EP2548835B1 - Crane control and crane - Google Patents

Description

The invention relates to a crane control system with a display and input unit for displaying and inputting the operating information required for the load torque limitation and / or the crane control of the crane, in particular according to its current mechanical structure.

During crane work or set-up, the load torque limitation monitors the currently applied load torque against defined limit values, which are usually stored in corresponding load tables. Before each crane operation, therefore, necessary data or operating mode information of the crane is to be entered into the crane control in order to be able to provide the load torque limitation with a suitable payload table.

So far, crane controls are known which have an input and display unit for inputting the required data. The crane operator first determines a required input parameter and receives in the connection of the crane control via the display unit a list with all possible characteristics for the Crane. The list provided must be searched for the desired form, and after selecting the desired characteristic, this is determined by a user confirmation as input for the parameter to be created. This process is repeated until all required parameters have been set correctly.

Possible parameters are for example the telescopic boom length or lattice boom length of a crane as well as information about the crane accessories, the ballast, the crane support or the crane turning area. The number of occurrences for each individual parameter is variable and can under certain circumstances assume very high values. For example, a suitable selection of characteristics must be provided for each possible crane configuration. In particular, the cantilever system far-reaching constellation options exist, since, for example-different sized lattice pieces can be combined in different lengths and thus can increase the number of possible variants to be provided for a parameter rapidly.

Such crane controls assume that all listed parameters or characteristics must be clicked through until the required value for the characteristic is displayed. However, this procedure is very cumbersome and time consuming.

After all the required parameters have been assigned the corresponding characteristic, the data transfer is triggered by the crane control by pressing the enter key and the associated payload table is searched on the basis of the selected parameter combination. In this context, it is conceivable that no table exists for the entered characteristics. In this case, the crane control generates an error message and the crane operator is requested to enter all the characteristics again.

Since the set-up time for a crane is to be calculated by the crane operator as a cost factor, such a time-consuming procedure means a considerable cost disadvantage for the crane owner.

The document DE 19538264 A1 discloses an interactive control panel having a display and input unit for displaying a state and inputting at least one input value for preparing and setting up a mobile work device.

The object of the present invention is therefore to further develop a crane control system in order to circumvent the problem described above.

This object is achieved by a crane control according to the features of claim 1. Accordingly, a crane control with a display and input unit is provided for displaying and inputting the operating information required for the load torque limitation and the crane control of the crane. In particular, this relates to operating mode information corresponding to the current mechanical structure of the crane. According to the invention, the crane control comprises a logic that determines deployment and / or armament-related dependencies between two or more input parameters, and that the crane control consists of at least one part responsible for the execution of crane movements and one load moment limitation.

The logic determines already existing during the input process dependencies between two or more entered or still to be entered input parameters. Dependencies arise, for example, due to the Kranrüstzustands or the specific use of cranes, since the possible and therefore useful boom length depends on the type of boom system used.

The logic analyzes, for example, the input parameters to be entered or entered to determine whether there is a dependency between at least two input parameters or whether these can be set independently of one another. Furthermore, preferably by the logic, an evaluation of the found dependencies can take place.

In an advantageous embodiment of the invention, the logic of the crane control is designed such that, taking into account the determined dependencies, a selection with possible characteristics for an input parameter to be entered can be generated. The user does not have to be cumbersome with a list, which covers all possible forms of the crane, work through, but rather receives a limited selection with consistently meaningful characteristics for each input parameter to be defined. This causes a considerable time saving for the crane operator when entering the crane configuration.

In this context, it is further conceivable that the logic is carried out in such a way that, taking into account the dependencies, a selection of input parameters to be assigned can be generated. The users can be specifically requested to assign only the setup-dependent required parameters with characteristics. For example, depending on one or more immediately preceding inputs of occurrences for certain parameters, only the parameters which are then absolutely necessary to be entered are displayed to the user.

It is also possible that the logic is executed in such a way that, taking into account the determined dependencies, a plausibility check between two or more entered input parameters can be executed. Accordingly, the crane logic evaluates the dependency of the entered crane parameters while the crane operator is entering. Conflicts between two or more entered input parameters or selected values of the corresponding parameters are immediately recognized and allow an immediate correction to resolve the conflicts. In contrast to the prior art, such conflicts do not first appear in the final comparison of the selected combination with the stored load tables, but rather can be immediately recognized and remedied. A re-entry of all parameters is therefore not required.

It is particularly advantageous if the result of the plausibility check can be visually or acoustically displayed on the display and input unit of the crane control. For example, the most recently entered characteristic is specially marked in the event of a conflict. It is also possible that all entered input parameters or characteristics involved in the conflict are marked. The user Thus, it is possible not to correct the last input parameter, but to make a change to a previous input value. In this context, it is still conceivable that the control automatically possible correction proposals can be displayed.

To improve the ergonomic properties of the crane control, in particular the display and input unit, it is conceivable that this is divided into an information, navigation and editing area. The information area is available for displaying selected operating characteristics or parameters. Via the navigation area of the display and input unit, the user can easily navigate through the information area or comfortably navigate through provided selection lists with available characteristics for the individual input parameters. It is conceivable that the navigation area is divided on the one hand into the navigation area for the information area and on the other hand for the navigation area of the editing area.

The editing area is preferably used for directly inputting an expression of one or more input parameters. In this case, the editing area has, for example, a number and / or character keyboard. The editing area expediently comprises at least one selection key via which one or more values can be selected from a displayed list. Furthermore, at least one selection key can be provided which serves to confirm the aforementioned selection and releases the transfer of the value (s) to the controller.

To further improve the handling and overview of the crane control or the display and input unit, it is expedient that the input parameters are subordinate to two or more categories. Thus, the term category refers to a grouping of various parameters into groups that allow more efficient input of crane configuration.

It is also possible that the individual subordinate input parameters within a category are hierarchically weighted. This means that the selection of an expression for an input parameter has to be done in a predefined order. Accordingly, the user can not optionally determine an expression for any parameter of a category, but must proceed according to a prescribed guideline. This is particularly advantageous if the selection of the available values per input parameter takes place taking into account the dependencies on previous input parameters.

Preferably, the crane controller includes means that evaluates the combination of one or more input input parameters. On the basis of the evaluation result, the appropriate payload table for the load moment limitation of the crane can then be determined. For example, the agent has access to a crane controller data store that includes a number of payload tables.

Alternatively, the crane operator may preferentially enter a code for directly selecting a payload table to bypass manual input of the required input parameters. This is the fastest way to make the whole crane ready.

Preferably, the code to be entered for the load table is made speaking and advantageously consists of several blocks, in particular of three blocks together. It is possible that a block stands for the crane type definition. In this case, an automatic pre-assignment of the first block by the crane control takes place. Another block stands for the selection of a general mode group of the crane. This includes, for example, the cantilever constellation, but without specifying physical parameters such as length, angle and weight. An additional block, preferably the last block, is expediently a non-consecutive consecutive number.

In a further advantageous embodiment of the crane control this is designed such that an independent pre-assignment of one or more input parameters in consideration of automatically detected by means of a device provided crane configuration is possible. Accordingly, the crane control automatically recognizes the setup state or the crane configuration and, as far as possible, performs an automatic pre-assignment of the individual input parameters for the subsequent determination of the load moment limitation. Such a device is for example from the EP 1 598 303 A2 The disclosure of which is fully incorporated herein by reference. An independent recognition of the crane configuration takes place, for example, by means of a transponder system installed on the crane.

The invention further relates to a crane, in particular a mobile or crawler crane, with a crane control according to one of the above advantageous embodiments. The crane obviously has the same advantages and properties as the crane control according to the invention, which is why a further explanation is omitted here.

Fig. 1:

eine vergrößerte Darstellung der Anzeigeeinheit der erfindungsgemäßen Kransteuerung,

Fig. 2:

eine schematische Darstellung einer Korrekturprozedur für einen einzelnen Parameter und

Fig. 3:

eine vollständige Abbildung der Anzeige- und Eingabeeinheit der erfindungsgemäßen Kransteuerung.

Further advantages and features of the invention will be explained in more detail below with reference to two figures. Show it:

Fig. 1:

an enlarged view of the display unit of the crane control according to the invention,

Fig. 2:

a schematic representation of a correction procedure for a single parameter and

3:

a complete illustration of the display and input unit of the crane control according to the invention.

First, an overview of the terms and abbreviations used below is given. Under the term operating mode used is the basic crane configuration, defined by the crane operator before use of the crane and usually left unchanged during crane operation. As an example, the main boom length, derrick boom, mounted luffing tip as accessory boom or the laid derrick ballast, that is called the available for pulling ballast called.

The term parameter denotes a single feature of the crane in use. These features can be part of the operating mode or even in crane use variable features, such as the current telelength of a telescopic boom used include.

The expression of a parameter denotes the possible properties, i. the assumed physical size of a parameter. These include, for example, the size of Derrickballastes, the size of the central ballast or the Abstützbreite used.

The generic category is the grouping of various parameters that allows efficient configuration of the crane.

The general mode group, abbreviated to "ABG" in the following part of the description, designates essential components of the overall crane, such as the boom configuration, for example consisting of main boom, luffing jib or derrick boom with derrick ballast. In this context, the "ABG" also includes further information about the peculiarity of the components. For example, the derrick boom may carry a suspended ballast or alternatively be connected to a ballast wagon. However, the designation "GTC" is made without specification of assumed physical parameters such as length, angle or weight.

The setting process is understood to mean the manufacture of the crane's ability to operate, for example from the transport state. For this purpose, various inputs, ie Operating mode information to deliver to the crane's control. The crane control consists at least of a part responsible for the execution of crane movements and a load moment limitation, which monitors the currently applied load torque against defined limit values. Furthermore, a data memory is provided, which is either connected to the controller or integrated into it, and holds the necessary load tables for the load torque limit. Each load chart is valid for the crane's condition and includes the above limits.

For the specific selection of at least one suitable load capacity table for the load torque limitation, an input of the currently available crane configuration, such as ABG, operating mode, parameters and characteristics, is required.

Essential for the novel input function of the crane control according to the invention is the separation of the screen of the display unit 10 in different areas. The display unit 10 is divided into the information area 20, the navigation area 30 and the editing area 40, whereby the navigation area 30 can be further refined into the navigation area for the information area 20 and the editing area 40.

In order to maintain a good overview and presentation and to improve the operability of the crane control, the individual input parameters are subordinated to meaningful categories. The individual categories are displayed separately in the information area 20. In the example of FIG. 1 is in the information area 20 of the display unit 10 for a category "Norm" 21 shown. This is based on the statics used to calculate a specific load table and is usually country-dependent. The presentation in the FIG. 1 shows the entry for the EU legislation, which calculates the permissible load.

As another category, the category "code" 22 is shown, which is described in more detail in one of the following paragraphs of the description.

Further categories presented in the information area 10 are the category "operating mode" 23, which specifies basic details of the crane structure, and the category "supplementary equipment" 24, which defines parameters for crane ballast, for support and for the range of rotation. Finally, the categories "environment and mechanical influences" 25 and the category "lifting" 26 exist. It should be noted that the enumeration mentioned is not exhaustive but can be expanded or restructured as desired. .

The crane operator can change between the individual categories 21 to 26 via the navigation area 30 and change the individual characteristics of the subordinate parameters or features. If the selection possibility is greater than an editable display field allows, the editing area 40 can display a list 41 of possible occurrences, and the desired expression can be selected and accepted with the aid of the navigation area 30 in the editing area 40.

The deployment and / or armor related dependencies between two or more input parameters are defined by different systems depending on the type of category selected. For the category operating mode 23, there are hierarchical dependencies between the input parameters, whereas the input system for the categories add-on supplements 24, environment and mechanical influences 25 and lifting 26 envisages quantity-related dependencies between the possible input parameters.

FIG. 1 shows the display unit 10 with the selected category "operating mode" 23. The category "operating mode" 23 consists of the characteristic to be selected "general operating mode group (ABG)" 50, which is representative of the present cantilever types, and the associated parameters 51, 52, 53 , 54, which take for example expressions for the physical sizes of the selected boom system. The separation of operating mode characteristics into existing boom types and in appropriate physical sizes of the boom system speeds up and simplifies the selection considerably.

If the "general operating mode group (ABG)" field 50 is marked and occupied by the possible boom combination "SDWB", then the boom types determined thereby are automatically displayed as parameters 51, 52, 53, 54 to be defined, in order to assign them individual physical values to be able to. The input is due to the hierarchical dependencies between the input parameters 51, 52, 53, 54 in a particular order, for example, from left to right.

In the example of FIG. 1 the rocking tip must be defined by selecting the parameter 53 for the rocking tip. In the editing field 40, the two-part editing window is then opened. In the upper subarea, if present, a subparameter 42 can be selected, which here describes the Wippspitzenart 42 a and the Wippspitzenlänge 42 b. Various physical variables are possible for the selected sub-parameter 42, which are displayed as possible values 41 in the lower part of the two-part editing window 40. However, only options that can be combined with the already selected characteristics for the remaining parameters 42, 51, 52, 54 are displayed. In the example of FIG. 1 For example, the values 68m, 74m, 90m, 96m, 102m, 108m and 114m are possible for the sub-parameter Wippspitzenlänge 42b of the parameter Wippspitze 53. If the sub-parameter Wippspitzenart 42a was marked in the upper window area, then in the lower window, for example, the values W1, W2 or W3 would be displayed.

Furthermore, the selection of the characteristic for the rocking peak parameter 53 may determine the scope of the possible characteristics offered for selection with respect to the parameter 54.

When the parameters in the categories "set-up supplements" 24, "environment and mechanical influences" 25 and "lifting" 26 are used, the logic according to the invention acts the crane control taking into account the quantity-dependent dependencies between the individual input parameters. Here is the selection process without specific order for the selection of the parameters regulated. Each parameter can be entered at any time, always offering all conceivable characteristics of the parameter. If other parameters have already been selected and assigned appropriate characteristics, the values that match or are valid for the selection already made are highlighted in color. It is essential that always the parameter just entered into the controller becomes the master. After each input for the expression of a parameter, all other parameters are recalculated with regard to their rating "suitable" or "not suitable".

As an additional input help can be provided that selected characteristics that are assessed by the crane control as meaning, color, especially green, are marked, whereas characteristics, which is attributed to the crane control a possible conflict situation, are displayed in a different color. This functionality is particularly advantageous when several parameters are combined with only a few characteristics. This can be useful, for example, in the "Supplement" category 24. For example, in the selection of the characteristic for a parameter, a characteristic which is not selectable in combination with the already selected characteristics can be displayed in red. If this is selected, all characteristics of previously assigned parameters of the same category that do not match the newly selected characteristic and signal a possible conflict are marked in blue by the crane control. The crane operator can quickly and reliably recognize and correct possible conflict fields or input errors. Furthermore, there is the possibility to mark such characteristics separately in color, which represent the only valid combination and therefore need not be selected. For example, a single value valid for any parameter is marked in gray.

Another particular advantage is that the already selected sub-parameters or physical quantities / characteristics are retained if changes or corrections to one or more variables / characteristics are required. If the crane operator detects an error after complete entry of the operating mode information, he can easily correct a single parameter in a targeted manner. The FIGS. 2a to 2d The individual steps of such a correction procedure should clarify. The individual blocks identify the selectable values for the individual parameters 50, 51, 52, 53. Furthermore, the continuous line 60 symbolizes the input made by the crane operator. For the present example, the term "SDB" was selected for the parameter AGB 50, the first subparameter of the main boom defining parameter 51 was determined with the expression "S" and the length of the boom in the second subparameter was defined as "60". The remaining parameters / sub-parameters 52, 53 have been assigned "D", "54", "W1".

Dashed line 70 identifies all possible meaningful combinations of the individual selected occurrences for the individual parameters / sub-parameters 50, 51, 52, 53. In particular, in the example shown, the selection made, line 60, represents a possible combination of the set of meaningful combinations, line 70 The choice made is therefore considered useful by the crane control.

If the crane operator now identifies a faulty entry, individual parameters / sub-parameters can be selected and changed specifically without losing the other entries. For example, the sub-parameter 51a for the main boom is to be converted from the expression "S" to the expression "SL". FIG. 2b shows the change made, with the remaining selected characteristics remaining unchanged. Due to the change in parameter 51, the selection made, line 60, does not constitute a valid combination in the sense of line 70. Because of the hierarchical weighting of the individual parameters, the crane control characterizes the first erroneously assigned parameter to prompt the crane operator for troubleshooting. Depending on the preceding For the sub-parameter 51 b, only the expression "133" can be selected. This should be symbolized to the crane operator by a color highlighting of the subparameters 51 b, for example, by marking the selected expression "60" in red. In the Figure 2c the error message is expressed by the symbol indicated by reference numeral 80. For the subsequent dependent parameters, a following error applies, which is marked with the reference number 81.

If the crane operator changes the input for the sub-parameter 51b, which is considered meaningless, the dependencies of the individual inputs are checked again and, if necessary, further error messages are output. Like in the Figure 2d is shown, an error message 80 is generated in relation to the sub-parameter 53a even after correcting the characteristic for the parameter 51b.

To further support the crane operator, a largely independent pre-assignment of the individual parameters can be carried out by the crane control, by resorting to a device installed on the crane for automatic recognition of the crane configuration. The necessary transponder system for detecting the crane configuration is known, for example, from US Pat EP 1 598 303 A2 known, to which reference is made at this point.

For the fastest possible setting or input of the present crane configuration, the crane operator has the option of directly selecting a specific entry of the stored load-bearing table via a code entry in the "Code" category 22. The required code of the load table is designed to work and is composed of a total of three blocks 61, 62, 63 together.

The first block 61 defines the crane type used and is always pre-assigned by the crane control itself. The four-digit block is divided into three numbers, which identify the respective crane types, and the character T, which indicates that the relevant data record is a load-bearing table.

The second block 62 is called "high part" and defines the general mode group. The third block is called the low part, defines the payload table and corresponds to a non-consecutive consecutive number. All three blocks together form the name of the payload table. The parts can be edited separately to reduce the amount of input required.

A complete illustration of the display and input unit 100 is the FIG. 3 refer to. The navigation area 30 extends over the subarea of the display unit 10 as well as via the user keys of the input unit 101. Certain setting values of the crane configuration are made editable, which ensures an accelerated input. These input fields or parameters allow a direct number input via the keyboard 101 after the selection of a field via the keys of the editing area 30.

After completing the input of the necessary parameters, the controller selects the appropriate load table from the stored data based on the data entered and provides it to the load torque limit, which then receives the appropriate limits for monitoring. The crane control also knows the crane geometry and can calculate moments from sensor values (lengths, angles, weights). In addition, the controller knows the data of the existing boom system in terms of mass and location of the focal points. These "empty moments" are included in the load torque limit.

The present invention allows for any number of settings a particularly fast setup of the crane. The crane control according to the invention allows a result-oriented setting of the individual crane parameters with continuous plausibility control.

Claims (12)

1. A crane control having a display and input unit (100) for presenting and inputting the operating mode information of the crane required for the load moment limitation and the crane control, in particular in accordance with the current mechanical design of the crane,
   characterised in that
   a logic is provided in the crane control which determines the dependencies between two or more input parameters (51, 52, 53, 54) determined by use and/or equipment; and in that the crane control comprises at least one part responsible for the carrying out of crane movements and a load moment limitation.
2. A crane control in accordance with claim 1, characterised in that the logic is designed such that a selection, in particular a selection list, having possible characteristics for an input parameter (51, 52, 53, 54) to be input can be generated while taking account of the determined dependencies.
3. A crane control in accordance with one of the preceding claims, characterised in that the logic is designed such that a selection of input parameters (51, 52, 53, 54) to be assigned can be generated while taking account of the determined dependencies.
4. A crane control in accordance with one of the preceding claims, characterised in that the logic is designed such that a plausibility control between two or more parameters (51, 52, 53, 54) which have been input can be carried out while taking account of the determined dependencies.
5. A crane control in accordance with claim 4, characterized in that the result of the plausibility control can be presented visually on the display and input unit (100).
6. A crane control in accordance with one of the preceding claims, characterised in that the display and input unit (100) is divided into an information region, navigation region and editing region (20; 30; 40).
7. A crane control in accordance with claim 6, characterized in that the editing region (40) is designed such that a direct input of a characteristic of at least one input parameter (51, 52, 53, 54) is possible.
8. A crane control in accordance with one of the preceding claims, characterised in that a plurality of input parameters (51, 52, 53, 54) are subordinate to two or more categories.
9. A crane control in accordance with claim 8, characterized in that the input parameters (51, 52, 53, 54) are hierarchically weighted within a category.
10. A crane control in accordance with one of the preceding claims, characterised in that a means is provided which evaluates the combination of one or more parameter inputs (51, 52, 53, 54) which have been input and determines the corresponding payload table for the load moment limitation.
11. A crane control in accordance with one of the preceding claims, characterised in that the crane control is designed such that an independent preassignment of one or more input parameters (51, 52, 53, 54) is possible while taking account of the configuration automatically recognised using a provided apparatus.
12. A crane, in particular a mobile crane or a crawler-mounted crane, having a crane control in accordance with one of the preceding claims.

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