EP3371383A1 - Procédé et système de stabilisation d'engin de chantier - Google Patents

Procédé et système de stabilisation d'engin de chantier

Info

Publication number
EP3371383A1
EP3371383A1 EP16808558.7A EP16808558A EP3371383A1 EP 3371383 A1 EP3371383 A1 EP 3371383A1 EP 16808558 A EP16808558 A EP 16808558A EP 3371383 A1 EP3371383 A1 EP 3371383A1
Authority
EP
European Patent Office
Prior art keywords
inclination
construction equipment
system state
predictive
subgrade
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
EP16808558.7A
Other languages
German (de)
English (en)
Other versions
EP3371383B1 (fr
Inventor
Jürgen Grabe
Marius MILATZ
Dominik ZOBEL
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.)
Technische Universitaet Hamburg Harburg
Tutech Innovation GmbH
Original Assignee
Technische Universitaet Hamburg Harburg
Tutech Innovation 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 Technische Universitaet Hamburg Harburg, Tutech Innovation GmbH filed Critical Technische Universitaet Hamburg Harburg
Publication of EP3371383A1 publication Critical patent/EP3371383A1/fr
Application granted granted Critical
Publication of EP3371383B1 publication Critical patent/EP3371383B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • 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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the invention relates to a construction equipment securing method for a construction equipment standing or moving on a resilient subgrade, the construction equipment having working devices and components which are adjustable relative to one another and form a detectable, variable system state, wherein a continuous or high-sampling rate inclination measurement takes place, and a construction equipment safety system for this.
  • Compliant planum means that the footprint on which the construction equipment is standing or driving, off
  • Construction equipment especially with a high center of gravity, are at risk of tipping over on yielding ground.
  • the stability limits for the excavator are set.
  • an underflooded soil under a stationary, moving or in-service excavator can gradually or suddenly give way, which can lead to overturning and thus to considerable damage to property and possibly personal injury.
  • Overload warning or shutdown devices for a hoist such as a crane or in particular hydraulic excavators have been known for a long time, such as
  • DE 103 20 382 A1 describes a mobile
  • Working machine which is provided with telescopic support feet, which are supported to increase the stability on a substrate and thereby raise the chassis, are arranged in the area of the support feet measuring devices comprising a support load sensor and a fußfußfuß unitede motion sensor for detecting the instantaneous support load and the
  • an evaluation unit which responds to the output signals of the measuring device and has an evaluation software for detecting and linking the output signals of the fußfußfuß concernede motion sensors and support load sensors and their extrapolation to determine the support foot related underground load capacity in the working phase.
  • the construction machine can also be equipped with a tilt sensor, for example, the inclination of the
  • Tilt switch with adjustable damping for anti-tipping safety monitoring in construction machinery and agricultural machinery known.
  • Another disadvantage of this inclination switch is that the inclination limit values in turn assume a rigid planum and such a tilt stabilizer
  • Soil failure can not be determined in situ.
  • EP 2 060 530 A1 discloses a method for checking the stability of a construction machine which has working devices and components which are adjustable relative to one another and form a detectable, variable system state, in which a continuous inclination measurement takes place.
  • a critical tilt angle for the respective system state is calculated from the current inclination of the construction device, the instantaneous inclination is compared with the respectively valid critical tilt angle, and safety measures are triggered before the respective critical tilt angle is reached.
  • Construction machines are known, the inclination sensors and acceleration sensors, the measured values are processed by an evaluation. In this case, compensation movements and / or warning signals can be issued as a precautionary measure if critical inclination situations arise.
  • a comparison device is provided in the control and monitoring device, which compares a stored alignment position signal with a transmitted from the Ausrichtpositionssensor current alignment position signal and outputs a position signal to the control and monitoring device, and the control and
  • Monitoring device on exceeding a predetermined value of the position signal outputs an activation signal to the warning device, which triggers this.
  • Triggering of safety measures when the tipping criterion is reached ensures that critical stress situations can be registered at an early stage.
  • the created planum model takes into account the changes in the load caused by the construction equipment due to the resilience of the subgrade when it is loaded, so that after a short time
  • Transient phase is the character of the subgrade, in particular its reaction to loads is mapped, so that a prediction of a slope of the construction equipment taking into account the state of the system and the
  • Kippkriteriums appropriate security measures can be triggered.
  • security measures mean the issuing of
  • Warning signals to the equipment operator in the form of visual and audible warning signals as well as the active control of the construction equipment and its
  • a piling device attached to the construction equipment can be set down on the ground or be adjusted in its inclination to the construction equipment in such a way that the center of gravity again moves into its standing area.
  • the safeguards are thus both passive warnings, as well as actively triggered changes to the system of the construction equipment to restore the stability.
  • the precautionary measures taken may be an amendment to the
  • Subsoil reduced in this direction for example, a drilling or piling set off on the ground, a deflected superstructure turned back in alignment with the undercarriage or a working device on the construction equipment are pivoted accordingly against the tilting direction.
  • the center of gravity characterizing the critical system state moves back closer to the central, vertical axis of the construction equipment or weight of the construction equipment is introduced by an additional support on the ground evenly on the variable, yielding ground, bringing undesirable floor congestion and a critical yielding of the ground be avoided. Accordingly, in a construction equipment safety system, a
  • Stress can be calculated in advance, and measured by the inclination sensor inclination data under consideration of the respective system state and compares with predetermined limits and the control unit is controlled by the evaluation when exceeding the limits for changing the system state to relieve the construction equipment in tilt direction.
  • Construction equipment with its implements and components that are mutually adjustable and form a detectable, variable system state, be modeled in a vehicle model. This can be burdens and
  • Torques of the entire construction equipment are simulated in its respective system state. This makes it possible to understand the complex dependencies between the respective working situation of the construction equipment and the underlying pliable subgrade.
  • the vehicle model dynamically takes into account changes in the system state of the construction equipment as well as in the external loads, the dynamically acting mass inertia of the entire system and a possible
  • a critical tilt angle suitable for the respective system state is calculated as the tilting criterion, which is compared with the predictive inclination, a prediction for a risk of tilting can be derived which, in addition to the actual state of the system, also determines future reactions from the previous reactions of the system both the construction equipment and the subgrade.
  • the data of the inclination measurement and / or the data of the predictive inclination can also be compared with previously determined, critical movement patterns, wherein the safety measures are triggered in the event of a match;
  • Inclination measurement data are calculated as a criterion for initiating safety measures, characterized by forming the first time derivative of the inclination measurement data, calculating a critical inclination rate to the respective system state, comparing the first derivative inclination measurement data with the respectively valid critical inclination rate, triggering the
  • slope measurement data is filtered for attenuation and / or smoothing, operating oscillations that are significantly more frequent than those for
  • the previously determined, critical movement pattern is a time series of Inclination data, inclination rates or inclination accelerations, which is compared with the respective measured data, their first time derivative or their second time derivative over a running time window. This can be determined, for example, by means of filter and / or deconvolution methods.
  • the construction equipment has a self-propelled undercarriage and rotatably arranged thereon an uppercarriage with at least one working device, the geometries belonging to the respective system state and from this the instantaneous center of gravity as well as the resulting ground load can be calculated. If the undercarriage has a chain chassis, are from the
  • Geometry data determines the respective tilting edges of the chassis and determines the stability and, depending on the location of the current center of gravity acting below the track chassis, locally variable ground load. If the implement on the superstructure is a drill or pile driver, there is a particularly high center of gravity, which significantly increases the risk of tipping.
  • FIG. 1 a construction equipment securing system is shown schematically.
  • a construction equipment 1 with an undercarriage 11 with tracked chassis 10 and an on the undercarriage 1 1 rotatable about a vertical axis Z rotatable superstructure 12 has a superstructure 12 arranged implement 13, such as a pile driver, and on the superstructure 12, a driver's cab 14.
  • 1 sensors 2 are provided on the construction equipment, of which position sensors 22 the
  • System state of the construction equipment 1, namely the position of the superstructure 12 to the undercarriage 11, the inclination and orientation of the pile driver 13 and at least one inclination sensor 21 can detect the inclination of the construction equipment 1 to the vertical axis Z.
  • an evaluation unit 3 is provided in the construction equipment 1, the one
  • Control unit 4 is connected downstream. Of the sensors 2, namely
  • Inclination sensor 21 and position sensor 22 go active compounds 23 to the evaluation unit 3.
  • the measurement data of the inclination sensor 21 are first passed through a filter 31 in the evaluation unit 3.
  • the filter 31 is a low-pass filter which filters out higher-frequency signals of the inclination sensors 21, which result from operating vibrations of the construction equipment 1, for example the diesel engine, the hydraulics or the implement 13.
  • FIG. 2 shows a diagram of the inclination data over the time axis, wherein the Unfiltered raw data includes a plurality of high-frequency noise and dashed to the low-pass filtered signal is shown.
  • Construction equipment 1 to the vertical axis Z calculated. Based on the
  • Device data of the construction equipment 1 and the determined system state could be calculated under the condition of a firm planum already the tipping safety.
  • a plan model is now being created which can simulate the properties of the soil on which the construction equipment stands and, in particular, can predict their reaction to loads.
  • a vehicle model is created, which is the
  • Contact model between the vehicle model and the plan model can predict the overall response of the system of construction equipment and planum.
  • the resulting predictive inclination of the construction equipment is then compared with the currently measured inclination of the construction equipment and by iterative adaptation of the plan model and, if necessary, the vehicle model for
  • the optimized planum model and vehicle model then delivers
  • precalculated (predictive) slope values that can be directly compared to given tilt criteria. It can thus be decided in advance (in advance) whether a critical condition could arise. Accordingly, then safeguards can be triggered to warn the driver of the construction equipment, actively intervene in the control and the To change the center of gravity positively or no longer in one
  • suitable protective measures are to be taken for the driver and the construction equipment or persons and property in the vicinity to be protected.
  • a suitable sensors such as imaging techniques, the data of a
  • Detection software to be supplied to monitor. It can
  • a first visual and audible warning to the equipment driver at 50% of the critical tilt angle according to A (1 in the circle) could be sent.
  • an immediate settling of the implement 13 or a rapid extension of Safety supports in order to achieve a significant relief of the overturning moment by changing the center of gravity of the device or increasing the load transfer into the ground.
  • a fall-over failure of a construction equipment 1 with a high center of gravity, such as a drill or pile driver 13 by dynamic measurement acquisition via the sensors 2, namely
  • Inclination sensor 21 and position sensor 22 detected. For this, both the
  • Planum model taking into account the current slope and the pitch curve for an evaluation and control by the evaluation unit 3 and control unit 4 detected, so that immediately safety measures, if necessary, can be made automatically to protect lives and property.
  • high values are used
  • Sampling rate monitors the instantaneous inclination of the construction equipment 1 and the temporal change of the inclination. For this purpose, a differentiation of
  • Critical movement patterns can be predetermined by model calculations, empirical determination or collected data from real accidents and as a time series of inclination data, inclination rates or
  • Acceleration accelerations are stored, in which case the actual measured inclination data, possibly their first time derivative or their second time derivative over a running time window are compared with these predetermined critical movement patterns.
  • This can be carried out by means of running time windows, which from the momentary moment in retrospect consider a period of, for example, 0.1 to 10 seconds, in particular 0.3 to 3 seconds, by corresponding digital signal processing by means of time series comparison, filter methods and / or deconvolution.
  • the retrospective time window is short enough to be able to perform sufficient protective measures against the overturning of the construction equipment, for the time to impact in a fall of a construction equipment quite several seconds depending on the system dimensions of the construction equipment with implement and in particular its center of gravity are to be set.
  • the window must be long enough to distinguish the corresponding critical movement patterns from non-critical movement patterns. For this distinction can also predictively calculated with planum and vehicle model
  • Safeguard measures are triggered.
  • First, warning and warning lights in the cab are enough to warn the construction crew driver.
  • automatic, situation-dependent changes by driving safety assistant on the system state of the equipment such as changing the inclination of the attachment, control of the landing gear to the process of the entire construction equipment, control of the Slewing ring between the upper and undercarriage and, if necessary, unfolding of additional safety supports.
  • driving safety assistant on the system state of the equipment, such as changing the inclination of the attachment, control of the landing gear to the process of the entire construction equipment, control of the Slewing ring between the upper and undercarriage and, if necessary, unfolding of additional safety supports.
  • Control unit 4 based on the analysis of the measured data carried out in the evaluation unit 3, the construction equipment by Rausdusen the driver's cab from the immediate danger area and triggering belt tensioner and driver airbags and any protective measures for the construction equipment itself and their
  • system or method according to the invention provides help for construction equipment operators to support their activity, to protect the
  • Construction equipment driver and in particular to avoid heavy falls.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Automation & Control Theory (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

L'invention concerne un procédé de stabilisation d'engin de chantier destiné à un engin de chantier (1) mobile ou fixe sur un sol instable, l'engin de chantier (1) présentant des équipements de travail (13) et des éléments qui peuvent être déplacés les uns par rapport aux autres et conduisent à un état de système variable détectable, et une mesure de l'inclinaison de l'engin de chantier (1) étant effectuée en continu ou à une vitesse de détection élevée. Le procédé est caractérisé par les étapes suivantes : établissement d'un modèle de sol qui permet de prévoir l'instabilité du sol sous charge ; calcul de la charge appliquée au sol pour l'état de système respectif de l'engin de chantier (1) ; prévision d'une inclinaison prévue de l'engin de chantier (1) en prenant en compte l'état de système et le modèle de sol ; comparaison de l'inclinaison prévue de l'engin de chantier (1) à l'inclinaison courante mesurée de l'engin de chantier (1) et adaptation itérative du modèle de sol pour réduire à un minimum la différence entre l'inclinaison prévue et l'inclinaison mesurée ; comparaison de l'inclinaison prévue pour l'état de système respectif avec un critère de basculement prédéfini, en prenant en compte le modèle de sol ; et déclenchement de mesures de stabilisation lorsque le critère de basculement est atteint. L'invention concerne par ailleurs un système de stabilisation d'engin de chantier comportant un engin de chantier (1) fixe ou mobile sur un sol instable, qui présente des équipements de travail (13) et des éléments qui peuvent être déplacés les uns par rapport aux autres et conduisent à un état de système vaiable détectable, et au moins un capteur d'inclinaison (21), le système étant caractérisé en ce qu'il comprend une unité d'évaluation (3) et une unité de commande (4). L'unité d'évaluation (3) contient un modèle de sol qui permet de prédire l'instabilité du sol sous charge, et évalue des données d'inclinaison mesurées par le capteur d'inclinaison (21) en prenant en compte l'état de système respectif, et les compare à des valeurs limites prédéterminées, et l'unité de commande (4) est activée par l'unité d'évaluation (3) en cas de dépassement des valeurs limites, pour modifier l'état de système de manière à délester l'engin de chantier (1) dans la direction de basculement.
EP16808558.7A 2015-11-02 2016-11-02 Procédé et système de stabilisation d'engin de chantier Active EP3371383B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015118719 2015-11-02
PCT/DE2016/100515 WO2017076390A1 (fr) 2015-11-02 2016-11-02 Procédé et système de stabilisation d'engin de chantier

Publications (2)

Publication Number Publication Date
EP3371383A1 true EP3371383A1 (fr) 2018-09-12
EP3371383B1 EP3371383B1 (fr) 2020-01-29

Family

ID=57517656

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16808558.7A Active EP3371383B1 (fr) 2015-11-02 2016-11-02 Procédé et système de stabilisation d'engin de chantier

Country Status (2)

Country Link
EP (1) EP3371383B1 (fr)
WO (1) WO2017076390A1 (fr)

Cited By (1)

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CN111314907A (zh) * 2020-02-13 2020-06-19 广州佳简通信科技有限公司 一种远程数据采集终端系统

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Publication number Priority date Publication date Assignee Title
US10767348B2 (en) 2018-07-30 2020-09-08 Deere & Company Machine stability detection and control
EP4092203A1 (fr) * 2021-05-21 2022-11-23 Hilti Aktiengesellschaft Système de gestion de dangers et unité de capteur de danger
DE102021128642A1 (de) 2021-11-03 2023-05-04 Weidemann GmbH Baumaschine oder landwirtschaftliche Maschine
CN116534732A (zh) * 2023-05-11 2023-08-04 中船第九设计研究院工程有限公司 一种门式起重机故障监测系统
CN116630898B (zh) * 2023-07-21 2024-03-22 深圳市睿拓新科技有限公司 一种大规模工程施工智能化安全管理系统及其方法

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CN111314907B (zh) * 2020-02-13 2024-03-26 广州佳简通信科技有限公司 一种远程数据采集终端系统

Also Published As

Publication number Publication date
EP3371383B1 (fr) 2020-01-29
WO2017076390A1 (fr) 2017-05-11

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