Method for changing the vertical lifting state

Abstract

A method for altering the vertical lifting state of a carrier vehicle (8) with a support system (7) for a lifting device (9) parked on the ground (10), the support system having support legs (1, 2, 3, 4) and a controller (5) for manipulating the actuators of the support legs (1, 2, 3, 4), wherein in at least one calculation method step (i), a sequence of control commands for sequentially and time-constrainedly manipulating the actuators is calculated to maintain the current tilt angle (α) of the carrier vehicle (8) and / or the lifting device (9) at a presettable position. The vertical lifting state is changed in the case of a pre-set tilt deviation range (Δα), and in at least one lifting method step (ii), the actuators of the support legs (1, 2, 3, 4) of the support system (7) are manipulated by a sequence of control commands to change the vertical lifting state of the transport vehicle (8) and / or the lifting device (9) relative to the ground (10), wherein the actuators of the support legs (1, 2, 3, 4) of the support system (7) are manipulated sequentially and in a time-constrained manner by a sequence of control commands with control pulses (s1, s2, s3).

Description

Technical Field

[0001] The present invention relates to a method for changing the vertical lifting state of a ground-based transport vehicle with a lifting device and a support system, a computer program product for implementing such a method, a controller for the support system for executing such a method, and a vehicle with such a controller. Background Technology

[0002] It is known in the prior art that transport vehicles are supported on the ground using a support system, for example, to improve the stability of the transport vehicle. The support is typically achieved via support legs that are adjustable in their longitudinal extension, which can support the ground and affect the tilt angle and lifting state of the transport vehicle by changing their longitudinal extension. Tilt sensors can be used to detect the tilt angle of the transport vehicle and / or lifting device relative to a preset or pre-set spatial orientation and / or spatial plane.

[0003] In the prior art, devices for changing the vertical lifting state are known in the form of hydraulically operable support systems. To controllably change the vertical lifting state, the system used in the lifting device (e.g., a lifting platform) has a pressure balance for controlling the volumetric flow rate for the hydraulic actuators. Thus, when multiple actuators of the support legs are operated simultaneously, the same volumetric flow rate can be distributed to each actuator independently of the different loads on the support legs. This enables synchronous and uniform retraction and extension of the support legs.

[0004] A drawback of devices used to change the vertical lifting state when using a pressure balance is the increased complexity of the accompanying hydraulic system. The additional pressure valves, measuring devices for the pressure present at the valves, and proportional or regulating valves for controlling the volumetric flow rate increase the susceptibility to failure and maintenance costs of such hydraulic systems. Summary of the Invention

[0005] The objective of this invention is to provide an improved method for changing the vertical lifting state of a transport vehicle used for a lifting device, relative to the prior art.

[0006] This task is solved by the method according to the invention, a computer program product for implementing such a method, and a controller configured to execute such a method.

[0007] Advantageous implementation schemes are defined in the examples.

[0008] The method is used to change the vertical lifting state of a transport vehicle with a support system for use with a lifting device on the ground. The support system can, for example, improve the stability of the transport vehicle and raise or lower it relative to the ground. It should not be excluded that the transport vehicle with a support system for use with a lifting device can be aligned relative to a preset or pre-set spatial orientation and / or spatial plane.

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

[0010] The vertical lifting configuration of a vehicle used for lifting equipment can refer to the vertical distance, measured particularly along the vertical, between a reference point on the vehicle's frame (Rahmen, sometimes called the chassis) and the surface of the ground used for support. This vertical lifting configuration, measured particularly along the vertical, can also refer to the lifting equipment arranged on the vehicle, such as the lifting base or lifting column.

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

[0012] When the crane is in a parked position, efforts should be made to ensure that the swing axis of the crane column is aligned at least approximately at a right angle with respect to the horizontal line.

[0013] In particular, it is possible to strive for an angle of inclination relative to the horizontal line between 0° and 3°.

[0014] Support is typically provided via support legs that are adjustable in their longitudinal extension, which are capable of supporting the ground and can affect the vertical lifting status and tilt angle of the transport vehicle and / or lifting device by changing their longitudinal extension.

[0015] The current tilt angle can be understood in principle as the tilt angle of the vehicle and / or lifting device that exists at the present moment, that is, at the time of performing the method steps.

[0016] The tilt angle of the transport vehicle and / or lifting equipment can exist by parking on sloping ground. The tilt angle can also depend on the load of the transport vehicle or the load of the lifting equipment mounted on the transport vehicle.

[0017] The support system can be connected to the vehicle frame. If the transport 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 positioned at different locations relative to the transport vehicle or lifting device.

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

[0020] The support system can have a controller for operating the actuators of the support legs using control commands. For example, the support legs can have actuators in the form of hydraulic cylinders for retracting and / or extending the support legs, and the controller can operate the magnetically actuated control valves of the hydraulic cylinders using control pulses. Corresponding control by electric actuators should not be excluded.

[0021] The controller can have a user interface. Generally, the controller's user interface can be implemented as the controller's operating elements, such as levers, buttons, or areas on a touch-sensitive display, especially on a mobile remote controller for lifting equipment. Generally, the controller's user interface can be configured as an interface for data exchange.

[0022] Control commands for the driver can be generated by the user through the controller's user interface. Such commands can also trigger the execution of methods.

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

[0024] It should not be ruled out that the support system has a horizontally adjustable support arm, with support legs arranged at the support arm. It should also not be ruled out that the controller is configured to operate the actuator of the support arm using control commands.

[0025] The support system may have at least one tilt sensor for detecting the tilt angle of the transport vehicle and / or lifting device relative to at least one preset or presetible spatial orientation and / or spatial plane.

[0026] For example, it can detect the tilt angle of a transport vehicle and / or lifting device relative to two spatial directions.

[0027] In particular, it can detect the tilt angles in two spatial directions relative to the unfolded horizontal plane.

[0028] For example, it is possible to detect the tilt angle around the transverse and / or longitudinal axes of a vehicle's frame. The detected tilt angle can, for example, relate to the horizontal alignment of the vehicle.

[0029] For example, it can detect the tilt angle of a lifting device arranged on a transport vehicle, especially the tilt angle of the lifting column of the lifting device relative to at least one spatial direction in a horizontal and / or vertical plane.

[0030] The detected tilt angle can be, for example, the angle of the substantially vertically extending swing axis of the lifting column of the lifting device relative to a horizontal plane, a spatial plane, or a spatial direction. For alignment, efforts can be made to ensure that the swing axis of the lifting column is at least approximately right-angled with the horizontal line.

[0031] The support system can have at least one spacing sensor for detecting the distance between the transport vehicle and / or lifting device and the ground used for support, thereby allowing for the characterization of the vertical lifting state. The spacing sensor can be constructed in the form of a travel measuring device or a device for measuring the travel time of a signal, such as an optical, generally electromagnetic, or acoustic rangefinder.

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

[0033] In the method, a sequence of control commands can be calculated in at least one calculation method step for sequentially and time-constrainedly manipulating the individual actuators of the support legs of the support system.

[0034] The calculation of control commands can be performed while maintaining the current tilt angle of the transport vehicle and / or lifting device—for example, the dominant tilt angle currently used during the execution of the method steps—by utilizing the support system to change the vertical lifting state of the transport vehicle. The tilt angle of the transport vehicle can vary within a preset or pre-defined range for tilt angle deviations, but remains substantially constant despite changes in the vertical lifting state of the transport vehicle.

[0035] The calculation of the control command can be performed such that the lifting and / or lowering of the transport vehicle and, if possible, the lifting device arranged on it can be achieved to a certain extent by implementing the control command, wherein during lifting and / or lowering, the current tilt angle of the transport vehicle and, if possible, the lifting device arranged on it varies only within a preset or pre-defined range for tilt angle deviation.

[0036] The tilt angle of the vehicle and / or lifting device that existed immediately before or during the execution of the calculation method steps can be understood as the current tilt angle of the vehicle and / or lifting device.

[0037] In at least one lifting method step, the actuators of the support legs of the support system can be manipulated in principle to change the vertical lifting state of the transport vehicle and / or lifting device. During the implementation of the lifting method step, the vertical lifting state of the transport vehicle and / or lifting device can be at least partially reduced or increased.

[0038] When manipulating the actuators of the support legs of the support system using a sequence of control commands, it is possible to manipulate each actuator of the support leg of the support system sequentially and in a time-constrained manner using control pulses.

[0039] The individual actuators of the supporting legs can be operated in a sequence or order, essentially separately from each other in time.

[0040] The driver can be controlled using time-constrained control pulses output sequentially by the controller.

[0041] The activation of the actuator of the supporting leg can, in principle, be performed based on the duration of the control pulse.

[0042] By means of the method described, the change of lifting state of a ground-based vehicle with a support system for lifting can be decomposed into a sequential sequence of multiple control pulses, each with a limited duration, rather than the beat-like (getaktet) manipulation of the support legs, i.e., time-determined, continuous, and, if possible, simultaneous control.

[0043] By manipulating the driver using control pulses that are sequentially output by the controller and are time-constrained, the vertical lifting state of the transport vehicle and / or lifting device can be incrementally reduced or increased.

[0044] In the calculation method steps, it is advantageous to calculate the sequence of control commands based on at least one parameter of the supporting system.

[0045] Here, at least one tilt sensor of the support system, used to detect the tilt angle of the transport vehicle and / or lifting device relative to at least one preset or pre-set spatial orientation and / or spatial plane, can be used to detect the current tilt angle as a parameter of the support system. Therefore, at least one tilt sensor of the support system can be used to detect the current tilt angle, that is, the tilt angle immediately before or during the execution of the method steps.

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

[0047] Alternatively or in combination, at least one parameter of the support leg's actuator can be preset or preset as a parameter of the support system. The preset of the support leg's actuator parameter can be done via the controller's user interface, for example, by the user when putting the work into operation and / or in the factory when assembling the lifting device and / or the transport vehicle with the lifting device.

[0048] Therefore, in the calculation method steps, the sequence of control commands can be calculated based on the parameters of the actuator of the supporting leg. Here, the detection using current tilt angle measurement techniques is not necessary.

[0049] Advantageously, the preset of at least one parameter of the support system enables the calculation of a sequence of control commands that, when implemented in the lifting method step, cause substantially the same change in the longitudinal extension of all manipulated actuators of the support legs. This allows the current tilt angle to be maintained within a preset or pre-defined range for tilt angle deviations.

[0050] Changes in the longitudinal extension of all controlled actuators of the support leg can be within a preset or presettable tolerance range. The tolerance range for changes in longitudinal extension can correspond to a preset or presettable range for the accompanying tilt angle deviation.

[0051] By manipulating the respective actuators with correspondingly calculated control pulses, changes in the longitudinal extension of each support leg can be caused to result in tilt deviations within a preset or pre-set range for the accompanying tilt deviations.

[0052] The change in the longitudinal extension of each support leg caused by manipulating the corresponding driver using a correspondingly calculated control pulse can be in the range of 1mm to 150mm, preferably in the range of 1mm to 50mm.

[0053] In general, changes in longitudinal extension caused by a sequence of control commands can range from 1 cm to 100 cm. Larger changes in longitudinal extension should not be excluded.

[0054] Generally, the parameters of the supporting system (which can be provided to the controller and included in the calculation of the sequence of control commands) can include:

[0055] - Parameters of the support leg actuator, such as stroke rate (Hubrate), piston diameter, piston area, and, if possible, pump power and / or electrical power and / or return oil utilization.

[0056] - Parameters of the support leg's geometry, such as the main (vorherrschenden) or possible longitudinal extension, or the cantilever length of the support leg with the support system and / or

[0057] -Parameters of the position of the supporting leg and / or

[0058] - The number of supporting legs and / or

[0059] - The tilt angle of the vehicle and / or lifting device currently detected by at least one tilt sensor of the support system, and / or

[0060] - A preset or pre-defined range for tilt angle deviation.

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

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

[0063] - The location and / or placement of the lifting equipment on the transport vehicle

[0064] - Torsional and bending stiffness and / or torsion of the transport vehicle

[0065] - Preset or presetable spatial orientation and / or spatial plane,

[0066] - The location of the center of gravity of the transport vehicle and / or lifting equipment, especially its nominal location.

[0067] - The load acting on the support leg is preferably detected by sensing the hydraulic pressure in the actuator of the support leg and / or by a load sensor.

[0068] - Parameters for controlling the actuator of the support leg, such as the control characteristics of the hydraulic valves of the hydraulic supply device of the hydraulic actuator and / or the switching characteristics of the energy supply device of the electric actuator.

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

[0070] In one implementation of the method, a sequence of control instructions can be computed in each computational method step, which is implemented in each Durchgang of the subsequent promotion method step.

[0071] In another embodiment of the method, a sequence of control commands can be jointly calculated in a single calculation step to sequentially and time-constrainedly manipulate the individual actuators of the support legs of the support system to change the vertical lifting state, which may be to align part of a generally desired or necessary change in the transport vehicle and / or lifting device. In such an embodiment of the method, the calculation and lifting steps can be repeated to achieve the generally desired or preset change.

[0072] To further alter the vertical lifting state of the transport vehicle and / or lifting device, the calculation method steps and lifting method steps can be repeated in a cycle. During each cycle, a sequence of control commands can be calculated to alter the vertical lifting state while maintaining the current tilt angle within a preset or preset range for tilt angle deviation. The sequence of control commands can be implemented by manipulating the drive.

[0073] Generally speaking, the actuators of the support legs of the support system can be operated for such a long time that the vertical lifting state of the transport vehicle and / or lifting device reaches or falls below a preset or pre-set theoretical value.

[0074] Preset or presettable theoretical values ​​can be related, for example, to the vertical distance measured, particularly along the vertical, between the frame of the transport vehicle or lifting device and a reference point on the frame of the transport vehicle or lifting device relative to the surface, and / or to changes in the longitudinal extension of the support legs, and are detected via corresponding sensors. Presetting can be performed by the user via the corresponding user interface of the controller.

[0075] The actuators of the support legs of the support system can be operated for such a long time that, for example, the user gives operating instructions to change the vertical lifting state via the user interface of the controller, or in other words, operating instructions to execute the method.

[0076] For the vertical lifting state of the transport vehicle and / or lifting device, the portion of the vertical lifting state can be reduced or increased during each cycle (in which the calculation method steps and lifting method steps are repeated).

[0077] During each cycle, the tilt angle of the transport vehicle and / or lifting device can be detected by means of a supported tilt sensor, and the corresponding deviation from the currently detected tilt angle to be maintained can be measured. The deviation of the tilt angle detected in previous cycles, such as the current tilt angle detected during the first cycle, can be used as a reference. Therefore, the currently detected tilt angle can be maintained within the range for tilt angle deviation for multiple cycles.

[0078] In an advantageous embodiment of the method, a sequence of control commands can be calculated in the calculation method step for all actuators of the supporting legs of the support system involved in the support to change the vertical lifting state of the transport vehicle and / or lifting device. Immediately following this, in the lifting method step, all actuators of the supporting legs of the support system involved in the support are correspondingly manipulated at least once using the sequence of control commands for changing the vertical lifting state of the transport vehicle and / or lifting device. Thus, the change in lifting state can be achieved with minimal change in the currently detected tilt angle. It also prevents the supporting legs involved in the support from lifting off the ground.

[0079] The actuators of each support leg can be manipulated multiple times within the sequence.

[0080] Advantageously, the tilt angle of the transport vehicle and / or lifting device relative to the horizontal line is detected using tilt sensors of the support system. Advantageously, the lifting method step can only be performed if the tilt angle of the transport vehicle and / or lifting device currently detected in the calculation method step is in the range of 0° to 10° relative to the horizontal line, preferably in the range of 0° to 5°, and particularly preferably in the range of 0° to 3°. A range of 0° to 1° is also conceivable.

[0081] At an angle of inclination close to the horizontal as described above, the transport vehicle and / or lifting device are typically referred to as nivelliert. In other words, advantageously, the lifting procedure steps can only be performed when the transport vehicle and / or lifting device are substantially level.

[0082] In particular, the method can be performed only when the transport vehicle and / or lifting device are substantially aligned with the horizontal line.

[0083] The appropriate tilt angle for performing the lifting method steps can be achieved, for example, by parking the vehicle on a substantially level surface or by leveling the transport vehicle and / or lifting device.

[0084] It should not be excluded that the transport vehicle and / or lifting device are brought into, and / or have been brought into, an angle suitable for performing the lifting method steps by means of supporting the transport vehicle parked on the ground. Here, in a suitable leveling calculation method step, a sequence of control commands for sequentially and time-constrainedly manipulating the respective actuators of the support legs of the support system is calculated based on the currently detected angle of inclination of the transport vehicle and / or lifting device. In the leveling method step, the actuators of the support legs of the support system are manipulated using the sequence of control commands to reduce the angle of inclination of the transport vehicle and / or lifting device relative to at least one preset or pre-set spatial direction and / or spatial plane, wherein the sequence of control commands enables the sequential and time-constrained manipulation of the respective actuators of the support legs of the support system using control pulses.

[0085] In an advantageous embodiment of the method, the actuators of the support legs of the support system can be manipulated using control commands during the ground contact method step, for example, after the transport vehicle has been parked on the ground, by which the support legs are brought into contact with the ground. The control commands for sequentially and time-constrainedly manipulating the individual actuators of the support legs of the support system can be calculated as a sequence of control commands based on the currently detected tilt angle of the transport vehicle and / or lifting device.

[0086] The preset or pre-defined range for tilt angle deviation can be within 0° to 10° relative to the horizontal line, preferably within 0° to 5°, and particularly preferably within 0° to 3°.

[0087] In the loop, during the calculation steps following the previously executed lifting method steps, at least one tilt sensor of the support system can detect changes in tilt angle caused by the preceding lifting method steps. This allows determination of whether the implementation of control commands during the lifting of the vehicle and / or lifting device caused a corresponding change in tilt angle. This allows deduction of whether the manipulated support legs are in ground contact. Loss of ground contact of one or more support legs can indicate an interruption condition for the execution of the method. It should not be excluded that detecting changes in tilt angle can allow determination of the torsional and bending stiffness and / or torsion of the vehicle.

[0088] In one advantageous embodiment of the method, the individual actuators of the support legs of the support system can be time-constrained using a sequence of control commands with control pulses having variable pulse durations. The variable pulse durations allow for consideration of different parameters of the support system.

[0089] Advantageously, the variable pulse duration enables the calculation of a sequence of control commands that, when implemented in the lifting method steps, cause substantially the same change in the longitudinal extension of all manipulated support legs, if possible, within tolerances.

[0090] By using control pulses with corresponding calculated pulse durations to manipulate the corresponding actuators to change the longitudinal extension of each support leg, it is possible to cause the tilt deviation to be within a preset or preset range for the accompanying tilt deviation.

[0091] It is possible to advantageously scale the pulse duration of control pulses, wherein, based on the selected pulse duration of control pulses, the duration of control pulses in the sequence can be scaled to the desired maximum or minimum pulse duration.

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

[0093] Variations in pulse duration and, if possible, variations in the duration of overlapping control pulses can, in principle, depend on:

[0094] - Parameters of the support leg's actuator, such as stroke rate, piston diameter, or pump power (if possible, considering return oil utilization) and / or

[0095] - Parameters of the support leg's geometry, such as the primary 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 leg and / or

[0097] - The number of supporting legs and / or

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

[0099] - A preset or pre-defined range for tilt angle deviation.

[0100] - The pulse duration currently preset, for example, calculated in a prior calculation method step and / or

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

[0102] - The location and / or placement of the lifting equipment on the transport vehicle

[0103] - Torsional and bending stiffness and / or torsional and / or stiffness of the transport vehicle

[0104] - Preset or presetable spatial orientation and / or spatial plane and / or

[0105] - The location of the center of gravity of the transport vehicle and / or lifting equipment and / or

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

[0107] - The operating parameters of the actuator for the supporting leg, such as the control characteristics of the hydraulic valves of the hydraulic supply device of the hydraulic actuator or the switching characteristics of the energy supply device of the electric actuator.

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

[0109] In an advantageous embodiment of the method, the actuators of each support leg of the support system can be operated using a sequence of control commands in a preset or pre-defined order. Preferably, specific support legs of the support system can be operated.

[0110] Preferred maneuvers can be performed, for example, in order to keep the deviation of the tilt angle to be maintained small or to take into account the torsional and bending stiffness of the vehicle.

[0111] Preferred controls 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 process while manipulating the actuator of the support legs of the support system. Thus, the support system can not only lift the vehicle away from the ground, but also lower the vehicle towards the ground.

[0113] In an advantageous embodiment of the method, a sequence of control commands can be used to manipulate the individual actuators of the support legs of the support system with time-limited, preset or presettable overlapping control pulses between successive control pulses. Here, in the sequence of control commands, successive control pulses can be simultaneously output by the controller in certain segments.

[0114] The overlap of control pulses can be calculated during the computational method steps.

[0115] Therefore, for example, the driver of the support leg can be activated for the duration of the control pulse by the output caused by the controller, and the activation of the driver of the next support leg can begin according to the calculated sequence before the control pulse ends.

[0116] The time-limited, preset, or presettable overlapping duration determines the duration of simultaneous activation of the support leg's actuator in a partial segment.

[0117] The vehicle can be aligned substantially smoothly by overlapping successive control pulses. Vibrations caused by the sudden on and off of the support leg actuators can be reduced.

[0118] This allows for the simultaneous operation of up to two drives within the overlap of successive control pulses.

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

[0120] In one advantageous embodiment of the method, the tilt angle of the transport vehicle and / or lifting device relative to at least one preset or pre-preset spatial orientation and / or spatial plane can be continuously detected in the monitoring method step after the vertical lifting state of the transport vehicle and / or lifting device is changed, i.e., after one or more calculation method steps and lifting method steps.

[0121] If, for example, a lifting device arranged at the transport vehicle during operation is used after the support and lifting of the transport vehicle, or if, for example, the load on the transport vehicle is changed, an undesirable change in the tilt angle of the transport vehicle and / or the lifting device can occur due to the resulting load and / or changes in the ground used for support. This change can be identified and determined by continuous detection of the tilt angle.

[0122] When a preset or pre-preset deviation of the detected tilt angle is reached or exceeded, but regardless of the value of the detected tilt angle, at least one leveling calculation method step is implemented to minimize the tilt angle of the vehicle and / or lifting device. This step calculates a sequence of control commands based on the currently detected tilt angle of the vehicle and / or lifting device for sequentially and time-constrainedly manipulating the respective actuators of the support legs of the support system. In this leveling method step, the actuators of the support legs of the support system are manipulated using the sequence of control commands to reduce the tilt angle of the vehicle and / or lifting device relative to at least one preset or pre-preset spatial direction and / or spatial plane. The sequence of control commands allows for sequential and time-constrained manipulation of the respective actuators of the support legs of the support system using control pulses. Therefore, the tilt angle can, for example, be brought back to a pre-preset or preset range for tilt angle deviation relative to the horizontal line, which is within 0° to 10°, preferably within 0° to 5°, and particularly preferably within 0° to 3°.

[0123] With the inclination angle minimized, the existing lift state can be maintained essentially, if possible, within the preset or preset tolerance range for the lift state.

[0124] Minimizing the tilt angle can be done automatically by the controller, through appropriate verification, or through targeted selection by the user.

[0125] It also claims protection for a computer program product comprising instructions derived from or capable of being brought into a storage unit in a data connection with a computing unit, the instructions causing the computing unit, when executed by the computing unit, to perform the methods described above.

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

[0127] It also requires protection of a controller for supporting the system, which is configured to perform the methods described above.

[0128] The controller can, in principle, have at least one computing unit and at least one storage unit. The computing unit can be in a data connection with the storage unit or can be brought into such a data connection.

[0129] In a computational operation mode, the controller can calculate a sequence of control commands for sequentially and time-constrainedly manipulating the individual drives of the support legs of the support system, so as to change the vertical lifting state while maintaining the current tilt angle within a preset or preset range for tilt angle deviation.

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

[0131] In the controller's operating mode, the actuators of the support legs of the support system can be controlled by a sequence of control commands to change the vertical lifting state of the transport vehicle and / or lifting device relative to the ground. The sequence of control commands allows the actuators of the support legs of the support system to be controlled sequentially and in a time-constrained manner with control pulses.

[0132] This corresponds to the sequence of control commands output by the controller and stored in the controller's memory unit.

[0133] Control commands can be output from the controller, for example, to a controllable valve in the hydraulic system of the lifting device, wherein the controllable valve can control the supply of hydraulic actuators to the support system.

[0134] The controller can have a user interface for the user, which can generally be implemented as an operating element of the controller, such as a lever, button, or area on a touch-sensitive display, particularly on a mobile remote controller of a lifting device controller, and the user interface can generally be adapted for data exchange with the controller. The controller can be at least partially located at the lifting device or may be located at the lifting device.

[0135] It also requires protection for a vehicle, particularly a transport vehicle, equipped with a lifting device, a support system as described above, and a controller for the support system as described above. The lifting device can generally be constructed as a crane, particularly as an articulated boom crane. Attached Figure Description

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

[0137] Figure 1 The flowchart of one implementation of the method is illustrated schematically.

[0138] Figure 2 The flowchart of another implementation of the method is illustrated schematically.

[0139] Figure 3 A side view of one embodiment of a transport vehicle parked on sloping ground is shown.

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

[0141] Figure 5 A top view of one embodiment of the transport vehicle is shown.

[0142] Figure 6 A schematic top view of one embodiment of the transport vehicle is shown.

[0143] Figure 7 A schematic diagram of one embodiment of a lifting device with a support system is shown.

[0144] Figure 8 A perspective view of one embodiment of the transport vehicle is shown.

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

[0146] Figure 10a and Figure 10b The diagrams show three consecutive control pulses. Detailed Implementation

[0147] Regarding the embodiment of the transport vehicle 8 with support system 7 shown in the attached figures above, Figure 1 An implementation scheme for changing the vertical lifting state of a transport vehicle 8, equipped with a lifting device 9 and a support system 7, parked on the ground 10, is described. The support system 7, as presented, includes...

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

[0149] - Controller 5, which is used to operate the actuators of support legs 1, 2, 3, and 4 using control commands, and

[0150] - Advantageously, at least one tilt sensor 6 is used to detect the tilt angle α of the transport vehicle 8 and / or lifting device 9 relative to at least one preset or pre-preset spatial orientation and / or spatial plane.

[0151] In at least one calculation method step i, a sequence of control commands can be calculated to sequentially and temporally manipulate the respective actuators of the support legs 1, 2, 3, 4 of the support system 7 to change the vertical lifting state while maintaining the current tilt angle α within a preset or preset range Δα for tilt angle deviation.

[0152] In at least one following lifting method step ii, the actuators of the support legs 1, 2, 3, 4 of the support system 7 can be manipulated using a sequence of control commands to change the vertical lifting state of the transport vehicle 8 and / or the lifting device 9 relative to the ground 10, wherein the sequence of control commands can be used to control pulses s1, s2, s3 (see... Figure 10a and Figure 10b The actuators of the support legs 1, 2, 3, and 4 of the support system 7 are operated sequentially and in a time-limited manner.

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

[0154] Alternatively or in combination, at least one parameter of the actuators of the support legs 1, 2, 3, and 4 can be preset or pre-set as a parameter of the support system 7, for example through the user interface 21, and in step i of the calculation method, a sequence of control commands is calculated based on the parameters of the actuators of the support legs 1, 2, 3, and 4.

[0155] Generally, the parameters of the supporting system 7 can be provided to the controller 6 and included in the calculation of the sequence of control commands. These parameters can include:

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

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

[0158] - Parameters for the positions of support legs 1, 2, 3, and 4 and / or

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

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

[0161] - The preset or pre-defined range Δα for tilt angle deviation and / or

[0162] -The pulse durations t1, t2, t3 of the control pulses s1, s2, s3 currently preset, for example, calculated in step i of the prior calculation method, and / or

[0163] - The number and / or location of the axles of vehicle 8 and / or

[0164] - The location of the lifting device 9 arranged on the transport vehicle 8 and / or

[0165] - Torsional and bending stiffness and / or torsional and / or flexural stiffness of vehicle 8

[0166] - Preset or presetable spatial orientation H and / or spatial plane and / or

[0167] - The location, especially the nominal location, of the center of gravity of the transport vehicle 8 and / or the lifting device 9.

[0168] - The load acting on support legs 1, 2, 3, and 4 is preferably detected by sensing the hydraulic pressure in the actuators of support legs 1, 2, 3, and 4 and / or by using load sensors and / or

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

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

[0171] The operation of the actuators of the support legs 1, 2, 3, and 4 of the support system 7 can be carried out for such a long time, for example in optional cycle iii, which has the repetition of calculation method step i and lifting method step ii, that is, until the vertical lifting state of the transport vehicle 8 and / or the lifting device 9 reaches or falls below a preset or presetable theoretical value, or as soon as the user gives an operation command to change the vertical lifting state via the user interface of the controller 5.

[0172] Generally, in loop iii, within calculation method step i (which can follow the previously executed leveling method step ii), the change in tilt angle α caused by the previous leveling method step ii can be detected. This allows for the evaluation of the effect of the performed manipulation.

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

[0174] Here, it is possible to reach or exceed a preset or presettable range Δα of the tilt angle deviation for the detected tilt angle α (see, for example...). Figure 3 and Figure 9a In the case of ), at least one calculation method step i and at least one lifting method step ii are repeatedly performed.

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

[0176] Figure 3 A side view of one embodiment of a transport vehicle 8 parked on an inclined (inclination angle, for example, 5° in the diagram) ground 10 is shown, the vehicle equipped with a lifting device 9 arranged thereon in the form of an articulated boom crane. The ground 10 is inclined at an angle relative to the horizontal line H. The transport vehicle 8, parked on the inclined ground 10, is in an unsupported state substantially around the transverse axis y of the transport vehicle 8 (see...). Figure 6 The vehicle is tilted at an angle α, which in this embodiment is tilted relative to the horizontal line H, measured relative to the vehicle frame. The tilt angle of the vehicle 8 about the longitudinal axis x can be similarly given, however, it is not shown in this exemplary embodiment.

[0177] In this embodiment, the transport vehicle 8 has a support system with four support legs 1, 2, 3, and 4 (partially covered, see also...). Figure 5 The tilt sensor 6 and the controller 5 arranged at the vehicle 8 in this embodiment are used to operate the actuators of the support legs 1, 2, 3, and 4 using control commands.

[0178] For example, for safety reasons, the given current tilt angle α may not be suitable for allowing the execution of lifting method step ii; therefore, vehicle leveling may be necessary. For instance, it can be preset that the currently detected tilt angle α of the transport vehicle 8 and / or lifting device 9 is in the range of 0° to 3° relative to the horizontal line H. Such an exemplary range of tilt angle deviation Δα for the current tilt angle α is... Figure 3 The middle is drawn on both sides of the horizontal line H. When parked on the corresponding untilted ground 10, the leveling before the method is executed can be canceled.

[0179] Figure 4a It shows in Figure 3The image shows a side view of an embodiment of a transport vehicle 8 parked on an inclined ground 10. The parked transport vehicle is aligned with and leveled relative to the horizontal line H after being supported on the ground 10 by support legs 1, 2, 3, and 4. The angle of inclination α relative to the horizontal line H is substantially 0° in this diagram.

[0180] Such a current tilt angle α relative to the horizontal line H is suitable for use in the lifting method step ii of the execution method.

[0181] Unlike what is presented, the tilt angle can also refer to the angle of the substantially vertically extending swing axis 15 of the lifting column of the lifting device 9 relative to the horizontal line H or relative to the vertical plane. Therefore, Figure 4a Alternative or additional arrangements of the tilt sensor 6 are shown. For alignment, efforts are made to ensure that the swing axis 15 of the lifting column is at least approximately right-angled with the horizontal line H.

[0182] Generally speaking, alignment with a preset or pre-set spatial orientation and / or spatial plane is feasible.

[0183] Figure 4b It shows Figure 4a The side view of the transport vehicle 8 shown is placed on the inclined ground 10, wherein the transport vehicle 8 is raised relative to the ground 10 while maintaining the current tilt angle α by means of changing the vertical lifting state.

[0184] It can be seen that at least one wheel of the transport vehicle 8 remains on the ground 10, therefore the transport vehicle 8 is not fully lifted by the support legs 1, 2, 3, 4. Contrary to what is presented, it is possible to fully lift the transport vehicle 8.

[0185] Figure 5 A top view of an embodiment of the transport vehicle 8 as shown above is presented. As presented, the support system 7 has horizontally adjustable support arms 11, 12, 13, and 14, with support legs 1, 2, 3, and 4 arranged at the support arms. The controller 5 can be configured to operate the actuators of the support arms 11, 12, 13, and 14 using control commands.

[0186] Figure 6 The longitudinal axis x and transverse axis y of the transport vehicle are clarified. Figure 6 A schematic top view of one embodiment of a transport vehicle 8 with a front axle 18 and a rear axle 19, similar to a prior embodiment, is shown. The tilt sensor 6 is positioned, as presented, at the origin of a coordinate system developed by the longitudinal axis x and the transverse axis y, located on the swing axis 15 of the lifting column of the lifting device 9.

[0187] Alignment around the longitudinal axis x can be achieved through the longitudinal extension relationship of support leg 1 and support leg 2 (see Figure 9). Alignment around the transverse axis y can be achieved through the steady-state component (Gleichantei l) of the longitudinal extension, i.e., the corresponding absolute value.

[0188] Controller 5 (see Figure 7 The actuators of support legs 1, 2, 3, and 4 can be controlled using control pulses s1, s2, and s3. The durations t1, t2, and t3 of these control pulses s1, s2, and s3, and, if possible, the variation of overlapping pulse d, can depend on:

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

[0190] - Parameters of the geometric structure of support legs 1, 2, 3, and 4, such as the distance between the support legs and the swing axis 15 of the lifting column of the lifting device 8 and / or

[0191] - Parameters regarding the positions of support legs 1, 2, 3, and 4, such as the arrangement of the support legs relative to the lifting device 8, especially relative to the swing axis 15 of the lifting column of the lifting device 8, on the vehicle frame, and / or

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

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

[0194] - The preset or pre-defined range Δα for tilt angle deviation and / or

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

[0196] - The position and / or location of axles 18 and 19 of vehicle 8

[0197] - The location of the lifting device 9 arranged on the transport vehicle 8 and / or

[0198] - Torsional and bending stiffness and / or torsional and / or flexural stiffness of vehicle 8

[0199] - Preset or preset spatial orientation and / or spatial plane.

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

[0201] - Two vertically adjustable support legs 1 and 2, which are used to support the object on the ground 10.

[0202] - Controller 5, which is used to operate the actuators of support legs 1 and 2 using control commands, and

[0203] - At least one tilt sensor 6 is used to detect the tilt angle α of the lifting device 9 relative to at least one preset or presettable spatial orientation and / or spatial plane.

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

[0205] In addition to the tilt sensor 6, the controller 5 can also provide measured values ​​of the operating parameters of the support legs 1 and 2.

[0206] The controller 5 may, in principle, have at least one computing unit 16 and at least one storage unit 17. The computing unit 16 may be in a data connection with the storage unit 17 or may be brought into such a data connection.

[0207] The controller 5 may have a user interface 21 for a user, which can generally be implemented as an operating element of the controller, for example, as implemented on a touch-sensitive display, especially as Figure 7 The levers, buttons, or areas on the mobile remote controller 20 of the controller 5 of the lifting device 9, as shown in the diagram.

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

[0209] The controller 5 can calculate a sequence of control commands in the form of control pulses s1, s2, s3 based on the currently detected tilt angle α of the lifting device 9 in the calculation operation mode. This sequence is used to sequentially and time-constrainedly manipulate the respective actuators of the support legs 1 and 2 of the support system 7 in order to change the vertical lifting state while maintaining the current tilt angle α within a preset or preset range Δα for tilt angle deviation.

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

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

[0212] Here, the controller 5 can output control commands stored in the storage unit 17 of the controller 5 in a sequence.

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

[0214] Figure 8 It shows something similar to Figure 7 The implementation plan includes a support device 7 arranged on a transport vehicle 8 equipped with a lifting device 9.

[0215] exist Figures 9a to 9d The diagram schematically illustrates the use of support system 7 (see Figure 7). Figure 3 or Figure 7 The support system 7 is provided relative to the exemplary preset spatial direction H (horizontal line). The support system 7 can be connected to a transport vehicle and / or lifting device (swing axis 15) not shown in the figure.

[0216] To improve the permissibility of executing step ii, it can be preset, for example, that the tilt angle α of the currently detected transport vehicle 8 and / or lifting device 9 is within the range of 0° to 5° relative to the horizontal line H. An exemplary range Δα for the tilt angle deviation of 5° relative to the horizontal line H is... Figures 9a to 9d The image is drawn on both sides of the horizontal line H. Therefore, it is required that, in order to perform the method, the currently detected tilt angle α is between +5° and -5° relative to the horizontal line H, as exemplarily presented.

[0217] exist Figures 9a to 9d The alignment presented in the middle can be referenced Figure 6 This corresponds to leveling around the vertical axis x and leveling around the horizontal axis y. Alignment relative to other axes or spatial planes can be performed similarly.

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

[0219] It should not be ruled out that, unlike what is presented, support system 7 may have more support legs (e.g., four), and several of these support legs may be utilized, especially for alignment relative to the spatial plane. However, for illustration purposes, the process is limited to two support legs 1 and 2.

[0220] Figure 9aA support system 7 is shown supported on an inclined ground 10, with support legs 1 and 2 brought into contact with the ground. The viewing direction corresponds to a view along the longitudinal axis of the vehicle. Support legs 1 and 2 have first longitudinal extensions x11 and x21, respectively. An inclination meter 6 outputs an inclination angle α of -2° relative to the horizontal line H.

[0221] By utilizing the time-constrained control pulses s1, s2, s3 sequentially output by controller 5 (see... Figure 10a and Figure 10b The driver of the support leg 1 can incrementally change and increase the lifting state of the lifting device 9 as shown.

[0222] In calculation method step i (see...) Figure 1 The system can calculate a sequence of control commands based on separately measured tilt angles α, to sequentially and time-constrainedly manipulate the respective actuators of the support legs 1 and 2 of the support system 7, in order to change the lifting state while maintaining the tilt angle α within the range Δα for tilt angle deviation. Partial changes to the lifting state (such as this from...) Figures 9a to 9d (As exemplarily presented in one diagram to another) can be part of the overall desired or required change in the lifting state of a transport vehicle or lifting device.

[0223] exist Figure 9b In this configuration, after being manipulated by the controller 5 using control pulses s1, the support leg 1 has a larger second longitudinal extension x12. The tilt measuring device 6 outputs a tilt angle α of 2° relative to the horizontal line H, and the tilt angle α is thus maintained within a preset range Δα for tilt angle deviation.

[0224] This can be, for example, the first run (Durchlauf) corresponding to computation method step i and improvement method step ii.

[0225] In loop iii (see Figure 1 The calculation method step i and the lifting method step ii can be repeated, wherein control commands and control pulses are calculated for support legs 1 and 2 respectively and overlap if possible, and the driver of the support legs can be manipulated using the control pulses.

[0226] exist Figure 9c In the middle, after running cycle iii and being manipulated here by controller 5 using control pulse s2, support leg 2 has a larger second longitudinal extension x22. Inclinometer 6 again outputs an inclination angle α of -3° relative to the horizontal line H. Although the inclination angle α increases again relative to the shown spatial direction H, it is still within the range Δα for inclination deviation.

[0227] Reference Figure 6It is noteworthy that alignment around the longitudinal axis x can be achieved by changing the longitudinal extension of support legs 1 and 2. Similarly, the tilt angle around the transverse axis y can be changed by extending support legs 1 and 2 longitudinally. Regarding the horizontal spatial plane, the tilt angle relative to the spatial direction in which it is placed (e.g., viewed orthogonally to spatial direction H) can also be maintained within the range for tilt angle deviations.

[0228] To further modify the promotion state, it is possible to do so in loop iii (see...) Figure 1 In the further operation of the calculation method step i and the lifting method step ii, respectively, the calculation method step i and the lifting method step ii are repeated. In each repeated cycle iii, in order to change the vertical lifting state while basically maintaining the current tilt angle α, the sequence of control commands and the corresponding control pulses are calculated and the overlap of control pulses is performed if possible, and the sequence of control commands is realized.

[0229] exist Figure 9d In further operation of cycle iii, the longitudinal extension x13 of support leg 1 is increased incrementally. Inclinometer 6 outputs the tilt angle α, which is 0° relative to the horizontal line H.

[0230] exist Figure 9d As can be seen from the longitudinal extensions x11, x13, x21, and x22 of the drawn support legs 1 and 2, the sequence of control commands s1, s2, and s3 causes essentially the same change in the longitudinal extension of all the manipulated support legs 1 and 2. This allows the current tilt angle α to be maintained within a preset or pre-defined range Δα for tilt angle deviations.

[0231] When the tilt angle α currently detected in step i of the calculation method is outside the range Δα for tilt angle deviation, the leveling of the transport vehicle 8 and / or the lifting device 9 can be performed 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] Figures 9c to 9d The sequence can represent three repetitions of cycle iii as described, in which the longitudinal extension of support legs 1 and 2 is gradually changed to change the vertical lifting state.

[0233] However, it is also conceivable that... Figures 9c to 9d The sequence corresponds to a single operation of calculation method step i and improvement method step ii. Here, the sequence of control instructions can include control pulses s1, s2, and s3.

[0234] The change in vertical lifting state can proceed incrementally for such a long time.

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

[0236] -As long as the user provides an operation command to change the vertical lifting state via the user interface 21 of the controller 5.

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

[0238] By, for example, in Figures 9a to 9d The method described herein utilizes the sequentially output and time-constrained control pulses s1, s2, s3 from the controller 5 to control the actuator of the support leg 1, thereby enabling the vertical lifting state of the transport vehicle 8 and / or the lifting device 9 to be changed while maintaining the current tilt angle α within a preset or preset range Δα.

[0239] exist Figure 9b In the process, after being manipulated by the controller 5 using a first control pulse s1 with a pulse duration t1, the support leg 1 has a relative Figure 9a The diagram in the image has a larger vertical extension of x12. Figure 9c In the process, after being manipulated by the controller 5 using a second control pulse s2 with a pulse duration t2, the support leg 2 has a relative Figure 9b The diagram in the image shows a larger vertical extension of x22. Figure 9d In the process, after being manipulated by the controller 5 using a third control pulse s3 with a pulse duration t3, the support leg 1 has a relative Figure 9a The diagram in the image has a larger vertical extension of x12. Control can be achieved, for example, using... Figure 10a The control pulses s1, s2, and s3 are used.

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

[0241] Therefore, for example, according to Figure 10b It is possible to first activate, for example, the driver of support leg 1, for the pulse duration t1 of control pulse s1. Before the end of the operation of control pulse s1, it is possible to start the activation of the driver of the next support leg 2 by using the output of control pulse s2 that follows in sequence according to the calculated sequence.

[0242] The time-limited, preset, or presettable duration of overlap d can determine the duration for which a portion of the actuators of support legs 1 and 2 are simultaneously activated.

[0243] List of reference numerals in the attached diagram:

[0244] 1 Supporting leg

[0245] 2 Supporting legs

[0246] 3 Supporting legs

[0247] 4 Supporting legs

[0248] 5 Controllers

[0249] 6 Tilt Sensors

[0250] 7 Support System

[0251] 8. Transport vehicles

[0252] 9. Lifting device

[0253] 10 Ground

[0254] 11 Support Arm

[0255] 12 support arms

[0256] 13 Support Arms

[0257] 14 Support Arm

[0258] 15. Swing axis of the lifting column

[0259] 16 Computing Units

[0260] 17 storage units

[0261] 18. Front axle of the transport vehicle

[0262] 19. Rear axle of the transport vehicle

[0263] 20 Mobile Remote Controllers

[0264] 21 User Interface

[0265] α Angle of inclination

[0266] Δα refers to the range of tilt angle deviation.

[0267] i Calculation method steps

[0268] ii. Improvement methods and steps

[0269] iii Repeating loop

[0270] iv. Monitoring methods and steps

[0271] v Leveling calculation method steps

[0272] vi Leveling method steps

[0273] vii Repeating loop

[0274] H horizontal line

[0275] x-axis

[0276] y-axis

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

[0278] s1, s2, s3 control pulses

[0279] t1, t2, t3 Pulse duration

[0280] d Overlap

Claims

1. A method for altering the vertical lifting state of a transport 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) for support on the ground (10), and - Controller (5), used to operate the actuators of the support legs (1, 2, 3, 4) using control commands. Its features are, - In at least one calculation method step (i), a sequence of control commands for sequentially and time-constrainedly manipulating the actuators of the support legs (1, 2, 3, 4) of the support system (7) is calculated to change the vertical lifting state while maintaining the current tilt angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to at least one preset or pre-preset spatial orientation and / or spatial plane within a pre-preset or pre-defined range (Δα) for tilt angle deviation. - In at least one lifting method step (ii), the actuators of the support legs (1, 2, 3, 4) of the support system (7) are manipulated by a sequence of control commands to change the vertical lifting state of the transport vehicle (8) and / or the lifting device (9) relative to the ground (10), wherein the actuators of the support legs (1, 2, 3, 4) of the support system (7) are manipulated sequentially and in a time-constrained manner by a sequence of control commands to control pulses (s1, s2, s3).

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

3. The method according to claim 2, wherein at least one parameter of the support system (7) includes at least one of the following: - The parameters of the actuator for the support legs (1, 2, 3, 4) are preferably stroke rate, piston diameter, piston area, pump power and / or electrical power. - The geometric parameters of the supporting legs (1, 2, 3, 4), preferably the main or possible longitudinal extensions (x11, x12, x13, x21, x22), or the length of the cantilever of the supporting legs (1, 2, 3, 4) with the supporting system (7), - Parameters regarding the positions of the supporting legs (1, 2, 3, 4) - The number of the supporting legs (1, 2, 3, 4), - The tilt angle (α) of the carrier vehicle (8) and / or the lifting device (9) currently detected by at least one tilt sensor (6) of the support system (7), and / or - The preset or pre-defined range (Δα) for tilt angle deviation is available. - The pulse durations (t1, t2, t3) of the control pulses (s1, s2, s3) currently preset, for example, calculated in the prior calculation method step (i). - The number and / or location of the axles of the transport vehicle (8), -The position of the lifting device (9) arranged on the transport vehicle (8), - The torsional and bending stiffness and / or torsion of the transport vehicle (8), - Preset or preset spatial orientation (H) and / or spatial plane, - The position, especially the nominal position, of the center of gravity of the transport vehicle (8) and / or the lifting device (9), - The load acting on the support legs (1, 2, 3, 4) is preferably detected by sensing the hydraulic pressure in the actuators of the support legs (1, 2, 3, 4) and / or by a load sensor. -At least one parameter of the actuator for the support legs (1, 2, 3, 4), the control characteristics of the hydraulic valve of the hydraulic supply device of the hydraulic actuator (preferably a hydraulic actuator), and / or the switching characteristics of the energy supply device of the electric actuator. - The vertical distance between the transport vehicle (8) and / or the lifting device (9) and the ground (10) used for support, detected by at least one spacing sensor of the support system (7).

4. The method according to claim 1, wherein the actuators of the support legs (1, 2, 3, 4) of the support system (7) are operated for such a long period of time. -Until the vertical lifting state of the transport vehicle (8) and / or the lifting device (9) reaches or falls below a preset or pre-set theoretical value, or -As long as the user gives the operation command for changing the vertical lifting state via the user interface (21) of the controller (5).

5. The method according to claim 1, wherein - In calculation method step (i), a sequence of control commands is calculated for all actuators of the supporting legs (1, 2, 3, 4) of the support system (7) to change the vertical lifting state of the transport vehicle (8) and / or the lifting device (9). - In step (ii) of the lifting method, all drives of the support legs (1, 2, 3, 4) of the support system (7) are operated at least once using a sequence of control commands for changing the vertical lifting state of the transport vehicle (8) and / or the lifting device (9).

6. The method according to claim 1, wherein the tilt angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to the horizontal line (H) is detected by the tilt sensor (6) of the support system (7), and the lifting method step (ii) is performed only when the tilt angle (α) of the transport vehicle (8) and / or the lifting device (9) currently detected in the calculation method step (i) is within a range (Δα) for tilt angle deviation that can be preset or preset relative to the horizontal line from 0° to 10°, preferably from 0° to 5°, and particularly preferably from 0° to 3°.

7. The method according to claim 1, wherein the preset or pre-defined range (Δα) for tilt angle deviation is within 0° to 10° relative to the horizontal line, preferably within 0° to 5°, and particularly preferably within 0° to 3°.

8. The method according to claim 1, wherein in loop (iii), in the calculation method step (i) following the previously executed lifting method step (ii), the change in tilt angle (α) caused by the prior lifting method step (ii) is detected.

9. The method according to claim 1, wherein the respective actuators of the support legs (1, 2, 3, 4) of the support system (7) are controlled temporally by a sequence of control instructions with control pulses (s1, s2, s3) having variable pulse durations.

10. The method according to claim 9, wherein the pulse duration (t1, t2, t3) of the control pulses (s1, s2, s3) is from 0.05 seconds to 3.50 seconds, preferably from 0.25 seconds to 1.5 seconds.

11. The method according to claim 9 or 10, wherein the variation of the pulse duration (t1, t2, t3) and the variation of the time overlap (d) between successive control pulses (s1, s2, s3) depends on: -Parameters of the actuators of the supporting legs (1, 2, 3, 4) and / or -Parameters of the geometry 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 the supporting legs (1, 2, 3, 4) and / or - The tilt angle (α) of the vehicle (8) and / or the lifting device (9) currently measured by at least one tilt sensor (6) of the support system (7), and / or - The preset or pre-defined range (Δα) for tilt angle deviation 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 location and / or arrangement of the lifting device (9) on the transport vehicle (8) - The torsional and bending stiffness and / or torsional and / or torque of the transport vehicle (8) - Preset or preset spatial orientation and / or spatial plane and / or - The position of the center of gravity of the transport vehicle (8) and / or the lifting device (9) and / or - By detecting the hydraulic pressure in the actuators of the support legs (1, 2, 3, 4) and / or by detecting the load acting on the support legs (1, 2, 3, 4) via load sensors, - At least one parameter of the control of the actuator of the supporting leg (1, 2, 3, 4), preferably the control characteristics of the hydraulic valve of the hydraulic supply device of the hydraulic actuator and / or the switching characteristics of the energy supply device of the electric actuator.

12. The method according to claim 1, wherein the actuators of the respective support legs (1, 2, 3, 4) of the support system (7) are operated by a sequence of control instructions in an operating sequence that can be preset or pre-set.

13. The method according to claim 1, wherein the respective drivers of the support legs (1, 2, 3, 4) of the support system (7) are manipulated by a sequence of control instructions with control pulses (s1, s2, s3) having time-limited, preset or presettable overlap (d) between successive control pulses (s1, s2, s3).

14. The method of claim 13, wherein up to two drivers are simultaneously operated within the overlap (d) between successive control pulses (s1, s2, s3).

15. The method according to claim 13 or 14, 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. The method according to claim 1, wherein the current tilt angle (α) is detected by at least one tilt sensor (6) of the support system (7) for detecting the tilt angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to at least one preset or preset spatial orientation and / or spatial plane, and in the monitoring method step (iv), after changing the vertical lifting state of the transport vehicle (8) and / or the lifting device (9), the tilt angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to at least one preset or preset spatial orientation and / or spatial plane is continuously detected.

17. The method according to claim 16, wherein when a preset or pre-predictable deviation of the detected tilt angle (α) is reached or exceeded, in order to minimize the tilt angle (α) of the transport vehicle (8) and / or the lifting device (9), - In the leveling calculation method step (v), the control command is calculated based on the currently detected tilt angle (α) of the transport vehicle (8) and / or the lifting device (9) to sequentially and time-constrainedly manipulate the respective actuators of the support legs (1, 2, 3, 4) of the support system (7). - In the leveling method step (vi), the actuators of the support legs (1, 2, 3, 4) of the support system (7) are manipulated by a sequence of control commands to reduce the tilt angle (α) of the transport vehicle (8) and / or the lifting device (9) relative to at least one preset or preset spatial orientation and / or spatial plane, wherein the individual actuators of the support legs (1, 2, 3, 4) of the support system (7) are manipulated sequentially and temporally by a sequence of control commands to control pulses.

18. A computer program product comprising instructions derived from or capable of being transferred to a storage unit in a data connection with a computing unit, the instructions, when executed by the computing unit, causing the computing unit to perform the method according to any one of claims 1 to 17.

19. A controller (5) for supporting a 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 the calculation operation mode, a sequence of control commands for sequentially and time-constrainedly manipulating the individual drives of the support legs (1, 2, 3, 4) of the support system (7) can be calculated to change the vertical lifting state while maintaining the current tilt angle (α) within a preset or preset range (Δα) for tilt angle deviation, and - In the operation mode, the actuators of the support legs (1, 2, 3, 4) of the support system can be controlled by a sequence of control commands for changing the vertical lifting state of the transport vehicle (8) and / or the lifting device (9) relative to the ground (10), wherein the actuators of the support legs (1, 2, 3, 4) of the support system (7) are controlled sequentially and temporally by a sequence of control commands.

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

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