EP3371383B1 - Procédé et système de stabilisation d'engin de chantier - Google Patents

Procédé et système de stabilisation d'engin de chantier Download PDF

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Publication number
EP3371383B1
EP3371383B1 EP16808558.7A EP16808558A EP3371383B1 EP 3371383 B1 EP3371383 B1 EP 3371383B1 EP 16808558 A EP16808558 A EP 16808558A EP 3371383 B1 EP3371383 B1 EP 3371383B1
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EP
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Prior art keywords
construction equipment
inclination
item
subgrade
system state
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EP16808558.7A
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German (de)
English (en)
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EP3371383A1 (fr
Inventor
Jürgen Grabe
Marius MILATZ
Dominik ZOBEL
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Technische Universitaet Hamburg Harburg
Tutech Innovation GmbH
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Technische Universitaet Hamburg Harburg
Tutech Innovation GmbH
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Publication of EP3371383A1 publication Critical patent/EP3371383A1/fr
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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 standing or moving construction device on a flexible flat surface, the construction device having work equipment and components which are mutually adjustable and form a detectable, changeable system state, with a continuous or inclination measurement being scanned at a high sampling rate, and a construction equipment securing system for this.
  • Compliant planum means that the footprint on which the construction equipment is standing or running is not sufficiently stable for various reasons. For example, there may be an insufficiently compacted subsoil, a soil mechanically variable soil, other voids in the subsoil or defects. It is irrelevant from which material the subsurface is formed, since only the resilience of the subsurface, including the risk of a rupture, endanger the stability of the construction equipment.
  • Construction equipment particularly those with a high center of gravity, are at risk of toppling over on yielding ground.
  • a rigid formation is assumed in accordance with the current standards, and as a result, the stability limits for the excavator (construction equipment) are determined.
  • an insufficiently paved floor can give way gradually or suddenly under a standing, moving or working excavator, which can lead to overturning and thus to considerable property damage and possibly personal injury.
  • Overload warning or shutdown devices for a hoist such as a crane or hydraulic excavator in particular, have been known for a long time, for example from DE 23 43 941 A1 ,
  • the subsoil i.e. the load-bearing capacity of the soil, is disregarded and a rigid subgrade is required.
  • the DE 103 20 382 A1 a mobile work machine that is provided with telescopic support feet that can be supported on a surface to increase stability and thereby raise the chassis, in which measuring devices are arranged in the area of the support feet, which have a support load sensor and a support foot-related motion sensor for detecting the current support load and the movement of the support foot during the installation process.
  • an evaluation unit which responds to the output signals of the measuring device and has evaluation software for recording and linking the output signals of the support foot-related motion sensors and support load sensors and their extrapolation for determining the support foot-related subsurface carrying capacity in the working phase.
  • the DE 10 2010 012 888 A1 In the case of construction machines with undercarriage and an uppercarriage rotatably mounted relative to the undercarriage via a roller slewing ring, a measuring device for measuring the forces in the pulling, pushing and horizontal directions on the roller slewing ring is to be provided, the measured values being fed to a controller and the stability being monitored can.
  • the construction machine can also be equipped with an inclination sensor, which, for example, determines the inclination of the superstructure around a vertical axis.
  • a tilt determination system for construction machines which has tilt sensors and acceleration sensors, the measured values of which are processed by an evaluation unit. Compensatory movements and / or warning signals can be emitted as a safety measure if critical inclination situations arise.
  • a safety device for cranes with at least one position-adjustable load suspension device, a load sensor, a position sensor, a control and monitoring device and a warning device in which a sensor for the continuous detection of the horizontal and / or vertical alignment position of the crane for the duration of its erection is provided.
  • a comparison device is provided in the control and monitoring device, which compares a stored alignment position signal with a current alignment position signal transmitted by the alignment position sensor and outputs a position signal to the control and monitoring device, and inputs the control and monitoring device if a predetermined value of the position signal is exceeded Outputs activation signal to the warning device that triggers this.
  • the plan model created takes into account the changes that occur when the construction equipment is loaded due to the flexibility of the formation when it is loaded, so that after a short "settling phase" the character of the formation, in particular its reaction to loads, is depicted, so that an inclination of the construction equipment is calculated in advance taking into account the system state and the meanwhile recognized flexibility of the formation (formation model).
  • a risk of tilting can thus be recognized in advance and appropriate safety measures can be triggered when the tilting criterion is reached.
  • Security measures mean, on the one hand, the issuing of warning signals to the construction equipment operator in the form of optical and acoustic warning signals, and the active control of the construction equipment and its work equipment and components to reduce the risk of tipping over.
  • a pile driver attached to the construction device can be set down on the floor or its inclination towards the construction device can be adjusted so that the center of gravity moves further back onto its stand area.
  • the security measures are therefore both passive warnings and actively triggered changes to the system of the construction equipment in order to restore stability.
  • the safety measures taken can cause a change in the system status, which relieves the load on the construction equipment in the tilting direction.
  • a heavy load or overloading of the subsoil in this direction is reduced, for example, a drilling or ramming device can be placed on the ground, a deflected uppercarriage can be turned back into alignment with the undercarriage, or a working implement on the construction equipment be pivoted accordingly against the direction of tilt.
  • the center of gravity that characterizes the critical system state moves closer to the central, vertical axis of the construction device, or the weight of the construction device is introduced more evenly on the variable, flexible building ground by additional support on the ground, thus causing undesirable soil overloads and critical yielding of the building ground be avoided.
  • an evaluation unit and a control unit are provided in a construction equipment safety system, the evaluation unit containing a plan model with which the flexibility of the formation can be calculated in advance under load, and evaluating the inclination data measured by the inclination sensor taking into account the respective system status and comparing it with predetermined limit values and comparing the control unit by the evaluation unit when the limit values for changing the System state is controlled to relieve the construction equipment in the tilt direction.
  • the system state of the construction device is simulated as a vehicle model with different, coupled mass points
  • the system state of the construction device with its working devices and components that are mutually adjustable and form a detectable, changing system state can be simulated in a vehicle model.
  • loads and torques of the complete construction device can be simulated in its respective system state. This makes it possible to take into account the complex dependencies between the respective work situation of the construction equipment and the resilient formation below.
  • the vehicle model dynamically takes into account changes in the system status of the construction equipment and in the external loads, the dynamically acting inertia of the entire system and any vibration behavior can be taken into account in the overall evaluation.
  • a contact model between the vehicle model and the plan model simulates the mutual influence, the interaction between the construction equipment and the plan can flow into the model. If, for example, the system condition of the construction device places a particularly heavy load on an outer side of the contact area, this increased load will have a corresponding effect on the resilient surface, so that the inclination reflected on the construction device not only affects the deflection of the construction device, but also an additional sinking of the crawler track this more stressed place of the formation. With the help of the contact model, this can be calculated as an interaction between the vehicle model and the plan model and can thus be predicted.
  • a critical tilt angle suitable for the respective system state is calculated as the tilt criterion, which is compared with the predictive inclination, a prediction for a tilt risk can be derived which, in addition to the actual state of the system and future reactions determined from the previous reactions of the system of both the construction equipment and the formation.
  • the data of the inclination measurement and / or the data of the predictive inclination can also be compared with previously determined, critical movement patterns, with the safety measures being triggered if there is a match; here, critical movement patterns, i.e. also dynamic effects, that result in a critical situation or overturning of the construction equipment.
  • the first time derivative of the inclination measurement data can also be calculated as a criterion for introducing safety measures, characterized by forming the first time derivative of the inclination measurement data, calculating a critical inclination rate for the respective system state, comparing the inclination measurement data of the first derivative with the critical inclination rate applicable in each case, Triggering the security measure shortly before reaching the applicable critical inclination rate.
  • inclination measurement data is filtered for damping and / or smoothing, operating vibrations that are significantly more frequent than the inclination values that can be determined to prevent tipping over can be eliminated for further evaluation.
  • the previously determined, critical movement pattern is a time series of inclination data, inclination rates or inclination accelerations, the one with the respective measurement data, their first time derivative or their second time derivative is compared over a running time window. This can be determined, for example, using filter and / or deconvolution methods.
  • a time period from 0.1 to 10 s, in particular 0.3 to 3 s, looking back from the current time is considered with the moving time window ,
  • the construction device has a self-propelled undercarriage and an uppercarriage rotatably arranged thereon with at least one implement, the geometries belonging to the respective system state and, from this, the current center of gravity and the resulting floor load can be calculated.
  • the respective tilting edges of the undercarriage are determined from the geometry data and from this the stability and, depending on the position of the current center of gravity, the Locally variable floor loads acting below the crawler track are determined.
  • the implement on the superstructure is a drill or piling device, there is a particularly high center of gravity, which significantly increases the risk of tipping.
  • FIG. 1 a construction equipment safety system is shown schematically.
  • a construction device 1 with an undercarriage 11 with a chain undercarriage 10 and an upper carriage 12 rotatable on the undercarriage 11 about a vertical axis Z has a working device 13, for example a pile driver, arranged on the upper carriage 12, and a driver's cab 14 on the upper carriage 12.
  • sensors 2 are provided on the construction device, of which position sensors 22 determine the system status of the construction device 1, namely the position of the superstructure 12 Undercarriage 11, the inclination and orientation of the ramming device 13 and at least one inclination sensor 21, the inclination of the construction device 1 to the vertical axis Z can.
  • an evaluation unit 3 is provided in the construction device 1, which is followed by a control unit 4.
  • Active connections 23 go from sensors 2, namely inclination sensor 21 and position sensor 22 to evaluation unit 3.
  • the measurement data of inclination sensor 21 are first passed through a filter 31 in evaluation unit 3.
  • the filter 31 is a low-pass filter which filters out higher-frequency signals from the inclination sensors 21, which result from operating vibrations of the construction device 1, for example the diesel engine, the hydraulics or the working device 13.
  • Fig. 2 a diagram of the inclination data is shown over the time axis, the unfiltered raw data containing a large number of high-frequency interference signals and the low-pass filtered signal being shown in broken lines.
  • the system state of the construction device 1 is detected from the signals of the position sensors 22 and the instantaneous center of gravity of the device is calculated from this, taking into account any inclination of the construction device 1 to the vertical axis Z.
  • the tipping safety could already be calculated under the condition of a fixed formation.
  • a formation model is now being created, which can reproduce the properties of the floor on which the construction equipment is standing and, in particular, predict its reaction to loads.
  • a vehicle model is created, which replicates the load distribution in the construction device to the respective system state of the construction device (location of the working device) and the components on the construction device, for example with different, coupled mass points and via a contact model between the vehicle model and the plan model Predict overall reaction of the system from construction equipment and formation.
  • the resulting predictive inclination of the construction device is then compared with the currently measured inclination of the construction device and adapted by iterative adaptation of the plan model and possibly the vehicle model to minimize the difference between the predictive inclination and the measured inclination.
  • the optimized plan model and vehicle model then delivers predicted (predictive) grade values that can be compared directly with predefined tilting criteria. It can therefore be decided early (in advance) whether a critical condition could arise.
  • safety measures can then be triggered to warn the vehicle operator of the construction device, to actively intervene in the control and to change the center of gravity positively or, in the event of tipping, which can no longer be prevented, suitable protective measures for the vehicle operator and the construction device or in the vicinity protective persons and property.
  • suitable protective measures for the vehicle operator and the construction device or in the vicinity protective persons and property.
  • it is necessary that the relevant environment of the construction device is continuously monitored by suitable sensors, for example with imaging methods, the data of which are fed to a recognition software. People, structures, obstacles and other construction equipment can be detected. Accordingly, personal injury can be prevented and an unavoidable material damage can be minimized if a toppling is detected as far as possible.
  • a constant comparison of the current inclination with the always newly calculated critical tilt angle for the respective system state could send a first visual and acoustic warning to the construction equipment driver at 50% of the critical tilt angle according to A (1 in a circle).
  • the control unit 4 in addition to a visual and acoustic warning to the construction device driver, controls a change in the system state of the construction device for relief in the tilting direction in order to actively counteract the risk of the construction device 1 falling over.
  • the critical tilt angle is increasingly approached, for example at 90% of the critical tilt angle according to C (3 in a circle) in Fig. 3 an immediate stopping of the implement 13 or a rapid extension of the safety supports to achieve a significant relief of the tilting moment by changing the center of gravity of the implement or increasing the load transfer into the ground.
  • a construction device 1 with a high center of gravity such as a drilling device or pile driver 13
  • both the system status in a vehicle model and the floor in a planar model are taken into account for evaluation and control by the evaluation unit 3 and control unit 4, taking into account the current inclination and the course of the inclination, so that safety measures, possibly automatically, can be taken immediately. to protect human life and property.
  • the dynamic measurement value acquisition with a high sampling rate the current inclination of the construction device 1 and the change in inclination over time are monitored.
  • Critical movement patterns can be predetermined using model calculations, empirical determination or collected data from real accidents and stored as a time series of inclination data, inclination rates or inclination accelerations, with the actually measured inclination data, possibly its first temporal derivation or its second temporal derivation via an accompanying one Time windows are compared with these predetermined critical movement patterns. This can be carried out by means of corresponding digital signal processing by means of time series comparison, filter methods and / or deconvolution over time slots which, looking back from the current point in time, consider a time period of, for example, 0.1 to 10 seconds, in particular 0.3 to 3 seconds.
  • the retrospective time window is short enough to be able to carry out adequate protective measures before the construction unit overturns, whereby for the time until the impact of a construction unit overturning, several seconds depending on the system dimensions of the construction unit with work equipment and in particular its center of gravity must be considered.
  • the window must be sufficient be long in order to be able to distinguish the corresponding critical movement patterns from uncritical movement patterns.
  • the movement behavior predictively calculated with the formation and vehicle models can also be used for this distinction.
  • the system or method according to the invention thus offers help for construction machine drivers to support their work, to protect the construction machine driver and in particular to avoid serious overturns.

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  • 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)

Claims (15)

  1. Procédé de stabilisation d'un engin de chantier destiné à un engin de chantier (1) à l'arrêt ou en déplacement sur un sol instable (1), procédé dans lequel
    - l'engin de chantier (1) est muni d'outils de travail (13) et de composants qui peuvent être déplacés les uns par rapport aux autres et qui forment un état du système variable pouvant être détecté, et
    - l'inclinaison de l'engin de chantier (1) est mesurée en continu ou à une fréquence d'échantillonnage élevée,
    caractérisé par les étapes
    - Établissement d'un modèle du sol avec lequel l'instabilité du sol sous charge peut être prédite ;
    - Calcul de la charge appliquée au sol en fonction de l'état du système considéré de l'engin de chantier (1) ;
    - Calcul prévisionnel d'une inclinaison prédictive de l'engin de chantier (1) en tenant compte de l'état du système et du modèle du sol ;
    - Comparaison de l'inclinaison prédictive de l'engin de chantier (1) à l'inclinaison de l'engin de chantier (1) actuellement mesurée et adaptation itérative du modèle du sol pour minimiser la différence entre l'inclinaison prédictive et l'inclinaison mesurée ;
    - Comparaison de l'inclinaison prédictive pour l'état du système considéré en tenant compte du modèle du sol à un critère de basculement donné ; et
    - Déclenchement de mesures de sécurité lorsque le critère de basculement est atteint.
  2. Procédé de stabilisation d'un engin de chantier selon la revendication 1, caractérisé en ce que l'état du système de l'engin de chantier (1) est simulé sous la forme d'un modèle du véhicule avec différents points de masse couplés.
  3. Procédé de stabilisation d'un engin de chantier selon la revendication 2, caractérisé en ce que des charges externes, à savoir des charges dues au vent agissant sur l'engin de chantier et/ou de la matière du sol adhérant à l'engin de chantier, sont prises en compte dans le modèle du véhicule.
  4. Procédé de stabilisation d'un engin de chantier selon la revendication 3, caractérisé en ce que le modèle du véhicule tient compte de façon dynamique de modifications de l'état du système de l'engin de chantier (1) et des charges externes.
  5. Procédé de stabilisation d'un engin de chantier selon la revendication 2, 3 ou 4, caractérisé en ce qu'un modèle de contact entre le modèle du véhicule et le modèle du sol simule l'influence mutuelle.
  6. Procédé de stabilisation d'un engin de chantier selon la revendication 5, caractérisé en ce que le modèle du véhicule et le modèle du sol sont pris en compte dans le calcul prévisionnel de l'inclinaison prédictive de l'engin de chantier (1), l'inclinaison prédictive de l'engin de chantier (1) étant comparée à l'inclinaison de l'engin de chantier (1) actuellement mesurée et une adaptation itérative du modèle du sol et du modèle du véhicule étant réalisée pour minimiser la différence entre l'inclinaison prédictive et l'inclinaison mesurée.
  7. Procédé de stabilisation d'un engin de chantier selon l'une des revendications précédentes, caractérisé en ce qu'un angle de basculement critique adapté à l'état du système considéré est calculé en tant que critère de basculement et il est comparé à l'inclinaison prédictive.
  8. Procédé de stabilisation d'un engin de chantier selon l'une des revendications précédentes, caractérisé en ce que les données de la mesure d'inclinaison et/ou les données de l'inclinaison prédictive sont comparées à des modèles de mouvements critiques prédéterminés, les mesures de sécurité étant déclenchées en cas de correspondance.
  9. Procédé de stabilisation d'un engin de chantier selon la revendication 8, caractérisé en ce que le modèle de mouvement critique déterminé préalablement est une série temporelle de données d'inclinaison, de vitesse d'inclinaison ou d'accélérations d'inclinaison qui est comparée aux données de mesure considérées, à leur dérivée première par rapport au temps ou à leur dérivée seconde par rapport au temps sur une fenêtre de temps simultanée.
  10. Procédé de stabilisation d'un engin de chantier selon l'une des revendications précédentes, caractérisé en ce que les données de mesure d'inclinaison sont filtrées en vue d'un amortissement et/ou d'un lissage.
  11. Procédé de stabilisation d'un engin de chantier selon l'une des revendications précédentes, caractérisé en ce que l'environnement situé autour de l'engin de chantier (1) est surveillé par des capteurs de détection.
  12. Système de stabilisation d'un engin de chantier comprenant un engin de chantier (1) à l'arrêt ou en déplacement sur un sol instable et qui est muni d'outils de travail (13) et de composants qui peuvent être déplacés les uns par rapport aux autres et qui forment un état du système variable pouvant être détecté, et comprenant au moins un capteur d'inclinaison (21), caractérisé en ce qu'une unité d'exploitation (3) et une unité de contrôle (4) sont prévues, procédé dans lequel
    - l'unité d'exploitation (3) contient un modèle du sol avec lequel l'instabilité du sol sous charge peut être prédite, et évalue, conformément au procédé de stabilisation d'un engin de chantier selon la revendication 1, des données d'inclinaison mesurées par le capteur d'inclinaison (21) en tenant compte de l'état du système considéré, et les compare à des valeurs limites prédéterminées, et
    - l'unité de contrôle (4) est actionnée par l'unité d'exploitation (3) en cas de dépassement des valeurs limites pour modifier l'état du système afin de décharger l'engin de chantier (1) dans le sens de basculement.
  13. Système de stabilisation d'un engin de chantier selon la revendication 12, caractérisé en ce que l'engin de chantier (1) comprend un châssis inférieur automoteur (11) avec un train de roulement à chenilles (10) et, placée pivotante dessus, une tourelle (12) avec au moins un outil de travail (13).
  14. Système de stabilisation d'un engin de chantier selon la revendication 13, caractérisé en ce que l'outil de travail (13) sur la tourelle (12) est un outil de forage ou de battage (13).
  15. Système de stabilisation d'un engin de chantier selon la revendication 13 ou 14, caractérisé en ce que des capteurs de système sont disposés sur l'engin de chantier, ses outils de travail et ses composants pour détecter l'état du système, un premier capteur d'inclinaison étant disposé dans le châssis inférieur (11) et un second capteur d'inclinaison dans la tourelle (12).
EP16808558.7A 2015-11-02 2016-11-02 Procédé et système de stabilisation d'engin de chantier Active EP3371383B1 (fr)

Applications Claiming Priority (2)

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DE102015118719 2015-11-02
PCT/DE2016/100515 WO2017076390A1 (fr) 2015-11-02 2016-11-02 Procédé et système de stabilisation d'engin de chantier

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

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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
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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