A system and method for monitoring a crane, and a crane having the same

Abstract

The crane includes a carrier unit having a chassis, tires connected to the chassis, a carrier deck, and outriggers. An upper works is mounted on the carrier unit and includes a telescoping boom. A tilt sensor is operably connected to the carrier unit and configured to detect the pitch and / or roll of the crane during a lifting operation. The crane further includes a system for monitoring a load lifted by the telescoping boom. The system determines a current load lifted by the telescoping boom, receives pitch and / or roll information from the tilt sensor, adjusts coordinates of the crane in a coordinate system based on the pitch and / or roll information, determines a transformed working radius using the adjusted coordinates, and compares the lifted load to a rated load at the transformed working radius.

Description

Background Art

[0001] The following disclosure generally relates to cranes and systems and methods for monitoring cranes.

[0002] The rated load of a crane refers to the maximum total load that the crane is designed to lift in a particular configuration. The particular configuration includes parameters that remain substantially constant during the lifting operation, such as the weight of the counterweight and the extended length of the outrigger, and parameters that can vary during the lifting operation, such as the working radius (i.e., the moment arm of the load suspended from the boom) and the swing angle (i.e., the rotational position of the boom relative to a reference point on the crane's carrier unit on the horizontal plane). The working radius changes with changes in the boom length (e.g., extension or retraction of a telescopic boom) and the lifting angle (i.e., the angle between the boom and the horizontal plane). Usually, as the working radius increases, the load moment increases and the rated load decreases. Conversely, as the working radius decreases, the load moment decreases and the rated load increases. Therefore, a load chart showing the rated load at various working radii and / or lifting angles is provided.

[0003] Conventional crane rated load limit (RCL) systems are configured to monitor the current load lifted by the crane and the current working radius based on, for example, information received from one or more crane sensors and / or operator input. For example, a conventional crane RCL system can determine the current load based at least in part on information received from a pressure sensor that detects the fluid pressure within a lift cylinder supporting the boom. The current working radius can be determined to be based at least in part on information received from sensors that detect the length of the boom and the lifting angle of the boom.

[0004] Conventional crane RCL systems are further configured to determine the operating state of the crane, and the operation of the crane can be controlled based on the operating state. For example, a conventional crane RCL system can control the boom to prevent it from moving to a working radius where the current load will exceed the rated load.

[0005] Mobile cranes typically have a plurality of tires that rollingly contact a support surface so that the crane can self - propel for movement on a road or at a work site. Mobile cranes also have outriggers that can be deployed to engage the ground and lift the tires off the ground to support the mobile crane during lifting operations.

Summary of the Invention

Problems to be Solved by the Invention

[0006] For relatively light loads, it may be desirable to perform lifting operations without deploying the outriggers and having the crane supported by its tires during the lifting operation. However, the crane is susceptible to the influence of displacement in the direction of the load due to compression of the tires. Such displacement results in an increase in the working radius even though the lifting angle or boom length has not changed. Thus, conventional RCL systems do not detect changes in the working radius. As a result, conventional RCL systems may compare the current load with the rated load on the load chart at a working radius smaller than the current working radius, which can affect the accuracy of the comparison.

[0007] Therefore, it is desirable to provide a crane and a system and method for crane control in which the displacement of the carrier unit is taken into account when monitoring the current load and the current working radius.

Means for Solving the Problems

[0008] In one form, the crane is a carrier unit having a chassis, tires connected to the chassis, a carrier deck, and outriggers, wherein the outriggers engage a lower support surface to lift the tires off the support surface and are arranged to support the carrier unit, and can move to a retracted state in which the outriggers are separated from the support surface and the tires engage the support surface and the tires support the carrier unit. The crane further includes an upper structure mounted on the carrier unit and having a telescopic boom, and an inclination sensor operably connected to the carrier unit and configured to detect the pitch and / or roll of the carrier unit during lifting operations. The crane also includes a system for monitoring the load lifted by the telescopic boom. This system determines the current load being lifted by the telescopic boom, receives pitch and / or roll information of the carrier unit from the inclination sensor, adjusts the coordinates of the crane in a coordinate system based on the pitch and / or roll information, uses the adjusted coordinates to determine a converted working radius, and compares the lifted load with the rated load at the converted working radius.

[0009] In another form, the system is provided for monitoring the load lifted by a crane, the crane comprising a carrier unit and an upper structure mounted on the carrier unit, the upper structure including a telescopic boom. The system has a processor and a persistent computer-readable storage medium configured to store program instructions, the processor being 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 an inclination sensor disposed on the carrier unit, adjust the coordinates of the crane in a coordinate system based on the pitch and / or roll information, use the adjusted coordinates to determine a converted working radius, and compare the lifted load with the rated load at the converted working radius.

[0010] In another form, 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 and having a telescopic boom. The crane also includes an inclination sensor operably connected to the carrier unit to detect the pitch and / or roll of the carrier unit during lifting operations. The method includes determining the load lifted by the telescopic boom, receiving information on the 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 converted working radius using the adjusted coordinates, and comparing the lifted load with the rated load at the converted working radius.

[0011] Other objects, features, and advantages of the present disclosure will become apparent from the following description in conjunction with the accompanying drawings. Here, like parts, elements, components, steps, and processes are referred to by like reference numerals.

Brief Description of the Drawings

[0012]

Figure 1

[0013]

Figure 2

[0014]

Figure 3

[0015]

Figure 4

[0016]

Figure 5

[0017]

Figure 6

[0018]

Figure 7

[0019]

Figure 8

DETAILED DESCRIPTION OF THE INVENTION

[0020] The disclosure herein enables embodiments in various forms, but one or more embodiments are shown in the drawings and described below with the understanding that the disclosure is for illustrative purposes only and is not intended to be limited to the specific embodiments described and illustrated.

[0021] Referring to FIG. 1, the crane 10 according to the embodiment herein generally includes a carrier unit 20 and an upper structure 30 rotatably mounted on the carrier unit 20 and adapted 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 one or more tires 24, the carrier deck 26, and the outriggers 28, and also supports other components such as a power train (not shown). One or more tires 24 are adapted to rollingly engage a ground, road, or similar support surface to facilitate the rolling movement of the crane 10. For example, the power train can apply torque to one or more tires 24 to propel the crane 10 along the support surface. The carrier deck 26 generally defines an upper surface facing above the carrier unit 20.

[0022] The outriggers 28 can be arranged in a deployed state where they extend horizontally outwardly relative to the chassis 22 to one or more extended positions and extend vertically to engage a lower support surface. By subsequent vertical extension of the outriggers 28, the outriggers 28 can lift the tires 24 off the support surface so that the crane 10 can be supported by the outriggers 28. The outriggers 28 can also be retracted horizontally inwardly toward the chassis 22 and vertically retracted away from the support surface and arranged in a retracted state. Thus, in the retracted state, the tires 24 engage the support surface and the crane 10 is supported by the tires 24. In one embodiment, the horizontal extension and retraction of the outriggers can be provided by a telescoping box and arm assembly (not shown), and the vertical extension and retraction can be provided 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 turntable 32 rotatably attached to the carrier unit 20, a cab 34, a counterweight assembly 36, and a telescopic boom 38. The turntable 32 is rotatably attached to the carrier unit 20 by a bearing structure and is adapted to be driven about an axis generally perpendicular to the first rotational direction or a second rotational direction opposite to the first rotational direction. The turntable 32 directly or indirectly supports the cab 34, the counterweight assembly 36, and the telescopic boom 38, and also supports other crane components such as one or more hoists (not shown) so that these components can rotate with the turntable 32 in the first and second rotational directions. The cab 34 can include a user interface that allows a crane operator to communicate with the control system of the crane 10, for example, to control the operation of one or more crane components as will be described later. The counterweight assembly 36 includes one or more weight units supported on a frame. The weight units can be attached to or removed from the frame in a desired manner to provide a selected counterweight.

[0024] The telescopic boom 38 includes a base portion 40 pivotally attached to the turntable 32 so as to move over a range of vertical angles of the lifting angle, and a boom length L GIt is provided with one or more telescopic parts 42 that are generally moved along the boom axis outside and inside the base part 40 so as to change. One or more hoists (not shown) are adapted to wind up and pay out a flexible member 44 such as a rope or a cable. A lifting appliance 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. The lift cylinder 48 is pivotally connected directly or indirectly between the base part 40 and the rotating floor 32. The lift cylinder 48 is operable to raise and lower the telescopic boom 38 over a range of lifting angles. The rotating floor 32 can rotate in the first and second rotation directions to rotate the telescopic boom 38 over a range of horizontal swing angles.

[0025] Referring to FIGS. 1 and 2, the crane 10 further includes a control system 50, which is sometimes called a crane control system (CCS). The control system 50 can be implemented as one or more computer devices that are located on the crane 10, are communicatively connected far away from the crane 10, or a combination thereof. The control system 50 is operably connected to various crane components of the carrier unit 20 and the superstructure 30 (including actuators of the crane components) to control one or more operations 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 permitting the operation of the crane components, and / or controlling the speed, acceleration, and / or deceleration of the crane components.

[0026] In one embodiment, the control system 50 includes a crane control device 52, a rated load limiting device (RCL) 54, and a work area limiting device (WRL) 56. The crane control device 52 can transmit and / or receive control signals to and from various crane components to control the operation of the crane components.

[0027] RCL54 is a system that generally operates to monitor the current load (i.e., hook load) lifted by the telescopic boom 38 of crane 10 relative to the rated load of crane 10 at the working radius (i.e., hook radius). For example, RCL54 can determine the current load being lifted and the working radius based on information received from one or more crane sensors, user input, stored data, and / or combinations thereof. RCL54 can identify the rated load at the working radius, for example, from a stored load chart that includes rated loads at various working radii or combinations of lift angles and boom lengths. RCL54 can compare the current load lifted by the crane to the rated load at its working radius and control the operation of one or more crane components based on that comparison. For example, RCL54 can control the operation of the telescopic boom 38 (i.e., boom raise, boom lower, left swing, right swing, extend in, and / or extend out operations) based on a comparison of the current load being lifted to the rated load at its working radius. In one embodiment, RCL54 can directly provide control signals to the crane components to control their operation. In other embodiments, RCL54 can provide control signals via a control device 52 to control the operation of the crane components.

[0028] WRL56 is a system that generally operates to monitor the position of crane components relative to the position of a restricted space. For example, WRL56 can determine the position of crane components based on information received from one or more crane sensors, user input, stored data, and / or combinations thereof. WRL56 can identify a restricted space, for example, based on stored position information, position information included in a job site model, information received from one or more sensors (including crane sensors and / or external sensors communicatively connected to WRL56), information received via user input, and / or combinations thereof. A restricted space can represent an obstacle such as a building at a job site and can define a space within which the operation of one or more crane components should be avoided. Thus, WRL56 can compare the position information of the crane components with the position information of the restricted space and control the operation of the crane components based on that comparison. For example, WRL56 can control the operation of the telescoping boom 38 (i.e., boom raise, boom lower, left swing, right swing, extend in, and / or extend out operations) based on a comparison of the position information of the telescoping boom with the position information of the restricted space. In one embodiment, WRL56 can directly provide a control signal to the crane components to control the operation of the crane components. In other embodiments, WRL56 can provide a control signal via a control device 52 to control the operation of the crane components.

[0029] The control system 50 can further include 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 are interconnected with each other, for example, on a bus (not shown). In one embodiment, the computer components 100 can be operably connected to the control device 52, the RCL 54, and the WRL 56. However, it will be understood that the computer components 100 can be implemented in each of the control device 52, the RCL 54, and the WRL 56, or can be distributed among the control device 52, the RCL 54, and the WRL 56. Furthermore, although some of the control device 52, the RCL 54, and the WRL 56 are shown separately, it will also be understood that they can be integrated into another one or more control devices 52, the RCL 54, and the WRL 56 and provided as a single unit configured to execute the operations of the above-described individual components.

[0030] In one embodiment, the processor 58 can be a computer processor such as a microprocessor configured to interpret and execute program instructions. The processor 58 is further configured to cause various operations (including movements) of one or more crane components in response to executing the program instructions. For example, the processor 58 can cause the control device 52 to provide a control signal for controlling the operation of the telescopic boom 38. It will be understood that the operations of the control device 52, the RCL 54, and the WRL 56 described herein can be executed or achieved by the processor 58 in response to the execution of program instructions.

[0031] The memory device 60 can be a persistent computer-readable storage medium configured to store information such as program instructions executed by the processor 58. The memory device 60 can be, for example, a random access memory (RAM), a read-only memory (ROM), or other suitable type of memory device for storing information and / or executable program instructions. The storage device 62 is configured to store, for example, information, software, executable program instructions, etc., that can be accessed or referenced by the processor 58. The storage device 62 can also store information collected during operation of the crane 10, such as information received from one or more sensors or user inputs by the control system 50. In certain embodiments, one or more load charts are stored in the storage device 62 and / or the memory device 60 and are accessed or referenced, for example, by the RCL 54. The storage device 62 can be a persistent computer-readable storage medium and can comprise, for example, a hard disk, an associated drive, and / or other similar and suitable storage devices and associated drives.

[0032] The communication device 64 is configured to transmit information to / and or receive from the control system 50 and / or to transmit and receive 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 such as a transceiver for sending information to and / or receiving information from one or more other devices such as other communicable devices, components, sensors, etc.

[0033] The input device 66 can be provided with or form a part of a user interface adapted to receive information from a user such as a crane operator. The input device 66 can be provided with or operably connected to one or more operator control units by which a user can provide information to the input device 66 by operating it. The one or more operator control units can include, for example, a lever, a joystick, a knob, a button, a dial, a switch, a keyboard, a keypad, a pointer device, a touch screen display, and one or more sensors such as a biometric sensor, a voice sensor, a light sensor, and various combinations thereof. The control device 52 can transmit a control signal to control the operation of the crane components according to the information received by the input device 66.

[0034] The output device 68 can also be provided with or form a part of a user interface adapted to provide information to a user such as a crane operator. The output information can be provided visually, for example, on a display screen or by one or more lights (e.g., LEDs) in the operator control unit, or auditorily, for example, by one or more audio speakers, and / or by tactile or vibratory feedback or warnings. In some embodiments, the input device 66 and the output device 68 can be provided as a single device, for example, a display screen or a touch screen display, or can include components provided as a single device. The output information can function as a warning or an alarm.

[0035] The crane components are operated so that various operations are performed by controlling the operation of the actuators of the corresponding components. For this purpose, the control system 50 can be operably connected to the actuators of one or more components to control the operation of the actuators of the components. For example, the control system 50 includes an outrigger actuator 70 for controlling the operation of the outrigger 28 (e.g., horizontal extension and retraction, and vertical extension and retraction); a slewing ring 32 for controlling the operation of the slewing ring 32 that causes the left and right swinging operations of the telescopic boom 38 over a range of slewing angles (e.g., rotation in the first and second rotation directions); a boom actuator 74 for controlling the operation of the telescopic portion 42 of the telescopic boom 38 that increases or decreases the boom length (e.g., extension outward and retraction inward); and a lift cylinder actuator 76 for controlling the operation of the lift cylinder 48 that causes the boom up and boom down operations of the telescopic boom 38 over a range of lifting angles (e.g., extension and retraction).

[0036] In addition, the control system 50 can be operably connected to one or more crane sensors adapted to provide information to the control system 50 regarding the crane, crane components, the surroundings of the crane, the environment, atmospheric conditions (e.g., temperature, wind speed, etc.), and / or other information that may affect the operation of the crane. The information can be provided as parameter values or information from which parameter values result. In one embodiment, the crane sensors include one or more tire sensors 78 adapted to provide information on the tire pressure of one or more tires 24; one or more tilt sensors 80 adapted to provide tilt information (e.g., pitch information and / or roll information) of the crane 10; one or more outrigger sensors 82 adapted to provide outrigger extension and / or pressure / load information of the outriggers 28; one or more swing angle sensors 84 adapted to provide swing angle information of the slewing platform 32 and / or the telescopic boom 38; one or more boom length sensors 86 adapted to provide boom length information of the telescopic boom 38; one or more lifting angle sensors 88 adapted to provide lifting angle information of the telescopic boom 38; and one or more lift cylinder pressure sensors 90 adapted to provide lift cylinder pressure information of the lift cylinders 48. Other sensors, such as, for example, lift cylinder angle sensors for providing lift cylinder angle information to the control system 50, and / or additional flow sensors, pressure sensors, load sensors, proximity sensors, etc., may also be implemented. Although FIG. 2 shows various crane sensors associated with specific crane components, the crane sensors may be attached or disposed on other crane components suitable for providing the intended information described above.

[0037] Referring now to FIGS. 2 and 3, the RCL 54 can determine the current load lifted by the crane 10. In one embodiment, the RCL 54 can determine the load lifted by the crane 10 based at least in part on information received from one or more crane sensors. For example, the RCL can receive lift cylinder pressure information from one or more lift cylinder pressure sensors 90 and determine the load lifted by the crane 10 based on the lift cylinder pressure information. In certain embodiments, the RCL 54 can calculate the current load lifted based on a mathematical relationship between the lift cylinder pressure and the current load lifted. Alternatively or additionally, the RCL 54 can retrieve the current load lifted from the memory device 60 or the storage device 62 based on known load values corresponding to various lift cylinder pressures or based on user input information when, for example, the load is known.

[0038] The RCL 54 can also be configured to determine the working radius of the load lifted by the crane 10 based at least in part on information received from one or more crane sensors. For example, the RCL 54 can 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 working radius based on the lift angle information and the boom length information. In certain embodiments, the RCL 54 can calculate the working radius based on a mathematical relationship between the lift angle, the boom length, and the working radius. Alternatively or additionally, the RCL 54 can retrieve the working radius from the memory device 60 or the storage device 62 based on known working radius values corresponding to various lift angles and boom lengths.

[0039] The working radius of the load lifted by the crane 10 can further be 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., the chassis 22, the carrier deck 26) and / or the slewing platform 32 around an axis extending across the crane 10. Thus, the pitch of the crane 10 results in the displacement of the front end or the rear end of the carrier deck 26 upward or downward. The roll of the crane 10 generally refers to the rotation of the carrier unit 20 (e.g., the chassis 22, the carrier deck 26) and / or the slewing platform 32 around an axis extending longitudinally along the crane 10. Thus, the roll of the crane 10 results in the displacement of the left side surface or the right side surface of the carrier deck 26 upward or downward. The RCL 54 can be configured to receive pitch information and roll information (collectively referred to as "tilt information") from one or more crane sensors. For example, the RCL 54 can receive information regarding the displacement of the carrier unit 20 at various positions from one or more crane sensors and calculate the tilt information based on the information regarding the displacement of the carrier unit 20.

[0040] The control system 50 (including the RCL 54) can receive inclination information from one or more inclination sensors 80 attached to the carrier unit 20, such as the chassis 22 or the carrier deck 26, or attached to the superstructure 30, such as the rotating floor 32. While the outriggers 28 are operating to a deployed state so that the tires 24 float from the support surface and the crane 10 is supported by the outriggers 28, the inclination sensors 80 provide pitch information and roll information to the control system 50 to enable the carrier unit 20, such as the carrier deck 26, to be leveled. For example, the control system 50 controls 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 level. The crane 10 can 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 working radius.

[0041] However, in certain situations, it may be advantageous or possible to perform a lifting operation with the outriggers 28 in a retracted state so that the crane 10 is supported by the tires 24. Such a lifting operation is generally referred to as an "on-rubber" lifting operation. Generally, during an on-rubber lifting operation, the carrier deck 26 is expected to pitch and / or roll more than during a lifting operation performed with the outriggers 28 deployed due to the deformation of the tires 24. The pitch and / or roll of the crane 10 during an on-rubber lifting operation can increase the working radius and, as a result, may decrease the rated load (i.e., the maximum allowable load at the working radius).

[0042] According to the embodiments herein, the RCL54 is further configured to determine the working radius based at least in part on tilt information (i.e., pitch information and / or roll information). In one embodiment, the tilt information is received by the RCL54 from the tilt sensor 80. The RCL54 can monitor the current load being lifted at the working radius determined based at least in part on the tilt information. For example, the RCL54 can compare the current load being lifted with the rated load of the crane 10 at the working radius determined based at least in part on the tilt information. Still further, the RCL54 can control the operation of one or more crane components, such as the telescoping boom 38, based on a comparison between the current load being lifted and the rated load at the working radius determined based at least in part on the tilt information. For example, the RCL54 can reduce or limit the speed within a predetermined threshold and / or prevent or limit the movement of the telescoping boom 38 in a direction such that the rated load approaches the current load being lifted.

[0043] Referring to FIGS. 4 and 5, the RCL54 is configured to provide a coordinate system XYZ with respect to the carrier unit 20. The RCL54 can determine the coordinates for a plurality of points within the coordinate system XYZ. For example, the RCL54 can determine the X and Z coordinates for points u, v, w within the coordinate system XYZ corresponding to a predetermined point of the crane 10 shown in FIG. 4. For example, the point "u" can correspond to the base pivot axis of the telescoping boom 38 and can function as the origin of the coordinate system XYZ. The points "v" and "w" can also correspond to points of the geometric arrangement of the telescoping boom 38. For example, the point "v" can correspond to the pivot axis formed by the connection of the lift cylinder 48 and the base portion 40 of the boom 38, and the point "w" can correspond to the base pivot axis of the lift cylinder 48.

[0044] Referring to FIGS. 4 and 6, RCL54 can convert coordinates based on inclination information. For example, RCL54 can determine the inclination angle of the crane 10, such as the inclination angle of the carrier unit 20, based on the inclination information. In one embodiment, the inclination angle can be determined based on the pitch angle and roll angle determined based on the inclination information. The coordinates can be adjusted using the inclination angle. The inclination angle with respect to the actual position of the telescopic boom 38 can also be determined. Using the known inclination angle, the pitch and roll of the crane 10 around a point on the carrier unit 20 can be taken into account for coordinate transformation.

[0045] The general coordinates of a point located on the telescopic boom 38 or related components (e.g., lift cylinder 48) can be transformed to have the rotation point of the carrier unit 20 (i.e., the point on the carrier unit 20 around which the carrier unit 20 pitches and / or rolls) as the origin of the coordinate system. The coordinates can be rotated around the Y-axis using the inclination angle. Then, the coordinates can be re-transformed to have the origin at the original position, i.e., the base pivot axis (point "u") of the telescopic boom 38. Such operations can be performed by RCL54.

[0046] Alternatively, referring to FIG. 7, RCL54 can transform the coordinates of a point using a rotational coordinate system transformation with respect to the base pivot axis (point "u") of the telescopic boom 38. Thus, the base pivot axis of the telescopic boom 38 remains at the origin of the coordinate system. However, the reference point "W" moves and the lift cylinder angle changes.

[0047] Therefore, in the above-described embodiment, RCL54 can determine the adjusted or transformed working radius based on the inclination information so that, for example, the pitch and / or roll of the crane 10 during an over-the-side lifting operation are taken into account in the transformed working radius.

[0048] RCL54 can additionally be made to store, for example, the geometric information of the crane, the weight information of the crane, or both, and such information can be used to determine the converted working radius. For example, the geometric information of the crane may be used by RCL54 to generate a geometric model of a crane component such as the crane 10 or the telescopic boom 38. The geometric information of the crane can include, for example, various dimensions, distances between components, coordinate system information, reference points, and / or coordinate information of the crane components. The geometric information of the crane can be provided, for example, based on sensor information and / or user input. The weight information can include, for example, the weight distribution of the crane 10, the weight of the load lifted by the crane, the weights of various crane components, and the like.

[0049] Referring again to FIG. 4, the geometric arrangement of the telescopic boom 38 in the XZ plane of the XYZ coordinate system includes the reference points "u", "v", and "w". In addition, each telescopic part 42 has, respectively, a first end A1, A2, ··· A i at the proximal end and a second end B2, B3, ··· B i+1 at the distal end as shown. The lengths L1, L2, ··· L i of each telescopic part 42 are the distances between the second ends B2, B3, ··· B i+1 and the first ends A1, A2, ··· A i of the respective telescopic parts 42. The base part 40 is shown as having a second end B1 at the distal end and also having a length L0. In addition, the length of the base part 40 to the pivot 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 β0. The lift cylinder angle is α Z as shown.

[0050] Therefore, referring further to FIG. 4, the following coordinates are obtained. TIFF0007695938000001.tif38163TIFF0007695938000002.tif89169

[0051] Further referring to FIG. 4, the following "Z" coordinate is obtained. TIFF0007695938000003.tif76166

[0052] In one embodiment, the lift cylinder angle α Z is obtained as follows. TIFF0007695938000004.tif47159

[0053] FIG. 5 is another perspective view of the carrier unit 20 according to one embodiment. In FIG. 5, the carrier unit 20 is oriented in the first coordinate system XYZ. In one embodiment, the roll angle can be based on the positive direction to the right in the X-axis direction of the carrier. A positive roll angle lowers the right side of the crane and raises the left side of the crane. A positive pitch angle can be based on the positive direction to the right with respect to the Y-axis direction of the carrier. A positive pitch angle lowers the front of the carrier unit 20 and raises the rear of the carrier unit 20. The X coordinate and the Z coordinate correspond to the central plane of the telescopic boom 38.

[0054] The tilt angle is obtained to adjust the coordinates in the first coordinate system XYZ, such as the X and Z coordinates in the central plane of the telescopic boom 38. The unit vector close to the X-axis direction ("X unit vector") can be obtained based on the effect of the pitch angle. The unit vector close to the Y-axis direction ("Y unit vector") can also be obtained based on the effect of the roll angle. The maximum tilt angle can be obtained from the Z unit vector based on the X unit vector and the Y unit vector. And the maximum tilt angle can be obtained based on the Z unit vector.

[0055] The tilt angle is specified as follows: TIFF0007695938000005.tif15167

[0056] The X unit vector is specified as follows: TIFF0007695938000006.tif30165

[0057] The Y unit vector is specified as follows: TIFF0007695938000007.tif29162

[0058] The maximum inclination angle is obtained from the following vector: TIFF0007695938000008.tif9161

[0059] And the maximum inclination angle is as follows: TIFF0007695938000009.tif12164

[0060] The Z unit vector is projected onto the XY plane as the Z unit vector 118 (see FIG. 5). The projection 120 of the telescopic boom 38 onto the XY plane can be obtained based on the swing (or rotation) angle of the telescopic boom 38. The inclination angle with respect to the actual position of the telescopic boom 38 can be obtained based on the maximum inclination angle, the projected Z unit vector 118, and the projected boom 120 in the XY plane.

[0061] The projection 118 of the Z unit vector onto the XY plane is obtained as follows: TIFF0007695938000010.tif25165

[0062] The projection 120 of the telescopic boom 38 onto the XY plane is obtained as follows: TIFF0007695938000011.tif30166

[0063] And the inclination angle with respect to the actual position of the telescopic boom 38 is as follows: TIFF0007695938000012.tif12167

[0064] Referring now to FIG. 6, in a situation where the tilt angle is known, coordinate transformation can be used to take into account the pitch and roll of the carrier unit 20 (crane 10). Crane 10 rotates about a point on the carrier unit 20, for example, at a horizontal distance h from the Z-axis c The point is shown at a vertical distance (h in FIG. 6 p2d ). In one embodiment, the vertical distance can correspond to the distance from the base pivot axis "u" of the telescopic boom 38 to the carrier deck 26. Since another sensor is used to detect the elevation angle, the elevation angle of the telescopic boom base 40 can be maintained when taking into account the effect of the tilt. The point "v" can be the position of the boom rather than the turntable. The base pivot axis at point "u" will move. Therefore, adjusted coordinates are required.

[0065] The coordinates are adjusted as follows: TIFF0007695938000013.tif62162

[0066] In one embodiment, the general coordinates of a point on the boom system have an X coordinate and a Z coordinate. The coordinates are transformed with the center of rotation of the carrier (see FIG. 6) as the origin, based on the general coordinates of the point on the telescopic boom system and the coordinates relative to the center of rotation of the carrier. The coordinates are rotated about the Y-axis based on the tilt angle and the transformed coordinates. The coordinates are transformed again so that the origin has the original position, i.e., the position where the boom base pivot axis "u" originally was.

[0067] The general coordinates of a point on the boom system are shown as follows: TIFF0007695938000014.tif11166

[0068] The coordinates are transformed to have the center of rotation of the carrier as the origin as follows: TIFF0007695938000015.tif29165

[0069] The coordinates are rotated about the Y-axis using the following (where the previously calculated tilt angle can be utilized): TIFF0007695938000016.tif20164

[0070] The coordinates are then re-converted as follows so that the origin is at the original location (where the boom was originally pivoted): TIFF0007695938000017.tif12165

[0071] Referring further to FIG. 6, the coordinates of the telescopic boom 38 are converted in the manner described above, and taking into account the tilt information, the converted telescopic boom 38' is shown by the dashed line. Additionally, the converted working radius is denoted by R', while the original working radius is denoted by R. Taking into account the tilt information, the converted reference points u', v', and w' are shown in FIG. 6. In the on-raver hoisting operation, the RCL54 measures the working radius from the center line of rotation of the superstructure, which moves according to the pitch and / or roll of the carrier unit 20. The RCL54 can determine the working radius during the on-raver hoisting operation in the manner described above. For example, the coordinates of various points on the crane are adjusted to take into account the pitch and / or roll of the carrier unit 20.

[0072] FIG. 7 is a schematic view showing a partial geometric arrangement of the telescopic boom 38 and the carrier unit 20 according to an embodiment. Referring to FIG. 7, another approach that takes into account the tilt during the on-raver hoisting operation is to use a rotational coordinate system transformation with respect to the pivoting of the boom. In such an approach, the pivot of the boom "u" remains at the origin. However, the point "W" moves and the angle αz changes. The change in the angle can affect the FBD of the boom system that may improve the predicted values.

[0073] Referring to FIG. 8, a method 800 for monitoring a crane-lifted load according to an embodiment may include obtaining, at step 810, the load lifted by the telescopic boom 38 of the crane 10, receiving, at step 820, information on the pitch and / or roll of the carrier unit 20 of the crane 10 from, for example, an inclination sensor 80, and adjusting, at step 830, the coordinates of the crane 10 in a coordinate system based on the pitch and / or roll information. This method may further include obtaining, at step 840, a converted working radius R' using the adjusted coordinates, and comparing, at step 850, the lifted load with the rated load at the converted working radius R'.

[0074] Thus, in the above-described embodiment, the RCL 54 can use the pitch and / or roll information received from the inclination sensor 80, i.e., the inclination information, to obtain, for example, the working radius of the crane 10 (also referred to as the converted working radius R') during an on-rubber lifting operation. In an embodiment, the converted working radius R' is referred to as the working radius R adjusted taking into account the pitch and / or roll of the crane 10. The pitch and / or roll information indicates the pitch and / or roll of the carrier unit 20. The pitch and / or roll information also indicates the pitch and / or roll of the upper structure 30.

[0075] The RCL 54 can convert the coordinates of the crane 10 based on the pitch and / or roll information from the inclination sensor 80 to take into account the pitch and / or roll of the crane 10. By taking into account the pitch and / or roll of the crane 10, the RCL 54 can obtain, for example, the converted working radius of the crane 10 during an on-rubber lifting operation.

[0076] As described above, RCL54 can monitor the load lifted by crane 10 and determine the operating state of crane 10 during the outreach lifting operation (e.g., load utilization) based on a comparison between the load lifted by crane 10 and the rated load at the converted working radius R'. That is, RCL54 can monitor the load lifted by crane 10 using the working radius obtained based on the pitch and / or roll information received from the inclination sensor 80 and determine the operating state of the crane.

[0077] The relative directions described above, such as "upward", "downward", "above", "below", "on ~", "under ~", are used merely for the purpose of explanation and can vary depending on the orientation of specific components. Therefore, these terms impose virtually no limitations. In addition, it is understood that one or more of the various features of the above embodiments can be used in, combined with, or instead of other features of the different embodiments disclosed herein.

[0078] All patent documents referred to herein are hereby incorporated by reference in their entirety, whether or not specifically shown within the description of this disclosure.

[0079] Words expressed in the singular are to be construed as including both the singular and the plural. Conversely, any reference in the plural form shall, where appropriate, include the singular.

[0080] Many changes and modifications will be found to be achievable hereinafter without departing from the true spirit and scope of the novel technical idea of the present invention. No limitation or suggestion is intended by referring to the specific embodiments described. This disclosure is intended to cover all such changes within the scope of the appended claims.

Claims

1. A crane, comprising a carrier unit having a chassis, tires connected to the chassis, a carrier deck, and outriggers, wherein the outriggers can move to a deployed state in which the outriggers engage a lower support surface to lift the tires off the support surface and the outriggers support the carrier unit, and a retracted state in which the outriggers move away from the support surface and the tires engage the support surface and the tires support the carrier unit, a carrier unit, an upper structure mounted on the carrier unit and having a telescopic boom, an inclination sensor operably connected to the carrier unit and adapted to detect the pitch and / or roll of the carrier unit during lifting operations, and a system for monitoring the load lifted by the telescopic boom, wherein the system determines the current load being lifted by the telescopic boom, receives pitch and / or roll information from the inclination sensor, including the detected pitch and / or roll of the carrier unit, adjusts the coordinates of the crane in a coordinate system based on the pitch and / or roll information, determines a converted working radius using the adjusted coordinates, and compares the current load being lifted with the rated load at the converted working radius, and is configured to monitor the current load being lifted with the outriggers in the retracted state, the crane.

2. The crane according to claim 1, wherein the system is configured to control one or more operations of the telescopic boom based on the comparison between the current load being lifted and the rated load at the converted working radius.

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

4. The crane according to claim 1, wherein the system stores one or more load charts, and the rated load at the converted working radius is obtained from one of the one or more load charts.

5. A system for monitoring a load lifted by a crane, the crane comprising a carrier unit, an inclination sensor disposed on the carrier unit and configured to detect the pitch and roll of the carrier unit, and a superstructure mounted on the carrier unit, the superstructure comprising a telescopic boom, The system is comprised of a processor and a persistent computer-readable storage medium configured to store program instructions, the processor interpreting and executing the program instructions to determine the load lifted by the telescopic boom, receive inclination information of the carrier unit including the detected pitch and roll of the carrier unit from the inclination sensor, determine the inclination angle of the carrier unit using the inclination information, convert the coordinates of the crane in a coordinate system taking into account the pitch and roll of the carrier unit using the inclination angle, determine a converted working radius using the converted coordinates, compare the lifted load with the rated load at the converted working radius, System.

6. The system according to claim 5, wherein the operation of the telescopic boom is controlled based on the comparison between the lifted load and the rated load at the converted working 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 operable between a retracted state and a deployed state, an upper structure mounted on the carrier unit and having a telescopic boom, and an inclination sensor operably connected to the carrier unit to detect the pitch and / or roll of the carrier unit during a lifting operation, the method comprising: Determining a load lifted by the telescopic boom; Receiving information on the pitch and / or roll of the carrier unit during a lifting operation in a state where the outriggers are in the retracted state and the carrier unit is supported by the tires, the pitch and / or roll information including 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 converted working radius using the adjusted coordinates; Comparing the lifted load with the rated load at the converted working radius; A method comprising the above steps.

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