DESC:FIELD
The present disclosure relates to the field of gantry cranes.
BACKGROUND
The background information herein below relates to the present disclosure but is not necessarily prior art.
Gantry cranes are used for lifting and transporting large cargo and other heavy loads. Gantry cranes are used in various industrial applications such as construction, logistics storage, and manufacturing units. Normally, there are two types of gantry cranes such as rail rack gantry cranes and rubber tyred gantry cranes. The rail rack gantry cranes are guided by the rail tracks, while the rubber tyred gantry cranes use tyres for maneuverability. The maneuverability of the rail mounted gantry cranes are poor as they rely on rail tracks to travel only in one direction, whereas the rubber tyred cranes are flexible and can move effortlessly in tight spaces because of the tyres. Rubber tyred gantry cranes are preferred over rail rack gantry cranes because of their capabilities.
Generally, rubber tyred gantry cranes utilize hydraulic mechanisms for the operation of the various components of the crane and most of the components are controlled using hydraulic controls. There are, however, some limitations to Hydraulically operated cranes since they are mainly controlled by fluids. Hydraulically operated cranes are prone to oil leakage issues, resulting in an increase in maintenance costs, and are hazardous to the environment. Hydraulically operated cranes circulate fluid under high pressure through hoses to supply fluid to various joints, resulting in energy loss. Further, a change in the temperature of the fluid can also affect the crane's efficiency, which results in a loss of power and energy. Furthermore, failure to maintain correct fluid pressure can result in the bursting of the fluid conduits leading to oil spillage. The spilled oil can cause a fire and create safety issues.
Moreover, with hydraulically operated cranes, it is difficult to synchronize two or more types of equipment without mechanically connecting them.
There is, therefore felt a need for a control system for a gantry crane that alleviates the aforementioned drawbacks.
OBJECTS
Some of the objects of the present disclosure, which at least one embodiment herein satisfies, are as follows:
An object of the present disclosure is to provide a control system for a gantry crane.
Another object of the present disclosure is to provide a control system for a gantry crane that provides accurate and synchronized steering and travel control.
Yet another object of the present disclosure is to provide a control system for a gantry crane that is safe.
Still yet another object of the present disclosure is to provide a control system for a gantry crane that has better efficiency.
Another object of the present disclosure is to provide a control system for a gantry crane that is environment friendly.
Yet another object of the present disclosure is to provide a control system for a gantry crane that facilitates ease of maintenance.
Still yet another object of the present disclosure is to provide a control system for a gantry crane that has lesser energy consumption.
Yet another object of the present disclosure is to provide a control system for a gantry crane that is environmentally friendly due to no oil leakage
Other objects and advantages of the present disclosure will be more apparent from the following description, which is not intended to limit the scope of the present disclosure.
SUMMARY
The present disclosure envisages a control system for operating an electric rubber tyred gantry (ERTG) crane. The system comprises a radio receiver unit and an electric control box. The radio receiver unit is configured to receive an input signal from an operator through a remote controller over a communication network. The electric control box is communicatively coupled to the radio receiver unit to receive the input signal from the radio receiver unit and convert it into a control input.
The electric control box includes a memory and a processor.
The memory is configured to store a set of executable instructions, a processor is coupled to the memory to retrieve and execute the set of executable instructions for operating control operations of the ERTG crane.
The processor includes an input unit, a comparison unit, and a control unit.
The input unit is communicatively coupled to travel drive sensors of travel drives that are mounted on drive shaft steering feedback sensors of steering drives that are mounted on the wheels, to continuously receive sensed signals from the travel drive sensors and the steering feedback sensors with regards to wheels real-time speed and angle position.
The comparison unit is configured to compare the control input that is received from the remote controller and the sensed signal received from the travel drive sensors and the steering feedback sensors.
The control unit is configured to generate control signals for the travel drives or the steering drives on the basis of the comparison, so as to operate one or more control operations of the ERTG crane. The one or more control operations include simultaneous and synchronous operation of travel and steering motion of the ERTG crane.
In an embodiment, the travel motion includes a forward movement of the ERTG crane at a desired speed and a backward movement of the ERTG crane at a desired speed.
In an embodiment, the steering motion includes a steering motion of the ERTG crane in a right direction at a desired angle at a desired forward or backward travelling speed with real time synchronization.
In an embodiment the steering motion includes a steering motion of the ERTG crane in a left direction at a desired angle at a desired forward or backward travelling speed with real time synchronization.
In an embodiment, the electronic control box is electrically connected to the travel drives, the travel drive sensors, the steering drives, and the steering feedback sensors.
In an embodiment, the travel drive sensors are configured to sense the real-time speed at which the travel drives are rotating.
In an embodiment, the travel drive sensors include a first travel drive sensor mounted on a drive shaft of a first travel drive and a second travel drive sensor mounted on a drive shaft of a second travel drive.
In an embodiment, the steering feedback sensors include a first steering feedback sensor configured to sense a left wheel’s real-time angular position, and a second steering feedback sensor configured to sense a right wheel’s real-time angular position .
In an embodiment, travel drives are mounted on the wheels and are configured to move the ERTG crane in the forward or backward direction.
In an embodiment, the travel drives include at least two travel drives mounted on two wheels.
In an embodiment, at least two travel drives include a first travel drive mounted on a left wheel and a second travel drive mounted on a right wheel.
In an embodiment, first travel drive and the second travel drive may be mounted on front wheels.
In an embodiment, the steering drives are mounted on the wheels and are configured to steer the ERTG in the right or the left direction.
In an embodiment, the steering drives include at least two steering drives that are mounted on two wheels.
In an embodiment, at least two steering drives include a first steering drive that is mounted on a left wheel and a second steering drive that is mounted on a right wheel.
In an embodiment, the first steering drive and the second steering drive may be mounted on the front wheels.
In an embodiment, the remote controller includes an operating means that is configured to generate the input signal for controlling the one or more control operations of the ERTG crane, and the operating means are a combination of the push-type buttons and/or the joystick.
In an embodiment, the operating means are used to generate the input signal for controlling the steering and forward/backward movement of the ERTG crane.
The electronic control box is coupled to a gradient surface detection sensors to receive a sensor-based feedback when the ERTG crane is detected to be traveling or steering on a surface having more than a specified gradient so as to restrict the unsafe operation of the ERTG crane on the detected gradient surface.
The electronic control box is coupled to a tire pressure monitoring sensors (TPMS) to receive an alert when the air pressure in any one of the wheels is below a specified limit. When the alert is received from the TPMS, the electronic control box will not allow the control unit to perform the one or more control operations of the ERTG crane. This will ensure the safety of operations in the field.
A method for operating an electric rubber tyred gantry (ERTG) crane, comprising:
• receiving, by a radio receiver unit, an input signal from an operator through a remote controller over a communication network;
• communicatively coupling the radio receiver unit with an electric control box to receive the input signal from the radio receiver unit and convert it into a control input;
• continuously receiving, by an input unit, sensed signals, with regards to wheels real-time speed and angle position, from drive sensors of travel drives mounted on the wheels and steering feedback sensors of steering drives mounted on the wheels;
• comparing, by a comparison unit, the control input received from the remote controller and the sensed signal received from the travel drive sensors and the steering feedback sensors; and
• generating, by a control unit, control signals for the travel drives and/or the steering drives on the basis of the comparison, so as to operate one or more control operations of the ERTG crane, where the one or more control operations include simultaneous and synchronous operation of travel and steering motion of the ERTG crane.
BRIEF DESCRIPTION OF ACCOMPANYING DRAWING
A control system for a gantry crane of the present disclosure will now be described with the help of the accompanying drawing in which:
FIGURE 1A illustrates an isometric view of an electric rubber tyred gantry crane in accordance with the preferred embodiment of the present disclosure.
FIGURE 1B-1C illustrates side views of the electric rubber tyred gantry crane of Figure 1A;
FIGURE 1D illustrates a front view of the electric rubber tyred gantry crane of Figure 1A;
FIGURE 1E illustrates a top view of the electric rubber tyred gantry crane of Figure 1A;
FIGURE 2A illustrates a block diagram for the electric rubber tyred gantry crane traveling in a straight direction in accordance with the preferred embodiment of the present disclosure;
FIGURE 2B illustrates a block diagram for the electric rubber tyred gantry crane traveling and steering in the left direction in accordance with the preferred embodiment of the present disclosure;
FIGURE 2C illustrates a block diagram for the electric rubber tyred gantry crane traveling and steering in the right direction in accordance with the preferred embodiment of the present disclosure;
FIGURE 3 illustrates a remote control for controlling the ERTG in accordance with the preferred embodiment of the present disclosure; and
FIGURE 4 illustrates a method for operating an electric rubber tyred gantry (ERTG) crane in accordance with the preferred embodiment of the present disclosure.

LIST OF REFERENCE NUMERALS
100 – Electric rubber tyred gantry crane (ERTG)
105 – control box
110 – Radio receiver unit
120 – Remote controller (transmitter)
130A – First travel drive (TML)
130B – Second travel drive (TMR)
140A – First travel drive sensor (TMLS)
140B – Second travel drive sensor (TMRS)
150A – First steering drive (SML)
150B – Second steering drive (SMR)
160A – First steering feedback sensor (SMLS)
160B – Second steering feedback sensor (SMRS)
180 – Plurality of wheels
180A- Front Left Wheel
180B- Front Right Wheel
180C – Rear Left Wheel
180D – Rear Right Wheel
190A – Travel operating means
190B – Steering operating means
111 – Gradient surface detection sensors
109 – Tire pressure monitoring sensors (TPMS)
400 - Method
ABBREVIATIONS
TML – Travel motor Left
TMLS – Travel motor left Sensor
TMR – Travel Motor Right
TMRS – Travel motor Right Sensor
SML – Steering motor Left
SMLS – Steering motor left Sensor
SMR – Steering Motor Right
SMRS – Steering motor Right Sensor
DETAILED DESCRIPTION
Embodiments, of the present disclosure, will now be described with reference to the accompanying drawing.
Embodiments are provided so as to thoroughly and fully convey the scope of the present disclosure to the person skilled in the art. Numerous details are set forth, relating to specific components, and methods, to provide a complete understanding of embodiments of the present disclosure. It will be apparent to the person skilled in the art that the details provided in the embodiments should not be construed to limit the scope of the present disclosure. In some embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.
The terminology used, in the present disclosure, is only for the purpose of explaining a particular embodiment and such terminology shall not be considered to limit the scope of the present disclosure. As used in the present disclosure, the forms "a,” "an," and "the" may be intended to include the plural forms as well, unless the context clearly suggests otherwise. The terms "comprises," "comprising," “including,” and “having,” are open-ended transitional phrases and therefore specify the presence of stated features, elements, modules, units and/or components, but do not forbid the presence or addition of one or more other features, elements, components, and/or groups thereof.
A preferred embodiment of a control system for a gantry crane 100 of the present disclosure will now be described with reference to Figures 1a to Figure 4. The preferred embodiment does not limit the scope and ambit of the present disclosure.
In an embodiment, the gantry crane 100 is an electric rubber-tyred gantry crane (ERTG).
In an embodiment, the ERTG 100 is a single girder gantry crane.
In an embodiment, the ERTG 100 is a double girder crane.
Figure 1 illustrates a view of the ERTG 100 in accordance with the preferred embodiment of the present disclosure.
A control system for the ERTG 100 includes a radio receiver unit 110 mounted on an electric control box 105, a first travel drive 130A, a second travel drive 130B, a first travel drive sensor 140A, a second travel drive sensor 140B, a first steering drive 150A, a second steering drive 150B, a first steering feedback sensor 160A, a second steering feedback sensor 160B, a plurality of wheels 180 and a remote controller 120.
In an embodiment the electronic control box 105 is electrically connected to the first travel drive 130A, the second travel drive 130B, the first travel drive sensor 140A, the second travel drive sensor 140B, a first steering drive 150A, the second steering drive 150B, the first steering feedback sensor 160A, and the second steering feedback sensor 160B.
In an embodiment, the plurality of travel drives 130A, 130B are mounted on the plurality of the wheels 180 and are configured to move the ERTG 100 in the forward or backward direction as shown in Figure 1. In another embodiment, the at least two travel drives 130A, 130B are mounted on the at least two wheels 180. In yet another embodiment, the first travel drive 130A is mounted on the left wheel 180A and the second travel drive 130B is mounted on the right wheel 180B. In still yet another embodiment, the first travel drive 130A and second travel drive 130B are mounted on the front left and right wheels 180A, 180B.
In an embodiment, a first travel drive sensor 140A is mounted on the drive shaft of the first travel drive 130A and a second travel drive sensor 130B is mounted on the drive shaft of the second travel drive 130B. The first and second travel drive sensors 140A, 140B are configured to sense the real-time speed at which the first travel drive 130 and second travel drive are rotating.
In an embodiment, the plurality of steering drives 150A, 150B are mounted on the plurality of wheels 180 and are configured to steer the ERTG 100 in the right or the left direction. In another embodiment, at least two steering drives 150A, 150B are mounted on at least two wheels 180A, 180B. In yet another embodiment, the first steering drive 150A is mounted on the left wheel 180A and the second steering drive 150B is mounted on the right wheel 180B. In still yet another embodiment, the first steering drive 150A and second steering drive 150B are mounted on the front left and right wheels 180A, 180B.
In an embodiment, a first steering feedback sensor 160A is mounted on the output shaft of the first steering drive 150A and a second steering feedback sensor 160B is mounted on the output shaft of the second steering drive 150B. The first steering feedback sensor 160A is configured to sense the left wheel's 180A real-time position and angle, and the second steering feedback sensor 160B is configured to sense the real-time position and angle of the right wheel 180B.
In an embodiment, a wireless radio remote controller (RRC) is used for controlling the ERTG 100. The RRC includes a transmitter unit and a receiver unit. The transmitter unit is the handheld remote controller 120 and the receiver unit is the radio receiver unit 110 electrically connected to the electric control box 105 of the ERTG 100. In an embodiment, the remote control 120 includes a plurality of operating means 190A, 190B and are configured to generate a signal for the controlling of the ERTG 100. as shown in Figure 3.
In an embodiment, the plurality of operating means 190A, 190B are push-type buttons. In another embodiment, the plurality of operating means is 190A, 190B joystick. In yet another embodiment, the plurality of operating means 190A, 190B are a combination of the push-type buttons and the joystick.
In an embodiment, the operating means 190A, 190B are used to control the steering and the forward and backward travel of the ERTG 100.
In an embodiment the remote controller 120 is portable.
In an embodiment, the control box 105 can be electrical or electronic.
In an embodiment, the connection between the remote controller 120 and control box 105 can be wired or wireless.
The present disclosure envisages different conditions for operating ERTG 100. The preferred conditions for operating ERTG in accordance with the present disclosure are as mentioned below:
Condition 101
FIGURE 2A illustrates a block diagram for the electric rubber tyred gantry crane traveling in a straight direction in accordance with the preferred embodiment of the present disclosure.
Condition 101 represents the condition for ERTG 100 traveling in a straight direction. The operator holding the remote controller 120 triggers the travel operating means 190A of the remote controller 120 for traveling forward or backward direction as desired. The triggering of the travel operating means 190A generates a signal for traveling forward or backward direction. The generated signal is received by the RRC receiver unit 110 and transmitted to the control box 105. The travel drive sensors 140A, 140B and steering feedback sensors 160A, 160B are continuously feeding the sensed signal with regards to wheels 180 real-time speed and angle position. The control box 105 compares the inputs given by the operator via remote controller 120 and the sensed signal received by the travel drive sensors 140A, 140B and steering feedback sensors 160A, 160B.
On the basis of the compared signal values, the control box 105 calculates the amount of frequency to be provided to the first travel drive 130A and second travel drive 130B and deactivates the steering drives 150A, 150B so that the ERTG 100 travels in a straight direction.
Condition 102
FIGURE 2B illustrates a block diagram for the electric rubber tyred gantry crane traveling and turning in the left direction in accordance with the preferred embodiment of the present disclosure.
Condition 102 represents the condition for steering in the left direction. The operator holding the remote controller 120 triggers the steering operating means 190B of the remote controller 120 for steering the ERTG in the left direction. The triggering of the steering operating means 190B generates a signal for traveling in the left direction. The generated signal is received by the radio receiver unit 110 and transmitted to the control box 105. The travel drive sensors 140A, 140B and steering feedback sensors 160A, 160B are continuously feeding the sensed signal regarding wheels 180 real-time speed and angle position. The control box 105 compares the inputs given by the operator via remote controller 120 and the sensed signal received by the travel drive sensors 140A, 140B and steering feedback sensors 160A, 160B.
On the basis of the compared signal values, control box 105 calculates the amount of degree of the angle to be steered in the left direction. Further, the control box 105 actuates steering drives 150A, 150B to turn the wheels 180 in the left direction in the desired angle with respect to the calculated value. Simultaneously, the control box 105 calculates the amount of speed to be provided to first travel drive 130A and the second travel drive 130B so as to take left turn and move in synchronization.
Condition 103
FIGURE 2C illustrates a block diagram for the electric rubber tyred gantry crane traveling and steering in the right direction in accordance with the preferred embodiment of the present disclosure.
Condition 103 represents the condition for steering in the right direction. The operator holding the remote controller 120 triggers the steering operating means 190B of the remote controller 120 for turning the ERTG in the right direction. The triggering of the steering operating means 190B generates a signal for traveling in the right direction. The generated signal is received by the radio receiver unit 110 and transmitted to the control box 105. The travel drive sensors 140A, 140B and steering feedback sensors 160A, 160B are continuously feeding the sensed signal regarding wheels 180 real-time speed and angle position. The control box 105 compares the inputs given by the operator via remote controller 120 and the sensed signal received by the travel drive sensors 140A, 140B and steering feedback sensors 160A, 160B.
On the basis of the compared signal values, the control box 105 calculates the amount of degree of the angle to be turned in the right direction. Further, the control box 105 actuates steering drives 150A, 150B to turn the wheels 180 in the right direction in the desired angle with respect to the calculated value. Simultaneously, the control box 105 calculates the amount of speed or frequency to be provided to first travel drive 130A and the second travel drive 130B so as to take right turn and move in synchronization.
In an embodiment, the travel drive sensors 140A, 140B and steering drive feedback sensors 150A, 150B are configured to continuously provide sensed feedback signal to the control box 105, so that the accurate, simultaneous, and synchronized steering and travel of the ERTG can be achieved.
In an embodiment, the travel drives 130A, 130B are controlled by variable frequency drives (VFDs) for facilitating improved overall power and control.
In an embodiment, the steering drives 140A, 140B are motors. In another embodiment, the motors are AC motors. In yet another embodiment the motors are DC motors. In still yet another embodiment the steering drives are stepper motors.
In an embodiment, the control box 105 is placed between at least two wheels 180A, 180B.
Exemplary Impementation
In an exemplary implementation, a control system for operating an electric rubber tyred gantry (ERTG) crane 100, comprises the radio receiver unit 110 and the electric control box 105. The radio receiver unit 110 is configured to receive an input signal from an operator through the remote controller 120 over a communication network. The electric control box 105 is communicatively coupled to the radio receiver unit 110 to receive the input signal from the radio receiver unit 110 and convert it into a control input. The electric control box 105 includes a memory that is configured to store a set of executable instructions, and a processor coupled to the memory to retrieve and execute the set of executable instructions for operating control operations of the ERTG crane 100.
The processor includes an input unit, communicatively coupled to the travel drive sensors 140A, 140B of the travel drives 130A, 130B mounted on the wheels 180 and the steering feedback sensors 160A, 160B of the steering drives 150A, 150B mounted on the wheels 180, to continuously receive sensed signals from the travel drive sensors 140A, 140B and the steering feedback sensors 160A, 160B with regards to wheels 180 real-time speed and angle position. The processor further includes a comparison unit to compare the control input received from the remote controller 120 and the sensed signal received from the travel drive sensors 140A, 140B and the steering feedback sensors 160A, 160B. Further, the processor includes a control unit to generate control signals for the travel drives 130A, 130B or the steering drives 150A, 150B on the basis of the comparison, so as to operate control operations of the ERTG crane 100. Further, the one or more control operations include simultaneous and synchronous operation of travel and steering motion of the ERTG crane 100. The travel motion includes a forward movement of the ERTG crane 100 at a desired speed and a backward movement of the ERTG crane at a desired speed. The steering motion includes a steering motion of the ERTG crane in a right direction at a desired angle and a steering motion of the ERTG crane in a left direction at a desired angle.
The electronic control box 105 is coupled to a gradient surface detection sensors 111 to receive a sensor-based feedback when the ERTG crane is detected to be traveling or steering on a surface having more than a specified gradient so as to restrict the unsafe operation of the ERTG crane on the detected gradient surface. This will ensure the safety of operations in the field with gradient.
The electronic control box 105 is coupled to a tire pressure monitoring sensors (TPMS) 109 to receive an alert when the air pressure in any one of the wheels is below a specified limit. When the alert is received from the TPMS 109, the electronic control box will not allow the control unit to perform the one or more control operations of the ERTG crane. This will ensure the safety of operations in the field. The tire pressure monitoring sensors (TPMS) 109 are mounted on each of the wheels.
Figure 4 illustrates a method 400 for operating an electric rubber tyred gantry (ERTG) crane 100 as shown in accordance with an embodiment of the present disclosure. The order in which the method 400 is described is not intended to be construed as a limitation, and any number of the described method steps can be combined in any appropriate order to carry out the method 400 or an alternative method. Additionally, individual steps may be deleted from the method 400 without departing from the scope of the subject matter described herein. The method for operating the electric rubber tyred gantry (ERTG) crane 100, includes steps of:
At step 401: the method 400 includes receiving, by a radio receiver unit 110, an input signal from an operator through a remote controller 120 over a communication network.
At step 402: the method 400 includes communicatively coupling the radio receiver unit 110 with an electric control box 105 to receive input signal from the radio receiver unit 110 and convert it into a control input.
At step 403: the method 400 includes continuously receiving, by an input unit, sensed signals, with regards to wheels 180 real-time speed and angle position, from drive sensors 140A, 140B of travel drives 130A, 130B mounted on the wheels 180 and steering feedback sensors 160A, 160B of steering drives 150A, 150B is mounted on the wheels 180.
At step 404: the method 400 includes comparing, by a comparison unit, the control input received from the remote controller 120 and the sensed signal received from the travel drive sensors 140A, 140B and the steering feedback sensors 160A, 160B.
At step 405: the method 400 includes generating, by a control unit, control signals for the travel drives 130A, 130B or the steering drives 150A, 150B on the basis of the comparison, so as to operate one or more control operations of the ERTG crane 100, where the one or more control operations include simultaneous and synchronous operation of travel and steering motion of the ERTG crane 100.
The foregoing description of the embodiments has been provided for purposes of illustration and is not intended to limit the scope of the present disclosure. Individual components of a particular embodiment are generally not limited to that particular embodiment, but, are interchangeable. Such variations are not to be regarded as a departure from the present disclosure, and all such modifications are considered to be within the scope of the present disclosure.
TECHNICAL ADVANCEMENTS
The present disclosure described hereinabove has several technical advantages including, but not limited to, a control system for a gantry crane, that:
• has better efficiency due to the elimination of the fluid-operated system;
• facilitates improved overall power and control;
• is environmentally friendly due to no oil leakage;
• is safe due to the elimination of the hydraulic control system & considering additional safety devices;
• facilitates synchronization control which eliminates the wear and tear of the tyres and other major components of the crane;
• facilitates precise control of the crane; and
• posiiblity to synchronize multiple ERTG with accuracy.
The foregoing disclosure has been described with reference to the accompanying embodiments which do not limit the scope and ambit of the disclosure. The description provided is purely by way of example and illustration.
The embodiments herein and the various features and advantageous details thereof are explained with reference to the non-limiting embodiments in the following description.
Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
The foregoing description of the specific embodiments so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the embodiments as described herein.
The use of the expression “at least” or “at least one” suggests the use of one or more elements or ingredients or quantities, as the use may be in the embodiment of the disclosure to achieve one or more of the desired objects or results.
Any discussion of devices, articles or the like that has been included in this specification is solely for the purpose of providing a context for the disclosure. It is not to be taken as an admission that any or all of these matters form a part of the prior art base or were common general knowledge in the field relevant to the disclosure as it existed anywhere before the priority date of this application.
The numerical values mentioned for the various physical parameters, dimensions or quantities are only approximations and it is envisaged that the values higher/lower than the numerical values assigned to the parameters, dimensions or quantities fall within the scope of the disclosure, unless there is a statement in the specification specific to the contrary.
While considerable emphasis has been placed herein on the components and component parts of the preferred embodiments, it will be appreciated that many embodiments can be made and that many changes can be made in the preferred embodiments without departing from the principles of the disclosure. These and other changes in the preferred embodiment as well as other embodiments of the disclosure will be apparent to those skilled in the art from the disclosure herein, whereby it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the disclosure and not as a limitation.
,CLAIMS:WE CLAIM:
1. A control system for operating an electric rubber tyred gantry (ERTG) crane (100), comprising:
a radio receiver unit (110) to receive an input signal from an operator through a remote controller (120) over a communication network; and
an electric control box (105) communicatively coupled to said radio receiver unit (110) to receive the input signal from said radio receiver unit (110) and convert it into a control input, wherein said electric control box (105) includes:
a memory configured to store a set of executable instructions; and
a processor coupled to the memory to retrieve and execute the set of executable instructions for operating one or more control operations of the ERTG crane (100); wherein said processor includes:
i. an input unit, communicatively coupled to travel drive sensors (140A, 140B) of travel drives (130A, 130B) mounted on drive shaft steering feedback sensors (160A, 160B) of steering drives (150A, 150B) mounted on wheels (180), to continuously receive sensed signals from said travel drive sensors (140A, 140B) and said steering feedback sensors (160A, 160B) with regards to said wheels (180) real-time speed and angle position;
ii. a comparison unit to compare the control input received from said remote controller (120) and the sensed signal received from said travel drive sensors (140A, 140B) and said steering feedback sensors (160A, 160B); and
iii. a control unit to generate control signals for said travel drives (130A, 130B) or said steering drives (150A, 150B) on the basis of the comparison, so as to operate one or more control operations of the ERTG crane (100), wherein the one or more control operations include simultaneous and synchronous operation of travel and steering motion of the ERTG crane (100).
2. The control system as claimed in claim 1, wherein the travel motion includes a forward movement of the ERTG crane at a desired speed and a backward movement of the ERTG crane at a desired speed.
3. The control system as claimed in claim 1, wherein the steering motion includes a steering motion of the ERTG crane in a right direction at a desired angle and a steering motion of the ERTG crane in a left direction at a desired angle.
4. The control system as claimed in claim 1, wherein said electronic control box (105) is electrically connected to said travel drives (130A, 130B), said travel drive sensors (140A, 140B), said steering drives (150A, 150B), and said steering feedback sensors (160A, 160B).
5. The control system as claimed in claim 1, wherein said travel drive sensors (140A, 140B) are configured to sense the real-time speed at which said travel drives (130A, 130B) are rotating.
6. The control system as claimed in claim 1, wherein said travel drive sensors (140A, 140B) include a first travel drive sensor (140A) mounted on a drive shaft of a first travel drive (130A) and a second travel drive sensor (130B) mounted on a drive shaft of a second travel drive (130B).
7. The control system as claimed in claim 1, wherein said steering feedback sensors include a first steering feedback sensor (160A) configured to sense a left wheel’s (180A) real-time angular position, and a second steering feedback sensor (160B) configured to sense a right wheel’s (180B) real-time angular position.
8. The control system as claimed in claim 1, wherein said travel drives (130A, 130B) are mounted on the wheels (180) and are configured to move the ERTG crane (100) in the forward or backward direction.
9. The control system as claimed in claim 8, wherein said travel drives (130A, 130B) include at least two travel drives (130A, 130B) mounted on at least two wheels (180).
10. The control system as claimed in claim 8, wherein said travel drives (130A, 130B) include a first travel drive (130A) mounted on a left wheel (180A) and a second travel drive (130B) mounted on a right wheel (180B).
11. The control system as claimed in claim 10, wherein said first travel drive (130A) and said second travel drive (130B) are mounted on front wheels (180A, 180B).
12. The control system as claimed in claim 1, wherein said steering drives (150A, 150B) are mounted on said wheels (180) and are configured to steer the ERTG (100) in the right or the left direction.
13. The control system as claimed in claim 12, wherein said steering drives (150A, 150B) include at least two steering drives (150A, 150B) mounted on at least two wheels (180).
14. The control system as claimed in claim 12, wherein said steering drives (150A, 150B) include a first steering drive (150A) mounted on a left wheel (180A) and a second steering drive (150B) mounted on a right wheel (180B).
15. The control system as claimed in claim 14, wherein said first steering drive (150A) and said second steering drive (150B) are mounted on the front wheels (180A, 180B).
16. The control system as claimed in claim 1, wherein said remote controller (120) includes a plurality of operating means (190A, 190B) that are configured to generate said input signal for controlling the one or more control operations of the ERTG crane (100), and wherein said plurality of operating means (190A, 190B) are a combination of the push-type buttons and/or the joystick.
17. The control system as claimed in claim 16, wherein said plurality of operating means 190A, 190B are used to generate the input signal for controlling the steering and the forward and backward travel of the ERTG crane (100).
18. The control system as claimed in claim 1, wherein the electronic control box (105) is coupled to a gradient surface detection sensors 111 to receive a sensor-based feedback when the ERTG crane (100) is detected to be traveling or steering on a surface having more than a specified gradient so as to restrict the unsafe operation of the ERTG crane (100) on the detected gradient surface.
19. The control system as claimed in claim 1, wherein the electronic control box (105) is coupled to a tire pressure monitoring sensors (TPMS) (109) to receive an alert when the air pressure in any one of the wheels is below a specified limit, so as to restrict the unsafe operation of the ERTG crane (100) upon receipt of the alert.
20. A method (400) for operating an electric rubber tyred gantry (ERTG) crane (100), comprising:
receiving, by a radio receiver unit (110), an input signal from an operator through a remote controller (120) over a communication network;
communicatively coupling said radio receiver unit (110) with an electric control box (105) to receive the input signal from said radio receiver unit (110) and convert it into a control input;
continuously receiving, by an input unit, sensed signals, with regards to wheels (180) real-time speed and angle position, from drive sensors (140A, 140B) of travel drives (130A, 130B) mounted on said wheels (180) and steering feedback sensors (160A, 160B) of steering drives (150A, 150B) mounted on said wheels (180);
comparing, by a comparison unit, the control input received from said remote controller (120) and the sensed signal received from said travel drive sensors (140A, 140B) and said steering feedback sensors (160A, 160B); and
generating, by a control unit, control signals for said travel drives (130A, 130B) or said steering drives (150A, 150B) on the basis of the comparison, so as to operate one or more control operations of the ERTG crane (100), wherein the one or more control operations include simultaneous and synchronous operation of travel and steering motion of the ERTG crane (100).

Dated this 22nd day of April, 2023

_______________________________
MOHAN RAJKUMAR DEWAN, IN/PA – 25
of R.K.DEWAN & CO.
Authorized Agent of Applicant

TO,
THE CONTROLLER OF PATENTS
THE PATENT OFFICE, AT MUMBAI