Method for changing a vertical lifting state

Abstract

The invention relates to a method for changing the vertical lifting state of a carrier vehicle (8) parked on the ground (10) for a lifting device (9), having a support system (7) with support legs (1, 2, 3, 4) and a controller (5) for actuating a drive of the support legs (1, 2, 3, 4), according to the invention, a sequence of control commands for the sequential and time-limited actuation of the drive is calculated in order to change the vertical lifting state while maintaining the current inclination angle (alpha) of the carrier vehicle (8) and / or the lifting device (9) within a predeterminable or predeterminable range ([delta] alpha) for the inclination angle deviation, and in at least one lifting method step (i i), the control commands are controlled by the control commands in order to control the drive in a sequential and time-limited manner in order to change the vertical lifting state while maintaining the current inclination angle (alpha) of the carrier vehicle (8) and / or the lifting device (9) within the predeterminable range ([delta] alpha). The drives of the support legs (1, 2, 3, 4) of the support system (7) are controlled by means of a sequence of control commands in order to change the vertical lifting state of the carrier vehicle (8) and / or the lifting device (9) relative to the ground (10), the drives of the support legs (1, 2, 3, 4) of the support system (7) being controlled by means of the sequence of control commands with control pulses (s1, s2, s3) in a sequential and temporally limited manner.

Description

Technical Field

[0001] The invention relates to a method for changing the vertical lifting state (Aushebezustand) of a transport vehicle parked on the ground and used for a lifting device and having a support system according to the preamble of claim 1, a computer program product for implementing such a method, a controller for a support system for executing such a method and a vehicle with such a controller. Background Art

[0002] It is known in the prior art that a transport vehicle is supported on the ground using a support system, for example to increase the stability of the transport vehicle. The support is usually achieved via support legs that are adjustable in their longitudinal extension, which can be supported on the ground and can influence the inclination and lifting state of the transport vehicle by changing the longitudinal extension. The inclination of the transport vehicle and / or the lifting device relative to a predetermined or predeterminable spatial direction and / or spatial plane can be detected using an inclination sensor.

[0003] Devices for changing the vertical lifting state in the form of hydraulically actuable support systems are known in the prior art. For the controlled change of the vertical lifting state, the systems used in lifting devices, such as lifting platforms, have a pressure balance for controlling the volume flow for the hydraulic drives. In this way, when a plurality of drives of the support legs are actuated simultaneously, the same volume flow can be distributed to the individual drives independently of the different loads of the support legs. This allows synchronous and homogeneous retraction and extension of the support legs.

[0004] The disadvantage of devices for changing the vertical lifting state when using a pressure balance is the high complexity of the hydraulic system associated therewith. Additional pressure valves, measuring devices for the pressure present at the valves and proportional or regulating valves for controlling the volume flow increase the susceptibility to failure and the maintenance effort of such hydraulic systems. Summary of the invention

[0005] The object of the present invention is to provide a method for changing the vertical lifting state of a carrier vehicle for a lifting device which is improved compared to the prior art.

[0006] This object is achieved by a method according to claim 1 , a computer program product for carrying out such a method and a control unit designed to execute such a method.

[0007] Advantageous embodiments are defined in the dependent claims.

[0008] The method is used to change the vertical lifting state of a carrier vehicle with a support system for a lifting device on the ground. The support system can, for example, achieve an increase in the stability of the carrier vehicle and raise the carrier vehicle relative to the ground or lower the carrier vehicle relative to the ground. It should not be excluded that the carrier vehicle with the support system for the lifting device can be aligned relative to a predetermined or predeterminable spatial direction and / or spatial plane.

[0009] The predetermined or predefinable spatial plane can be, for example, a horizontal plane.

[0010] The vertical lift state of a carrier vehicle for a lifting device can relate to a vertical distance, measured in particular in the vertical direction, of a frame (sometimes referred to as chassis) of the carrier vehicle or a reference point on the frame relative to the surface of the ground used for support. The vertical lift state, measured in particular in the vertical direction, can also relate to a lifting device arranged on the carrier vehicle, for example a lifting base or a lifting column of the lifting device.

[0011] The detected inclination angle can be, for example, the angle of a substantially vertically extending pivot axis of a lifting mast of the lifting device relative to a horizontal plane, a spatial plane or a spatial direction.

[0012] In the parked state, an at least approximately right-angled alignment of the pivot axis of the mast relative to the horizontal can be aimed at.

[0013] In particular, an inclination angle with respect to the horizontal of between 0° and 3° can be aimed at with respect to the horizontal.

[0014] The support is usually provided via support legs which are adjustable in their longitudinal extension, which can rest on the ground and by varying the longitudinal extension can influence the vertical lift and the inclination of the transport vehicle and / or the lifting device.

[0015] The current inclination angle can in principle be understood to mean the inclination angle of the transport vehicle and / or the lifting device which is present at the moment, ie at the time when the method step is carried out.

[0016] The existing inclination angle of the carrier vehicle and / or the lifting device can be present due to parking on sloping ground. The existing inclination angle can also depend on the load of the carrier vehicle or the load of the lifting device arranged on the carrier vehicle.

[0017] The support system can be connected to the vehicle frame. If the carrier vehicle has a lifting device, the support system can be connected to the lifting device. The lifting device itself can also have support legs.

[0018] The support system can have two or more support legs. The support legs can be arranged at different positions relative to the carrier vehicle or the lifting device.

[0019] In particular, the support system can have four support legs, which can be part of a so-called H-support (H-shaped arrangement of support legs) or an X-support (X-shaped arrangement, also called star support).

[0020] The support system can have a controller for controlling the drive of the support leg with control commands. For example, the support leg can have a drive in the form of a hydraulic cylinder for retracting and / or extending the support leg, and the controller can control a magnetically actuatable control valve of the hydraulic cylinder with control pulses. Corresponding control of an electric drive should not be excluded.

[0021] The controller can have a user interface. In general, the user interface of the controller can be implemented as an operating element of the controller, for example as a lever, button or field on a touch-sensitive display, in particular on a mobile remote control of the controller of the lifting device. In general, the user interface of the controller can be designed as an interface for data exchange.

[0022] The control instructions for the drive can be generated by a user by giving an operating instruction via a user interface of the controller. Such an operating instruction can also trigger the execution of the method.

[0023] In the method, control commands can be generated and output to the drive at least partially automatically.

[0024] It should not be excluded that the support system has a horizontally adjustable support arm, on which the support legs are arranged. It should also not be excluded that the controller is designed as a drive for actuating the support arm with control commands.

[0025] The support system can have at least one inclination sensor for detecting an inclination of the transport vehicle and / or the lifting device relative to at least one predetermined or predeterminable spatial direction and / or spatial plane.

[0026] For example, the inclination of the transport vehicle and / or the lifting device relative to two spatial directions can be detected.

[0027] In particular, the inclination in two spatial directions relative to the horizontal plane of the deployment can be detected.

[0028] For example, the inclination angle about the transverse axis and / or the longitudinal axis of the transport vehicle can be detected, for example with respect to the frame of the transport vehicle. The detected inclination angle can, for example, relate to the horizontal alignment of the transport vehicle.

[0029] For example, an inclination of a lifting device, in particular a lifting column of the lifting device, which is arranged on the transport vehicle, relative to at least one spatial direction in a horizontal and / or vertical plane can be detected.

[0030] The detected inclination can be, for example, the angle of the substantially vertically extending pivot axis of the lifting column of the lifting device relative to a horizontal plane, spatial plane or spatial direction. For alignment, an at least approximately right angle of the pivot axis of the lifting column relative to the horizontal can be aimed for.

[0031] The support system can have at least one distance sensor for detecting the distance of the carrier vehicle and / or the lifting device relative to the ground used for the support, thereby enabling the vertical lifting state to be characterized. The distance sensor can be designed in the form of a distance measuring device or a device for measuring the travel time of a signal, such as an optical, generally electromagnetic or acoustic distance meter.

[0032] The detected inclination angle and / or the detected spacing can be provided to the controller and taken into account in the calculation.

[0033] In the method, a sequence of control commands for sequentially and temporally limited actuation of individual drives of support legs of a support system can be calculated in at least one calculation method step.

[0034] The control commands can be calculated if it is desired to change the vertical lifting state of the vehicle by means of the support system, substantially while maintaining the current inclination of the vehicle and / or the lifting device, i.e., for example, the inclination currently prevailing during the execution of the method steps. The inclination of the vehicle can be varied within a predeterminable or predefined range for inclination deviations, but remain substantially the same when the vertical lifting state of the vehicle is changed.

[0035] The control commands can be calculated in such a way that, by implementing the control commands, the lifting and / or lowering of the transport vehicle and, if applicable, the lifting device arranged thereon can be achieved to a certain extent, wherein during the lifting and / or lowering, the current inclination angle of the transport vehicle and, if applicable, the lifting device arranged thereon only changes within a predeterminable or predefined range for the inclination angle deviation.

[0036] The inclination angle of the transport vehicle and / or the lifting device which is present immediately before or during the execution of a calculation method step can be understood as the current inclination angle of the transport vehicle and / or the lifting device.

[0037] In at least one lifting method step, the drives of the support legs of the support system can in principle be controlled to change the vertical lifting state of the transport vehicle and / or the lifting device. When carrying out the lifting method step, the vertical lifting state of the transport vehicle and / or the lifting device can be at least partially reduced or increased.

[0038] When the drives of the supporting legs of the supporting system are actuated with a sequence of control commands, the individual drives of the supporting legs of the supporting system can be actuated sequentially and in a time-limited manner with control pulses.

[0039] The individual drives of the support legs can be activated substantially temporally separately from one another in a sequence or order.

[0040] The drive can be controlled using control pulses which are output sequentially by the controller and are limited in time.

[0041] The drive of the supporting leg can in principle be activated for the temporal duration of a control pulse.

[0042] By means of the method, the change of the lifting state of a carrier vehicle with a support system parked on the ground for a lifting device can be broken down into a sequential sequence of multiple control pulses, each with a limited duration, rather than a clocked, i.e., time-determined, continuous and, if possible, simultaneous, control of the support legs.

[0043] By controlling the drive with control pulses which are sequentially output by the controller and which are limited in time, the vertical lifting state of the transport vehicle and / or the lifting device can be incrementally reduced or increased.

[0044] In the calculation method step, a sequence of control commands can advantageously be calculated based on at least one parameter of the support system.

[0045] Here, at least one inclination sensor of the support system for detecting the inclination of the carrier vehicle and / or the lifting device relative to at least one predetermined or predeterminable spatial direction and / or spatial plane can be used to detect the current inclination as a parameter of the support system. Thus, the current inclination, i.e., the inclination immediately before or during the execution of a method step, can be detected using at least one inclination sensor of the support system.

[0046] Therefore, in a calculation method step, a sequence of control instructions can be calculated based on the currently detected inclination angle of the transport vehicle and / or the lifting device, wherein the sequence of control instructions can be calculated accordingly in order to change the vertical lifting state while maintaining the currently detected inclination angle of the transport vehicle and / or the lifting device relative to at least one preset or preset spatial direction and / or spatial plane within a preset or preset range for the inclination deviation.

[0047] Alternatively or in combination, at least one parameter of the drive of the support leg can be preset or pre-settable as a parameter of the support system. The parameters of the drive of the support leg can be preset via a user interface of the controller, for example by a user during commissioning and / or at a factory when assembling the lifting device and / or a transport vehicle with the lifting device.

[0048] Therefore, in the calculation method step, the sequence of control commands can be calculated based on the parameters of the drive of the supporting leg. In this case, the measurement-technical detection of the current inclination angle may not necessarily be necessary.

[0049] Advantageously, the presetting of at least one parameter of the support system enables the calculation of a sequence of control commands which, when executed in the lifting method step, lead to essentially the same change in the longitudinal extension of all actuated drives of the support legs. This makes it possible to maintain the current inclination angle within a predeterminable or predefined range for inclination angle deviations.

[0050] The change in the longitudinal extension of all actuated drives of the supporting leg can be within a predefined or predefined tolerance range. The tolerance range for the change in the longitudinal extension can correspond to a predefined or predefined range for the associated deviation in inclination.

[0051] By actuating the associated drives with correspondingly calculated control pulses, a change in the longitudinal extension of the individual supporting legs can result in an inclination deviation within a range that is predefined or predefinable for the associated inclination deviation.

[0052] The change in the longitudinal extension of the individual supporting legs caused by actuating the associated drives with correspondingly calculated control pulses can be in the range of 1 mm to 150 mm, preferably in the range of 1 mm to 50 mm.

[0053] Overall, the change in the longitudinal extension caused by the sequence of control commands can be in the range of 1 cm to 100 cm. Larger changes in the longitudinal extension should not be excluded.

[0054] In general, parameters of the support system (which can be provided to the controller and included in the calculation of the sequence of control instructions) can include:

[0055] - parameters of the drive of the support leg, such as stroke rate (Hubrate), piston diameter, piston area, pump power and / or electrical power if applicable, taking into account the use of return oil, and / or

[0056] - geometrical parameters of the support leg, such as the main or possible longitudinal extension or the length of the cantilever of the support leg with the support system and / or

[0057] - parameters of the position of the supporting legs and / or

[0058] - Number of supporting legs and / or

[0059] - the inclination of the carrier vehicle and / or the lifting device currently detected by means of at least one inclination sensor of the support system, and / or

[0060] - a pre-settable or pre-set range for inclination deviation,

[0061] - the pulse duration of the currently specified control pulse, for example calculated in a preceding calculation method step and / or

[0062] - the number and / or position of axles of the transport vehicle and / or

[0063] - the location of the lifting device arranged on the carrier vehicle and / or

[0064] - torsional and bending stiffness and / or twisting of the carrier vehicle,

[0065] - a predetermined or predeterminable spatial direction and / or spatial plane,

[0066] - the position, in particular the nominal position, of the centre of gravity of the transport vehicle and / or of the lifting device,

[0067] - the load acting on the supporting leg, preferably by detecting the hydraulic pressure in the drive of the supporting leg and / or by means of load sensors,

[0068] - parameters of the control of the drive of the support leg, such as control characteristics of hydraulic valves of the hydraulic supply system of the hydraulic drive and / or switching characteristics of the energy supply system of the electric drive,

[0069] The vertical distance of the transport vehicle and / or the lifting device relative to the ground used for the support, detected by at least one distance sensor of the support system.

[0070] In one embodiment of the method, in individual calculation method steps, sequences of control commands can be calculated, which are implemented in individual steps of the subsequent raising method step.

[0071] In a further embodiment of the method, a sequence of control commands for sequentially and temporally controlling the individual drives of the support legs of the support system in order to change the vertical lifting state can be calculated together in one calculation method step, wherein this can be part of an overall desired or required change for aligning the carrier vehicle and / or the lifting device. In such an embodiment of the method, the calculation method step and the lifting method step can be repeated in order to achieve the overall desired or predefined change.

[0072] In order to further change the vertical lifting state of the transport vehicle and / or the lifting device, the calculation method steps and the lifting method steps can be repeated in a loop, wherein in each repeated cycle a sequence of control instructions can be calculated to change the vertical lifting state while maintaining the current inclination angle within a preset or preset range for inclination angle deviation, and the sequence of control instructions can be implemented by controlling the drive.

[0073] Generally speaking, the drives of the supporting legs of the supporting system can be actuated until the vertically raised state of the transport vehicle and / or the lifting device reaches or falls below a predefined or predefined setpoint value.

[0074] The preset or predefinable setpoint value can be related, for example, to a vertical distance, in particular measured vertically, of a frame of a carrier vehicle or a lifting device or a reference point on the frame of a carrier vehicle or a lifting device relative to a surface and / or to a change in the longitudinal extension of the support leg and detected via corresponding sensors. The preset can be made by a user via a corresponding user interface of the controller.

[0075] The drives of the supporting legs of the supporting system can be actuated so long as, for example, a user via a user interface of the controller gives an operating command for changing the vertical lifting state, in other words an operating command for carrying out the method.

[0076] The vertically raised state of the carrier vehicle and / or the lifting device can be reduced or increased in part with each run-through of a cycle in which a repetition of the calculation method step and the lifting method step is performed.

[0077] During each cycle of operation, the inclination of the carrier vehicle and / or the lifting device can be detected by means of a supported inclination sensor and the corresponding deviation of the currently detected inclination to be maintained. The deviation of the currently detected inclination detected in a previous cycle operation, for example the first cycle operation, can be used as a reference. Thus, the currently detected inclination can be maintained within a range for the inclination deviation for a plurality of cycle operations.

[0078] In an advantageous embodiment of the method, a sequence of control commands for changing the vertical lifting state of the carrier vehicle and / or the lifting device can be calculated for all the drives of the supporting legs of the supporting system in the calculation method step, and in the subsequent lifting method step, all the drives of the supporting legs of the supporting system are controlled accordingly at least once using the sequence of control commands for changing the vertical lifting state of the carrier vehicle and / or the lifting device. As a result, a change in the lifting state can be achieved with a minimal change in the currently detected inclination angle. It can also be prevented that the supporting legs involved in the supporting are lifted off the ground.

[0079] The drives of the individual support legs can be actuated multiple times within a sequence.

[0080] The inclination of the carrier vehicle and / or the lifting device relative to the horizontal is advantageously detected by means of an inclination sensor of the support system. Advantageously, the lifting method step can only be performed if the inclination of the carrier vehicle and / or the lifting device detected in the calculation method step is in the range of 0° to 10°, preferably in the range of 0° to 5°, particularly preferably in the range of 0° to 3° relative to the horizontal. A range of 0° to 1° is likewise conceivable.

[0081] In the case of an inclination close to the horizontal as described above, the carrier vehicle and / or the lifting device is usually referred to as being leveled. In other words, advantageously only when the carrier vehicle and / or the lifting device is substantially leveled can the lifting method steps be performed.

[0082] In particular, the method can advantageously only be carried out when the transport vehicle and / or the lifting device are substantially in horizontal alignment.

[0083] An inclination angle suitable for performing the lifting method steps can be achieved, for example, by parking on substantially level ground or by leveling the carrier vehicle and / or the lifting device.

[0084] It should not be excluded that the transport vehicle and / or the lifting device is brought and / or has been brought to an inclination suitable for carrying out the lifting method step by the method for supporting the transport vehicle resting on the ground. In this case, in a suitable leveling calculation method step, a sequence of control instructions for sequentially and temporally actuating the individual drives of the support legs of the support system can be calculated based on the currently detected inclination of the transport vehicle and / or the lifting device, and in the leveling method step, the drives of the support legs of the support system are actuated using the sequence of control instructions in order to reduce the inclination of the transport vehicle and / or the lifting device relative to at least one predetermined or predeterminable spatial direction and / or spatial plane, wherein the individual drives of the support legs of the support system can be actuated sequentially and temporally actuated with control pulses using the sequence of control instructions.

[0085] In an advantageous embodiment of the method, the drives of the support legs of the support system can be actuated in the ground contact method step, for example, after the transport vehicle has stopped on the ground, using control commands, by which the support legs are brought into contact with the ground. The control commands for sequentially and time-limited actuation of the individual drives of the support legs of the support system can be calculated as a sequence of control commands based on the currently detected inclination angle of the transport vehicle and / or the lifting device.

[0086] The predeterminable or predefined range for the inclination deviation can be within a range of 0° to 10°, preferably within a range of 0° to 5°, particularly preferably within a range of 0° to 3°, relative to the horizontal.

[0087] In a loop, in a calculation method step following a previously executed lifting method step, a change in the inclination angle caused by a preceding lifting method step can be detected by means of at least one inclination sensor of the support system. It can be determined here whether the implementation of the control instructions during the lifting of the carrier vehicle and / or the lifting device has caused a corresponding change in the inclination angle. This can allow a conclusion to be drawn as to whether the controlled support legs are already in contact with the ground. The loss of ground contact of one or more support legs can represent an interruption condition for the execution of the method. It should not be excluded that the detection of a change in the inclination angle can allow the determination of the torsional and bending stiffness and / or the twist of the carrier vehicle.

[0088] In an advantageous embodiment of the method, the individual drives of the support legs of the support system can be controlled in a time-limited manner using a sequence of control commands with control pulses having a variable pulse duration. The variable pulse duration allows different parameters of the support system to be taken into account.

[0089] Advantageously, the variable pulse duration allows calculation of a sequence of control commands which, when carried out in the lifting method step, results in essentially the same change in the longitudinal extension of all actuated supporting legs, possibly within a tolerance range.

[0090] By actuating the associated drives with control pulses having a correspondingly calculated pulse duration to change the longitudinal extension of the individual supporting legs, an inclination deviation can be brought about within a range that is predefined or predefinable for the associated inclination deviation.

[0091] Advantageously, a scaling of the pulse duration of the control pulses can be performed, wherein the duration of the control pulses in the sequence can be scaled to a desired maximum or minimum pulse duration based on the selected pulse duration of the control pulses.

[0092] The pulse duration of the control pulse can advantageously be 0.05 seconds to 3.50 seconds. Preferably, the pulse duration of the control pulse can be 0.25 seconds to 1.5 seconds. It is conceivable that the pulse duration of the control pulse is 0.25 to 0.50.

[0093] The change in the pulse duration and, if applicable, the duration of the overlap of successive control pulses can in principle be determined by:

[0094] - parameters of the drive of the support leg, such as stroke rate, piston diameter or, if applicable, pump power taking into account return oil utilization and / or

[0095] - parameters of the geometric structure of the support leg, such as the main or possible longitudinal extension or the length of the cantilever of the support leg with the support system and / or

[0096] - parameters of the position of the supporting legs and / or

[0097] - Number of supporting legs and / or

[0098] - the currently measured inclination angle of the transport vehicle and / or the lifting device, and / or

[0099] - a pre-settable or pre-set range for inclination deviation,

[0100] - a currently predefined pulse duration, for example calculated in a preceding calculation method step and / or

[0101] - the number and / or position of axles of the transport vehicle and / or

[0102] - the location of the lifting device arranged on the carrier vehicle and / or

[0103] - torsional and bending stiffness and / or twisting of the carrier vehicle and / or

[0104] - a predetermined or predeterminable spatial direction and / or spatial plane and / or

[0105] - the position of the centre of gravity of the carrying vehicle and / or the lifting gear and / or

[0106] - by detecting the hydraulic pressure in the drive of the support leg and / or the load acting on the support leg detected by a load sensor and / or

[0107] - parameters of the control of the drive of the support leg, such as the control characteristics of the hydraulic valves of the hydraulic supply system of the hydraulic drive or the switching characteristics of the energy supply system of the electric drive,

[0108] The vertical distance of the transport vehicle and / or the lifting device relative to the ground used for the support is detected by at least one distance sensor of the support system.

[0109] In an advantageous embodiment of the method, the drives of the individual support legs of the support system can be actuated with a sequence of control commands in a predeterminable or predefined order. In this case, specific support legs of the support system can preferably be actuated.

[0110] The preferred control can be carried out, for example, in order to keep deviations from the inclination angle to be maintained small or in order to take into account the torsional and bending stiffness of the transport vehicle.

[0111] The preferred manipulation can include the selection or weighting of individual or multiple support legs.

[0112] In an advantageous embodiment of the method, the longitudinal extension of the support legs can be increased and / or decreased during the lifting method step when the drives of the support legs of the support system are actuated. The support system can thus both lift the transport vehicle away from the ground and lower it towards the ground.

[0113] In an advantageous embodiment of the method, the individual drives of the support legs of the support system can be actuated with a sequence of control commands with control pulses having a limited, predetermined or predeterminable temporal overlap between successive control pulses. In this case, in the sequence of control commands, successive control pulses can be output simultaneously by the controller over subsections.

[0114] The overlap of the control pulses can be calculated in a calculation method step.

[0115] Thus, for example, the activation of a drive of a supporting leg can be initiated for the duration of a control pulse by an output caused by the controller and activation of the drive of the next supporting leg can already be started according to the calculated sequence before the running control pulse ends.

[0116] The time-limited, predefined or predefinable duration of the overlap determines the duration of the simultaneous activation of the drives of the supporting legs over a subsection.

[0117] The overlap between successive control pulses allows a substantially smooth alignment of the vehicle. Vibrations that occur due to sudden switching on and off of the drive of the support legs can be reduced.

[0118] Advantageously, up to two drives can be actuated simultaneously within the overlap between successive control pulses.

[0119] The duration of the overlap between successive control pulses output by the controller can generally be between 0.01 seconds and 0.5 seconds. Preferably, the duration of the overlap can be between 0.01 seconds and 0.1 seconds.

[0120] In an advantageous embodiment of the method, the inclination of the transport vehicle and / or the lifting device relative to at least one preset or presettable spatial direction and / or spatial plane can be continuously detected in a monitoring method step after changing the vertical lifting state of the transport vehicle and / or the lifting device, i.e., for example after going through the calculation method step and the lifting method step once or multiple times.

[0121] If, for example, a lifting device arranged on a transport vehicle is used in operation after supporting and lifting the transport vehicle, or if, for example, the load of the transport vehicle is changed, an undesired change in the inclination angle of the transport vehicle and / or the lifting device may occur due to the load occurring and / or a change in the ground surface used for support. Such changes can be detected and determined by continuous detection of the inclination angle.

[0122] In this case, when a preset or predeterminable deviation of the detected inclination is reached or exceeded, but independently of the value of the detected inclination, in order to minimize the inclination of the vehicle and / or the lifting device, at least one leveling calculation method step is carried out, a sequence of control commands can be calculated based on the currently detected inclination of the vehicle and / or the lifting device for sequentially and time-limited actuation of the individual drives of the support legs of the support system, and in the leveling method step, the drives of the support legs of the support system are actuated with the sequence of control commands in order to reduce the inclination of the vehicle and / or the lifting device relative to at least one preset or predeterminable spatial direction and / or spatial plane, wherein the individual drives of the support legs of the support system can be actuated sequentially and time-limited with control pulses with the sequence of control commands. Thus, the inclination can be brought back, for example, to a preset or predeterminable range for inclination deviations relative to the horizontal, which range is within 0° to 10°, preferably within 0° to 5°, particularly preferably within 0° to 3°.

[0123] With the angle of inclination minimized, the currently existing lifting state can be substantially maintained, if possible within a preset or predefinable tolerance range for the lifting state.

[0124] The minimization of the inclination angle can be carried out automatically by the control or by corresponding verification, or by a targeted selection by the user.

[0125] Protection is also claimed for a computer program product comprising instructions from a storage unit which is in a data connection with a computing unit or can be brought into such a data connection, which instructions, when executed by the computing unit, cause the computing unit to carry out the method as described above.

[0126] The instructions of the computer program product can be stored, for example, in at least one memory unit of the controller and executed by at least one computing unit of the controller.

[0127] Also claimed is a controller for a support system, the controller being configured for performing the method as described above.

[0128] The control unit can in principle have at least one computing unit and at least one memory unit. The computing unit can be in a data connection with the memory unit or can be connected to such a data connection.

[0129] In a calculation operating mode, a controller can calculate a sequence of control commands for sequentially and time-limited actuation of the individual drives of the support legs of the support system in order to change the vertical lifting state while maintaining the current inclination angle within a predeterminable or preset range for inclination angle deviations.

[0130] The calculation can be performed, for example, by a computing unit of the controller, and the calculated control instructions can be stored in a storage unit of the controller.

[0131] In the control operation mode of the controller, the drives of the support legs of the support system can be controlled by a sequence of control instructions to change the vertical lifting state of the carrier vehicle and / or the lifting device relative to the ground, wherein the sequence of control instructions can be used to control the drives of the support legs of the support system sequentially and time-limited by control pulses.

[0132] In this case, the control commands stored in a memory unit of the control unit can be outputted by the control unit in accordance with the sequence.

[0133] The control commands can be output by the controller, for example, to controllable valves of a hydraulic system of the lifting device, wherein the controllable valves can control the supply of a hydraulic drive of the supporting system.

[0134] The controller can have a user interface for the user, which can generally be implemented as an operating element of the controller, for example as a lever, button or area on a touch-sensitive display, in particular on a mobile remote control of the controller of the lifting device, and which can generally be suitable for exchanging data with the controller. The controller can be arranged at least partially on the lifting device or can be arranged on the lifting device.

[0135] Protection is also claimed for a vehicle, in particular a transport vehicle, with a lifting device, with a support system as described above, and a control for the support system as described above. The lifting device can generally be designed as a crane, in particular as an articulated jib crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0136] Embodiments of the present invention are discussed with reference to the accompanying drawings. In the drawings:

[0137] Figure 1 The process of one embodiment of the method is schematically shown.

[0138] Figure 2 The process of another embodiment of the method is schematically shown.

[0139] Figure 3 A side view of an embodiment of a delivery vehicle parked on a sloping ground is shown,

[0140] Figure 4a and Figure 4b A side view of an embodiment of a vehicle parked, leveled and lifted on sloping ground is shown,

[0141] Figure 5 A top view of an embodiment of a carrier vehicle is shown,

[0142] Figure 6 A schematic diagram showing a top view of an embodiment of a carrier vehicle,

[0143] Figure 7 A schematic diagram showing a lifting device with an embodiment of a support system,

[0144] Figure 8 A perspective view showing an embodiment of a carrier vehicle is shown,

[0145] Figures 9a to 9d A schematic diagram showing the change of the vertical lifting state is shown, and

[0146] Fig.10a and Fig.10b A schematic diagram of three successive control pulses is shown in each case. DETAILED DESCRIPTION

[0147] With regard to the embodiment of the carrier vehicle 8 with the support system 7 shown in the above-listed figures, Figure 1 The embodiment of the method for changing the vertical lifting state of a carrier vehicle 8 with a support system 7 for a lifting device 9 parked on the ground 10 is illustrated. The support system 7 as presented comprises

[0148] - support legs 1, 2, 3, 4 vertically adjustable in their longitudinal extension for support on the ground 10, and

[0149] - a controller 5 for controlling the actuators of the supporting legs 1, 2, 3, 4 using control instructions, and

[0150] Advantageously at least one inclination sensor 6 for detecting an inclination α of the transport vehicle 8 and / or the lifting device 9 relative to at least one predetermined or predeterminable spatial direction and / or spatial plane.

[0151] In at least one calculation method step i, a sequence of control instructions can be calculated for sequentially and time-limitedly controlling the individual drives of the support legs 1, 2, 3, 4 of the support system 7 in order to change the vertical lifting state while maintaining the current inclination angle α within a predeterminable or preset range Δα for the inclination angle deviation.

[0152] In at least one subsequent lifting method step ii, the drives of the supporting legs 1, 2, 3, 4 of the supporting system 7 can be controlled by means of a sequence of control commands for changing the vertical lifting state of the carrier vehicle 8 and / or the lifting device 9 relative to the ground 10, wherein the sequence of control commands can be used to control the control pulses s1, s2, s3 (see Fig.10a and Fig.10b ) sequentially and time-limitedly actuate the individual drives of the support legs 1 , 2 , 3 , 4 of the support system 7 .

[0153] In step i of the calculation method, a sequence of control instructions can be calculated based on at least one parameter of the support system 7, wherein at least one inclination sensor 6 of the support system 7 can detect the current inclination angle α as a parameter of the support system 7, and in step i of the calculation method, the sequence of control instructions is calculated based on the currently detected inclination angle α of the transport vehicle 8 and / or the lifting device 9.

[0154] Alternatively or in combination, at least one parameter of the drive of the supporting legs 1, 2, 3, 4 can be preset or presettable as a parameter of the supporting system 7, for example via the user interface 21, and in step i of the calculation method, a sequence of control instructions is calculated based on the parameters of the drive of the supporting legs 1, 2, 3, 4.

[0155] In general, parameters of the support system 7 that can be provided to the controller 6 and included in the calculation of the sequence of control instructions can include:

[0156] - parameters of the drives of the support legs 1, 2, 3, 4, such as stroke rate, piston diameter, piston area, pump power and / or electrical power and / or

[0157] - parameters of the geometry of the supporting legs 1, 2, 3, 4, such as the main or possible longitudinal extension x11, x12, x13, x21, x22, or the length of the cantilever of the supporting legs 1, 2, 3, 4 with the supporting system 7 and / or

[0158] - parameters of the position of the supporting legs 1, 2, 3, 4 and / or

[0159] - the number of supporting legs 1, 2, 3, 4 and / or

[0160] - the inclination angle α of the carrier vehicle 8 and / or the lifting device 9 currently detected by means of at least one inclination sensor 6 of the support system 7, and / or

[0161] - a predeterminable or predefined range Δα for the inclination deviation and / or

[0162] - the currently specified pulse duration t1, t2, t3 of the control pulses s1, s2, s3, for example calculated in a preceding calculation method step i, and / or

[0163] - the number and / or position of the axles of the transport vehicle 8 and / or

[0164] - the position of the lifting device 9 arranged on the carrier vehicle 8 and / or

[0165] - torsional and bending stiffness and / or twisting of the carrier vehicle 8 and / or

[0166] - a predetermined or predeterminable spatial direction H and / or a spatial plane and / or

[0167] - the position, in particular the nominal position, of the center of gravity of the transport vehicle 8 and / or the lifting device 9 and / or

[0168] - the load acting on the supporting legs 1, 2, 3, 4, preferably by detecting the hydraulic pressure in the drive of the supporting legs 1, 2, 3, 4 and / or by load sensors and / or

[0169] - parameters of the control of the drives of the support legs 1, 2, 3, 4, such as control characteristics of hydraulic valves of hydraulic supply devices of hydraulic drives or switching characteristics of energy supply devices of electric drives and / or

[0170] The vertical distance of the transport vehicle 8 and / or the lifting device 9 relative to the ground surface 10 used for the support, detected by at least one distance sensor of the support system 7 .

[0171] The control of the drives of the supporting legs 1, 2, 3, 4 of the supporting system 7 can be carried out for such a long time, for example in an optional cycle iii, which has a repetition of the calculation method step i and the lifting method step ii, i.e., until the vertical lifting state of the transport vehicle 8 and / or the lifting device 9 reaches or falls below a preset or predefined theoretical value, or as long as an operating instruction for changing the vertical lifting state is given by the user via the user interface of the controller 5.

[0172] In general, in loop iii, in a calculation method step i (which can follow a previously performed leveling method step ii), the change in the inclination angle α caused by the preceding leveling method step ii can be detected. The effect of the performed maneuvers can thus be evaluated.

[0173] As in a particularly preferred embodiment of the method, Figure 2 As schematically shown in the figure, after the vertical lifting state of the transport vehicle 8 and / or the lifting device 9 is changed (step i and step ii and optional step iii), the inclination angle α of the transport vehicle 8 and / or the lifting device 9 relative to at least one preset or predefined spatial direction and / or spatial plane can be continuously detected in the monitoring method step iv.

[0174] In this case, a predefined or predefinable range Δα of the inclination deviation for the detected inclination angle α can be reached or exceeded (see, for example, Figure 3 and Figure 9a ) repeatedly implement at least one calculation method step i and at least one improvement method step ii.

[0175] In order to maintain the inclination angle α of the transport vehicle 8 and / or the lifting device 9 within a preset or presettable range Δα for the inclination angle deviation, the leveling calculation method step v and the leveling method step vi can be performed in an optional loop vii until the detected inclination angle α of the transport vehicle 8 and / or the lifting device 9 is again within the preset or presettable range Δα for the inclination angle deviation.

[0176] Figure 3 A side view of an embodiment of a transport vehicle 8 is shown, which is parked on an inclined ground surface 10 (the angle of inclination in the illustration is, for example, 5°) and has a lifting device 9 arranged thereon in the form of an articulated jib crane. The ground surface 10 is inclined at an angle to the horizontal line H. The transport vehicle 8 parked on the inclined ground surface 10 is substantially oriented about the transverse axis y of the transport vehicle 8 (see Figure 6 ) is tilted by an inclination angle α, in this embodiment measured relative to the vehicle frame, relative to the horizontal line H. The inclination angle of the transport vehicle 8 about the longitudinal axis x can be specified similarly, but is not shown in this exemplary embodiment.

[0177] The carrier vehicle 8 in this embodiment has a support system with four support legs 1, 2, 3, 4 (partially covered, see also Figure 5 ), an inclination sensor 6 and a controller 5 which is arranged on the carrier vehicle 8 in this embodiment and is used to control the drives of the support legs 1, 2, 3, 4 using control commands.

[0178] For example, for safety reasons, it may be the case that a given current inclination angle α is not suitable for allowing the lifting method step ii to be performed, so that leveling of the vehicle may be necessary. For example, it may be provided that the currently detected inclination angle α of the transport vehicle 8 and / or the lifting device 9 is in the range of 0° to 3° relative to the horizontal line H. Such an exemplary range Δα of the inclination angle deviation for the current inclination angle α is in the range Figure 3 , are drawn on both sides of the horizontal line H. In the case of parking on a correspondingly non-inclined ground surface 10, leveling before carrying out the method can be omitted.

[0179] Figure 4a Shown in Figure 31 is a side view of an embodiment of a transport vehicle 8 parked on an inclined ground 10. The parked transport vehicle is aligned and thus leveled relative to the horizontal line H after being supported on the ground 10 via the supporting legs 1, 2, 3, 4. The inclination angle α relative to the horizontal line H is essentially 0° in this illustration.

[0180] Such an existing inclination angle α relative to the horizontal H can be suitable for carrying out the one lifting method step ii. of the method.

[0181] Unlike what is presented, the inclination angle can also relate to the angle of the essentially vertically extending swivel axis 15 of the lifting column of the lifting device 9 relative to the horizontal line H or to the vertical plane. Figure 4a An alternative or additional arrangement of the inclination sensor 6 is shown. For the purpose of alignment, an at least approximately right angle of the pivot axis 15 of the mast to the horizontal H can be aimed for.

[0182] Generally speaking, an alignment relative to a predetermined or predeterminable spatial direction and / or spatial plane may be possible.

[0183] Figure 4b Shows Figure 4a , a side view of a transport vehicle 8 parked on an inclined ground 10, wherein the transport vehicle 8 is raised relative to the ground 10 by a method for changing the vertical lifting state while maintaining the current inclination angle α.

[0184] It can be seen that at least one wheel of the carrier vehicle 8 remains at the ground 10, so that the carrier vehicle 8 is not fully raised by the supporting legs 1, 2, 3, 4. Different from what is presented, a full raising of the carrier vehicle 8 is also possible.

[0185] Figure 5 1 shows a top view of an embodiment of a transport vehicle 8 as shown above. As presented, the support system 7 has horizontally adjustable support arms 11, 12, 13, 14, at which support legs 1, 2, 3, 4 are arranged. The controller 5 can be configured as a drive for manipulating the support arms 11, 12, 13, 14 using control commands.

[0186] Figure 6 The longitudinal axis x and the transverse axis y of the transport vehicle 8 are illustrated, Figure 6 The schematic diagram shows a top view of an embodiment of a transport vehicle 8 similar to the previous embodiment with a front axle 18 and a rear axle 19. The inclination sensor 6 can be located, as shown, at the origin of a coordinate system which is arranged on the pivot axis 15 of the lifting mast of the lifting device 9 and is spanned by the longitudinal axis x and the transverse axis y.

[0187] The alignment about the longitudinal axis x can be achieved by the relationship of the longitudinal extensions of the supporting leg 1 and the supporting leg 2 (see FIG. 9 ). The alignment about the transverse axis y can be achieved by the steady-state component of the longitudinal extension, ie the respective absolute value.

[0188] Controller 5 (see Figure 7 ) The drives of the supporting legs 1, 2, 3, 4 can be controlled with control pulses s1, s2, s3, the variation of the pulse duration t1, t2, t3 and, if applicable, the variation of the overlap d of the control pulses s1, s2, s3 can be dependent on:

[0189] - parameters of the actuators of the supporting legs 1, 2, 3, 4 and / or

[0190] - parameters of the geometry of the support legs 1, 2, 3, 4, such as the distance between the support legs and the pivot axis 15 of the lifting column of the lifting device 8 and / or

[0191] - parameters of the position of the supporting legs 1, 2, 3, 4, for example the arrangement of the supporting legs on the vehicle frame relative to the lifting device 8, in particular relative to the pivot axis 15 of the lifting column of the lifting device 8, and / or

[0192] - the number of supporting legs 1, 2, 3, 4 and / or

[0193] - the currently measured inclination angle α of the transport vehicle 8 and / or the lifting device 9 and / or

[0194] - a predeterminable or predefined range Δα for the inclination deviation and / or

[0195] - currently preset pulse duration t1, t2, t3 and / or

[0196] - the position of the axles 18, 19 of the transport vehicle 8 and / or

[0197] - the position of the lifting device 9 arranged on the carrier vehicle 8 and / or

[0198] - torsional and bending stiffness and / or twisting of the carrier vehicle 8 and / or

[0199] A predetermined or predefinable spatial direction and / or spatial plane.

[0200] Figure 7 A schematic diagram of a lifting device 9 with an embodiment of a support system 7 is shown. The support system 7 as presented comprises

[0201] - two supporting legs 1, 2 which are vertically adjustable in their longitudinal extension and are used for support on the ground 10, and

[0202] - a controller 5 for controlling the actuators of the supporting legs 1, 2 using control instructions, and

[0203] At least one inclination sensor 6 for detecting an inclination angle α of the lifting device 9 relative to at least one predetermined or predeterminable spatial direction and / or spatial plane.

[0204] Unlike what is presented, the support system 7 can have additional support legs and a plurality of inclination sensors 6, for example as in Figures 3 to 6 Like in.

[0205] In addition to the inclination sensor 6 , generally also measured values ​​for operating parameters of the supporting legs 1 , 2 can be made available to the control unit 5 .

[0206] The control unit 5 can in principle have at least one computing unit 16 and at least one memory unit 17. The computing unit 16 can be in a data connection with the memory unit 17 or can be connected to such a data connection.

[0207] The controller 5 can have a user interface 21 for the user, which can generally be implemented as an operating element of the controller, for example, as a touch-sensitive display, in particular as a touch screen. Figure 7 A lever, button or area on the mobile remote control 20 of the controller 5 of the lifting device 9 as presented in FIG.

[0208] The controller 5 can be arranged at least partially on the lifting device 9 or can be arranged on the lifting device 9 .

[0209] The controller 5 can calculate a sequence of control instructions in the form of control pulses s1, s2, s3 in a calculation operating mode based on the currently detected inclination angle α of the lifting device 9, so as to sequentially and time-limitedly control the individual drives of the support legs 1, 2 of the support system 7 in order to change the vertical lifting state while maintaining the current inclination angle α within a predeterminable or preset range Δα for the inclination deviation.

[0210] The calculation can be performed, for example, by a calculation unit 16 of the controller 5 , and the calculated control instructions can be stored in a storage unit 17 of the controller 5 .

[0211] In the control operation mode of the controller 5, the drives of the support legs 1 and 2 of the support system can be controlled by a sequence of control instructions to change the vertical lifting state of the lifting device 9 relative to the ground 10, wherein the sequence of control instructions can be used to control the drives of the support legs 1 and 2 of the support system 7 sequentially and time-limited by control pulses s1, s2, and s3.

[0212] In this case, the control commands stored in the memory unit 17 of the control unit 5 can be outputted by the control unit 5 in accordance with the sequence.

[0213] When actuating the drives of the support legs 1 , 2 of the support system 7 , it is generally possible to increase and / or reduce the longitudinal extension of the support legs 1 , 2 .

[0214] Figure 8 Shows something like Figure 7 A supporting device 7 is arranged on a carrier vehicle 8 with a lifting device 9 according to an embodiment of the present invention.

[0215] exist Figures 9a to 9d The use of a support system 7 (see Figure 3 or Figure 7 ) is provided relative to an exemplary predefined spatial direction H (horizontal line). The support system 7 can be connected to a carrier vehicle and / or a lifting device (swivel axis 15) which is not shown in this figure.

[0216] In order to increase the permissibility of executing method step ii, it can be provided, for example, that the currently detected inclination angle α of the transport vehicle 8 and / or the lifting device 9 is in the range of 0° to 5° relative to the horizontal line H. An exemplary range Δα for the detected inclination angle α of 5° relative to the horizontal line H is Figures 9a to 9d , are drawn on both sides of the horizontal line H. It can therefore be required that, in order to carry out the method, the currently detected inclination angle α, as presented by way of example, lies between +5° and −5° relative to the horizontal line H.

[0217] exist Figures 9a to 9d The alignment presented in can be referenced Figure 6 This corresponds to the leveling about the longitudinal axis x and the leveling about the transverse axis y. Alignment with respect to other axes or spatial planes can be performed analogously.

[0218] The support system 7 has two support legs 1, 2 arranged on variable-length support arms 11, 12 in the embodiment shown. The support legs 1, 2 are variable in length in their longitudinal extension. As shown in the sequential figures, the support legs 1, 2 used for alignment have different (adjustable) longitudinal extensions x11, x12, x13, x21 and x22. The lifting state can be characterized, for example, by measuring the longitudinal extension and / or the distance relative to the ground 10.

[0219] It should not be excluded that, unlike what is presented, the support system 7 has more support legs (eg four) and that a plurality of these support legs are also utilized for alignment, in particular relative to the spatial plane. However, for illustration purposes, the procedure is limited to two support legs 1, 2.

[0220] Figure 9aThe support system 7 is shown supported on an inclined ground 10, wherein the support legs 1, 2 are brought into contact with the ground. The viewing direction can correspond to a view along the longitudinal axis of the carrier vehicle. The support legs 1, 2 each have a first longitudinal extension x11, x21. The inclinometer 6 outputs an inclination angle α of -2° measured relative to the horizontal line H.

[0221] By using the control pulses s1, s2, s3 output sequentially and limited in time by the controller 5 (see Fig.10a and Fig.10b ) controls the drive of the supporting leg 1, making it possible to incrementally change, as presented, the lifting state of the lifting device 9 .

[0222] In step i of the calculation method (see Figure 1 ) can calculate a sequence of control commands based on the respectively measured inclination angle α for sequentially and temporally controlling the individual drives of the support legs 1, 2 of the support system 7 in order to change the lifting state while maintaining the inclination angle α within the range Δα for the inclination angle deviation. Partial changes in the lifting state (such as this from Figures 9a to 9d 1 to another) can be part of an overall desired or required change of the lifting state of a transport vehicle or a lifting device.

[0223] exist Figure 9b After being controlled by the controller 5 with the control pulse s1, the supporting leg 1 has a second, larger longitudinal extension x12. The inclinometer 6 outputs an inclination angle α of 2° measured relative to the horizontal line H, which is thus maintained within a predefined range Δα for the inclination deviation.

[0224] This can correspond, for example, to a first run of the calculation method step i and the increase method step ii.

[0225] In loop iii (see Figure 1 ) in which the calculation method step i and the lifting method step ii can be repeated, wherein control instructions and thus control pulses and possible overlaps are calculated for the supporting legs 1 and 2 respectively, and the drives of the supporting legs can be controlled using the control pulses.

[0226] exist Fig.9c In FIG. 1 , after running through cycle iii and being actuated by the controller 5 with control pulses s2, the support leg 2 has a second, larger longitudinal extension x22. The inclinometer 6 again outputs an inclination angle α of −3° measured relative to the horizontal line H. Although the inclination angle α has increased again relative to the spatial direction H shown, it is still within the range Δα for the inclination deviation.

[0227] Reference Figure 6It can be noted that by changing the longitudinal extension of the supporting legs 1 and 2, an alignment about the longitudinal axis x can also be performed. By the longitudinal extension of the supporting legs 1, 2, the inclination about the transverse axis y can also be changed. With respect to a horizontal spatial plane, the inclination relative to the spatial direction lying therein (for example, viewed orthogonally to the spatial direction H) can also be maintained within the range for the inclination deviation.

[0228] To further change the promotion state, it is possible to Figure 1 ) is further operated in which the calculation method step i and the lifting method step ii are further repeated, wherein in each repetition of cycle iii, in order to be able to change the vertical lifting state basically while maintaining the current inclination angle α, the sequence of control instructions and the corresponding control pulses and the overlap of control pulses if possible are calculated, and the sequence of control instructions can be implemented.

[0229] exist Figure 9d In the further execution of cycle iii, the longitudinal extension x13 of the supporting leg 1 is increased incrementally. The inclinometer 6 outputs an inclination angle α of 0° measured relative to the horizontal line H.

[0230] exist Figure 9d In FIG. 1 , it can be seen from the longitudinal extensions x11, x13, x21, x22 of the support legs 1, 2 that the sequence of control commands s1, s2, s3 causes substantially the same change in the longitudinal extensions of all controlled support legs 1, 2. This makes it possible to maintain the current inclination angle α within a predeterminable or predefined range Δα for inclination deviations.

[0231] When the inclination angle α currently detected in the calculation method step i is outside the range Δα for the inclination angle deviation, the transport vehicle 8 and / or the lifting device 9 can be leveled by implementing at least one leveling calculation method step v as described above and at least one leveling method step vi as described above.

[0232] Figure 9c to Figure 9d The sequence can represent three repetitions of cycle iii as described, in which the longitudinal extension of the supporting legs 1, 2 is gradually changed to change the vertical lifting state.

[0233] However, it is also conceivable that Figure 9c to Figure 9d The sequence of corresponds to a single run of the calculation method step i and the lifting method step ii. In this case, the sequence of control commands can include control pulses s1, s2, s3.

[0234] The change of vertical lifting state can be carried out incrementally for such a long time,

[0235] - that is, until the vertical lifting state of the carrier vehicle 8 and / or the lifting device 9 reaches or falls below a preset or pre-settable theoretical value, or

[0236] - As long as an operation instruction for changing the vertical lifting state is given by the user via the user interface 21 of the controller 5 .

[0237] Fig.10a and Fig.10b Schematic diagrams of three successive control pulses s1, s2, s3 with pulse durations t1, t2, t3 are shown, wherein Fig.10b The sequential control pulses s1 , s2 , s3 in FIG. 1 have a temporal overlap d.

[0238] By e.g. Figures 9a to 9d The control of the drive of the supporting leg 1 using control pulses s1, s2, s3 output sequentially and time-limited by the controller 5 as described in the specification can change the vertical lifting state of the transport vehicle 8 and / or the lifting device 9 while maintaining the current inclination angle α within a preset or preset range Δα.

[0239] exist Figure 9b In the embodiment, after being controlled by the controller 5 with a first control pulse s1 having a pulse duration t1, the support leg 1 has a relative Figure 9a The illustration shows a greater longitudinal extension x12. Fig.9c After being controlled by the controller 5 with a second control pulse s2 having a pulse duration t2, the support leg 2 has a relative Figure 9b The diagram shows a greater longitudinal extension x22. Figure 9d In the embodiment, after being controlled by the controller 5 with the third control pulse s3 having a pulse duration t3, the supporting leg 1 has a relative Figure 9a The diagram in FIG. shows a greater longitudinal extension x12. The control can be performed, for example, by using Fig.10a The control pulses s1, s2, and s3 are used.

[0240] The control pulses s1 , s2 , s3 that follow one another in a sequence of control commands can also be output by the controller partially simultaneously, ie simultaneously with respect to the duration of the overlap d.

[0241] So for example according to Fig.10b , the activation of the drive of the support leg 1 can be started for the pulse duration t1 of the control pulse s1. Before the end of the running control pulse s1, the activation of the drive of the next support leg 2 can already be started by outputting the control pulse s2 that follows sequentially according to the calculated sequence.

[0242] The time-limited, predefined or predefinable duration of the overlap d can determine the duration of the partial simultaneous activation of the drives of the supporting legs 1 , 2 .

[0243] List of reference numerals:

[0244] 1 Support leg

[0245] 2 Support Legs

[0246] 3 Support Leg

[0247] 4 Support Legs

[0248] 5 Controller

[0249] 6. Tilt sensor

[0250] 7 Support system

[0251] 8 Transport vehicles

[0252] 9 Lifting equipment

[0253] 10 Ground

[0254] 11 Support arm

[0255] 12 Support arm

[0256] 13 Support arm

[0257] 14 Support arm

[0258] 15 Swing axis of lifting column

[0259] 16 Computational Units

[0260] 17 Storage Unit

[0261] 18 Front axle of transport vehicle

[0262] 19 Rear axle of transport vehicle

[0263] 20 Mobile remote controller

[0264] 21 User Interface

[0265] α Tilt

[0266] Δα is the range of the inclination deviation

[0267] i Calculation method steps

[0268] ii. Steps to improve the method

[0269] iii Repeat the cycle

[0270] iv Monitoring Method Steps

[0271] v Leveling calculation method steps

[0272] vi leveling method steps

[0273] vii Repeating the cycle

[0274] H Horizontal Line

[0275] x vertical axis

[0276] y horizontal axis

[0277] x11, x12, x13, x21, x22 Longitudinal extension of the supporting legs

[0278] s1, s2, s3 control pulse

[0279] t1, t2, t3 pulse duration

[0280] d Overlap

Claims

1. A method for changing the vertical lifting state of a carrier vehicle (8) with a support system (7) for a lifting device (9) parked on the ground (10), wherein the support system (7) comprises at least - vertically adjustable support legs (1, 2, 3, 4) in terms of longitudinal extension for support on the ground (10), and - a controller (5) for controlling the drivers of the supporting legs (1, 2, 3, 4) using control instructions, It is characterized in that - in at least one calculation method step (i), a sequence of control commands for sequentially and time-limited actuation of the drives of the support legs (1, 2, 3, 4) of the support system (7) is calculated in order to change the vertical lifting state while maintaining the current inclination angle (α) of the carrier vehicle (8) and / or the lifting device (9) relative to at least one preset or predefinable spatial direction and / or spatial plane within a predefinable or predefined range (Δα) for inclination deviations, - In at least one lifting method step (ii), the drives of the support legs (1, 2, 3, 4) of the support system (7) are controlled by a sequence of control instructions to change the vertical lifting state of the carrier vehicle (8) and / or the lifting device (9) relative to the ground (10), wherein the drives of the support legs (1, 2, 3, 4) of the support system (7) are controlled sequentially and time-limited by control pulses (s1, s2, s3) by a sequence of control instructions.

2. The method according to claim 1, wherein in the calculation method step (i), a sequence of control instructions is calculated based on at least one parameter of the support system (7), wherein - using at least one inclination sensor (6) of the support system (7) for detecting the inclination (α) of the transport vehicle (8) and / or the lifting device (9) relative to at least one predetermined or predeterminable spatial direction and / or spatial plane, detecting the current inclination (α) as a parameter of the support system (7), and in the calculation method step (i), calculating the sequence of control commands based on the currently detected inclination (α) of the transport vehicle (8) and / or the lifting device (9), and / or - at least one parameter of the drive of the support leg (1, 2, 3, 4) is preset or can be preset as a parameter of the support system (7), and in step (i) of the calculation method, a sequence of control instructions is calculated based on at least one parameter of the drive of the support leg (1, 2, 3, 4), wherein preferably, the stroke rate and / or the piston area of ​​the drive constructed as a hydraulic cylinder are preset or can be preset as parameters of the drive of the support leg (1, 2, 3, 4).

3. The method according to the preceding claim, wherein at least one parameter of the support system (7) comprises at least one of the following: - parameters of the drive of the supporting legs (1, 2, 3, 4), preferably stroke rate, piston diameter, piston area, pump power and / or electrical power, - parameters of the geometric structure of the supporting leg (1, 2, 3, 4), preferably the main or possible longitudinal extension (x11, x12, x13, x21, x22), or the length of the cantilever of the supporting leg (1, 2, 3, 4) with the supporting system (7), - parameters of the position of the supporting legs (1, 2, 3, 4), - the number of said supporting legs (1, 2, 3, 4), - the inclination angle (α) of the carrier vehicle (8) and / or the lifting device (9) currently detected by means of at least one inclination sensor (6) of the support system (7), and / or - a predeterminable or predefined range for the inclination deviation (Δα), - a currently specified pulse duration (t1, t2, t3) of the control pulse (s1, s2, s3), for example calculated in a preceding calculation method step (i), - the number and / or position of the axles of the transport vehicle (8), - the position of the lifting device (9) arranged on the carrier vehicle (8), - torsional and bending stiffness and / or twisting of the carrier vehicle (8), - a predetermined or predeterminable spatial direction (H) and / or a spatial plane, - the position, in particular the nominal position, of the center of gravity of the transport vehicle (8) and / or of the lifting device (9), - the load acting on the supporting legs (1, 2, 3, 4), preferably by detecting the hydraulic pressure in the drive of the supporting legs (1, 2, 3, 4) and / or by means of load sensors, at least one parameter of the control of the drive of the support leg (1, 2, 3, 4), preferably a control characteristic of a hydraulic valve of a hydraulic supply device of a hydraulic drive and / or a switching characteristic of an energy supply device of an electric drive, - A vertical distance of the carrier vehicle (8) and / or the lifting device (9) relative to the ground surface (10) used for support, detected by at least one distance sensor of the support system (7).

4. The method according to claim 1 , wherein the drives of the support legs ( 1 , 2, 3, 4 ) of the support system ( 7 ) are actuated for such a long time that - until the vertical lifting state of the carrier vehicle (8) and / or the lifting device (9) reaches or falls below a preset or pre-settable theoretical value, or - As long as an operation instruction for changing the vertical lifting state is given by the user via the user interface (21) of the controller (5).

5. A method according to any one of the preceding claims, wherein - in step (i) of the calculation method, a sequence of control commands is calculated for all the actuators of the supporting legs (1, 2, 3, 4) of the supporting system (7) for changing the vertical lifting state of the carrier vehicle (8) and / or the lifting device (9), - In step (ii) of the lifting method, all drives of the supporting legs (1, 2, 3, 4) of the supporting system (7) are controlled at least once using a sequence of control instructions for changing the vertical lifting state of the carrier vehicle (8) and / or the lifting device (9).

6. A method according to any one of the preceding claims, wherein the inclination angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to the horizontal line (H) is detected using an inclination sensor (6) of the support system (7), and the lifting method step (ii) is only performed when the inclination angle (α) of the transport vehicle (8) and / or the lifting device (9) currently detected in the calculation method step (i) is within a preset or preset range (Δα) for the inclination deviation of 0° to 10° relative to the horizontal line, preferably within 0° to 5°, and particularly preferably within 0° to 3°.

7. A method according to any of the preceding claims, wherein the pre-settable or pre-set range (Δα) for the inclination deviation is within a range of 0° to 10°, preferably within a range of 0° to 5°, particularly preferably within a range of 0° to 3° relative to the horizontal.

8. A method according to any of the preceding claims, wherein in loop (iii), in a calculation method step (i) following a previously performed lifting method step (ii), a change in the inclination angle (α) caused by the preceding lifting method step (ii) is detected.

9. A method according to any one of the preceding claims, wherein the individual drives of the supporting legs (1, 2, 3, 4) of the supporting system (7) are controlled in a time-limited manner using a sequence of control instructions with control pulses (s1, s2, s3) having variable pulse durations.

10. The method according to the preceding claim, wherein the pulse duration (t1, t2, t3) of the control pulses (s1, s2, s3) is 0.05 seconds to 3.50 seconds, preferably 0.25 seconds to 1.5 seconds.

11. The method according to claim 1 , wherein the variation of the pulse duration (t1, t2, t3) and, if applicable, the temporal overlap (d) between successive control pulses (s1, s2, s3) is dependent on: - parameters of the drives of the supporting legs (1, 2, 3, 4) and / or - parameters of the geometric structure of the supporting legs (1, 2, 3, 4) and / or - parameters of the position of the supporting legs (1, 2, 3, 4) and / or - the number of supporting legs (1, 2, 3, 4) and / or - the inclination angle (α) of the carrier vehicle (8) and / or the lifting device (9) currently measured by means of at least one inclination sensor (6) of the support system (7), and / or - a predeterminable or predefined range for the inclination deviation (Δα) and / or - the currently preset pulse duration (t1, t2, t3) and / or - the position of the axles (18, 19) of the transport vehicle (8) and / or - the position of the lifting device (9) arranged on the transport vehicle (8) and / or - torsional and bending stiffness and / or twisting and / or - a predetermined or predeterminable spatial direction and / or spatial plane and / or - the position of the center of gravity of the carrier vehicle (8) and / or the lifting device (9) and / or - by detecting the hydraulic pressure in the drive of the support legs (1, 2, 3, 4) and / or the load acting on the support legs (1, 2, 3, 4) detected by load sensors, at least one parameter of the actuation of the drive of the support leg (1, 2, 3, 4), preferably a control characteristic of a hydraulic valve of a hydraulic supply device of a hydraulic drive and / or a switching characteristic of an energy supply device of an electric drive.

12. A method according to any of the preceding claims, wherein the drives of the individual supporting legs (1, 2, 3, 4) of the supporting system (7) are controlled by means of a sequence of control instructions in a control sequence that is predeterminable or in a preset order.

13. A method according to any of the preceding claims, wherein the individual drives of the supporting legs (1, 2, 3, 4) of the supporting system (7) are controlled by means of a sequence of control instructions with control pulses (s1, s2, s3) having a time-limited, preset or presettable overlap (d) between successive control pulses (s1, s2, s3).

14. The method according to the preceding claim, wherein a maximum of two drives are actuated simultaneously within an overlap (d) between successive control pulses (s1, s2, s3).

15. A method according to any one of the two preceding claims, wherein the duration of the overlap (d) between successive control pulses (s1, s2, s3) is between 0.01 seconds and 0.5 seconds, preferably between 0.01 seconds and 0.1 seconds.

16. A method according to any one of the preceding claims, wherein the current inclination angle (α) is detected by using at least one inclination sensor (6) of the support system (7) for detecting the inclination angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane, and after changing the vertical lifting state of the transport vehicle (8) and / or the lifting device (9), in the monitoring method step (iv), the inclination angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane is continuously detected.

17. The method according to the preceding claim, wherein, when a preset or predefinable deviation of the detected inclination angle (α) is reached or exceeded, in order to minimize the inclination angle (α) of the carrier vehicle (8) and / or the lifting device (9), - in step (v) of the levelling calculation method, based on the currently detected inclination angle (α) of the carrier vehicle (8) and / or the lifting device (9), the calculation of control commands for sequentially and time-limited actuation of the individual drives of the support legs (1, 2, 3, 4) of the support system (7), - In step (vi) of the leveling method, the drives of the support legs (1, 2, 3, 4) of the support system (7) are controlled by a sequence of control instructions to reduce the inclination angle (α) of the carrier vehicle (8) and / or the lifting device (9) relative to at least one preset or pre-settable spatial direction and / or spatial plane, wherein the individual drives of the support legs (1, 2, 3, 4) of the support system (7) are controlled sequentially and time-limited by control pulses by means of a sequence of control instructions.

18. A computer program product comprising instructions from a storage unit which is in a data connection with a computing unit or which can be brought into such a data connection, which instructions, when executed by the computing unit, cause the computing unit to execute the method according to any one of claims 1 to 17.

19. A controller (5) for a support system (7), the controller being configured to perform the method according to at least one of claims 1 to 17, wherein the controller (5) - in a calculation operating mode, a sequence of control commands for sequentially and time-limitedly actuating the individual drives of the support legs (1, 2, 3, 4) of the support system (7) can be calculated in order to change the vertical lifting state while maintaining the current inclination angle (α) within a predeterminable or predefined range (Δα) for inclination deviations, and - In the control operation mode, the drives of the support legs (1, 2, 3, 4) of the support system can be controlled using a sequence of control instructions for changing the vertical lifting state of the carrier vehicle (8) and / or the lifting device (9) relative to the ground (10), wherein the drives of the support legs (1, 2, 3, 4) of the support system (7) are controlled sequentially and time-limited using control pulses using the sequence of control instructions.

20. A vehicle, in particular a transport vehicle (8), having a lifting device (9), having a support system (7) according to any one of claims 1 to 17 and a control unit (5) according to claim 19.

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