Method, system and related devices for operating multiple cranes in unison

• US 10,108,164 B2
• Filed: 05/14/2015
• Issued: 10/23/2018
• Est. Priority Date: 05/16/2014
• Status: Active Grant

• Current Assignee: Cattron North America, Inc. (Cattron Holdings, Inc.)
• Original Assignee: Laird Technologies Incorporated (DuPont de Nemours, Inc.)
• Inventors: Stagg, David, Corbeil, Paul-Andre, Montreuil, Pierre, Ethier, Luc
• Primary Examiner(s): Pan, Yuhui R
• Application Number:
  US15/303,708
• Publication Number:
  US 20170031339A1
• Time in Patent Office: 1,258 Days
• CPC Class Codes: B66C 13/40 Applications of devices for transmitting control pulses; Applications of remote control devices control in general G05
• CPC Class Codes: G05B 19/0426 Programming the control sequence
• CPC Class Codes: G05B 2219/23045 Function key changes function as function of program, associated pictogram
• CPC Class Codes: G06Q 10/06 Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
• CPC Class Codes: G06Q 50/08 Construction

Abstract

A crane control system for controlling a plurality of cranes is provided. The crane control system in some embodiments includes a master controller unit, at least one computer readable memory for storing a plurality of tokens, each token from the plurality of tokens associated with a respective crane from the plurality of cranes, and a processing unit responsive to commands inputable by an operator of the master controller unit to send the commands to individual cranes from the plurality of cranes, wherein the processing unit associates the commands with respective tokens to control the cranes associated with those tokens. The crane control system in some embodiments also includes a processing unit that is responsive to a signal indicative of a synchronization loss to issue a command to bring the plurality of cranes into a safe condition, such as an emergency stop, or a corrective action.

Claims

1. A crane control system for controlling a plurality of cranes each crane having at least two motion axes, the crane control system comprising:

a master controller unit;

a computer readable storage for storing a plurality of tokens, each token from the plurality of tokens a respective crane from the plurality of cranes; and

a processing unit responsive to inputs by an operator of the master controller unit to send commands to individual cranes from the plurality of cranes, the processing unit being configured to associate the commands with respective tokens to control the cranes associated with the tokens;

wherein the master controller unit is configured to;

operate a first motion axis of a first crane in unison with a first motion axis of a second crane; and

at the same time operate a second motion axis of the first crane independently from a second motion axis of the second crane.

2. The crane control system of claim 1, wherein the computer readable storage includes a plurality of programmed keys, wherein each key from the plurality of programmed keys stores a token from the plurality of tokens.

3. The crane control system as defined in claim 2, wherein the master controller unit includes a reader for removably engaging two or more of the programmed keys and being configured to read the tokens stored in the two or more programmed keys.

4. The crane control system as defined in claim 3, wherein the reader includes a plurality of ports, each port configured to receive a programmed key for reading the token stored in the programmed key.

5. The crane control system as defined in claim 1, wherein the master controller unit is configured to allow a user to select an operating mode from a plurality of operating modes including:

a synchronous operating mode in which multiple cranes from the plurality of cranes are operable in a synchronous manner; and

an independent operating mode in which the same multiples cranes are operable independently and individually from each other.

6. The crane control system as defined in claim 1, wherein the master controller unit is configured to communicate with a remote entity including the computer readable storage, to acquire the tokens from the remote entity.

7. The crane control system as defined in claim 6, wherein the master controller unit communicates wirelessly with the remote entity.

8. The crane control system as defined in claim 1, wherein the master controller unit comprises a portable master controller unit that communicates wirelessly with components of the crane control system.

9. The crane control system of claim 1, wherein the processing unit is responsive to inputs by the operator of the master controller unit to send commands to the plurality of cranes to operate the cranes in synchronism, the processing unit being responsive to a signal indicative of a loss of synchronization between the cranes to output a command to bring one or more of the plurality of cranes into a safe condition.

10. A crane control system as defined in claim 9, wherein:

the safe condition includes an emergency stop; and

/or

the master controller includes the processing unit; and

/or

the commands to the plurality of cranes to operate the cranes in synchronism convey an address associated with the master controller unit; and

/or

each crane of the plurality of cranes has at least two independently movable motion axes, the commands to the plurality of cranes to operate the cranes in synchronism directing at least one motion axis of one crane to operate in unison with at least one motion axis of another crane.

11. A crane system comprising:

the first crane;

the second crane;

the control system of claim 9 for controlling the first and second cranes in synchronism; and

a monitoring system for monitoring the first and second cranes for a loss of synchronization therebetween.

12. A crane system as defined in claim 11, wherein the monitoring system includes sensors mounted on the first crane and on the second crane for sensing motion of the first crane and motion of the second crane.

13. A crane system as defined in claim 12, wherein the monitoring system includes a processing unit to process signals output by the sensors to detect a loss of synchronization.

14. A crane system as defined in claim 13, wherein the monitoring system has an output to output a control signal when the monitoring system detects a loss of synchronization.

15. A crane system as defined in claim 14, wherein the control signal conveys a command to bring the first crane and the second crane into a safe condition and/or an emergency stop.

16. The crane control system of claim 1, wherein:

the master controller unit includes a user interface for receiving user commands to control cranes, the user interface including a mode selector allowing the user to select a mode of operation among a plurality of modes of operation, the plurality of modes of operation including a first mode of operation and a second mode of operation;

when the mode selector is in the first mode of operation, the master controller unit being configured to respond to user commands input at the user interface to output first command signals directed to a single crane; and

when the mode selector is in the second mode of operation, the master controller unit being configured to respond to user commands input at the user interface to output second command signals directed to two or more cranes, each crane of the two or more cranes having at least two motion axes, the second command signals directing at least one motion axis of one crane to operate in unison with at least one motion axis of another crane.

17. A crane control system as defined in claim 16, wherein each crane has a bridge motion axis for moving the crane along a bridge, a trolley motion axis to move a trolley, and a hoist motion axis to move a hoist.

18. A crane control system as defined in claim 17, wherein in the second mode of operation, the second command signals being configured to move the bridge motion axes of the two or more cranes in unison and/or move the trolley motion axes of the two or more cranes in unison and/or move the hoist motion axes of the two or more cranes in unison.

19. A crane control system as defined in claim 16, wherein in the second mode of operation the master controller unit is configured to:

operate the first motion axis of the first crane in unison with the first motion axis of the second crane; and

operate the second motion axis of the first crane independently from the second motion axis of the second crane.

20. The crane control system of claim 1, wherein:

the master controller unit includes a user interface for receiving user commands to control cranes, the master controller unit being configured to respond to user commands input at the user interface to output command signals directed to two or more cranes, each crane of the two or more cranes having at least two motion axes, the command signals directing at least one motion axis of one crane to operate in unison with at least one motion axis of another crane;

the user interface including a position selection mechanism configured to allow the user to select a position among a plurality of positions; and

in response to selection of a position among the plurality of positions, the master controller unit outputting command signals directed to the two or more cranes to direct the cranes to move to the selected position.

21. The crane control system of claim 1 operable for controlling the plurality of cranes individually or in synchronism, each crane having a slave crane control unit and being independently, separately operable from the other cranes, wherein:

each token from the plurality of tokens includes an address or identifier to uniquely identify a respective crane from the plurality of cranes; and

the processing unit is responsive to inputs by an operator of the master controller unit to wirelessly send commands to one or more of the slave control units of one or more individual cranes from the plurality of cranes.