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EP2524892A1 - Commande de grue - Google Patents

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Publication number
EP2524892A1
EP2524892A1 EP12003631A EP12003631A EP2524892A1 EP 2524892 A1 EP2524892 A1 EP 2524892A1 EP 12003631 A EP12003631 A EP 12003631A EP 12003631 A EP12003631 A EP 12003631A EP 2524892 A1 EP2524892 A1 EP 2524892A1
Authority
EP
European Patent Office
Prior art keywords
crane
load
measuring unit
ship
crane control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12003631A
Other languages
German (de)
English (en)
Other versions
EP2524892B1 (fr
Inventor
Johannes Karl Dr. Eberharter
Klaus Dr.- Ing. Schneider
Eugen DI Schobesberger
Helmut DI Fischer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP2524892A1 publication Critical patent/EP2524892A1/fr
Application granted granted Critical
Publication of EP2524892B1 publication Critical patent/EP2524892B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
    • 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
    • B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/52—Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the 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 either automatically account for the maximum allowable load 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.
  • 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.
  • 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.
  • 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.
  • an inertial measuring system is used as the measuring unit, from the data of which the movement of the jib tip of the crane can be determined at least in the vertical direction due to the ship's movement.
  • the measuring unit may in particular comprise a gyroscope and / or an acceleration sensor and / or an electronic inclination transmitter.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the load torque limit forms an average of the speed and / or acceleration of the cantilever tip over a certain period of time.
  • 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.
  • the mean value of the upper third of the measured speeds and / or accelerations can be determined.
  • 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.
  • 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.
  • the unloading of the crane can continue to be included in the query of the table.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a position for which the maximum load is to be determined no longer be approached by the boom.
  • 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.
  • 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.
  • 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.
  • the determination of the speed or acceleration for any position of the cantilever tip is possible without having approached them.
  • the two mentioned measuring units can also be combined.
  • 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.
  • the load torque limitation according to the invention is in communication with a second measuring unit which determines the movement of another ship, wherein the load torque limit additionally uses data from the second measuring unit for determining the maximum permissible load.
  • 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 taken up by this. 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.
  • a tip speed and / or peak acceleration of the further ship can be determined.
  • this can be an average of the speed and / or acceleration over a certain period of time.
  • the averaging is carried out over an upper portion of the determined by the measuring unit speeds and / or accelerations.
  • 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.
  • 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.
  • the output of the maximum permissible load for a given boom position is possible.
  • a boom position can be entered by the user.
  • the maximum permissible load is output as a load curve.
  • the present invention further comprises a crane with a crane control according to the invention.
  • this is a jib crane.
  • 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.
  • 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.
  • 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.
  • a maximum permissible load is determined.
  • a movement of the ship is measured and the maximum permissible load is determined on the basis of the measured movement.
  • the determination of the maximum permissible load takes place as already described above with regard to the crane control.
  • 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 further comprises a program, in particular a program stored on a data carrier, for implementing a method as described above on a crane control.
  • 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.
  • 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.
  • 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.
  • another ship 2 shown on which the load can be stored or from which the load can be lifted.
  • 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.
  • 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).
  • 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 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.
  • 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 can be measured directly by the MU 1 and / or calculated from the values measured by the MU 2.
  • the determination of the maximum load is determined on the basis of a vertical peak speed v C.
  • 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.
  • the average of the upper third of the measured velocities v C is determined over a certain time window.
  • step 22 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.
  • step 30 the output of the maximum load SWL determined in this way then takes place in a user interface.
  • 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.
  • 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
  • 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.
  • first measuring unit MU 1 on the boom tip
  • 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.
  • 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.
  • the maximum vertical velocity v C is calculated for N different angles of rotation over the entire swept range.
  • 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.
  • 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.
  • the presentation of the results can be done both in the crane control and on a diagnostic computer to be connected externally.
  • the procedure corresponds essentially to the case already described above, but the lookup table 23 has a further input.
  • 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.
  • a filter algorithm 41 is provided, which from the data of the measuring unit, the cover speed determined in the vertical direction v D.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP12003631.4A 2011-05-19 2012-05-09 Commande de grue Active EP2524892B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011102025A DE102011102025A1 (de) 2011-05-19 2011-05-19 Kransteuerung

Publications (2)

Publication Number Publication Date
EP2524892A1 true EP2524892A1 (fr) 2012-11-21
EP2524892B1 EP2524892B1 (fr) 2014-01-08

Family

ID=46178387

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12003631.4A Active EP2524892B1 (fr) 2011-05-19 2012-05-09 Commande de grue

Country Status (4)

Country Link
US (1) US20120296519A1 (fr)
EP (1) EP2524892B1 (fr)
CN (1) CN102786001B (fr)
DE (1) DE102011102025A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2947035A1 (fr) * 2014-05-22 2015-11-25 Liebherr-Werk Nenzing GmbH Procédé de détermination de la charge d'une machine de travail et machine de travail, en particulier une grue
GB2493946B (en) * 2011-08-24 2017-07-19 Fraser Dunphy James Crane monitoring system
RU2775521C1 (ru) * 2022-03-09 2022-07-04 Закрытое акционерное общество "Центральный Научно-исследовательский Институт Судового Машиностроения" (ЗАО "ЦНИИ СМ") Способ отрыва плавающего объекта с поверхности воды на волнении и устройство для его реализации

Families Citing this family (14)

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Publication number Priority date Publication date Assignee Title
DE202010014310U1 (de) * 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
MY168361A (en) * 2012-06-01 2018-10-31 Seatrax Inc In the united states patent and trademark office
GB201303031D0 (en) * 2013-02-21 2013-04-03 Limpet Holdings Uk Ltd Improved appratus for and method of transferring an object between a marine transport vessel and a construction or vessel
DE102013011489B4 (de) * 2013-07-09 2021-09-16 Liebherr-Werk Ehingen Gmbh Turmdrehkran
SG10201608235YA (en) * 2015-10-05 2017-05-30 Keppel Offshore & Marine Technology Ct Pte Ltd System and method for guiding cargo transfer between two bodies
NO341050B1 (en) * 2016-08-10 2017-08-14 Rolls Royce Marine As Motion compensating crane system
JP6852178B2 (ja) * 2017-02-28 2021-03-31 ジェイ． レイ マクダーモット， エス．エー． 目標追跡支援を用いた、沖合での船から船への吊り上げ
CN110709602B (zh) * 2017-06-12 2022-04-15 西门子歌美飒可再生能源公司 离岸风力涡轮机安装装置
EP3461783B1 (fr) * 2017-09-29 2019-11-13 B&R Industrial Automation GmbH Équipement de levage et procédé de commande d'un équipement de levage
JP7059605B2 (ja) * 2017-12-08 2022-04-26 富士電機株式会社 クレーンの運転制御装置
JP7172243B2 (ja) * 2018-07-25 2022-11-16 株式会社タダノ クレーンおよびクレーンの制御システム
EP3653484A1 (fr) 2018-11-19 2020-05-20 Ørsted Wind Power A/S Système pour transférer un objet depuis un navire à une structure en mer
US12054363B2 (en) 2019-02-05 2024-08-06 J. Ray McDermott System and methods for determining relative position and relative motion of objects
BE1027530B1 (nl) * 2019-08-29 2021-03-29 Deme Offshore Be Nv Werkwijze voor het heffen van een object vanaf een vaartuigdek

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US4932541A (en) * 1989-04-24 1990-06-12 Calspan Corporation Stabilized shipboard crane
GB2252295A (en) * 1991-01-31 1992-08-05 James Daniel Davidson Offshore crane control system
GB2267360A (en) * 1992-05-22 1993-12-01 Octec Ltd Method and system for interacting with floating objects
WO2002000543A2 (fr) * 2000-06-28 2002-01-03 Sandia Corporation Systeme et procede de commande destines a commander une charge utile dans une grue a plateforme mobile
US6505574B1 (en) * 2001-09-05 2003-01-14 The United States Of America As Represented By The Secretary Of The Navy Vertical motion compensation for a crane's load
DE102008024513A1 (de) * 2008-05-21 2009-11-26 Liebherr-Werk Nenzing Gmbh, Nenzing Kransteuerung mit aktiver Seegangsfolge
US20100089855A1 (en) * 2004-09-29 2010-04-15 Kjolseth Paul M Rig supply handler

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Publication number Priority date Publication date Assignee Title
US3624783A (en) * 1970-06-12 1971-11-30 Santa Fe Int Corp Motion control system
US4932541A (en) * 1989-04-24 1990-06-12 Calspan Corporation Stabilized shipboard crane
GB2252295A (en) * 1991-01-31 1992-08-05 James Daniel Davidson Offshore crane control system
GB2267360A (en) * 1992-05-22 1993-12-01 Octec Ltd Method and system for interacting with floating objects
WO2002000543A2 (fr) * 2000-06-28 2002-01-03 Sandia Corporation Systeme et procede de commande destines a commander une charge utile dans une grue a plateforme mobile
US6505574B1 (en) * 2001-09-05 2003-01-14 The United States Of America As Represented By The Secretary Of The Navy Vertical motion compensation for a crane's load
US20100089855A1 (en) * 2004-09-29 2010-04-15 Kjolseth Paul M Rig supply handler
DE102008024513A1 (de) * 2008-05-21 2009-11-26 Liebherr-Werk Nenzing Gmbh, Nenzing Kransteuerung mit aktiver Seegangsfolge

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2493946B (en) * 2011-08-24 2017-07-19 Fraser Dunphy James Crane monitoring system
EP2947035A1 (fr) * 2014-05-22 2015-11-25 Liebherr-Werk Nenzing GmbH Procédé de détermination de la charge d'une machine de travail et machine de travail, en particulier une grue
RU2775521C1 (ru) * 2022-03-09 2022-07-04 Закрытое акционерное общество "Центральный Научно-исследовательский Институт Судового Машиностроения" (ЗАО "ЦНИИ СМ") Способ отрыва плавающего объекта с поверхности воды на волнении и устройство для его реализации

Also Published As

Publication number Publication date
DE102011102025A1 (de) 2012-11-22
US20120296519A1 (en) 2012-11-22
CN102786001B (zh) 2015-11-04
EP2524892B1 (fr) 2014-01-08
CN102786001A (zh) 2012-11-21

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