• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    The invention relates to a method for automated control (S) of a set (2) of tower cranes comprising the following steps: - determining (S1) an instantaneous operating state of each crane (1) among, - for at least a crane (1) in automated control, - determining (S2) the interference lenses (22) and the instantaneous spatial configuration of this crane (1) and - when a crane (1) in work must enter a lens of interference (22) of the crane (1) in automated control and that the instantaneous spatial configuration thereof intersects the trajectory of the crane in work (1), angularly move (S5) and automatically this crane (1) apart from any interference.
    公开号:FR3030469A1
    申请号:FR1463159
    申请日:2014-12-22
    公开日:2016-06-24
    发明作者:Raymond Sailly；Stephane Chadirac
    申请人:Bouygues Construction Materiel SNC；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The invention relates generally to the technical field of tower cranes. More specifically, the invention relates to a method and a device for managing a set of tower cranes on a construction site when all or part of the tower cranes have staggered work phases. BACKGROUND ART A tower crane usually comprises a non-rotating vertical tower, or mast, and a rotating assembly consisting of an arrow and a counter-boom equipped with a ballast. The rotating assembly is rotatably mounted on the top of the mast and sweeps circular areas around a vertical axis passing through the mast. Alternatively, a tower crane may also comprise a rotating mast and an assembly consisting of an arrow and a counter-jib 15 integral in movement of the mast. On a construction site, several tower cranes may be needed to cover the entire construction area. The circular areas swept by the arrows of these tower cranes can therefore often overlap partially. These partial overlapping areas are commonly referred to as interference zones, or interference lenses. When the work of a tower crane is interrupted or the wind exceeds a speed recommended by the manufacturer of the tower crane, the tower crane is put in a state of operation called "wind vane", that is to say to say in an operating state in which the rotating assembly comprising the boom and the counter-boom is left free to turn and therefore to move in the direction of the wind, in order to minimize the wind resistance and the risk reversal of the whole. When two or more tower cranes are installed at a workplace so that their fields of action overlap, steps are taken to avoid collisions between the loads or with elements of the cranes themselves.
    [0002] The first step is to install the cranes at different heights so that the boom and counter-booms of each can pass below or above those of neighboring tower cranes and avoid a collision.
    [0003] The second of the measures is to equip the cranes with anti-collision systems constantly monitoring their movements (trajectories, direction and speed) so that the moving parts (arrows, counter-arrows) and cables can never meet. However, when all tower cranes on a construction site do not stop at the same time, it is impossible for the crane operator who stops to put his tower crane in a wind vane if one or more of the other tower cranes risk colliding with her while continuing to work. We have to wait until all the neighboring tower cranes stop to put them all in a weather vane at the same time, that is to say that the crane operator must wait or return to his machine at the end of the work of his colleagues. It has therefore been proposed in document FR 2 876 992 to automatically take over the control of windcocking of tower cranes of a building site by automatically putting them in a wind vane when the safety conditions on surrounding tower cranes are respected. . For this purpose, this document proposes a method for automatically rotating the tower cranes, each tower crane comprising an automaton in which the data concerning the current state of operation of the tower crane are analyzed, data which are transmitted to the cranes. automatons of other tower cranes. During this process, a wind vane signal is emitted by each tower crane whose control vane was engaged by the crane operator. However, the automaton of the tower crane only allows its effective vane to be set when the signal sent by the automatons of each of the other tower cranes indicates to it that no arrow in operation sweeps the interference-scanned interference lens. the boom of the tower crane out of service to which it belongs. This process makes it possible to turn vane cranes in an automated and safe way.
    [0004] In the case of multiple interfering crane construction sites, and during shifted work phases, inactive tower cranes with a height less than the crane (s) in operation nevertheless need to keep crane operators on duty to ensure the release of the working area of the cranes in operation and the winding of their crane in case of wind speed higher than the recommendations of the manufacturer of the tower crane. SUMMARY OF THE INVENTION An object of the invention is therefore to propose a method and a device for managing a set of tower cranes enabling a crane operator to safely leave his tower crane when his work is finished, even when other tower cranes on site are still active, preferably monitoring and taking into account speed, direction and, if appropriate, wind direction, while ensuring that other tower cranes can work in all the work areas of the site. For this, the invention proposes a method of automated control of a set of tower cranes, each tower crane comprising an angularly movable assembly comprising an arrow, the method being characterized in that it comprises the following steps: determining an instantaneous operating state of each crane, each crane being either a wind vane, in work, or in automated control, 25 - for at least one crane in automated control, - determine the interference lenses of this crane with the others cranes, as well as the instantaneous spatial configuration of said crane and - when a working crane must enter an interference lens of said crane in automated control and that the instantaneous spatial configuration thereof intersects the interference lens , angularly and automatically move the mobile assembly of the crane in automated control of its instantaneous spatial configuration to a configura displaced, in which the boom of the crane in automated control is outside a zone swept by the boom of the crane in operation. Some preferred but non-limiting features of the piloting method described above are as follows: the method furthermore comprises a step during which the crane in automated control is brought back into a spatial configuration in which the moving assembly extends in a direction corresponding as close as possible to a direction of the wind when the crane is working out of the interference lens, - the crane assembly includes a tall crane and a low crane, and wherein the step of angular displacement the mobile assembly of the gue in automated control takes place only when the gue in work is the high crane and the crane in automated control is the low crane, - the method further comprises a step of determining a speed wind, and in which the operating state of all cranes is automatically changed to the wind vane state when the wind speed exceeds a determined safety speed ee, - in displaced configuration, the boom of the crane in automated control is tangent to the interference lens, and - the set of tower cranes comprising at least two cranes in automated control and a crane in work, and the method further comprises the following substeps: assigning each crane of the assembly an order of priority, said order of priority depending on a height of each crane; when the crane in work must enter an interference lens of a crane in automated control and that the instantaneous spatial configuration of this crane in automated control intersects this interference lens, angularly, automatically and successively move the arrows of the cranes in automated control according to the order of priority of the cranes in automated control.
    [0005] According to a second aspect, the invention also proposes an automated control system for a set of cranes according to an automated control method as described above, each crane comprising an angularly movable assembly comprising an arrow, characterized in that it comprises processing and control means able to: - determine an instantaneous operating state of each crane, each crane being either in wind vane, in work or in automated control, - determine, for at least one crane in automated control, the interference lenses of this crane with the other cranes of the assembly, as well as the instantaneous spatial configuration of said crane and - detecting that a crane in operation must enter an interference lens of said crane in automated control and that the instantaneous spatial configuration of this one intersects this interference lens, - following a detection, to move angularly and in a manner aut omatized the boom of the crane in automated control of its instantaneous spatial configuration to a displaced configuration, in which the boom of the crane in automated control is outside a zone swept by the boom of the crane in work.
    [0006] Some preferred but nonlimiting features of the automated control system described above are the following: the means configured to determine the interference lens comprise a memory in which are recorded a length of the arrow and a length of a counter-wave. arrow of each of the tower cranes, said lengths being manually inputable by an operator via a dedicated interface, the processing and control means comprise means configured to determine the instantaneous spatial configuration of the crane in instantaneous management comprising: a sensor configured to determine an angular position of the boom, preferably two encoders; a sensor configured to determine a linear position of a carriage on the boom; a sensor configured to determine a position of a hook and / or a sensor, configured to determine a position of the mast, - all or some of the sensors comprise at least one of the following: a rotary encoder, an absolute encoder, a gyrometer, a GPS device, a laser detector, an ultrasonic detector, an undulating scanning system, a magnetic detector comprising sensors and magnetic pins, - at least one of the sensors comprises two absolute encoders, - each tower crane is fixed on a bogie comprising a frame and an idler wheel, and in which sensor configured to determine a position of the mast comprises magnetic sensors fixed on the frame of the bogie and magnetic studs fixed on the idler wheel, - the processing means and control system further comprises a communication device for exchanging data relating to the crane in automated control with the other cranes of the assembly, The tower crane includes at least one of the following data: an angular position of the crane boom, a linear position of the truck on the boom of the crane, a position of the crane hook, a position of the mast of the crane, a length of the boom of the crane, a length of the counter-boom of the crane, the operating state of the crane. the communication device comprises a radio-frequency or power-line transceiver or a wired communication device, and the processing and control means further comprise a security part configured to manage the anti-collision of the cranes of the assembly. According to a third aspect, the invention further provides a computer program product comprising code instructions for executing an automated driving method of a set of tower cranes as described above and a means of computer-readable storage device on which a computer program product includes code instructions for executing an automated driving method of a set of tower cranes as described above.
    [0007] BRIEF DESCRIPTION OF THE DRAWINGS Other features, objects and advantages of the present invention will appear better on reading the detailed description which follows, and with reference to the appended drawings given by way of non-limiting examples and in which: FIGS. 1c are diagrammatic views illustrating various steps of an exemplary embodiment of an automated control according to the invention of a set of tower cranes, FIG. 2 is a schematic view illustrating an example of a tower crane of a FIG. 3 is a graph illustrating an exemplary embodiment of an automated control system according to the invention, and FIG. 4 is a flowchart illustrating various steps of an exemplary embodiment of the invention. an automated control method according to the invention.
    [0008] DETAILED DESCRIPTION OF AN EMBODIMENT FIGS. 1a to 1c schematically show a set of cranes 2 working on a construction site, indicating only the mast 10 and the circle swept by the arrows 11 of these cranes 1.
    [0009] In the example illustrated in FIGS. 1a to 1c, the assembly 2 comprises two cranes 1 in turn: a high crane 1a, or master crane, and a low crane lb, or crane 1 slave. Each crane 1 comprises a non-rotating mast 10 and a rotating assembly comprising an arrow 11 and a counter-arrow 12, substantially aligned. The rotating assembly 11, 12 can be rotatably mounted on the mast 10 by means of an orientation ring 15 comprising two coaxial rings and mounted respectively on the top of the mast 10 and on the rotating assembly 11, 12 , the ring of the rotating assembly 11, 12 being separated by the ring of the mast 10 by a series of cylindrical balls or rollers. In the following, the invention will be more particularly described in the case of tower cranes 1 comprising a non-rotating mast 10 and an arrow 11 and a counter-boom 12 rotating. This is however not limiting, the invention applying mutatis mutandis in the case of cranes 1 comprising a rotating mast 10 and an assembly consisting of an arrow 11 and a counter-jib 12 integral in motion of the mast 10 .
    [0010] In a manner known per se, the cranes 1 further comprise a carriage 13, mobile in translation along the arrow 11 and configured to carry a hook 14 carried by a cable, which is movable in translation in a direction substantially parallel to the mast 10 of the crane 1. The carriage 13 can in particular be moved along the boom 11 by a distribution winch 16, while the hook 14 can be moved vertically by a lifting winch 17. Each crane 1 can be mounted on a bogie 18 comprising a frame 18a, configured to allow the movement of the associated crane 1 in rails 19 provided in or on the ground for this purpose. The master crane 1a and the slave crane 1b are positioned so that the boom 11 of the crane 1 slave cuts the area swept by the boom 11 of the crane 1 master. The area swept by the two arrows 11 corresponds to an interference lens 22. In a conventional manner, the speed of the arrows 11 can be automatically reduced in this interference lens 22 as long as the distance between the two arrows 11 remains greater than a predetermined safety distance, then the arrows 11 are blocked automatically when they reach this safety distance. The invention proposes to drive in an automated manner cranes 1 whose work is interrupted and so as to allow the crane crane slave lb to leave the crane 1 safely all allowing access, when necessary, to work areas of the master crane which is still in operation. For this purpose, the invention proposes an automated management system 5 for the set of cranes 2 comprising processing and control means 3 able to: determine an instantaneous operating state of each crane 1, each crane being either in wind vane, whether in work or in automated control, - determining, for at least one crane 1 in automated control, the interference lenses 22 of this crane 1 with the other cranes 1 of the assembly 2, as well as the spatial configuration instantaneous of said crane 1 and - detecting that a crane 1 in work must enter an interference lens 22 of said crane 1 in automated control and that the instantaneous spatial configuration thereof intersects this interference lens 22, following detection, angularly and automatically move the crane 1 in automated control of its instantaneous spatial configuration to a displaced configuration, in which the boom of the crane 1 in p Automated islanding is outside a zone swept by boom 11 of the crane in operation. Note that this system 5 may apply only in the case where the crane 1 in wind vane is the crane 1 low. Indeed, when the crane 1 vane is the crane 1 high, such automated control is not necessary since there is no interference lens 22, the crane 1 low 30 can pass under the crane 1 high without risk of collision. Note that the crane 1 in operation may need to enter the interference lens of the crane in automated management either to access a working area 23 included or cutting the interference lens 22, as shown in the figures the 1c. Alternatively, the crane 1 in operation may also need to fly over the interference lens 22 (and thus enter it) to reach a working area 23 beyond the interference lens. In this variant embodiment, the working zone 23 is therefore not included in the interference lens 22. In one embodiment, in the displaced configuration, the direction of the arrow 11 of the automated management crane 1 is preferably as close as possible to the direction of the wind V in order to minimize the risk of instability and overturning of the crane 1 in automated control during the maneuver due to the wind V. The displaced configuration of the crane 1 in automated management can for example correspond to: a configuration in which its arrow 11 is adjacent to the working zone 23 (when the working zone 23 is included in the interference lens 22). In this configuration, the boom 11 of the crane in automated management is still in the interference lens 22, but moved relative to its initial spatial configuration so as not to interfere with the crane at work 1 and keep the safety distance, or a configuration in which the arrow 11 is adjacent to the interference lens 22 (for example when the working zone 23 is outside the interference lens 22 and the working crane 1 must only cross said lens 22 ).
    [0011] By instantaneous operating state of a crane 1, it will be understood here that the crane 1 is: - either "wind vane", that is to say that the crane operator is absent from the crane 1 and that all The turning formed of the arrow 11 and the against-arrow 12 is left free to rotate and thus to move in the direction and direction of the wind V. In this operating state, the carriage 13 of the crane 1 is back near the mast 10, the hook 14 is in the high position (without loading) and the power supply of the crane 1 is cut off. - either "in work", that is to say in operation and with crane operator, - or "in automated control", that is to say that the crane operator is absent from the crane 1, the rotating assembly 11 , 12 being preferably placed closer to the direction of the wind V, the carriage 13 back near the mast 10 and the hook 14 in the high position. In the case of a crane 1 in automated control, the feed of the crane 1 is not cut off and the processing and control means 3 are activated.
    [0012] The means that can be implemented to determine the operating state of each crane 1 being conventional they will not be further described here. It may be for example a processor and a detector capable of determining the position of a mode selector in the cabin, said mode selector comprising a position corresponding to the state in a wind vane, a position corresponding to the state in operation and a position corresponding to the state in automated control. Moreover, by spatial configuration, at least one of the following parameters will be understood here: the spatial position of the crane 1, the orientation (angular position) of its arrow 11 and / or its counter-jib 12, the position of its carriage 13 and / or the position of its hook 14. Finally, by instantaneous spatial configuration of a crane 1, the spatial configuration of the crane 1 will be understood at the moment when the processing and control means 3 determine the spatial configuration of the crane 1. The interference lenses 22 may in particular be determined from the length of the boom 11 and the length of the counter-boom 12 of each of the cranes 1. These lengths may in particular be parameterized during the first use of crane 1 in the management system 5.
    [0013] Typically, the length of the arrow 11 can be entered manually by an operator in the management system 5 by means of a dedicated interface 20 and stored in a dedicated memory 21. The interface may for example include a screen.
    [0014] The length of the counter-jib 12 generally depends on the length of the jib 11. Thus, it is possible, from the length of the jib 11, to determine the length of the counter-jib 12. For example, a choice pre-programmed lengths of counter-arrows 12 may be proposed to the operator via the dedicated interface 20 when the latter sets the length of the arrow 11. The choice of one of these preprogrammed lengths is then communicated to the processing means and command 3 which record it in the dedicated memory 21. As a variant, the length of the counter-boom 12 can also be entered manually by the operator via the interface and stored in the memory 21.
    [0015] Of course, depending on the number of cranes 1 on the site, the same crane 1 can share several interference lenses with several other cranes. The processing and control means 3 can be programmed so that any change is prohibited once the length of the arrow 11 and the counter-arrow 12 stored in the memory 21. These lengths can therefore be filled only when the first use of the crane 1 in the means 3. The instantaneous spatial configuration of the crane 1 can be determined by the processing and control means 3 by means of at least one sensor or detector from the following list: a sensor 30 configured to determine an angular position of the boom 11 of the crane 1, a sensor 31 configured to determine a linear position of the carriage 13 on the boom 11, a sensor 32 configured to determine a position of the hook 14 and / or a sensor 33, configured to determine a position of the mast 10. It will be noted that all or some of the sensors 30-33 may comprise one or more rotary encoders, typically of the encoder type a. bsolu.
    [0016] Angular Position Sensor 30 of the Boom 11 The sensor 30 configured to determine the angular position of the boom 11 relative to a reference position may comprise a rotary encoder, preferably an absolute encoder, a gyrometer, a GPS device (acronym Global Positioning System for Global Positioning System) which may for example comprise two GPS antennas fixed in two different locations of the arrow, etc. For example, the sensor 30 may comprise an absolute encoder comprising a base, fixed on the top of the mast 10, and a shaft rotated by the rotating assembly 11, 12. The absolute encoder may in particular be positioned at the level of the orientation ring 15 of the crane 1. Preferably, the absolute encoder 30 is of the multiturn type in order to be able to manage rotations greater than 360 ° of the boom 11 of the crane 1.
    [0017] In an alternative embodiment, this sensor 30 comprises two absolute encoders, in order to accurately determine the orientation of the arrow 11 relative to the reference position. The coherence of the measurements made by the two absolute encoders can be controlled by the associated processing and control means 3 (homogeneous or heterogeneous redundancy of the measurements). In case of discrepancy of the measurements, the processing and control means 3 may be programmed to generate a fault and block the rotational movements of the crane 1 concerned. The reference position is preferably fixed for each crane 1 of the system 5 and determined by the processing and control means 3. It is preferably not modifiable. For example, the reference position may be set to correspond to the North cardinal point, or alternatively to a predetermined reference axis.
    [0018] Position sensor 33 of the mast 10 The sensor 33 configured to determine the position of the mast 10 can be fixed on the bogie 18 of the crane 1. For example, the sensor 33 may comprise a magnetic detector. Such a magnetic detector comprises on the one hand magnetic sensors, fixed on the chassis 18a of the bogie 18, and on the other hand magnetic studs, fixed on an idle wheel 18b of the bogie 18. The magnetic sensors and the magnetic studs are then coupled to allow the determination of the distance traveled by the crane 1 along the rails 19 from a reference position, and to deduce the position of the mast 10 of the crane 1. Alternatively, the sensor 33 may also include a rotary encoder, preferably an absolute and multiturn encoder, a GPS device, a laser detector, an ultrasonic detector, an undulatory scanning system, a magnetic detector including sensors and magnetic pads, etc .; Linear position sensor 31 of the carriage 13 The sensor 31 configured to determine a linear position of the carriage 13 on the boom 11 with respect to a reference position may also comprise a rotary encoder, preferably an absolute and multiturn encoder, a GPS device, a laser detector, an ultrasonic detector, an undulatory scanning system, a magnetic detector including sensors and magnetic pads, etc.
    [0019] The sensor 31 may in particular be fixed on the distribution winch 16. The reference position of the sensor 31 may for example be parameterized as corresponding to the axis of the mast 10, while the maximum position may be parameterized as corresponding to the length of the the arrow 11.
    [0020] For example, the sensor 31 may comprise two absolute encoders.
    [0021] Position sensor 32 of hook 14 The sensor 32 configured to determine a position of hook 14 may also comprise a rotary encoder, preferably an absolute and multiturn encoder, a GPS device, a laser detector, an ultrasonic detector, a scanning system wavelet, a magnetic detector having sensors and magnetic pads, etc. For example, the sensor 32 may comprise two absolute encoders. The sensor 32 may in particular be attached to the hoist winch 17, to determine the height of the hook 14 (dimension along the axis defined by the mast 10) relative to a reference position. The reference position of the sensor 32 may for example be parameterized as corresponding to the axis of the arrow 11, while the maximum position may be parametered as corresponding to the length of the mast 10. If necessary, an automatic registration function can be programmed to avoid hook positional drifts 14. The system 5 further comprises means 34, 35 configured to determine the speed, direction and / or direction of the wind V. For example, the system 5 may comprise one or more anemometers 34, fixed on the top of the crane 1 in the extension of the mast 10 and as close as possible to the axis of rotation of the mast 10, as well as a device 35 for indicating the direction and direction of the wind, for example, a wind vane 35. The device 35 for indicating the direction and direction of the wind and the anemometers 34 preferably deliver an analog signal, which is transmitted to the processing and control means 3 of the crane 1. Preferably, each crane 1 comprises an anemometer 34, in order to make it possible to determine the local wind speed V and to avoid the problems associated with an unequal distribution of the wind V due to the presence of imposing structures around the construction site. may locally block the passage of wind V or deflect it.
    [0022] Only one device 35 to indicate the direction and the direction of the wind on the other hand is necessary. It will be understood, however, that each crane 1 may comprise this type of device 35. Alternatively, each crane 1 may comprise a two-dimensional ultrasonic sensor 34, 35, capable of determining both the wind speed V and its direction. Such a type of sensor is for example marketed by the company Alliance Technologies under the brand name WindSonic®. The processing and control means 3 may furthermore comprise a communication device 36 enabling them to communicate, for example by wire connection or with the aid of a radio-transceiver or by a carrier current, with the cranes 1 of the set 2. This communication makes it possible to receive and transmit to the cranes 1 data relating to the operating state and / or the instantaneous spatial configuration of all or part of the cranes 1 of the assembly 2. The data can therefore in particular to understand, for each crane 1: - the operating state of the crane 1 (in wind vane, in work, in automated control), - the angular position of its arrow 11, - the linear position of its carriage 13 on the arrow 11 - the position of its hook 14, - the position of its mast 10, - a length of its arrow 11, - a length of its counter-arrow 12. Where appropriate, the data may also include fault data, stop, etc. In order to anticipate communication interruptions, the data may be recorded continuously or discontinuously by the means 3, for example in a buffer memory.
    [0023] The processing and control means 3 may for example comprise one or more controllers. Thus, each crane 1 of the assembly 2 may comprise one or more controllers 3 and / or the set 2 of cranes may comprise a common general automaton configured to remotely and automatically process and control the cranes 1 of the site. In one embodiment, the system includes a controller 3 per crane. Each automaton 3 can then comprise a communication device 36 enabling it to communicate with the automatons 3 of the other cranes 1 of the assembly 2, to transmit the data relating to the cranes. Finally, conventionally, the processing and control means 3 of each crane 1 can comprise, in addition to the functions described above for the automated control of the cranes 1, a part 40 dedicated to security and configured to manage the crane 1. collision avoidance of cranes 1 on site and overflight areas prohibited by these cranes 1. The security functions managed by the security part 37 of the control and processing means 3 may include, in a manner known per se, the management of interference lenses 22, when no crane 1 of the set of cranes 2 is in a wind vane or in automated control, or the control of the prohibition of overflight (position of the hook 14) of the zones prohibited by the cranes 1 in work. Furthermore, the security part 37 of the processing and control means 3 can also control collision avoidance between several cranes 1 in interference when one of the cranes 1 is in automated control. In particular, when a crane 1 in automated control is in an interference lens 22 common with a crane 1 in operation, the security part 37 of the processing and control means 3 can, on the one hand, prevent the displacement angular of the crane 1 in automated control if this displacement has the effect of colliding with another crane 1, and, secondly, determine the appropriate angular displacement that allows access to the work area 23 At the workstation 1. If necessary, the safety part can furthermore ensure that, in the displaced configuration, the boom 11 of the crane in automated control 1 is as aligned as possible with the wind direction V.
    [0024] Optionally, the security portion 37 of the processing and control means 3 can create an additional safety zone around the interference lenses 22 of the cranes 1 in order to manage the gusts of wind V when a crane 1 is in automated control and it has been moved angularly to release the area swept by the arrow 11 of the master crane 1 a. The objective of this additional safety zone is to prevent involuntary orientation movements resulting from gusts of wind V and gusts higher than the speed recommended by the manufacturer. When the set of cranes 1 is in operation, the movements of the cranes 1 are routinely managed by a control control system of the crane manufacturer 1 and by an interference system 20 implanted by the crane 1. site or by the operator of the cranes 1. It will be noted that the security portion 37 of the processing and control means 3 of the system 5 can be integrated into the control system of the manufacturer, or intervene in parallel thereof. The present situation is also maintained without modification when at least one of the cranes 1 is set in wind vane mode. However, in place of the wind vane mode, the crane operator can place the crane 1 "in automated control" when it leaves it. For this, the crane operator 30 can inter alia engage the automated control of the crane 1 by the system 5 with a mode selector installed in his cabin for this purpose. Alternatively, the section of this mode can be performed by a speaker, using a command that can be placed at the foot of the crane 1. Preferably, in order to place the crane 1 in automated control, the rotating assembly 11, 12 of the crane 1 must be placed in the direction of the wind V, the carriage 13 and the hook 14 must be returned to the reference position and the hook 14 must not be loaded. In one embodiment, the orientation brakes (configured to angularly lock the rotating assembly 11, 12), the lifting brakes (configured to lock the hook 14), the distribution brakes (configured to lock the carriage 13) and, when this function is provided on the crane 1, the translation brakes (configured to lock the bogie 18) must also be locked in order to block the crane 1 and to prevent any movement of its arrow 11, its hook 14 , its carriage 13 and its bogie 18. Moreover, the processing and control means 3 can perform checks of the crane 1 and the system 5 to ensure the possibility for the means 3 to control the angular displacement of the rotating part, to control the speed of the wind V, to communicate with the other cranes 1, etc. If necessary, the controller 3 of the gue in automated control can inform the controller (s) 3 of the other cranes 1 of the set 2 of the state "in automated control" of its crane 1.
    [0025] The automated management system 5 can then be implemented in accordance with the following steps: determining an instantaneous operating state of each crane 1, each crane 1 being either a wind vane, in operation, or in automated control (step Si), for at least one crane 1 in automated control, determine the interference lenses 22 of this crane 1 with the other cranes 1, as well as the instantaneous spatial configuration of said crane 1 (steps S2 and S3) and - when a crane 1 in operation must enter an interference lens 22 of said crane 1 in automated control and that the instantaneous spatial configuration thereof intersects the interference lens 22, move angularly (step S6) and automatically mobile assembly of the crane 1 in automated control of its instantaneous spatial configuration to a displaced configuration, in which the arrow of the crane 1 in automated control is outside the z one swept by the boom 11 of the crane in work. Note that the step of angular displacement S6 of the crane 1 in automated control is preferably only when the crane 1 in automated control is a slave crane lb relative to the crane 1 in operation.
    [0026] On the other hand, when the working crane 1 is coming out of the interference lens 22, the method S comprises a step S7 during which the crane in automated control is brought back into a spatial configuration in which the arrow and the counter-arrow s extend in a direction corresponding as close as possible to the direction of the wind V (Figure 1c). In one embodiment, the displaced configuration of the crane 1 in automated control is determined so as to meet the following three conditions: - the boom 11 of the crane 1 in automated control out of the area swept by the boom 11 of the crane during work, during the angular displacement 6 of the crane in automated piloting management, the arrow 11 and the jib of the crane controlled management is not likely to collide with another crane, and - all rotating 11, 12 of the crane 1 in automated control is as close as possible to the wind direction V.
    [0027] In other words, the processing and control means 3 move S6 sufficiently the boom 11 of the crane 1 in automated control to allow the crane 1 at work to access the working area 23, without passing through a zone of collision, while maintaining a smallest angle possible between the wind direction V and the rotating assembly 11, 12 of the crane 1 in automated control to minimize the risk of overturning the crane 1 in automated control during the The means 3 may, for example, give preference to an angular displacement such that, in the displaced configuration, the rotating assembly 11, 12 is substantially adjacent to the limit of the zone swept by the boom 11 of the crane in operation. . Furthermore, the direction of the angular displacement (trigonometric or hourly) can be determined by the processing and control system 3 according to the prohibited areas and the risk of collision. It should be noted that it is not mandatory that the boom 11 of the crane 1 in automated management leaves the interference lens 22 common with the crane 1 in operation, if, in its displaced configuration (located in the lens of interference 22) the boom 11 of the crane in automated management 1 does not interfere with the movement of the crane at work 1 (and where appropriate keeps the safety distance). FIGS. 1a-1c show an example of angular displacement of a rotating assembly 11, 12 of a slave crane 1b in order to release a working zone 23 for a master crane 1a. In this example, the working area 23 of the master crane 1a is located in the interference lens 22 common with a slave crane lb in automated management. As shown in these figures, the slave crane 1b rotates counterclockwise to exit the work area 23 (Fig. 1a) and the master crane rotates clockwise to avoid colliding with the slave crane 1b. when it is in its displaced configuration (Figure 1b). In its displaced configuration, the boom 11 of the slave crane lb is then adjacent to the working area 23 and is oriented so that the angle dc between the rotating part and the wind direction V is as small as possible. It will be noted that if the rotating assembly 11, 12 was placed in the position shown in dashed lines in Figure 2, the angle between the rotating assembly 1, 12 and the wind would have been greater. If necessary, the displaced configuration may further be determined so that the boom of the crane 1 emerges from the interference lens 22, and not only from the working zone 23 as illustrated in FIG.
    [0028] The angular displacement S6 of the crane 1 in automated control can in particular be achieved by the processing and control means 3 by unlocking the orientation brakes of the crane 1 and by rotating the arrow 11 with the aid of the crown orientation 15.
    [0029] Priority management Priority management makes it possible to manage a set of cranes 2 comprising more than two cranes 1 capable of working in the same interference lens 22. For this purpose, each crane 1 can be assigned zo (step S5) a order of priority, which depends on its height. It should be noted that all the cranes 1 of the assembly 2 are likely to be a master crane with respect to another crane 1, apart from the crane 1 the lowest, which consequently has the lowest priority order . For example, for a set of four cranes 1, priority orders ranging from 1 to 4 are assigned from the highest crane 1 to the lowest crane 1, respectively. Moreover, two cranes 1 can not be simultaneously cranes 1 masters. Crane 1 with the highest priority is always the highest crane 1. Finally, in order to avoid any risk of collision, preference will be given to a successive displacement of the cranes 1 in automated control and not a simultaneous movement.
    [0030] Thus, when a set 2 of cranes comprises more than two cranes 1 which have common interference lenses, the displacement of one of the cranes in automated control may have the effect of moving other cranes of the assembly 2 to release a zone swept by the boom 11 of the crane in operation. These displacements are then managed successively according to the order of priority of each crane 1, the crane whose priority is the lowest to the crane whose priority is the highest.
    [0031] For example, for a set 2 comprising three cranes 1, if the crane la whose priority is the highest is in work and must have access to a working zone 23 cutting an interference lens 20 with the crane lb whose the priority is average and whose state is in automated control, then the crane lb whose priority is the lowest can, if it is in automated control: - either not to be moved, if its arrow 11 is not in a zone swept by the arrow of the crane lb of medium priority and therefore does not interfere with the movement of the crane 1 of medium priority, - or be moved first, to release the passage for the crane 1 in automated control. The angular displacement S6 of the crane with the lowest priority is then such that the direction of its rotating part 11, 12 remains as close as possible to the direction of the wind V. In a second step, the crane 1 of medium priority can then be moved, as there is no longer any risk of collision with the crane 1 of the lowest priority, to release the area swept by the boom 11 of the crane in work 1. If one of the cranes 1 in automated control is in default rotation or blocking the rotation (case of a loss of power of an operative part, a disjunction, a thermal defect, a failure of a sensor, etc.) , the processing and control means 3 signals the fault to the crane 1 concerned other cranes 1 of the assembly 2 and interrupts any operation of the crane 1 until fault repair.
    权利要求:
    Claims (18)
    [0001]
    REVENDICATIONS1. A method for automatically controlling (S) a tower crane assembly (2), each tower crane (1) comprising an angularly movable assembly (11, 12) comprising an arrow, the method (S) being characterized in that it comprises the following steps: - determining (51) an instantaneous state of operation of each crane (1), each crane (1) being either a wind vane, in work, or in automated control, - for at least one crane ( 1) in automated control, - determine (S2) the interference lenses (22) of this crane (1) with the other cranes (1), as well as the instantaneous spatial configuration of said crane (1) and 15 - when a working crane (1) must enter an interference lens (22) of said crane (1) under automated control and that the instantaneous spatial configuration thereof intersects the interference lens (22), move angularly ( S6) and automatically the mobile assembly of the crane (1) in automated control of 20 instantaneous spatial configuration to a displaced configuration, in which the boom of the crane (1) in automated control is outside a zone swept by the boom (11) of the crane in operation.
    [0002]
    2. An automated control method (S) according to claim 1, further comprising a step (S7) in which the crane (1) in automated control is brought back into a spatial configuration in which the moving assembly (11, 12) extends in a direction corresponding most closely to a wind direction (V) when the working crane (1) comes out of the interference lens (22). 30
    [0003]
    3. A method of automated control (S) according to one of claims 1 or 2, wherein the assembly (2) of cranes comprises a high crane (1a) and a low crane (1 b), and wherein the step (S6) of angular displacement of the mobile assembly of the gue (1) in automated control takes place only when the gue in work is the high crane (1a) and the crane in automated control is the crane low (1) b).
    [0004]
    4. The automated control method (S) according to one of claims 1 to 3, further comprising a step (S4) for determining a wind speed, and wherein the operating state of all the cranes. (1) is automatically changed to a wind vane condition when the wind speed exceeds a specified safety speed.
    [0005]
    5. The automated control method (S) according to one of claims 1 to 4, wherein, in displaced configuration, the boom of the crane (1) in automated control is tangent to the interference lens (22).
    [0006]
    6. A method of automated control (S) according to one of claims 1 to 5, wherein the assembly (2) of tower cranes comprising at least two cranes (1) in automated control and a crane (1) in work , and the method (S) further comprises the following substeps: - assigning (S5) each crane (1) of the set (2) an order of priority, said order of priority depending on a height of each crane (1), - when the crane in operation must enter an interference lens (22) of a crane (1) in automated control and the instantaneous spatial configuration of this crane in automated control intersects this interference lens (22), angularly (S5), automatically and successively the arrows (11) of the cranes in automated control according to the order of priority of the cranes in automated control.
    [0007]
    7. Automated control system (5) of a set of cranes according to an automated control method (S) according to one of claims 1 to 6, each crane (1) comprising a movable assembly (11, 12) angularly comprising an arrow (11), characterized in that it comprises processing and control means (3) able to: - determine an instantaneous operating state of each crane (1), each crane being either a wind vane, or work, or in automated control, - determine, for at least one crane (1) in automated control, the interference lenses (22) of this crane (1) with the other cranes (1) of the assembly (2) , as well as the instantaneous spatial configuration of said crane (1) and - detecting that a crane (1) in work must enter an interference lens (22) of said crane (1) in automated control and that the spatial configuration instantaneous of it cuts this interference lens (22), - following detection, dep angularly and automatically lashing the boom (11) of the crane (1) in automated control of its instantaneous spatial configuration to a displaced configuration, in which the boom of the crane (1) in automated control is outside a zone swept by the boom (11) of the crane in work.
    [0008]
    An automated control system (5) according to claim 7, wherein the means configured to determine the interference lens (22) comprises a memory (21) in which a length of the arrow (11) and a length are recorded. a counter-jib (12) of each of the tower cranes (1), said lengths being manually inputable by an operator via a dedicated interface (20).
    [0009]
    9. The automated control system (5) according to one of claims 7 or 8, wherein the processing and control means (3) comprise means (30-33) configured to determine the instantaneous spatial configuration of the crane in instantaneous management comprising: - a sensor (30) configured to determine an angular position of the arrow, preferably two encoders, - a sensor (31) configured to determine a linear position of a carriage on the arrow, - a sensor (32). ) configured to determine a position of a hook and / or - a sensor (33), configured to determine a position of the mast (10).
    [0010]
    The automated control system (5) according to claim 9, wherein all or some of the sensors (30-33) comprise at least one of: a rotary encoder, an absolute encoder, a gyrometer, a GPS device , a laser detector, an ultrasonic detector, an undulating scanning system, a magnetic detector comprising sensors and magnetic pads.
    [0011]
    11. The automated control system (5) according to one of claims 9 or 10, wherein at least one of the sensors (30-33) comprises two absolute encoders.
    [0012]
    12. System according to one of claims 9 to 11, wherein each tower crane (1) is fixed on a bogie (18) comprising a frame (18a) and a idler wheel (18b), and in which sensor (33). ) configured to determine a position of the mast (10) comprises magnetic sensors fixed on the frame (18a) of the bogie (18) and magnetic studs fixed on the idler wheel (18b).
    [0013]
    13. The automated control system (5) according to one of claims 7 to 12, wherein the processing and control means (3) further comprises a communication device (36) for exchanging data relating to the crane. automated steering (1) with the other cranes (1) of the assembly (2).
    [0014]
    14. The automated control system (5) according to claim 13, wherein the data relating to tower cranes (1) comprise at least one of the following data: an angular position of the boom of the crane (1), - a linear position of the carriage on the boom of the crane (1), - a position of the hook of the crane (1), - a position of the mast of the crane (1), - a length of the boom of the crane ( 1), - a length of the crane counter-boom (1), - the operating condition of the crane (1).
    [0015]
    The automated control system (5) according to one of claims 13 or 14, wherein the communication device (36) comprises a radio-frequency or power-line transceiver or a wired communication device.
    [0016]
    16. The automated control system (5) according to one of claims 7 to 15, wherein the processing and control means (3) further comprises a security portion (37) configured to manage ranticollision cranes (1) of the set (2).
    [0017]
    A computer program product comprising code instructions for executing an automated driving method (S) of a tower crane assembly (2) according to one of claims 1 to 6 when said program is running on a computer.
    [0018]
    18. Computer-readable storage medium on which a computer program product includes code instructions for executing an automated driving method (S) of a tower crane assembly (2) according to one of claims 1 to 6.
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    同族专利:
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    引用文献:
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    EP3495310A1|2017-12-11|2019-06-12|Bouygues Construction Materiel|Automated control of a set of cranes|
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    法律状态:
    2016-01-22| PLFP| Fee payment|Year of fee payment: 2 |
    2016-06-24| PLSC| Publication of the preliminary search report|Effective date: 20160624 |
    2016-12-07| PLFP| Fee payment|Year of fee payment: 3 |
    2017-12-13| PLFP| Fee payment|Year of fee payment: 4 |
    2019-12-12| PLFP| Fee payment|Year of fee payment: 6 |
    2020-12-14| PLFP| Fee payment|Year of fee payment: 7 |
    2021-11-10| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1463159A|FR3030469B1|2014-12-22|2014-12-22|AUTOMATED PILOTAGE OF A CRANE WITHOUT GRUTIER AND ASSOCIATED SYSTEM|FR1463159A| FR3030469B1|2014-12-22|2014-12-22|AUTOMATED PILOTAGE OF A CRANE WITHOUT GRUTIER AND ASSOCIATED SYSTEM|
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