EP3713867B1 - Crane with anti-collision device and method for operating multiple such cranes - Google Patents
Crane with anti-collision device and method for operating multiple such cranes Download PDFInfo
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- EP3713867B1 EP3713867B1 EP19700636.4A EP19700636A EP3713867B1 EP 3713867 B1 EP3713867 B1 EP 3713867B1 EP 19700636 A EP19700636 A EP 19700636A EP 3713867 B1 EP3713867 B1 EP 3713867B1
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- crane
- movement
- collision
- control
- remote control
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- 238000000034 method Methods 0.000 title claims description 19
- 230000033001 locomotion Effects 0.000 claims description 100
- 238000004891 communication Methods 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims 2
- 238000010276 construction Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004886 process control Methods 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
- B66C15/00—Safety gear
- B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
- B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
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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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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
Definitions
- the present invention relates to a method for operating several cranes, the movements of which are monitored by anti-collision devices of the cranes for imminent collisions, and a group of cranes comprising a crane with at least one movement device for moving a crane element, a control unit for controlling the movement device and an anti-collision device for monitoring the crane movements of the crane element for possible collisions with another crane.
- Cranes with anti-collision devices have been known for a long time, see for example DE 10 2015 010 726 A1 , FR2876992A1 , US2013/299440A1 or KR 2014 0132602 A .
- the writing shows DE 10 2006 040 782 A1 a method for controlling two cranes, which are monitored by an anti-collision device, the cranes being switched off or movements leading to a collision being prevented when an imminent collision is detected.
- a second crane can be operated by remote control from the control stand of the first crane. This document thus discloses a method according to the preamble of claim 1 and a crane assembly according to the preamble of claim 12.
- the cranes are regularly used at the same time, the usually circular working areas of which partially overlap, which can be due to the spatial conditions of the construction site on the one hand, but is also necessary on the other hand in order to achieve the most complete possible coverage of the construction site area despite circular working areas.
- the cranes are usually equipped with anti-collision devices which monitor crane movements and in the working area at risk of collision, i.e. in the aforementioned overlapping area, intervene in the crane controls to slow or stop movement if a collision is imminent.
- the anti-collision devices mentioned can use suitable sensors to determine the position or position and movement of the crane itself, for example the alignment of the jib about the upright axis of rotation using a rotary encoder on the slewing gear, the luffing position of the jib using a luffing sensor, or the position of the trolley on the jib and thus the radius of the hoist cable using a trolley sensor.
- the anti-collision device knows when the crane is moving in the above-mentioned overlapping area, which entails the risk of a collision with another crane, based on the crane position detected by sensors.
- the anti-collision devices of the cranes can communicate with one another, so that each anti-collision device knows whether the other crane is also moving in the overlapping area or is heading towards it.
- the anti-collision devices transmit the position and/or status data of "their" crane, determined by sensors or in some other way, to the anti-collision devices of the other cranes, so that the anti-collision device of a respective crane can take into account the position and/or status data of the other cranes when it comes to deciding whether to intervene in the crane control and influence a respective crane movement, in particular to stop it.
- an anti-collision system which includes the anti-collision devices of the individual cranes connected via a network, can result in restrictions in certain situations that undesirably impede construction site operations.
- a crane is out of service, for example when it is out of the wind, it has not usually been possible to move this unoccupied crane out of the collision area, so that another crane whose working area overlaps with the unoccupied crane is correspondingly restricted in its radius of action.
- the anti-collision device only controls the movements of its own crane depending on the position and/or status information of the other crane, the unmanned crane cannot be actuated and moved away.
- a crane driver has to come to activate the unmanned crane and drive it out of the collision area, or the work task of the disabled crane has to be postponed until the unmanned crane is also occupied again.
- the document FR 30 30 469 A1 suggested that an unmanned crane should not be completely shut down when it is not in the wind, but instead switched to an autopilot mode in which the crane can align itself freely with the wind as long as no other crane wants to drive into the collision area.
- the autopilot function automatically steers the unmanned crane out of the overlapping area.
- the anti-collision facility of the vacant crane continues to receive the position or movement data of the neighboring crane, and when the neighboring crane approaches the overlap area, if necessary, if necessary, automatically driven out of the overlap area, whereby the crane is only twisted to the extent that its designer is approximately tangent in the area of the area Barten cranes extends to keep the impending, additional wind resistance as small as possible.
- the present invention is therefore based on the object of creating an improved method and an improved crane of the type mentioned at the beginning avoid the disadvantages of the prior art and develop the latter in an advantageous manner.
- an improved use and design of the anti-collision device is to be created, which reliably prevents crane collisions, but at the same time avoids undesired hindrances to work tasks, without requiring complex crane control retrofits for this purpose.
- the first crane in the event of an impending collision between a first crane that is in operation and a second crane that is out of service, the first crane is shut down, a remote control connection is established from the first crane to the second crane, the second crane is moved out of the collision area, which disrupts an intended movement of the first crane, by control commands that are provided on the first, shut down crane and are transmitted through the remote control connection to the second crane, and the second crane is moved out of the collision after remote-controlled movement area is shut down and the first crane is started again so that the first crane can carry out its task.
- a crane that is not actually manned and is out of operation can, if it interferes with the work task of a neighboring crane, be safely driven out of the collision area under the control of the crane driver of the neighboring crane, without the crane requiring a complex, fully automatic crane control system that enables automated crane movements.
- control commands are transmitted via the network of the anti-collision devices, via which the position and/or status data of the cranes are otherwise transmitted between the anti-collision devices.
- the use of the communication network between the anti-collision devices is particularly advantageous since the existing infrastructure is used and the anti-collision devices can directly monitor the movements to be expected using the control commands.
- control commands mentioned for remotely controlling the crane to be moved away can be generated in different ways on the aforementioned first crane.
- the control unit and its input means that are present for controlling the first crane can be used for this purpose.
- the control commands for remotely controlling the second crane can be generated by actuating the input means of the control unit of the first crane and then transmitted to the second crane via said remote control communication link.
- the input means mentioned can be configured so that they can be actuated manually, but they can also include other input means that can be actuated, for example, acoustically or by gesture control or in some other way.
- Such input means can include, for example, a joystick, actuating switches and/or slides, a rotary knob or a touchscreen.
- the input means mentioned can be provided in the crane driver's cabin of the respective crane. If necessary, however, the input means of a portable actuating and/or control unit of the first crane can also be used, by means of which the first crane mentioned can be actuated by a crane operator on the ground. Since the “own” first crane, to which the control unit and input means belong, is shut down, the control commands generated here are not executed by the first crane itself, but can be transmitted to the second crane via the remote control connection.
- the control unit of the first crane and/or its anti-collision device works in a remote control mode in which the control commands generated at the input means are not used to control the drives of the crane itself, but are sent to the second crane via the remote control connection.
- control commands for remote control of the second crane can also be generated automatically or semi-automatically by a motion control module of the anti-collision device of the first crane if the first crane has been shut down in the manner mentioned and the remote control connection to the second crane has been established.
- a motion control module can be designed, for example, in the form of a software module in the electronically designed anti-collision device and stored there, for example in a memory, and processed by a microprocessor of the anti-collision device.
- Said movement control module can generate the control commands for remotely controlling the second crane and moving the second crane out of the collision area using the position and/or status data that the second crane transmits to the first crane and/or using the position and/or status data that the anti-collision device of the first crane has determined with regard to the first crane.
- a semi-automatic generation of the control commands for remote control of the crane to be moved away by the said motion control module of the anti-collision device of the first crane can, for example, take place in such a way that the crane operator of the first crane is given a suggestion for a corresponding control command, for example shown on a display or another display device, possibly in combination with a confirmation request, so that the crane operator can confirm the proposed control command if he considers it useful.
- the control commands for remotely controlling the second crane can also be generated fully automatically on the first crane.
- the second crane can also be remotely controlled completely manually, which can also include acoustic, gestural or other control inputs if necessary.
- the crane operator of the first crane can actuate his crane control and the associated input means in the usual way in order to remotely control the second crane and move it out of the collision area.
- This enables a particularly simple design of the crane control units, which can remain of conventional design and can only be provided with an interface for receiving and/or outputting remote control commands.
- the remote control commands received at the control unit of the second crane are processed by the control unit of the second crane in the usual manner, in particular treated like control signals that would have been entered at the input means of the control unit of the second crane itself.
- the control unit of the second crane can convert the received remote control signals into corresponding control signals to the at least one movement device of the second crane in order to start or accelerate or stop their drives.
- various movements can be remotely controlled via the remote control device of the anti-collision devices.
- the slewing gear of the second crane can be actuated in the manner mentioned in order to rotate its boom about an upright axis and thereby move it out of the collision area.
- the cranes, in particular their jibs are arranged at different heights, it may also be sufficient to move the trolley of the higher crane further inwards in order to move the hoist rope running off the trolley out of the collision area with the first crane.
- said remote control device can cause a movement of the trolley of the second crane.
- the remote control device can also resolve a collision by luffing the jib of the second crane and thereby reducing its outreach, which is the case, for example, in Combination with a twisting of the boom can be done about its upright axis.
- the first crane can first be shut down before the remote control connection is established between the first crane and the second crane.
- the remote control connection can first be interrupted again before the first crane is started again.
- Said stopping of the first crane can mean that all drive devices are disabled or shut down or deactivated and the associated movement devices are slowed down.
- the slewing gear for twisting the boom about an upright axis and/or the hoist for raising and lowering a hoist cable and the load hook attached to it and/or a trolley drive for moving a trolley can be stopped and braked.
- said stopping of the first crane can also include the control command connections between the control unit of the first crane and its movement devices being deactivated and/or the drive devices being uncoupled from the control unit in terms of control technology and/or the control commands generated being diverted, so to speak, to the remote control device.
- the signal outputs of the input means can be connected to the remote control module and separated from the usual control signal connections to the drive devices of the first crane. This can be done hardware-wise by appropriate signal switches, but also by software, for example, by a corresponding data bus control.
- the remote control module described can not only be used to move an unoccupied, disruptive crane out of the overlapping area, but can also be used for other crane work tasks.
- coordinated crane movements of several cranes, such as tandem lifts can be controlled and executed in a simple manner.
- several cranes can be moved in a coordinated manner by at least one first crane determining movement and/or position and/or status data and/or control commands for moving the first crane during the movement to be coordinated by its anti-collision device and transmitting them to a second crane, with the movement and/or position and/or status data and/or control commands of the first crane determined on the first crane being displayed on a display device on the second crane and/or being at least controlled by the control unit of said second crane a movement device of the first and/or second crane can be used to carry out the coordinated movement.
- the data or information and/or control commands transmitted by the networked anti-collision devices can also be used to influence the crane movements to be coordinated semi-automatically or fully automatically.
- one of the cranes or its control unit can process the transmitted position and/or movement and/or status data and/or the transmitted control commands in such a way that at least one movement device is controlled in such a way that the crane receiving the data or control commands mentioned executes a crane movement that maps the crane movement of the other crane in the desired way.
- a synchronous crane movement can be carried out using the received data and/or control commands.
- the control commands generated on a crane can be used both to control the drives of the "own" crane and, via remote control transmission, to control the drives of at least one other crane, so that a crane operator on the first crane also controls the second crane at the same time or two cranes can be controlled simultaneously with a control unit of one crane.
- this does not have to be an actually synchronous or directional crane movement.
- this can be a crane movement in the opposite direction if an object to be lifted together is to be rotated or is to be moved from a horizontal pick-up position into a slightly inclined assembly position.
- control unit of a respective crane can have a slave operating mode in which the control unit of the crane uses the transmitted movement data and/or control commands to control at least one movement device in such a way that the crane follows the crane movements of the crane transmitting the data in the desired manner, in particular at least approximately synchronously or, for example, in opposite directions.
- the crane movements can be coordinated with one another on the basis of the alternately transmitted movement and/or position and/or status data and/or control commands, which are provided by the anti-collision devices communicating with one another, such that the cranes perform a tandem lift, for example.
- At least the control unit of a crane can have a teach-in mode in which the control unit learns a movement sequence and/or a movement path using movement and/or position data and/or control commands that are transmitted from another crane.
- the aforementioned remote control mode can be used to teach the crane to be remotely controlled a trajectory that can then be called up in order to carry out the tandem lift mentioned or another coordinated crane lift together with another crane.
- the corresponding data and control commands can also be transmitted via the communication network of the anti-collision devices.
- the cranes 1 and 2 can each be designed as tower cranes, the jib 3 of which sits on a tower 4 and can be rotated about an upright axis by means of a slewing gear 5, with the cranes being able to be designed as top-slewing or bottom-slewing cranes.
- a trolley 6 can be moved along said boom 3 by means of a trolley 7 in order to be able to change the radius of the hoist rope 8 running off the trolley 6 and the load hook 9 attached to it.
- Said hoist rope 8 can be caught up or lowered by a hoist 10 in order to raise or lower the load hook 9 .
- the cranes 1 and 2 may have substantially circular working areas 11 and 12, respectively, which partially overlap, the overlapping of the working areas 11 and 12 being denoted by the reference numeral 130.
- the working areas 11 and 12 mentioned come about through the twistability of the boom 3 and the movability of the trolley 6 .
- the jibs 3 of the cranes 1 and 2 can be arranged at different heights, so that the jibs 3 can be moved over one another or under one another. However, depending on the position of the trolley 6, collisions with the hoist rope 8 that is running off can still occur. However, it goes without saying that the cranes 1 and 2 with their booms 3 can also be arranged at the same height, so that the booms 3 themselves could then collide with one another.
- Each of the cranes 1 and 2 has a crane control with an electronic control unit 13, which can have a microprocessor, for example, in order to be able to process control programs stored in a memory.
- each crane includes a sensor system 14 in order to be able to determine movements and/or the position of the movable crane elements, in particular the rotational position of the jib 3, the position of the trolley 6 on the respective jib 3 and the height of the load hook 9. This can be determined, for example, by sensors assigned to the slewing gear 5, the trolley 7 and the hoist 10 are. Alternatively or additionally, GPS sensors can also be used, which can determine the positions of the crane elements in a global positioning system. Other means of determination such as radar sensors can also be provided.
- Input means 15 for inputting control commands which control the crane movements can be connected to said control unit 13 .
- Said input means 15 can be provided in a crane driver's cabin 16, for example.
- each of the cranes 1 and 2 includes an anti-collision device 17 and 18, which monitors the crane movements of the respective crane, for example by evaluating the signals from the sensors 14 mentioned.
- the anti-collision devices 17 and 18 of the cranes 1 and 2 can communicate with one another via a communication network 19 of the anti-collision system 20, to which the anti-collision devices 17 and 18 belong, so that the cranes 1 and 2 at risk of collision or the anti-collision devices 17 and 18 each know in which position the other crane is located or which movement the other crane is currently executing.
- the anti-collision devices 17 and 18 transmit position and/or movement and/or status data of “their” crane to the respective other crane via the aforementioned communication link 19 of the anti-collision system 20.
- the anti-collision devices 17 and 18 can each evaluate the data mentioned and, for this purpose, execute a collision determination program, for example, which can be stored in a memory and executed by a microprocessor of the electronic anti-collision device. If a collision is imminent, the respective anti-collision device 17 or 18 can intervene in the control of its own crane and, for example, display a warning signal to the crane driver and/or stop the movement of the crane.
- a collision determination program for example, which can be stored in a memory and executed by a microprocessor of the electronic anti-collision device. If a collision is imminent, the respective anti-collision device 17 or 18 can intervene in the control of its own crane and, for example, display a warning signal to the crane driver and/or stop the movement of the crane.
- the first crane wants 1, like this 2 shows, drive into the overlapping area 130 of the two working areas 11 and 12 when the jib 3 of the unoccupied second crane 2 that is out of service is standing there, the anti-collision device 17 of the first crane 1 first emits a warning signal and, if necessary, intervenes in the crane control of the first crane 1 in order to stop the crane movement and prevent a collision.
- the anti-collision device 17 of the first crane 1 shuts down the first crane 1, for which purpose the drives can be shut down and the movement devices can be braked, in particular the slewing gear 5, the trolley drive 7 and the hoist 10.
- the control unit 13 can be switched to a remote control mode and/or the control command connection of the control unit 13 of the first crane 1 to whose drive devices are deactivated, so that actuating the input means 15 cannot cause any movements on the first crane.
- a wake-up signal can be sent from the first crane 1 to the second crane 2 via the communication network 19 of the anti-collision system 20 in order to wake up its control unit 13 and switch to a remote control mode.
- Said wake-up signal can be generated by the anti-collision device 17 of the first crane or its control unit 13 and sent to the second crane 2 via the network 19 .
- a remote connection or a remote control connection 21 can be established between the two cranes via the communication network 19 of the anti-collision system 20 in order to transmit control commands generated to the first crane 1 to transmit the second crane 2.
- Said control commands can be generated by actuating the input means 15 of the control unit 13 of the first crane, so that the crane operator of the first crane 1 can control the second crane in the usual way and move it out of the collision area, i.e. the overlapping area 130.
- the crane 2 is slowed down via the remote control connection 21 and stopped again.
- the first crane 1 or its anti-collision device 17 and/or its control unit 13 then logs off from the second crane 2 and logs back into its own control.
- the previously mentioned remote control connection 21 is deactivated again and the control unit 13 of the first crane 1 is set from the previously mentioned remote control mode back into the normal operating mode in order in turn to control its own drive devices.
- the first crane 1 can carry out the intended crane movement into or across the overlapping area 130 .
- the two cranes 1 and 2 can perform coordinated crane movements in a simple manner, for example in the form of a tandem lift, in which a common workpiece 22 is attached to the load hook 9 of both cranes 1 and 2 and is lifted by both cranes 1 and 2 together.
- a tandem lift workpiece 22 can be raised and/or lowered and/or moved from a first point to a second point, in which case the travel path can be linear or curved, in which case workpiece 22 can retain its orientation or angular position in space or can also be rotated.
- the anti-collision devices 17 and 18 communicating with each other transmit the position and/or movement and/or status data determined on their crane to the other crane, whereby they are displayed on the receiving crane, for example on a display that the crane operator can see. Due to the alternating, mutual display of the data mentioned on the respective other crane, the respective crane operator always knows up-to-date in which position or setting the respective other crane is located or in which direction the respective other crane is moving.
- control commands can also be transmitted from one crane to the other crane and possibly displayed there, whereby, for example, the control commands that are generated on the first crane 1 by actuating its input means and move the first crane accordingly can be transmitted to the second crane 2. If the control commands are displayed there, ie on the second crane 2, the crane operator located there can imitate the corresponding control commands accordingly.
- control commands transmitted from crane to crane can also be used in a remote control mode to move the crane receiving the control commands synchronously with the crane sending the control commands.
- the receiving control unit can implement the commands accordingly to move the receiving crane synchronously with the sending crane.
- a crane can also be taught in a corresponding manner in order to learn a desired trajectory in a teach-in mode, which can then be activated or retrieved for a coordinated movement of the two cranes.
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- Control And Safety Of Cranes (AREA)
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Description
Die vorliegende Erfindung betrifft ein Verfahren zum Betreiben mehrerer Krane, deren Bewegungen von Anti-Kollisions-Einrichtungen der Krane auf drohende Kollisionen überwacht werden, sowie eine Gruppe von Kranen umfassend einen Kran mit zumindest einer Bewegungseinrichtung zum Bewegen eines Kranelements, einer Steuereinheit zum Ansteuern der Bewegungseinrichtung sowie einer Anti-Kollisions-Einrichtung zum Überwachen der Kranbewegungen des Kranelements auf mögliche Kollisionen mit einem anderen Kran.The present invention relates to a method for operating several cranes, the movements of which are monitored by anti-collision devices of the cranes for imminent collisions, and a group of cranes comprising a crane with at least one movement device for moving a crane element, a control unit for controlling the movement device and an anti-collision device for monitoring the crane movements of the crane element for possible collisions with another crane.
Krane mit Antikollisionseinrichtungen sind seit Längerem bekannt, vgl. beispielsweise
Auf Baustellen werden regelmäßig mehrere Krane gleichzeitig eingesetzt, deren üblicherweise kreisförmige Arbeitsbereiche sich partiell überlappen, was einerseits durch die räumlichen Gegebenheiten der Baustelle bedingt sein kann, andererseits aber auch notwendig ist, um trotz kreisförmiger Arbeitsbereiche eine möglichst vollständige Abdeckung der Baustellenfläche zu erzielen. Um im Bereich der partiellen Überlappung der Arbeitsbereiche der Krane Kollisionen zwischen den Kranen, insbesondere deren Auslegern, zu verhindern, werden die Krane üblicherweise mit Anti-Kollisions-Einrichtungen ausgerüstet, die Kranbewegungen überwachen und im kollisionsgefährdeten Arbeitsbereich, das heißt in dem vorgenannten Überlappungsbereich, in die Kransteuerung eingreifen, um Bewegungen zu verlangsamen oder zu stoppen, wenn eine Kollision droht.On construction sites, several cranes are regularly used at the same time, the usually circular working areas of which partially overlap, which can be due to the spatial conditions of the construction site on the one hand, but is also necessary on the other hand in order to achieve the most complete possible coverage of the construction site area despite circular working areas. In order to prevent collisions between the cranes, in particular their booms, in the area of the partial overlapping of the working areas of the cranes, the cranes are usually equipped with anti-collision devices which monitor crane movements and in the working area at risk of collision, i.e. in the aforementioned overlapping area, intervene in the crane controls to slow or stop movement if a collision is imminent.
Die genannten Anti-Kollisions-Einrichtungen können hierbei über eine geeignete Sensorik die Stellung bzw. Position und Bewegung des eigenen Krans bestimmen, beispielsweise durch einen Drehgeber am Drehwerk die Ausrichtung des Auslegers um die aufrechte Drehachse, durch einen Wippsensor die Wippstellung des Auslegers oder durch einen Laufkatzensensor die Stellung der Laufkatze am Ausleger und damit die Ausladung des Hubseils. Anhand festlegbarer Kollisionsbereiche weiß die Anti-Kollisions-Einrichtung anhand der sensorisch erfassten Kranposition, wann sich der Kran in dem zuvor genannten Überlappungsbereich bewegt, der das Risiko einer Kollision mit einem anderen Kran birgt. Andererseits können die Anti-Kollisions-Einrichtungen der Krane miteinander kommunizieren, sodass eine jeweilige Anti-Kollisions-Einrichtung weiß, ob sich der andere Kran ebenfalls in dem Überlappungsbereich bewegt bzw. darauf zusteuert. Die Anti-Kollisions-Einrichtungen übermitteln hierzu die jeweils sensorisch oder in anderer Weise bestimmten Positions- und/oder Zustandsdaten "ihres" Krans an die Anti-Kollisions-Einrichtungen der anderen Krane, sodass die Anti-Kollisions-Einrichtung eines jeweiligen Krans die Positions- und/oder Zustandsdaten der anderen Krane berücksichtigen kann, wenn es um die Entscheidung geht, ob in die Kransteuerung eingegriffen und eine jeweilige Kranbewegung beeinflusst, insbesondere gestoppt werden soll.The anti-collision devices mentioned can use suitable sensors to determine the position or position and movement of the crane itself, for example the alignment of the jib about the upright axis of rotation using a rotary encoder on the slewing gear, the luffing position of the jib using a luffing sensor, or the position of the trolley on the jib and thus the radius of the hoist cable using a trolley sensor. With the help of definable collision areas, the anti-collision device knows when the crane is moving in the above-mentioned overlapping area, which entails the risk of a collision with another crane, based on the crane position detected by sensors. On the other hand, the anti-collision devices of the cranes can communicate with one another, so that each anti-collision device knows whether the other crane is also moving in the overlapping area or is heading towards it. For this purpose, the anti-collision devices transmit the position and/or status data of "their" crane, determined by sensors or in some other way, to the anti-collision devices of the other cranes, so that the anti-collision device of a respective crane can take into account the position and/or status data of the other cranes when it comes to deciding whether to intervene in the crane control and influence a respective crane movement, in particular to stop it.
Ein solches Anti-Kollisions-System, das die über ein Netzwerk verbundenen Anti-Kollisions-Einrichtungen der einzelnen Krane umfasst, kann allerdings in bestimmten Situationen Beschränkungen mit sich bringen, die den Baustellenbetrieb in unerwünschter Weise behindern. Insbesondere wenn ein Kran außer Betrieb gesetzt ist, beispielsweise sich in der Windfreistellung befindet, ist es bislang üblicherweise nicht möglich, diesen unbesetzten Kran aus dem Kollisionsbereich herauszufahren, sodass ein anderer Kran, dessen Arbeitsbereich sich mit dem unbesetzten Kran überlappt, in seinem Aktionsradius entsprechend behindert ist. Da die Anti-Kollisions-Einrichtung nur die Bewegungen des eigenen Krans in Abhängigkeit der Positions- und/oder Statusinformationen der anderen Kran beeinflussen darf, kann der unbesetzte Kran nicht betätigt und wegbewegt werden. Üblicherweise muss ein Kranführer kommen, um den unbesetzten Kran zu aktivieren und aus dem Kollisionsbereich zu fahren, oder die Arbeitsaufgabe des behinderten Krans muss verschoben werden, bis auch der unbesetzte Kran wieder besetzt ist.However, such an anti-collision system, which includes the anti-collision devices of the individual cranes connected via a network, can result in restrictions in certain situations that undesirably impede construction site operations. In particular, when a crane is out of service, for example when it is out of the wind, it has not usually been possible to move this unoccupied crane out of the collision area, so that another crane whose working area overlaps with the unoccupied crane is correspondingly restricted in its radius of action. Since the anti-collision device only controls the movements of its own crane depending on the position and/or status information of the other crane, the unmanned crane cannot be actuated and moved away. Usually, a crane driver has to come to activate the unmanned crane and drive it out of the collision area, or the work task of the disabled crane has to be postponed until the unmanned crane is also occupied again.
Um die Behinderung des Arbeitsbereichs eines Krans durch andere Krane, die unbesetzt bzw. außer Betrieb gesetzt sind, zu vermeiden bzw. zu reduzieren, wird in der Schrift
Eine solche Autopilotfunktion erfordert jedoch eine komplexe Struktur der Kransteuerung und auch der Kransensorik, um automatisierte Kranbewegungen ohne Kontrolle durch einen Kranführer mit ausreichender Sicherheit fahren zu können. Herkömmliche Krane sind hierzu oft nicht in der Lage bzw. müssten aufwendig nachgerüstet werden, um solche automatisierten Kranbewegungen aus dem Kollisionsbereich heraus zu ermöglichen bzw. mit ausreichender Sicherheit ausführen zu können.However, such an autopilot function requires a complex structure for the crane control and also for the crane sensors in order to be able to drive automated crane movements with sufficient safety without being checked by a crane operator. Conventional cranes are often not able to do this or would have to be retrofitted at great expense in order to enable such automated crane movements out of the collision area or to be able to carry them out with sufficient safety.
Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, ein verbessertes Verfahren sowie einen verbesserten Kran der eingangs genannten Art zu schaffen, die Nachteile des Standes der Technik vermeiden und letzteren in vorteilhafter Weise weiterbilden. Insbesondere soll eine verbesserte Nutzung und Ausbildung der Anti-Kollisions-Einrichtung geschaffen werden, die Krankollisionen sicher verhindert, gleichzeitig aber unerwünschte Behinderungen von Arbeitsaufgaben vermeidet, ohne hierfür komplexe Kransteuerungs-Nachrüstungen zu benötigen.The present invention is therefore based on the object of creating an improved method and an improved crane of the type mentioned at the beginning avoid the disadvantages of the prior art and develop the latter in an advantageous manner. In particular, an improved use and design of the anti-collision device is to be created, which reliably prevents crane collisions, but at the same time avoids undesired hindrances to work tasks, without requiring complex crane control retrofits for this purpose.
Erfindungsgemäß wird die genannte Aufgabe durch ein Verfahren gemäß Anspruch 1 sowie eine Gruppe von Kranen gemäß Anspruch 12 gelöst. Bevorzugte Ausgestal-tungen der Erfindung sind Gegenstand der abhängigen Ansprüche.According to the invention, the stated object is achieved by a method according to
Es wird also vorgeschlagen, einen störenden, unbesetzten Kran bedienergestützt und damit unter der Kontrolle eines Kranführers aus dem Kollisionsbereich herauszufahren, um einem benachbarten Kran, der unter Überwachung seiner Anti-Kollisions-Einrichtung ansonsten nicht in den Überlappungsbereich mit dem unbesetzten Kran einfahren könnte, seine Arbeitsaufgabe zu ermöglichen. Erfindungsgemäß wird vorgeschlagen, dass bei einer drohenden Kollision zwischen einem ersten, in Betrieb befindlichen Kran und einem zweiten, außer Betrieb befindlichen Kran, der erste Kran stillgesetzt wird, eine Fernsteuer-Verbindung von dem ersten Kran zu dem zweiten Kran aufgebaut wird, der zweite Kran durch Steuerbefehle, die am ersten, stillgesetzten Kran bereitgestellt und durch die Fernsteuer-Verbindung auf den zweiten Kran übermittelt werden, aus dem Kollisionsbereich, der eine beabsichtigte Bewegung des ersten Krans stört, herausbewegt wird, und der zweiten Kran nach dem ferngesteuerten Herausbewegen aus dem Kollisionsbereich stillgesetzt sowie der erste Kran wieder in Gang gesetzt wird, so dass der erste Kran seine Aufgabe ausführen kann. Hierdurch kann ein an sich unbesetzter, außer Betrieb befindlicher Kran, wenn er die Arbeitsaufgabe eines benachbarten Krans stört, sicher, unter Kontrolle des Kranführers des be-nachbarten Krans aus dem Kollisionsbereich herausgefahren werden, ohne dass der Kran hierfür eine komplexe vollautomatische Kransteuerung benötigen würde, die automatisierte Kranbewegungen ermöglicht.It is therefore proposed to move a disruptive, unmanned crane out of the collision area with operator support and thus under the control of a crane driver, in order to enable a neighboring crane, which would otherwise not be able to enter the overlapping area with the unmanned crane, while monitoring its anti-collision device, to do its job. According to the invention, it is proposed that in the event of an impending collision between a first crane that is in operation and a second crane that is out of service, the first crane is shut down, a remote control connection is established from the first crane to the second crane, the second crane is moved out of the collision area, which disrupts an intended movement of the first crane, by control commands that are provided on the first, shut down crane and are transmitted through the remote control connection to the second crane, and the second crane is moved out of the collision after remote-controlled movement area is shut down and the first crane is started again so that the first crane can carry out its task. As a result, a crane that is not actually manned and is out of operation can, if it interferes with the work task of a neighboring crane, be safely driven out of the collision area under the control of the crane driver of the neighboring crane, without the crane requiring a complex, fully automatic crane control system that enables automated crane movements.
In Weiterbildung der Erfindung werden die Steuerbefehle über das Netzwerk der Anti-Kollisions-Einrichtungen übertragen, über das ansonsten die Positions- und/oder Zustandsdaten der Krane zwischen den Anti-Kollisions-Einrichtungen übertragen werden. Grundsätztlich wäre es auch möglich, für die Übertragung der Steuerbefehle von dem vorübergehend stillgesetzten Kran auf den fernzusteuernden Kran einen separaten Kommunikationskanal vorzusehen, über den lediglich die Steuerbefehle übertragen werden. Die Nutzung des Kommunikationsnetzwerks zwischen den Anti-Kollisions-Einrichtungen ist jedoch besonders vorteilhaft, da die bereits vorhandene Infrastruktur genutzt wird und die Anti-Kollisions-Einrichtungen unmittelbar die zu erwartenden Bewegungen anhand der Steuerbefehle überwachen können.In a development of the invention, the control commands are transmitted via the network of the anti-collision devices, via which the position and/or status data of the cranes are otherwise transmitted between the anti-collision devices. In principle, it would also be possible to provide a separate communication channel for the transmission of the control commands from the temporarily shut down crane to the crane to be remotely controlled, via which only the control commands are transmitted. However, the use of the communication network between the anti-collision devices is particularly advantageous since the existing infrastructure is used and the anti-collision devices can directly monitor the movements to be expected using the control commands.
Die genannten Steuerbefehle zum Fernsteuern des wegzubewegenden Krans können an dem vorgenannten ersten Kran in an sich unterschiedlicher Weise erzeugt werden. Vorteilhafterweise kann hierfür die Steuereinheit und deren Eingabemittel genutzt werden, die an sich zum Steuern des ersten Krans vorhanden ist. Insbesondere können die Steuerbefehle zum Fernsteuern des zweiten Krans durch Betätigen der Eingabemittel der Steuereinheit des ersten Krans erzeugt werden und sodann durch die genannte Fernsteuer-Kommunikationsverbindung an den zweiten Kran übertragen werden. Die genannten Eingabemittel können dabei manuell betätigbar ausgebildet sein, aber auch andere Eingabemittel umfassen, die beispielsweise akustisch oder durch Gestensteuerung oder in anderer Weise betätigbar sind. Solche Eingabemittel können beispielsweise einen Joystick, Betätigungsschalter und/oder -schieber, einen Drehknopf oder ein Touchscreen umfassen. Insbesondere können die genannten Eingabemittel in der Kranführerkabine des jeweiligen Krans vorgesehen sein. Gegebenenfalls können aber auch die Eingabemittel einer tragbaren Betätigungs- und/oder Steuereinheit des ersten Krans verwendet werden, mittels derer der genannte erste Kran durch einen am Boden befindlichen Kranführer betätigt werden kann. Da der "eigene" erste Kran, zu dem die Steuereinheit nebst Eingabemitteln an sich gehört, stillgesetzt ist, werden die hiermit erzeugten Steuerbefehle nicht vom ersten Kran selbst ausgeführt, sondern können über die Fernsteuerverbindung auf den zweiten Kran übertragen werden. Die Steuereinheit des ersten Krans und/oder dessen Anti-Kollisions-Einrichtung arbeitet hierbei in einem Fernsteuermodus, in dem die an den Eingabemitteln erzeugten Steuerbefehle nicht zum Ansteuern der Antriebe des eigenen Krans verwendet werden, sondern über die Fernsteuerverbindung an den zweiten Kran geschickt werden.The control commands mentioned for remotely controlling the crane to be moved away can be generated in different ways on the aforementioned first crane. Advantageously, the control unit and its input means that are present for controlling the first crane can be used for this purpose. In particular, the control commands for remotely controlling the second crane can be generated by actuating the input means of the control unit of the first crane and then transmitted to the second crane via said remote control communication link. The input means mentioned can be configured so that they can be actuated manually, but they can also include other input means that can be actuated, for example, acoustically or by gesture control or in some other way. Such input means can include, for example, a joystick, actuating switches and/or slides, a rotary knob or a touchscreen. In particular, the input means mentioned can be provided in the crane driver's cabin of the respective crane. If necessary, however, the input means of a portable actuating and/or control unit of the first crane can also be used, by means of which the first crane mentioned can be actuated by a crane operator on the ground. Since the “own” first crane, to which the control unit and input means belong, is shut down, the control commands generated here are not executed by the first crane itself, but can be transmitted to the second crane via the remote control connection. The The control unit of the first crane and/or its anti-collision device works in a remote control mode in which the control commands generated at the input means are not used to control the drives of the crane itself, but are sent to the second crane via the remote control connection.
Alternativ oder zusätzlich können die Steuerbefehle zum Fernsteuern des zweiten Krans aber auch automatisch oder halbautomatisch von einem Bewegungssteuermodul der Anti-Kollisions-Einrichtung des ersten Krans generiert werden, wenn in der genannten Weise der erste Kran stillgesetzt wurde und die Fernsteuerverbindung zum zweiten Kran aufgebaut wurde. Ein solches Bewegungssteuermodul kann beispielsweise in Form eines Softwarebausteins in der elektronisch ausgebildeten Anti-Kollisions-Einrichtung ausgebildet und dort beispielsweise in einem Speicher abgelegt sein sowie von einem Mikroprozessor der Anti-Kollisions-Einrichtung abgearbeitet werden. Das genannte Bewegungssteuermodul kann hierbei die Steuerbefehle zum Fernsteuern des zweiten Krans und Herausbewegen des zweiten Krans aus dem Kollisionsbereich anhand der Positions- und/oder Statusdaten generieren, die der zweite Kran an den ersten Kran übermittelt, und/oder anhand der Positions- und/oder Statusdaten, die die Anti-Kollisions-Einrichtung des ersten Krans bezüglich des ersten Krans bestimmt hat.Alternatively or additionally, the control commands for remote control of the second crane can also be generated automatically or semi-automatically by a motion control module of the anti-collision device of the first crane if the first crane has been shut down in the manner mentioned and the remote control connection to the second crane has been established. Such a motion control module can be designed, for example, in the form of a software module in the electronically designed anti-collision device and stored there, for example in a memory, and processed by a microprocessor of the anti-collision device. Said movement control module can generate the control commands for remotely controlling the second crane and moving the second crane out of the collision area using the position and/or status data that the second crane transmits to the first crane and/or using the position and/or status data that the anti-collision device of the first crane has determined with regard to the first crane.
Eine halbautomatische Generierung der Steuerbefehle zum Fernsteuern des wegzubewegenden Krans durch das genannte Bewegungssteuermodul der Anti-Kollisons-Einrichtung des ersten Krans kann dabei beispielsweise dergestalt erfolgen, dass dem Kranführer des ersten Krans ein Vorschlag für einen entsprechenden Steuerbefehl gemacht wird, beispielsweise auf einem Display oder einer anderen Anzeigevorrichtung angezeigt wird, ggfs. in Kombination mit einer Bestätigungsaufforderung, sodass der Kranführer den vorgeschlagenen Steuerbefehl bestätigen kann, wenn er ihn für sinnvoll erachtet. In einer weiteren Ausführungsform kann die Generierung der Steuerbefehle zum Fernsteuern des zweiten Krans am ersten Kran aber auch vollautomatisch erfolgen.A semi-automatic generation of the control commands for remote control of the crane to be moved away by the said motion control module of the anti-collision device of the first crane can, for example, take place in such a way that the crane operator of the first crane is given a suggestion for a corresponding control command, for example shown on a display or another display device, possibly in combination with a confirmation request, so that the crane operator can confirm the proposed control command if he considers it useful. In a further embodiment, however, the control commands for remotely controlling the second crane can also be generated fully automatically on the first crane.
Nichtsdestotrotz kann der zweiten Kran aber auch gänzlich manuell ferngesteuert werden, was ggfs. auch akustische, gestentechnische oder andere Steuereingaben mit umfassen kann. Hierzu kann der Kranführer des ersten Krans dessen Kransteuerung und die zugehörigen Eingabemittel in an sich gewohnter Weise betätigen, um den zweiten Kran fernzusteuern und aus dem Kollisionsbereich herauszubewegen. Dies ermöglicht eine besonders einfache Ausbildung der Kransteuerungseinheiten, die an sich herkömmlich ausgebildet bleiben können und lediglich mit einer Schnittstelle zum Empfangen und/oder Ausgeben von Fernsteuerbefehlen versehen werden können.Nevertheless, the second crane can also be remotely controlled completely manually, which can also include acoustic, gestural or other control inputs if necessary. For this purpose, the crane operator of the first crane can actuate his crane control and the associated input means in the usual way in order to remotely control the second crane and move it out of the collision area. This enables a particularly simple design of the crane control units, which can remain of conventional design and can only be provided with an interface for receiving and/or outputting remote control commands.
Die an der Steuereinheit des zweiten Krans empfangenen Fernsteuer-Steuerbefehle werden von der Steuereinheit des zweiten Krans in an sich gewohnter Weise abgearbeitet, insbesondere wie Steuersignale behandelt, die an den Eingabemitteln der Steuereinheit des zweiten Krans selbst eingegeben worden wären. Die Steuereinheit des zweiten Krans kann die empfangenen Fernsteuersignale in entsprechende Ansteuersignale an die zumindest eine Bewegungseinrichtung des zweiten Krans umsetzen, um deren Antriebe in Gang zu setzen bzw. zu beschleunigen oder zu stoppen.The remote control commands received at the control unit of the second crane are processed by the control unit of the second crane in the usual manner, in particular treated like control signals that would have been entered at the input means of the control unit of the second crane itself. The control unit of the second crane can convert the received remote control signals into corresponding control signals to the at least one movement device of the second crane in order to start or accelerate or stop their drives.
Je nach Ausbildung und Anordnung der Krane sowie deren jeweiliger Stellung können über die Fernsteuereinrichtung der Anti-Kollisions-Einrichtungen verschiedene Bewegungen ferngesteuert werden. Insbesondere kann in der genannten Weise das Drehwerk des zweiten Krans betätigt werden, um dessen Ausleger um eine aufrechte Achse zu verdrehen und hierdurch aus dem Kollisionsbereich zu bewegen. Sind die Krane, insbesondere deren Ausleger, in unterschiedlichen Höhen angeordnet, kann es ggfs. auch ausreichend sein, die Laufkatze des höheren Krans weiter nach innen zu verfahren, um das von der Laufkatze ablaufende Hubseil aus dem Kollisionsbereich mit dem ersten Kran herauszufahren. In diesem Fall kann die genannte Fernsteuereinrichtung eine Bewegung der Laufkatze des zweiten Krans veranlassen. Besitzen die Krane wippbare Ausleger, kann die Fernsteuereinrichtung eine Kollision auch dadurch auflösen, dass der Ausleger des zweiten Krans aufgewippt und dadurch dessen Ausladung reduziert wird, was beispielsweise in Kombination mit einem Verdrehen des Auslegers um dessen aufrechte Achse erfolgen kann.Depending on the design and arrangement of the cranes and their respective position, various movements can be remotely controlled via the remote control device of the anti-collision devices. In particular, the slewing gear of the second crane can be actuated in the manner mentioned in order to rotate its boom about an upright axis and thereby move it out of the collision area. If the cranes, in particular their jibs, are arranged at different heights, it may also be sufficient to move the trolley of the higher crane further inwards in order to move the hoist rope running off the trolley out of the collision area with the first crane. In this case, said remote control device can cause a movement of the trolley of the second crane. If the cranes have luffing jibs, the remote control device can also resolve a collision by luffing the jib of the second crane and thereby reducing its outreach, which is the case, for example, in Combination with a twisting of the boom can be done about its upright axis.
Vom zeitlichen Ablauf her kann es günstig sein, wenn die vorgenannten Schritte Stillsetzen des ersten Krans und Aufbauen der Fernsteuer-Verbindung in geordneter Weise nacheinander erfolgen. Insbesondere kann zunächst der erste Kran stillgesetzt werden, bevor dann die Fernsteuer-Verbindung zwischen dem ersten Kran und dem zweiten Kran aufgebaut wird. Umgekehrt kann nach erfolgtem, ferngesteuerten Herausbewegen des zweiten Krans aus dem Kollisionsbereich, zunächst die Fernsteuer-Verbindung wieder unterbrochen werden, bevor der erste Kran wieder in Gang gesetzt wird.In terms of timing, it can be advantageous if the aforementioned steps of shutting down the first crane and setting up the remote control connection take place one after the other in an orderly manner. In particular, the first crane can first be shut down before the remote control connection is established between the first crane and the second crane. Conversely, after the second crane has been moved out of the collision area by remote control, the remote control connection can first be interrupted again before the first crane is started again.
Das besagte Stillsetzen des ersten Krans kann beinhalten, dass alle Antriebseinrichtungen außer Gang bzw. stillgesetzt oder deaktiviert werden und die zugehörigen Bewegungseinrichtungen eingebremst werden. Insbesondere kann das Drehwerk zum Verdrehen des Auslegers um eine aufrechte Achse und/oder das Hubwerk zum Anheben und Absenken eines Hubseils und des daran befestigten Lasthakens und/oder ein Laufkatzenantrieb zum Verfahren einer Laufkatze stillgesetzt und eingebremst werden.Said stopping of the first crane can mean that all drive devices are disabled or shut down or deactivated and the associated movement devices are slowed down. In particular, the slewing gear for twisting the boom about an upright axis and/or the hoist for raising and lowering a hoist cable and the load hook attached to it and/or a trolley drive for moving a trolley can be stopped and braked.
Um sicherzustellen, dass beim Betätigen der Eingabemittel der Steuereinheit des ersten Krans die hierdurch generierten Steuerbefehle nur zum Fernsteuern des zweiten Krans verwendet werden und keine Ansteuerung bzw. Bewegungen der Antriebe des ersten Krans selbst bewirken, kann das genannte Stillsetzen des ersten Krans weiterhin beinhalten, dass die Steuerbefehlsverbindungen zwischen der Steuereinheit des ersten Krans und dessen Bewegungseinrichtungen deaktiviert und/oder die Antriebseinrichtungen von der Steuerungseinheit steuerungstechnisch abgekoppelt werden und/oder die generierten Steuerbefehle sozusagen zur Fernsteuereinrichtung umgeleitet werden. Beispielsweise können im Fernsteuermodus die Signalausgänge der Eingabemittel auf das Fernsteuermodul geschaltet und von den üblichen Steuersignalverbindungen zu den Antriebseinrichtungen des ersten Krans abgetrennt sein. Dies kann hardwaretechnisch durch entsprechende Signalweichen, aber auch softwaretechnisch beispielsweise durch eine entsprechende Datenbus-Steuerung erfolgen.In order to ensure that when the input means of the control unit of the first crane are actuated, the control commands generated thereby are only used to remotely control the second crane and do not trigger any actuation or movements of the drives of the first crane themselves, said stopping of the first crane can also include the control command connections between the control unit of the first crane and its movement devices being deactivated and/or the drive devices being uncoupled from the control unit in terms of control technology and/or the control commands generated being diverted, so to speak, to the remote control device. For example, in the remote control mode, the signal outputs of the input means can be connected to the remote control module and separated from the usual control signal connections to the drive devices of the first crane. This can be done hardware-wise by appropriate signal switches, but also by software, for example, by a corresponding data bus control.
Nach einem weiteren Aspekt der vorliegenden Erfindung kann das beschriebene Fernsteuermodul nicht nur dazu genutzt werden, einen unbesetzten, störenden Kran aus dem Überlappungsbereich herauszubewegen, sondern auch für andere Kranarbeitsaufgaben eingesetzt werden. Insbesondere können hierdurch aufeinander abgestimmte Kranbewegungen mehrerer Krane wie beispielsweise Tandemhübe in einfacher Weise gesteuert und ausgeführt werden. Insbesondere können mehrere Krane aufeinander abgestimmt bewegt werden, indem zumindest an einem ersten Kran Bewegungs- und/oder Positions- und/oder Zustandsdaten und/oder Steuerbefehle zum Bewegen des ersten Krans während der aufeinander abzustimmenden Bewegung von dessen Anti-Kollisions-Einrichtung bestimmt werden und an einen zweiten Kran übermittelt werden, wobei die am ersten Kran bestimmten Bewegungs- und/oder Positions- und/oder Zustandsdaten und/oder Steuerbefehle des ersten Krans auf einer Anzeigevorrichtung am zweiten Kran angezeigt werden und/oder von der Steuereinheit des genannten zweiten Krans zum Steuern zumindest einer Bewegungseinrichtung des ersten und/oder zweiten Krans zum Ausführen der aufeinander abgestimmten Bewegung verwendet werden.According to a further aspect of the present invention, the remote control module described can not only be used to move an unoccupied, disruptive crane out of the overlapping area, but can also be used for other crane work tasks. In particular, coordinated crane movements of several cranes, such as tandem lifts, can be controlled and executed in a simple manner. In particular, several cranes can be moved in a coordinated manner by at least one first crane determining movement and/or position and/or status data and/or control commands for moving the first crane during the movement to be coordinated by its anti-collision device and transmitting them to a second crane, with the movement and/or position and/or status data and/or control commands of the first crane determined on the first crane being displayed on a display device on the second crane and/or being at least controlled by the control unit of said second crane a movement device of the first and/or second crane can be used to carry out the coordinated movement.
Im Vergleich zur bisherigen Abstimmung, die im Wesentlichen dadurch erfolgt, dass die beiden Kranführer bei einem Tandemhub untereinander mittels Funkfernsprecheinrichtungen miteinander kommunizieren und ggfs. durch eine externe Aufsicht ergänzt werden, erleichtert es die Aufgabe beträchtlich, wenn jeder Kranführer kontinuierlich oder zumindest schrittweise exakt die Positions- und/oder Bewegungsinformationen des anderen Krans, sowie sie von der jeweiligen Anti-Kollisions-Einrichtung bestimmt werden, aktuell angesagt bzw. angezeigt erhält. Ebenfalls hilfreich ist es, wenn alternativ oder zusätzlich auch die Steuerbefehle gegenseitig angezeigt werden, sodass durch die jeweiligen Steuerbefehle initiierte Kranbewegungen des jeweils anderen Krans antizipiert werden können.In comparison to previous coordination, which essentially takes place in that the two crane drivers communicate with each other during a tandem lift using radio telephone equipment and, if necessary, are supplemented by an external supervisor, it makes the task considerably easier if each crane driver continuously or at least step by step receives exactly the position and/or movement information of the other crane, as determined by the respective anti-collision device, currently announced or displayed. It is also helpful if, alternatively or additionally, the control commands are also mutually displayed, so that crane movements initiated by the respective control commands of the respective other crane can be anticipated.
Alternativ oder zusätzlich zu einem solchen gegenseitigen Anzeigen der Positions- und/oder Bewegungs- und/oder Zustandsdaten und/oder Steuerbefehle, können die von den miteinander vernetzten Anti-Kollisions-Einrichtungen übermittelten Daten bzw. Informationen und/oder Steuerbefehle auch dazu genutzt werden, die aufeinander abzustimmenden Kranbewegungen halbautomatisch oder vollautomatisch zu beeinflussen. Insbesondere kann im Sinne des zuvor schon erläuterten Fernsteuerungsmodus einer der Krane bzw. dessen Steuereinheit die übermittelten Positions- und/oder Bewegungs- und/oder Zustandsdaten und/oder die übermittelten Steuerbefehle dergestalt verarbeiten, dass zumindest eine Bewegungseinrichtung so angesteuert wird, dass der die genannten Daten bzw. Steuerbefehle empfangende Kran eine Kranbewegung ausführt, die die Kranbewegung des anderen Krans in gewünschter Weise abbildet. Insbesondere kann anhand der empfangenen Daten und/oder Steuerbefehle eine synchrone Kranbewegung ausgeführt werden. Hierbei können die an einem Kran erzeugten Steuerbefehle sowohl zum Ansteuern der Antriebe des "eigenen" Krans sowie per Fernsteuer-Übertragung zum Ansteuern der Antriebe des zumindest einen weiteren Krans verwendet werden, so dass ein Kranführer am ersten Kran gleichzeitig auch den zweiten Kran steuert bzw. mit einer Steuereinheit eines Krans gleichzeitig zwei Krane angestuert werden.As an alternative or in addition to such a mutual display of the position and/or movement and/or status data and/or control commands, the data or information and/or control commands transmitted by the networked anti-collision devices can also be used to influence the crane movements to be coordinated semi-automatically or fully automatically. In particular, in the sense of the previously explained remote control mode, one of the cranes or its control unit can process the transmitted position and/or movement and/or status data and/or the transmitted control commands in such a way that at least one movement device is controlled in such a way that the crane receiving the data or control commands mentioned executes a crane movement that maps the crane movement of the other crane in the desired way. In particular, a synchronous crane movement can be carried out using the received data and/or control commands. The control commands generated on a crane can be used both to control the drives of the "own" crane and, via remote control transmission, to control the drives of at least one other crane, so that a crane operator on the first crane also controls the second crane at the same time or two cranes can be controlled simultaneously with a control unit of one crane.
Je nach gewünschter Abstimmung der Kranbewegungen muss dies allerdings keine tatsächlich synchrone oder richtungsidentische Kranbewegung sein. Beispielsweise kann dies eine gegenläufige Kranbewegung sein, wenn ein gemeinsam zu hebender Gegenstand verdreht werden soll oder aus einer horizontalen Aufnahmestellung in eine leicht schräge Montagestellung bewegt werden soll.Depending on the desired coordination of the crane movements, however, this does not have to be an actually synchronous or directional crane movement. For example, this can be a crane movement in the opposite direction if an object to be lifted together is to be rotated or is to be moved from a horizontal pick-up position into a slightly inclined assembly position.
Insbesondere kann die Steuereinheit eines jeweiligen Krans einen Slave-Betriebsmodus aufweisen, in dem die Steuereinheit des Krans anhand der übermittelten Bewegungsdaten und/oder Steuerbefehle zumindest eine Bewegungseinrichtung derart ansteuert, dass der Kran den Kranbewegungen des die Daten übermittelnden Krans in der gewünschten Weise, insbesondere zumindest näherungsweise synchron oder beispielsweise gegenläufig, folgt.In particular, the control unit of a respective crane can have a slave operating mode in which the control unit of the crane uses the transmitted movement data and/or control commands to control at least one movement device in such a way that the crane follows the crane movements of the crane transmitting the data in the desired manner, in particular at least approximately synchronously or, for example, in opposite directions.
In Weiterbildung der Erfindung können die Kranbewegungen anhand der wechselweise übermittelten Bewegungs- und/oder Positions- und/oder Statusdaten und/oder Steuerbefehle, die von den miteinander kommunizierenden Anti-Kollisions-Einrichtungen bereitgestellt werden, derart aufeinander abgestimmt werden, dass beispielsweise die Krane einen Tandemhub ausführen.In a further development of the invention, the crane movements can be coordinated with one another on the basis of the alternately transmitted movement and/or position and/or status data and/or control commands, which are provided by the anti-collision devices communicating with one another, such that the cranes perform a tandem lift, for example.
In vorteilhafter Weiterbildung der Erfindung kann zumindest die Steuereinheit eines Krans einen Teach-In-Modus besitzen, in dem die Steuereinheit einen Bewegungsablauf und/oder eine Bewegungsbahn anhand von Bewegungs- und/oder Positionsdaten und/oder Steuerbefehlen lernt, die von einem anderen Kran aus übermittelt werden. Beispielsweise kann der vorgenannte Fernsteuermodus dazu genutzt werden, dem fernzusteuernden Kran eine Bewegungsbahn einzulernen, die dann abgerufen werden kann, um zusammen mit einem anderen Kran den genannten Tandemhub oder einen anderen aufeinander abgestimmten Kranhub auszuführen. Für ein solches Teach-In können die entsprechenden Daten und Steuerbefehle ebenfalls über das Kommunikationsnetzwerk der Anti-Kollisions-Einrichtungen übermittelt werden.In an advantageous development of the invention, at least the control unit of a crane can have a teach-in mode in which the control unit learns a movement sequence and/or a movement path using movement and/or position data and/or control commands that are transmitted from another crane. For example, the aforementioned remote control mode can be used to teach the crane to be remotely controlled a trajectory that can then be called up in order to carry out the tandem lift mentioned or another coordinated crane lift together with another crane. For such a teach-in, the corresponding data and control commands can also be transmitted via the communication network of the anti-collision devices.
Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels und zugehöriger Zeichnungen näher erläutert. In den Zeichnungen zeigen:
- Fig. 1:
- eine schematische Darstellung zweier Krane, die teilweise überlappende Arbeitsbereiche besitzen und jeweils mit Anti-Kollisions-Einrichtungen ausgerüstet sind, die miteinander kommunizieren können,
- Fig. 2:
- eine Draufsicht auf die beiden Krane aus
Fig. 1 , die deren überlappende Arbeitsbereiche verdeutlicht, und - Fig. 3:
- eine schematische Seitenansicht der beiden Krane aus
Fig. 1 beim Ausführen eines Tandemhubs.
- Figure 1:
- a schematic representation of two cranes that have partially overlapping work areas and are each equipped with anti-collision devices that can communicate with each other,
- Figure 2:
- a top view of the two
cranes 1 , showing their overlapping workspaces, and - Figure 3:
- a schematic side view of the two
cranes 1 when performing a tandem lift.
Wie die Figuren zeigen, können die Krane 1 und 2 jeweils als Turmdrehkrane ausgebildet sein, deren Ausleger 3 jeweils auf einem Turm 4 sitzt und mittels eines Drehwerks 5 um eine aufrechte Achse verdreht werden kann, wobei die Krane als Obendreher oder Untendreher ausgebildet sein können. Entlang des genannten Auslegers 3 kann eine Laufkatze 6 durch ein Katzfahrwerk 7 verfahrbar sein, um die Ausladung des von der Laufkatze 6 ablaufenden Hubseils 8 und des daran befestigten Lasthakens 9 verändern zu können. Das genannte Hubseil 8 kann durch ein Hubwerk 10 eingeholt oder abgelassen werden, um den Lasthaken 9 anzuheben bzw. abzusenken.As the figures show, the
Wie
Wie
Jeder der Krane 1 und 2 besitzt eine Kransteuerung mit einer elektronischen Steuereinheit 13, die beispielsweise einen Mikroprozessor aufweisen kann, um in einem Speicher abgelegte Steuerungsprogramme abarbeiten zu können. Weiterhin umfasst jeder Kran eine Sensorik 14, um Bewegungen und/oder die Position der beweglichen Kranelemente bestimmen zu können, insbesondere die rotatorische Stellung des Auslegers 3, die Stellung der Laufkatze 6 am jeweiligen Ausleger 3 sowie die Höhe des Lasthakens 9. Dies kann beispielsweise durch Sensoren bestimmt werden, die dem Drehwerk 5, dem Katzfahrwerk 7 und dem Hubwerk 10 zugeordnet sind. Alternativ oder zusätzlich können auch GPS-Sensoren Verwendung finden, die die Positionen der Kranelemente in einem globalen Positionssystem ermitteln können. Andere Bestimmungsmittel wie beispielsweise Radarsensoren können ebenfalls vorgesehen sein.Each of the
Mit der genannten Steuereinheit 13 können Eingabemittel 15 zum Eingeben von Steuerbefehlen verbunden sein, die die Kranbewegungen steuern. Die genannten Eingabemittel 15 können beispielsweise in einer Kranführerkabine 16 vorgesehen sein.Input means 15 for inputting control commands which control the crane movements can be connected to said
Weiterhin umfasst jeder der Krane 1 und 2 eine Anti-Kollisions-Einrichtung 17 und 18, die die Kranbewegungen des jeweiligen Krans überwacht, beispielsweise durch Auswertung der Signale der genannten Sensorik 14. Wie
Die Anti-Kollisions-Einrichtungen 17 und 18 können die genannten Daten jeweils auswerten und hierzu beispielsweise ein Kollisionsbestimmungsprogramm ausführen, das in einem Speicher abgelegt sein und von einem Mikroprozessor der elektronischen Anti-Kollisions-Einrichtung ausgeführt werden kann. Droht eine Kollision, kann die jeweilige Anti-Kollisions-Einrichtung 17 bzw. 18 in die Steuerung ihres eigenen Krans eingreifen und beispielsweise dem Kranführer ein Warnsignal anzeigen und/oder die Bewegung des Krans stoppen.The
Droht bei einer auszuführenden Bewegung eine Kollision mit einem unbesetzten, außer Gang gesetzten Kran, kann folgendermaßen vorgegangen werden:
Will beispielsweise der erste Kran 1, wie dies
For example, the first crane wants 1, like this
Um nun den unbesetzten zweiten Kran 2 aus dem Überlappungsbereich 130 herausfahren zu können, setzt die Anti-Kollisions-Einrichtung 17 des ersten Krans 1 den ersten Kran 1 still, wobei hierzu die Antriebe stillgesetzt und die Bewegungseinrichtungen eingebremst werden können, insbesondere das Drehwerk 5, der Katzfahrantrieb 7 und das Hubwerk 10. Weiterhin kann die Steuereinheit 13 in einen Fernsteuermodus geschaltet werden und/oder die Steuerbefehlsverbindung der Steuereinheit 13 des ersten Krans 1 zu dessen Antriebseinrichtungen deaktiviert werden, sodass ein Betätigen der Eingabemittel 15 keine Verfahrbewegungen am ersten Kran bewirken können.In order to be able to move the unoccupied
Um eine Fernsteuerverbindung zu dem zweiten Kran 2 aufbauen zu können, wird erfindugsgemäss vorgesehen, dass konn über das Kommunikationsnetzwerk 19 des Anti-Kollisions-Systems 20 ein Aufwecksignal vom ersten Kran 1 an den zweiten Kran 2 gesendet wird, um dessen Steuereinheit 13 aufzuwecken und in einen Fernsteuermodus zu schalten. Das genannte Aufwecksignal kann der Anti-Kollisions-Einrichtung 17 des ersten Krans bzw. dessen Steuereinheit 13 generiert und über das Netzwerk 19 an den zweiten Kran 2 gesandt werden.In order to be able to set up a remote control connection to the
Ist der erste Kran 1 in der genannten Weise stillgesetzt und der zweite Kann 2 aufgeweckt, kann über das Kommunikationsnetwerk 19 des Anti-Kollisions-Systems 20 eine Remote-Verbindung bzw. eine Fernsteuerverbindung 21 zwischen den beiden Kranen aufgebaut werden, um am ersten Kran 1 generierte Steuerbefehle an den zweiten Kran 2 zu übermitteln. Die genannten Steuerbefehle können durch Betätigung der Eingabemittel 15 der Steuereinheit 13 des ersten Krans generiert werden, sodass der Kranführer des ersten Krans 1 in an sich gewohnter Weise den zweiten Kran steuern und aus dem Kollisionsbereich, das heißt dem Überlappungsbereich 130, herausbewegen kann.If the
Ist der zweite Kran 2 aus dem Überlappungsbereich 130 herausgefahren, wird der Kran 2 über die Fernsteuerverbindung 21 eingebremst und wieder stillgesetzt.If the
Der erste Kran 1 bzw. dessen Anti-Kollisions-Einrichtung 17 und/oder dessen Steuereinheit 13 meldet sich sodann vom zweiten Kran 2 wieder ab und loggt sich in die eigene Steuerung wieder ein. Insbesondere wird die zuvor genannte Fernsteuerverbindung 21 wieder deaktiviert und die Steuereinheit 13 des ersten Krans 1 aus dem zuvor genannten Fernsteuermodus wieder in den normalen Betriebsmodus gesetzt, um wiederum die eigenen Antriebseinrichtungen ansteuern zu steuern.The
Schließlich kann der erste Kran 1 die beabsichtigte Kranbewegung in den Überlappungsbereich 130 hinein bzw. darüber hinweg ausführen.Finally, the
Hierzu kann zunächst in einfacher Ausbildung der Erfindung vorgesehen sein, dass die miteinander kommunzierenden Anti-Kollisions-Einrichtungen 17 und 18 die an ihrem Kran jeweils bestimmten Positions- und/oder Bewegungs- und/oder Statusdaten jeweils zum anderen Kran übertragen, wobei sie an dem jeweils empfangenden Kran angezeigt werden, beispielsweise auf einem Display, das der Kranführer einsehen kann. Durch das wechselweise, gegenseitige Anzeigen der genannten Daten am jeweils anderen Kran weiß der jeweilige Kranführer stets aktuell, in welcher Position bzw. Stellung sich der jeweils andere Kran befindet bzw. in welche Richtung sich der jeweils andere Kran bewegt.For this purpose, in a simple embodiment of the invention, it can be provided that the
Alternativ oder zusätzlich können dabei auch von einem Kran auf den anderen Kran Steuerbefehle übertragen und dort eventuell angezeigt werden, wobei beispielsweise die Steuerbefehle, die am ersten Kran 1 durch Betätigen dessen Eingabemittel erzeugt werden und den ersten Kran entsprechend bewegen, auf den zweiten Kran 2 übertragen werden können. Werden die Steuerbefehle dort, das heißt am zweiten Kran 2 angezeigt, kann der dort befindliche Kranführer die entsprechenden Steuerbefehle entsprechend nachmachen.Alternatively or additionally, control commands can also be transmitted from one crane to the other crane and possibly displayed there, whereby, for example, the control commands that are generated on the
Alternativ oder zusätzlich können solche von Kran zu Kran übertragenden Steuerbefehle jedoch in einem Fernsteuermodus auch dazu genutzt werden, den die Steuerbefehle empfangenden Kran synchron mit dem die Steuerbefehle sendenden Kran zu bewegen. In dem zuvor genannten Fernsteuermodus kann die empfangende Steuereinheit die Befehle entsprechend umsetzen, um den empfangenden Kran synchron mit dem sendenden Kran zu bewegen.Alternatively or additionally, however, such control commands transmitted from crane to crane can also be used in a remote control mode to move the crane receiving the control commands synchronously with the crane sending the control commands. In the aforementioned remote control mode, the receiving control unit can implement the commands accordingly to move the receiving crane synchronously with the sending crane.
Ferner kann in der zuvor schon beschriebenen Weise ein Kran in entsprechender Weise auch eingelernt werden, um in einem Teach-In-Modus eine gewünschte Bewegungsbahn zu lernen, die dann für eine aufeinander abgestimmte Bewegung der beiden Krane aktiviert bzw. abgerufen werden kann.Furthermore, in the manner already described, a crane can also be taught in a corresponding manner in order to learn a desired trajectory in a teach-in mode, which can then be activated or retrieved for a coordinated movement of the two cranes.
Claims (15)
- Method for operating multiple cranes (1, 2), the movements of which are monitored for imminent collisions by anti-collision devices (17, 18) of the cranes (1, 2), wherein in the event of an imminent collision between a first crane (1) being operated and a second crane (2) which is not being operated- the first crane (1) is stopped,- a remote control connection (21) is established from the first crane (1) to the second crane (2), characterised in that for establishing the remote control connection (21), a control unit (13) of the second crane (2) is woken up and set in a remote control mode by a wake-up command transmitted from the first crane (1) to the second crane (2) via a communication link (19) between the anti-collision devices (17, 18),- the second crane (2) is moved out of the collision region (130), which is interfering with an intended movement of the first crane (1), by means of control commands, which are provided at the first stopped crane (1) and transmitted to the second crane (2) by the remote control connection (21), and- the second crane (2) is stopped after being moved out of the collision region (130) by remote control and the first crane (1) is started up again and moved.
- Method according to the preceding claim, wherein when the first crane (1) is stopped, a control command connection between the control unit (13) of the first crane (1) and at least one movement device of the first crane (1) is deactivated and/or a control command connection from input means (14) of the control unit (13) of the first crane (1) to a remote control module of the first crane (1) is activated.
- Method according to any one of the preceding claims, wherein when the first crane (1) is stopped, at least one movement device of the first crane (1), in particular its slewing gear (5), is braked.
- Method according to any one of the preceding claims, wherein the control commands for remotely moving the second crane (2) in a manual remote control mode are generated by operating input means (14) of a/the control unit of the first crane (1) provided for controlling movements of the first crane (1).
- Method according to any one of the preceding claims, wherein the control commands for remotely moving the second crane (2) in a automatic remote control mode are automatically or semi-automatically generated by a movement control module of the anti-collision device (17) of the first crane (1).
- Method according to the preceding claim, wherein the control commands for remotely moving the second crane (2) are generated by said movement control module in dependence on position and/or movement data characterising the position and/or movement of the first crane (1) and/or in dependence on position data characterising the position and/or attitude of the second crane (2) transmitted from the anti-collision device (18) of the second crane (2) to the anti-collision device (17) of the first crane (1).
- Method according to any one of the preceding claims, wherein the control commands for remotely moving the second crane (2) are transmitted from the first crane (1) to the second crane (2) via a/the communication link (19) between the anti-collision devices (17, 18).
- Method according to any one of the preceding claims, wherein the first crane (1) is stopped before the remote control connection is established and said remote control connection is terminated before the first crane (1) is restarted.
- Method according to any one of the preceding claims, wherein the multiple cranes (1, 2) are moved in a coordinated manner, wherein movement and/or position and/or status data and/or control commands are determined at least at a first crane (1) during the movement to be coordinated by its anti-collision device (17) and are transmitted to a second crane (2), wherein the movement and/or position and/or status data and/or control commands determined at the first crane (1) are displayed on a display device at the second crane (2) and/or are used by the control unit (13) of the second crane (2) for controlling at least one movement device of the first and/or second crane (2) for executing the coordinated movement.
- Method according to the preceding claim, wherein the control unit (13) of the second crane (2) has a slave operating mode, in which the control unit (13) of the second crane (2) controls at least one movement device of the second crane (2) on the basis of the transmitted movement and/or position and/or status data of the first crane and/or on the basis of control commands transmitted by the first crane (1) in such a way that the second crane (2) follows crane movements of the first crane at least approximately synchronously and/or converts them in a predetermined manner into crane movements of the second crane.
- Method according to the two preceding claims, wherein the crane movements of both cranes (1, 2) are coordinated with one another on the basis of the alternately transmitted movement and/or position and/or status data and/or control commands, which are provided and/or transmitted by the anti-collision devices (17, 18), in such a way that the cranes (1, 2) execute a tandem lift.
- Crane assembly comprising a crane having at least one moving device for moving a crane element, a control unit (13) for controlling the moving device, and an anti-collision device (17) for monitoring the crane movements of the crane element for possible collisions with another crane (2), characterised in that the anti-collision device (17) has a remote control operating mode in which, in the event of an imminent collision between a first crane (1) in operation and a second crane (2) out of operation, the remote control operating mode (17) is activated by the control unit (13).- the first crane (1) is stopped,- a remote control connection (21) is established from the first crane (1) to the second crane (2), wherein for establishing the remote control connection (21), a control unit (13) of the second crane (2) is woken up and set in a remote control mode by a wake-up command transmitted from the first crane (1) to the second crane (2) via a communication link (19) between the anti-collision devices (17, 18),- the second crane (2) is moved out of the collision region (130), which is interfering with an intended movement of the first crane (1), by means of control commands, which are provided at the first stopped crane (1) and transmitted to the second crane (2) by the remote control connection (21), and- the second crane (2) is stopped after being moved out of the collision region (130) by remote control and the first crane (1) is started up again and moved.
- Crane assembly according to the preceding claim, wherein the anti-collision device (17) has a movement coordination mode of operation in which the movement of the crane is coordinated with the movement of a further, second crane, wherein during the movement to be coordinated, movement and/or position and/or status data and/or control commands are determined by the anti-collision device (17) of the crane and transmitted to said further, second crane to be displayed there on a display device and/or used by the control unit of the second crane to control at least one movement device of the first and/or second crane to perform the coordinated movement.
- Crane assembly according to the preceding claim, wherein the control unit (13) of the crane has a slave operating mode, in which the control unit (13) controls the crane on the basis of movement and/or position and/or status data transmitted by the other crane and/or on the basis of control commands transmitted by the other crane, the at least one movement device in such a way that the crane simulates crane movements of the said other, second crane, in particular follows them synchronously.
- Crane assembly according to any one of the preceding claims, wherein the movement device comprises a boom adjusting mechanism for adjusting a crane boom, in particular a slewing gear (5) for slewing a crane boom about an upright axis.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102018100133.9A DE102018100133A1 (en) | 2018-01-04 | 2018-01-04 | Crane with anti-collision device and method for operating several such cranes |
PCT/EP2019/050155 WO2019134966A1 (en) | 2018-01-04 | 2019-01-04 | Crane with anti-collision device and method for operating multiple such cranes |
Publications (2)
Publication Number | Publication Date |
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EP3713867A1 EP3713867A1 (en) | 2020-09-30 |
EP3713867B1 true EP3713867B1 (en) | 2023-07-26 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP19700636.4A Active EP3713867B1 (en) | 2018-01-04 | 2019-01-04 | Crane with anti-collision device and method for operating multiple such cranes |
Country Status (7)
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US (1) | US11286137B2 (en) |
EP (1) | EP3713867B1 (en) |
CN (1) | CN111712458B (en) |
BR (1) | BR112020013525A2 (en) |
DE (1) | DE102018100133A1 (en) |
ES (1) | ES2960799T3 (en) |
WO (1) | WO2019134966A1 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018100133A1 (en) | 2018-01-04 | 2019-07-04 | Liebherr-Werk Biberach Gmbh | Crane with anti-collision device and method for operating several such cranes |
JP7443710B2 (en) * | 2019-09-20 | 2024-03-06 | 株式会社タダノ | Work vehicle coordination system and aerial work vehicle |
CN112073090B (en) * | 2020-11-13 | 2021-04-02 | 新乡先立起重机电科技有限公司 | Method and system for processing crane monitoring data |
FR3132293B1 (en) | 2022-02-01 | 2023-12-15 | Manitowoc Crane Group France | Automatic piloting method for autonomous safety orientation of the boom at risk of interference |
DE102022126938A1 (en) | 2022-10-14 | 2024-04-25 | Liebherr-Werk Biberach Gmbh | Anti-collision device for construction machines and method for operating several construction machines |
Citations (1)
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DE102006040782A1 (en) * | 2006-08-31 | 2008-03-20 | Liebherr-Werk Nenzing Gmbh, Nenzing | Safety and control procedures for cranes |
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FR2715391B1 (en) * | 1994-01-24 | 1996-03-22 | Lorraine Laminage | Anti-collision device and method for a mobile. |
JP2008509058A (en) * | 2004-05-14 | 2008-03-27 | パセコ コーポレイション | Method and apparatus for creating a status report device for a container handler |
FR2876992B1 (en) * | 2004-10-27 | 2007-04-13 | Materiel Ind Et D Equipement S | METHOD AND DEVICE FOR CONTROLLING THE AUTOMATIC WINDING OF A TOWER CRANE |
US9415976B2 (en) * | 2012-05-10 | 2016-08-16 | Trimble Navigation Limited | Crane collision avoidance |
KR20140132602A (en) * | 2013-05-08 | 2014-11-18 | 김헌성 | Apparatus for managing tower crane remotely |
CA2948778C (en) * | 2014-05-16 | 2018-12-04 | Laird Technologies Inc. | Method, system and related devices for operating multiple cranes in unison |
FR3030469B1 (en) | 2014-12-22 | 2017-01-27 | Bouygues Construction Materiel | AUTOMATED PILOTAGE OF A CRANE WITHOUT GRUTIER AND ASSOCIATED SYSTEM |
DE102015010726A1 (en) * | 2015-08-17 | 2017-02-23 | Liebherr-Werk Biberach Gmbh | Site monitoring procedure, work machine and site monitoring system |
DK179085B1 (en) * | 2016-03-21 | 2017-10-16 | Apm Terminals Man Bv | Container handling equipment controller arrangement |
DK179592B1 (en) * | 2016-03-21 | 2019-02-22 | Apm Terminals Management Bv | Communication device for a container handling equipment device and communication method |
DE102016004266A1 (en) * | 2016-04-08 | 2017-10-12 | Liebherr-Werk Biberach Gmbh | Construction machine, in particular crane, and method for its control |
NL2021043B1 (en) * | 2018-06-01 | 2019-12-10 | Itrec Bv | Offshore wind turbine installation vessel and a crane for providing such a vessel and method for upending a monopile |
DE102018100133A1 (en) | 2018-01-04 | 2019-07-04 | Liebherr-Werk Biberach Gmbh | Crane with anti-collision device and method for operating several such cranes |
-
2018
- 2018-01-04 DE DE102018100133.9A patent/DE102018100133A1/en active Pending
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2019
- 2019-01-04 WO PCT/EP2019/050155 patent/WO2019134966A1/en unknown
- 2019-01-04 ES ES19700636T patent/ES2960799T3/en active Active
- 2019-01-04 CN CN201980012911.7A patent/CN111712458B/en active Active
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2020
- 2020-07-02 US US16/919,742 patent/US11286137B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006040782A1 (en) * | 2006-08-31 | 2008-03-20 | Liebherr-Werk Nenzing Gmbh, Nenzing | Safety and control procedures for cranes |
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BR112020013525A2 (en) | 2020-12-01 |
CN111712458A (en) | 2020-09-25 |
RU2020125401A3 (en) | 2022-04-18 |
ES2960799T3 (en) | 2024-03-06 |
DE102018100133A1 (en) | 2019-07-04 |
US11286137B2 (en) | 2022-03-29 |
EP3713867A1 (en) | 2020-09-30 |
WO2019134966A1 (en) | 2019-07-11 |
RU2020125401A (en) | 2022-02-04 |
CN111712458B (en) | 2022-10-28 |
US20200399098A1 (en) | 2020-12-24 |
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