EP2524892B1 - Crane control - Google Patents

Description

The present invention relates to a crane control for a crane arranged on a ship, with a load moment limitation, which determines a maximum permissible load. The load torque limit can be designed so that the maximum permissible load either automatically taken into account in the control of the crane or output to the user so that it can take into account the maximum load capacity when driving the crane.

In a crane arranged on a ship must be taken into account in determining the maximum load capacity in addition to the usual factors which are included in a load torque limit, such as the jib of the crane, also that the current wave motion can affect the maximum allowable load , Previous load torque limitations, in which a significant wave height or a sea state is determined, according to which a corresponding load curve in crane operation must be selected, are subject to great uncertainties.

Furthermore, it has so far been concluded from the already difficult to determine significant wave height on the movement of the jib tip, from which in turn the maximum load limit was determined so that, for example, the direction of flow and the ship type could not be considered. The GB 2 267 360 A concerns the coordination of the interaction between a floating object at sea, usually a ship or other object, and a reference object, which may be levitating or stationary. The movement of the floating object is monitored by means of a CCD camera. The data thus obtained is evaluated by an image analyzer and the evaluations are added to a microprocessor which outputs a signal for activating a crane mounted on one of these objects, so that the loading and unloading operations can be carried out efficiently.

The US Pat. No. 6,505,574 B1 discloses a method and system for reducing a vertical load movement of a ship's crane caused by the sea state. The speed of the vertical movements of the load is detected by means of a sensor system and the evaluations are added to a processor so that when the maximum permissible load is exceeded, the latter outputs a control signal.

The US 2010/0089855 A1 relates to an apparatus and method that ensures safe and controlled cargo transfer between a first platform and a second platform that move relative to each other.

The DE 10 2008 024 513 A1 relates to a crane control with active Seegangsfolge for a crane arranged on a float, which has a lifting mechanism for lifting a hanging on a rope load. In this case, a measuring device, which determines the current sea state movement from sensor data, and a prediction device, which predicts the future movement of the load suspension point, are provided, wherein a path control of the load at least partially offsets the movement of the load through the sea state.

Object of the present invention is therefore to provide a crane control with a load torque limit available, which allows a more reliable determination of the maximum allowable load of a crane arranged on a ship.

This object is achieved by a crane control according to claim 1.

The present invention shows a crane control for a crane arranged on a ship, with a load moment limitation, which determines a maximum permissible load. In this case, the load moment limitation is connected to a measuring unit for measuring the movement of the ship and determines the maximum permissible load on the basis of data of the measuring unit. According to the ship movements are now detected by sensors and used to determine the maximum load of the crane. By measuring the real ship movement, the technical limits can thus be exploited in a more situational manner, thus achieving higher loads with consistently high safety.

Preferably, an inertial measuring system is used as the measuring unit, from whose data the movement of the cantilever tip of the

Cranes due to the ship's movement can be determined at least in the vertical direction. The measuring unit may in particular comprise a gyroscope and / or an acceleration sensor and / or an electronic inclination transmitter.

Advantageously, the load torque limit determined by the evaluation of data of the measuring unit, a speed and / or acceleration of the boom tip and determines from this the maximum permissible load. Advantageously, at least the Speed and / or acceleration of the boom tip determined in the vertical direction and from this determines the maximum permissible load. The determination of the vertical movement of the cantilever tip is usually sufficient to determine the maximum permissible load, as this is the deciding factor in the movement of the cantilever tip in terms of the load.

Advantageously, in the crane control according to the invention, the determination of the speed and / or acceleration of the jib tip takes place on the basis of data of a preceding specific time period. The determination thus always takes place over a specific revolving time window, so that always up-to-date data is used to determine the speed and / or acceleration or to determine the maximum permissible load.

Furthermore, it can be provided in the present invention that at the beginning of work, an initialization of the load torque limit takes place with currently measured values. The output results are therefore always based on values since the controller was restarted, while old data is not taken into account for the calculation.

Advantageously, the load torque limit determines a tip speed and / or peak acceleration of the cantilever tip over a certain period of time. This can then be used to determine the maximum permissible load.

Advantageously, the determination of the peak velocity and / or peak acceleration takes place via a filter algorithm which evaluates the measurement data of the measuring unit.

Further advantageously, the load torque limit forms an average of the speed and / or acceleration of the cantilever tip over a certain period of time. Advantageously, the averaging is carried out over an upper portion of the determined by the measuring unit speeds and / or Accelerations. This results in an average peak speed and / or peak acceleration. For example, according to the invention, the mean value of the upper third of the measured speeds and / or accelerations can be determined.

Further advantageously, according to the invention, the maximum permissible load is read from a table or a look-up table on the basis of a speed value and / or acceleration value determined from the data of the measuring unit. The maximum permissible carrying loads for different speed values and / or acceleration values can therefore be stored in the crane control according to the invention in the form of a table and then read out according to the determined values. Of course, the table may be a multi-dimensional table, so that in addition to the speed and / or acceleration values, of course, further values are included in the query of the maximum permissible load. In particular, the unloading of the crane can continue to be included in the query of the table. Alternatively, the load can be calculated online. As far as reference is made in the following description to the reading out of tables, an online calculation can alternatively be carried out here as well.

In a first embodiment of the present invention, the measuring unit can be arranged on the crane tip. The measuring unit can thus measure directly the movement of the crane tip by the wave motion of the ship. In particular, the measuring unit is equipped so that it can determine the movement of the crane tip in the vertical direction, in particular the speed and / or acceleration and / or the crane tip in the vertical direction. Advantageously, the crane control in this case has an evaluation unit which calculates the movements of the cantilever tip generated by the crane movement from the total movement measured by the measuring unit.

Furthermore, a determination of the speed and / or acceleration of the cantilever tip for a given cantilever position can be made by converting data from a measuring unit not arranged in this position. Thus, a position for which the maximum load is to be determined, no longer be approached by the boom.

Furthermore, it can be provided according to the invention that a measuring unit is arranged on the tower of the crane or on the ship, wherein the load moment limitation determines the speed and / or acceleration of the boom tip by converting the data from the measuring unit. Advantageously, a geometric model of the crane is used for this purpose. Further advantageously, data about a current and / or a virtual position of the cantilever tip enter into the calculation.

Advantageously, according to the present invention, it can be provided that the determination of the speed and / or acceleration of the boom tip takes place for a user-inputable boom position. The crane control according to the invention therefore comprises in particular a user dialogue in which the user can enter a boom position, for which then the maximum permissible load is determined. Thus, the determination of the speed or acceleration for any position of the cantilever tip is possible without having approached them.

If a measuring unit not arranged at the crane tip is used, this advantageously determines the speed and / or acceleration in all three spatial directions. From the measured values of this measuring unit, it is then possible to calculate the vertical speed and / or acceleration of the cantilever tip which is decisive for the load. This vertical movement then enters into the determination of the maximum permissible load. Advantageously, the two mentioned measuring units can also be combined.

Advantageously, horizontal influences can additionally be taken into account. These may be due to an inclination of the ship resulting from the loading condition or a pre-trimming. Also dynamic horizontal deflections of the load, which are caused by horizontal relative movements of the installations (ship with crane, ship, which takes off and picks up the load) are considered here. The horizontal influences can be measured or calculated. The values can be taken into account by tables or by online calculation in the payloads.

Furthermore, it can be provided that the load torque limiting device according to the invention is connected to a second measuring unit, which determines the movement of another ship, wherein the load torque limit for determining the maximum permissible load additionally uses data of the second measuring unit. This embodiment of the crane control according to the invention is used in particular when a load is to be stored on another ship or absorbed by it. In this case, the movement of this further ship is a factor which must be considered at the maximum permissible load. This is inventively accomplished by a second measuring unit, which is arranged on the other ship.

The evaluation of the data from the second measuring unit can be carried out in the same manner as for the data of the first measuring unit. In particular, a tip speed and / or peak acceleration of the further ship can be determined. Advantageously, this can be an average of the speed and / or acceleration over a certain period of time. Advantageously, the averaging is carried out over an upper portion of the determined by the measuring unit speeds and / or accelerations. Furthermore, a filtering of the measured data can take place beforehand.

The crane control according to the invention advantageously has an output unit which outputs the maximum load calculated by the load moment limitation. Advantageously, this is an optical output unit, in particular, a display unit. The output can also or alternatively be made to the crane control, which automatically takes into account when controlling the crane.

Advantageously, it can be provided that the output of the maximum permissible load for a given boom position is possible. Advantageously, such a boom position can be entered by the user.

Alternatively or additionally, it can be provided that the maximum permissible load is output as a load curve.

In addition to the crane control, the present invention further comprises a crane with a crane control according to the invention. In particular, this is a jib crane. Further advantageously, it is a tower crane - such as a boom crane, offshore crane, ship crane or a non-rotatably tiltable frame crane - with a rotatable about a vertical axis of rotation tower on which a boom is arranged. Advantageously, the crane control controls in particular the hoist of the crane according to the invention. The crane according to the invention can be arranged or arranged on a ship.

In addition to the crane control and the crane, the present invention further comprises a ship with a crane according to the invention, which is accordingly equipped with a crane control according to the invention.

The present invention further includes a method for operating a crane arranged on a ship, in which a maximum permissible load is determined. Advantageously, it is provided for this purpose that a movement of the ship is measured and the maximum permissible load is determined on the basis of the measured movement. Advantageously, the determination of the maximum permissible load takes place as already described above with regard to the crane control. In particular, it is advantageously based on the measured data determines a speed and / or acceleration of the jib tip, in particular in the vertical direction and from this determines the maximum permissible load.

The present invention will now be described in more detail with reference to embodiments and drawings.

Fig. 1

ein Ausführungsbeispiel eines erfindungsgemäßen Schiffes mit einem erfindungsgemäßen Kran mit einer erfindungsgemäßen Steuereinheit,

Fig. 2

eine Prinzipdarstellung eines ersten Ausführungsbeispiels einer erfindungsgemäßen Kransteuerung,

Fig. 3

eine Ein- und Ausgabeeinheit für eine Kransteuerung eines zweiten Ausführungsbeispiels der vorliegenden Erfindung.

Fig. 4

eine Ausgabeeinheit für eine Kransteuerung eines dritten Ausführungsbeispiels der vorliegenden Erfindung,

Fig. 5

eine Prinzipdarstellung eines vierten Ausführungsbeispiels einer erfindungsgemäßen Kransteuerung,

Fig. 6

eine Prinzipdarstellung eines fünften Ausführungsbeispiels einer erfindungsgemäßen Kransteuerung und

Fig. 7

eine Prinzipdarstellung eines sechsten Ausführungsbeispiels einer erfindungsgemäßen Kransteuerung.

Showing:

Fig. 1

An embodiment of a ship according to the invention with a crane according to the invention with a control unit according to the invention,

Fig. 2

a schematic diagram of a first embodiment of a crane control according to the invention,

Fig. 3

an input and output unit for a crane control of a second embodiment of the present invention.

Fig. 4

an output unit for a crane control of a third embodiment of the present invention,

Fig. 5

a schematic diagram of a fourth embodiment of a crane control according to the invention,

Fig. 6

a schematic diagram of a fifth embodiment of a crane control according to the invention and

Fig. 7

a schematic diagram of a sixth embodiment of a crane control according to the invention.

Fig. 1 shows an embodiment of a ship according to the invention 1. The ship 1 has a crane 3, which is equipped with a crane control according to the invention. In the exemplary embodiment, this is a tower crane with a tower 5, which is rotatably arranged about a rotary axis 6 on a tower base 4 about a vertical axis of rotation. On the tower 5, a boom 7 is arranged up and down about a horizontal axis of rotation. The hoist rope 8 is guided over the top 10 of the boom 7. The crane has in particular a lifting drive for moving the hoisting rope 8, via which a load hanging on the crane hook 9 can be lifted. Furthermore, in Fig. 1 another ship 2 shown, on which the load can be stored or from which the load can be lifted.

As in Fig. 1 drawn, the wave motion generates a movement of the ship and thus a movement v _{C of} the top 10 of the boom and thus the load. Likewise, the wave motion generates a movement v _{D of} the other ship and thus the destination. The movements of the crane caused by the wave movement affect the maximum permissible load (SWL for Safe Work Load). According to the invention, the situation-specific maximum load of the crane is determined on the basis of measured values which are obtained by a measuring unit for measuring the movement of the ship 1. The ship movements detected by the sensors are thereby processed by means of filter algorithms so as to determine the vertical jib tip speed and / or vertical jib tip acceleration. With this speed and / or acceleration, the situation-specific maximum load capacity of the crane can then be calculated.

The measurement of the real ship movement on the open sea makes it possible to make better use of the technical limits, because of the conveyed real movement of the Jib tip in the vertical direction, the maximum load can be determined much safer than by a method according to the prior art.

• MU 1: Anordnung der Meßeinheit MU 1 an der Auslegerspitze
• MU 2: Anordnung der Meßeinheit MU 2 am Turm des Kranes oder am Schiff
• MU 3: Anordnung der Meßeinheit MU 3 auf einem weiteren Schiff/Barge

As the measuring unit MU advantageously an inertial measuring unit is used. This may in particular comprise a gyroscope and / or an acceleration sensor or sensor and / or electronic tilt sensors. In Fig. 1 are now given three possible different positions for such a measuring unit, which according to the invention can be used both in combination and each individually:

• MU 1: Arrangement of the measuring unit MU 1 on the jib tip
• MU 2: Arrangement of the measuring unit MU 2 on the tower of the crane or on the ship
• MU 3: Arrangement of the measuring unit MU 3 on another ship / barge

The first two positions for the arrangement of a measuring unit can be used alternatively or simultaneously to determine the movement of the boom tip due to the movement of the ship 1. The third arrangement possibility of a measuring unit serves to determine the movement of another ship 2, on which the load is to be deposited or from which the load is to be picked up.

If a fixed installation is used instead of another ship 2, for example a platform, the third measuring unit MU 3 is not needed. Rather, then the vertical velocity v _D can be assumed to be zero.

The vertical velocity v _C in the cantilever tip or the cantilever tip acceleration, on the other hand, can be measured directly by the MU 1 and / or calculated from the values measured by the MU 2.

The evaluation of the measured values will now be explained in more detail in a first exemplary embodiment, in which the determination of the maximum load is determined on the basis of a vertical peak speed v _C. By recording the movement the cantilever tip by means of the measuring unit MU 1 and subsequent statistical evaluation over a specific time window while the average vertical velocity of the current position of the crane tip is determined. This vertical speed and the discharge then determine the maximum load.

Fig. 2 shows a basic procedure of the evaluation: The measured by the measuring unit 20 data for moving the cantilever tip are first filtered through a filter algorithm 21 and from these the current vertical speed v _C determined. The position of the crane jib, which is taken from the crane control in step 25, thereby advantageously enters the algorithm 21 for calculating the vertical speed v _{C of} the boom tip from the measurement data of the measuring unit 20. Then, in step 22, the average of the upper third of the measured velocities v _{C is determined} over a certain time window.

The peak speed determined in step 22 and the boom of the crane boom are used in step 23 to determine the maximum load. The maximum payload is read from a corresponding table based on the peak speed and outreach values. In step 30, the output of the maximum load SWL determined in this way then takes place in a user interface.

In order to increase the comfort for the user, the determination of the vertical speed v _{C of} the jib tip for any operating point, without this point must first be approached by the crane. For this purpose, the second measuring unit MU 2 can be used. Via an input of the user, any cantilever tip position can be approached virtually. From the data determined by the measuring unit 2, the vertical cantilever tip speed v _C for the virtual operating point of the cantilever tip can now be calculated. For this purpose, only the known geometry of the cantilever tip with respect to the position of the second measuring unit MU 2 must be used.

The evaluation can be as in Fig. 2 However, the filter algorithm 21 now carries out the conversion of the data from the measuring unit 20, which is not arranged on the crane jib tip, on the basis of virtual data relating to the position of the crane jib.

Of course, it is possible to use both a first measuring unit MU 1 on the boom tip, as well as a second measuring unit MU 2 on the tower or on the ship.

Fig. 3 shows an input / output unit, via which any jib tip position can be approached virtually. The rotation angle can be changed via the input mask 31, and the radius can be changed via the input mask 32. The input can be done for example via a keyboard and / or virtual slide on a monitor or touchscreen. The user interface now outputs the vertical peak speed in the display 33 and the resulting maximum load SWL in a display 34 for the set virtual position.

Alternatively or additionally, an indication of the maximum payloads for the entire working range, e.g. take the form of a load curve. It should be noted that the maximum vertical speeds and thus the maximum allowable loads for different angles of rotation of the crane may be different, since the wave motion may, for example, lead to a greater movement of the ship in the transverse direction than in the longitudinal direction.

In order nevertheless to be able to specify a load-bearing curve which is valid for any angle of rotation of the crane, the following procedure can be adopted:

First, the maximum vertical velocity v _{C is} calculated for N different angles of rotation over the entire swept range. In a second step, the maximum load capacities for the various angles of rotation are determined as a function of the radius. The presentation is now done by projection of the maximum payloads for the various angles of rotation in a single graph. Finally, the minimum over all angles of rotation can then be calculated, which is then displayed as the maximum possible SWL in the form of a load curve.

In Fig. 4 An exemplary embodiment of such a display is shown, in which a plurality of load curves 35 for different angles of rotation are combined in one representation. Alternatively or additionally, the display of the minimum over all load curves can be provided.

In all embodiments of the present invention, after a restart of the control, a reinitialization of the determination of the movement of the cantilever tip takes place. The output results are always based on values since the controller was restarted. By contrast, old data is not taken into account for the calculation.

The presentation of the results can be done both in the crane control and on a diagnostic computer to be connected externally.

The previous embodiments concerned the case v _D = 0, that is, the work with a fixed target. If, on the other hand, a non-zero cover speed is to be used, that is, with a further ship as the target or starting point, then the measured values of the third measuring unit MU 3 are also used. The procedure corresponds essentially to the case already described above, but the lookup table 23 has a further input. In addition to the speed of the jib tip v _C , the cover speed v _D is then used to read out the maximum permissible load from the table 23 (cf. FIG. 5 ).

The evaluation of the measured data of the third measuring unit 40 is carried out analogously to the evaluation of the data of the first or second measuring unit 20. For this purpose, a filter algorithm 41 is provided, which from the data of the measuring unit, the cover speed determined in the vertical direction v _D. In step 42, the average value of the upper third is then determined from this. This then enters as the peak value of the cover speed in the determination of the maximum load.

The display of the data on the user interface 30 can then take place as already shown above.

Instead of the velocity in the vertical direction v _C or v _D used in the exemplary embodiment, alternatively or additionally, the acceleration in the vertical direction a _C or a _{D can also be used} to determine the maximum permissible load. The evaluation of the measurement results can be done in the same way as for the speed.

In the Fig. 6 and 7 are evaluation procedures analogous to those according to the Fig. 4 and 5 shown. Here, in addition, the horizontal influences are considered in step 50. These may be due to an inclination of the ship resulting from the loading condition or a pre-trimming. Also dynamic horizontal deflections of the load, which are caused by horizontal relative movements of the installations (ship with crane, ship, which takes off and picks up the load) are considered here. The horizontal influences can be measured or calculated. The values can be taken into account by tables or by online calculation in the payloads.

The present invention makes it possible, through the use of measured values for ship movement, to deploy a crane deployed on a ship safely and with high loads despite the movement of the ship and thus of the crane caused by the wave motion.

As a ship in the context of the present invention, each buoyant body, which is thus exposed to a wave motion, considered. The present invention can therefore also be used in cranes which are arranged on barges or other floats.

Claims (11)

1. A crane control for a crane (3) arranged on a ship (1) having a load moment limitation system which determines a maximum permitted payload, characterized in that the load moment limitation apparatus is in communication with a measuring unit (20) for measuring the movement of the ship (1) and determines the maximum permitted payload on the basis of data of the measuring unit (20).
2. A crane control in accordance with claim 1, wherein the load moment limitation system determines a speed and/or acceleration of the boom tip (10), in particular in the vertical direction, by the evaluation of data of the measuring unit (20) for measuring the movement of the ship (1) and determines the maximum permitted payload from this, with the determination advantageously taking place on the basis of data of a respectively preceding defined time period.
3. A crane control in accordance with claim 1 or claim 2, wherein the load moment limitation system determines a tip speed and/or tip acceleration of the boom tip (10) over a specific time period, with the load moment limitation system advantageously forming a mean value of the speed and/or acceleration of the boom tip (10) over the specific time period and the mean value formation advantageously taking place over an upper part region of the speeds and/or accelerations determined by the measuring unit (20).
4. A crane control in accordance with one of the preceding claims, wherein the maximum permitted payload is read out of a table with reference to a speed value and/or acceleration value determined from the data of the measuring unit (20) or is calculated online.
5. A crane control in accordance with one of the preceding claims, wherein the horizontal influences are measured and/or calculated in order then to be taken into account in the payload calculation by tables or by an online calculation.
6. A crane control in accordance with one of the preceding claims, wherein the measuring unit (20) is arranged at the crane tip, or wherein a determination of the speed and/or acceleration of the boom tip (10) takes place for a specific boom position by conversion of data of a measuring unit (20) not arranged in this position, with the measuring unit (20) advantageously being arranged at the tower (5) of the crane (3) or at the ship (1) and/or with the determination advantageously taking place for a boom position which can be input by the user.
7. A crane control in accordance with one of the preceding claims, wherein the load moment limitation system is in communication with a further measuring unit (20) which determines the movement of a further ship (1);
   wherein the load moment limitation system makes use of additional data of the further measuring unit (20) for determining the maximum permitted payload.
8. A crane control in accordance with one of the preceding claims having an output unit, in particular an optical output unit which outputs the maximum payload calculated by the load moment limitation system, with the output advantageously taking place for a specific boom position, in particular input by the user, and/or as a payload curve.
9. A crane control in accordance with one of the preceding claims, wherein the measuring unit (20) is an inertia measuring system or a GPS system.
10. A crane (3) having a crane control in accordance with one of the preceding claims or a ship (1) having a crane (3) in accordance with one of the preceding claims.
11. A method for operating a crane (3) arranged on a ship (1) in accordance with claim 10, in which a maximum permitted payload is determined, characterized in that a movement of the ship (1) is measured; and the maximum permitted payload is determined on the basis of the measured movement.

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