Crane and method for controlling such a crane

Patent metadata

Field	Value
Publication number	US-11987476-B2
Application number	US-201917256205-A
Country	US
Kind code	B2
Filing date	Jun 13, 2019
Priority date	Jun 26, 2018
Publication date	May 21, 2024
Grant date	May 21, 2024

Abstract

A crane, in particular a revolving tower crane or a bridge crane, and a method for controlling such a crane, having a hoist cable, which extends from a crane boom and carries a load-receiving means, drive devices for moving crane elements and displacing the load-receiving means, a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path, and a pendulum damping device for damping pendulum movements of the load-receiving means, wherein the pendulum damping device has a pendulum sensor for detecting pendulum movements of the hoist cable and/or of the load-receiving means and a controller component having a closed control circuit for influencing the control of the drive devices depending on pendulum signals that are indicated by pendulum movements detected by the pendulum sensor and are returned to the control loop.

First claim

The invention claimed is:

1. A crane comprising:
a hoist cable, which extends from a crane boom and carries a load-receiving means;
drive devices for moving a plurality of crane elements and displacing the load-receiving means;
a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path; and
a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable;
wherein the pendulum damping device has a pendulum sensor for detecting and/or estimating deflection of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the detected and/or estimated deflection;
wherein the pendulum sensor has an inertial measurement unit (IMU), which is mounted on the load-receiving means, and has:
acceleration and rotation rate sensor means for providing acceleration and rotation rate signals;
first determining means for determining and/or estimating a tilt of the load-receiving means from the acceleration and rotation rate signals of the IMU; and
second determining means for determining the detected and/or estimated deflection of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined and/or estimated tilt of the load-receiving means and an inertial acceleration of the load-receiving means;

wherein the first determining means comprises:
a complementary filter having a highpass filter configured to filter the rotation rate signal of the IMU; and
a lowpass filter configured to filter the acceleration signal of the IMU or a signal derived therefrom;

wherein the complementary filter is configured to link with one another:
an estimate of the tilt of the load-receiving means that is based on the highpass filtered rotation rate signal; and
an estimate of the tilt of the load-receiving means that is supported by acceleration and that is based on the lowpass filtered acceleration signal; and

wherein the complementary filter is further configured to determine the determined and/or estimated tilt of the load-receiving means from the linked estimates of the tilt of the load-receiving means supported by the rotation rate and by the acceleration.

2. The crane according to claim 1 , wherein at least one of:
the estimate of the tilt of the load-receiving means supported by the rotation rate comprises an integration of the highpass filtered rotation rate signal; or
the estimate of the tilt of the load-receiving means supported by the acceleration is based on the quotient of a measured horizontal acceleration and on a measured vertical acceleration from which the estimate of the tilt supported by the acceleration is acquired using the relationship

ɛ

β
,
a

=

arctan
⁡

(

K

⁢

a
x

K

⁢

a
z

)

..

wherein EB,a is the estimate of the tilt of the load-receiving means supported by the acceleration, kax is the measured horizontal acceleration, and kaz is the measured vertical acceleration.

3. The crane according to claim 1 , wherein the IMU comprises a wireless communication module configured to wirelessly transmit measurement signals and/or signals derived therefrom to a receiver, with the communication module and the receiver being connectable to one another via a wireless LAN connection and with the receiver being arranged at a trolley from which the hoist cable extends.

4. The crane according to claim 1 , wherein, at the load-receiving means, there is provided pulley for the hoist cable, to which pulley there is coupled a generator for generating electrical energy which can be fed into a storage device which supplies the IMU with electrical energy.

5. The crane according to claim 4 , wherein the pendulum sensor further comprises an imaging sensor system configured to look substantially vertically straight down in a region of a suspension point of the hoist cable; and
wherein an image evaluation device is configured to evaluate an image provided by the imaging sensor system with respect to a position of the load-receiving means in the provided image and further configured to determine the detected and/or estimated deflection of the load-receiving means and/or the hoist cable and/or the deflection speed with respect to the vertical.

6. The crane according to claim 1 , wherein the controller component is configured to track and/or adapt at least one characteristic regulation value in dependence on changes in at least one parameter from a parameter group load mass, hoist cable length, trolley position, and radius.

7. A crane comprising:
a hoist cable, which extends from a crane boom and carries a load-receiving means;
drive devices for moving a plurality of crane elements and displacing the load-receiving means;
a control apparatus for controlling the drive devices such that the load-receiving means travels along a travel path; and
a pendulum damping device for damping pendulum movements of the load-receiving means and/or of the hoist cable;
wherein the pendulum damping device has a pendulum sensor for detecting and/or estimating deflection of the hoist cable and/or of the load-receiving means with respect to a vertical, and a controller component having a closed control circuit for influencing the control of the drive devices depending on the detected and/or estimated deflection;
wherein the pendulum sensor has an inertial measurement unit (IMU), which is mounted on the load-receiving means, and has:
acceleration and rotation rate sensor means for providing acceleration and rotation rate signals;
first determining means for determining and/or estimating a tilt of the load-receiving means from the acceleration and rotation rate signals of the IMU; and
second determining means for determining the detected and/or estimated deflection of the hoist cable and/or of the load-receiving means with respect to the vertical from the determined and/or estimated tilt of the load-receiving means and an inertial acceleration of the load-receiving means; and

wherein the second determination means comprises a filter device and/or an observer device that takes account of the determined and/or estimated tilt of the load-receiving means as an input value and determines the detected and/or estimated deflection of the hoist cable and/or the load-receiving means with respect to the vertical from an inertial acceleration at the load-receiving means.

8. The crane according to claim 7 , wherein the filter device and/or the obser

Assignees

• Liebherr Components Biberach Gmbh
• Liebherr Werk Biberach Gmbh

Inventors

• Rauscher Florentin
• Sawodny Oliver
• Nann Samuel

Classifications

• B66C13/063 Primary

  electrical · CPC title

• B66C23/022

  Pivot axis common with column · CPC title

• B66C2700/0385

  Cranes with trolleys movable along adjustable or slewable arms · CPC title

• G05B15/02

  electric · CPC title

• G05B2219/40043

  Move object without swinging, no pendulum or swing motion at stop point · CPC title