating the load moment limitation.
  9. The crane according to claim 7, characterized in that from the recorded positions of the GPS receivers with their connecting lines an envelope curve can be generated around the crane, and that the working space of the crane provided with corresponding safety margins can be monitored.
EP09004392.8A 2008-06-18 2009-03-26 Crane, preferably mobile or caterpillar crane Active EP2135834B1 (en)

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DE200820008174 DE202008008174U1 (en) 2008-06-18 2008-06-18 Crane, preferably mobile or crawler crane

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EP2135834B1 true EP2135834B1 (en) 2015-07-29

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EP2135834A1 (en) 2009-12-23

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