System and method for monitoring a crane and a crane having the same

Abstract

A crane (10) includes a carrier unit (20) having a chassis (22), tires (24) connected to the chassis, a carrier deck (26), and outriggers (28). A superstructure (30) is mounted on the carrier unit, the superstructure including a telescopic boom (38). A slope sensor (80) is operably connected to the carrier unit and configured to detect pitch and / or roll of the carrier unit during a lifting operation. The crane further includes a system (50) for monitoring a load lifted by the telescopic boom. The system is configured to: determine a current load lifted by the telescopic boom; receive pitch and / or roll information of the carrier unit from the slope sensor; adjust coordinates of the crane in a coordinate system based on the pitch and / or roll information; use the adjusted coordinates to determine a transformed operating radius; and compare the lifted load to a rated capacity at the transformed operating radius.

Description

Background Art

[0001] The following description generally relates to a crane and systems and methods for monitoring the crane.

[0002] The rated capacity of a crane refers to the maximum total load the crane is designed to lift in a specific configuration. This specific configuration includes parameters that remain substantially constant during lifting operations, such as the weight of the counterweight and the length of the outrigger extension, and parameters that may vary during lifting operations, such as the operating radius (i.e., the moment arm of the load suspended from the boom) and the slew angle (i.e., the rotational position of the boom in the horizontal plane relative to a reference point of the crane's load carrier unit). The operating radius varies with changes in boom length (e.g., in response to extension or retraction of a telescopic boom) and the hoist angle (i.e., the angle between the boom and the horizontal plane). Generally, as the operating radius increases, the load moment increases, and the rated capacity decreases. Conversely, as the operating radius decreases, the load moment decreases, and the rated capacity increases. To this end, load charts are provided that indicate the rated capacity at different operating radiuses and / or hoist angles.

[0003] Conventional crane rated capacity limiter (RCL) systems are configured to monitor a current operating radius and a current load being lifted by the crane, for example, based on information received from one or more crane sensors and / or operator input. For example, conventional crane RCL systems may determine the current load based at least in part on information received from a pressure sensor that detects hydraulic pressure in a lift cylinder supporting a boom. The current operating radius may also be determined based at least in part on information received from a sensor that detects the length of the boom and a sensor that detects the lift angle of the boom.

[0004] Conventional crane RCL systems are further configured to determine the operating conditions of the crane and can control crane operations based on the operating conditions. For example, conventional crane RCL systems can control the boom to prevent the current load from moving to an operating radius where the current load exceeds the rated capacity.

[0005] A mobile crane typically includes a plurality of tires for rolling contact with a support surface, allowing the crane to be self-propelled for transportation on roads or at a work site. The mobile crane also includes outriggers that can be deployed to engage the ground during a lifting operation, lifting the tires from the ground and supporting the mobile crane.

[0006] It may be desirable to perform lifting operations for relatively lightweight loads without deploying the outriggers, allowing the crane to rest on its tires during the lifting operation. However, the crane may be susceptible to deflection in the direction of the load due to tire compression. This deflection has the effect of increasing the operating radius without changing the lift angle or boom length. Consequently, conventional RCL systems do not detect changes in the operating radius. Consequently, conventional RCL systems may compare the current load to the rated capacity in the load chart at an operating radius smaller than the current operating radius, which can affect the accuracy of the comparison.

[0007] It would therefore be desirable to provide a crane and a system and method for controlling a crane in which the deflection of the carrier unit is taken into account when monitoring the current load and the current operating radius. Summary of the Invention

[0008] In one aspect, a crane includes a carrier unit having a chassis, tires connected to the chassis, a carrier deck, and outriggers movable into a deployed state and a retracted state: in the deployed state, the outriggers engage a support surface located below and lift the tires from the support surface, such that the outriggers support the carrier unit; and in the retracted state, the outriggers disengage from the support surface and the tires engage the support surface, such that the tires support the carrier unit. The crane further includes a superstructure mounted on the carrier unit, the superstructure having a telescopic boom, and a grade sensor operatively connected to the carrier unit and configured to detect pitch and / or roll of the carrier unit during a lifting operation. The crane also includes a system for monitoring a load lifted by the telescopic boom. The system is configured to: determine a current load being lifted by the telescopic boom; receive pitch and / or roll information of the carrier unit from a grade sensor; adjust coordinates of the crane in a coordinate system based on the pitch and / or roll information; determine a transformed operating radius using the adjusted coordinates; and compare the lifted load to a rated capacity at the transformed operating radius.

[0009] According to another aspect, a system for monitoring a load lifted by a crane is provided, the crane having a carrier unit and a superstructure mounted on the carrier unit, the superstructure having a telescopic boom. The system includes a processor and a non-transitory computer-readable storage medium configured to store program instructions, wherein the processor is configured to interpret and execute the program instructions to: determine the load lifted by the telescopic boom; receive pitch and / or roll information of the carrier unit from a grade sensor disposed on the carrier unit; adjust the coordinates of the crane in a coordinate system based on the pitch and / or roll information; determine a transformed operating radius using the adjusted coordinates; and compare the lifted load to the rated capacity at the transformed operating radius.

[0010] In another aspect, a method for monitoring a load lifted by a crane is provided. The crane includes a carrier unit having a chassis, tires connected to the chassis, a carrier deck, and outriggers; and a superstructure mounted on the carrier unit, the superstructure having a telescopic boom. The crane also includes a grade sensor operably connected to the carrier unit and configured to detect pitch and / or roll of the carrier unit during a lifting operation. The method includes determining a load lifted by the telescopic boom; receiving pitch and / or roll information of the carrier unit; adjusting coordinates of the crane in a coordinate system based on the pitch and / or roll information; determining a transformed operating radius using the adjusted coordinates; and comparing the lifted load to a rated capacity at the transformed operating radius.

[0011] Other objects, features and advantages of the present disclosure will become apparent from the following description when taken in conjunction with the accompanying drawings, in which like reference numerals designate like parts, elements, components, steps and processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a side view of a crane according to an embodiment;

[0013] Figure 2 According to the embodiment Figure 1 Schematic partial system diagram of the crane;

[0014] Figure 3 is a perspective view of a carrier unit of a crane according to an embodiment;

[0015] Figure 4 is a diagram showing the geometrical layout of a telescopic boom according to an embodiment;

[0016] Figure 5 is another perspective view of a carrier unit of a crane according to an embodiment;

[0017] Figure 6 is a diagram showing the geometrical layout of parts of a telescopic boom and a crane carrier unit according to an embodiment;

[0018] Figure 7 is another diagram showing the geometrical layout of parts of a crane boom and a crane carrier according to an embodiment; and

[0019] Figure 8 is a block diagram illustrating a method for monitoring a crane according to an embodiment. DETAILED DESCRIPTION

[0020] While the present disclosure is susceptible of embodiments in various forms, one or more embodiments are shown in the drawings and will be described below, with the understanding that the disclosure is to be considered illustrative only and is not intended to limit the disclosure to any specific embodiment described or shown.

[0021] refer to Figure 1 The crane 10 according to the embodiments herein generally includes a carrier unit 20 and a superstructure 30 that is rotatably mounted on the carrier unit 20 and configured to rotate relative to the carrier unit 20. The carrier unit 20 includes various crane components, such as a chassis 22, one or more tires 24 connected to the chassis 22, a carrier deck 26, and outriggers 28. The chassis 22 supports the one or more tires 24, the carrier deck 26, and the outriggers 28, as well as other components such as a powertrain (not shown). The one or more tires 24 are configured for rolling engagement with the ground, a road, or a similar supporting surface to facilitate rolling movement of the crane 10. For example, the powertrain can provide torque to the one or more tires 24 to propel the crane 10 along the supporting surface. The carrier deck 26 generally defines an upward-facing top surface of the carrier unit 20.

[0022] The outriggers 28 can be arranged in an extended position, wherein the outriggers 28 extend horizontally outward relative to the chassis 22 to one or more extended positions and extend vertically to engage a support surface located below. Continued vertical extension of the outriggers 28 causes the outriggers 28 to lift the tires 24 from the support surface, such that the crane 10 is supported on the outriggers 28. The outriggers 28 can also be arranged in a retracted position, wherein the outriggers 28 retract horizontally inward toward the chassis 22 and vertically out of the support surface. Thus, in the retracted position, the tires 24 can engage the support surface, and the crane 10 can be supported on the tires 24. In an embodiment, the horizontal extension and retraction of the outriggers can be adjusted by a telescoping box and arm assembly (not shown), and the vertical extension and retraction can be adjusted by a jack (not shown) operably connected to the telescoping box and arm assembly, for example, at or near the distal end of the arm.

[0023] The superstructure 30 also includes various crane components, such as a rotating table 32 rotatably mounted to the carrier unit 20, an operator's cab 34, a counterweight assembly 36, and a telescopic boom 38. The rotating table 32 is rotatably mounted to the carrier unit 20 via a support structure and is configured to be driven about a generally vertical axis in a first rotational direction or, alternatively, in a second rotational direction opposite the first rotational direction. The rotating table 32 directly or indirectly supports the operator's cab 34, the counterweight assembly 36, the telescopic boom 38, and other crane components, such as one or more winches (not shown), so that these components can rotate along with the rotating table 32 in the first and second rotational directions. The operator's cab 34 may include a user interface for allowing the crane operator to interact with the control system of the crane 10, as discussed further below, for example to control the operation of one or more crane components. The counterweight assembly 36 includes one or more weight units supported on a frame. The weight units can be installed and removed from the frame in a desired manner to provide a selected counterweight.

[0024] The telescoping boom 38 includes a base section 40 pivotally mounted on the rotating table 32 for movement through a vertically oriented range of lift angles, and one or more telescoping sections 42 configured for movement generally along the boom axis out of or into the base section 40 to vary the boom length L. G One or more winches (not shown) are configured to reel in and unreel a flexible member 44, such as a rope or cable. A lifting device 46, such as a hook block, is connected to the free end of the flexible member 44 and is suspended from the free end of the telescopic boom 38. A lifting cylinder 48 is pivotally connected directly or indirectly between the base section 40 and the rotating table 32. The lifting cylinder 48 is operable to raise or lower the telescopic boom 38 within a range of lifting angles. The rotating table 32 is rotatable in a first rotational direction and a second rotational direction to cause the telescopic boom 38 to rotate within a range of horizontally oriented slew angles.

[0025] Now refer to Figure 1 and Figure 2The crane 10 further includes a control system 50, sometimes referred to as a Crane Control System (CCS). The control system 50 can be implemented as one or more computing devices located at the crane 10, remote from the crane 10, communicatively connected to the crane 10, or a combination thereof. The control system 50 is operatively connected to various crane components (including actuators of the crane components) of the load carrier unit 20 and the superstructure 30 and can control the operation of one or more of the crane components. For example, the control system 50 can control the movement of one or more crane components, including starting, stopping, preventing, and allowing movement of the crane components and / or controlling the speed, acceleration, and / or deceleration of the crane components.

[0026] According to an embodiment, control system 50 includes a crane controller 52, a rated capacity limiter (RCL) 54, and a work range limiter (WRL) 56. Crane controller 52 may be configured to send control signals to various crane components and / or receive control signals to control movement of the crane components.

[0027] The RCL 54 is a system that generally operates to monitor the current load being lifted by the telescopic boom 38 of the crane 10 (i.e., hook load) relative to the rated capacity of the crane 10 at an operating radius (i.e., hook radius). For example, the RCL 54 may determine the currently lifted load and the operating radius based on information received from one or more crane sensors, user input, stored data, and / or a combination thereof. The RCL 54 may identify the rated capacity at the operating radius, for example, from a stored load chart that includes rated capacities at different operating radii or lift angle and boom length combinations. The RCL 54 may compare the current load being lifted by the crane with the rated capacity at the operating radius and control the operation of one or more crane components based on this comparison. For example, the RCL 54 may control movement of the telescopic boom 38 (i.e., boom-up movement, boom-down movement, left slew movement, right slew movement, inward telescoping movement, and / or outward telescoping movement) based on the comparison of the currently lifted load with the rated capacity at the operating radius. In some embodiments, the RCL 54 may provide control signals directly to the crane components for controlling the movement of the crane components. In other embodiments, the RCL 54 may provide control signals via the controller 52 to control the movement of the crane components.

[0028] The WRL 56 is a system that generally operates to monitor the position of crane components relative to the position of a confined space. For example, the WRL 56 may determine the position of crane components based on information received from one or more crane sensors, user input, stored data, and / or a combination thereof. The WRL 56 may identify a confined space based on, for example, stored position information (such as position information included in a worksite model), information received from one or more sensors (including crane sensors and / or external sensors communicatively connected to the WRL 56), information received via user input, and / or a combination thereof. A confined space may represent an obstacle at the worksite (such as a building) and define a space in which operation of one or more crane components should be avoided. Accordingly, the WRL 56 may compare the crane component position information with the confined space position information and control the operation of the crane components based on this comparison. For example, the WRL 56 may control the movement of the telescoping boom 38 (i.e., boom upward movement, boom downward movement, leftward swing movement, rightward swing movement, inward telescoping movement, and / or outward telescoping movement) based on the comparison of the telescoping boom position information with the confined space position information. In some embodiments, the WRL 56 may provide control signals directly to the crane components for controlling the movement of the crane components. In other embodiments, the WRL 56 may provide control signals via the controller 52 to control the movement of the crane components.

[0029] The control system 50 further includes computer components 100, such as a processor 58, a memory device 60, a storage device 62, a communication device 64, an input device 66, and / or an output device 68, which may be connected to each other, for example, on a bus (not shown). In an embodiment, the computer components 100 may be operably connected to the controller 52, the RCL 54, and the WRL 56. However, it will be appreciated that the computer components 100 may be implemented in each of the controller 52, the RCL 54, and the WRL 56, or distributed among the controller 52, the RCL 54, and the WRL 56. It will be further appreciated that, although shown separately, any one of the controller 52, the RCL 54, and the WRL 56 may be integrated with another one or more of the controller 52, the RCL 54, and the WRL 56 and provided as a single unit configured to perform the operations of the individual components described above.

[0030] In an embodiment, the processor 58 may be a computer processor (such as a microprocessor) configured to interpret and execute program instructions. The processor 58 is further configured to implement various operations (including movement) of one or more crane components in response to executing the program instructions. For example, the processor 58 may cause the controller 52 to provide control signals for controlling the movement of the telescopic boom 38. It will be appreciated that the operations of the controller 52, the RCL 54, and the WRL 56 described herein may be performed or otherwise implemented by the processor 58 in response to executing the program instructions.

[0031] Memory device 60 may be a non-transitory, computer-readable storage medium configured to store information, such as program instructions to be executed by processor 58. Memory device 60 may be, for example, random access memory (RAM), read-only memory (ROM), or another suitable type of memory device for storing information and / or executable program instructions. Storage device 62 is configured to store information, software, executable program instructions, and the like, such as may be accessed or referenced by processor 58. Storage device 62 may also store information collected during operation of crane 10, such as information received by control system 50 from one or more sensors or user input. In one embodiment, one or more load charts may be stored in storage device 62 and / or memory device 60 and may be accessed or referenced by, for example, RCL 54. Storage device 62 may be a non-transitory, computer-readable storage medium and may include, for example, a hard disk and associated drive and / or other similar suitable storage devices and associated drives.

[0032] The communication device 64 is configured to transmit information to the control system 50 and / or receive information from the control system 50 and / or transmit and / or receive information between components of the control system 50. For example, the communication device 64 may be provided as a communication interface having a transceiver or a component similar to a transceiver to transmit information to one or more other devices (such as other communication-enabled devices, components, sensors, etc.) and / or receive information from one or more other devices (such as other communication-enabled devices, components, sensors, etc.).

[0033] The input device 66 may include, or form part of, a user interface configured to receive information from a user (such as a crane operator). The input device 66 may include, or be operatively connected to, one or more operator controls, through the operation of which the user may provide information to the input device 66. The one or more operator controls may include, for example, a lever, a joystick, a knob, a button, a dial, a switch, a keyboard, a keypad, an indicator device, a touch screen display, one or more sensors (such as a biometric sensor, an audio sensor, a light sensor), and the like, including various combinations thereof. The controller 52 may send control signals to control the movement of the crane components in response to the information received from the input device 66.

[0034] Output device 68 may also include, or form part of, a user interface configured to provide information to a user (e.g., a crane operator). Output information may be provided visually (e.g., on a display screen or using one or more lights (e.g., LEDs)), audibly (e.g., by one or more audio speakers), and / or by way of tactile or vibration feedback or alerts (e.g., at an operator control). In some embodiments, input device 66 and output device 68 may be provided as a single device or include components provided as a single device (e.g., a display screen or touch screen display). The output information may serve as a warning or alarm.

[0035] The crane components can be operated to perform various movements by controlling the operation of corresponding component actuators. To this end, the control system 50 can be operably connected to one or more component actuators to control the operation of the component actuators. For example, the control system 50 can be operably connected to: an outrigger actuator 70 for controlling the movement of the outriggers 28 (e.g., horizontal extension and retraction and vertical extension and retraction); a swivel table actuator 72 for controlling the movement of the swivel table 32 (e.g., rotation in a first rotational direction and a second rotational direction) to cause the telescoping boom 38 to swivel left and right within a range of swivel angles; a boom actuator 74 for controlling the movement of the telescoping section 42 of the telescoping boom 38 (e.g., telescoping outward and telescoping inward) to increase or decrease the boom length; and a lift cylinder actuator 76 for controlling the movement of the lift cylinder 48 (e.g., extension and retraction) to cause the telescoping boom 38 to move up and down within a range of lift angles.

[0036] Further, the control system 50 may be operably connected to one or more crane sensors configured to provide information regarding the crane, crane components, the crane surroundings, the environment, atmospheric conditions (e.g., temperature, wind speed, etc.), and / or other information that may affect crane operation to the control system 50. This information may be provided as parameter values ​​or as information from which parameter values ​​may be derived. In an embodiment, the crane sensors may include: one or more tire sensors 78 configured to provide tire pressure information of one or more tires 24; one or more grade sensors 80 configured to provide grade information (e.g., pitch information and / or roll information) of the crane 10; one or more outrigger sensors 82 configured to provide outrigger extension and / or outrigger 28 pressure / load information; one or more slew angle sensors 84 configured to provide slew angle information of the rotary table 32 and / or the telescopic boom 38; one or more boom length sensors 86 configured to provide boom length information of the telescopic boom 38; one or more lift angle sensors 88 configured to provide lift angle information of the telescopic boom 38; and one or more lift cylinder pressure sensors 90 configured to provide lift cylinder pressure information of the lift cylinder 48. Other sensors may also be implemented, such as lift cylinder angle sensors for providing lift cylinder angle information to the control system 50 and / or additional flow, pressure, load, proximity sensors, etc. It will be appreciated that although Figure 2 Various crane sensors are shown associated with specific crane components, but the crane sensors may be installed or positioned with different crane components suitable for providing the desired information described herein.

[0037] Now refer to Figure 2 and Figure 3 , the RCL 54 may determine the current load being lifted by the crane 10. In an embodiment, the RCL 54 may determine the load being lifted by the crane 10 based at least in part on information received from one or more crane sensors. For example, the RCL may receive lift cylinder pressure information from one or more lift cylinder pressure sensors 90 and determine the load being lifted by the crane 10 based on the lift cylinder pressure information. In an embodiment, the RCL 54 may calculate the current load being lifted based on a formula relationship between the lift cylinder pressure and the current load being lifted. Alternatively or in addition, the RCL 54 may retrieve the current load being lifted from the memory device 60 or the storage device 62 based on known load values ​​corresponding to different lift cylinder pressures or based on user input information (e.g., when the load is known).

[0038] The RCL 54 may also determine an operating radius for the current load being lifted by the crane 10 based, at least in part, on information received from one or more crane sensors. For example, the RCL 54 may receive lift angle information from one or more lift angle sensors 88 and boom length information from one or more boom length sensors 86 and determine the operating radius based on the lift angle information and the boom length information. In one embodiment, the RCL 54 may calculate the operating radius based on a formula relationship between the lift angle, boom length, and the operating radius. Alternatively or in addition, the RCL 54 may retrieve the operating radius from the memory device 60 or storage device 62 based on known operating radius values ​​corresponding to different lift angles and boom lengths.

[0039] The operating radius of a load lifted by the crane 10 can be further determined based on the pitch and / or roll of the crane 10. The pitch of the crane 10 generally refers to the rotation of the carrier unit 20 (e.g., chassis 22, carrier deck 26) and / or the rotary table 32 about an axis extending laterally across the crane 10. Thus, the pitch of the crane 10 causes the front or rear end of the carrier deck 26 to deflect upward or downward. The roll of the crane 10 generally refers to the rotation of the carrier unit 20 (e.g., chassis 22, carrier deck 26) and / or the rotary table 32 about an axis extending longitudinally along the crane 10. Thus, the roll of the crane 10 causes the left or right side of the carrier deck 26 to deflect upward or downward. The RCL 54 can receive pitch information and roll information (collectively referred to as "grade information") from one or more crane sensors. For example, the RCL 54 may receive information about the deflection of the carrier unit 20 at different locations from one or more crane sensors, and may then calculate grade information based on the information about the deflection of the carrier unit 20 .

[0040] The control system 50 (including the RCL 54) can receive grade information from one or more grade sensors 80 mounted on the carrier unit 20 (e.g., the chassis 22 or the carrier deck 26) or mounted on the superstructure 30 (e.g., the rotating table 32). While the outriggers 28 are moving into the deployed position, elevating the tires 24 from the support surface, and the crane 10 is supported on the outriggers 28, the grade sensors 80 can provide pitch and roll information to the control system 50 to allow for leveling of the carrier unit 20 (e.g., the carrier deck 26). For example, the control system 50 can control the vertical extension of one or more outriggers 28 to effect a change in the pitch and / or roll of the carrier deck 26 until the carrier deck 26 is substantially leveled. The crane 10 can then perform a lifting operation with the outriggers 28 deployed. During such a lifting operation, the pitch and / or roll of the carrier deck 26 is expected to be relatively small and may not substantially affect the operating radius.

[0041] However, in some scenarios, it may be beneficial or acceptable to perform a lifting operation with the outriggers 28 retracted, such that the crane 10 is supported on the tires 24. Such a lifting operation is often referred to as an "on-rubber" lifting operation. Generally, during such an on-rubber lifting operation, the carrier deck 26 is expected to pitch and / or roll to a greater extent due to deformation of the tires 24 than during a lifting operation performed with the outriggers 28 deployed. The pitching and / or rolling of the crane 10 during such an on-rubber lifting operation may contribute to an increase in the operating radius and, therefore, may contribute to a decrease in the rated capacity (i.e., the maximum allowable load at the operating radius).

[0042] According to embodiments herein, the RCL 54 is further configured to determine an operating radius based at least in part on grade information (i.e., pitch information and / or roll information). In one embodiment, the grade information may be received by the RCL 54 from a grade sensor 80. The RCL 54 may monitor the currently hoisted load at the operating radius, determined at least in part on the grade information. For example, the RCL 54 may compare the currently hoisted load with the rated capacity of the crane 10 at the operating radius, determined at least in part on the grade information. Further, the RCL 54 may control the operation of one or more crane components, such as the telescopic boom 38, based on the comparison of the currently hoisted load with the rated capacity at the operating radius, determined at least in part on the grade information. For example, the RCL 54 may reduce or limit the speed to within a predetermined threshold and / or reduce or limit the movement of the telescopic boom 38 to within a predetermined threshold in a direction that would bring the rated capacity closer to the currently hoisted load.

[0043] refer to Figure 4 and Figure 5 , the RCL 54 is configured to provide a coordinate system XYZ for the carrier unit 20. The RCL 54 can determine the coordinates of a plurality of points in the coordinate system XYZ. For example, the RCL 54 can determine the X and Z coordinates of three points u, v, and w in the coordinate system XYZ, where the points u, v, and w can correspond to predetermined points on the crane 10, such as at Figure 4 . For example, point 'u' may correspond to the base pivot axis of the telescopic boom 38 and may serve as the origin of the coordinate system XYZ. Points 'v' and 'w' may also correspond to points in the geometric layout of the telescopic boom 38. For example, point 'v' may correspond to the pivot axis formed by connecting the lift cylinder 48 to the base section 40 of the boom 38, and point 'w' may correspond to the base pivot axis of the lift cylinder 48.

[0044] refer to Figure 4 and Figure 6 The RCL 54 can transform coordinates based on the grade information. For example, the RCL 54 can determine the tilt angle of the crane 10, such as the tilt angle of the carrier unit 20, based on the grade information. In an embodiment, the tilt angle can be determined based on the pitch angle and the roll angle, which can be determined based on the grade information. The coordinates can be adjusted using the tilt angle. The tilt angle for the actual position of the telescopic boom 28 can also be determined. Using the known tilt angle, the coordinate transformation can account for the pitch and roll of the crane 10 about a point on the carrier unit 20.

[0045] The generalized coordinates of a point on the telescopic boom 38 or related components (e.g., the lift cylinder 48) can be translated so that the carrier unit 20 rotation point (i.e., the point on the carrier unit 20 about which the carrier unit 20 pitches and / or rolls) serves as the origin of the coordinate system. The coordinates can be rotated about the Y axis using the tilt angle. The coordinates can then be translated back so that the origin is at the original location, i.e., at the base pivot axis (point 'u') of the telescopic boom 38. This operation can be performed by the RCL 54.

[0046] Alternatively, refer to Figure 7 , the RCL 54 can transform the coordinates of the point with respect to the base pivot axis of the telescopic boom 38 (at point 'u') using a rotational coordinate system transformation. Thus, the base pivot axis of the telescopic boom 38 can remain at the origin of the coordinate system. However, the reference point 'w' is shifted, and the lift cylinder angle is altered.

[0047] Thus, in the embodiments above, the RCL 54 may determine an adjusted or transformed operating radius based on grade information such that the transformed operating radius accounts for the pitch and / or roll of the crane 10 during, for example, a lift-on-rubber operation.

[0048] The RCL 54 may also be configured to store, for example, crane geometry information, crane weight information, or both, and may use such information to determine a transformed operating radius. For example, the crane geometry information may be used by the RCL 54 to create a geometric model of the crane 10 or crane components, such as the telescopic boom 38. The crane geometry information may include, for example, various dimensions, distances between components, coordinate system information, reference points, and / or coordinate information of crane components. The crane geometry information may be provided, for example, based on sensor information and / or user input. The weight information may include, for example, the weight distribution of the crane 10, the weight of the load being lifted by the crane, the weight of various crane components, and the like.

[0049] Reference again Figure 4, the geometrical arrangement of the telescopic boom 38 in the XZ plane of the XYZ coordinate system includes reference points 'u', 'v' and 'w'. In addition, the telescopic sections 42 are shown, each of which has a first end A1, A2, ..., A at the proximal end. i and the second end B2, B3, ... B at the far end i+1 The length L1, L2, ... L of each telescopic section 42 i The second ends B2, B3, ... B of the corresponding telescopic sections 42 are i+1 With the first end A1, A2...A i The distance between the base segment 40 is shown, which has a second end B1 at the distal end and has a length L0. In addition, the length of the base segment 40 to the pivot connection axis at the reference point 'v' is shown as L z The length of the telescopic boom 38 is shown as L G The lifting angle of the telescopic boom 38 is shown as β 0 The lift cylinder angle is shown as α Z .

[0050] Therefore, further reference Figure 4 , the following coordinates can be determined:

[0051] ,in:

[0052] : horizontal (x-axis) position of the reference point 'u';

[0053] ,in:

[0054] : horizontal (x-axis) position of reference point 'w'; and

[0055] : the horizontal distance between reference point 'u' and reference point 'w'; and

[0056] ,in:

[0057] : horizontal (x-axis) position reference point 'v';

[0058] : the length of the base section 40 from the origin to the reference point 'v';

[0059] : The lifting angle of the telescopic boom 38;

[0060] : the vertical distance between the reference point 'v' and the base section 40 of the telescopic boom 38; and

[0061] : The vertical distance between the base section 40 of the telescopic boom 38 and the reference point 'u'.

[0062] Still refer to Figure 4 , determine the 'Z' coordinates of:

[0063] ,in:

[0064] : vertical (Z axis) position of reference point 'u';

[0065] ,in:

[0066] : the vertical (Z-axis) position of the reference point 'w'; and

[0067] : the vertical distance between reference point 'u' and reference point 'w'; and

[0068] ,in:

[0069] : vertical (Z axis) position of the reference point 'v';

[0070] According to the embodiment, the lifting cylinder angle Can be determined as:

[0071] If X v >X w ,but:

[0072]

[0073] If X w >X v ,but:

[0074] .

[0075] Figure 5 is another perspective view of the carrier unit 20 according to an embodiment. Figure 5The carrier unit 20 may be oriented in a first coordinate system XYZ. In one embodiment, the roll angle may be specified based on a positive right-hand rotation relative to the carrier's X-axis. A positive roll angle may lower the right side of the crane and raise the left side of the crane. A positive pitch angle may be specified based on a positive right-hand rotation relative to the carrier's Y-axis. A positive pitch angle may lower the front of the carrier unit 20 and raise the rear of the carrier unit 20. The X and Z coordinates may correspond to the midplane of the telescopic boom 38.

[0076] The tilt angle can be determined to adjust coordinates in a first coordinate system XYZ, such as the X and Z coordinates in the midplane of the telescopic boom 38. A unit vector about the X-axis direction ("X unit vector") can be determined based on the effect of the pitch angle. A unit vector about the Y-axis direction ("Y unit vector") can also be determined based on the effect of the roll angle. A maximum tilt angle can be determined from a Z unit vector based on the X unit vector and the Y unit vector. The maximum tilt angle can then be determined based on the Z unit vector.

[0077] The tilt angle can be determined as:

[0078] .

[0079] The X unit vector can be determined as:

[0080] ,in:

[0081] : pitch angle.

[0082] The Y unit vector can be determined as:

[0083] ,in:

[0084] : scroll angle.

[0085] The maximum tilt angle can be determined from the following vector:

[0086] .

[0087] The maximum tilt angle can then be obtained as follows:

[0088] .

[0089] The Z unit vector can be taken as the projected Z unit vector 118 (see Figure 5) onto the XY plane. A projection 120 of the telescopic boom 38 onto the XY plane may be determined based on the slew (or steering) angle of the telescopic boom 38. The tilt angle of the actual position of the telescopic boom 38 may then be determined in the XY plane based on the maximum tilt angle, the projected Z unit vector 118, and the projected boom 120.

[0090] The projection 118 of the Z unit vector onto the XY plane can be determined as follows:

[0091] .

[0092] The projection 120 of the telescopic boom 38 onto the XY plane can be determined as follows:

[0093] ,in:

[0094] α: rotation angle.

[0095] The actual position of the telescopic boom 38 at an inclination angle may then be as follows:

[0096] .

[0097] Now refer to Figure 6 , a coordinate transformation can be used to account for the pitch and roll of the carrier unit 20 (and the crane 10) when the tilt angle is known. The crane 10 can move about a point on the carrier unit 20 (e.g., at a horizontal distance h from the Z axis). c The point can be shown to be at a vertical distance ( Figure 6 h in p2d In one embodiment, this vertical distance may correspond to the distance from the base pivot axis 'u' of the telescopic boom 38 to the carrier deck 26. Because a separate sensor can be used to detect the elevation angle, the elevation angle of the telescopic boom base section 40 can be maintained while accounting for tilt effects. Point 'v' may be the position of the boom, not the turntable. The base pivot axis at point 'u' will be displaced. Thus, adjusted coordinates can then be determined.

[0098] The coordinates can be adjusted as follows:

[0099]

[0100]

[0101]

[0102]

[0103]

[0104] .

[0105] In an embodiment, the generalized coordinates of a point on the boom system may have an X coordinate and a Z coordinate. The coordinates may be translated based on the generalized coordinates of the point on the telescopic boom system and the coordinates for the carrier rotation point so that the carrier rotation point (see Figure 6 ) as the origin. The coordinates can be rotated about the Y axis based on the tilt angle and the translated coordinates. The coordinates can then be translated back so that the origin is at the original position (i.e., where the boom base pivot axis 'u' was originally located).

[0106] The following may indicate the generalized coordinates of a point on the boom system:

[0107] .

[0108] The coordinates can be translated to use the carrier rotation point as the origin as follows:

[0109] ,in:

[0110] .

[0111] To rotate the coordinates around the Y axis (using the previously calculated tilt angle), you can use:

[0112] .

[0113] The coordinates can be translated back so that the origin is at the original position (where the boom pivot was originally located) as follows:

[0114] .

[0115] Further references Figure 6 , taking into account the slope information, the coordinates of the telescopic boom 38 can be transformed in the manner described above, and the transformed telescopic boom 38' is shown in dashed lines. In addition, the transformed operating radius is shown as R', while the original operating radius is shown as R. Taking into account the slope information, the transformed reference points u', v' and w' are Figure 6 . During a rubber lift operation, the RCL 54 can measure the operating radius from the superstructure's rotational centerline, which may have shifted in response to the pitch and / or roll of the carrier unit 20. The RCL 54 can determine the operating radius during a rubber lift operation in the manner described above. For example, the coordinates of various points on the crane can be adjusted to account for the pitch and / or roll of the carrier unit 20.

[0116] Figure 7is a diagram showing the geometrical layout of parts of the telescopic boom 38 and the carrier unit 20 according to an embodiment. Figure 7 Another approach to account for tilt during a rubber lift operation is to use a rotating coordinate system transformation for the boom pivot. In such an approach, the boom pivot 'u' remains at the origin. However, point 'w' is displaced, and the angle α z The change in angles may affect the FBD of the boom system and it can be seen that this improves the predictions.

[0117] refer to Figure 8 According to an embodiment, a method 800 for monitoring a load lifted by a crane may include: determining a load lifted by a telescopic boom 38 of a crane 10 at 810; receiving pitch and / or roll information of a carrier unit 20 of the crane 10, for example, from a grade sensor 80 at 820; and adjusting coordinates of the crane 10 in a coordinate system based on the pitch and / or roll information at 830. The method may further include determining a transformed operating radius R' using the adjusted coordinates at 840; and comparing the lifted load to a rated capacity at the transformed operating radius R' at 850.

[0118] Thus, in the embodiments described above, the RCL 54 can use the pitch and / or roll information (i.e., grade information) received from the grade sensor 80 to determine the operating radius (also referred to as the transformed operating radius R') of the crane 10 during, for example, a rubber lift operation. In one embodiment, the transformed operating radius R' may refer to the operating radius R that has been adjusted to account for the pitch and / or roll of the crane 10. The pitch and / or roll information may indicate the pitch and / or roll of the carrier unit 20. The pitch and / or roll information may also indicate the pitch and / or roll of the superstructure 30.

[0119] The RCL 54 may transform the coordinates of the crane 10 based on the pitch and / or roll information from the grade sensor 80 to account for the pitch and / or roll of the crane 10. By accounting for the pitch and / or roll of the crane 10, the RCL 54 may determine a transformed operating radius of the crane 10 during, for example, a rubber lifting operation.

[0120] In the manner described above, the RCL 54 can monitor the load lifted by the crane 10 and determine the operating condition (e.g., load utilization) of the crane 10 during a rubber-on-the-rail lift operation based on a comparison of the load lifted by the crane 10 with the rated capacity at the transformed operating radius R′. That is, the RCL 54 can use the operating radius determined based on the pitch and / or roll information received from the grade sensor 80 to monitor the load lifted by the crane 10 and determine the operating condition of the crane.

[0121] It is understood that the relative directions described above (e.g., "upward," "downward," "upper," "lower," "above," "below") are used for illustrative purposes only and may vary depending on the orientation of a particular component. Thus, this terminology is non-limiting in nature. Additionally, it is understood that one or more of the various features of the above embodiments may be used, combined, or substituted for other features of the different embodiments described herein.

[0122] All patents mentioned herein are hereby incorporated by reference in their entirety, whether or not specifically indicated as such within the text of this disclosure.

[0123] In this disclosure, the word "a" or "an" will be deemed to include both the singular and the plural. Conversely, any reference to plural items should include the singular where appropriate.

[0124] It will be observed from the foregoing that many modifications and variations can be implemented without departing from the true spirit and scope of the novel concepts of the present invention. It will be understood that no limitation with respect to the specific embodiments shown is intended or should be inferred. This disclosure is intended to cover all such modifications as fall within the scope of the claims.

Claims

1. A crane comprising: a carrier unit having a chassis, tires connected to the chassis, a carrier deck, and outriggers movable into a deployed state and a retracted state: in the deployed state the outriggers engage an underlying support surface and lift the tires from the support surface such that the outriggers support the carrier unit; In the retracted state, the outriggers are disengaged from the support surface and the tires are engaged with the support surface such that the tires support the carrier unit; a superstructure mounted on the carrier unit, the superstructure comprising a telescopic boom; a grade sensor operatively connected to the carrier unit and configured to detect pitch and / or roll of the carrier unit during a lifting operation; as well as A system for monitoring a load lifted by a telescopic boom, the system being configured to: determining a current load being lifted by the telescopic boom; receiving pitch and / or roll information of the carrier unit from the grade sensor; adjusting the coordinates of the crane in a coordinate system based on the pitch and / or roll information; determining a transformed operating radius using the adjusted coordinates; as well as comparing the current load being lifted to a rated capacity at the transformed operating radius; wherein the system is configured to monitor the lifted load with the outriggers in the retracted state; and Wherein the system is further configured to control the vertical extension of the outriggers based on the pitch and / or roll information during movement of the outriggers to the deployed state for leveling the carrier unit.

2. The crane according to claim 1, characterized in that The system is configured to control one or more movements of the telescopic boom based on a comparison of the lifted load and a rated capacity at the transformed operating radius.

3. The crane according to claim 1, wherein: The system is configured to receive boom length information from a boom length sensor and lift angle information from a lift angle sensor.

4. The crane according to claim 1, wherein: The system stores one or more load charts, and the rated capacity at the transformed operating radius is determined based on a load chart from the one or more load charts.

5. A system for monitoring a load lifted by a crane, the crane comprising a carrier unit, a grade sensor mounted on the carrier unit and configured to detect pitch and roll of the carrier unit, and a superstructure mounted on the carrier unit, the superstructure comprising a telescopic boom, the system comprising: a processor and a non-transitory computer-readable storage medium configured to store program instructions, and the processor is configured to interpret and execute the program instructions to: receiving slope information of the carrier unit from the slope sensor, the slope information including the detected pitch and roll of the carrier unit; controlling vertical extension of the outriggers based on the slope information to level the carrier unit; monitoring a load lifted by the crane during a rubber-on-slope lifting operation based on the grade information, wherein, to monitor the load lifted by the crane, the system is configured to: determining a current load being lifted by the telescopic boom; adjusting the coordinates of the crane in a coordinate system based on the slope information; determining a transformed operating radius using the adjusted coordinates; and The current load being lifted is compared to the rated capacity at the transformed operating radius.

6. The system according to claim 5, characterized in that The system is further configured to control movement of the telescopic boom based on a comparison of the lifted load and a rated capacity at the transformed operating radius.

7. A method for monitoring a load lifted by a crane, the crane comprising: a carrier unit having a chassis, tires connected to the chassis, a carrier deck, and outriggers movable between a deployed state and a retracted state; an upper structure mounted on the carrier unit, the upper structure comprising a telescopic boom; and a grade sensor operatively connected to the carrier unit and configured to detect pitch and / or roll of the carrier unit during a lifting operation; the method comprising: determining a load lifted by the telescopic boom; receiving pitch and / or roll information of the carrier unit during a lifting operation with the outriggers in the retracted state such that the carrier unit is supported on the tires, wherein the pitch and / or roll information includes the detected pitch and / or roll of the carrier unit; adjusting the coordinates of the crane in a coordinate system based on the pitch and / or roll information; determining a transformed operating radius using the adjusted coordinates; and The lifted load is compared to the rated capacity at the transformed operating radius.

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