EP1088960A2 - Method and device for moving the arm of a working or life saving apparatus - Google Patents

Abstract

The method involves a multiple component movement, e.g. telescopic movement, horizontal rotation and vertical pivoting. The jib is moved from a current starting position to a target position with automatic, simultaneous, smooth and reverse-free movement components, involving approximately constant components over most of the movement path. Independent claims are also included for the following: an arrangement for moving a jib of a working or rescue device.

Description

The invention relates to a method and a device for moving a boom of a work or rescue device, like an aerial ladder, the movement of the boom has multiple motion components, such as Telescoping, (horizontal) turning and (vertical) swiveling.

The movement of a boom of a work or rescue device, like an aerial ladder, especially the main movement to move to a target point - along with other movements like leveling, aligning the basket etc. - is usually done manually using individual controls like control buttons for retracting and extending, horizontal Turn right and left, swivel up and down vertically by means of appropriate controls, such as control levers for Performing these movements. These controls will be by one operator in succession or - only in sections - actuated more or less simultaneously around the boom in to move to the desired target position. Especially in the operator must be close to the individual Movement components more or less piece by piece of the target position approach. This requires an experienced operator and is still very tedious and time consuming, which means in valuable time can be lost in a rescue, in particular if the destination is approached repeatedly got to.

It has been further proposed to do this manually performed their data, namely component speeds and especially positions, on an ongoing basis save, i.e. a teaching of the manually performed movements to then repeat the movement to be able to leave automatically.

The disadvantage is that when repeating those taught to the system Outbound movement of the boom itself when starting one subsequent automatic movement on a point of previously saved route and if necessary on such a point must be driven manually. Farther is the course of such a space curve for the operator difficult to imagine and for this reason for use only partially suitable in practical situations. In addition, there is no possibility of moving through Control the speed control.

The invention is therefore based on the object of a method and a device for moving a boom To create work or rescue equipment, one in particular automatic boom movement optimized in time enable.

According to the invention, the stated object is achieved using a method of the type mentioned solved in that the boom from a current starting point to a target point automatic, simultaneous, steady and reversal-free Movement components is moved. To the solution the invention further sees a device of type mentioned above, which is characterized by a device for automatically moving the boom from a current starting point to a target point with simultaneous, constant and reversal-free movement components. Other than the example above mentioned spherical coordinates are possible.

The movement is realized so that a target point through all relevant system-specific movements or speeds, that work at the same time. The individual speed components are constant and without change of sign or change of direction.

This gives you a smooth and steady trajectory of the moving Point, like taking the top of a turntable ladder given conditions optimally in time, if necessary in particular time-minimal, can be achieved. The sequence of movements between two points A and B is such that the entire trajectory of a boom point is not explicit is predetermined and traveled with a predetermined path becomes.

According to a preferred embodiment of the invention, that the movement with over most of the movement distance almost constant motion components occur, in particular the movement of an actual one Starting point or starting point from initially and immediately before the finish point at reduced speed.

A preferred concrete embodiment of the invention The procedure further provides that the duration of the the longest moving component to move of the boom from a current starting point a target point at given maximum speeds is determined and the speed of the other motion components is adjusted so that the times of all Movement components for the movement of the current Starting point to be the same as the target point, in particular the component speeds of the individual motion components in proportion to their lead time the maximum speed given to them over time the motion component that takes the longest time be weighted.

Preferred further refinements of the method provide that the current starting position of the boom is measured and the distance of the individual movement components to Target point to be determined and that to determine a Target point of this first manually or semi-automatically approached and after reaching the target point its coordinates be held (teaching).

Furthermore, it can be provided that movements to several Target points are carried out or movements between several intermediate destination points, the destination point, from which a movement to another target point is used as a starting point.

In a further development, the invention provides that the device for success at the same time, steadily and inversely Moving trained to accomplish the above is.

The invention makes it possible to approach target points every possible current position with a boom system possible, although the latter is currently measured becomes. The boom procedure is carried out with regard to individual motion components continuously and at the same time, that they reach the target point at the same time. In particular with regard to external influences can be provided be that over the entire course of movement determines the current starting position and the component speeds of the individual speeds redetermined or corrected. Here too the whole remains Movement largely steady and the component speeds of the individual movement components change only slightly, remain essentially constant. Due to the method designed according to the invention for the operator a very good predictability of the automatic Function given, making the usability of the system is increased.

If in a further preferred embodiment, a control element to specify a maximum speed of the am fastest controlled motion component provided the operator has good control over the behavior of the boom with optimized travel to a target point by automatically controlling everyone reach required boom movement components.

Another advantage results from the fact that the actuation several controls for the individual movement components reduced to the actuation of a control element and thus the operator is relieved.

If in a preferred embodiment for the automatic process a directional control lever is provided on the boom can move back and forth between two target points become.

Significant difference of the method according to the invention and the device according to the invention compared to the state the technology of a more or less automated movement of a boom is that saved target positions any starting positions can be approached since the system only the absolute values for target and starting positions come in, the former in a teach process determined, the latter is currently measured. Thereby the operator has an easy to imagine, steady continuous and predictable movement of the boom.

Since according to the invention not individual points of a manually traversed trajectory, but rather based on a current starting point, corrected for the movement a target point is approached is a temporal Optimization given to the movement of the boom that a like-minded, thus reversal-free steady and includes simultaneous approach to a target point, whereby accordingly by all movement components at the same time End position at the target point is reached.

In a further preferred embodiment, weighting factors when determining the control ratio be seen, which makes the course of movement special Requirements can be adapted; e.g. can by one Weighting factor greater than 1 compared to the start of the boom a purely temporal optimization slows down and other trajectories than those caused by the system can be created automatically the shortest are driven through, as is the starting in the immediate vicinity of the destination itself.

Figur 1

ein Flußdiagramm des erfindungsgemäßen Verfahrens.

Figur 2

eine schematische Darstellung einer erfindungsgemäßen Vorrichtung; und

Figur 3a-3c

verschiedene Bedienungspanele als Teil der erfindungsgemäßen Vorrichtung.

Further advantages and features of the invention result from the claims from the following description, in which an embodiment of the invention is explained individually with reference to the drawing. It shows:

Figure 1

a flowchart of the method according to the invention.

Figure 2

a schematic representation of a device according to the invention; and

Figure 3a-3c

various control panels as part of the device according to the invention.

In the illustrated preferred embodiment of the invention Method for moving a cantilever Work or rescue device, especially an aerial ladder, is first - repeated - approached Target point selected. This can be a point a building, about which during a rescue operation Repeatedly people are to be included in a rescue cage or where the emergency services are to be deployed repeatedly. The The destination can be determined in that the Operator of the boom the target point with the coordinates Xi, Approach destination with i = 1 ... n manually and after reaching the same by triggering a storage process, for example via a teaching button as part of a teaching saved in accordance with step 1 of FIG. 1. Alternatively the target point can also be measured automatically by a telemeter recorded at least approximately or according to coordinates, then in in the manner described further up to its proximity automatically be driven, whereupon the last stretch to exact target position in the manner described above traveled again and then, if necessary, the exact target position is saved.

Step 2 then becomes the current starting point of the boom, in particular by measuring its current position coordinates Xn, akt (t) at time t.

In a third step 3, the time for driving through each path to be covered is calculated accordingly for each movement component at a predetermined maximum speed of the individual components

With this type of representation, there and back movements, for example extending and retracting the boom viewed as one component each, so that the above Equation set in the simplest case six components having. Xi is the maximum speed of the corresponding movement component i of the system.

In a further step, step 4 of FIG. 1, that of the travel times Ti, i = 1 to n of the individual movement components is determined, which is the maximum and thus the maximum travel time of the components Tmax accordingly Tmax (t) = max [T1 (t), .., Tn (t)]

die maximal mögliche Geschwindigkeit jeder Bewegungskomponente mit dem Verhältnisfaktor gewichtet wird, der der ihrer mit maximaler möglichen Geschwindigkeit erfolgenden Bewegung gegebenen Durchlaufzeit geteilt durch die gemäß obiger Formel (3) bestimmte Maximalzeit sämtlicher Beweungskomponenten (multiplikativ) gegeben ist. Dabei ist zu berücksichtigen, daß gemäß den Formel (1), (2) bei einem Einfahren oder Zurückziehen eines Auslegers die Ausfahrkomponente beispielsweise i = 1 gleich null, die Einfahrkomponente, beispielsweise i = 2 endlich ist und demgemäß die sich gemäß Formel (4) ergebende Ausfahrgeschwindigkeit X1 soll (t) für die Ausfahrkomponente 0 ist.In the further course of the method, according to method step 5 of FIG. 1, the component speeds of the individual movement components are determined in such a way that all partial movements or movement components end at the same point in time by according to

the maximum possible speed of each movement component is weighted with the ratio factor which is given by the throughput time given to its movement with the maximum possible speed divided by the maximum time of all movement components (multiplicative) determined according to formula (3) above. It must be taken into account here that according to the formula (1), (2) when a boom is retracted or retracted, the extension component, for example i = 1, is zero, the retracting component, for example i = 2, is finite and accordingly that according to formula (4) The resulting extension speed X1 should be (t) for the extension component 0.

If basically the possible maximum speeds should not be used, the formula (4) a common manual control parameter for all formulas Multiply U (t) by 0 £ U (t) £ 1 by which all speeds are reduced. This size can - as indicated by the variable t - accordingly be time dependent on the given time already driven.

If, in addition, individual movement components i are to be preferred or disadvantaged, then instead of the actually listed in formula (3) according to formulas (1), (2), certain hypothetical times can be determined by weighting with a component-dependent weighting factor G1 Ti (t) = gi , Ti (t) are introduced, which also traverses other than the shortest system-related trajectory. In particular, even with very different weighting factors gi, a practically serial sequence of the individual movement components can be achieved when approaching a target point. Thus, even if the conditions, in particular the spatial conditions, this require the movement to be carried out automatically more slowly than is possible due to the system.

On the basis of those calculated in method step 5 of FIG. 1 The speeds are controlled in step 6 the drives for the individual movement components retraction or extension, horizontal right or left turn and swiveling up and down vertically. How through that Loop 7 indicated, the above provisions the component speeds during the entire movement of the boom are repeated continuously.

Due to the above preferred embodiment of the invention The procedure starts with a certain one Target point from a starting or original starting point in a steady and inversion-free movement of the individual motion components that are almost constant is, the target point of all movement components at the same time is achieved.

A specific embodiment of a device according to the invention 2 as central device 11 according to FIG setting up automatic simultaneous, constant reversal-free movement of the individual movement components before that according to the above preferred method is such that the Duration of the motion component that takes the longest time to move the boom from a current starting point to a target point at given maximum speeds is determined and the speed of the other motion components is adjusted so that the Times of all movement components for the movement from current starting point become the same as the target point. For Determination of the movement sequence of the individual movement components, especially the component speeds, the device 11 is a device 12 for input or storing a target point upstream, where the storage via a storage element 13, such as one Button or the like is done.

It is also a device 14 for determining, in particular Measuring the current position of the boom provided this by means of sensors, not shown the inputs 15 takes place. Be through the device 11 the drives 16a, 16b, 16c for controlling the individual movement components of the boom controlled, each Drive can perform a back and forth movement, namely a Extension or extension of the boom, a horizontal right or Turning to the left as well as swiveling up and down vertically.

About the automatically globally determined movement in particular the ratio of the individual speeds of the component speeds affect and overall speed To be able to reduce together sees the invention Device further a control element 17th to reduce the overall speed.

It can, for example, with two target points to be approached an operating device 18 with two operating elements 19, 20 may be provided, each of the controls 19, 20 a target point is assigned, such as between the two operating points assigned to the operating elements 19, 20 back and forth automatically.

3a shows an operating panel with operating elements in the form of push buttons U1 to Un for approaching target points, the control elements also in the form of Keys or buttons Z1 to Zn have been saved.

3b shows an operating panel for approaching two target points, which are also saved by controls Z1, Z2 were. The control element for starting is a control lever, to move to the target point Z1 by movement towards U1 and to the destination Z2 is operated by moving towards U2.

3 c shows a further embodiment of an operating panel, in the context of the device according to the invention an already existing operating lever for controlling a boom is used. The controls for saving two target points Z1, Z2 are again shown. Farther if a button T is provided, the existing operating lever its function is switched between the mentioned manual control of the boom on the one hand and the automatic start in the sense of the invention one of the two target points Z1, Z2 by moving the lever in the direction U1 or U2.

Claims (18)

Process for moving a boom of a work or Rescue device, such as an aerial ladder, the Movement of the boom several movement components has, like telescoping, (horizontal) turning and (Vertical) pivoting, characterized in that the boom from a current source to one Target point with automatic simultaneous, steady and reversal-free movement components is moved. A method according to claim 1, characterized in that the movement over most of the movement distance almost constant motion components. A method according to claim 1 or 2, characterized in that that the movement from an actual starting or starting point from initially and immediately before the finish point at reduced speed. Method according to one of the preceding claims, characterized characterized in that the duration of the longest Movement component that takes time to move of the boom from a current starting point to one Target point at given maximum speeds is determined and the speed of others Movement components is adjusted so that the Times of all movement components for the movement from the current starting point to the target point become the same. A method according to claim 4, characterized in that the component speeds of the individual motion components in proportion to their lead time the maximum speed given for them Duration of the motion component that takes the longest time be weighted. Method according to one of the preceding claims, characterized characterized that the current starting position of the boom measured and the distance of the individual movement components to the target point become. Method according to one of the preceding claims, characterized characterized that movements to multiple target points be performed. Method according to one of the preceding claims, characterized characterized that movements between several Intermediate target points are made, the target point being from which is moving to another target point, serves as a starting point. Method according to one of the preceding claims, characterized characterized in that for determining a target point initially manual or semi-automatic approached and after reaching its destination Coordinates are recorded (teaching). Method according to one of claims 1 to 9, characterized characterized in that the path movement is displaceable, by the individual movement components with individual Weighting factors are weighted. Method according to one of claims 4 to 7 in conjunction with claim 10, characterized in that the Weighting is such that the path movement defining times of claim 4 with individual Weighting factors are weighted. Device for moving a boom of a work or Rescue device, such as an aerial ladder, the Movement of the boom several movement components has, like telescoping, (horizontal) turning and (Vertical) swiveling, especially for implementation of the method according to one of claims 1 to 9, characterized by a device for automatic Move the boom from a current starting point to a target point with simultaneous, steady and reversal-free movement components. Device according to claim 12, characterized by a device for moving the boom from the actual Starting point off at a reduced speed and to reduce speed immediately before reaching the target point. Device according to claim 12 or 13, characterized by a device for determining the duration the motion component that takes the longest time to move the boom from a current starting point to a target point at a given, maximum Component speed for the corresponding Movement component and to adjust the speed of the other motion components such that the Times of all movement components to go through the way from the starting point to the target point are the same. Apparatus according to claim 12, characterized by a device with the component speeds of the individual movement components in relation to their Lead time at the maximum speed given for them at the length of time that takes the longest time Movement components are weighted. Device according to one of claims 10 to 13, characterized through a device for measuring the current Starting positions of the boom and determine the paths of the individual movement components to the target point. Device according to one of claims 10 to 14, characterized by a device for storing the coordinates of the target point after approaching it. Device according to one of claims 10 to 15, characterized by means of moving the boom between multiple target points.

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