Method for moving a load with a crane in a collision-free manner
AssigneeSiemens Aktiengesellschaft
InventorsUwe Ladra, Alois Recktenwald
Life of this patent
Estimating the term…
Abstract
A method for moving a load with a crane in a collision-free manner in a space having at least one obstacle includes providing a position of the obstacle, providing at least one safe state variable of the load, determining from the safe state variable a safety zone surrounding the load, and dynamically monitoring the safety zone in relation to the position of the obstacle.
Claims13
A method for moving with a crane control system in automatic operation a load with a crane in a collision-free manner in a space having at least one obstacle,
- providing with a SIL (Safety Integrity Level) or PL (Performance Level) certified sensor a position of the at least one obstacle,
- determining with the SIL or PL certified sensor a height profile of the at least one obstacle,
- providing at least one safe state variable of the load, which includes a position of at least one movement axis, a velocity or an acceleration of the load,
- determining from the at least one safe state variable with a SIL or PL certified sensor system a safety zone surrounding the load,
- dynamically monitoring the safety zone in relation to the position of the obstacle, and
- sending with an independent, safe monitoring module, which implements a safety certification of the crane control system according to SIL or PL, a stop signal to the crane control system when the position of the obstacle is located in the safety zone surrounding the load.
A controller comprising a safety program in a secure region, the controller configured to determine a safety zone surrounding a load that is moved with a crane in a collision-free manner in a space having at least one obstacle by
- providing with a SIL (Safety Integrity Level) or PL (Performance Level) certified sensor a position of the at least one obstacle,
- determining with the SIL or PL certified sensor height profile of the at obstacle,
- providing at least one safe state variable of the load, which includes a position of at least one movement axis, a velocity or an acceleration of the load,
- determining from the at least one safe state variable with a SIL or PL certified sensor system a safety zone surrounding the load,
- dynamically monitoring the safety zone in relation to the position of the obstacle, and
- sending with an independent, safe monitoring module a stop signal to the crane control system when the position of the obstacle is located in the safety zone surrounding the load.
A system having a crane for moving a load in a space having at least one obstacle, the system comprising an independent, safe monitoring module for collision detection between the load and the at least one obstacle and a controller comprising a safety program in a secure region, the controller configured to determine a safety zone surrounding a load that is moved with a crane in a collision-free manner in a space having at least one obstacle and implementing a safety certification of the system according to SIL (Safety Integrity Level) or PL (Performance Level), by
- providing with a SIL or PL certified sensor a position of the at least one obstacle,
- determining with the SIL or PL certified sensor a height profile of the at least one obstacle,
- providing at least one safe state variable of the load, which includes a position of at least one movement axis, a velocity or an acceleration of the load.
- determining from the at least one safe state variable with a SIL or PL certified sensor system a safety zone surrounding the load,
- dynamically monitoring with the independent, safe monitoring module the safety zone in relation to the position of the obstacle, and
- sending with the independent, safe monitoring module a stop signal to the crane control system when the position of the obstacle is located in the safety zone surrounding the load.
Dependencies are inferred from the claim text.