METHOD FOR CONTROLLING A LOAD SUSPENDED BY A HOISTING WIRE
Patent Information
- Application Number
- NL2038989
- Authority / Receiving Office
- NL · NL
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-11-04
- Publication Date
- 2026-06-08
- Estimated Expiration
- 2044-11-03
Smart Images
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Abstract
Description
P37065NL00 METHOD FOR CONTROLLING A LOAD SUSPENDED BYA HOISTING WIRE The present invention relates to a method for controlling a load suspended from a hoisting wire of a crane, wherein use is made of a tagline system. lt is known to provide a crane with a tagline system to enhance the control of motion, position, and / or orientation of the load. For example, tagline systems are commonly used in the wind industry to provide a constant orientation of the wind turbine blade while the blade is being hoisted to an installation height, and when the blade is at the installation height the tagline system is commonly used to change the orientation of the blade for alignment with the blade mounting structure of the hub of the wind turbine. Examples of crane having a tagline system are presented in W02024083833, EP1925582, and EP2490975. The cranes commonly comprise: - a base structure, e.g. adapted to be mounted on a vessel, - a revolving structure slewable on a slew bearing about a vertical slew axis relative to the base structure, - a boom which is at the inner end thereof pivotally connected to the revolving structure, wherein the boom can pivot about a horizontal pivot axis, - a luffing device for pivoting the boom about the horizontal pivot axis, wherein the luffing device comprises a luffing winch and a variable length luffing system, - a hoisting winch, a hoisting wire driveable by the hoisting winch, and a load connector suspended from the boom via the hoisting wire. ln operation, the load connector is connected to the load. For example, the boom is embodied as a latticed hollow box structure comprising two front main chords at a front side of the boom and two rear main chords at a rear side of the boom. Known tagline systems comprise at least two taglines which are each driven by an associated tagline winch. ln known embodiments, these taglines winches are placed on or nearby the crane such that the tagline extends from the tagline winch directly to the load. ln other known embodiments, the tagline system comprises guide wires configured to be tensioned along the boom, wherein a trolley slides over a respective guide wire. The tagline then, for example, -2- extends from the winch to a sheave of the trolley and then to the load. The trolleys can follow the motion of the load during hoisting or lowering, e.g. passively or driven by an associated trolley drive. For example, a tagline system can be embodied as a stand-alone system which can be used in combination with different (types of) cranes. These stand-alone tagline systems commonly have a control system which operates independent of control system of the crane, e.g. of the hoist system of the crane. ln another known embodiment, the trolley is mounted to the boom, e.g. on a rail mounted on the boom or directly on a chord of the boom. It is known to have a trolley drive to move the trolley up and down along the boom, e.g. such that the orientation of the tagline with respect to the load can be kept constant during hoisting / lowering, or varied as desired by an operator. It is known to operate the tagline system so as to control the motion, position, and / or orientation of the load by changing the length of the taglines, this can be done manually as well as automatically. The present invention aims to provide a more accurate and easy to implement control method for controlling a load suspended by a hoisting wire. The present invention provides a method according to claim 1. The tagline system used to control the load comprises: - two horizontal tagline trolley assemblies each comprise: o a tagline trolley which travels along the boom, preferably engages a respective one of the front main chords of the boom and is movable along the respective main chord, o a tagline trolley winch and a tagline trolley cable driven by the tagline trolley winch, wherein the tagline trolley is connected to the tagline trolley cable such that a (un)winding of the tagline trolley winch provides a controlled displacement of the tagline trolley along the boom, e.g. along the main front chord, - two horizontal tagline assemblies, each horizontal tagline assembly comprising a tagline winch and a tagline driven by the tagline winch, wherein the tagline in use of -3- the crane extends from a respective tagline trolley to the load and / or to the load connector. The tagline system further comprises a tagline control system, wherein the tagline control system is configured to: - receive a hoisting signal, e.g. from an operator, corresponding to the lifting or lowering of the suspended load by means of the hoisting winch, - receive signals from the tagline trolley winches and the tagline winches corresponding to the unwound length of the tagline trolley cables and taglines respectively, - send a tagline control signal to the tagline trolley winches and the tagline winches corresponding to a (un)winding speed of the tagline trolley winches and the tagline winches. The method comprises the steps of: - the tagline control system receiving a hoist signal, e.g. from an operator, corresponding to a lifting or lowering of the suspended load, - the tagline control system receiving signals from each of the tagline trolley winches and each of the tagline winches corresponding to the unwound length of the tagline trolley cables and the taglines respectively, - the tagline control system determining the required (un)winding speed of each of the tagline trolley winches and each of the taglines winches based on the hoist signal, the length of the tagline trolley cables, the length of the taglines, and the geometry of the boom, e.g. of the front main chords, - the tagline control system sending a tagline control signal to each of the tagline trolley winches and each of the tagline winches, - (un)winding the hoist winch based on the hoist signal and (un)winding each of the tagline trolley winches and each of the tagline winches based on the respective the control signal. The innovative control method enables precise and easy-to-implement load control. Using the known unwound length of the tagline trolley cable, the exact position of each trolley can be determined. In this system, tagline trolleys preferably engage the boom's front chords, which are rigid. Compared to systems where tagline trolleys are attached to guide wires running along the boom, this method allows for a more accurate determination of the tagline trolley cables -4- position, resulting in improved load control. Even when the guide wires are tensioned, they provide a much less stable base for the trolley then the chords or a rail mounted to the boom. Additionally, because the tagline system is integrated with the crane, the tagline control system receives hoisting signals and has precise information about the crane's geometry. This setup enables the system to adjust the (un)winding speed of each winch as needed, without needing to rely on feedback from the winches or precise knowledge of the loads position. In an embodiment, the tagline trolley winches are set to have the trolleys follow the load during lifting / lowering, e.g. the orientation of the section of the taglines extending between the tagline trolley and the load / load connector remains constant seen in a side view, e.g. in a horizontal plane, this allows for an easier and more constant control of the load. ln an embodiment, the two front main chords of the boom are non-parallel with respect to each other. The tagline trolleys will therefore also not move parallel with respect to each other when they are moved along the main chords, this will also change the lateral position of the tagline trolleys with respect to the load, this needs to be accounted forwhen determining the required (un)winding speeds of the tagline trolley and tagline winches. Due to the tagline control system being integrated with the crane, and therefore knowing the exact geometry of the main chords, the tagline control system can determine the required (un)winding of each of the tagline trolley winches and each of the tagline winches to keep the orientation of the load stable or change it in a desired way. In an embodiment, the tagline control system is configured to receive tagline control signals, e.g. from an operator, corresponding to an (un)winding of the tagline trolley winches and tagline winches, wherein the method comprises the steps of: - the tagline control system determining the required (un)winding speed of each of the tagline trolley winches and each of the taglines winches based on the hoist signal, the length of the tagline trolley cables, the length of the taglines, the geometry of the front main chords, and on the received tagline control signals. This allows the operator to manually control the load during operation, for example forwhen the operator wants to change the orientation of the load. ln an embodiment, the tagline control system determines the required (un)winding speed of each of the tagline trolley winches and each of the taglines winches solely based on the received tagline control signals, e.g. a full manual control mode. -5- ln an embodiment, the tagline control system is configured to receive tagline control signals from an input device, e.g. one or more joysticks configured to be used by an operator, wherein based on the inputs provided to the input device a tagline control signal corresponding to the (un)winding of the tagline trolley winches and / or tagline winches is send to the tagline control signals, which then sends a control signal to the tagline trolley winches and / or tagline winches. This can be done simultaneously, e.g. both tagline trolleys winches and / or tagline winches received the same control signal based on the input of the operator, or it can be done independently, e.g. each tagline trolley winch and / or tagline winch receives an independent control signal, e.g. to change the heights of the tagline trolleys with respect to each other, e.g. to change the orientation of the load. ln an embodiment, the tagline system comprises tension sensors which are configured to measure the tension of the taglines, wherein the control system is configured to receive signals from the tension sensors corresponding to the tension in the taglines. In an embodiment, the method comprises the step of keeping a certain, approximately, constant tension in the taglines during operation of the crane. This facilitates in keeping the load in a stable orientation and position. It is important to always have a certain tension in the taglines, othenNise the taglines cannot be used to control the load. In an embodiment, the tagline control system is configured to unwind the tagline winches if the tension in the taglines goes over a pre-determined maximum tension, e.g. in case of a wind gust. This ensures that the tension in the taglines becomes too high and thereby damaging the crane. ln an embodiment, the tagline system further comprises: - two vertical tagline assemblies, each vertical tagline assembly comprising a vertical tagline winch and a vertical tagline driven by the vertical tagline winch, wherein the vertical tagline in use of the crane extends from an outer end of the boom to the load and / or to the load connector, wherein the tagline control system is configured to receive signals from the vertical tagline winches corresponding to the unwound length of the vertical taglines, and wherein the tagline control system is configured to send control signals to the vertical tagline winches corresponding to an (un)winding speed of the vertical tagline winches, wherein the method comprises the steps of: -6- - the tagline control system receiving signals from each of the vertical tagline winches corresponding to the unwound length of the vertical tagline, - the tagline control system determining the required (un)winding speed of each of the vertical taglines winches based on the hoist signal, the length of the tagline trolley cables, the length of the taglines, the length of the vertical taglines, and the geometry of the front main chords, and optionally on the tagline control signals, - the tagline control system sending a tagline control signal to each of the vertical tagline winches, - (un)winding the tagline winches based on the respective the control signal. The vertical tagline assemblies further assist in the controlling of the load, allowing for changes of the orientation of the load in a vertical plane. The invention also relates to a crane according to claim 8. The invention will now be explained with reference to the figures. In the figures: Fig. 1 shows a vessel provided with a crane comprising a tagline system, Fig. 2 shows the tagline system, Fig. 3 shows a block diagram of the tagline system. Figure 1 shows ajackop vessel 1 provided with a crane 10. The crane 10 comprises a base structure 11 which is mounted on the deck 2 of the vessel 1. The crane 10 further comprises a revolving structure 12 slewable on a slew bearing 13 about a vertical slew axis 14 relative to the base structure 12. A boom 20 is at the inner end thereof pivotally connected to the revolving structure 12. The boom 20 can pivot about a horizontal pivot axis. The crane 10 has a luffing device 15 for pivoting the boom 20 about the horizontal pivot axis. The luffing device 15 comprises a luffing winch 16 and a variable length luffing system 17. The crane 10 has a hoisting winch 18 and a hoisting wire 19 which is drivable by the hoisting winch. -7- A load connector 110 is suspended from the boom 20 via the hoisting wire 19, wherein the load connector 110 is connected to the load 100, here shown as a wind turbine blade. The boom 20 is embodied as a latticed hollow box structure having two front main chords 21, 22 at a front side of the boom 20, and two rear main chords at a rear side of the boom 10. The tagline system comprises: - two horizontal tagline trolley assemblies each comprising: o a tagline trolley 31, 32 which engages a respective one of the front main chords 21, 22 and is movable along the respective main chord 21, 22. o a tagline trolley winch 35, 36 and a tagline trolley cable 41, 42 driven by the tagline trolley winch, wherein the tagline trolley 31, 32 is connected to the tagline trolley cable 41, 42 such that a (un)winding of the tagline trolley winch provides a controlled displacement of the tagline trolley 31, 32 along the main front chord 21, 22. - two horizontal tagline assemblies, each horizontal tagline assembly comprising a tagline winch 37, 38 and a tagline 33, 34 driven by the tagline winch, wherein the tagline 33, 34 in use of the crane extends from a respective tagline trolley 31, 32 to the load connector 110. The tagline system further comprises two vertical tagline assemblies, each vertical tagline assembly comprising a vertical tagline winch 53, 54 and a vertical tagline 51, 52 driven by the vertical tagline winch. The vertical taglines 51, 52 in use of the crane extends from an outer end of the boom 20 to the load connector 110. The tagline system further comprises a tagline control system 200, wherein the tagline control system 200 is configured to: - receive a hoisting signal Sh, e.g. from an operator, corresponding to the lifting or lowering of the suspended load 100 by means of the hoisting winch 18, - receive signals 81,82, 83, 84from the tagline trolley winches 35, 36 and the tagline winches 37, 38 corresponding to the unwound length of the tagline trolley cables 41, 42 and taglines 33, 34 respectively, - send a tagline control signal C1,C2, C3, C4 to the tagline trolley winches 35, 36 and the tagline winches 37, 38 corresponding to a (un)winding speed of the tagline trolley winches 35, 36 and the tagline winches 37, 38. -8- The method comprises the steps of: - the tagline control system 200 receiving a hoist signal Sh, e.g. from an operator, corresponding to a lifting or lowering of the suspended load 100, - the tagline control system 200 receiving signals 81,82, 8s, 84 from each of the tagline trolley winches 35, 36 and each of the tagline winches 37, 38 corresponding to the unwound length of the tagline trolley cables 41, 42 and the taglines 33, 34 respectively, - the tagline control system 200 determining the required (un)winding speed of each of the tagline trolley winches 35, 36 and each of the taglines winches 37, 38 based on the hoist signal Sh, the length of the tagline trolley cables 41, 42, the length of the taglines 33, 34, and the geometry of the boom, e.g. of the front main chords 21, 22, - the tagline control system 200 sending a tagline control signal C1,C2, Cs, C4 to each of the tagline trolley winches 35, 36 and each of the tagline winches 37, 38, - (un)winding the hoist winch 18 based on the hoist signal 87, and (un)winding each of the tagline trolley winches 35, 36 and each of the tagline winches 37, 38 based on the respective the control signal C1,C2, Cs, C4. ln an embodiment, the tagline trolley winches 35, 36 are set to have the trolleys 31, 32 follow the load 100, e.g. the vertical orientation of the section of the taglines 33, 34 extending between the tagline trolley 31, 32 and the load / load connector remains constant, this allows for an easier and more constant control of the load. In the shown embodiment, the two front main chords 21, 22 of the boom 20 are non-parallel with respect to each other. In an embodiment, the tagline control system 200 is configured to receive tagline control signals 85,86, 87, SB, e.g. from an operator, corresponding to an (un)winding of the tagline trolley winches 35, 36 and tagline winches 37, 38, wherein the method comprises the steps of: - the tagline control system 200 determining the required (un)winding speed of each of the tagline trolley winches 35, 36 and each of the taglines winches 37, 38 based on the hoist signal Sh, the length of the tagline trolley cables 81,82, the length of the taglines 8s, 84, the geometry of the front main chords, and on the received tagline control signals 85,86, 87, SB. ln an embodiment, the tagline control system 200 determines the required (un)winding speed of each of the tagline trolley winches 35, 36 and each of the taglines winches 37, 38 solely based on the received tagline control signals 85,86, 87, SB, e.g. a full manual control mode. -9- ln an embodiment, the tagline control system 200 is configured to receive tagline control signals from an input device 300, e.g. one or more joysticks configured to be used by an operator, wherein based on the inputs provided to the input device a tagline control signal 85,86, 87, 88 corresponding to the (un)winding of the tagline trolley winches 35, 36 and / or tagline winches 37, 38 is send to the tagline control system 200, which then sends a control signal C1,C2, Cs, C4 to the tagline trolley winches 35, 36 and / or tagline winches 37, 38. ln an embodiment, the tagline system 200 comprises tension sensors 210 which are configured to measure the tension of the taglines, wherein the control system is configured to receive signals 87 from the tension sensors 210 corresponding to the tension in the taglines. ln an embodiment, the method comprises the step of keeping a certain, approximately, constant tension in the taglines during operation of the crane. This facilitates in keeping the load in a stable orientation and position. It is important to always have a certain tension in the taglines, otherwise the taglines cannot be used to control the load. ln an embodiment, the tagline control system is configured to unwind the tagline winches if the tension in the taglines goes over a pre-determined maximum tension, e.g. in case of a wind gust. This ensures that the tension in the taglines becomes too high and thereby damaging the crane. ln an embodiment, the tagline control system 200 is configured to receive signals Sg,S1o from the vertical tagline winches 53, 54 corresponding to the unwound length of the vertical taglines 51, 52, and wherein the tagline control system 100 is configured to send control signals C5, Cs to the vertical tagline winches 53, 54 corresponding to an (un)winding speed of the vertical tagline winches 53, 54. The method comprises the steps of: - the tagline control system 200 receiving signals 89,810 from each of the vertical tagline winches 53, 54 corresponding to the unwound length of the vertical tagline 51, 52, - the tagline control system 200 determining the required (un)winding speed of each of the vertical taglines winches 53, 54 based on the hoist signal 811, the length of the tagline trolley cables 81,82, the length of the taglines 8s, 84, the length of the vertical taglines 89,810, and the geometry of the front main chords, - the tagline control system 200 sending a tagline control signal C5, Cs to each of the vertical tagline winches 53, 54, and optionally on the tagline control signals 85,86, 87, 88, -10- - (un)winding the tagline winches 53, 54 based on the respective the control signal C5, C6. 5 CONCLUSION 1. Procedure for checking a load, for example a wind turbine component, suspended from a crane hoisting wire, where the crane comprises: - a basic structure, for example designed to be mounted on a vessel, - a rotatable structure that can be slewed on a slew bearing to a vertical slew relative to the basic structure, - a boom that is pivotally connected to the inner end thereof at the rotatable structure, in which the boom cup can pivot a horizontal pivot axis, where, preferably, the boom is constructed as a hollow box truss structure comprising two forward main spars on one forward side of the boom and two aft main spars on a rear side of the boom, - a luffing device for slewing the boom around the horizontal pivot axis, whereby the luffing device comprises a luffing winch and a variable-length luffing system, - a hoisting winch, a hoisting wire driven by the hoisting winch, and a |astconnector suspended from the boom by the hoisting wire, where the load is connected to the load connector, where the crane furthermore includes a tagline system designed for checking the suspended load, where the tagline system comprises: - two horizontal tagline trolley assemblies, each comprising: or a tagline trolley that moves along the boom, preferably gripping the Attach the tagline trolley to one of the respective forward main beams. and is movable along the respective main beam, or a tagline trolley winch and a tagline trolley cable driven by the tagline trolley winch, where the tagline trolley is connected to the tagline trolley cable so that a winding of the tagline trolley winch a provided controlled movement of the tagline trolley along the boom, for example along the leading main beam, - two horizontal tagline compounds, where each horizontal tagline compound a includes a tagline winch and a tagline powered by the tagline winch, whereby the tagline in use of the crane extends from a respective tagline trolley to the load and / or the load connector, where the tagline system further comprises a tagline rule system, whereby the The tagline rule system is configured for: - receiving a hoisting signal, for example from an operator, that corresponds to hoisting or lowering the suspended load by means of of the hoisting winch, - receiving signals from the tagline trolley winches and the tagline winches that correspond to the unwound length of respectively the tagline trolley cables and taglines, - sending a tagline line signal to the tagline trolling drivers and the tagline winches that correspond to the unwinding speed of the tagline trolley winches and the tagline winches, where the method further includes the steps of: - the tagline control system receives a hoisting signal, for example from an operator, that corresponds to hoisting or lowering the suspended load, - the tagline control system receives signals from each of the tagline trolley flies and each of the tagline winches corresponding to the unwound length of respectively the tagline trolley cables and the taglines, - the tagline control system determines the required unwinding speed of each of the tagline trolley winches and each of the tagline winches based on the hoisting signal, the length of the tagline trolley cables, the length of the taglines, and the geometry of the boom, for example of the forward main girders, - the tagline line system sends a tagline line signal to each of the tagline trolley winches and each of the tagline winches, - winding and unwinding the hoisting winch based on the hoisting signal and winding and unwinding each of the tagline trolley winches and each of the tagline winches based on the respective control signal. 2. Method according to conclusion 1, where the boom is designed as a hollow box truss structure comprising two forward main girders on one forward side of the boom and two aft main spars on one aft side of the boom, and where the taglinetrolley engages one or more of the respective front main beams and is movable along the respective main beam, for example where the two foremost main beams are not parallel to each other. 3. Method in accordance with claim 1 or 2, whereby the tagline line system is structured to to receive tagline line signals, for example from an operator, that correspond to a (Un)winding the tagline trolley winches and tagline winches, where the procedure the steps includes: - the tagline control system determines the required unwinding speed of each of the tagline winches and each of the tagline winches based on the hoisting signal, the length of the tagline trolley cables, the length of the taglines, the geometry of the front main beams, and the received tagline line signals. 4. Method in accordance with one or more of claims 1-3, using the tagline system includes voltage sensors that are configured for measuring the voltage of the taglines, where the control system is configured to receive signals from the voltage sensors that correspond to the tension in the taglines. 5. Method according to conclusion 4, whereby the method comprises the steps of the maintaining an approximately constant tension in the taglines during the use of the crane. 6. Method in accordance with claim 4 or 5, whereby the tagline line system is configured for unwinding the tagline winches when the tension in the taglines is over a predetermined a certain maximum voltage is applied, for example in the event of a wind gust. 7. Method in accordance with one or more of claims 1-6, whereby the tagline system further includes: - two vertical tagline assemblies, where each vertical tagline assembly a vertical tagline winch includes and a vertical tagline driven by the vertical tagline lier, where the vertical tagline in use of the crane extends from one end extends from the boom to the load and / or the load connector, where the tagline line system is configured to receive signals from the vertical tagline winches corresponding to the unwound length of the vertical taglines, and where the tagline control system is configured to send control signals to the vertical tagline winches transmitting that correspond to a winding / unwinding speed of the vertical tagline winches, where the method includes the steps of: - the tagline control system receives signals from each of the vertical tagline winches that correspond to the unwound length of the vertical taglines, - the tagline control system determines the required unwinding speed of each of the vertical tagline winches based on the hoisting signal, the length of the tagline trolley cables, the length of the taglines, the length of the vertical taglines, and the geometry of the forward main beams, - the tagline line system sends a tagline line signal to each of the vertical taglineliers, - Unwinding the tagline winches based on the respective control signal. 8. A crane comprising: - a basic structure, for example designed to be mounted on a vessel, - a rotatable structure that can be slewed on a slew bearing around a vertical slew axis relative to the basic structure, - a boom that is pivotally connected to the inner end thereof at the rotatable structure, in which the boom can pivot around a horizontal pivot axis, where, preferably, the boom is constructed as a hollow box truss structure comprising two forward main spars on one forward side of the boom and two aft main spars on a rear side of the boom, - a luffing device for slewing the boom around the horizontal pivot axis, whereby the luffing device comprises a luffing winch and a variable-length luffing system, - a hoisting winch, a hoisting wire driven by the hoisting winch, and a load connector suspended from the boom by the hoisting wire, where the load is connected to the load connector, where the crane furthermore includes a tagline system designed for checking the suspended load, where the tagline system comprises: - two horizontal tagline trolley assemblies, each comprising: or a tagline trolley that moves along the boom, preferably gripping the Attach the tagline trolley to one of the respective forward main beams. and is movable along the respective main beam, or a tagline trolley winch and a tagline trolley cable driven by the tagline trolley winch, where the tagline trolley is connected to the tagline trolley cable so that a winding of the tagline trolley winch a provided controlled movement of the tagline trolley along the boom, for example along the leading main beam, - two horizontal tagline compounds, where each horizontal tagline compound a includes a tagline winch and a tagline powered by the tagline winch, whereby the tagline in use of the crane extends from a respective tagline trolley to the load and / or the load connector, where the tagline system further comprises a tagline rule system, whereby the The tagline rule system is configured for: - receiving a hoisting signal, for example from an operator, that corresponds to hoisting or lowering the suspended load by means of of the hoisting winch, - receiving signals from the tagline trolley winches and the tagline winches that correspond to the unwound length of respectively the tagline trolley cables and taglines, - sending a tagline line signal to the tagline trolling drivers and the tagline winches that match the unwinding speed of the tagline trolley winches and the tagline winches, where the tagline rule system is configured to, for example, programmed to, a to carry out a procedure comprising the steps of: - the tagline control system receives a hoisting signal, for example from an operator, that corresponds to hoisting or lowering the suspended load, - the tagline control system receives signals from each of the tagline trolley flies and each of the tagline winches corresponding to the unwound length of respectively the tagline trolley cables and the taglines, - the tagline control system determines the required unwinding speed of each of the tagline trolley winches and each of the tagline winches based on the hoisting signal, the length of the tagline trolley cables, the length of the taglines, and the geometry of the boom, for example of the forward main girders, - the tagline line system sends a tagline line signal to each of the tagline trolley winches and each of the tagline winches, - winding and unwinding the hoisting winch based on the hoisting signal and winding and unwinding each of the tagline trolley winches and each of the tagline winches based on the respective control signal.