U.S. patent number 3,819,922 [Application Number 05/356,702] was granted by the patent office on 1974-06-25 for crane load and radius indicating system.
This patent grant is currently assigned to Forney Engineering Company. Invention is credited to Robert Horn, Raymond J. Slovacek.
United States Patent |
3,819,922 |
Horn , et al. |
June 25, 1974 |
CRANE LOAD AND RADIUS INDICATING SYSTEM
Abstract
Separate modular units, including a main tensiometer, a boom
angle transducer, a control logic module, a combined boom radius
readout and a degree of safe load meter unit, and combined actual
load and allowable load readout unit, are operatively connected to
a boom-type crane. The units are electrically interconnected by
suitable cables that are shielded and insulated from the crane. The
control logic module contains a transistorized solid-state circuit
that receives, amplifies, and converts analog signals from the boom
angle transducer and from a selected one of the tensiometer units,
to corresponding digital signals that are continuously and
automatically processed with data read from a selected memory
module in which information based on the configuration of the crane
in use is stored. Digital signals are produced for use in operating
the digital radius readout, the allowable load readout, and the
actual load readout, respectively, as well as digital signals
corresponding to the ratio of the allowable loads. The resulting
digital safe load signals are then converted to corresponding
analog signals for use in operating the degree of safe load
meter.
Inventors: |
Horn; Robert (Richardson,
TX), Slovacek; Raymond J. (Dallas, TX) |
Assignee: |
Forney Engineering Company
(Carrollton, TX)
|
Family
ID: |
23402577 |
Appl.
No.: |
05/356,702 |
Filed: |
May 2, 1973 |
Current U.S.
Class: |
701/50; 212/278;
340/685; 702/41; 701/124 |
Current CPC
Class: |
E02F
9/26 (20130101); B66C 23/905 (20130101) |
Current International
Class: |
E02F
9/26 (20060101); B66C 23/00 (20060101); B66C
23/90 (20060101); G08b 021/00 () |
Field of
Search: |
;235/193,186,150.2,151,151.33 ;340/267C,272,282 ;37/116,189,DIG.1
;212/2,39A ;116/124F |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Ruggiero; Joseph F.
Attorney, Agent or Firm: Naigur; Marvin A. Wilson; John E.
De Luca; John P.
Claims
What is claimed is:
1. An automatic load and radius indicating system for boom type
cranes comprising, a degree of safe load indicator, a load radius
display, a line tensiometer, a boom angle transducer, control/logic
circuit means including memory means programmable with data based
on the configuration of the crane in use, and control circuit means
for continuously calculating from signals based on the outputs of
said angle transducer and of said tensiometer, and of the memory
circuit means, signals corresponding to the load radius and degree
of safe load being handled by the crane at the time for operating
the corresponding indicator and display in accordance
therewith.
2. The system as defined by claim 1, in which the safe load
indicator comprises an arcuate dial calibrated in percent of safe
load corresponding to the ratio of actual load to allowable hook
load on the line in use multiplied by 100, and a pointer rotatable
about an axis at the center of said dial which is controlled by an
analog signal from said control circuit, the logic circuit
comprises an analog/digital (A/D) converter circuit for receiving
the output signal of said transducer, a load table memory circuit
connected to said converter circuit, an allowable load
computer-calculating circuit connected to said memory circuit, an
analog/digital converter circuit for receiving the digital output
signal of said tensiometer, and a solid state divider circuit for
dividing the digital output of said allowable load circuit by the
digital output of the converter circuit and multiplying the
resulting ratio by 100 for controlling the rotation of said pointer
to indicate on said dial the percent of safe load.
3. The system as defined by claim 2, in which the configuration of
the crane programmed into the memory circuit means includes
operation of a jib pivoted to the free end of the boom, and the
corresponding jib line for hoisting lighter loads than those
normally handled by the boom per se, whereby the indicator shows
the percent of safe load and the true load radius notwithstanding
the complicated trigonometric functions involved in the automatic
process of calculating the desired information, said jib/whip line
comprising a part having the tensiometer associated therewith for
continuously measuring the tension thereon corresponding to the
relative hook load on such line; and a buffered amplifier circuit
for amplifying the corresponding analog output of said tensiometer
before application to the corresponding A/D circuit.
4. The system as defined by claim 3, in which the memory circuit
means comprises a selected one of a plurality of separate memory
modules, each corresponding to an individual crane configuration,
and switch circuit means for supplying a desired crane parameter
for use in said logic circuit as may be desired for safe operation
by the crane operator.
5. The system as defined by claim 4, in which a digital display of
allowable crane load is also provided along with a circuit
connected to said comparator for conducting digital signals
therefrom to the allowable load digital display for operating the
latter to show the allowable load for safe operation of the crane
under the existing conditions of operation thereof.
6. The system as defined by claim 1, in which the digital load
radius display comprises, bold-faced individual digits indicating
the number of feet of the actual load radius, and flashing
illumination means for warning the operator of the crane that he is
operating outside the load table.
7. The system as defined by claim 5, in which the allowable load
display comprises, bold-faced individual digits indicating the
number of pounds of the allowable load.
8. The system as defined by claim 3, in which the upper range of
calibration of the percent of safe load indicator dial is colored
yellow and then red to show when the allowable load limit is
approached by the moving pointer of the indicator.
9. The system as defined by claim 2, in which the allowable load
circuit comprises, a lower load selecting solid state comparator
circuit provided with a manual load set input circuit for providing
a digital signal corresponding to a desired load limit for
comparison with the digital signal output and producing a digital
signal corresponding to the allowable load.
10. The system as defined by claim 2, in which the allowable load
circuit comprises a multiplexer circuit connected the output of
said comparator circuit, a de-multiplexer connected to the output
of said multiplexer, a latch circuit connected to the output of
said de-multiplexer circuit, a decoder/driver circuit connected to
latch circuit, and an allowable load display operated by said
decoder/driver circuit, comprising bold-faced numbers corresponding
to the load in pounds.
11. A load and radius indicating system for boom type cranes,
comprising:
a boom angle transducer unit adapted to be mounted on the boom of
the crane,
a load line tensiometer unit adapted to be associated with a
selected load bearing line of such crane,
a control/logic unit adapted to be mounted on an inner wall of the
cab of such crane responsive to outputs of said angle transducer
and load line tensiometer for producing signals indicative of load
radius and percent of safe load,
a load and radius indicator unit responsive to said control/logic
outputs, comprising a percent of safe load meter and continuous
load radius digital readout in appropriate units, adapted to be
mounted within such cab in front of the operator, and insulated and
shielded cable means for electrically interconnecting said
units.
12. The system as defined by claim 11, including an auxiliary
allowable load and an actual load indicator unit adapted to be
mounted within such end adjacent to the percent of safe load and
load radius indicator unit, comprising, a continuous digital
readout in pounds of the allowable load, a continuous digital
readout in pounds of the actual load as the latter is hoisted by
the crane, and connector means for electrically connecting said
auxiliary unit to the main display unit.
13. A system as defined by claim 11, in which the control/logic
unit comprises, a front panel provided with potentiometer adjusting
screws for calibrating different functions of the system, test
jacks for checking different parts of the system, a digital
parts-of-line selector, a digital signal generating manual load
limit set selector, and an instruction card corresponding to the
particular configuration of the crane with which the system is to
be used.
14. A system as defined by claim 11, in which the load and radius
indicator unit comprises, a front panel provided with a manually
adjustable rotary control knob having separate lamp test, main
line, jib/whip, and OFF stations.
15. A load and radius indicating system as defined by claim 11, in
which the boom angle transducer unit comprises, a pendulum oriented
arcuate potentiometer providing zero output of zero degree boom
angle, as measured from the horizontal, and a maximum output signal
when the boom is near a vertical position, a slide-contact on said
potentiometer for providing a linear voltage output with a minimum
sensitivity of 35.degree., whereby an incremental change in the
angle of the boom as small as 20 minutes is detected with a
corresponding output signal change to the control/logic unit.
16. A system as defined by claim 15, in which the control/logic
unit comprises, an adjustable-gain buffered amplifier connected to
the output of said potentiometer for amplifying such voltage
output, an analog/digital converter connected to the output of said
amplifier for continuously converting the analog signal from said
transducer as the boom angle changes during operation of the crane,
and cosine ROM and load ROM circuits programmed to automatically
calculate digital outputs corresponding to the load radius and
allowable load continuously during load hoisting operation of the
crane.
17. The system as defined by claim 16, in which the control/logic
unit also comprises, a comparator circuit for developing from the
manual load set signals and digital signals from said load ROM
circuit, the lower of the two for use by the allowable load digital
readout.
18. The system as defined by claim 17, in which the control/logic
unit includes an adjustable gain buffered amplifier connected to
the output of said tensiometer unit for amplifying the load signal,
an analog/digital converter for converting such amplified load
signal from an analog to a digital mode, a multiplier for
multiplying the digital load signals by a digital signal
corresponding to the-line-parts, which digital signal product
corresponds to the actual line load on the tensiometer unit, for
display by said actual load readout, a divider for dividing such
actual load digital signal corresponding to the allowable load
signal from said comparator, and a digital/analog converter for
converting the resulting digital signal to the analog mode which is
used to operate said percent of load meter.
19. A system as defined by claim 13, in which the control/logic
unit front panel includes a jib/whip switch, a jib/whip load line
tensiometer unit, and circuit means for connecting said jib/whip
tensiometer into the system.
20. A safe load indicator system for cranes comprising, a
solid-state control/logic module unit including transistorized
amplifier circuit means for amplifying analog signals corresponding
to operating conditions of the crane, transistorized converter
circuit means for substantially instantaneously changing such
signals to corresponding digital signals, transistorized computer
calculating circuit means for automatically processing such signals
to produce digital signals based on the configuration of the crane
for use by different indicators of desired safe load operating
conditions of the crane during operation thereof, said system
further including; a boom angle transducer for providing analog
signals corresponding to the boom angle of the crane, main line and
jib/whip line tensiometers measuring line tension for providing
analog signals corresponding to selected main hook and swing hook
loads on the crane, and switch means for manually selecting one or
the other of such hook load signals as may be required for proper
operation of the system.
21. A system as defined by claim 20, in which the system includes
memory storage means comprising modules programmed to correspond to
the parameters of configuration of the different cranes with which
the system can be used, which are necessary for the correct
operation of the control logic circuit, whereby the system can be
quickly adapted to a selected one of a plurality of cranes of
varying configuration.
22. A system as defined by claim 20, in which an information
display unit is located in the crane cab comprising, an analog
signal responsive bold-faced moving indicator for showing the
percent of safe load as an actual load is handled by the selected
hook, a large illuminated digital readout for showing the load
radius in feet, and solid state circuit means for converting the
corresponding digital signals to analog signals for use by said
indicator.
23. A system as defined by claim 22, in which illuminated digital
readouts are provided for the actual load and allowable load in
appropriate units during operation of the crane.
24. A system as defined by claim 23, in which the control/logic
module unit comprises, a circuit testing and manually adjustable
means for setting the boom length, parts-of-line, main load limit,
and calibration of main load and jib/whip line tensiometer
circuits.
25. The system of claim 20, in which the line tensiometer and boom
angle transducer units supply the analog signals to the input of
the control/logic units, and said control/logic unit includes
separate solid state circuit means for first amplifying and then
converting the analog signals to corresponding ditigal signals,
solid state circuit means for continuously processing the digital
boom angle signals to thereby produce corresponding digital signals
for operating said digital load radius readout, additional solid
state circuit means for further processing the digital boom angle
signals with the digital line tensiometer signals to produce
digital signals corresponding to the percent of safe load on the
crane, and solid state circuit means for then converting such
digital percent of safe load signals to corresponding analog
signals for operating said percent of safe load meter.
Description
BACKGROUND OF THE INVENTION
In the operation of heavy cranes, a substantial number of serious
accidents occur through the hoisting of large weights and changing
the boom angle. As the angle subtended between the horizontal
surface on which the crane rests and the boom is decreased, the
moment of force exerted on the crane by the boom increases, thereby
increasing the tendency of the crane to tip over. Thus, a very real
need exists for clear and accurate information being readily
provided to the crane operator, which will improve his ability to
operate the crane. Such information must be calculated from data
based on the geometrical configuation of the particular crane in
use, as well as on the relative weight of the load and boom angle
existing at the time the desired information is provided.
Of primary interest to the crane operator for safe operation of the
crane, in addition to the radius of the load, is an indication of
the percent of safe load at which he is operating his crane. Such
percent of safe load and boom radius change, as the boom moves
upwardly and downwardly in handling each load, requires almost
instant calculation which is continuous as the crane operates.
Various safety factors are required by legal regulations for the
cable, boom, and sheaves used in crane hoist apparatus. Also,
visual and audible warnings are necessary to assist the operator in
safely operating his crane. But mainly, the crane operator needs
accurate and continuous information relating to the vital
conditions affecting safe crane operation, before safe limits are
exceeded, i.e., before such warnings actually go into operation, or
as the unsafe conditions bringing about such warnings are
approached. In cable load carrying boom types of cranes, the
geometry of the crane configuration requires automatic
trigonometric calculations for the percent safe load and load
radius, which are varying functions of the boom angle which change
as the load is handled. Also, the parameter configuration data for
such calculations must always be taken into consideration in the
processing thereof for each crane, and this varies with different
crane manufacturer's specifications.
Thus, the desired information must be based on data which conforms
to the configuration of the crane in use. It is desirable to
provide a modular system which can be adapted for use with any
desired one of a plurality of different presently available crane
configurations. In accordance with the present invention, this is
accomplished by a universally applicable system which can be preset
manually and equipped with a selected memory module such that the
system is automatically programmed to handle the configuration of
any boom type of crane that is presently on the market.
There is also a present great need for a universal system having
modular units that can be made in production, with each suitable
for use with any known boom type of crane. This is accomplished by
the present system which comprises, in addition to several sensors,
a programmable logic and control unit, and at least one display
unit, that are easily mounted on the crane with which the system is
to be used.
The use and handling of as few analog components as possible is
also highly desirable in systems that are exposed to severe weather
and operating conditions, since they are subject to error and
drifting due to wide variations in heat, cold, and age. The maximum
use of digital type equipment is a feature of the present
invention, along with the use of a minimal amount of analog
equipment, as only the boom angle, load, and percent safe load
indicator units use analog signal circuits.
SUMMARY OF THE INVENTION
In accordance with illustrative embodiments demonstrating features
and advantages of the present invention, there is provided sensor
instruments for continuously monitoring the actual load and angle
of a boom. Signals are transmitted therefrom to a control and logic
unit having an transistorized, solid state electronic circuit means
which automatically computes the required digital data, including
output signals for operating large, brightly illuminated indicators
for use by the operator of the crane. There is provided a
bold-faced percent of safe load meter, and a large, digital display
unit for showing the actual load radius. Other safety features
including a digital display of the actual and allowable loads, and
suitable, audible and visual warning signals are also provided.
The electronic system converts analog signals, which are
proportional to selected crane operating parameters, into digital
and analog displays in the crane cab. The information thus
displayed in the crane cab is used by the operator as an
operational aid, such that he is able to determine the degree of
how close the crane may be to maximum load as a percent of safe
load indication, the actual load, the allowable load as a function
of boom length and load radius, and the actual operating
radius.
BRIEF DESCRIPTION OF THE DRAWINGS
The above brief description, as well as further objects, features,
and advantages of the present invention will be more fully
appreciated by reference to the following detailed description of a
presently preferred but nonetheless illustrative embodiment in
accordance with the present invention, when taken in connection
with the accompanying drawings wherein:
FIG. 1 is a elevational view of a load handling boom type crane
equipped with a modular safe load information indicating system of
the present invention;
FIG. 2 is a circuit block diagram of the modular safe load
information indicating system, with the broken lines indicating the
connection to the crane of FIG. 1;
FIG. 3 is an elevational view of the control and logic circuit
unit;
FIG. 4 is an elevational view of the percent safe load indicator
and digital radius display unit;
FIG. 5 is an elevational view of the boom angle transducer
unit;
FIG. 6 is a block diagram of the boom angle load radius
circuit;
FIG. 7 is a circuit diagram of the bridge circuit of a load line
tensiometer;
FIG. 8 is a block diagram of the percent of safe load to allowable
load circuit of the control logic unit;
FIG. 9 is a circuit and block diagram of the line tensiometer and
actual load circuit;
FIG. 10 is an elevational view of the allowable and actual load
display unit;
FIG. 11 is a perspective view of a memory module; and
FIG. 12 is an elevational view showing the basic gemoetry involved
in the operation of a crane.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
With reference to FIG. 1, there is shown a load-hoisting crane 10,
which includes a tractor 12 on which a cab housing 14 is mounted
for horizontal rotation about a vertical axis 16 by suitable power
means including a large annular drive gear 18. A boom 20 is pivoted
to the front of housing 14 at 22, for movement thereabout upwardly
and downwardly in a vertical plane as the crane is operated. A jib
24 is similarly pivoted at 26, near the free end of the boom 20 and
the jib 24 and boom 20 are provided with sheaves 28 and 30,
respectively, near their free ends. The sheaves 28 and 30 are
provided with load-carrying lines or cables 32 and 34 having load
hooks 36 and 38 depending from the free ends of the jib 24 and boom
20, respectively.
Mounted in a convenient location on the boom 20 is a boom angle
transducer unit 40 which is shown in FIG. 5. The transducer unit 40
is for continuously sensing the angle of the longitudinal axis of
the boom with the horizontal axis of the crane 10 and supplying an
analog output signal corresponding to such angle. Also, load
handling cables 32 and 34 are provided with tensiometer units 42
and 43, respectively, the output signal of a selected one of which
corresponds to the weight of the load on hook 36 or hook 38, as the
case may be. Located in housing 14 is a cab 46 for the operator of
crane 10, and conveniently mounted in front of such operator is a
safe load information indicator and digital display unit 48, which
is shown in FIG. 4. Also mounted on a side wall of cab 46 is a
control and logic module unit 50, which is shown in FIG. 3. The
logic module 50 is for calculating the desired safety information
from storage data based on crane configuration in conjunction with
those provided by signals from manual sets and the angle transducer
output and a selected one of the cable tensiometers, for
automatically controlling the display unit 48.
To summarize, the system per se comprises the combination of line
tension transducers or sensors 42, 43, boom angle transducer or
sensor 40, control and logic module unit 50, and operator display
unit 48 for continuously indicating safe load and radius conditions
occurring while the crane is in operation. An auxiliary readout
unit 51, as shown in FIG. 10, is also provided. Such auxiliary
readout unit 51 can be mounted in cab 46 adjacent to the unit 48,
and is provided with a digital readout or display 80 of the
allowable load, and a similar display 96 of the actual load being
handled by the selected load line in pounds.
Referring to FIG. 4, the percent safe load and radius indicator
unit 48, is provided with a digital display or readout 68 of the
load radius in feet, and a bold-faced meter 102 having a rotary
moving hand or pointer 100 for continuously indicating on an
arcuate dial 104, the percent of safe load being handled as the
crane 10 is operated. The front of the unit 48 is also provided
with a rotary knob 231 adapted to be manually adjusted to any
selected one of four stations 234, 236, 238 and 240 corresponding
to Lamp Test, Main Line, Jib/Whip Line, and "OFF" switch positions.
As the pointer 100 of indicator 102 approaches unsafe load
conditions for the crane 10, the corresponding dial warning area
244 is colored yellow and the dial danger area 246 is colored red
in the area of danger.
As shown in FIG. 6, signals from the boom angle transducer unit 40
go through shielded circuit 52 to a solid-state amplifier circuit
54 then to an analog-to-digital converter network 56. A cosine
(COS) read-only-memory (ROM) circuit 58, programmed with the cosine
of 0 to 90 degrees in discrete increments, receives digital output
signals from the converter 56, and produces a digital output signal
proportional to the cosine of the operating boom angle. The signal
is then multiplied in a solid-state multiplier (X) circuit 60, by a
second digital signal from circuit 62, that is manually set by
means of knob 232 (FIG. 3), to be directly proportional to the
actual length of the boom 20 (FIG. 1), thereby producing a digital
output signal which is proportional to the load radius in a
horizontal plane. The resulting signal is corrected in an additive
circuit 64 by the adding from circuit 66, a signal proportional to
a constant C, FIG. 1, proportional to the radius of rotation of
pivot 22 about the center line 16. This results in a digital output
signal representing the actual working load radius, which controls
the digital radius display 68 comprising convenient units of
length, such as feet.
As shown in FIG. 2 the digital output signal of A/D converter 56 is
also applied to a load read-only memory (ROM) circuit 70 via
circuit 76. The output of the load ROM memory circuit is supplied
to a solid-state comparator circuit 74 by a connecting circuit 77.
As shown in FIG. 2, the comparator circuit 74 is provided with a
manual load set input circuit 78, which is controlled by the thumb
set 230. The resulting output signal of the comparator circuit 74
of FIG. 2 is applied to the input of an allowable load digital
display circuit 80 by a circuit 82, as well as to a solid-state
dividing (.div.) circuit 84 by a circuit 86. The dividing circuit
84 also receives a digital load signal from the line tensiometer
unit 43, for example, by way of shielded cable circuit 87,
amplifier (G) circuit 88, converter 90, and multiplier (X) circuit
92, and lead 94. A manually operated jib selector switch 89, (FIG.
3), is used to select the tensiometer 42 in the whip/jib line 32
when the latter is in use. A branch 96, (FIG. 2), of lead 94 also
carries the digital output signal of the multiplier circuit 92 to
an actual load display circuit 96.
The dividing circuit 84 computes the percentage relationship of the
allowable load signal from comparator circuit 74 with respect to
the digital load signal from multiplier circuit 92; and the digital
percent of safe load signal output then is converted in a
solid-state digital/analog (D/A) circuit 98 for moving the pointer
100 of the percent safe load meter 102 over an arcuate dial 104
calibrated in percentages (0 to 120%).
As shown in FIG. 6, the boom angle transducer unit 40 comprises a
pendulum 106 driven potentiometer 108 mounted directly on the boom
20 of the crane 10. The transducer 40, is designed to provide a
zero output at zero degree boom angle, as measured from the
horizontal, and an increasing output signal as the boom is moved
toward vertical position. The pendulum 106, used to drive a
potentiometer contact slide 110, provides a minimum sensitivity of
0.35.degree.. Thus, an incremental change in angle of the boom as
small as 20 minutes is detected with a corresponding output signal
change to the control and logic module. Such high degree of
sensitivity is provided for dealing with relatively long boom
lengths operating at or near maximum boom angles.
The analog input signal from the boom angle transducer 40 is
transmitted to the control and logic module 50 of FIG. 3, where it
is automatically processed as shown in FIG. 6. Both terminals 112,
114 of the potentiometer 108 in the boom angle transducer are
connected directly to a temperature stable .+-.12 volt DC power
supply 116 (which, in turn, may be powered by the 24v battery, not
shown). One terminal 114 is connected to +12 vdc and the other
terminal 112 is connected to -12 vdc thereof. The potentiometer
slide 110 has a total travel of 340.degree. proportional to -12 to
+12 vdc. Inasmuch as the transducer 40 only operates over a
90.degree. arc, the voltage span is approximately 6.4 volts, for
zero vdc output at zero degree boom angle, and 90/340x(+24vdc), or
+6.35 vdc output signal at 90.degree. rotation.
The analog signal from the boom angle transducer 40 is cabled by
circuit 52 to the control and logic module 50 of FIG. 3, where it
is internally connected as the analog input signal to the buffer
(BA--1) amplifier 154, of FIG. 6. The circuit 52 contains a
suitable resistor 118 and is grounded at 120 through a capacitor
122. An adjustable feed-back gain control circuit 124 is also
provided for the buffering amplifier 154, comprising parallel
connected capacitor 126 and resistor 128, and an adjustable
resistor 130, a terminal of which is grounded at 132. The
buffered-amplified signal output of amplifier 154 is conducted by
circuit 134 to an 8 bit A/D (analog to digital converter)
solid-state network 56 wherein a digital signal proportional to
boom angle is developed. The digital signal from the A/D network 56
is used to address the selectively programmable read-only memory
circuit 58 which has been previously programmed with the cosine of
0.degree. to 90.degree. in 256 increments. The output of the A/D
network 56 is also used to address via circuit 76 programmed "load"
tables as will be hereinafter described.
The output signal from the COS ROM circuit 58 is a digital signal
proportional to the cosine of the boom angle. This signal is
multiplied in circuit 60 by a second digital signal from circuit
62, which is directly proportional to the length of the boom in
use. The resulting digital signal is now proportional to the radius
of the boom along the horizontal and is applied to a summation
calculating circuit 64. By adding or subtracting, depending on the
crane design, a digital signal is generated through circuit 66
proportional to the distance C between the boom pivot pin and the
center of rotation of the crane, and a digital signal is calculated
by circuit 64 which represents the true "load radius." This signal
is conducted by cable 136, (FIG. 6), to multiplex circuit 138
wherein the signal is multiplexed (the "load radius" signal
represents a three digit number) and cabled to the operator display
unit 68 where it is demultiplexed by circuit 140 into three
separate digital signals. The three signals are individually
connected to standard "latch" and decoder/driver circuit 142 and
144. The output of the decoder/drivers are connected to the
"radius" display which comprises three separate seven segment BCD
display units.
Considering only the main line load transducer 43 of FIG. 1 (the
fast or whip line transducer 42 functions essentially in the same
manner), the output thereof is an analog signal directly
proportional to load. As shown in FIG. 7, the load transducer 42
comprises a load cell 146 in the line carrying the hook for the
load being hoisted. An excitation voltage from a suitable source is
applied across the tensiometer, comprising strain responsive metal
alloy resistors 147 arranged to form a Wheatstone Bridge circuit at
terminals 148, 150 thereof. The load transducer 42 is operatively
connected to the cable, such that the load on the cable is
transmitted to load cell 146. The load cell 146 thus produces an
output voltage between voltage leads 152 and 154 in cable 87, that
is directly proportional to the load line tension which is in turn
directly proportional to the load being carried by the hook
thereon. The excitation voltage is provided by an adjustable
voltage source 156 connected across the terminals 148, 150.
As shown in FIG. 9, the signal from the load transducer tensiometer
146 is connected by shielded cable 87 to the control and logic
module where it is internally connected as the input of load
amplifier LA-1 circuit 160. The analog output signal from the load
transducer 146 is linear with applied load. However, the magnitude
of such signal can be varied by adjusting the excitation voltage
from source 156. Therefore, dispensed with is any discussion on
actual signal levels.
Amplifier LA-1 circuit 160 is provided with a DC power circuit +V,
-V and with a gain control feed back circuit 161 connected to input
lead of LA-1 and to a manually adjustable contact slide 165 of a
potentiometer 167 that is in turn connected to the output circuit
164 through a resistor 169 and to ground at 171. Lead 158 is
provided with a resistor 173 and a ground circuit 175 containing
parallel connected resistor component 177 and capacitor component
179. The gain of amplifier 160 is selected such that at maximum
line tension a 10 vdc signal is developed at the input of A/D
converter 162 via lead 164. The A/D converter 162 is weighted such
that the maximum load is broken down into 1024 increments (10
bits).
To obtain the hook load with which the operator is most interested,
it is necessary to multiply the line tension developed by the
tensiometer by the parts of lines (number of lines with which the
block is rigged). This is provided by a manually set (parts of
line) circuit 166, and multiplier (X) circuit 92 into which the
digital signals to be multiplied are fed through leads 170 and
172.
The signal from multiplier (X) circuit 92 is then applied through a
connecting circuit 174 to a multiplexer circuit 176, and such
multiplexer signal is then transmitted via cable 178 to the digital
display 96 of unit 51 of FIG. 10, where it is demultiplexed by
circuit 180 into six separate signals. Each of these signals is in
turn connected to a corresponding latch 182, decoder/driver 184 and
finally into an individual seven-segment digital readout 96 to
display the "actual load" to the operator in large illuminated
digits. The signal "B" from the multiplier 92 is also used as an
input to divider circuit 84 for eventual use by the "percent safe
load" circuit 102 via lead 94 of FIG. 8.
As shown in FIG. 8, signal "A" which is proportional to boom angle,
is used by way of lead 76 to address a previously programmed table
188 of load ROMS 70. Each load ROM circuit 70 is programmed to
contain the crane manufacturer's load table for a specific crane
configuration (i.e., boom length, counterweight, crawler position,
etc.). The output of the selected load ROM circuit 70 is a digital
signal proportional to allowable load. This signal and a signal
from the manual load limit set circuit 190 are fed, via circuits 77
and 78, into the comparator circuit 74 which for safety
automatically selects the lower signal. Such lower signal is then
used in the divider network 84 as the divisor and in the allowable
load display 80. The dividend, Signal "B," is proportional to hook
load. Therefore, dividing the hook load by allowable load, a
digital signal is obtained that is proportional to percent of safe
load. This signal is next processed through the digital to analog
D/C converter 98 and converted into an equivalent analog voltage
which is then displayed directly by the "percent of safe load"
meter 102.
The digital "allowable load" signal is processed in a manner
similar to the "Actual Load" signal and displayed digitally to the
crane operator by display 80. Such processing is accomplished by
the automatic operation of multiplexer circuit 192 having an input
circuit 194. The output of the circuit 192 is applied to
demultiplexer circuit 196 to latch circuit 198, then to
decoder/driver 200, and finally to the digital allowable load
display 80.
The above description has dealt primarily with main line loads such
that the radius displays the radius to the load suspended by the
main line. Similarly, the "allowable loads" previously discussed
are those that relate to the main line. However, the present system
also provides "load" and "radius" information to the operator when
using the fast or whip line 32 of FIG. 1. This is accomplished by
programming into the memory bank 70, of FIG. 8, the safe or
allowable data, as published or otherwise provided by the crane
manufacturer. Boom angle offset information is likewise programmed
into the memory bank 70, thus allowing the system to generate
accurate load radius information when operating from the jib or
whip line.
The importance of taking into account offset angles in the
operation is shown in FIG. 12. The use of imaginary boom length BL
equal to the distance between the boom pivot pin 22 and the point
201 of intersection of a line 202 drawn vertically through the jib
sheave 28 and a line 204 extending from the centerline CL of the
boom 20, would not require dealing with equivalent boom length and
boom offset angles. However, on further investigation it becomes
apparent that the imaginary boom length BL soon approaches an
infinite length as the boom angle .theta.1, approaches 90.degree.
and the line 202 drawn vertically through the jib sheave 28 would
not intersect the line 204 extending outwardly from the boom
20.
The present system takes into account the complex trigonometry
involved when the jib 24 and whip line or cable 32 are being used
for handling loads carried by hook 36. This is accomplished by
developing an equivalent boom length BLEQ, of FIG. 12 and a
corresponding boom angle offset .theta.2. The system is programmed
to automatically calculate the difference between such boom angle
.theta.1 and boom angle offset .theta.2, and then process such data
to thereby produce accurate load radius information to the
operator. By virtue of the programming feature of the present
system, these and similar difficult calculations are made almost
instantaneously and with precise accuracy, even when the crane jib
is being used.
Referring to FIG. 3, the front switch panel 206 of the
control/logic unit 50, which is preferably mounted on an inner wall
of the cab of the crane 10 within easy reach of the operator, is
provided with separate knobs 210, 212, 213 and 214 for adjusting
corresponding potentiometers for calibrating and zero setting of
signal circuits corresponding to the main load and jib/whip lines.
Test jacks 216, 218, 220 and 222 are provided in the panel for
checking the main line, jib/whip line, common ground, and boom
angle circuits, respectively. A safety fuse 224 is located at one
side of a manually adjustable drum type thumb set 226 for adjusting
the parts of line involved in producing a corresponding digital
signal input for the circuit 78 to the multiplier 92 of FIG. 2. To
the right of such set 226 on the panel 206 of FIG. 3 there is a
lever 228 for toggle type jib/whip switch 89 for manually switching
the tensiometer output depending on configuration of the crane.
The panel 206 also is provided with a drum-type digital main load
limit thumb wheel set 230 that is manually adjustable to the
desired number of pounds corresponding to the maximum main load
line times the parts of line involved, at the option of the
operator for safe operation of the crane. A corresponding digital
signal is applied to the comparator 74 of FIG. 2. A boom length
selector switch knob 232, provided with six stations, is located on
panel 206 to the left of an instruction label 234 containing
corresponding information relating to the length of the boom in use
as shown on the label 234 of FIG. 3.
The following table provides a list of specifications illustrative
of the present system:
SPECIFICATIONS ______________________________________ LOAD
Sensitivity/Resolution 100 pounds Accuracy + 5 percent of rated
load for configuration in use Indicator (Optional) Six-digit
display indicating to 999,900 pounds Limit Set (Optional)
Thumbwheel switches (main line only)
______________________________________ RADIUS Type Pendulum mass
Boom Angle Range 0.degree. to +90.degree. Accuracy Meets SAE 375a
Indicator Three-digit display Limit Sets Optional
______________________________________ OPERATION Input Voltage
Nominal 24 volts dc Operating Temperature -20.degree.F to +
130.degree.F Line Selection Boom or jib/whip selector switch Parts
of Line Selector switch to select parts of line (maximum positions
on switch equal to maximum number of parts of line of particular
crane) ______________________________________ WARNING Visual
Flashing radius display -- black/white-digital (when operating
outside load table) Audible Medium Frequency audible warning device
Auxiliary Set of SPDT relay contacts (for auxiliary warning unit,
such as may be required by law)
______________________________________
In accordance with the present invention, the control and logic
module constitutes the heart of the system. Regardless of the type
of load sensor selected for a particular system, the control and
logic module processes the incoming signal and transmits the
correct data to the operator display unit. The latest engineering
technology of this unit ensures its reliability and effectiveness
in an automated system. For ease of maintenance, most of the
circuitry within the module is on printed circuit boards which are
constructed and mounted to withstand the rugged operating
environment of a crane. The complete assembly is constructed to
withstand extreme weather conditions.
The load tables for a particular crane configuration are programmed
into read-only memory modules which are installed in the control
and logic module. Each system is furnished with six such modules
programmed for crane configurations specified by the customer. When
a crane configuration is changed, the preprogrammed memory module
applicable to the new rigging is chosen by positioning a switch on
the control and logic module. Additional memory modules can be
furnished to satisfy more crane configurations and existing modules
can be reprogammed if a particular configuration is modified or
completely eliminated.
The operator display unit is a compact, rugged piece of equipment
that can easily be installed in a crane cab at a location which is
accessible to and in view of the operator.
The data displayed on the unit is easy to read and understand. A
bold-faced meter makes the operator aware of when he is approaching
the safe-load limit; the exact condition for the specific crane
configuration in use can be seen at a glance. An accurate radius
reading from the crane to the load is shown in feet as a digital
display and, therefore, requires no interpretation. An optional
module used with the operator display unit includes digital
displays for allowable load and actual load readings; the allowable
load feature makes the crane load chart readily available to the
operator. The addition of the optional display module also permits
the use of the system as a weighing device.
It should be noted that all digital displays comprise series of
individual light segments. These segments are bright enough to make
the digital displays clearly visible in direct sunlight.
Another advantage of the present system is the self-test feature
which is incorporated in the system. This feature permits the
simulation of load conditions thereby checking that all system
circuitry is functioning properly. A lamp test is included to
ensure that all light segments of the digital displays are
operational.
The boom angle transducer used in the present system is a rugged,
yet precise, piece of equipment. This unit uses a pendulum-driven
potentiometer to measure the angle of the boom with the horizontal.
To ensure its reliability, the transducer is made to operate under
severe environmental and operating conditions.
The following table is an example of the type of load information
which is stored in each different memory module 250, FIG. 11:
LOAD TABLE STORED IN MEMORY MODULE FOR BOOM LENGTH OF 140 FEET
Capacity: Capacity: Operating Boom Angle: Crawlers Crawlers Radius:
Feet Degrees Retracted Extended
______________________________________ 36 76.8 108,100 124,500 38
75.9 100,300 115,200 40 75.1 93,500 107,200 45 73.0 79,600 90,900
50 70.8 69,000 78,600 55 68.6 60,600 68,900 60 66.4 53,800 61,100
65 64.2 48,200 54,700 70 61.9 43,500 49,400 75 59.5 39,500 44,900
80 57.1 36,000 41,000 85 54.6 33,000 37,600 90 52.1 30,400 34,600
95 49.5 28,000 32,000 100 46.7 25,900 29,700 105 43.8 24,000 27,600
110 40.8 22,400 25,700 115 37.5 20,800 24,000 120 34.0 19,400
22,400 125 30.2 18,200 21,000 130 25.8 17,000 19,700 135 20.7
15,900 18,500 ______________________________________
The system of the present invention provides information to a crane
operator which will improve his ability to safely operate the
crane. A typical system consists of instrumentation mounted on a
crane boom, a control and logic module, and an operator display
unit. The load and the angle of the boom are continuously monitored
by the instruments mounted on the boom; these are special sensors
designed for this particular purpose. Signals are transmitted from
the sensors to the control and logic unit which computes the data
and sends it on to the operator display unit. Of primary interest
to the operator is the indication of the percent of safe load at
which he is operating his crane; and other information is also
displayed which will allow him to operate the equipment more
efficiently.
A typical system is assembled from a family of specifically
designed modular building blocks. These include different types of
load measuring sensors, the control and logic module which includes
most of the system circuitry, the cab-mounted operator display unit
which can be used with other optional units for additional data,
and a boom angle transducer. The system provides safety indicator
equipment of great flexibility in that modules and/or units can be
installed to increase the range of capability thereof. Also, the
installed system can be easily calibrated in the field to meet
existing operational requirements of the crane.
The manually adjustable load (limit) set, boom length and boom
radius (constant) signals may be programmed in the control/logic
unit, if desired; and the allowable and/or actual load digital
readouts may be omitted without departing from the basic concept of
the invention. Also, a digital percent safe load indicator may be
substituted for the preferred analog meter of the invention.
A latitude of modification, change and substitution is intended in
the foregoing disclosure and in some instances some features of the
invention will be employed without a corresponding use of other
features. Accordingly, it is appropriate that the appended claims
be construed broadly and in a manner consistent with the spirit and
scope of the invention herein.
* * * * *