Method for monitoring an electrical power consumption of a crane
Patent Information
- Authority / Receiving Office
- PT · PT
- Patent Type
- Patents
- Current Assignee / Owner
- MANITOWOC CRANE GROUP FRANCE
- Filing Date
- 2024-09-12
- Publication Date
- 2026-06-01
Abstract
Description
[Technical field]
[0001] The invention relates to a monitoring method for cranes.
[0002] It relates more specifically to a monitoring process for controlling over a given period of time the electrical power consumption of all the electrical equipment of a crane in order to optimize its use and ensure that it consumes as little energy as possible.
[0003] The invention finds a preferred, and non-limiting, application for all types of crane, for example: tower cranes, distributing jib cranes, luffing jib cranes, telescopic jib cranes, mobile cranes, port cranes. [State of the art]
[0004] Today, companies must positively comply with new regulations to initiate their ecological transition and put into practice behaviors in favor of sustainable development, with the aim of providing a global and lasting solution to the major environmental challenges of this century, particularly in the areas of reducing energy consumption and polluting emissions.
[0005] As is known, when used on a construction site, a crane is supplied with electrical power by one or more power sources (for example: the electrical network, a generator, a battery, etc.) in order to: to operate mainly electrical equipment that it includes, called actuation equipment, in order to implement a movement of a mobile element of the crane to move it (i.e., a translation movement) or for the movement of a load (for example: a lifting, distribution, orientation or lifting movement), to heat or air-condition the crane operator's cockpit or the electrical cabinet, etc.
[0006] Due to certain practices and usage habits, cranes generally consume much more electrical power than they need for the tasks assigned to them on the construction site, namely load movement. Indeed, the crane's electrical equipment may be powered while carrying out a task even though it is not involved in it, either directly or indirectly.
[0007] For example, if the power supply of the actuating equipment implementing a movement of a mobile element of the crane is essential for said implementation, the power supply of the electrical equipment, known as accessory equipment, used to heat the crane operator's cabin is not necessary, particularly if the temperature inside the cabin is such that it already ensures the crane operator's comfort. Also, accessory equipment may be powered for long periods when this is not useful. For example, in the case where the construction site is subject to low outside temperatures, it is not necessarily useful, to ensure the comfort in the cabin of the crane operator coming to work in the morning, to power the accessory equipment responsible for heating the cabin all night, but only a few hours before the crane operator's arrival.
[0008] Thus, part of the electrical power supplied to the crane is consumed unnecessarily and wasted, significantly reducing the energy efficiency of the crane. Sometimes, the wasted electrical power can be equivalent to the useful electrical power (i.e. a crane energy efficiency of 50%); the useful electrical power corresponding to a total actuation power which results from the actuations of the different actuation equipment participating in the movements.
[0009] This decrease in energy efficiency is becoming problematic in the face of current environmental challenges, particularly in terms of global warming. This is why crane manufacturers, in order to adopt an eco-responsible approach, must offer solutions to improve the energy efficiency of their cranes.
[0010] Known solutions, such as those in documents CN216997307U and CN215208123U, aim to determine the energy efficiency of the crane but only in the context of the execution of specific maneuvers (in this case, for both documents, the maneuver of lifting a load when the crane is in operation).
[0011] Thus, these solutions do not offer to determine the electrical power consumption for all the electrical equipment of the crane, and to precisely determine its energy efficiency during its deployment and use on the construction site. [Summary of the invention]
[0012] In order to address the problems set out above, the invention proposes a monitoring method for monitoring over a period of time the consumption of electrical power by electrical equipment of a crane, which crane is powered by a power supply provided by at least one power source, which electrical equipment comprises: actuation equipment, in which each of the actuation equipment comprises at least one motor controlled by a speed variator and coupled to at least one mobile element of the crane to actuate, in an active state, a movement of said at least one mobile element, otherwise it is in an inactive state; and accessory equipment which is not actuation equipment, in other words equipment which does not participate in the movement of a mobile element of the crane, and in which each of the accessory equipment performs a power-consuming function of its own when it is in an active state, otherwise it is in an inactive state; said monitoring method being implemented by a control-command system connected to the speed variators of the actuation equipment and connected to the accessory equipment to make them pass from the inactive state to the active state and vice versa;said control-command system containing at least one memory and one processor defined by a cycle time, and implementing at least, for each cycle time included in the time period: a determination of a state of each accessory equipment to determine whether it is in the active state or in the inactive state, and deducing therefrom an accessory power consumed in the cycle time by said accessory equipment when it is in the active state, on the basis of an electrical consumption model associated with said accessory equipment which is contained in the control-command system; monitoring of each actuating equipment including a reception, from the corresponding speed variator, of an actuating power consumed in the cycle time by said actuating equipment when it is in the active state. ;
[0013] Advantageously, the monitoring method of the invention responds positively to the problem of knowing the power consumed by all the crane equipment by making it possible, over a period of time (which may correspond, for example, to a day, a week, a month, or even a year): to monitor the electrical power consumption of a crane, more precisely of its electrical equipment, in comparison with the power supply provided by at least one power source (for example: the electrical network, a generator, a rechargeable power source such as a battery).
[0014] The power consumed by the electrical equipment is determined by the crane's control system.
[0015] A distinction is made among electrical equipment between: those called actuating equipment contributing to the movement of mobile elements of the crane for its assembly, its movement, or to allow the crane to move a load (the crane being said to be in service, or working); and those called accessories which do not contribute to the movement of mobile elements of the crane, but still perform a power-consuming function, for example to heat or air-condition the crane operator's cockpit.
[0016] A non-exhaustive list of actuation equipment and accessory equipment is provided below.
[0017] An actuating device (respectively an accessory device) is said to be active when it contributes to the movement of the at least one mobile element with which it is associated (respectively when it implements the power-consuming function incumbent upon it); the actuating device (respectively the accessory device) is said to be inactive otherwise.
[0018] The control-command system comprises at least one memory and a processor defined by a cycle time; this cycle time being an intrinsic data item of the processor of the control-command system, which reflects the time required to repeat a given operation and which is linked to the calculation speed of the processor. More precisely, it is this processor which implements the monitoring method, by executing a program containing a list of instructions relating to the latter.
[0019] In implementing the monitoring method, the time period is considered to be segmented based on the processor cycle time. In other words, the time period is made up of a plurality of time intervals that are equal to the cycle time. Subsequently, it is said that the time period is composed of a plurality of cycle times.
[0020] During the cycle times segmenting the time period, the control system is aware of the state of the electrical equipment, i.e. whether they are active or inactive.
[0021] In the case of active actuation equipment, the control system is aware of the power that said actuation equipment consumes during the cycle time following the reception of a measurement of said power, which is measured by a variable speed drive that includes the actuation equipment and to which the control system is connected. Indeed, variable speed drives include energy consumption meters. The power that the actuation equipment consumes is called actuation power.
[0022] In the case of active accessory equipment, the control system knows the power that the accessory equipment consumes during the cycle time by calculating it from a mathematical model corresponding to a power consumption model of the accessory equipment, which is contained in the control system. The power that the accessory equipment consumes is called accessory power.
[0023] Advantageously, the use of power consumption models makes it possible to avoid installing measuring devices on the crane that would have to measure accessory powers, which devices would need to be powered to carry out the measurements. Therefore, the use of power consumption models makes it possible to reduce the energy consumption of the crane. Power consumption models also make it possible to reduce the costs in terms of purchasing measuring devices.
[0024] According to a characteristic of the invention, the control-command system implements at least after the time period: a calculation, for each of the accessory equipment, of a cumulative accessory power consumed over the time period by said accessory equipment, by summing the accessory powers consumed in the cycle times when it was in the active state; a calculation, for each of the actuating equipment, of a cumulative actuating power consumed over the time period by said actuating equipment, by summing the actuating powers consumed in the cycle times when it was in the active state; a deduction of a total accessory power corresponding to the sum of the cumulative accessory powers consumed over the time period by all the accessory equipment; a deduction of a total actuating power corresponding to the sum of the cumulative actuating powers consumed over the time period by all the actuating equipment;a comparison between the supply power, the total accessory power and the total actuation power. ;
[0025] Advantageously, the monitoring method allows an operator to know the total power that each piece of electrical equipment may have consumed over the past time period. This total power is called cumulative actuation power when the electrical equipment is actuation equipment, and cumulative accessory power when the electrical equipment is accessory equipment.
[0026] Also, the monitoring process allows an operator to know what are the shares of the total actuation power (i.e. the useful power) and the total accessory power in the electrical energy consumption of the crane (i.e. the supply power).
[0027] Thus, the operator is able to conclude whether, during the time period, the crane has consumed excess power (i.e. when the total accessory power is greater than the useful power in the crane's electrical energy consumption), and to determine the origins of this excess (i.e. to identify the electrical equipment that has consumed excessive power).
[0028] The invention again addresses the issues raised previously by allowing the operator to accurately determine the energy efficiency of a crane over a period of time during which said crane may be deployed and / or used on a construction site, which energy efficiency is equal, as specified below, to the total actuation power divided by the supply power.
[0029] According to a characteristic of the invention, after the time period, the control-command system constitutes a set of power data comprising at least: the cumulative accessory powers of all accessory equipment during the time period, the cumulative actuating powers of all actuating equipment during the time period, the total accessory power, the total actuating power, and the supply power; which power data set is timestamped over the time period and then recorded in the memory of the control system.
[0030] In other words, the powers calculated by the control system and listed above are grouped by it into a set of power data which it timestamps and stores in its memory.
[0031] Advantageously, the power data sets are therefore classified temporally according to the time period (day, week, month, or even a year) during which they were calculated. The calculated powers are therefore not lost once the monitoring process is completed, and an operator can consult them later to analyze the energy behavior of the crane.
[0032] Also, it is provided that the memory of the control-command system can store the power data sets of several time periods, then allowing the operator to observe / analyze a change in the energy behavior of the crane over a long time period, which may for example correspond to several successive time periods, and potentially to identify energy consumption anomalies (the crane having been able to consume more power over a given time period compared to the others).
[0033] According to a characteristic of the invention, the power data set is exportable from the control-command system to a digital twin of the crane modeled in a remote IT infrastructure, the power data set being put into a data format compatible with the digital twin in order to be exploited by the latter.
[0034] Advantageously, the use of a digital twin for which at least one set of power data is used allows an operator to reproduce the context of deployment and / or use of the crane during at least one time period. Thus, in the case where excessive power consumption has been observed during the at least one time period describing a given application context on a construction site, the operator can use the digital twin to arrive at scenarios for which the electrical consumption of the crane is optimized for said at least one time period. Subsequently, these scenarios can then be used / exploited by being concretely reproduced on the construction site if said application context were to be encountered again, in order to better manage the energy consumption of the crane.Optimization of power consumption can result, for example, from reduced activity of accessory equipment, better use of the crane when in service or working (optimization of crane movements), etc.
[0035] According to one embodiment of the invention, the control-command system calculates, after the time period, an energy efficiency which is equal to the total actuation power divided by the supply power.
[0036] According to one embodiment of the invention, the power data set also includes energy efficiency.
[0037] According to a characteristic of the invention, the control-command system determines, at each cycle time included in the time period, and as a function of at least one electrical equipment among the actuating equipment and the accessory equipment being in the active state, at least one state of the crane among at least one out-of-service state in which all the actuating elements are in the inactive state, and at least one in-service state in which at least one of the actuating elements is in the active state.
[0038] In other words, during each cycle time, the control system is able to determine whether the crane is in an out-of-service state or in an in-service state.
[0039] As previously stated, the crane is considered to be in an out-of-service state when no actuating element is in an active state. On the other hand, in the out-of-service state, the accessory equipment may or may not be in service. The out-of-service state may correspond to a time during which the crane is inactive, for example: when it is in deep sleep; when no actuating equipment is active and the driver's cab is preheated or air-conditioned; etc.
[0040] The crane is considered to be in an in-service state when at least one actuating element is in the active state to contribute to a movement of a moving element. In other words, in the in-service state, the crane may: be being deployed on a construction site; or be piloted by a crane operator for the purpose of being moved or moving a load.
[0041] According to one embodiment of the invention, the at least one state of the crane corresponds to the state in service for a given cycle time, the control-command system associates for each of the actuating equipment a movement chosen at least from: a distribution movement associated with distribution equipment among the actuating equipment during which a load distribution maneuver is carried out along a boom of the crane, a lifting movement associated with lifting equipment among the actuating equipment during which a load lifting maneuver is carried out, an orientation movement associated with orientation equipment among the actuating equipment during which a boom orientation maneuver is carried out, a translation movement associated with translation equipment among the actuating equipment during which a crane translation maneuver is carried out, a lifting movement associated with lifting equipment among the actuating equipment during which a lifting maneuver of a luffing boom is carried out, or an assembly movement during which the crane is assembled,which assembly movement is associated with assembly equipment from among the actuation equipment and chosen at least from: folding / unfolding equipment for folding / unfolding a mast and a boom, wedging equipment for wedging the crane on the ground, orientation equipment for orientation of a base of the crane, jib equipment for actuation of an assembly jib.
[0042] According to one embodiment of the invention, when at least one state of the crane corresponds to the out-of-service state for a given cycle time, the control-command system associates for each of the accessory equipment the consumer function chosen at least from: a heating function associated with heating equipment among the accessory equipment for heating a crane control cabin, and an air conditioning function associated with air conditioning equipment among the accessory equipment for air conditioning a crane control cabin.
[0043] In other words, depending on the actuating equipment and / or accessory equipment in the active state during a cycle time, the control system is able to determine which movement implements the crane and / or which power-consuming functionality is currently active.
[0044] Advantageously, during a cycle time, the control-command system is capable of associating a consumed power (an actuation power or an accessory power) with: a state of the crane (in service or out of service); as well as with a movement of the crane or with an energy-consuming function. Thus, a posteriori, during the analysis of the power data set, the operator is able to deduce for the time period the power consumed to implement a given movement or energy-consuming function.
[0045] Also, if several pieces of actuation equipment (respectively several pieces of accessory equipment) contribute during a time period to a movement of a mobile element (respectively to an energy-consuming function), the operator can know, at the end of the time period, the power consumed by each of them to implement said movement (respectively said energy-consuming function).
[0046] Advantageously, the monitoring method therefore makes it possible to process and classify the cumulative powers consumed by the electrical equipment of a crane temporally (i.e. as a function of the time period), depending on the state of the crane, and the movement or the energy-consuming function implemented; which a measurement system external to the crane would be incapable of doing without integrating intelligence into it.
[0047] According to one embodiment of the invention, the electrical consumption model of each of the accessory equipment contains at least, in order to calculate the accessory power: the cycle time, a supply voltage to power said accessory equipment when in the active state, a consumption intensity of the accessory equipment.
[0048] In other words, the accessory power of an accessory equipment during a cycle time is calculated from: the cycle time; the supply voltage required to power the accessory equipment; and the current consumed by the accessory equipment during the cycle time, which is considered uniform.
[0049] According to one embodiment of the invention, the cycle time is equal to 50 milliseconds, plus or minus 20%.
[0050] According to one embodiment of the invention, the control-command system generates, after the time period, an analysis report containing at least the set of power data for the time period.
[0051] Advantageously, the analysis report includes all the powers calculated during the time period (cumulative accessory powers of all accessory equipment, cumulative actuation powers of all actuation equipment, total accessory power, total actuation power, supply power) to allow the user to analyze the energy behavior of the crane during the time period.
[0052] It is possible that the analysis report contains the energy efficiency calculated by the control system for the time period.
[0053] It is also possible that the analysis report contains power data sets from multiple time periods.
[0054] It is then possible for the analysis report to contain a classification of the cumulative power of the crane's electrical equipment according to: the time periods; the state of the crane; and the movement or energy-consuming function implemented.
[0055] Finally, in connection with the previous point, it is possible that the analysis report contains one or more graphical representations showing a distribution of the supply power according to: the state of the crane, the movement or energy-consuming function implemented, the actuating equipment and accessory equipment (i.e. according to the actuating powers, the cumulative actuating powers, the accessory powers, the cumulative accessory powers), and the total actuating power and the total accessory power.
[0056] Alternatively, the supply power is measured by a global electricity meter in connection with the control system.
[0057] In other words, it is intended to measure the supply power, by means of the global electric meter (such as a meter provided by an electricity supplier), which can be positioned upstream of the at least one power source or at the input of the crane, and the control-command system recovers this measurement of the supply power. [Brief description of the figures]
[0058] Other characteristics and advantages of the present invention will appear on reading the detailed description below, of a non-limiting example of implementation, made with reference to the appended figures in which: [ Fig 1 ] is an illustration of an application context in which the method of the invention is implemented, which shows in particular a crane deployed on a construction site, a power source providing the crane with power for its supply, and a global electric meter measuring said power supply; [ Fig 2] is a schematic illustration of a crane comprising at least one control-command system installed in a driver's cabin, electrical equipment including actuating equipment contributing to the implementation of movements of the crane, and accessory equipment not participating in a movement of the crane but providing a power-consuming function such as heating or air conditioning of the driver's cabin of the crane; [ Fig 3 ] is an operating diagram of the monitoring method of the invention, which evaluates over a given time period the power consumed by the various electrical equipment of the crane, with a view to determining whether the crane has consumed excessive power in relation to the power supply supplied to it; [ Fig 4] shows examples, within the framework of an embodiment of the invention, of graphical representations showing a distribution, for a given time period, of the supply power: (a) as a function of the power consumed by all the actuation equipment and the power consumed by all the accessory equipment, called respectively total actuation power and total accessory power, or (b) as a function of the actuation equipment and the accessory equipment, or even (c) as a function of the movements and the power-consuming functions implemented. [Detailed description of one or more embodiments of the invention]
[0059] The invention relates to a monitoring method 100 making it possible to evaluate, over a given time period T (for example: a day, a week, a month, etc.), the power consumed by all the equipment of a crane 1 deployed and working on a construction site; this with the aim that these power consumptions are subsequently analyzed to determine whether or not the crane 1 has consumed excessive power depending on its use during the time period T and, if this is the case, to arrive at solutions making it possible to optimize its power consumption during its future uses.
[0060] The monitoring process is applicable to all types of crane 1: tower cranes, distributing jib cranes, luffing jib cranes, telescopic jib cranes, mobile cranes, port cranes.
[0061] In the following description, it is considered that crane 1 is a distributing jib crane.
[0062] In reference to the Figure 1 and 2 , the crane 1 comprises at least one mast 102 and a rotating assembly rotated about a vertical extension orientation axis, and formed by a jib 16 and a counter-jib 17 substantially aligned, and possibly a jib holder (or punch) with tie rods. A counterweight 171 is carried by the counter-jib 17 to counterbalance the weight of a load which is lifted and / or moved by the crane 1.
[0063] The load is attached by means of a raised hook 191 located at the end of a block 192, which moves vertically in the direction of the arrow 16 or lowered according to the winding or unwinding of a lifting cable 19.
[0064] The lifting cable 19 is suspended from a distribution trolley 18 movable in translation on a rolling path provided along the boom 16.
[0065] The crane 1 also includes a control cabin 101 in which the crane operator sits and in which there is a control-command system 15 from which the crane operator operates the crane 1.
[0066] The control-command system 15 comprises at least one memory 152, a processor 151 defined by a cycle time tc, and a program 153 containing a list of instructions for launching and executing the monitoring method 100.
[0067] By definition, a crane also comprises a plurality of electrical equipment 11, 12, 13, 14 which include, but are not limited to: a lifting winch 12; a distribution winch 11; heating equipment 13 and air conditioning equipment 14, both installed in the cabin 101. These four electrical equipment 11, 12, 13, 14 are considered subsequently to explain the operating principle of the monitoring method 100. As has just been indicated, they constitute only a part of the electrical equipment that the crane 1 can actually comprise.
[0068] The implementation of the monitoring method 100 is based in part on a categorization of the electrical equipment 11, 12, 13, 14 according to their role / attribution. Thus, the electrical equipment called actuation equipment 12, 13 is distinguished from that called accessory equipment 13, 14.
[0069] The actuating equipment 11, 12 is electrical equipment which comprises at least one motor controlled by a speed variator 111, 121, and coupled at least to one mobile element 18, 19 of the crane to implement, when they are in an active state A11, A12, a movement of said at least one mobile element 18, 19 which will result in a movement Mvt11, Mvt12. The speed variators 111, 121 controlling the motors of the actuating equipment 11, 12 are connected to the control-command system 15.
[0070] In reference to the Figure 2 , crane 1 includes as operating equipment: a distribution equipment 11, i.e. the distribution winch, which is coupled at least to one mobile element 18, i.e. the distribution carriage 18, to implement a distribution movement Mvt11 during which the distribution carriage is movable in translation from the front to the rear of the boom 16, and vice versa; a lifting equipment 12, i.e. the lifting winch, which is coupled at least to one mobile element 19, i.e. the lifting cable, to implement a lifting movement Mvt12 during which the lifting winch winds or unwinds the lifting cable 19, in order to vertically move the block 192 in the direction of the boom 16 or the ground to lift or lower a load.
[0071] Not illustrated in the Figure 2 and not considered in the remainder of the description, may also be cited as actuation equipment: an orientation equipment, for example an electric orientation motor, associated with an orientation ring to implement an orientation movement during which the boom 16, or more generally the rotating assembly of the crane 1, sweeps a circular zone around the orientation axis, which circular zone corresponds to the working zone of the crane; a translation equipment configured to implement a translation maneuver of the crane 1, which can for example be mounted on rails if it is intended that it moves in the construction site;assembly equipment designed to implement an assembly movement of the crane, for example and not exhaustively: folding / unfolding equipment for folding / unfolding the mast 102 and a boom 16, wedging equipment for wedging the crane 1 on the ground, orientation equipment for orientation of a base of the crane 1, jib equipment for actuation of an assembly jib, etc. This assembly equipment can be chosen, for example and not exhaustively, from electric motors or hydraulic power units.;
[0072] In the case of luffing jib cranes, the actuating equipment, among those previously mentioned, does not include distribution equipment since these cranes do not include a distribution trolley. Indeed, for this type of crane, the boom is lowered and raised angularly by means of at least one luffing cable. Thus, the load is lifted according to the inclination of the boom and therefore the winding or unwinding of the luffing cable. In fact, the actuating equipment of a luffing jib crane, on the other hand, includes lifting equipment (such as a luffing winch) designed to implement a lifting movement of the luffing jib, by winding and unwinding the luffing cable for this purpose.
[0073] The accessory equipment 13, 14 is electrical equipment which does not participate in the movement of a mobile element 18, 19 of the crane 1, but which provides a power consuming function F13, F14 which is specific to them when they are in an active state A13, A14. With reference to the Figure 2 , the illustrated accessory equipment corresponds to the heating equipment 13, which provides a heating function F13 to heat the cabin 101, and to the air conditioning equipment 14, which provides an air conditioning function F14 to air condition the cabin 101.
[0074] The actuating equipment 11, 12 and accessories 13, 14, when they do not respectively implement a movement Mvt11, Mvt12 and a consuming function F13, F14, are said to be in the inactive state NA11, NA12, NA13, NA14.
[0075] The transitions of electrical equipment 11, 12, 13, 14 from the active state A11, A12, A13, A14 to the inactive state NA11, NA12, NA13, NA14, and vice versa, are managed from and by the control-command system 15.
[0076] The crane 1 is said to be in an in-service state OP1 when at least one actuating equipment 11, 12 is in the active state A11, A12; this is independent of the state of the accessory equipment 13, 14. In other words, in the in-service state OP1, the crane 1 can: be being deployed on a construction site; or be piloted by a crane operator in order to be moved or to move a load.
[0077] Otherwise, the crane is said to be in an out-of-service state NOP1 when all the actuating equipment 12, 13 are in the inactive state NA11, NA12, whether the accessory equipment 13, 14 is in the active state A13, A14 or inactive state NA13, NA14. Thus, the out-of-service state NOP1 can correspond to a time during which the crane 1 is inactive, for example: when it is in deep sleep (all the electrical equipment 11, 12, 13, 14 are in the inactive state NA11, NA12, NA13, NA14); when the actuating equipment 11, 12 is inactive but the pilot cabin 101 is preheated or air-conditioned (meaning that the heating equipment 13 or the air-conditioning equipment 14 is performing its consuming function F13, F14); etc.
[0078] During the time period T, in order to power its electrical equipment 11, 12, 13, 14 in the active state A11, A12, A13, A14, receives a power supply PI from at least one power source 2, the at least one power source 2 being able to correspond, non-exhaustively: to the electrical network, to a generator, to a rechargeable power source such as a battery.
[0079] The supply power PI is measured by at least one global electric meter 3 in communication (by a wired or wireless link) with the control-command system 15. The global electric meter 3 can be, according to different embodiments of the invention, positioned upstream of the at least one power source 2, or at the input of the crane 1. Thus, the control-command system 15 recovers the measurement of the supply power PI from the global electric meter 3.
[0080] In addition to the categorization of the electrical equipment 11, 12, 13, 14, the monitoring method 100 is based on a segmentation of the time period T according to the duration of the cycle time tc of the processor 151. In one embodiment of the invention, the duration of the cycle time tc is equal to 50 milliseconds, to within plus or minus 20%. Thus, the duration of the time period T is equal to a plurality of cycle times tc1, tcn occurring one after the other, the plurality of cycle times comprising at least a first cycle time tc1 and a last cycle time tcn.
[0081] A flow chart of the monitoring method 100 is shown. Figure 3 , which begins to execute following an E0 launch. The time period T is considered to begin temporally following the implementation of the E0 launch
[0082] For each of the cycle times tc1, tcn constituting the time period T, the monitoring method 100 will implement, for example in parallel as illustrated Figure 3 : a determination E1 of the state A13, NA13, A14, NA14 of each of the accessory equipment 13, 14. In the case where the accessory equipment 13, 14 is in the active state A13, A14, the monitoring method 100 (more precisely, the control-command system 15) will calculate an accessory power Pa13-1, Pa13-n, Pa14-1, Pa14-n consumed by the accessory equipment 13, 14 the cycle time tc1, tcn. This calculation is specified further down in the text.In the case where the accessory equipment 13, 14 is in the active state NA13, NA14 during the cycle time tc1, tcn, the monitoring method 100 concludes that the accessory equipment 13, 14 does not consume accessory power Pa13-1, Pa13-n, Pa14-1, Pa14-n (in other words, the power consumption is zero); a monitoring E2 of each actuation 11, 12 during which, when the actuation equipment 11, 12 is in the active state A11, A12 during the cycle time tc1, tcn, the control-command system 15 receives, from the speed variator 111, 121 associated with the actuation equipment 11, 12, a measurement corresponding to the actuation power Pm11-1, Pm11-n, Pm12-1, Pm12-n consumed by the actuation equipment 11, 12 during the cycle time tc1, tcn.The variable speed drives 111, 121 are capable of transmitting the actuating power Pm11-1, Pm11-n, Pm12-1, Pm12-n to the control system 15 due to the fact that they include energy consumption meters. When the actuating equipment 11, 12 is in the inactive state NA11, NA12 during the cycle time tc1, tcn, its power consumption is zero.
[0083] The accessory powers Pa13-1, Pa13-n, Pa14-1, Pa14-n consumed by the accessory equipment 13, 14 are calculated from mathematical models called electrical consumption models M13, M14 contained in the control-command system 15, more precisely in the program 153. The electrical consumption models M13, M14 each contain at least: the value of the cycle time tc (for example, as indicated above, equal to 50 ms), which also corresponds to the values of all the cycle times tc1, tcn of the time period); a supply voltage U13, U14 necessarily to supply the accessory equipment 13, 14 when it is in the active state A13, A14; a consumption intensity 113, 114 of the accessory equipment 13, 14.
[0084] The accessory powers Pa13-1, Pa13-n, Pa14-1, Pa14-n of the accessory equipment 13, 14 during a cycle time tc1, tcn are then calculated according to the following equations: PA 13 − 1 , Pa 13 − n = tc ∗ U 13 ∗ I 13 PA 14 − 1 , Pa 14 − n = tc ∗ U 14 ∗ I 14
[0085] The use of electrical consumption models M13, M14 for determining the accessory powers Pa13-1, Pa13-n, Pa14-1, Pa14-n of the accessory equipment 13, 14 makes it possible not to install on the crane 1 measuring devices which have to measure these said powers and which would also need to be supplied with power to carry out the measurements. Consequently, the use of electrical consumption models M13, M14 makes it possible to reduce the energy consumption of the crane 1. The electrical consumption models also make it possible to reduce the costs in terms of purchasing measuring devices.
[0086] In reference to the Figure 3 , the monitoring method 100 comprises at least one set of steps EC1, EC2, ED1, ED2, Ecomp taking place after the time period T (for example, immediately after it has ended) and implemented by the control-command system 15. This set of steps EC1, EC2, ED1, ED2, Ecomp comprises: a calculation EC1, for each of the accessory equipment 13, 14 of a cumulative accessory power PaT13, PaT14 that it has consumed during the time period T, which is equal to a sum of the accessory powers Pa13-1, Pa14-1, Pa13-n, Pa14-n consumed in the cycle times tc1, tcn where it was in the active state A13, A14. Optionally, this cumulative accessory power PaT13, PaT14 may be equal to zero if throughout the time period T, the accessory equipment 13, 14 was in the inactive state NA13, NA14; a calculation EC2, for each of the actuating equipment 11, 12 of a cumulative actuating power PmT11, PmT12 that it has consumed during the time period T, which is equal to a sum of the actuating powers Pm11-1, Pm11-1, Pm12-n, Pm12-n consumed in the cycle times tc1, tcn where it was in the active state A11, A12.Optionally, this cumulative actuation power PmT11, PmT12 may be equal to zero if throughout the time period T, the actuation equipment 11, 12 has been in the inactive state NA11, NA12; a deduction ED1 of a total accessory power TPA corresponding to the sum of the cumulative accessory powers PaT13, PaT14 consumed over the time period T by all the accessory equipment 13, 14; a deduction ED2 of a total actuation power TPM corresponding to the sum of the cumulative actuation powers PmT11, PmT12 consumed over the time period T by all the actuation equipment 11, 12; a comparison Ecomp between the supply power PI measured by the global electricity meter 3, the total accessory power TPA and the total actuation power TPM.
[0087] In another embodiment of the invention, it is possible to envisage that the calculations EC1, EC2 are carried out in parallel and not successively, similarly for the deductions ED1, ED2.
[0088] In one embodiment of the invention, it is conceivable that before the launch E0 used to start the monitoring method 100 from the dedicated program 153 contained in the control-command system 15, an operator (for example the crane operator) enters in said program 153 the duration of the time period T. Thus, the steps EC1, EC2, ED1, ED2, Ecomp of the monitoring method 100 carried out after the time period T are implemented automatically by the control-command system 15 once the latter has ended.
[0089] In another embodiment of the invention, it is conceivable that the time period ends following a manual interaction of the operator with a menu / option proposed by the program 153, this interaction marking the stopping by the monitoring program 153 100 of the implementation of the determination E1 of the accessory powers Pa13-1, Pa13-n, Pa14-1, Pa14-n and the actuation powers Pm11-1, Pm11-n, Pm12-1, Pm12-n during several successive cycle times tc1, tcn. Following this manual stop, the steps EC1, EC2, ED1, ED2, Ecomp of the monitoring method are implemented by the control-command system 15.
[0090] By definition, the supply power PI is equal to the sum of the total accessory power TPA with the total actuation power TPM.
[0091] Thanks to the Ecomp comparison, an operator is able to conclude whether, during the time period T, crane 1 has consumed excess power, which in a given context can result in a total accessory power TPA greater than the total actuation power TPM. Also, knowledge of the cumulative accessory powers PaT13, PaT14 and cumulative actuation powers PmT11, PmT12 allows the operator to identify the electrical equipment(s) 11, 12, 13, 14 at the origin of this excessive power consumption.
[0092] Knowledge of the cumulative accessory powers PaT13, PaT14 and cumulative actuation powers PmT11, PmT12 also allows the operator to determine whether, in a given application context, an electrical equipment 11, 12, 13, 14 has not consumed power unnecessarily even if the total accessory actuation power TPA is less than the total actuation power TPM. For example: the operation of the heating equipment 13 while without heating, the temperature inside the control cabin 101 is such that it already ensures the comfort of the crane operator.
[0093] In order for the operator to be able to draw conclusions on the operation of the electrical equipment 11, 12, 13, 14 during the time period T, the monitoring method 100 comprises the constitution EB1 of a set of power data pdata comprising at least: the cumulative accessory powers PaT13, PaT14 of all accessory equipment 13, 14 during the time period T, the cumulative actuation powers PmT11, PmT12 of all actuation equipment 11, 12 during the time period T, the total accessory power TPA, the total actuation power TPM, and the supply power PI.
[0094] The power data set pdata is timestamped over the time period T (which may correspond to a day, a week, a month, a year, etc.) and then recorded in the memory 152 of the control-command system 15. Thus, an operator can use the control-command system to subsequently consult the power data set pdata and thus analyze the energy behavior of the crane 1 during the time period T.
[0095] It is conceivable that the memory 152 of the control-command system 15 is configured to store several sets of power data pdata each corresponding to a distinct time period T. Thus, the operator can observe / analyze a change in the energy behavior of the crane 1 over a long time period, which may for example correspond to several successive time periods T, and potentially identify energy consumption anomalies during this long time period; the crane may have consumed more power over a given time period T compared to the others.
[0096] In one embodiment, analysis of the power data set pdata is also possible from a remote computing infrastructure 4 which may be located on the construction site or, as illustrated Figure 1, be located on another geographical site. It is conceivable, in one embodiment of the invention, that the control-command system 15 can communicate with the remote IT infrastructures 4 to send them the power data set pdata. In another embodiment, it is possible for an operator to use a storage means, for example a USB key (USB for Universal Serial Bus), to retrieve the power data set pdata from the control-command system 15 and, subsequently, transfer it to the remote IT infrastructure 4.
[0097] In one embodiment of the invention, it is also provided that the remote computing infrastructure 4 contains a digital twin M1 of the crane 1 making it possible to simulate and reproduce application contexts of cranes maneuvering on construction sites. The advantage of such a digital twin M1 is to be able to reproduce the energy behavior of the crane 1 during a time period T for which excessive power consumption would have been observed. To this end, in this embodiment, the power data set pdata is provided to be in a format compatible with the digital twin M1.Using the digital twin M1 and the power data set pdata, an operator can simulate, for the application context of the particular construction site associated with this time period T, several power consumption scenarios until optimal scenarios are reached for which the electrical consumption of the electrical equipment 11, 12, 13, 14 of the crane 1 are optimized. Consequently, if this particular application context were to occur again on the construction site, the optimal scenarios would then make it possible to better manage the electrical power consumption of the crane 1 from an energy perspective. The optimization of the power consumption of the crane 1 may result, for example, from a reduced activity of the accessory equipment 13, 14, from a better use of the crane 1 when it is in service or working (optimization of the movements Mvt11, Mvt12), etc.
[0098] In one embodiment of the invention, as illustrated Figure 3 , it is conceivable that the monitoring method 100 comprises, in parallel with the comparison Ecomp, an optional EC3 calculation of an energy efficiency eta of the crane 1, this energy efficiency eta being equal to the total actuation power TPM divided by the supply power PI. This energy efficiency eta may optionally be part of the power data contained in the power data set pdata.
[0099] In one embodiment of the invention, the monitoring method 100, during each of the cycle times tc1, tcn of the time period T, is capable of determining a state S1-1, S1-n of the crane from among the in-service state OP1 and the out-of-service state NOP1; this depending on whether the actuating equipment 11, 12 and the accessory equipment 13, 14 are in the active state A11, A12, A13, A14 or in the inactive state NA11, NA12, NA13, NA14. The states A11, A12, A13, A14, NA11, NA12, NA13, NA14 of the electrical equipment 11, 12, 13, 14 also allow the monitoring method 100 to determine which movements Mvt11, Mvt12 and / or consumer functions F13, F14 are implemented during the cycle times tc1, tcn.
[0100] Thus, a posteriori, when analyzing the power data set pdata, the operator is able to deduce, for the time period T, the power consumed to implement a given movement Mvt11, Mvt12 or a consumer function F13, F14.
[0101] Also, if several actuating devices 11, 12 (respectively several accessory devices 13, 14) contribute during a time period T to a movement Mvt11, Mvt12 of a mobile element 18, 19 (respectively to a consuming function F13, F14), the operator can know, at the end of the time period T, the power consumed by each of them to implement said movement Mvt11, Mvt12 (respectively said power consuming function F13, F14).
[0102] Advantageously, the monitoring method 100 makes it possible to process and classify the cumulative powers PmT11, PmT12, PaT13, PaT14 consumed by the electrical equipment 11, 12, 13, 14 of the crane 1 during the time period T as a function of: the state OP1, NOP1 of the crane 1, and the movement Mvt11, Mvt12 or the power consuming function F13, F14 implemented; which a measurement system external to the crane 1 would be incapable of doing without integrating intelligence into it.
[0103] In one embodiment of the invention, in order to facilitate the analysis for the operator of the power consumption of the electrical equipment 11, 12, 13, 14 during the elapsed time period T, the monitoring method 100 may comprise, after the time period T, in parallel with the constitution EB1 of the power data set pdata or following the latter, a generation EB2 of an analysis report rfile containing at least the power data set pdata of the time period T, which is contained in and can be consulted from the control-command system 15.
[0104] In an alternative embodiment of the invention, the analysis report is transferable to one or more remote IT infrastructures 4.
[0105] Since the EB2 generation of the rfile analysis report is optional, it is possible for this to be associated, for example, with an option proposed by the program 153 to the operator. It is also possible for the program 153 to also propose generating an rfile analysis report containing the power data set pdata of the last time period T that has ended, but also the power data sets pdata relating to previous time periods T.
[0106] In one embodiment of the invention, the analysis report rfile may contain a classification of the cumulative powers PmT11, PmT12, PaT13, PaT14 of the electrical equipment 11, 12, 13, 14 as a function of: the time periods T; the state OP1, NOP1 of the crane 1; and the movements Mvt11, Mvt12 or the power-consuming functions F13, F14 implemented. It is also possible, with reference to the Figure 4, that the rfile analysis report contains for the time period T one or more graphical representations showing a distribution of the supply power PI, for example and not exhaustively as a function of: of the OP1, NOP1 state of crane 1; of the total actuating power TPM and of the total accessory power TPA ( Figure 4-a ); actuating equipment 11, 12 and accessory equipment 13, 14, i.e. as a function of the cumulative actuating powers PmT11, PmT12 and the cumulative accessory powers PaT13, PaT14 ( Figure 4-b ); movements Mvt11, Mvt12 and / or power-consuming functions F13, F14 implemented ( Figure 4-c ).
Claims
1. Monitoring method (100) for monitoring over a time period (T) an electrical power consumption by electrical equipment (11, 12, 13, 14) of a crane (1), which crane is powered by a power supply (PI) provided by at least one power source (2), which electrical equipment (11, 12, 13, 14) comprises: - actuating equipment (11, 12), wherein each of the actuating equipment (11, 12) comprises at least one motor controlled by a speed variator (111, 121) and coupled to at least one movable element (18, 19) of the crane (1) to actuate, in an active state (A11, A12), a movement of said at least one movable element (18, 19), otherwise it is in an inactive state (NA11, NA12);and - accessory equipment (13, 14) which is not actuating equipment (11, 12), in other words equipment which does not participate in the movement of a mobile element of the crane (1), and in which each of the accessory equipment (13, 14) provides a power consuming function (F13, F14) which is specific to it when it is in an active state (A13, A14), otherwise it is in an inactive state (NA13, NA14); said monitoring method (100) being implemented by a control-command system (15) connected to the speed variators (111, 121) of the actuating equipment (11, 12) and connected to the accessory equipment (13, 14) to make them switch from the inactive state (NA11, NA12, NA13, NA14) to the active state (A11, A12, A13, A14) and vice versa;said control-command system (15) containing at least one memory (152) and a processor (151) defined by a cycle time (tc, tc1, tcn), and implementing at least, for each cycle time (tc, tc1, tcn) included in the time period (T): - a determination (E1) of a state (A13, A14, NA13, NA14) of each accessory equipment (13, 14) to determine whether it is in the active state (A13, A14) or in the inactive state (NA13, NA14), and to deduce therefrom an accessory power (Pa13-1, Pa14-1, Pa13-n, Pa14-n) consumed in the cycle time (tc, tc1, tcn) by said accessory equipment (13, 14) when it is in the active state (A13, A14), on the basis of an electrical consumption model (M13, M14) associated with said accessory equipment (13, 14) which is contained in the control-command system (15);- monitoring (E2) of each actuating equipment (11, 12) comprising a reception, from the corresponding speed variator (111, 121), of an actuating power (Pm11-1, Pm12-1, Pm11-n, Pm12-n) consumed in the cycle time (tc, tc1, tcn) by said actuating equipment (11, 12) when it is in the active state (A11, A12).; 2. Monitoring method (100) according to claim 1, in which the control-command system (15) implements at least after the time period (T): - a calculation (EC1), for each of the accessory equipment (13, 14), of a cumulative accessory power (PaT13, PaT14) consumed over the time period (T) by said accessory equipment (13, 14), by summing the accessory powers (Pa13-1, Pa14-1, Pa13-n, Pa14-n) consumed in the cycle times (tc, tc1, tcn) where it was in the active state (A13, A14); - a calculation (EC2), for each of the actuating equipment (11, 12), of a cumulative actuating power (PmT11, PmT12) consumed over the time period (T) by said actuating equipment (11, 12), by summing the actuating powers (Pm11-1, Pm12-1, Pm11-n, Pm12-n) consumed in the cycle times (tc, tc1, tcn) where it was in the active state (A11, A12);- a deduction (ED1) of a total accessory power (TPA) corresponding to the sum of the cumulative accessory powers (PaT13, PaT14) consumed over the time period (T) by all the accessory equipment (13, 14); - a deduction (ED2) of a total actuation power (TPM) corresponding to the sum of the cumulative actuation powers (PmT11, PmT12) consumed over the time period (T) by all the actuation equipment (11, 12); - a comparison (Ecomp) between the supply power (PI), the total accessory power (TPA) and the total actuation power (TPM).; 3. Monitoring method (100) according to claim 2, wherein, after the time period (T), the control-command system (15) constitutes a set of power data (pdata) comprising at least: - the cumulative accessory powers (PaT13, PaT14) of all the accessory equipment (13, 14) during the time period (T), - the cumulative actuation powers (PmT11, PmT12) of all the actuation equipment (11, 12) during the time period (T), - the total accessory power (TPA), - the total actuation power (TPM), and - the supply power (PI); which set of power data (pdata) is time-stamped over the time period (T) and then recorded in the memory (152) of the control-command system (15).
4. Monitoring method (100) according to claim 3, wherein the power data set (pdata) is exportable from the control-command system (15) to a digital twin (M1) of the crane (1) modeled in a remote IT infrastructure (4), the power data set (pdata) being put into a data format compatible with the digital twin (M1) in order to be exploited by the latter.
5. Monitoring method (100) according to any one of claims 2 to 4, in which the control-command system (15) calculates, after the time period (T), an energy efficiency (eta) which is equal to the total actuation power (TPM) divided by the supply power (PI).
6. Monitoring method (100) according to claims 3 and 5, wherein the power data set (pdata) also comprises the energy efficiency (eta).
7. Monitoring method (100) according to any one of the preceding claims, in which the control-command system (15) determines, at each cycle time (tc, tc1, tcn) included in the time period (T), and as a function of at least one electrical equipment (11, 12, 13, 14) among the actuating equipment (11, 12) and the accessory equipment (13, 14) being in the active state (A11, A12, A13, A14), at least one state (S1-1, S1-n) of the crane (1) among at least one out-of-service state (NOP1) in which all the actuating elements (11, 12) are in the inactive state (NA11, NA12), and at least one in-service state (OP1) in which at least one of the actuating elements (11, 12) is in the active state (A11, A12).
8. Monitoring method (100) according to claim 7, wherein when the at least one state (S1) of the crane (1) corresponds to the in-service state (OP1) for a given cycle time (tc, tc1, tcn), the control-command system (15) associates for each of the actuating equipment (11, 12) a movement (Mvt11, Mvt12) chosen at least from: - a distribution movement (Mvt11) associated with a distribution equipment (11) among the actuating equipment (11, 12) during which a load distribution maneuver is carried out along a boom (16) of the crane (1), - a lifting movement (Mvt12) associated with a lifting equipment (12) among the actuating equipment (11, 12) during which a load lifting maneuver is carried out, - an orientation movement associated with a piece of equipment orientation among the actuating equipment (11, 12) during which an orientation maneuver of an arrow (16) is carried out,- a translation movement associated with translation equipment among the actuating equipment (11, 12) during which a translation maneuver of the crane (1) is performed, - a lifting movement associated with lifting equipment among the actuating equipment (11, 12) during which a lifting maneuver of a luffing jib is performed, or - an assembly movement during which an assembly of the crane (1) is performed, which assembly movement is associated with an assembly equipment among the actuating equipment (11, 12) and chosen at least from: folding / unfolding equipment for folding / unfolding a mast (102) and a jib (16), wedging equipment for wedging the crane (1) on the ground, orientation equipment for orientation of a base of the crane (1), jib equipment for actuation of an assembly jib., 9. Monitoring method (100) according to claim 7 or 8, wherein when the at least one state (S1) of the crane (1) corresponds to the out-of-service state (NOP1) for a given cycle time (tc, tc1, tcn), the control-command system (15) associates for each of the accessory equipment (13, 14) the consumer function (F13, F14) chosen at least from: - a heating function (F13) associated with a heating equipment (13) among the accessory equipment (13, 14) for heating a pilot cabin (101) of the crane (1), and - an air conditioning function (F14) associated with an air conditioning equipment (14) among the accessory equipment (13, 14) for air conditioning a pilot cabin (101) of the crane (1).
10. Monitoring method (100) according to any one of the preceding claims, wherein the electrical consumption model (M13, M14) of each of the accessory equipment (13, 14) contains at least, in order to calculate the accessory power (Pa13-1, Pa14-1, Pa13-n, Pa14-n): - the cycle time (tc, tc1, tcn), - a supply voltage (U13, U14) for powering said accessory equipment (13, 14) when in the active state (A13, A14), - a consumption intensity (I13, I14) of the accessory equipment (13, 14).
11. Monitoring method (100) according to any one of the preceding claims, wherein the cycle time (tc, tc1, tcn) is equal to 50 milliseconds, to within plus or minus 20%.
12. Monitoring method (100) according to any one of the preceding claims, in which the supply power (PI) is measured by a global electricity meter (3) in connection with the control-command system (15).