U.S. patent number 3,638,211 [Application Number 04/864,728] was granted by the patent office on 1972-01-25 for crane safety system.
This patent grant is currently assigned to Litton Systems, Inc.. Invention is credited to Albert A. Sanchez.
United States Patent |
3,638,211 |
Sanchez |
January 25, 1972 |
CRANE SAFETY SYSTEM
Abstract
A system is shown for warning the operator of a crane when the
crane is about to overturn due to the moment of a heavy load or
when the weight of that load could cause structural failure of the
crane. Sensors for measuring the boom length, boom angle, condition
of the crane support, and the quadrant in which the crane is
operating are connected to the crane and apply signals to a
computer which selects previously stored information from a memory
unit depending on the signals received. This stored information is
applied to a comparator which compares the stored signal against a
measured load signal and provides a warning alarm to the crane
operator when the two signals approach each other.
Inventors: |
Sanchez; Albert A. (Wilmington,
MA) |
Assignee: |
Litton Systems, Inc. (Beverly
Hills, CA)
|
Family
ID: |
25343932 |
Appl.
No.: |
04/864,728 |
Filed: |
October 8, 1969 |
Current U.S.
Class: |
340/522; 340/685;
702/173; 701/124; 212/277; 212/278 |
Current CPC
Class: |
B66C
23/905 (20130101) |
Current International
Class: |
B66C
23/90 (20060101); B66C 23/00 (20060101); B66c
015/00 () |
Field of
Search: |
;340/267C,282
;235/189,151.33,39MS ;212/39I |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Caldwell; John W.
Assistant Examiner: Bobbitt; J. Michael
Claims
The embodiments of the invention in which an exclusive property or
privilege is claimed are defined as follows:
1. A crane safety system for use within a crane having a
load-lifting boom structure, comprising:
boom length sensor means for sensing the length of the boom
structure;
boom angle sensor means for sensing the vertical angular relation
of the axis of said boom structure to a horizontal plane;
digital memory means for storing information peculiar to said
crane;
means connecting said boom angle sensor means and said boom length
sensor means to said digital memory means for addressing signals
thereto;
said digital memory means receiving said addressed signals from
said sensor means and selecting a portion of said stored
information determined by said addressed signals as a selected
output signal;
boom load-sensing means for generating a measured load signal;
comparator means connected to said boom load-sensing means and said
digital memory means for comparing said measured load signal and
said selected portion of said stored information output signal;
and
alarm means connected to said comparator means for producing an
alarm when said load signal approaches said stored information
output signal.
2. A crane safety system as claimed in claim 1, wherein, said
stored information includes maximum safe load in the form of
digital stress information, and said measured load signal is
generated by a strain-sensitive device in the form of stress
signals.
3. A crane safety system as claimed in claim 2 wherein said crane
includes a gantry hard line connecting said boom structure to a
gantry strut and wherein said strain-sensitive device for
generating said measured load stress signal, comprises, circuit
means including a plurality of strain gages, connecting means for
connecting said gantry hard line to said gantry strut, and said
circuit means including a plurality of strain gages mounted upon
said connecting means for sensing the strain therein and for
generating said measured load stress signals.
4. A crane safety system as claimed in claim 3 wherein said
connecting means includes a pin and clevis, said pin is formed from
a tubular member, and said plurality of strain gages are mounted
upon the inner surface of said tubular member.
5. A crane safety system as claimed in claim 1, wherein said
digital memory means additionally comprises:
stored information within said digital memory means including
digital values of various boom angles and digital values of maximum
load in the form of stress at each of said various boom angles;
control means including clock means connecting said boom length
sensor means to said memory means for sequentially addressing said
memory means and receiving said selected portions of said stored
information including said digital values of various boom
angles;
process means including said clock means connecting said boom angle
sensor means to said memory means for matching said sensed boom
angle with the stored digital value of various boom angles and
selecting a stored information signal representing said digital
values of maximum load at said sensed boom angle; wherein said
stored digital value of maximum load is compared with said measured
load signal.
6. A crane safety system as claimed in claim 1, additionally
comprising, further sensor means for sensing the support condition
of said crane connected to said digital memory means for selecting
said stored information therefrom.
7. A crane safety system as claimed in claim 1, wherein, said alarm
means connected to said comparator means includes a first alarm
which alarms as said measured load signal approaches said stored
information and a second alarm which alarm as said measured load
signal equals said stored information.
8. A crane safety system for warning the operator of a pending
crane failure, comprising:
sensor means for sensing a plurality of crane conditions and
generating information signals in response thereto;
memory means for storing information peculiar to said crane;
selection means for selecting portions of said stored information
from said memory means in response to said generated information
signals received from said sensor means and for presenting said
portions of said stored information as a stored information signal
representing a particular crane function;
further sensing means for actually measuring said particular crane
function and generating an actual information signal; and
means for comparing said actual information signal against said
stored information signal and generating a warning signal as said
actual and stored information signals approach each other.
9. A crane safety system as claimed in claim 8, wherein, a said
particular crane function presented by said selection means and
sensed by said further sensing means is the crane load.
10. A crane safety system as claimed in claim 9, wherein said
memory means stores the maximum crane load in the form of stress
which said crane will support under said plurality of crane
conditions for warning the operator thereof when the crane may fail
due to a structure limitation or due to pending overturning of the
crane.
11. A crane safety system as claimed in claim 8, wherein, said
memory means additionally comprise a digital read only memory.
12. A crane safety system for warning an operator of a pending
crane failure while manipulating a load, comprising:
memory means for storing information peculiar to a plurality of
crane-operating conditions including the maximum load under each of
said operating conditions;
means for sending said plurality of crane-operating conditions and
selecting the stored value of maximum load for the particular
crane-operating condition sensed; and
means for comparing said selected stored value of maximum load
against said manipulated load and for producing a warning as said
manipulated load approaches said stored value of maximum load.
Description
The present invention relates to a crane safety system; and, more
particularly, to a crane safety system capable of sensing various
crane parameters and providing a warning to an operator thereof
should that operator place the crane in a dangerous condition.
It is well known in the prior art to provide material handling
equipment including cranes with a safety or a warning system in one
form or another. For example, one crane safety device provides a
crane with load and angle measuring sensors which are used to
compute the moment of the crane and generate a warning when that
crane is in danger of overturning. A second crane safety device
simply weighs the load as it is lifted by the crane operator and
relies on his expertise to know when the load is too heavy or about
to overturn. The second device is obviously inadequate, while the
first has several serious limitations. The first device measures
angle and load to compute moment. However, the overturning of a
crane is only one area of failure. The lifted load may be made so
heavy that the crane boom crushes under stress and simply warning
the operator of a possible tipping condition will not warn him of
the possible crushing condition. Further, the conditions which
cause the boom to tip or crush do not generate a simple straight
line function which can be solved and indicated by an analog device
of the prior art. That is, a crane will tip or crush at various
loads depending on the boom length and angle of the boom to the
plane of the earth. This relationship between load, boom angle, and
boom length generates a nonlinear function which varies from crane
to crane.
Accordingly, it is an object of the present invention to provide an
improved crane safety system capable of warning when the crane is
about to fail due to an impending tipping condition or due to an
excess load that would cause the crane boom to crush.
Another object of the invention herein presented is to provide a
crane safety system which may be adjusted to warn of an unsafe
condition peculiar to the crane in which the safety system is
utilized.
Still another object of this invention is to provide a crane safety
system which is rugged, reliable, insensitive to heat and humidity,
and relatively inexpensive to produce.
A further object of the invention presented here is to provide a
crane safety system which may be programmed to store information
relating to the crane in which it is installed and which thereby
provides a more accurate warning of when that crane is about to
enter a fail condition. Still a further object of the invention as
presented is to provide a crane safety device which warns of an
approaching unsafe condition before warning of the unsafe
condition.
In accomplishing these and other objects, there has been provided a
computer having a memory unit which stores information relating to
the lifting capacity of the crane. Crane condition sensors provide
information to a control unit within the computer which selectively
applies a portion of the stored information within the memory unit
to a data processing unit, also in the computer. The data
processing unit selects the maximum stress which the crane can lift
under the sensed conditions and supplies this data to a comparator
where the load, in the form of a generated stress signal, is
compared thereto. As the two signals approach each other, an alarm
signal is applied to an alarm device for warning the crane operator
of a pending unsafe condition.
Other objects and many of the attendant advantages of the present
invention will become apparent to those skilled in the art as a
better understanding thereof is obtained by reference to the
following description when considered in connection with the
accompanying drawings, wherein:
FIG. 1 is a side elevational view, showing a crane in which the
present invention may be utilized;
FIG. 2 is a plan view, showing the crane;
FIG. 3 is a schematic block diagram showing the present invention;
and
FIG. 4 is a side elevational view, partially in cross section
showing the load sensor of the present invention.
Referring now to the drawings, FIG. 1 shows a crane 10 having a
carrier including a truck frame 12 and truck cab 14 with an
operator cab 16 rotatably mounted upon the truck frame 12 by means
of a turntable bearing plate 18. The truck frame 12 is normally
transported upon driveable tires 20 and operated upon these tires
20 or upon outriggers 22. A boom structure 24 is hinged at the base
of the operator cab 16 from which a suitable weight hoist cable 26
may be rigged. The end of the hoist cable 26 may be equipped with a
hook block, hook, sling, or grapple, shown at 28, and driven from a
cable drum, not shown, for providing a load lifting capacity. The
boom structure itself is lifted via a gantry hard line 30 which is
attached to a gantry strut 32 connected to the operator cab 16 by a
gantry hoist cable 34. The angle between the center line of the
boom structure 24 and the horizontal plane of the crane is referred
to herein as the vertical boom angle .theta..
The crane 10 may be operated either on its tires 20 or upon the
outriggers 22. When operated upon the tire, the boom structure 24
may be rotatably turned through a horizontal slewing angle .phi.,
FIG. 2, of 360.degree. and is capable of lifting a load at any
horizontal slewing angle .phi. through this turn. The standards
established for a crane lifting upon tires dictate that a rear
lifting position is defined as .phi. equal to .+-.1.5.degree. from
the longitudinal axis of the crane, while a side lifting position
is defined as the remainder of the 360.degree. turn. The crane may
lift a larger weight from the rear than from the side. On
outriggers, the rear is defined as .phi. equal to .+-.45.degree.;
while the side is limited between the rear, as defined, and
.+-.90.degree.. That is, the crane can not life over the front of
the truck cab 14 when operated on outriggers 22. Thus it will be
seen that the rotational movement of the boom 24 may be divided
into quadrants which vary depending on the method used to support
the truck frame 12. The quadrants are established by an output
signal generated from a quadrant sensor in the form of a linear
potentiometer 36 driven by the turning motion of the turntable
bearing plate 18 attached thereto by a suitable driving chain 38.
The linear signal is applied to the input stage of six differential
amplifiers shown as an analog to digital converter 40, FIG. 3,
which are each provided with a reference voltage that represents
one of the slew angles .phi.. When the signal from the
potentiometer 36 equals or exceeds the reference voltage applied to
one of the amplifiers, that amplifier applies a signal through
suitable gates to a control unit within a digital computer circuit
42, as will be hereinafter discussed.
The vertical boom angle .theta. is measured by a boom angle sensor
44 including a pendulum potentiometer mounted within a housing on
the boom structure 24. The pendulum potentiometer consists of a
weighted wiper arm mounted within an oil filled housing which also
contains a slide wire. The oil provides motion damping as the
weighted wiper arm moves to orient itself in a downward pointing
direction. The wiper arm thus generates an analog signal which
represents the boom angle .theta.. This analog signal is converted
by a second analog to digital converter 46, connected to the boom
angle sensor 44, and applied to a process unit within the computer
circuit 42, as will be described hereinbelow. The analog signal
from the boom angle sensor 44 is also applied to display 47 mounted
within the operator cab 16.
A boom length sensor 50 consists of a multiposition switch which is
adjusted by the operator to the length of the boom being used. The
boom length sensor is generally located within the operator cab 16
and provides various voltage levels to the control unit within the
computer 42. Also adjusted by the operator is a tires or outrigger
sensor 52 which may be a two position operator adjusted switch or a
switch automatically adjusted by extending the outriggers 22. The
signal generated by the tires or outrigger sensor 52 is also a
voltage level applied to the control unit in the computer 42. The
tires or outrigger sensor 52 is generally located in the operator
cab 16.
The last crane safety sensor is a boom load sensor 54. This sensor
is constructed from a plurality of strain gages arranged within a
wheatstone bridge circuit and connected through an amplifier 56 to
a comparator in the form of an analog interface circuit 58. As
shown in FIG. 4, strain gages 60 within the wheatstone bridge
circuit are bonded against the inner surface of a tubular pin
member 62 constructed from stainless steel. The pin member 62 is
provided with an outwardly extending collar 64 and passes through
an aperture within one leg of a clevis 66 for engaging the collar
64 against the outer surface of that leg. The pin 62 is secured
within the clevis by a C-shaped ring 68 which fits into a groove 70
therein and engages the opposite leg of the clevis 66. The clevis
66 is located at the point where the gantry hard line 30 is
attached to the gantry strut 32. In this manner, the load is not
actually weighed; but the strain generated by the load in the
gantry hard line 30 is sensed and applied as a stress representing
a weight transfer function to the analog interface circuit 58.
The analog interface circuit 58 includes a differential amplified
connected to receive the actual boom load in the form of an
amplified stress signal from the boom sensor 54 connected thereto.
The analog interface circuit is also connected to receive the
maximum boom load in the form of a stress signal from the memory of
the computer 42. The output of the differential amplifier within
the analog interface circuit 58 connects to a pair of first and
second alarm devices 72 and 74. These alarm devices are connected
through a voltage dividing network wherein the first alarm 72 will
be energized when the actual load stress equals 85 percent of the
stores stress, and the second alarm 74 is energized when the actual
load stress equals the stored stress.
The digital computer circuit 42 includes a memory unit 76, a
control unit 78, a process unit 80, and a digital to analog
converter 82. The memory unit 76 may be provided with an
information input circuit 84. The purpose of this circuit is to
permanently store information within the memory unit 76 that is
peculiar to the crane in which the crane safety system of the
present invention is being used. Each crane is provided with a
specification giving the maximum safe weight which that crane can
lift under varying conditions, such as boom length, boom angle, the
quadrant the boom is located in, and the mounting condition of the
crane. This information may be placed within the memory through the
use of devices such as digital potentiometers. In the preferred
embodiment however the memory unit 76 is a read only memory wherein
a plurality of wires pass through the ferrite cores comprising the
memory. The route of each wire represents one word of stored
information and is passed through only those cores that define the
word to be stored. Thus, the read only memory unit 76 is connected
by two sets of interconnections 86 and 88 to the control unit 78.
Connections 86 carry addressing signals that initiate control read
signals which are returned over connections 88 to the control unit
78 as the stored information including stress and boom angle. While
read only memories are well known, a more complete description of
one which is commercially available may be found in an article by
Marino, John J. and Sirota, Jonathan J., "Wearing a Braided Memory
That's Fast and Inexpensive," Electronics (Sept. 18, 1967 ) pp.
121-126. Circuits showing suitable connections 86 are more
completely illustrated on page 123, while connections 88 are shown
on page 124.
The control unit is connected to receive the digital input
information from the boom length sensor 50, the tires or outrigger
sensor 52, and the quadrant sensor 36 over lines 90, 92, and 94,
respectively. The control unit 78 includes a clock circuit 95
driven in the standard manner by an oscillator which provides the
timing pulses for operating the switching circuitry therein. This
clocking signal is also applied over line 96 to the analog to
digital converter 46 which applies the digital value of the actual
boom angle .theta. to the precess unit 80 over line 98 under the
timing control of the clock pulses.
The control unit 18 is connected to the process unit 80 by a line
100 over which digital signals representing the relation between
the actual boom angle and the stored boom angle are transmitted, as
will be described below. The control unit 78 has two further
connections to the process unit, 102 and 104, which respectively
carry the digital values of the stored stress and stored boom angle
information within the memory 76 and the digital control signals
for solving an arithmetic function within the process unit.
The control unit 78 is addressed from the boom length sensor 50,
the tires or outrigger sensor 52, and the quadrant sensor 36. This
digital information is switched by the control unit 78 to the
memory unit 76 over connections 86 and used to select only that
portion or block of the permanently stored information therein
applicable to the sensed conditions. A block of data is considered
to be a group of eight maximum stress vs. boom angle values
arranged in the memory 80 from the lowest permissible boom angle to
the highest permissible boom angle. Under control of the block 95,
the analog to digital converter 46 sequences the digital value of
the actual boom angle .theta. into the process unit 80 over line 98
where is compared with the lowest of the eight selected stored
digital boom angle values sequentially applied to the process unit
80 from the memory unit 76 over connections 88 and line 102 under
the control of the clock 95. The process unit 80 compares the
lowest stored digital boom angle against the actual digital boom
angle from the boom angle sensor 44 with a digital comparator. If
the actual digital boom angle .theta. is less than the lowest
stored digital boom angle, the operator has placed his boom at a
point too low for the conditions of his crane i.e., boom length,
quadrant, etc., and the digital comparator within the process unit
80 provides an immediate (less than) 000 alarm signal through the
analog interface 58 to the alarms 72, 74. Digital comparators
capable of generating three independent outputs signals of greater
than, equal to, and less than for two digital input values are well
known. One such device suitable for use within the process unit 80
may be purchased from the Digital Equipment Corporation, as No.
K-174. See the Digital Logic Handbook, by Digital Equipment Corp.
(March 1969 ) pp. 148-149. If the actual digital boom angle .theta.
is equal to the lowest stored digital boom angle, the digital
comparator within process unit 80 passes this equal-to signal
information to the control unit 78 over line 100 and the control
unit 78 passes the signal on to address the stored digital stress
information for that angle from the memory unit 76 over lines 88
and 102 to the process unit 80. The process unit 80 then passes the
stored digital stress information to the digital to analog
converter 82 where it is converted to an analog stress signal and
applied to the analog interface circuit 58. If the analog stored
stress signal is greater than the stress signal representing the
load, the alarm remains quiescent. If the analog stored stress is
within 85 percent of the load stress, the warning alarm 72 is
energized. If the stored stress is equal to or less than the load
stress, the alarm 74 is energized.
When the actual digital boom angle .theta. is greater than the
lowest stored digital boom angle addressed over lines 88 and 102, a
greater-than signal is passed to the control unit 78 which
sequences the next stored digital boom angle to the digital
comparator in the process unit 80. If this stored digital angle is
equal to the actual digital angle, the control unit and process
unit repeat the procedure outlined above. If the actual boom angle
remains greater than the next stored boom angle, the next largest
stored digital boom angles is sequenced to the process unit 80 by
the control unit 78 until the actual boom angle becomes less than
the stored boom angle. At this point, the digital comparator within
the process unit 80 generates a less-than signal which follows a
previous greater-than signal. The control unit 78 then sequences
signals from the memory 76 which control the arithmetic phase of
the process unit 80 to conduct a simple linear interpolation which
solves the equations as follows:
.theta..sub.1 <.theta.<.theta..sub.2
S.sub.1 <S<S.sub.2
where .theta. is the actual digital boom angle, .theta..sub.1 is
the stored digital boom angle less than .theta. and .theta..sub.2
is the stored digital boom angle greater than .theta.. Thus,
S.sub.1 is the maximum digital stress value for .theta..sub.1 ;
while S.sub.2 is the maximum digital stress value for
.theta..sub.2. S is the digital stress value to be determined by
interpolation. A proportioned equation is set up as follows:
##SPC1##
These equations interpolate between the two known values (S.sub.1
and S.sub.2) and the second set of known values (.theta. .sub.1,
.theta. and .theta..sub.2) to solve for S. When the value of the
stored stress has been interpolated by the process unit 80 for the
actual boom angle .theta., the interpolated value of stores stress
S is applied to the analog interfacer circuit 58 through the
digital to analog converter 82. The idea of using a digital memory
to store several values of a function from which the desired value
may be determined by interpolation is known, see, Ledley, F.
Robert, Digital Computer and Control Engineering, McGraw-Hill,
Inc., 1960, pp. 186-190. Further, the interpolation described above
is accomplished by subtracting, dividing, multiplying and adding.
Addition of two numbers is performed by a binary adder, while
subtraction is performed by the same adder circuit on two's
complement binary numbers. Multiplication is accomplished by
successively adding one number to itself as many times as is
required by the second number. While division is accomplished by
cumulatively subtracting the divisor from the dividend and counting
the number of times a positive result occurs. This count becomes
the quotient. Devices capable of performing these digital processes
are well known and the hardware for performing each process may be
purchased from several sources, for example, see the Digital Logic
Handbook referred to hereinabove.
It becomes apparent that the control unit 78 is a simple switching
interface between the clock 95, process unit 80, and the memory 76.
The interface may be accomplished through the combination of
suitable gates which are addressed by the clock pulses from clock
95, by the input signals of the digital sensors, and by signals
from the digital comparator within the process unit 80. A suitable
arrangement for receiving these address bits is shown in the Marino
and Sirote article referred to above.
The arrangement herein described is capable of storing a large
amount of tabulated information which relates to a particular
crane. This information is then selected by narrowing that portion
of the stored information to a few important features, i.e., boom
angle and maximum stress at that boom angle. By storing all the
necessary information and selecting only that portion necessary for
a given condition, the control and process unit circuitry has been
greatly simplified. The present invention allows the stored stress
to be selected from a large set of values by focusing upon a
selected portion of the stored information and then applies this
information quickly to the alarm device. Further, the stored
information may be adjusted within each crane safety system to fit
the peculiar features of the crane involved. Finally, the memory
and storage of stress information provides a crane safety system
which will alarm when the stress exceeds a fixed limit regardless
of whether or not the crane is about to overturn. This provides the
operator with a crane safety system which warns him of pending
structural failures and potential tipping conditions within the
same device.
While the alarm has been described as activating when the operator
places the boom structure 24 too low, it should be understood that
the operator may also place the boom structure too high and cause a
backward tipping condition. When this occurs, the actual boom angle
never becomes less than the stored boom angle sequences to the
process unit 80. Upon sensing this condition, an immediate alarm
signal is provided through the analog interface circuit 58 to the
alarms 72, 74.
Obviously, many modifications within the circuitry described
hereinabove will come readily to the minds of those skilled in the
art; and it is to be understood that the present invention is
intended to be limited only by the appendant claims.
* * * * *