EP2548835B2 - Crane control and crane - Google Patents
Crane control and crane Download PDFInfo
- Publication number
- EP2548835B2 EP2548835B2 EP12005293.1A EP12005293A EP2548835B2 EP 2548835 B2 EP2548835 B2 EP 2548835B2 EP 12005293 A EP12005293 A EP 12005293A EP 2548835 B2 EP2548835 B2 EP 2548835B2
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- European Patent Office
- Prior art keywords
- crane
- input
- crane control
- parameters
- accordance
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- 238000000034 method Methods 0.000 description 8
- 238000012937 correction Methods 0.000 description 6
- 239000013589 supplement Substances 0.000 description 4
- 230000001419 dependent effect Effects 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012905 input function Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000010187 selection method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Classifications
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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
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
Definitions
- the invention relates to a crane control with a display and input unit for displaying and inputting the operating mode information of the crane required for load torque limitation and / or crane control, in particular in accordance with its current mechanical structure.
- the load torque limitation monitors the currently applied load torque during crane work or the set-up process against defined limit values, which are usually stored in corresponding load-bearing tables. Before each use of the crane, the necessary data or operating mode information of the crane must therefore be entered into the crane control in order to be able to provide a suitable load table for the load torque limiter.
- crane controls which have an input and display unit for inputting the required data.
- the crane operator first determines a required input parameter and then receives a list with all possible characteristics for the crane from the crane control via the display unit.
- the list made available must be searched for the desired expression, and after the desired expression has been selected, this is specified by a user confirmation as an input for the parameter to be developed. This process is repeated until all required parameters have been set correctly.
- Possible parameters are, for example, the telescopic boom length or lattice boom length of a crane as well as information about the crane accessories, the ballast, the crane support or the crane turning range.
- the number of values for each individual parameter is variable and can, under certain circumstances, have very high values. For example, a suitable selection of characteristics must be provided for every possible crane configuration. In the case of the boom system in particular, there are extensive constellation possibilities, since, for example, differently dimensioned lattice pieces in different lengths can be combined and consequently the number of possible characteristics to be provided for a parameter can rise rapidly.
- Crane controls of this type require that you click through all of the listed parameters or values until the required value for the value is displayed. However, this procedure is very cumbersome and time-consuming.
- the crane control triggers the data transfer by pressing the enter key and the associated load capacity table is searched for using the selected parameter combination.
- the crane control generates an error message and the crane operator is prompted to re-enter all values.
- the document DE 19538264 A1 discloses an interactive operating console with a display and input unit for displaying a status and inputting at least one input value for preparing and setting up a mobile working device.
- the object of the present invention is therefore to further develop a crane control in such a way as to circumvent the problems described above.
- the logic determines already during the input process existing dependencies between two or more input parameters or those that have yet to be input.
- Dependencies arise, for example, on the basis of the crane equipment status or the specific crane use, since the possible and therefore sensible jib length depends on the type of jib system used.
- the logic analyzes, for example, the input parameters to be entered or entered to determine whether there is a dependency between at least two input parameters or whether they can be set independently of one another. Furthermore, the logic can preferably be used to evaluate the dependencies found.
- the logic of the crane control is designed in such a way that, taking into account the determined dependencies, a selection with possible characteristics for an input parameter to be entered can be generated.
- the user therefore does not have to laboriously work through a list that includes all possible versions of the crane, but rather receives a restricted selection with consistently meaningful versions for the respective input parameter to be defined. This saves the crane operator a considerable amount of time when entering the crane configuration.
- the logic is implemented in such a way that a selection of input parameters to be assigned can be generated, taking into account the dependencies.
- the user can be specifically requested to assign values to only the setup-dependent required parameters. For example, depending on one or more immediately preceding entries of characteristics for certain parameters, the user is only shown the parameters that are then absolutely necessary to be entered.
- the logic is implemented in such a way that, taking into account the determined dependencies, a plausibility check can be carried out between two or more input parameters. Accordingly, the crane logic evaluates the dependency of the crane parameters entered while the crane operator is making entries. Conflicts between two or more input parameters or selected values of the corresponding parameters are recognized instantly and enable an immediate correction to eliminate the conflicts. In contrast to the state of the art, such conflicts do not only appear when the selected combination is finally compared with the stored load capacity tables, but can rather be recognized and rectified immediately. It is therefore not necessary to re-enter all parameters.
- the result of the plausibility check can be displayed optically on the display and input unit of the crane control. All input parameters or values that were involved in the conflict are marked.
- the controller can automatically display possible correction proposals.
- this is divided into an information, navigation and editing area.
- the information area is available for the display of selected operating characteristics or parameters.
- the navigation area of the display and input unit the user can easily navigate through the information area or conveniently navigate through the selection lists provided with available values for the individual input parameters. It is conceivable that the navigation area is divided on the one hand into the navigation area for the information area and on the other hand for the navigation area of the editing area.
- the editing area is preferably used for direct input of an expression of one or more input parameters.
- the editing area has, for example, a numeric and / or character keyboard.
- the editing area expediently comprises at least one selection button, via which one or more values can be selected from a displayed list.
- at least one selection key can be provided which serves to confirm the aforementioned selection and enables the transfer of the value or values to the controller.
- the input parameters are subordinate to two or more categories. Accordingly, the term category is to be understood as a summary of various parameters into groups that enable the crane configuration to be entered more efficiently.
- the individual subordinate input parameters can be hierarchically weighted within a category. This means that the selection of a characteristic for an input parameter has to be made according to a predefined sequence. The user can therefore not selectively determine a characteristic for any parameter of a category, but must proceed according to a predefined guideline. This is particularly advantageous if the selection of the available characteristics per input parameter is made taking into account the dependencies on previous input parameters.
- the crane control preferably has a means which evaluates the combination of one or more input parameters entered.
- the appropriate load table for the load moment limit of the crane can then be determined on the basis of the evaluation result.
- the means has access to a data memory of the crane control which contains a number of load capacity tables.
- the crane operator can preferably enter a code for the direct selection of a load table in order to avoid the manual individual entry of the required input parameters. This is the fastest way to get the entire crane up and running.
- the code to be entered for the payload table is preferably designed to be speaking and is advantageously composed of several blocks, in particular of three blocks. It is possible that a block stands for the crane type definition. In this case, the first block is automatically pre-assigned by the crane control. Another block stands for the selection of a general operating mode group for the crane. This includes, for example, the jib configuration, but without specifying physical parameters such as length, angle and weight. An additional block, preferably the last block, is not expediently one talking consecutive number.
- the crane control it is designed in such a way that an independent pre-assignment of one or more input parameters is possible, taking into account the crane configuration automatically recognized by means of a device provided. Accordingly, the crane control automatically recognizes the set-up status or the crane configuration and, as far as possible, carries out an automatic pre-assignment of the individual input parameters for the subsequent determination of the load torque limitation.
- a device is for example from EP 1 598 303 A2 known, the disclosure of which is fully referred to at this point.
- the crane configuration is automatically recognized, for example, using a transponder system installed on the crane.
- the invention also relates to a crane, in particular a mobile or crawler crane, with a crane control according to one of the advantageous embodiments mentioned above.
- the crane obviously has the same advantages and properties as the crane control according to the invention, which is why a renewed explanation is dispensed with at this point.
- the term operating mode is understood to mean the basic configuration of the crane, which the crane operator defines before using the crane and which, as a rule, leaves unchanged during the crane operation.
- the main boom length, derrick boom, mounted luffing jib as accessory boom or the laid derrick ballast, i.e. the ballast available for pulling, may be mentioned.
- the term parameter describes a single characteristic of the crane in use. These features can be parts of the operating mode or also include features that are variable when using a crane, such as the current telescopic length of a telescopic boom used.
- a parameter describes the possible properties, i.e. the assumed physical size of a parameter. This includes, for example, the size of the derrick ballast, the size of the central ballast or the support width used.
- the generic term category is the combination of various parameters in groups, which enables the crane configuration to be entered efficiently.
- ABS The general operating mode group, abbreviated to "ABG” in the following part of the description, denotes essential components of the overall crane, such as the jib configuration, for example consisting of the main boom, fly jib or derrick boom with derrick ballast.
- the "ABG” also includes further information about the characteristics of the components.
- the derrick boom can carry a suspended ballast or alternatively be connected to a ballast wagon.
- AGB occurs without specifying assumed physical quantities such as length, angle or weight.
- the set-up process is understood to mean making the crane operational, for example from the transport state.
- Various inputs are required for this, i.e. Operating mode information to be supplied to the crane control.
- the crane control consists of at least one part responsible for executing crane movements and a load torque limiter that monitors the currently applied load torque against defined limit values.
- a data memory is provided which is either connected to the control or integrated into it, and which holds the necessary load tables for the load torque limitation.
- Each load capacity table is valid for the respective configuration of the crane and contains the limit values mentioned above.
- the currently available crane configuration such as ABG, operating mode, parameters and characteristics, is required.
- the separation of the screen of the display unit 10 into different areas is essential for the novel input function of the crane control according to the invention.
- the display unit 10 is divided into the information area 20, the navigation area 30 and the editing area 40, the navigation area 30 being further refined into the navigation area for the information area 20 and the editing area 40.
- the individual input parameters are subordinate to meaningful categories.
- the individual categories are shown separately in the information area 20.
- the category “norm” 21 is shown in the information area 20 of the display unit 10. This is used as a basis by the statics for calculating a certain load table set and is usually country-dependent.
- the representation in the Figure 1 shows the entry for the regulation basis in the EU, according to which the permissible load is calculated.
- the “Code” category 22 is shown as a further category and is described in more detail in one of the following paragraphs of the description.
- the crane operator can switch between the individual categories 21 to 26 and change the individual characteristics of the subordinate parameters or features. If the selection option is greater than an editable display field allows, the editing area 40 can display a list 41 of possible versions and the desired version can be selected and accepted with the aid of the navigation area 30 in the editing area 40.
- the deployment and / or armament-related dependencies between two or more input parameters are defined by different systems depending on the type of category selected.
- category operating mode 23 there are hierarchical dependencies between the input parameters, whereas the input system for the categories armor supplements 24, environment and mechanical influences 25 and lifting 26 provides for quantitative dependencies between the possible input parameters.
- FIG 1 shows the display unit 10 with the selected category "operating mode” 23.
- the category “operating mode” 23 consists of the feature to be selected "general operating mode group (ABG)" 50, which is representative of the present boom types, and the associated parameters 51, 52, 53 , 54, which, for example, take on characteristics for the physical quantities of the selected boom system.
- ABS general operating mode group
- bracket types determined by this are automatically displayed as parameters 51, 52, 53, 54 to be defined in order to assign individual physical values to them to be able to.
- the input takes place due to the hierarchical dependencies between the input parameters 51, 52, 53, 54 in a specific order, for example from left to right.
- the luffing jib is to be defined by selecting the parameter 53 responsible for the luffing jib.
- the two-part editing window is then opened in the editing field 40.
- a sub-parameter 42 can be selected, if available, which here describes the luffing tip type 42a or the luffing tip length 42b.
- Various physical variables are possible for the selected sub-parameter 42, which are displayed in the lower part of the two-part editing window 40 as possible characteristics 41. However, only selection options that can be combined with the characteristics that have already been selected for the other parameters 42, 51, 52, 54 are displayed.
- the values 68m, 74m, 90m, 96m, 102m, 108m and 114m are possible for the sub-parameter luffing tip length 42b of the parameter luffing tip 53. If the sub-parameter luffing tip type 42a were marked in the upper window area, then the values W1, W2 or W3, for example, would be displayed in the lower window.
- the selection of the characteristics for the rocker tip parameter 53 can determine the scope of the possible characteristics that are offered for selection with regard to the parameter 54.
- the logic of the crane control acts taking into account the quantitative dependencies between the individual input parameters.
- the selection procedure is regulated without a specific order for selecting the parameters. Every parameter can be entered at any time, whereby all imaginable values of the parameter are always offered. If other parameters have already been selected and assigned corresponding characteristics, the characteristics that match or are valid for the selection made are highlighted in color. It is essential that the parameter just entered into the control system always becomes the master. After each entry for the value of a parameter, all other parameters are recalculated with regard to their evaluation "suitable” or "not suitable”.
- selected characteristics that are assessed as meaningful by the crane control are marked in color, in particular green, whereas characteristics that are assigned a possible conflict situation by the crane control are displayed in a different color.
- This functionality is particularly advantageous when several parameters with only a few characteristics are grouped together. This can be useful, for example, with the "Armor supplements" 24 category. For example, in the selection of the characteristic for a parameter, a characteristic that cannot be selected - in combination with the characteristics already selected - can be shown in red. If this is selected, the crane control will use all characteristics of previously assigned parameters in the same category, which do not match the newly selected version and signal a possible conflict, marked in blue. The crane operator can quickly and reliably identify and correct possible areas of conflict or input errors. There is also the option of color-coding those features that are the only valid combination and therefore do not have to be selected. For example, a single expression that is valid for any parameter is marked in gray.
- a particular advantage is that the already selected sub-parameters or physical variables / characteristics are retained if changes or corrections to one or more variables / characteristics are required. If the crane operator detects an error after entering all of the operating mode information, he can easily correct an individual parameter in a targeted manner.
- the Figures 2a to 2d should clarify the individual steps of such a correction procedure.
- the individual blocks identify the selectable characteristics for the individual parameters 50, 51, 52, 53.
- the continuous line 60 symbolizes the input made by the crane operator.
- the value "SDB" was selected for the parameter AGB 50
- the first sub-parameter of the parameter 51 defining the main boom was determined with the value "S” and the length of the boom was defined as "60" in the second sub-parameter.
- the remaining parameters / sub-parameters 52, 53 were assigned values "D", "54", "W1".
- the dashed line 70 identifies all possible meaningful combinations of the individual selected characteristics for the individual parameters / sub-parameters 50, 51, 52, 53.
- the selection made, line 60 represents a possible combination of the set of meaningful combinations, line 70 ,.
- the selection made is consequently considered to be sensible by the crane control.
- the crane operator detects an incorrect entry, individual parameters / sub-parameters can be selected and changed in a targeted manner without losing the other entries.
- the sub-parameter 51a for the main boom is to be converted from the value “S” to the value “SL”.
- Figure 2b shows the changes made, whereby the other selected values remain unchanged. Due to the change in parameter 51, the selection made, line 60, does not represent a valid combination in the sense of line 70. Due to the hierarchical weighting of the individual parameters, the crane control identifies the first incorrectly assigned parameter in order to request the crane operator to correct the error. Depending on the values selected above, only the value "133" can be selected for sub-parameter 51 b.
- the individual parameters can be pre-assigned largely independently by the crane control by using a device installed on the crane for automatic recognition of the crane configuration.
- the transponder system required to recognize the crane configuration is, for example, from the EP 1 598 303 A2 known to which reference is made at this point.
- the crane operator has the option of directly selecting a specific entry from the stored load table by entering a code in the "Code" 22 category.
- the required code of the load capacity table is designed in a meaningful way and consists of a total of three blocks 61, 62, 63.
- the first block 61 defines the type of crane used and is always pre-assigned by the crane control itself.
- the four-digit block is divided into three numbers, which identify the respective crane type, and the character T to indicate that the data record in question is a load capacity table.
- the second block 62 is called the “high part” and defines the general operating mode group.
- the third block is called the low part, defines the load table and corresponds to a non-speaking sequential number. All three blocks together form the name of the payload table. The parts can be edited separately from each other in order to reduce the amount of input required.
- FIG Figure 3 A complete illustration of the display and input unit 100 is shown in FIG Figure 3 refer to.
- the navigation area 30 extends on the one hand over the partial area of the display unit 10 as well as over the user keys of the input unit 101. Certain setting values of the crane configuration can be edited, whereby an accelerated input is guaranteed. These input fields or parameters allow a direct numerical input via the keyboard 101 after the selection of a field via the keys of the editing area 30.
- the control selects the appropriate load capacity table based on the data entered from the memory and makes this available to the load torque limiter, which thus receives the appropriate limit values for monitoring.
- the crane control also knows the crane geometry and can calculate moments from sensor values (lengths, angles, weights).
- the control knows the data of the existing boom system with regard to masses and position of the centers of gravity. These "empty torques" are included in the load torque limitation.
- the present invention enables the crane to be set up particularly quickly even with any number of adjustment options.
- the crane control according to the invention allows a result-oriented setting of the individual crane parameters with a continuous plausibility check.
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Description
Die Erfindung betrifft eine Kransteuerung mit einer Anzeige- und Eingabeeinheit zur Darstellung und Eingabe der für die Lastmomentbegrenzung und/oder die Kransteuerung erforderlichen Betriebarteninformationen des Krans, insbesondere entsprechend seinem aktuellen mechanischem Aufbau.The invention relates to a crane control with a display and input unit for displaying and inputting the operating mode information of the crane required for load torque limitation and / or crane control, in particular in accordance with its current mechanical structure.
Die Lastmomentbegrenzung überwacht während der Kranarbeit oder dem Rüstvorgang das aktuell anliegende Lastmoment gegenüber definierten Grenzwerten, die in der Regel in entsprechenden Traglasttabellen hinterlegt sind. Vor jedem Kraneinsatz sind daher notwendige Daten bzw. Betriebsarteninformationen des Krans in die Kransteuerung einzugeben, um der Lastmomentbegrenzung eine passende Traglasttabelle bereitstellen zu können.The load torque limitation monitors the currently applied load torque during crane work or the set-up process against defined limit values, which are usually stored in corresponding load-bearing tables. Before each use of the crane, the necessary data or operating mode information of the crane must therefore be entered into the crane control in order to be able to provide a suitable load table for the load torque limiter.
Bisher sind Kransteuerungen bekannt, die eine Eingabe- und Anzeigeeinheit zur Eingabe der erforderlichen Daten aufweisen. Der Kranbediener bestimmt zuerst einen erforderlichen Eingabeparameter und erhält im Anschluß von der Kransteuerung über die Anzeigeeinheit eine Liste mit allen möglichen Ausprägungen für den Kran. Die zur Verfügung gestellte Liste muss auf die gewünschte Ausprägung hin durchsucht werden, wobei nach Auswahl der gewünschten Ausprägung diese durch eine Benutzerbestätigung als Eingabe für den auszubildenden Parameter festgelegt wird. Dieser Vorgang wird solange wiederholt, bis alle erforderlichen Parameter ordnungsgemäß eingestellt sind.So far, crane controls are known which have an input and display unit for inputting the required data. The crane operator first determines a required input parameter and then receives a list with all possible characteristics for the crane from the crane control via the display unit. The list made available must be searched for the desired expression, and after the desired expression has been selected, this is specified by a user confirmation as an input for the parameter to be developed. This process is repeated until all required parameters have been set correctly.
Mögliche Parameter sind beispielsweise die Teleskopauslegerlänge bzw. Gitterauslegerlänge eines Krans sowie Informationen über den Kranzubehör, den Ballast, die Kranabstützung bzw. den Krandrehbereich. Die Anzahl der Ausprägung für jeden einzelnen Parameter ist variabel und kann unter Umständen sehr hohe Werte annehmen. Beispielsweise muss für jede mögliche Krankonfiguration eine geeignete Auswahl an Ausprägungen bereitgestellt werden. Insbesondere beim Auslegersystem existieren weitreichende Konstellationsmöglichkeiten, da beispielsweise-unterschiedlich dimensionierte Gitterstücke in verschiedenen Längen kombinierbar sind und folglich die Anzahl der bereitzustellenden möglichen Ausprägungen für einen Parameter rapide ansteigen lassen.Possible parameters are, for example, the telescopic boom length or lattice boom length of a crane as well as information about the crane accessories, the ballast, the crane support or the crane turning range. The number of values for each individual parameter is variable and can, under certain circumstances, have very high values. For example, a suitable selection of characteristics must be provided for every possible crane configuration. In the case of the boom system in particular, there are extensive constellation possibilities, since, for example, differently dimensioned lattice pieces in different lengths can be combined and consequently the number of possible characteristics to be provided for a parameter can rise rapidly.
Derartige Kransteuerungen setzen voraus, dass alle aufgelisteten Parameter bzw. Ausprägungen durchgeklickt werden müssen, bis der benötigte Wert für die Ausprägung angezeigt wird. Diese Vorgehensweise ist jedoch sehr umständlich und zeitaufwendig.Crane controls of this type require that you click through all of the listed parameters or values until the required value for the value is displayed. However, this procedure is very cumbersome and time-consuming.
Nachdem alle erforderlichen Parameter mit der entsprechenden Ausprägung belegt sind, wird durch Betätigung der Eingabetaste von der Kransteuerung die Datenübernahme ausgelöst und anhand der ausgewählten Parameterkombination die zugehörige Traglasttabelle gesucht. In diesem Zusammenhang ist es denkbar, dass keine Tabelle für die eingegebenen Ausprägungen existiert. In diesem Fall generiert die Kransteuerung eine Fehlermeldung und der Kranbediener wird zur erneuten Eingabe sämtlicher Ausprägungen aufgefordert.After all of the required parameters have been assigned the appropriate characteristics, the crane control triggers the data transfer by pressing the enter key and the associated load capacity table is searched for using the selected parameter combination. In this context, it is conceivable that no table exists for the values entered. In this case, the crane control generates an error message and the crane operator is prompted to re-enter all values.
Da die Rüstzeit für einen Kran vom Kranbetreiber als Kostenfaktor zu kalkulieren ist, bedeutet eine derartig zeitaufwendige Vorgehensweise einen erheblichen Kostennachteil für den Kranbesitzer.Since the crane operator has to calculate the set-up time for a crane as a cost factor, such a time-consuming procedure means a considerable cost disadvantage for the crane owner.
Das Dokument
Aufgabe der vorliegenden Erfindung ist es daher, eine Kransteuerung derart weiterzuentwickeln, um die voranstehend beschriebene Problematik zu umgehen.The object of the present invention is therefore to further develop a crane control in such a way as to circumvent the problems described above.
Diese Aufgabe wird durch eine Kransteuerung gemäß den Merkmalen des Anspruchs 1 gelöst.This object is achieved by a crane control according to the features of
Die Logik bestimmt bereits während des Eingabeprozesses vorliegende Abhängigkeiten zwischen zwei oder mehreren eingegebenen bzw. noch einzugebenden Eingabeparametern. Abhängigkeiten ergeben sich beispielsweise aufgrund des Kranrüstzustands bzw. des konkreten Kraneinsatzes, da die mögliche und daher sinnvolle Auslegerlänge von der Art des eingesetzten Auslegersystems abhängt.The logic determines already during the input process existing dependencies between two or more input parameters or those that have yet to be input. Dependencies arise, for example, on the basis of the crane equipment status or the specific crane use, since the possible and therefore sensible jib length depends on the type of jib system used.
Die Logik analysiert beispielsweise die einzugebenden bzw. eingegebenen Eingabeparameter daraufhin, ob eine Abhängigkeit zwischen wenigstens zwei Eingabeparametern existiert oder ob diese unabhängig voneinander einstellbar sind. Ferner kann vorzugsweise durch die Logik eine Bewertung der aufgefundenen Abhängigkeiten erfolgen.The logic analyzes, for example, the input parameters to be entered or entered to determine whether there is a dependency between at least two input parameters or whether they can be set independently of one another. Furthermore, the logic can preferably be used to evaluate the dependencies found.
In einer vorteilhaften Ausführung der Erfindung ist die Logik der Kransteuerung derart ausgeführt, dass unter Berücksichtigung der ermittelten Abhängigkeiten eine Auswahl mit möglichen Ausprägungen für einen einzugebenden Eingabeparameter generierbar ist. Der Benutzer muss sich demnach nicht umständlich durch eine Lis-te, die sämtliche mögliche Ausprägungen des Krans umfasst, durcharbeiten, sondern erhält vielmehr eine eingeschränkte Auswahl mit durchweg sinnvollen Ausprägungen für den jeweils zu definierenden Eingabeparameter. Dies bewirkt eine erhebliche Zeitersparnis für den Kranbediener bei der Eingabe der Krankonfiguration.In an advantageous embodiment of the invention, the logic of the crane control is designed in such a way that, taking into account the determined dependencies, a selection with possible characteristics for an input parameter to be entered can be generated. The user therefore does not have to laboriously work through a list that includes all possible versions of the crane, but rather receives a restricted selection with consistently meaningful versions for the respective input parameter to be defined. This saves the crane operator a considerable amount of time when entering the crane configuration.
In diesem Zusammenhang ist es weiter vorstellbar, dass die Logik derart ausgeführt ist, so dass unter Berücksichtigung der Abhängigkeiten eine Auswahl an zu belegenden Eingabeparametern generierbar ist. Die Benutzer kann dadurch gezielt aufgefordert werden, nur die rüstabhängigen erforderlichen Parameter mit Ausprägungen zu belegen. Beispielsweise werden dem Benutzer in Abhängigkeit ein oder mehrerer unmittelbar vorangegangener Eingaben von Ausprägungen für bestimmte Parameter nur die daraufhin zwingend erforderlichen einzugebenden Parameter angezeigt.In this context, it is also conceivable that the logic is implemented in such a way that a selection of input parameters to be assigned can be generated, taking into account the dependencies. In this way, the user can be specifically requested to assign values to only the setup-dependent required parameters. For example, depending on one or more immediately preceding entries of characteristics for certain parameters, the user is only shown the parameters that are then absolutely necessary to be entered.
Erfindungsgemäss ist die Logik derart ausgeführt, dass unter Berücksichtigung der ermittelten Abhängigkeiten eine Plausibilitätskontrolle zwischen zwei oder mehreren eingegebenen Eingabeparametern ausführbar ist. Demnach wertet die Kranlogik noch während der Eingabe des Kranbedieners die Abhängigkeit der eingegebenen Kranparameter. Konflikte zwischen zwei oder mehreren eingegebenen Eingabeparameter bzw. ausgewählten Ausprägungen der entsprechenden Parameter werden augenblicklich erkannt und ermöglichen eine unmittelbare Korrektur zur Behebung der Konflikte. Im Gegensatz zum Stand der Technik treten solche Konflikte nicht erst beim abschließenden Vergleich der ausgewählten Kombination mit den hinterlegten Traglasttabellen in Erscheinung, sondern können vielmehr unmittelbar erkannt und behoben werden. Eine erneute Eingabe sämtlicher Parameter ist demnach nicht erforderlich.According to the invention, the logic is implemented in such a way that, taking into account the determined dependencies, a plausibility check can be carried out between two or more input parameters. Accordingly, the crane logic evaluates the dependency of the crane parameters entered while the crane operator is making entries. Conflicts between two or more input parameters or selected values of the corresponding parameters are recognized instantly and enable an immediate correction to eliminate the conflicts. In contrast to the state of the art, such conflicts do not only appear when the selected combination is finally compared with the stored load capacity tables, but can rather be recognized and rectified immediately. It is therefore not necessary to re-enter all parameters.
Erfindungsgemäss ist das Ergebnis der Plausibilitätskontrolle optisch auf der Anzeige- und Eingabeeinheit der Kransteuerung darstellbar. Dabei werden alle am Konflikt beteiligten eingegebenen Eingabeparameter bzw. Ausprägungen gekennzeichnet.According to the invention, the result of the plausibility check can be displayed optically on the display and input unit of the crane control. All input parameters or values that were involved in the conflict are marked.
Der Benutzer erhält demnach die Möglichkeit, nicht den zuletzt getätigten Eingabeparameter zu korrigieren, sondern eine Änderung an einem vorangegangenen Eingabewert vorzunehmen. In diesem Zusammenhang ist es weiterhin vorstellbar, dass von der Steuerung automatisch mögliche Korrekturvorschläge darstellbar sind.The user is therefore given the opportunity not to correct the input parameter last made, but to make a change to a previous input value. In this context, it is also conceivable that the controller can automatically display possible correction proposals.
Zur Verbesserung der ergonomischen Eigenschaften der Kransteuerung, insbesondere der Anzeige- und Eingabeeinheit, ist es vorstellbar, dass diese in einen Informations-, Navigations- und Editierbereich unterteilt ist. Der Informationsbereich stehtfür die Darstellung ausgewählter Betriebsmerkmale bzw. Parameter zur Verfügung. Über den Navigationsbereich der Anzeige- und Eingabeeinheit kann der Benutzer bequem durch den Informationsbereich navigieren bzw. bequem durch bereitgestellte Auswahllisten mit verfügbaren Ausprägungen für die einzelnen Eingabeparameter navigieren. Denkbar ist es, dass der Navigationsbereich zum einen in den Navigationsbereich für den Informationsbereich und zum anderen für den Navigationsbereich des Editierbereichs aufgeteilt ist.To improve the ergonomic properties of the crane control, in particular of the display and input unit, it is conceivable that this is divided into an information, navigation and editing area. The information area is available for the display of selected operating characteristics or parameters. Using the navigation area of the display and input unit, the user can easily navigate through the information area or conveniently navigate through the selection lists provided with available values for the individual input parameters. It is conceivable that the navigation area is divided on the one hand into the navigation area for the information area and on the other hand for the navigation area of the editing area.
Der Editierbereich dient vorzugsweise zur direkten Eingabe einer Ausprägung eines oder mehrerer Eingabeparameter. In diesem Fall weist der Editierbereich beispielsweise eine Ziffern- und/oder Zeichentastatur auf. Zweckmäßig umfasst der Editierbereich wenigstens eine Anwahltaste, über die aus einer angezeigten Liste ein oder mehrere Werte auswählbar sind. Ferner kann wenigstens eine Auswahltaste vorgesehen sein, die zur Bestätigung der vorgenannten Anwahl dient und die Übergabe des oder der Werte an die Steuerung freigibt.The editing area is preferably used for direct input of an expression of one or more input parameters. In this case, the editing area has, for example, a numeric and / or character keyboard. The editing area expediently comprises at least one selection button, via which one or more values can be selected from a displayed list. Furthermore, at least one selection key can be provided which serves to confirm the aforementioned selection and enables the transfer of the value or values to the controller.
Zur weiteren Verbesserung der Handhabung und Übersicht der Kransteuerung bzw. der Anzeige- und Eingabeeinheit ist es zweckmäßig, dass die Eingabeparameter zwei oder mehreren Kategorien untergeordnet sind. Demnach ist unter dem Begriff der Kategorie eine Zusammenfassung von verschiedenen Parametern zu Gruppen zu verstehen, die eine effizientere Eingabe der Konfiguration des Krans ermöglichen.To further improve the handling and overview of the crane control or of the display and input unit, it is useful that the input parameters are subordinate to two or more categories. Accordingly, the term category is to be understood as a summary of various parameters into groups that enable the crane configuration to be entered more efficiently.
Möglich ist es zudem, dass die einzelnen untergeordneten Eingabeparameter innerhalb einer Kategorie hierarchisch gewichtet sind. Dies bedeutet, dass die Auswahl einer Ausprägung für einen Eingabeparameter nach einer vordefinierten Reihenfolge zu erfolgen hat. Der Benutzer kann demnach nicht wahlweise eine Ausprägung für einen beliebigen Parameter einer Kategorie bestimmen, sondern muss nach einer vorgegebenen Richtlinie vorgehen. Dies ist insbesondere darin von Vorteil, wenn die Auswahl der verfügbaren Ausprägungen pro Eingabeparameter unter Berücksichtigung der Abhängigkeiten zu vorangegangenen Eingabeparametern erfolgt.It is also possible for the individual subordinate input parameters to be hierarchically weighted within a category. This means that the selection of a characteristic for an input parameter has to be made according to a predefined sequence. The user can therefore not selectively determine a characteristic for any parameter of a category, but must proceed according to a predefined guideline. This is particularly advantageous if the selection of the available characteristics per input parameter is made taking into account the dependencies on previous input parameters.
Vorzugsweise weist die Kransteuerung ein Mittel auf, das die Kombination aus ein oder mehreren eingegebenen Eingabeparametern auswertet. Anhand des Auswerteergebnis kann sodann die passende Traglasttabelle für die Lastmomentbegrenzung des Krans bestimmt werden. Beispielsweise hat das Mittel Zugriff auf einen Datenspeicher der Kransteuerung, der eine Anzahl an Traglasttabellen beinhaltet.The crane control preferably has a means which evaluates the combination of one or more input parameters entered. The appropriate load table for the load moment limit of the crane can then be determined on the basis of the evaluation result. For example, the means has access to a data memory of the crane control which contains a number of load capacity tables.
Alternativ kann der Kranbediener bevorzugt einen Code zur direkten Auswahl einer Traglasttabelle eingeben, um die manuelle Einzeleingabe der erforderlichen Eingabeparameter zu umgehen. Dies ist der schnellste Weg zur Herstellung der Einsatzbereitschaft des gesamten Krans.Alternatively, the crane operator can preferably enter a code for the direct selection of a load table in order to avoid the manual individual entry of the required input parameters. This is the fastest way to get the entire crane up and running.
Bevorzugt ist der einzugebende Code für die Traglasttabelle sprechend ausgeführt und setzt sich vorteilhafterweise aus mehreren Blöcken, insbesondere aus drei Blöcken zusammen. Möglich ist es, dass ein Block für die Krantypdefinition steht. In diesem Fall erfolgt eine selbsttätige Vorbelegung des ersten Blocks durch die Kransteuerung. Ein weiterer Block steht für die Auswahl einer allgemeinen Betriebsartengruppe des Krans. Darunter fallen beispielsweise die Auslegerkonstellation, allerdings ohne Angaben von physikalischen Größen wie Länge, Winkel und Gewicht. Ein zusätzlicher Block, vorzugsweise der letzte Block, ist zweckmäßig eine nicht sprechende fortlaufende Nummer.The code to be entered for the payload table is preferably designed to be speaking and is advantageously composed of several blocks, in particular of three blocks. It is possible that a block stands for the crane type definition. In this case, the first block is automatically pre-assigned by the crane control. Another block stands for the selection of a general operating mode group for the crane. This includes, for example, the jib configuration, but without specifying physical parameters such as length, angle and weight. An additional block, preferably the last block, is not expediently one talking consecutive number.
In einer weiteren vorteilhaften Ausgestaltung der Kransteuerung ist diese derart ausgeführt, dass eine selbständige Vorbelegung ein oder mehrerer Eingabeparameter unter Berücksichtigung der mittels einer vorgesehenen Vorrichtung automatisch erkannten Krankonfiguration möglich ist. Demnach erkennt die Kransteuerung den Rüstzustand bzw. die Krankonfiguration selbständig und führt, soweit möglich, eine automatische Vorbelegung der einzelnen Eingabeparameter zur anschließenden Bestimmung der Lastmomentbegrenzung durch. Eine derartige Vorrichtung ist beispielsweise aus der
Die Erfindung betrifft des weiteren einen Kran, insbesondere einen Mobil- oder Raupenkran, mit einer Kransteuerung gemäß einer der oben genannten vorteilhaften Ausführungen. Der Kran weist offensichtlich dieselben Vorteile und Eigenschaften wie die erfindungsgemäße Kransteuerung auf, weshalb an dieser Stelle auf eine erneute Erläuterung verzichtet wird.The invention also relates to a crane, in particular a mobile or crawler crane, with a crane control according to one of the advantageous embodiments mentioned above. The crane obviously has the same advantages and properties as the crane control according to the invention, which is why a renewed explanation is dispensed with at this point.
Weitere Vorteile und Eigenschaften der Erfindung sollen im folgenden anhand von zwei Figuren näher erläutert werden. Es zeigen:
- Fig. 1:
- eine vergrößerte Darstellung der Anzeigeeinheit der erfindungsgemäßen Kransteuerung,
- Fig. 2:
- eine schematische Darstellung einer Korrekturprozedur für einen einzelnen Parameter und
- Fig. 3:
- eine vollständige Abbildung der Anzeige- und Eingabeeinheit der erfindungsgemäßen Kransteuerung.
- Fig. 1:
- an enlarged view of the display unit of the crane control according to the invention,
- Fig. 2:
- a schematic representation of a correction procedure for a single parameter and
- Fig. 3:
- a complete illustration of the display and input unit of the crane control according to the invention.
Vorab soll ein Überblick über die nachfolgend verwendeten Fachtermini und Abkürzungen gegeben werden. Unter dem verwendeten Ausdruck Betriebsart ist die grundlegende Konfiguration des Krans, den der Kranführer vor dem Kraneinsatz definiert und während des Kraneinsatzes in der Regel unverändert lässt, zu verstehen. Als Beispiel sei die Hauptauslegerlänge, Derrickausleger, montierte Wippspitze als Zubehörausleger bzw. der aufgelegte Derrickballast, das heißt der zum Ziehen zur Verfügung stehende Ballast, genannt.In advance, an overview of the technical terms and abbreviations used below should be given. The term operating mode is understood to mean the basic configuration of the crane, which the crane operator defines before using the crane and which, as a rule, leaves unchanged during the crane operation. As an example, the main boom length, derrick boom, mounted luffing jib as accessory boom or the laid derrick ballast, i.e. the ballast available for pulling, may be mentioned.
Der Begriff Parameter bezeichnet ein einzelnes Merkmal des Krans im Einsatzfall. Diese Merkmale können Teile der Betriebsart sein oder auch im Kraneinsatz variable Merkmale, wie zum Beispiel die aktuelle Telelänge eines eingesetzten Teleskopauslegers, umfassen.The term parameter describes a single characteristic of the crane in use. These features can be parts of the operating mode or also include features that are variable when using a crane, such as the current telescopic length of a telescopic boom used.
Die Ausprägung eines Parameters bezeichnet die möglichen Eigenschaften, d.h. die angenommene physikalische Größe eines Parameters. Hierunter fallen beispielsweise die Größe des Derrickballastes, die Größe des Zentralballastes oder auch die verwendete Abstützbreite.The expression of a parameter describes the possible properties, i.e. the assumed physical size of a parameter. This includes, for example, the size of the derrick ballast, the size of the central ballast or the support width used.
Der Oberbegriff Kategorie ist die Zusammenfassung von verschiedenen Parametern zu Gruppen, die eine effiziente Eingabe der Konfiguration des Krans ermöglicht.The generic term category is the combination of various parameters in groups, which enables the crane configuration to be entered efficiently.
Die allgemeine Betriebsartengruppe, im nachfolgenden Teil der Beschreibung durch "ABG" abgekürzt, bezeichnet wesentlichen Baugruppen des Gesamtkrans, wie die Auslegerkonstellation, beispielsweise bestehend aus Hauptausleger, Spitzenausleger oder Derrickausleger mit Derrickballast. Zu den "ABG" gehören in diesem Zusammenhang auch weitergehende Informationen über die Eigenart der Bauteile. Beispielsweise kann der Derrickausleger einen Schwebeballast tragen oder alternativ mit einem Ballastwagen verbunden sein. Die Kennzeichnung "AGB" erfolgt allerdings ohne Angabe von angenommen physikalischen Größen wie Länge, Winkel oder Gewicht.The general operating mode group, abbreviated to "ABG" in the following part of the description, denotes essential components of the overall crane, such as the jib configuration, for example consisting of the main boom, fly jib or derrick boom with derrick ballast. In this context, the "ABG" also includes further information about the characteristics of the components. For example, the derrick boom can carry a suspended ballast or alternatively be connected to a ballast wagon. The designation "AGB" occurs without specifying assumed physical quantities such as length, angle or weight.
Unter dem Rüstvorgang wird das Herstellen der Arbeitsfähigkeit des Krans, zum Beispiel aus dem Transportzustand, verstanden. Hierzu sind diverse Eingaben, d.h. Betriebsarteninformationen, an die Steuerung des Krans zu liefern. Die Kransteuerung besteht zumindest aus einem für die Ausführung von Kranbewegungen zuständigen Teil und einer Lastmomentbegrenzung, die das aktuell anliegende Lastmoment gegenüber definierten Grenzwerten überwacht. Weiterhin ist ein Datenspeicher vorgesehen, der entweder mit der Steuerung verbunden oder in diese integriert ist, und die notwendigen Traglasttabellen für die Lastmomentbegrenzung bereithält. Jede Traglasttabelle ist für den jeweiligen Rüstzustand des Krans gültig und enthält die oben genannten Grenzwerte.The set-up process is understood to mean making the crane operational, for example from the transport state. Various inputs are required for this, i.e. Operating mode information to be supplied to the crane control. The crane control consists of at least one part responsible for executing crane movements and a load torque limiter that monitors the currently applied load torque against defined limit values. Furthermore, a data memory is provided which is either connected to the control or integrated into it, and which holds the necessary load tables for the load torque limitation. Each load capacity table is valid for the respective configuration of the crane and contains the limit values mentioned above.
Für die spezifische Auswahl wenigstens einer passenden Traglasttabelle für die Lastmomentbegrenzung ist eine Eingabe der aktuell vorliegenden Krankonfiguration, wie ABG, Betriebsart, Parameter und Ausprägung erforderlich.For the specific selection of at least one suitable load capacity table for the load moment limitation, the currently available crane configuration, such as ABG, operating mode, parameters and characteristics, is required.
Wesentlich für die neuartige Eingabefunktion der erfindungsgemäßen Kransteuerung ist die Trennung des Bildschirms der Anzeigeeinheit 10 in verschiedene Bereiche. Die Anzeigeeinheit 10 ist in den Informationsbereich 20, den Navigationsbereich 30 und den Editierbereich 40 aufgeteilt, wobei sich der Navigationsbereich 30 weiter in den Navigationsbereich für den Informationsbereich 20 und den Editierbereich 40 verfeinern lässt.The separation of the screen of the
Um eine gute Übersicht und Darstellung zu bewahren und die Bedienbarkeit der Kransteuerung zu verbessern, sind die einzelnen Eingabeparameter aussagekräftigen Kategorien untergeordnet. Die einzelnen Kategorien werden im Informationsbereich 20 getrennt dargestellt. Im Beispiel der
Als weitere Kategorie ist die Kategorie "Code" 22 dargestellt, die in einem der nachfolgenden Absätze der Beschreibung detaillierter beschrieben wird.The “Code”
Weitere im Informationsbereich 10 dargestellte Kategorien sind die Kategorie "Betriebsart" 23, die grundsätzliche Angaben zum Kranaufbau festlegt sowie die Kategorie "Rüstergänzung" 24, die Parameter zum Kranballast, zur Abstützung und zum Drehbereich festlegt. Zuletzt existieren die Kategorien "Umwelt und mechanische Einflüsse" 25 und die Kategorie "Heben" 26. Es sei darauf hingewiesen, dass die genannte Aufzählung nicht abschließend sondern beliebig erweiterbar bzw. umstrukturierbar ist. ,Further categories shown in the
Über den Navigationsbereich 30 kann der Kranbediener zwischen den einzelnen Kategorien 21 bis 26 wechseln und die einzelnen Ausprägungen der untergeordneten Parameter bzw. Merkmale ändern. Sollte die Auswahlmöglichkeit größer sein, als es ein editierbares Anzeigefeld ermöglicht, kann der Editierbereich 40 eine Liste 41 an möglichen Ausprägungen anzeigen und es kann mit Hilfe des Navigationsbereichs 30 im Editierbereich 40 die gewünschte Ausprägung angewählt und übernommen werden.Via the
Die einsatz- und/oder rüstungsbedingten Abhängigkeiten zwischen zwei oder mehreren Eingabeparametern werden je nach Art der ausgewählten Kategorie durch unterschiedliche Systemen definiert. Für die Kategorie Betriebsart 23 bestehen zwischen den Eingabeparameter hierarchische Abhängigkeiten, wohingegen das Eingabesystem für die Kategorien Rüstergänzungen 24, Umwelt und mechanische Einflüsse 25 und Heben 26 mengenlehremäßige Abhängigkeiten zwischen den möglichen Eingabeparametern vorsieht.The deployment and / or armament-related dependencies between two or more input parameters are defined by different systems depending on the type of category selected. For the
Ist das Feld "allgemeine Betriebsartengruppe (ABG)" 50 markiert und mit der möglichen Auslegerkombination "SDWB" belegt, dann werden die dadurch bestimmten Auslegertypen automatisch als zu definierende Parameter 51, 52, 53, 54 eingeblendet, um diese nun mit einzelnen physikalischen Größen belegen zu können. Die Eingabe erfolgt aufgrund der hierarchischen Abhängigkeiten zwischen den Eingabeparametern 51, 52, 53, 54 in einer bestimmten Reihenfolge, beispielsweise von links nach rechts.If the field "general operating mode group (ABG)" 50 is marked and the possible bracket combination "SDWB" is assigned, the bracket types determined by this are automatically displayed as
Im Beispiel der
Ferner kann die Auswahl der Ausprägung für den Wippspitzenparameter 53 den Umfang der möglichen Ausprägungen bestimmen, die bezüglich des Parameters 54 zur Auswahl angeboten wird.Furthermore, the selection of the characteristics for the
Bei der Belegung der Parameter in den Kategorien "Rüstergänzungen" 24, "Umwelt und mechanische Einflüsse" 25 sowie "Heben" 26 agiert die erfindungsgemäße Logik der Kransteuerung unter Berücksichtigung der mengenlehremäßigen Abhängigkeiten zwischen den einzelnen Eingabeparametern. Hier ist das Auswahlverfahren ohne bestimmte Reihenfolge zur Auswahl der Parameter geregelt. Es kann jeder Parameter zu einer beliebigen Zeit eingegeben werden, wobei immer alle vorstellbaren Ausprägungen des Parameters angeboten werden. Sind bereits andere Parameter ausgewählt und mit entsprechenden Ausprägungen belegt, so werden die zu der bereits getroffenen Auswahl passenden bzw. gültigen Ausprägungen farblich hervorgehoben. Wesentlich ist dabei, dass stets der gerade in die Steuerung eingegebene Parameter zum Master wird. Nach jeder Eingabe für die Ausprägung eines Parameters werden alle anderen Parameter hinsichtlich ihrer Bewertung "passend" oder "nicht passend" neu berechnet.When assigning the parameters in the categories "Scaffolding supplements" 24, "Environment and mechanical influences" 25 and "Lifting" 26, the logic of the crane control according to the invention acts taking into account the quantitative dependencies between the individual input parameters. Here the selection procedure is regulated without a specific order for selecting the parameters. Every parameter can be entered at any time, whereby all imaginable values of the parameter are always offered. If other parameters have already been selected and assigned corresponding characteristics, the characteristics that match or are valid for the selection made are highlighted in color. It is essential that the parameter just entered into the control system always becomes the master. After each entry for the value of a parameter, all other parameters are recalculated with regard to their evaluation "suitable" or "not suitable".
Als zusätzliche Eingabehilfe kann vorgesehen sein, dass gewählte Ausprägungen, die von der Kransteuerung als sinnvoll bewertet werden, farblich, insbesondere grün, markiert werden, wohingegen Ausprägungen, denen von der Kransteuerung eine mögliche Konfliktsituation zugeschrieben wird, in einer abweichenden Farbe dargestellt werden. Diese Funktionalität ist besonders dann vorteilhaft, wenn mehrere Parameter mit nur wenigen Ausprägungen zusammengefaßt sind. Dies kann zum Beispiel bei der Kategorie "Rüstergänzungen" 24 nützlich sein. So kann beispielsweise in der Auswahl der Ausprägung für einen Parameter eine - in Kombination mit den bereits ausgewählten Ausprägungen - nicht auswählbare Ausprägung rot dargestellt sein. Wird diese ausgewählt, werden von der Kransteuerung alle Ausprägungen zuvor belegter Parameter derselben Kategorie, die zu der neu ausgewählten Ausprägung nicht passen und einen möglichen Konfliktfall signalisieren, blau gekennzeichnet. Der Kranbediener kann schnell und zuverlässig mögliche Konfliktfelder bzw. Eingabefehler erkennen und korrigieren. Weiterhin besteht die Möglichkeit solche Ausprägungen farblich gesondert zu kennzeichnen, die die einzige gültige Kombination darstellen und daher nicht ausgewählt werden müssen. Beispielsweise wird eine einzige, für einen beliebigen Parameter gültige Ausprägung mit der Farbe grau markiert.As an additional input aid, it can be provided that selected characteristics that are assessed as meaningful by the crane control are marked in color, in particular green, whereas characteristics that are assigned a possible conflict situation by the crane control are displayed in a different color. This functionality is particularly advantageous when several parameters with only a few characteristics are grouped together. This can be useful, for example, with the "Armor supplements" 24 category. For example, in the selection of the characteristic for a parameter, a characteristic that cannot be selected - in combination with the characteristics already selected - can be shown in red. If this is selected, the crane control will use all characteristics of previously assigned parameters in the same category, which do not match the newly selected version and signal a possible conflict, marked in blue. The crane operator can quickly and reliably identify and correct possible areas of conflict or input errors. There is also the option of color-coding those features that are the only valid combination and therefore do not have to be selected. For example, a single expression that is valid for any parameter is marked in gray.
Ein besonderer Vorteil besteht auch darin, dass die bereits ausgewählten Unterparameter oder physikalischen Größen/Ausprägungen erhalten bleiben, falls Änderungen bzw. Korrekturen an ein oder mehreren Größen/Ausprägungen erforderlich sind. Stellt der Kranbediener einen Fehler nach erfolgter vollständiger Eingabe der Betriebsarteninformationen fest, so kann er ohne weiteres einen einzelnen Parameter gezielt korrigieren. Die
Die gestrichelte Linie 70 kennzeichnet alle möglichen sinnvollen Kombinationen der einzelnen ausgewählten Ausprägungen für die einzelnen Parameter/Unterparameter 50, 51, 52, 53. Insbesondere stellt im gezeigten Beispiel die getroffenen Auswahl, Linie 60, eine mögliche Kombination der Menge der sinnvollen Kombinationen, Linie 70, dar. Die getroffene Auswahl wird folglich von der Kransteuerung als sinnvoll erachtet.The dashed
Stellt der Kranbediener nun eine fehlerhafte Eingabe fest, so können einzelne Parameter/Unterparameter gezielt ausgewählt und verändert werden, ohne dabei die übrigen Eingaben zu verlieren. Beispielsweise soll der Unterparameter 51a für den Hauptausleger von der Ausprägung "S" in die Ausprägung "SL" gewandelt werden.
Ändert der Kranbediener die als sinnlos erachtete Eingabe für den Unterparameter 51 b, so werden die Abhängigkeiten der einzelnen Eingaben erneut geprüft und gegebenenfalls weitere Fehlermeldungen ausgegeben. Wie in der
Zur weiteren Unterstützung des Kranbedieners kann eine weitgehend selbständige Vorbelegung der einzelnen Parameter durch die Kransteuerung erfolgen, indem auf eine am Kran installierte Vorrichtung zur automatischen Erkennung der Krankonfiguration zurückgegriffen wird. Das notwendige Transpondersystem zur Erkennung der Krankonfiguration ist zum Beispiel aus der
Zur schnellstmöglichen Einstellung bzw. Eingabe der vorliegenden Krankonfiguration besteht für den Kranbediener die Möglichkeit, über eine Codeeingabe in der Kategorie "Code" 22 einen bestimmten Eintrag der hinterlegten Traglasttabelle direkt auszuwählen. Der erforderliche Code der Traglasttabelle ist sprechend ausgeführt und setzt sich aus insgesamt drei Blöcken 61, 62, 63 zusammen.For the fastest possible setting or input of the current crane configuration, the crane operator has the option of directly selecting a specific entry from the stored load table by entering a code in the "Code" 22 category. The required code of the load capacity table is designed in a meaningful way and consists of a total of three blocks 61, 62, 63.
Der erste Block 61 definiert den verwendeten Krantyp und wird stets von der Kransteuerung selbst vorbelegt. Der vierstellige Block unterteilt sich in drei Zahlen, die den jeweiligen Krantypen identifizieren, und das Zeichen T zur Kennzeichnung, dass es sich bei dem betreffenden Datensatz um eine Traglasttabelle handelt.The first block 61 defines the type of crane used and is always pre-assigned by the crane control itself. The four-digit block is divided into three numbers, which identify the respective crane type, and the character T to indicate that the data record in question is a load capacity table.
Der zweite Block 62 wird "High-Teil" genannt und definiert die allgemeine Betriebsartengruppe. Der dritte Block wird Low-Teil genannt, definiert die Traglasttabelle und entspricht einer nicht sprechenden fortlaufenden Nummer. Alle drei Blöcke bilden zusammen den Namen der Traglasttabelle. Die Teile können getrennt voneinander editiert werden, um den anfallenden Eingabeaufwand zu reduzieren.The second block 62 is called the “high part” and defines the general operating mode group. The third block is called the low part, defines the load table and corresponds to a non-speaking sequential number. All three blocks together form the name of the payload table. The parts can be edited separately from each other in order to reduce the amount of input required.
Eine vollständige Darstellung der Anzeige- und Eingabeeinheit 100 ist der
Nach dem Abschluss der Eingabe der notwendigen Parameter wählt die Steuerung die passende Traglasttabelle anhand der eingegebenen Daten aus dem Speicherbestand aus und stellt diese der Lastmomentbegrenzung zur Verfügung, die damit die passenden Grenzwerte für die Überwachung erhält. Weiter kennt die Kransteuerung die Krangeometrie und kann aus Sensorwerten (Längen, Winkel, Gewichte) Momente berechnen. Darüber hinaus kennt die Steuerung die Daten des vorhandenen Auslegersystems hinsichtlich Massen und Lage der Schwerpunkte. Diese "Leermomente" gehen mit in die Lastmomentbegrenzung ein.After entering the necessary parameters, the control selects the appropriate load capacity table based on the data entered from the memory and makes this available to the load torque limiter, which thus receives the appropriate limit values for monitoring. The crane control also knows the crane geometry and can calculate moments from sensor values (lengths, angles, weights). In addition, the control knows the data of the existing boom system with regard to masses and position of the centers of gravity. These "empty torques" are included in the load torque limitation.
Die vorliegende Erfindung ermöglicht auch bei beliebig vielen Einstellmöglichkeiten ein besonders schnelles Rüsten des Krans. Die erfindungsgemäße Kransteuerung erlaubt ein ergebnisorientiertes Einstellen der einzelnen Kranparameter mit durchgehender Plausibilitätskontrolle.The present invention enables the crane to be set up particularly quickly even with any number of adjustment options. The crane control according to the invention allows a result-oriented setting of the individual crane parameters with a continuous plausibility check.
Claims (10)
- A crane control having a display and input unit (100) for presenting and inputting the operating mode information of the crane required for the load moment limitation and the crane control, in particular in accordance with the current mechanical design of the crane,
characterized in that
a logic is provided in the crane control which determines the dependencies between two or more input parameters (51, 52, 53, 54) determined by use and/or equipment; and in that the crane control comprises at least one part responsible for the carrying out of crane movements and a load moment limitation, and with the logic being designed such that a plausibility control between two or more parameters (51, 52, 53, 54) which have been input can be carried out while taking account of the determined dependencies and the result of the plausibility control being able to be presented visually on the display and input unit (100), and with, in the case of a conflict, all the input parameters or characteristics involved in the conflict being marked. - A crane control in accordance with claim 1, characterized in that the logic is designed such that a selection, in particular a selection list, having possible characteristics for an input parameter (51, 52, 53, 54) to be input can be generated while taking account of the determined dependencies.
- A crane control in accordance with one of the preceding claims, characterized in that the logic is designed such that a selection of input parameters (51, 52, 53, 54) to be assigned can be generated while taking account of the determined dependencies.
- A crane control in accordance with one of the preceding claims, characterized in that the display and input unit (100) is divided into an information region, navigation region and editing region (20; 30; 40).
- A crane control in accordance with claim 4, characterized in that the editing region (40) is designed such that a direct input of a characteristic of at least one input parameter (51, 52, 53, 54) is possible.
- A crane control in accordance with one of the preceding claims, characterized in that a plurality of input parameters (51, 52, 53, 54) are subordinate to two or more categories.
- A crane control in accordance with claim 6, characterized in that the input parameters (51, 52, 53, 54) are hierarchically weighted within a category.
- A crane control in accordance with one of the preceding claims, characterized in that a means is provided which evaluates the combination of one or more parameter inputs (51, 52, 53, 54) which have been input and determines the corresponding payload table for the load moment limitation.
- A crane control in accordance with one of the preceding claims, characterized in that the crane control is designed such that an independent preassignment of one or more input parameters (51, 52, 53, 54) is possible while taking account of the configuration automatically recognized using a provided apparatus.
- A crane, in particular a mobile crane or a crawler-mounted crane, having a crane control in accordance with one of the preceding claims.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102011108284A DE102011108284A1 (en) | 2011-07-21 | 2011-07-21 | Crane control and crane |
Publications (3)
Publication Number | Publication Date |
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EP2548835A1 EP2548835A1 (en) | 2013-01-23 |
EP2548835B1 EP2548835B1 (en) | 2013-10-16 |
EP2548835B2 true EP2548835B2 (en) | 2020-12-09 |
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EP12005293.1A Active EP2548835B2 (en) | 2011-07-21 | 2012-07-19 | Crane control and crane |
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US (1) | US8825313B2 (en) |
EP (1) | EP2548835B2 (en) |
CN (1) | CN102887433B (en) |
DE (1) | DE102011108284A1 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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US20130079974A1 (en) * | 2011-09-23 | 2013-03-28 | Manitowoc Crane Companies, Llc | Outrigger monitoring system and methods |
DE102015006992B4 (en) * | 2014-06-10 | 2021-04-15 | Liebherr-Werk Ehingen Gmbh | Method and system for calculating data for the operation of a crane |
CN104192712B (en) * | 2014-08-15 | 2016-08-24 | 徐州重型机械有限公司 | For producing the method for engineering machinery control signal, handheld terminal and system |
DE102016104358B4 (en) * | 2016-03-10 | 2019-11-07 | Manitowoc Crane Group France Sas | Method for determining the carrying capacity of a crane and crane |
DE102016011354A1 (en) * | 2016-09-20 | 2018-03-22 | Liebherr-Werk Biberach Gmbh | Control station for a crane, excavator and the like |
FR3113899A1 (en) * | 2020-09-08 | 2022-03-11 | Ascorel | Anti-collision system for a crane |
CN114399198A (en) * | 2022-01-14 | 2022-04-26 | 上海市特种设备监督检验技术研究院 | Classified safety evaluation system for large hoisting machinery |
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DE2609858B2 (en) * | 1976-03-10 | 1978-06-22 | I.-S.-Elektronik, 2941 Sillenstede | Method for securing a hoist against overload |
DE59502346D1 (en) * | 1994-03-25 | 1998-07-02 | Siemens Ag | CIRCUIT ARRANGEMENT FOR EVALUATING THE SIGNALS OF A YEAR SPEED SENSOR |
JP2000034093A (en) * | 1998-07-21 | 2000-02-02 | Kobe Steel Ltd | Slewing type working machinery and its safety working area and setting method of rated load |
DE10023418A1 (en) * | 2000-05-12 | 2001-11-15 | Liebherr Werk Nenzing | Procedure for overload protection of a mobile crane |
DE10155006B4 (en) * | 2001-11-06 | 2004-12-16 | Terex-Demag Gmbh & Co. Kg | Mobile crane with super lift device |
DE10224312A1 (en) * | 2002-05-31 | 2004-12-02 | Siemens Ag | Process for automating the loading and unloading of container ships in container terminals and corresponding crane automation system |
DE10233873B4 (en) * | 2002-07-25 | 2006-05-24 | Siemens Ag | Control for a crane system, in particular a container crane |
DE202004008083U1 (en) | 2004-05-19 | 2005-11-10 | Liebherr-Werk Ehingen Gmbh | mobile crane |
US7546928B2 (en) * | 2006-10-27 | 2009-06-16 | Manitowoc Crane Companies, Inc. | Mobile lift crane with variable position counterweight |
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DE102007039408A1 (en) * | 2007-05-16 | 2008-11-20 | Liebherr-Werk Nenzing Gmbh | Crane control system for crane with cable for load lifting by controlling signal tower of crane, has sensor unit for determining cable angle relative to gravitational force |
CN201172589Y (en) * | 2008-01-24 | 2008-12-31 | 上海智大电子有限公司 | Device for monitoring operation of lifting apparatus |
-
2011
- 2011-07-21 DE DE102011108284A patent/DE102011108284A1/en not_active Withdrawn
-
2012
- 2012-07-19 EP EP12005293.1A patent/EP2548835B2/en active Active
- 2012-07-23 US US13/555,996 patent/US8825313B2/en active Active
- 2012-07-23 CN CN201210257093.7A patent/CN102887433B/en active Active
Patent Citations (1)
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DE19538264A1 (en) † | 1995-10-13 | 1997-04-17 | Pietzsch Automatisierungstech | Process and interactive control console for preparing and setting up a mobile work device |
Non-Patent Citations (1)
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Also Published As
Publication number | Publication date |
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DE102011108284A1 (en) | 2013-01-24 |
US20130024077A1 (en) | 2013-01-24 |
US8825313B2 (en) | 2014-09-02 |
CN102887433A (en) | 2013-01-23 |
CN102887433B (en) | 2017-08-25 |
EP2548835A1 (en) | 2013-01-23 |
EP2548835B1 (en) | 2013-10-16 |
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