Patent Application
20230383623
The present invention relates to a foundation construction machine and a method for controlling such machine.
Such type of machine is configured for working the ground, generally in order to build structural foundation elements, e.g. piles for a new deep foundation or piles for propping up an existing foundation or the support layer of a shallow foundation, or in order to make retaining elements in the ground, e.g. earth retaining walls or waterproofing bulkheads.
Machines employed for building foundations are generally called “foundation construction machines”. They are typically used in a building yard environment and comprise a base machine, a mast supported by the base machine, and an operating equipment carried by the mast. Such machines are typically controlled by means of commands, i.e. control signals, issued by an operator positioned in a control station mechanically connected to the upper structure and configured for imparting commands for controlling the foundation construction machine, e.g. a cabin or a control board, or by an operator positioned at a distance from the machine, e.g. using a radio control unit or a remote control station. The base machine comprises an upper structure and a self-moving or mobile assembly mechanically connected to each other in a fixed or, via a fifth wheel, rotatable manner; the self-moving or mobile assembly, which is typically an undercarriage, allows the foundation construction machine to move on the ground. The upper structure is generally provided with a structural frame housing several components, e.g. a prime mover, typically a Diesel engine, supplying the necessary power to all the devices of the machine, hydraulic systems, electric systems, and one or more control units, typically PLCs, which, together with suitable input/output modules, sensors, limit switches and electromechanical devices, permit controlling the machine. The upper structure also houses winches adapted to move the operating equipment by means of a rope, typically driven by hydraulic gear motors and braked by overcenter valves and mechanical brakes, and also ballast elements ensuring machine stability during the work. The winches may also have an electrically controlled drive, and therefore may be equipped with an electric motor imparting the rope winding/unwinding motion. The winches may also be driven by a hydraulic unit combined with an electric control signal. The mast (also called “boom” when referring to a crane, i.e. a machine used for foundation construction works only, with no lifting operations) is commonly a structural element having a lattice or boxed construction and a long extension, even in excess of twenty meters, is mechanically connected to the frame on the side opposite to the ballast by means of a kinematic mechanism or a pin hinge to make a swing movement in order to switch from a horizontal position to a substantially vertical position and/or, whenever necessary, in order to change the working radius of the machine, and performs the function of mechanically supporting and also—in some types of foundation construction machines—guiding an operating equipment designed to work the ground according to a given processing technology.
The foundation construction machines known in the art include the so-called “drilling machines”, wherein the operating equipment consists of interchangeable equipment and a drill head or a drive head. The interchangeable equipment may be, merely by way of example, a drilling tool (e.g. a bucket, a drill bit, a core sampler) mechanically connected to telescopic rods called “kelly bars”, a single “continuous flight auger” or “soil displacement” drilling tool, or else it may be ground consolidation equipment (e.g. of the “jet grouting”, “soil mixing”, “deep mixing”, “Turbojet”, “vibro compaction”, “stone column”, “bottom feed system” types). The operating equipment may also be a vibro-drive equipment, e.g. a hammer or a vibrator, constituting a drive head configured to impart ground driving motion to a sheet pile. The drill head, also referred to as “rotary”, is mechanically connected to the mast and can be guidedly made to translate along the mast by means of a rope driven by a winch installed on the upper structure or, as an alternative, by means of a hydraulic cylinder or a rack-type drive system. The drill head is mechanically connected to the interchangeable equipment in order to transfer thereto a rotary motion and a torque of such intensity as to overcome the resistance of the ground and make a hole. The interchangeable equipment may be mechanically associated with the mast in a direct manner by means of a rope of a winch installed on the upper structure, which supports the interchangeable equipment on the pulleys installed at the top of the mast and moves the interchangeable equipment relative to the mast along the longitudinal direction of the hole. Alternatively, the interchangeable equipment may be mechanically associated to the mast in an indirect manner, being moved by the drill head. The drive head may be associated with the mast either directly or indirectly. An additional winch installed on the upper structure, called “service winch”, moves an auxiliary rope which, supported by additional pulleys installed at the top of the mast, can be used in order to move foundation elements, such as reinforcement cages, near the hole being made.
The foundation construction machines known in the art also include the so-called “diaphragm wall excavation machines”, wherein the operating equipment may be, by way of example, a cutter module, i.e. a frame to which rotary drums equipped with teeth and driven by gear motors are connected in order to make the excavation, or a grab module, i.e. a frame to which mobile clamshells are connected, which are moved by a hydraulic cylinder in order to make the excavation, or else it may be a dynamic compaction mass or a drive head.
In any case, in all known types of foundation construction machines the operating equipment is mechanically associated in a direct manner to the mast, to be moved relative to the mast along the longitudinal direction of the excavation to be made in the ground. From the examples described herein, a person skilled in the art will understand that the definition of foundation construction machine may comprise not only those machine types mentioned above merely by way of non-limiting example, but also other machine types (e.g. also those typically included in the EN16228 product standard series).
The components installed on the upper structure must be subjected to maintenance operations during the service life of the foundation construction machine; by way of example, the mobile parts (rope tensioner, drum, rollers) and the power and control assemblies (gear motor, control valves, sensors) of the winches must be periodically inspected, and the rope needs to be periodically replaced. To this end, the upper structure is provided with raised walkway surfaces in proximity to the components to be serviced, which surfaces can be trodden on by a person. Access thereto is possible through predefined access points in specific locations along the perimeter of the upper structure. The service technician will typically reach such access points by climbing a ladder or steps or, for small-size machines having limited ground clearance, by simply hoisting himself on such access points directly from the ground using available access means (e.g. access ladders).
The winches installed on the upper structure and the walkway surfaces are generally visible from the control station; in some cases, a mirror is available inside the cabin to ensure better vision; in other cases, on bigger machines, the winches can be framed by dedicated closed-circuit cameras, the images of which are continuously shown on a display available to the operator sitting in the cabin. It is thus possible for the operator to monitor the correct winding and unwinding of the rope on the drums of the winches and to visually verify the absence of any people near the walkway surfaces.
A service technician is only allowed to access the walkway surfaces in order to carry out inspection and maintenance work, and the mobile parts of the machine may only be approached when the engine is off. During such operations, the operator checks the position of the technician by means of direct and indirect viewing systems, such as said closed-circuit cameras, and must also keep in audible contact with the technician, e.g. by using transceivers. Should it be necessary to start the machine to make a manoeuver, the operator will first have to make sure that the technician is no longer within the dangerous zone.
In the foundation construction machines known in the art, if a service technician does not comply with the mandatory operating procedures or gains access to the machine when the latter is on, a dangerous situation may arise wherein the technician himself is close to the winches and the latter may suddenly start operating. Complete visibility of the dangerous area will give the operator full control, and the operator will always have to check, before starting the machine, particularly the winches, that nobody is present (and to issue a warning signal, e.g. by sounding the horn, indicating that he intends to start manoeuvring the machine). Nevertheless, a working man not observing the safety rules and climbing up to the winch area without informing the operator while the machine is in operation might be exposed to a risk that only the operator's attention could avoid.
It is one object of the present invention to provide a foundation construction machine which can reduce the onset of dangerous situations in case a person gains access to the machine, in particular whenever mandatory safety procedures are not complied with and a person approaches dangerous areas while the machine is fully operational.
It is a further object to provide a method for controlling a foundation construction machine.
According to the present invention, these and other objects of the present invention are achieved by means of a foundation construction machine, and a method for controlling it, having the technical features set out in the appended independent claims.
It is understood that the appended claims are an integral part of the technical teachings provided in the following detailed description of the present invention. In particular, the appended dependent claims define some preferred embodiments of the present invention that include some optional technical features.
The following will summarize some of the preferred and advantageous aspects of the present invention.
The use of at least one sensor configured for monitoring a monitoring region in proximity to the sensor itself, so oriented as to monitor a region along a walkway surface and/or a predefined access point, and configured for detecting the presence of a solid body in the monitored region, makes it possible, combined with the monitoring and control activity carried out by the operator through the use of direct and/or indirect vision instruments, to detect when a person enters the dangerous area. The control system connected to such sensor, configured to cause the execution of predetermined functions, advantageously ensures the certain execution of predetermined safety functions conceived as appropriate responses to said dangerous situation, and the automatic execution of such functions advantageously makes them independent of the operator's reaction times. In particular, the predetermined functions have priority over any commands imparted by the operator, ignoring any inadequate manual commands that may not remedy the potential dangerous situation. When a person is detected in dangerous areas, the control system will permit, whether automatically or manually, disabling one or more of such predetermined functions if the automatic stopping of a movement of the machine may create dangerous situations, e.g. should this imply the stopping of highly dynamic manoeuvers. Following the intervention of the sensor, manually starting the machine or a movement of its parts will only be allowed if there is certainty that there are no people in dangerous areas, on condition that preventing the machine from starting or its parts from moving will not generate further unsafe situations. Advantageously, the control system is configured for detecting any faults, thus being even safer and more robust. Preferably, the sensor is a laser scanner, since such sensors are particularly reliable even in the presence of dust, dirt, rain, snow, hail, light, steam and, more generally, in the typical severe conditions of a building yard. Optionally, it is also possible to employ a fixed or removable protection, i.e. a cover, under which the sensor can be arranged in extremely severe environmental conditions. Advantageously, the monitoring region of the sensor can be adjusted and adapted according to installation and functional requirements, so as to ensure the best operability. Optionally, the sensor has a variable spatial resolution, so that it is advantageously possible to set a resolution that will exclude from the detection, and hence from the execution of the predetermined functions, any solid bodies other than a person, such as, for example, snow, hail, soil or birds.
Advantageously, the control signal sent by the control system is transmitted via a dual-channel connection, thus ensuring fault tolerance and cross-monitoring between two channels to reach higher levels of functional safety of the control system compared with a single-channel connection, e.g. up to ISO13849-1 category 3 or 4. In addition, the communication bus may use a communication protocol configured with diagnostic mechanisms, resulting in the advantage that any errors in the transmission of the signal between the sensors and the control system will be detected. Furthermore, the control system may temporarily suspend the detection of the presence of a solid body by the sensor, thus advantageously permitting the temporary override of some sensors when installation/removal operations need to be carried out (e.g. when the rope needs to be replaced). The control system may also carry out an initial memorization of the solid bodies detected by the at least one sensor, being thus advantageously able to store a background scenario that will be considered to be safe, wherein stationary (static) solid bodies may be present within the monitored region in normal conditions, without however representing a dangerous situation (characterized by a body in motion).
Further features and advantages of the present invention will become apparent in light of the following detailed description, provided herein merely as a non-limiting example and referring, in particular, to the annexed drawings as summarized below.
With reference to
Foundation construction machine 1 comprises a self-moving or mobile assembly 2 configured to move on the ground, thus moving said foundation construction machine 1.
Also, foundation construction machine 1 comprises an upper structure 3 mechanically connected, in a rotatable manner, to self-moving or mobile assembly 2, and in particular supported by the latter and equipped with at least one predefined access point 3A configured to allow a person to gain access to upper structure 3.
Furthermore, foundation construction machine 1 comprises a mast 4 mechanically connected to upper structure 3, whereon an operating equipment 5 is configured to be mounted in order to drill the ground.
With particular reference to the embodiment shown in FIG. 1, upper structure 3 has a walkway surface 7 whereon a person accessing upper structure 3 will be able to stand or walk. In particular, walkway surface 7 is adjacent to predefined access point 3A, so that a person wanting to reach walkway surface 7 will be compelled to cross predefined access point 3A. In further construction variants, there may be a plurality of such walkway surfaces 7.
Advantageously, walkway surface 7 is delimited by one or more railings 8 that prevent falling from considerable heights on big machines, as prescribed by safety regulations. Such walkway surface 7 is arranged on upper structure 3 in such a way as to allow a person to gain access to specific components installed on upper structure 3, e.g. for maintenance and inspection purposes. In the embodiment illustrated in
Foundation construction machine 1 comprises also a presence sensor 20 integrally mounted to upper structure 3, so oriented and configured as to monitor a monitoring region integral with upper structure 3 and situated at least above (thus “covering”) walkway surface 7 adjacent to predefined access point 3A that allows access to upper structure 3, so as to detect the presence of a solid body in such monitoring region. In particular, said monitoring region may coincide with an internal zone located above walkway surface 7 and within the zone delimited by railings 8 (e.g. a substantially empty (i.e. containing only “air” three-dimensional volume or two-dimensional area). It should therefore be understood that the monitoring region monitored by presence sensor 20 is situated at least above (thus “covering”) walkway surface 7, without the latter being necessarily included within the monitoring region. However, the monitoring region may optionally include walkway surface 7.
Presence sensor 20 is further configured for sending a detection signal representative of the presence of said solid body. Thus, presence sensor 20 can detect the presence of a solid body in said monitoring region and send a detection signal representative of the presence of the solid body.
With reference to
Due to such technical features, the occurrence of dangerous situations is considerably reduced in case a person undesirably gains access to foundation construction machine 1 through predefined access point 3A, due to the activation of automatic procedures following the transmission of the control signal.
Merely by way of non-limiting example, the following will describe in greater detail some structural features of foundation construction machine 1 shown in
In the embodiment illustrated in
In particular, foundation construction machine 1 comprises at least one winch 19 mounted on upper structure 3, in particular arranged in a housing formed in said upper structure 3. Winch 19 is configured for driving and/or moving operating equipment 5 (or at least some parts thereof) or, working as a “service winch”, for moving objects useful for the drilling activity (e.g. reinforcement steel for piles being cast). In some variants, e.g. a foundation construction machine obtained from a crane, there may be three winches, and the third winch is used for moving the rear stand, necessary for lifting the lattice arm, in order to switch from an idle position to a working position, e.g. for diaphragm wall excavation. As will be described more in detail below, in the embodiment illustrated in
In
As aforementioned, predefined access point 3A is configured to allow a person, typically a service technician, to gain access to upper structure 3, in particular by using access means, e.g. a ladder 6A or a plurality of steps, sometimes integral with the casings of upper structure 3 itself. Predefined access point 3A should be understood, in a non-limiting sense, as a surface or a three-dimensional space through which a person can access upper structure 3. In the illustrated embodiment, the predefined access point is situated substantially along the perimeter of upper structure 3. Therefore, a person can gain access to predefined access point 3A by either using a given access means or directly from the ground.
By way of non-limiting example, predefined access point 3A integral with upper structure 3 may be:
Preferably, predefined access point 3A may be a volume—in particular, adjacent to the access means (like ladder 6A)—internally comprising no elements or parts of foundation construction machine 1. For example, such volume is essentially an empty space intended to be crossed by the whole body or by some parts of the body of a person to provide access to one or more adjacent walkway surfaces.
In the illustrated embodiments, e.g. as shown in
Preferably, each presence sensor 20 is mounted and oriented on upper structure 3 in a manner such that the respective monitoring region excludes those walkway surfaces through which said control station 22 is accessible. Thus, no presence sensor 20 will detect the presence of any solid bodies passing through a region allowing access to control station 22. In the embodiment illustrated in
Although in the embodiment illustrated in
Furthermore, although the embodiment illustrated in
In the embodiment of
The following will describe, by way of example, some optional or preferred technical details of presence sensor 20.
In particular, presence sensor 20 is configured for detecting and/or receiving a signal (e.g. an electromagnetic radiation) within its field of view, for the purpose of monitoring the monitoring region integral with upper structure 3 within such field of view; preferably, said monitoring region coincides with the whole field of view of presence sensor 20, but it may nonetheless be freely configured to be limited to a part of the whole field of view of the sensor. By means of said signal, presence sensor is configured for detecting the presence of a solid body, e.g. a person (such as a service technician) within such monitoring region. Presence sensor 20 is further configured for sending a detection signal representative of the presence of said body. Preferably, the field of view of sensor 20, which may optionally be adjustable, has at least one of the following properties:
Optionally, the field of view has a variable spatial resolution, i.e. it is possible to set a different minimum size of the solid body, below which presence sensor 20 will not detect the presence of said body. The field of view of the sensor, and hence the monitoring region, may be either two-dimensional or three-dimensional and, in this latter case, the field of view will also have a vertical field angle, i.e. the angular view aperture in a plane perpendicular to the previously described horizontal plane.
Presence sensor 20 is preferably a sensor configured for detecting the position of a solid body within the monitoring region. For example, presence sensor 20 may be a laser scanner sensor adapted to emit infrared waves and receive such infrared waves reflected by a solid body that is present within the monitoring region. In particular, presence sensor 20 is configured for determining, based on the time elapsed between the emission of the laser beam and the reception of the reflected laser beam, the distance of the solid body from presence sensor 20 itself. As an alternative to a laser scanner sensor, presence sensor 20 may be any sensor based on electromagnetic waves, e.g. a lidar or radar sensor or a video camera, or any sensor based on sound waves, e.g. an ultrasonic sensor.
Presence sensor 20 is oriented in such a way that said monitoring region extends over walkway surface 7. In particular, the monitoring region may have a greater extension than the surface whereon the person must rest his feet, or may have an extension smaller than or equal to said walkway surface. However, the monitoring region always comprises walkway surface 7, and its extension is such that, when a person wants to gain access to winches 19 situated in proximity to walkway surface 7, said monitoring region must necessarily be crossed by at least some parts of the person's body. In further embodiments and construction variants, it is also conceivable that there are a plurality of presence sensors combinedly monitoring the monitoring region, wherein each one of such presence sensors is configured for monitoring only a respective part of the monitoring region including only a corresponding part of walkway surface 7; however, the plurality of presence sensors are so oriented that the combination of said respective parts of the monitoring region entirely covers walkway surface 7 adjacent to predefined access point 3A.
The following will describe, by way of example, some optional or preferred technical details of control system 9, which apply to all embodiments and construction variants of the foundation construction machine of the present invention, although for simplicity the description of such technical features will only refer to the embodiment shown in
In particular, control system 9 of foundation construction machine 1 may be physically installed on the machine. In further embodiments and construction variants, control system 9 may be installed, at least partly, in a remote location and operatively connected to presence sensor to receive the detection signal.
With reference to the preferred configuration shown in
Preferably, electronic processing system 11 is connected to presence sensor 20 by means of a communication bus 13, e.g. a CAN bus. Alternatively, electronic processing system 11 is connected to presence sensor 20 by means of a dedicated communication channel.
Preferably, central control unit 12 is connected to electronic processing system 11 via a dual-channel connection, i.e. in such a way that electronic processing system 11 and central control unit 12 can mutually transmit a signal over two electric connections.
In the embodiment illustrated herein with reference to
The following will describe in more detail some optional or preferred technical features of the means and modes implemented by central control unit 12 for processing the detection signal.
When sensor 20 detects the presence of a solid body, e.g. the presence of a person, within the monitoring region, it sends to electronic processing system 11, over communication bus 13, the detection signal representative of such presence. The transmission of the detection signal to electronic processing system 11 is effected, for example, by using a communication protocol configured with diagnostic mechanisms, e.g. the CANopen Safety protocol, in order to identify any errors in the communication of such detection signal (e.g. excessive transmission delays or lost parts of the information being transmitted by such signal). Such diagnostic mechanisms may envisage, merely by way of example, the transmission of a progressive number acting as a counter, which is incremented every time a signal is exchanged, or the use of a timestamp certifying the transmission of the detection signal or the time elapsed between the transmission of two successive detection signals or, anyway, any configuration of the communication protocol which is adapted for detecting any communication errors in the information sent by presence sensor 20 to electronic processing system 11 by means of the detection signal.
In particular, electronic processing system 11 is configured for processing the detection signal, e.g. by means of a program loaded in a memory unit of electronic processing system 11 itself. Also, electronic processing system 11 is configured for sending to central control unit 12 a command signal generated on the basis of such processing. For example, the program loaded in electronic processing system 11 may divide the entire monitoring region of sensor 20 into a severe alarm sub-region, closer to the dangerous zone, and a pre-alarm sub-region, farther from the dangerous zone, and may process the detection signal in order to determine the position of the solid body, thus determining if the detected solid body (i.e. the detected person) is within the pre-alarm sub-region and/or within the severe alarm sub-region. Regardless of whether the solid body is detected in the pre-alarm sub-region and/or in the severe alarm sub-region of the monitoring region, electronic processing system 11 is configured to send the command signal to central control unit 12.
Preferably, if the solid body (i.e. the person) is detected within the severe alarm sub-region, the command signal will be transmitted to central control unit 12 via a dual-channel connection; on the contrary, the control signal will be transmitted to central control unit 12 via a single-channel connection if the solid body is detected within the pre-alarm sub-region.
In the embodiment illustrated herein with reference to
The following will describe in more detail some optional or preferred technical features related to the predetermined functions that can be caused to be executed by means of the control signal output by control system 9 as a function of the received detection signal.
In particular, if the solid body (i.e. the person) is detected within the monitoring region (e.g. within the severe alarm sub-region), control system 9 may be configured for transmitting a control signal intended to cause foundation construction machine 1 to execute at least one predetermined function selected from a group of predetermined functions including:
By way of example, the control signal may be intended to be sent, via suitable hydraulic and/or electric control circuits, to braking device 14.
In one embodiment, braking device 14, configured for receiving the control signal, is configured for preventing winch 19 mounted on upper structure 3 from moving. Of course, this motion prevention will only be automatically effected if it does not lead to the onset of additional dangerous situations. In particular, the control signal is transmitted to an overcenter valve and/or an electric motor control device and/or a mechanical parking brake of braking device 14, so as to prevent the drum of winch 19 from turning when sensor 20 detects a solid body within the monitoring region.
According to further embodiments and construction variants, braking device 14 may be configured for preventing a rotation of upper structure 3 relative to self-moving or mobile assembly 2. In this case as well, such motion prevention will only be automatically effected if it does not lead to the onset of additional dangerous situations. In particular, the control signal is transmitted to an overcenter valve and/or an electric motor control device and/or a mechanical parking brake of braking device 14, so as to prevent any relative rotation between upper structure 3 and self-moving or mobile assembly 2.
Preferably, according to particular construction variants of the present invention, braking device 14 is configured for effecting said motion prevention by preventing winch 19 from moving and/or upper structure 3 from rotating upon receiving said control signal due to the presence of the solid body within the monitoring region of presence sensor 20. In other words, if a solid body is detected within the monitoring region, it will be impossible to start winch 19 and/or to turn upper structure 3, which will thus remain stationary, without moving at all. In such particular construction variants, when presence sensor 20 detects the solid body in the monitoring region, if winch 19 and/or upper structure 3 have already been operated and/or are already in motion, it will generally be appropriate to avoid any automatic intervention by braking device 14; in such a condition, in fact, any automatic intervention would threaten to introduce additional risks in the operation of foundation construction machine 1, particularly because of the high forces involved and/or the high speeds of the various components when in operation. Optionally, in other different construction variants, if construction machine 1 is operating with moderate dynamics (e.g. low forces and/or speeds), it is possible to take into account some criteria for controlling the automatic intervention of braking device 14 to provide a gradual stopping action, e.g. controlled braking as opposed to a sudden stop of the components, and without turning off the machine.
According to further embodiments and construction variants, the control signal may be sent to a starting circuit 15 of foundation construction machine 1, e.g. to a safety relay.
If the detection signal is representative of a person that is present in the pre-alarm sub-region of the monitoring region, the control signal may be sent to one or more alarm devices 24 in order to emit one or more alarm signals perceivable by an operator of said foundation construction machine. In particular, when a person is within the pre-alarm sub-region, the alarm signal emitted by one or more alarm devices 24 will consist of one or more pop-up windows appearing on a display installed in the operator's control station 22 or cabin.
If the detection signal is representative of a person that is present in the severe alarm sub-region of the monitoring region, the control signal may be sent to one or more alarm devices 24 in order to generate an audible and/or visual alarm. For example, the audible alarm may comprise the sound emitted by a buzzer, advantageously one that cannot be silenced. Moreover, for example, the visual alarm may include luminous and blinking signals (e.g. blinking indicators and/or alarm pop-up windows shown on a display installed in control station 22 or cabin). The audible alarm and/or the visual alarm are configured to be clearly audible and/or visible to the machine operator sitting in the operator's control station 22 or cabin and, preferably, also to the person within the monitored region.
Optionally, in the severe alarm sub-region other previously described predetermined functions may be executed in addition to the emission of one or more of the above-described alarms. It will be appreciated, therefore, that in the preferred case, wherein the pre-alarm sub-region is farther from the dangerous zone and the severe alarm sub-region is closer to it, a person entering the pre-alarm sub-region will cause the appearance of a pop-up window on a display in the operator's control station 22 or cabin while, should that person move closer and enter the severe alarm sub-region, this will imply the emission of one or more audible and/or visual alarms. Optionally, the entry of a person in the severe alarm sub-region may also cause some parts of foundation construction machine 1 to be prevented from moving, provided that this creates no additional dangers.
As mentioned above, in principle, the control signal sent by control system 9 causes foundation construction machine 1 to automatically execute at least one predetermined function, without requiring the manual intervention of the machine operator. Following the execution of the predetermined function(s), control system 9 may allow restoring the normal operability of foundation construction machine 1 by stopping the execution of the predetermined function(s), interrupting the alarm and/or operating and/or moving the machine and parts thereof, if a solid body is no longer detected within the area being monitored by presence sensor 20. Preferably, such restoral of the normal operability will be allowed by control system 9 in a semi-manual manner, i.e. control system 9 will only allow the operator to manually stop the execution of the predetermined function(s) if presence sensor 20 is no longer detecting a solid body within the monitoring region.
Preferably, electronic processing system 11 is configured to detect a fault of at least one of presence sensor 20 and electronic processing system 11 itself, e.g. a power interruption or a malfunction of internal chips, and is further configured to cause foundation construction machine 1 to execute at least one of the above-described predetermined functions when it detects such a fault.
Optionally, electronic processing system 11 is configured to temporarily suspend the detection of the presence of a solid body by presence sensor 20 by means of a deactivation signal sent to presence sensor 20 over communication bus 13. For example, in order to temporarily suspend such detection, it can be envisaged to use a key selector for overriding the sensor; in particular, such selector may be used during operations that do not require the machine to be normally operational, e.g. operations necessary for replacing the rope, with foundation construction machine 1 typically having its mast arranged horizontal or quasi-horizontal.
In addition, electronic processing system 11 may be configured to execute an initial memorization of the solid bodies initially detected by presence sensor 20 within the monitoring region, e.g. following an initial detection of the positions of any solid bodies to be considered as normally present within the monitoring region (e.g. machine parts, railings and walkway surfaces), and is configured to send the command signal to central control unit 12 when, after such initial memorization, presence sensor 20 detects, within the monitored zone, a solid body other than the previously stored solid bodies.
With reference to
Those parts and elements which are similar to—or which perform the same function as—those of the above-described embodiment and construction variant have been assigned the same alphanumerical references. For brevity, the description of such parts and elements will not be repeated below, and reference should be made to the above description.
In particular, upper structure 3 of foundation construction machine 1 shown in
With reference to
Those parts and elements which are similar to—or which perform the same function as—those of the above-described embodiment and construction variant have been assigned the same alphanumerical references. For brevity, the description of such parts and elements will not be repeated below, and reference should be made to the above description. In particular, upper structure 3 of foundation construction machine 1 shown in the drawing is equipped with an independent predefined access point 3D configured to allow a person to gain access to upper structure 3 from its rear or tail side, e.g. by simply climbing up to upper structure 3 directly from the ground by using available access means (e.g. access ladders). In particular, independent predefined access point 3D allows a service technician to gain access to an independent walkway surface 18 of upper structure 3; for example, from independent walkway surface 18 it is possible to access components of foundation construction machine 1 that need to be inspected and serviced, e.g. winches 19. In particular, independent walkway surface 18 is adjacent to independent predefined access point 3D and is situated in a substantially central position.
To upper structure 3 a presence sensor 20 is integrally mounted, which is configured for detecting the presence of a solid body within a monitoring region and which is so oriented that such monitoring region covers independent walkway surface 18. In
Although the construction variant of
In the construction variant illustrated in
With reference to
With reference to
With reference to
Those parts and elements which are similar to—or which perform the same function as—those of the previously illustrated embodiments and construction variants have been assigned the same alphanumerical references. For brevity, the description of such parts and elements will not be repeated below, and reference should be made to the above description. Moreover, the following will only describe those features which are additional or alternative to those of the first and second embodiments and their construction variants, and everything previously described still applies and remains unchanged. In fact, the features of the foundation construction machine according to the third embodiment can be freely combined with the features illustrated and described with reference to the first and second embodiments (and their construction variants).
Unlike the previous examples, the third embodiment shown in
With reference to
The present invention also relates to a method for controlling a foundation construction machine 1; as previously described, foundation construction machine 1 comprises:
In addition to the above, said method for controlling a foundation construction machine 1 may also comprise the following operating steps:
Other functional and structural details of the method have already been described above with reference to the embodiments and construction variants of foundation construction machine 1 and will not therefore be repeated for brevity's sake, but should be understood to be applicable to the present method without requiring any further description or explanation.
Of course, without prejudice to the principle of the invention, the various embodiments, construction variants and implementation details may be extensively varied from those described and illustrated herein by way of non-limiting example, without however departing from the scope of the invention as set out in the appended claims.
In particular, as aforementioned, the technical features that differentiate the various embodiments and variants thereof described and illustrated herein are freely interchangeable, whenever compatible.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102020000023608 | Oct 2020 | IT | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2021/059154 | 10/6/2021 | WO |
