Method for moving lifting device

Abstract

The invention relates to a method for moving a lifting device (1), in which, in a preset phase, at least one target position is preset for the lifting device (1), in a measurement phase, a current geometry of an arm system is detected, in a selection phase, at least one target position preset in the preset phase is selected, and in a comparison phase, the current geometry of the arm system is detected. Determining a geometry deviation ([Delta] alpha, [Delta] beta, [Delta] phi, [Delta] gamma, [Delta] L, [Delta] J, [Delta] H) between the geometry of the at least one target position selected in the selection phase and the current geometry detected in the measurement phase, at least one control command is generated on the basis of the geometrical deviations ([Delta] alpha, [Delta] beta, [Delta] phi, [Delta] gamma, [Delta] L, [Delta] J, [Delta] H) determined in the comparison phase, and in the actuation phase, the lifting device (1) is moved at least partially into the selected target position by actuating an actuator (20, 21, 22, 23, 25) of the arm system with the at least one control command generated in the generation phase.

Description

Technical Field

[0001] The invention relates to a method for moving a lifting device according to the preamble of claim 1, a computer program product for implementing such a method, a data carrier signal for transmitting such a computer program product, a control device for executing such a method and a lifting device with such a control device. Background Art

[0002] Methods for moving lifting devices are known in the prior art.

[0003] In conventional methods for moving a lifting device, the individual actuators of the arm system of the lifting device are directly controlled individually by the user by means of control commands generated by the user via a user interface of a control device. The movement of the arm system results from individual set movements controlled by the user. When the arm system is moved to a desired target position, which is associated with the given geometry of the arm system, the user must carry out targeted set movements starting from the prevailing position which deviates from the desired position. This is disadvantageously associated with a high workload and a high time expenditure for the user, which is caused by possible corrections of the geometry of the arm system when approaching the target position.

[0004] Also known is a method for moving a lifting device, in which a coordinate control of an arm system is performed. In this case, the individual actuators of the arm system are controlled by a control device in such a way that the user controls the behavior of the crane head of the arm system instead of the individual actuators themselves. In this case, an infinite number of trajectories (which the arm of the arm system is to follow along the corresponding degrees of freedom) can be possible each time a trajectory is preset (which the crane head is to follow during coordinate control). If, for example, the crane head or the received load is repeatedly moved along a trajectory, the arm system can assume a variety of geometries during the movement and in the final position. The same position of the crane head can be given for various positions of the arm system. In particular, for overdetermined arm systems with redundant degrees of freedom of movement, the generation of the control commands necessary for implementing the coordinate control can represent a high computational expenditure of the control device. When moving an arm system controlled by coordinates, changes in the geometry of the arm system that are unforeseeable to the user can also occur. Summary of the invention

[0005] The object of the present invention is to specify an improved method for moving a lifting device, as well as a computer program product for implementing such a method, a data carrier signal for transmitting such a computer program product, a control device for executing such a method and a lifting device with such a control device, which do not have the above-mentioned disadvantages. In particular, the movement of the arm system should be carried out in a manner that is intuitively predictable for the user and the arm system should be able to have a substantially predetermined or predeterminable geometry in the respective end position of the movement.

[0006] This object is achieved by a method for moving a lifting device with the features of claim 1, a computer program product for carrying out such a method, a data carrier signal for transmitting such a computer program product, a control device for carrying out such a method and a lifting device with such a control device.

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

[0008] The method according to the invention is suitable for mobile lifting devices. The lifting device can be designed, for example, in the form of a crane, a loading crane or a lifting platform in the form of a crane with a working basket arranged thereon.

[0009] The lifting device can have an arm system with an arm having a variable geometry, wherein the arms of the arm system can be moved relative to one another along at least one degree of freedom by means of at least one actuator.

[0010] The movement along the degrees of freedom can be performed by actuators corresponding to the degrees of freedom. For example, two arms supported in a deflectable manner relative to each other can be deflected relative to each other by an actuator. Two arms supported in a displaceable manner relative to each other can be displaced relative to each other by an actuator, for example.

[0011] By means of the user preferably via a suitable user interface to give operating instructions and basically free control of the actuator, the lifting device can be moved. Here, for example, each actuator of the lifting device can be controlled by corresponding control instructions based on the user's operating instructions.

[0012] The degrees of freedom of the arm system may in principle include the angles of the arms of the arm system relative to one another and the length of the variable-length arm.

[0013] In the presetting phase, in order to preset at least one target position for the lifting device, the lifting device can be brought into the at least one target position by actuating the actuator. The actuator can be actuated by a user, preferably via a suitable user interface, with corresponding control commands. The at least one target position can thus be achieved, for example, by directly approaching the position with the arm system. The actuator can be designed in principle in the form of a hydraulic cylinder or a corresponding electric drive.

[0014] The control commands can basically be output by the control device in the form of control pulses with amplitude and signal duration, wherein, for example, electric drives and / or controllable valves of a hydraulic supply for an actuator of the lifting device can be switched by the control pulses.

[0015] In at least one predefined target position, the currently prevailing geometry of the arm system can be detected based on at least one degree of freedom.

[0016] Alternatively or in combination, in the presetting phase, at least one target position can be pre-set for the lifting device by specifying the geometry of the arm system in at least one target position based on at least one degree of freedom via a user interface of the control device. The user can store or program at least one target position based on at least one degree of freedom by means of the user interface of the control device, wherein it is not necessarily necessary for the arm system to directly approach the position.

[0017] It is conceivable that in the presetting phase, the lifting device is brought into a further target position by actuating the actuator and that a further detection of the current geometry of the arm system prevailing therein is carried out based on at least one degree of freedom. In general, it is possible to realize the respective current geometry of the arm system based on at least one degree of freedom for a plurality of target positions in the presetting phase.

[0018] The presetting phase can in principle be carried out as often as desired and at any time during the operation of the lifting device.

[0019] When prescribing the geometry of the arm system and / or detecting the current geometry of the arm system, in principle, values ​​for all degrees of freedom of the arm system can be prescribing and / or detecting. This allows the current geometry of the arm system to be determined substantially completely, if possible including stored data for configuring the arm system.

[0020] It should not be excluded that during the presetting, values ​​for selected degrees of freedom of the arm system can be predefined by specifying the geometry of the arm system in at least one target position based on at least one degree of freedom via a user interface of the control device.

[0021] The current geometry of the arm system may be understood to mean the respectively currently prevailing geometry of the arm system.

[0022] In the measuring phase, the current geometry of the arm system can be detected based on at least one degree of freedom. In this case, the lifting device can be brought into a position that deviates from the at least one first target position, preferably essentially freely selectable, for example by actuating an actuator, after the execution of the preset phase or the preset phase.

[0023] In the measuring phase, separately from detecting the geometry in the presetting phase, the current geometry of the arm system can be detected based on at least one degree of freedom.

[0024] The measuring phase can in principle be performed multiple times and at any time within the method. It is conceivable that the measuring phase is performed cyclically, in particular periodically. The measuring phase can be performed, for example, when the geometry of the arm system changes, preferably every time the geometry of the arm system changes.

[0025] In the selection phase, at least one target position preset in the preset phase can be selected. It can be arranged that the lifting device is moved into or close to at least one target position selected in the selection phase by the method.

[0026] At least one target position can be selected by a user via a user interface of the control device.

[0027] It should not be excluded that the target position which was last predefined in the predefined phase is the currently selected target position.

[0028] The execution of the selection phase can in principle be carried out independently of the measuring phase. Thus, for example, at least one target position can be selected in the selection phase before or after the execution of the measuring phase.

[0029] In a comparison phase following the measuring phase and the selection phase, a geometric deviation between the geometry of at least one target position selected in the selection phase and the current geometry detected in the measuring phase can be determined by comparing the corresponding geometries of the arm systems based on at least one degree of freedom.

[0030] Geometric deviations can in principle be present due to different geometries of the arm system in the presetting phase (corresponding to the at least one target position selected in the selection phase) and in the measuring phase, i.e., for example, due to different deflection positions and / or displacement positions of the arms of the arm system that are movable relative to one another. The different geometries can be compared based on at least one degree of freedom.

[0031] The geometric deviation can be determined qualitatively and quantitatively based on at least one degree of freedom.

[0032] The movement can in principle be performed along the degrees of freedom by the actuators assigned to the degrees of freedom. The geometric deviation determined based on at least one degree of freedom can be assigned to the actuators associated with the respective degree of freedom.

[0033] The measuring phases can in principle be carried out as often as desired and at any time during the operation of the lifting device.

[0034] In a generation phase following the comparison phase or the comparison phase, at least one control command for actuating at least one of the actuators of the lifting device can be generated based on the geometry deviation determined in the comparison phase. With the at least one control command, the arm system of the lifting device can be brought close to or at least partially transformed from the geometry detected in the measurement phase to the geometry of the at least one target position selected in the selection phase by actuating at least one of the actuators.

[0035] At least one control command may be generated in order to cause the arm system of the lifting device to approach or transform from the geometry detected in the measuring phase to a geometry that approaches the geometry of the at least one target position selected in the selection phase within a predeterminable or predefined tolerance range.

[0036] The movement of the arm system along at least one degree of freedom that can be realized using at least one control command can approximate the geometry of the arm system within a tolerance range of the geometry of at least one target position selected in the selection phase. A tolerance range for at least one degree of freedom can be preset or pre-settable.

[0037] The tolerance range can be predefined as a function of different operating parameters of the lifting device, such as temperature, extension length and / or moment load of the arm system, mass of the received load or inclination of the lifting device. In particular, the control device can calculate and predefined the corresponding tolerance range using sensor data. Predefinition by the user, for example for individual or multiple degrees of freedom of the arm system, is also conceivable.

[0038] The geometric deviations determined in the comparison phase can be compensated within a predefined or predefinable tolerance range using at least one control command.

[0039] When actuating at least one of the actuators using the at least one control command generated in the generation phase, a geometric deviation determined in the comparison phase relative to at least one first target position or also relative to a further target position can be minimized.

[0040] By using the method according to the invention, control commands can be generated based on geometry deviations, so that the arm system of the crane can have in the target position essentially the geometry specified and / or detected in the presetting phase. This differs from methods in which the target position is characterized by the position of the hanging tip of the arm system and in which the geometry of the arm system can deviate from the geometry present in the case of the presetting target position when the crane is moved into such a target position.

[0041] Such a control can be performed in a control phase. Here, the lifting device can be at least partially moved into a selected target position by controlling the actuators of the arm system using at least one control command generated in the generation phase.

[0042] After a plurality of executions of the sequence of measuring phases, comparing phases, generating phases and controlling phases, it is possible for the geometry of the arm system to be iteratively approximated, possibly within tolerances, to the geometry of the at least one target position selected in the selection phase.

[0043] In particular, the movement of the arm system can be regulated by executing a sequence of measuring phases, comparison phases, generation phases and control phases several times. In this case, the movement of the arm system and the resulting geometric changes that are actually achieved with the generated and output control commands in one run through the generation phase and the control phase can be taken into account in another run through.

[0044] By means of such a feedback, for example, deviations of operating parameters such as temperature, friction of the lifting device or also load between the preset phase and the measuring phase can be compensated.

[0045] It should not be excluded that the lifting device is moved by the method between different target positions which can be selected in the selection phase. Thus, for example, after reaching at least one target position, the lifting device can be moved to a second target position by controlling the actuators of the arm system using at least one control command generated in a further generation phase. In this case, a measuring phase can be carried out after reaching the target position, based on which a geometric deviation relative to the second target position can be determined. The target position can be reached within a preset or predeterminable tolerance range.

[0046] It should not be excluded that during the execution of the method, the user makes manual corrections to the geometry of the arm system, for which the control device can have a suitable operating mode. The manual corrections can be detected in a subsequent measuring phase and taken into account in the generation phase when generating control commands.

[0047] Based on the geometry deviation, a control command can in principle be generated for each degree of freedom for which the deviation is determined.

[0048] Due to the high complexity of the geometry of some arm systems, arm systems can have a large number of degrees of freedom, which arm systems can include, for example, a lifting column, a main arm (also called a lifting wall) arranged pivotably on the lifting column, and an elbow arm (with a push arm displaceably mounted therein) arranged pivotably on the main arm. In the prior art, such arm systems are known, for example, as redundant or overdetermined manipulators (Manipulators, sometimes called manipulators).

[0049] The excess movability due to the overdeterminism of the arm system makes it possible to carry out a movement between two different geometries along different paths, in other words by means of different movements.

[0050] A so-called inverse transformation or kinematic inversion can be performed by a processor or a computing unit of the control device in order to generate corresponding control commands for the movement. In order to obtain a clear solution for such an inverse transformation for an overdetermined arm system, the inverse transformation for generating the control commands for the arm system must be carried out with the inclusion of optimization criteria (such as, for example, a so-called cost function with a weighting matrix) and, if necessary, with approximation and is associated with a high computational effort.

[0051] By directly determining the geometric deviation between two known geometries, i.e. between at least one predeterminable target position and the geometry determined in the measuring phase, control commands can be generated particularly easily. From the geometric deviation determined on the basis of at least one degree of freedom, at least one control command for at least one actuator associated with the respective degree of freedom can be generated directly. As a result, an unambiguous solution for the inverse transformation can be calculated.

[0052] In particular, in the generation phase, control commands can be generated only for actuators for which a geometric deviation was determined in the comparison phase along at least one degree of freedom associated with the actuator. Based on the geometric deviation determined from the at least one degree of freedom, an actuator belonging to the respective degree of freedom can be associated, thereby allowing the actuator involved in the movement into the at least one target position to be determined. Advantageously, the actuator can be actuated in the actuation phase only if a deviation was determined along the respective degree of freedom in the comparison phase.

[0053] After carrying out the maneuvering phase, possibly after repeated execution as described above, the arm position obtained after the movement, the geometry of the arm system, can be substantially identical to the arm position of the arm system when the preset phase was performed. The geometry of the arm position can correspond to one another within a preset or pre-settable tolerance range.

[0054] The method makes it possible to move to a plurality of different target positions in succession during the operation of the lifting device. By means of control based on geometric deviations relative to the target positions, collision avoidance can be achieved by predictable movements of the arm system. The user can predefine the course of the movement for changes in the geometry of the arm system, for example by predetermining a sequence of target positions in a targeted manner.

[0055] Can realize thus between two or more target positions reciprocating through one or more defined intermediate positions.In addition, advantageously, need not store the information for the whole track curve in the memory of the control device, but only store the target position used as the intermediate position.

[0056] The at least one target position can generally correspond to a position of the lifting device that is essentially freely selectable by actuating the actuator. The geometry of the arm system can be essentially freely selectable for the at least one target position within the scope of the structurally predetermined degrees of freedom of the arm system.

[0057] The current geometry of the lifting device detected in the measuring phase can correspond to a geometry of the arm system that deviates from the target position predefined in the presetting phase and from the target position selected in the selection phase. The geometry of the arm system can be selected substantially freely within the range of the degrees of freedom of the arm system predefined in the construction for the measuring phase, for example by actuating actuators.

[0058] In principle, the current geometry can be detected based on sensor data of sensors arranged at the lifting device for angle measurement and / or length measurement. In principle, sensor data can be detected for all degrees of freedom of the arm system. The sensor data can be detected, for example, in order to quantitatively determine the deflection position and / or displacement position of the arms of the arm system that can be moved relative to one another. Angular measurements of the inclination of the lifting device can also be carried out.

[0059] When detecting a current geometry of the arm system and / or specifying a geometry of the arm system via a user interface of the control device, the deflection of the arm system may be determined based on the calculation model.

[0060] The deflection of the arm system may exist due to the inherent moment of the arm of the arm system. Loading of the lifting device, for example due to the received load and / or arranged additional equipment, may cause additional deflection of the arm system.

[0061] In principle, the deflection can be determined based on the geometry of the arm system and / or the load of the lifting device.

[0062] The corresponding calculation model can be stored in a memory of the control device. The deflection present in a specific position can be determined based on the calculation model with at least one degree of freedom of the mobility of the arm system and / or the load of the lifting device specified and / or detected.

[0063] When the current geometry of the arm system is detected in the target position in a preset phase, the existing deflection of the arm system can be determined based on the calculation model.

[0064] When the geometry of the arm system is specified for a target position via a user interface of the control device in a presetting phase, the deflection to be expected of the arm system can be determined on the basis of the calculation model.

[0065] In addition to the degrees of freedom of the arm system, which in principle may include the angles of the arms of the arm system relative to one another and the length of the variable-length arms, the geometry of the arm system may be characterized using the deflections of the arms of the arm system determined in the computational model.

[0066] The expected or existing deflections of the arm system can be determined in a corresponding calculation model for different loads of the lifting device in a presetting phase and a measurement phase. The different loads of the lifting device can be derived, for example, from different received loads and different geometries of the arm system. The loading of the lifting system can be carried out in a manner known in the prior art, for example via suitable load sensors or by including hydraulic pressure in a correspondingly configured actuator.

[0067] By taking into account the deflections of the arm of the arm system determined on the basis of a calculation model (including a specified or detected geometry of the arm system and any loads), it is possible in principle to bring the geometry of the arm system closer to the geometry of at least one target position selected in the selection phase.

[0068] When detecting the current geometry of the arm system and / or specifying the geometry of the arm system via a user interface of the control device, the inclination of the lifting device relative to a predefined or predefined spatial direction (eg horizontal or vertical) can be detected.

[0069] The geometry of the arm system can be characterized in addition to the degrees of freedom of the arm system, which in principle can include the angles of the arms of the arm system relative to one another and the length of the variable-length arm, by the detected inclination of the lifting device.

[0070] By detecting the inclination and incorporating it into a corresponding calculation model, a compensation of geometric deviations between the currently existing geometry and the geometry of the at least one target position selected in the selection phase can be carried out.

[0071] Using a corresponding calculation model, the geometry of the arm system can be brought more accurately closer to the geometry of the at least one target position selected in the selection phase, taking into account the currently existing inclination of the lifting device.

[0072] When the current geometry of the arm system is detected and / or the geometry of the arm system is specified via a user interface of the control device, the position of at least one additional device relative to the arm system of the lifting device can be detected. The additional device arranged or arrangeable at the arm system can be designed in the form of a working device and / or an arm extension, an arm extension that is preferably static and can be arranged at a predefined angle, and / or a working basket. Information about the functional scope, dimensioning and angular position of the additional device can be stored in a memory of the control device.

[0073] Additionally or alternatively, a geometry detection, in particular sensor-based, of the at least one additional device can be performed based on at least one degree of freedom of the geometry of the additional device, for example a variable spacing or angle of movable parts of the additional device.

[0074] The detected position and / or geometry of the at least one additional device relative to the arm system of the lifting device can be included in the determination of the geometric deviation during the comparison phase.

[0075] In an advantageous embodiment of the method, at least one value of at least one degree of freedom of arms of the arm system that are movable relative to one another along at least one degree of freedom can be specified and / or detected in a presetting phase. At least one value of at least one degree of freedom can advantageously be detected repeatedly in a measuring phase, and in a comparison phase, the geometrical deviation can be determined sequentially by determining the deviation of at least one value respectively selected in the selection phase and specified and / or detected in the presetting phase from at least one value detected in the measuring phase.

[0076] In principle, at least one control command generated in the generation phase can include information about the actuator to be actuated. When determining the geometric deviation, the actuator associated with the degree of freedom that deviates from the target position can be identified and associated with the control command. The control command can also include a nominal signal duration for the duration of the actuation.

[0077] The nominal signal duration can in principle be predefined as a function of the achievable rate of change of the geometry change when the corresponding actuator is actuated. The nominal signal duration can be a standard value for the actuation duration of the corresponding actuator and serve as a basis for comparing different control commands.

[0078] It should not be excluded that the signal duration achieved in the control phase can be changed according to other control instructions and / or operating instructions and / or given conditions on the structure of the lifting device. In particular, the corresponding signal duration achieved can still be changed in the control phase.

[0079] In an advantageous embodiment of the method, at least two control commands can be generated in the generation phase and the actuator can be actuated in the actuation phase using the at least two control commands generated in the generation phase, in principle at least partially sequentially and / or at least partially simultaneously.

[0080] The partially sequential and / or at least partially simultaneous control can be carried out in different embodiments according to different criteria.

[0081] The actuators can be actuated, for example, at least partially sequentially, in accordance with the magnitude of the geometrical change when actuating one of the actuated actuators. In this case, large changes in the geometry of the arm system can be performed first in the actuation phase.

[0082] Alternatively or in combination, the actuators can be actuated at least partially sequentially in accordance with the magnitude of the reduction in the extension length of the arm system when one of the actuated actuators is actuated. In this case, in the actuation phase, a change in geometry can first be made in which a reduction in the load moment acting on the lifting device occurs, which load moment can in principle be related to the extension length of the arm system.

[0083] Alternatively or in combination, the actuators can be controlled at least partially in a sequential manner according to a cost function. Such a cost function, which is known per se in the prior art, can, for example, contribute to optimizing the movement of the arm system in terms of energy or time.

[0084] Alternatively or in combination, the actuators can be actuated at least partially simultaneously, wherein the respective signal durations of at least two control commands correspond to the maximum nominal signal duration of the control commands. The signal durations of different control commands for different actuators can be scaled with the maximum nominal signal duration when the control commands are generated. The amplitude of the movement of the corresponding actuator and thus the rate of change can be scaled in accordance with the changed signal duration. It can thus be achieved that, in the case of at least partially simultaneous actuation of a plurality of actuators, the end positions predefined for the target position of all participating actuators are reached substantially simultaneously.

[0085] The actuators can be actuated in principle at least partially successively and / or at least partially simultaneously. Different actuators can be actuated with temporal overlap.

[0086] It should not be excluded that the output of control commands for the actuators involved in the movement into the at least one target position is carried out in a user-controlled manner. It is therefore possible that the control commands necessary for the movement into the at least one target position are generated in the generation phase and the output in the control phase can be controlled by the user.

[0087] In the presetting phase, the lifting device can be substantially freely movable, advantageously using control commands generated by a user via a control device for actuating the actuators. This can correspond to conventional control devices for lifting devices, in which the actuators of the arm system are directly actuated by a user or operator via control commands generated by them, whereby the movement of the arm system results from the respective set movement controlled by the user. In the actuation phase, the lifting device can advantageously be moved by at least one control command generated by the control device in the generation phase. Unlike the actuation in the presetting phase, the arm system can be moved here without the complex generation of individual control commands by the user. The control commands can be generated by the control device and output at least partially automatically. It is therefore not necessary for the user to generate control commands for the respective actuators separately.

[0088] Advantageously, in the maneuvering phase, the lifting device can be moved at least partially automatically by the control device outputting at least one control command generated in the generating phase.

[0089] The at least partially automatic movement can be carried out by actuating the actuators by giving control commands, which are generated as a function of certain specifications of a control device of the lifting device and are output at least partially automatically by the control device to the actuators. In this case, individual or multiple actuators can be actuated by the control device, possibly in response to an operating command by a user, using control commands generated by the control device.

[0090] Protection is also claimed for a computer program product comprising instructions from a memory 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.

[0091] Protection is also claimed for a data carrier signal which delivers a computer program product as described above.

[0092] Protection is also claimed for a control device for a lifting device, preferably for a loading crane or a lifting platform, which control device is designed to carry out the method for moving a lifting device as described above.

[0093] In a first operating mode, a presetting phase can be performed by the control device for presetting at least one target position by actuating the actuator and for first detecting the current geometry of the arm system based on at least one degree of freedom. Here, for example, sensor data for the degrees of freedom detected by a sensor that can be arranged or arranged at the lifting device during the geometry detection (for example represented by the values ​​of the degrees of freedom) can be stored in a memory of the control device. Alternatively or in combination, the geometry of the arm system in at least one target position can be specified based on at least one degree of freedom via a user interface of the control device. Here, for example, the values ​​of the degrees of freedom can be input by a user via the user interface of the control device and stored in the memory of the control device. Therefore, in the first operating mode of the control device, at least one target position can be stored in the memory of the control device in the presetting phase.

[0094] In the second operating mode of the control device, a measuring phase can be performed in order to repeatedly detect the current geometry of the arm system based on at least one degree of freedom. For example, sensor data for the degrees of freedom (for example represented by the values ​​of the degrees of freedom) of a sensor that can be arranged or disposed at the lifting device and that are detected again during the geometry detection can be stored in a memory of the control device. It is conceivable that the control device repeatedly changes into the second operating mode and performs the measuring phase. The change into the second operating mode and the execution of the measuring phase can be performed cyclically, in particular periodically. This can be performed in particular when the geometry of the arm system changes, preferably each time the geometry of the arm system changes.

[0095] In the third operating mode, a selection phase may be executable to select at least one target position preset in the preset phase. The selection of at least one target position may be performed by a user via a user interface of the control device. Here, for example, at least one target position stored in a memory may be selectable via the user interface of the control device.

[0096] In a fourth operating mode, a comparison phase can be performed to determine a geometric deviation between the geometry of the at least one target position selected in the selection phase and the current geometry detected in the measurement phase based on at least one degree of freedom. The comparison phase can be performed using a computing unit of the control device configured for this purpose, wherein the computing unit of the control device can be in data-transmitting connection with a memory of the control device or can be brought into such a connection. The determined geometric deviation can be stored in the memory of the control device, for example in the form of values ​​of deviations with respect to the degrees of freedom.

[0097] In a fifth operating mode, a generation phase can be executed for generating at least one control command for actuating at least one of the actuators of the lifting device by means of a computing unit of the control device configured for this purpose, in order to make the arm system of the lifting device approach or at least partially transform from the geometry detected in the measuring phase to the geometry of at least one target position selected in the selection phase. The generated control command can, for example, include information for one of the actuators to be actuated and a signal duration for the duration of the actuation and be stored in a memory of the control device.

[0098] In the sixth operating mode, the control phase can be executed to control the actuator of the arm system of the lifting device by outputting at least one control command generated in the generation phase by the control device. Here, the control command can be read out from the memory of the control device and output via a suitable interface in order to control the corresponding actuator.

[0099] By repeatedly executing the sequence of measuring, comparing, generating and controlling phases as described above (with an accompanying change into the corresponding operating mode), the geometry of the arm system can advantageously be iteratively approximated to the geometry of at least one selected target position.

[0100] The control device can in principle have a user interface, by means of which the user can generate control instructions for the actuator by giving operating instructions. The user interface can be configured, for example, as operating elements in the form of switches, buttons, operating levers, joysticks and / or touch-sensitive screens.

[0101] In an advantageous embodiment of the control device, in a sixth operating mode, at least one operating element of the user interface can be activated for controlling the actuator and the geometry of the arm system can be changed at least partially automatically by the control device by actuating the at least one operating element by the user.

[0102] In this embodiment, the arm system can be moved by control commands generated based on geometric deviations, which can be performed essentially by manipulating a single operating element or multiple operating elements, wherein the movement can include multiple actuators. Different degrees of freedom or groups of degrees of freedom of the movement can, for example, be associated with different operating elements.

[0103] The actuator can be controlled fully automatically or partially automatically by actuating at least one operating element of a user interface of the control device.

[0104] In an advantageous embodiment, information about at least one additional device, preferably about the range of functions and / or the size information and / or the angular position, can be stored in a memory of the control device via a user interface of the control device. The information can be selected, for example, from a database stored in the memory of the control device and / or can be input via the user interface, preferably via a setting mask.

[0105] The control device can have a preferably portable control console, wherein the user interface can be formed on the control console.

[0106] In particular, the user interface can be menu-guided and / or comprise at least one operating element of the control device.

[0107] Preferably, the control device can control the rate of change of the geometry of the arm system, in other words the speed of the movement, as a function of actuation of at least one operating element of the user interface, in particular as a function of a deflection of the operating element when the operating element is designed as an operating element.

[0108] A lifting device, in particular a loading crane or a lifting platform, is also claimed, which has an arm system with a plurality of arms that can be moved by actuators, wherein the arm system has at least:

[0109] a crane column which can be rotated about a rotation axis by means of a first actuator, wherein the arm system has a first degree of freedom (φ) due to the pivotable mounting of the crane column,

[0110] A main arm which can be pivoted relative to the mast by means of a second actuator, wherein the arm system has a second degree of freedom (α) due to the pivotable mounting of the main arm.

[0111] The lifting device can have a control device as described above, which can be used to output control instructions to the actuators of the arm system in order to change the geometry of the arm system, wherein the control device can detect the current geometry of the arm system based on the degrees of freedom of the lifting device based on sensors installed on the arm system.

[0112] In an advantageous embodiment of the lifting device, the lifting device can additionally have at least the following arm:

[0113] - an elbow arm which can be pivoted relative to the main arm using a third actuator, wherein the arm system has a third degree of freedom due to the pivotable mounting of the elbow arm,

[0114] At least one push arm which is mounted displaceably in the elbow arm by means of a fourth actuator, wherein the arm system has a fourth degree of freedom due to the pivotable mounting of the push arm.

[0115] Such an embodiment of the lifting device can be provided, for example, for a loading crane or a crane with a working basket arranged thereon.

[0116] In further embodiments of the lifting device, for example a second elbow arm and / or additional working equipment in the form of a fork, a rotating body or a clamp can be arranged on the arm system.

[0117] The lifting device as described above can be mounted on a vehicle. This allows the embodiment of a mobile lifting device to be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0118] The embodiments of the present invention are discussed exemplarily with reference to the accompanying drawings. In which:

[0119] Figure 1a to Figure 1c side views showing different embodiments of a lifting device mounted on a vehicle,

[0120] Figure 2a to Figure 2c shows a side view of different embodiments of a lifting device,

[0121] Figures 3a to 3e side views showing the degrees of freedom of movement of the different arms for different arm systems,

[0122] Figure 4 An embodiment of a lifting device with a main boom of variable length is shown.

[0123] Figure 5a and Figure 5b Two embodiments of additional equipment that can be arranged at the arm system are shown,

[0124] Figures 6a to 6c shows a side view of different embodiments of a lifting device and in each case a schematic diagram of a control device with a sensor system,

[0125] Figure 7a and Figure 7b A schematic embodiment of a lifting device is shown with different positions of the arm system.

[0126] Figure 8a and Figure 8b A schematic embodiment of a lifting device is shown for illustrating the deflection of the arm and the inclination of the lifting device relative to the horizontal,

[0127] Figure 9a and Figure 9b The display of the control device of the proposed lifting device and the Figure 9a The control console of the control device,

[0128] Figures 10a to 10d shows an embodiment of a user interface, and

[0129] Figures 11a to 11c A schematic diagram showing control instructions in the form of control pulses is shown. DETAILED DESCRIPTION

[0130] exist Figure 1a to Figure 1c 1 shows a side view of different embodiments of a lifting device 1 mounted on a vehicle 19 . Figure 2a to Figure 2c Shown separately Figure 1a to Figure 1c The degrees of freedom of movement of the various arms 2, 3, 4, 5, 7, 8, 24 of the different arm systems of the lifting device 1 are α, β, φ, γ, L, J, H. Figures 3a to 3e In Figure 4 It is explained in.

[0131] exist Figure 1a 1 shows a first embodiment of the proposed lifting device 1, wherein the lifting device 1 is designed as a loading crane or a knuckle-arm crane and is arranged on a vehicle 19. As shown, the lifting device 1 has a lifting column 2 that can be rotated about a first vertical axis v1 by means of a rotating mechanism 20, a main arm 3 that is supported on the lifting column 2 so as to be pivotable about a first horizontal pivot axis h1, and a knuckle arm 4 that is supported on the main arm 3 so as to be pivotable about a second horizontal pivot axis h2 and has at least one push arm 5. A hydraulic main cylinder 21 is provided for pivoting the main arm 3 relative to the lifting column 2 (bending angle position a1 of the degree of freedom α shown). A hydraulic bending cylinder 22 is provided for pivoting the knuckle arm 4 relative to the main arm 3 (bending angle position b1 of the degree of freedom β shown). In the embodiment of the lifting device 1, the lifting head 14 can be formed by the head of the push arm 5.

[0132] The actuator can basically be in the form of a hydraulic cylinder or a corresponding electric drive.

[0133] Accordingly, the arm system of the lifting device 1 shown has a lifting mast 2 , a main arm 3 , a toggle arm 4 and at least one push arm 5 .

[0134] The lifting device 1 has a schematically indicated control device 6 which is designed to carry out the method according to the invention for moving the lifting device 1 .

[0135] exist Figure 1b A second embodiment of the proposed lifting device 1 is shown in FIG. 1 , wherein the lifting device 1 shown therein is additionally Figure 1aThe embodiment shown in the figure also has a second elbow arm 7 which is arranged pivotably about a third horizontal pivot axis h3 on the push arm 5 of the elbow arm 4, with a second push arm 8 supported therein. In order to pivot the second elbow arm 7 relative to the elbow arm 4 (bending angle position g1 of the degree of freedom γ shown), a bending cylinder 23 is provided. In this embodiment of the lifting device 1, the lifting head 14 can be formed by the head of the push arm 8.

[0136] Accordingly, in Figure 1b The arm system of the lifting device 1 shown in FIG. 1 has a lifting column 2 , a main arm 3 , a toggle arm 4 with at least one push arm 5 and a second toggle arm 7 with at least one push arm 8 .

[0137] Similar to Figure 1b implementation plan, Figure 1b The lifting device 1 shown in FIG. 1 can have a control device 6 , which is shown only schematically here and is designed to carry out the method according to the invention for moving the lifting device 1 .

[0138] exist Figure 1c A third embodiment of the proposed lifting device 1 is shown in FIG. 1 , wherein the lifting device 1 shown therein is additionally Figure 1b The configuration of the embodiment shown in FIG. 1 also has an additional elbow arm 24 which is arranged on the second push arm 8 of the second elbow arm 7 so as to be pivotable about a fourth horizontal pivot axis a4. In order to pivot the additional elbow arm 24 relative to the second elbow arm 7 (bending angle position d1 of the degree of freedom of the pivoting movement of the additional elbow arm 24 shown), a bending cylinder 25 is provided. In this embodiment of the lifting device 1, the lifting head 14 can be constructed by the head of the additional elbow arm 24.

[0139] Accordingly, in Figure 1c The arm system of the lifting device 1 shown in FIG. 1 has a lifting column 2, a main arm 3, an elbow arm 4 with at least one push arm 5, a second elbow arm 7 with at least one push arm 8, and a further elbow arm 24, which may be designed to be variable in length.

[0140] Similar to Figure 1a and Figure 1b implementation plan, in Figure 1c The lifting device 1 shown in FIG. 1 can have a schematically indicated control device 6 which is designed to carry out the method according to the invention for moving the lifting device 1 .

[0141] It should be understood that all of the illustrated embodiments may have a rotation mechanism 20 .

[0142] exist Figure 2a to Figure 2c The following table shows the Figure 1a to Figure 1c Detail of the constructed lifting device 1.

[0143] exist Figures 3a to 3e In the figure, the degrees of freedom of movement α, β, φ, γ, L, J of different arms of different arm systems are illustrated in a side view.

[0144] exist Figure 3a to Figure 3c The lifting device 1 shown in this embodiment corresponds to Figure 1a and Figure 2a The lifting device. Figure 3d and Figure 3e The elbow arm 7 shown in FIG. Figure 1b and Figure 2b The one in the second elbow 7. Figure 1c and Figure 2c The other elbow 24 can also correspond to Figure 3d and Figure 3e The elbow arm 7 shown in FIG.

[0145] Reference Figure 3a to Figure 3c The gantry 2, which is rotatable about a rotation axis in the form of a first vertical axis v1, is supported so as to be deflectable over a structurally predefined gantry deflection range φ1-φ2 ​​and has a degree of freedom φ( Figure 3c The values ​​of the deflection position φ0 of the degree of freedom φ are shown). It is conceivable that the deflection range of the crane column extends over a range of 0° to 360°, i.e. the crane column is designed to be deflectable without end. The main arm 3 is supported on the crane column 2 in a deflectable manner over a structurally predefined main arm deflection range α1-α2 and has a degree of freedom α ( Figure 3c The values ​​of the deflection position α0 of the degree of freedom α are shown. The elbow arm 4 is supported on the main arm 3 in a manner that it can be deflected within a structurally predefined elbow arm deflection range β1-β2 and has a degree of freedom β due to its deflectable support. The push arm 5 is supported in the elbow arm 4 in a manner that it can be displaced within a structurally predefined displacement range L1-L2 and has a degree of freedom L due to its displaceable support.

[0146] exist Figure 3d and Figure 3e The elbow arm 7 is shown separately in FIG. 2 , which is supported via a connecting region 28 in a manner that allows it to be deflected over a second elbow arm deflection range γ1-γ2 that is predefined in the structure. Figure 3a to Figure 3c The lifting device 1 is mounted at the push arm 5 and has a degree of freedom γ due to its deflectable support, and the elbow comprises at least one second push arm 8, which is supported in the second elbow 7 in a manner that it can be displaced over a structurally preset second push arm displacement range J1-J2 and has a degree of freedom J due to its displaceable support.

[0147] exist Figure 4, an embodiment of a lifting device 1 is shown, whose arm system differs from the embodiment discussed above and additionally has at least one main arm-pushing arm 18, which is supported in the main arm 3 in a manner that can be displaced over a structurally predefined (and merely schematically presented) displacement range H1-H2 and has a degree of freedom H due to its displaceable support.

[0148] Accordingly, Figure 4 The boom system of the lifting device 1 shown in FIG. 1 has a lifting column 2 , a main boom 3 with at least one main boom push arm 18 , and a toggle arm 4 with at least one push arm 5 .

[0149] Similar to the implementation scheme discussed above, Figure 4 The lifting device 1 shown in FIG. 1 can have a schematically indicated control device 6 which is designed to carry out the method according to the invention for moving the lifting device 1 .

[0150] exist Figure 5a and Figure 5b 2 shows two embodiments of an additional device which can be arranged at the arm system in the form of a working device 9 and a static arm extension device 10, which are exemplarily implemented as rock pile tongs. In general, a sensor-based geometric detection of at least one additional device 9, 10 can be performed based on at least one degree of freedom of the geometry of the additional device 9, 10, such as a variable spacing or angle of movable parts of the additional device 9, 10. It is also possible for the user to predetermine corresponding information via a corresponding user interface of the control device 6.

[0151] exist Figure 5a , an embodiment of a working device 9 is shown, which can be arranged on a push arm 5 of a lifting device 1. The dimensions and functional scope of the working device 9 can be stored in a control device 6 (not shown here) and included in the calculations of the control device 6.

[0152] exist Figure 5b The static boom extension device 10 shown in the figure can be arranged on the push arm 5 of the lifting device 1 via a corresponding receptacle. By means of the receptacle designed to be adjustable, the boom extension device 10 can be arranged on the push arm 5 at an angle θ (drawn here relative to an imaginary vertical line). The boom extension device 10 can be designed to be variable in length. Information about the boom extension device 10, such as the length and angle θ of the boom extension device 10, can be stored in the control device 6 (not shown here) for example by presetting or detection and included in the calculation of the control device 6.

[0153] exist Figure 6a It is shown in Figure 1a or Figure 2aFurthermore, a schematic diagram of a control device 6 is shown, which can be configured to carry out the method according to the invention for moving a lifting device 1 .

[0154] The control device 6 schematically presented here has a plurality of signal input terminals, to which signals of sensor devices mounted on the lifting device 1 can be supplied. In addition, the control device 6 has a memory 11, in which program data for operating modes and calculation models of the control device 6 as well as input signals can be stored, for example, and a computing unit 12, with which the input signals and the data stored in the memory 11 can be processed in particular. The control device 6 can also include a display 16. Communication between the control device 6 and the display 16 can be carried out by cable connection and / or wirelessly. Figure 6a In the embodiment shown in the figure, the sensor device for detecting the geometric shape of the lifting device 1 includes a rotation angle sensor f1 for detecting the rotation angle f1 of the lifting column 2, a bending angle sensor k1 for detecting the bending angle a1 of the main arm 3 relative to the lifting column 2, a bending angle sensor k2 for detecting the bending angle b1 of the elbow arm 4 relative to the main arm 3, and a displacement position sensor s1 for detecting the displacement position x1 of the push arm 5.

[0155] exist Figure 6b In, similar to Figure 6a Shown according to Figure 1b or Figure 2b Implementation of a lifting device 1. The configuration of the lifting device 1, as shown, includes a second elbow arm 7 arranged at the push arm 5 of the elbow arm 4. As additional sensor devices for detecting operating parameters of the lifting device 1, a bending angle sensor k3 and a displacement position sensor s2 are provided. The bending angle sensor is used to detect the bending angle g1 of the second elbow arm 7 relative to the elbow arm 5, and the displacement position sensor is used to detect the displacement position x2 of the second push arm 8.

[0156] It is also conceivable that Figure 1c or Figure 2c The lifting device 1 and the control device 6 form a Figure 6a and Figure 6b A similar embodiment of the arrangement shown in .

[0157] Similar to Figure 6a ,exist Figure 6c It is shown in Figure 1b or Figure 2b Implementation scheme of the lifting device 1.

[0158] In order to detect the inclination angle n1 of the lifting device 1, an inclination sensor N1 is provided.

[0159] In principle, an inclination sensor N1 can be provided for all shown embodiments of the lifting device 1 .

[0160] exist Figure 6c At the lifting device 1 in the form of a lifting platform shown in FIG. 1 , an additional device in the form of a working basket 32 ​​is arranged at the push arm 5 of the elbow arm 4. The position of the working basket 32 ​​relative to the arm system of the lifting device 1 can be detected by a bending angle sensor k4 for detecting the angle w1 of the working basket 32, for example, relative to one of the three spatial directions. Information on the functional scope, dimensioning and angular position of the additional device in the form of the working basket 32 ​​can be stored in the memory 11 of the control device 6.

[0161] The position of the working basket 32 ​​or, in general, the auxiliary equipment relative to the arm system of the lifting device 1 detected in the measuring phase and / or predefined in the presetting phase can be included in the determination of the geometric deviation in the comparison phase.

[0162] The relationship between the angle values ​​and the degrees of freedom of the angle α, β, φ, γ and the displacement position values ​​and the degrees of freedom of the displacement position L, J, H, as well as the slope value and the inclination angle λ in the figure is obtained as follows:

[0163]

[0164] exist Figure 3a , Figure 3b , Figure 3c , Figure 3d , Figure 3e In Figure 4 In addition to the structurally predefined ranges of the degrees of freedom α, β, φ, γ, L, J, H of the arm system, exemplary different intermediate positions for the arms 2, 3, 4, 5, 7, 8, 18 of the arm system are schematically presented:

[0165] - The middle positions φ3, φ4 of the deflection angle of the lifting column 2

[0166] -Intermediate positions α2, α3 of the deflection angle of the main arm 3

[0167] - The intermediate positions β2, β3 of the deflection angle of the elbow arm 4

[0168] - The intermediate positions γ2, γ3 of the deflection angle of the second elbow 7

[0169] - Intermediate positions L2 and L3 of the push position of the push arm 5

[0170] - Intermediate positions J2 and J3 of the displacement position of the second push arm 8

[0171] -Intermediate positions H2 and H3 of the push position of the main arm-push arm 18

[0172] Different and advantageously substantially freely selectable intermediate positions of the arms 2, 3, 4, 5, 7, 8, 18 of the arm system within a structurally predefined range can correspond to different geometries of the arm system. The different geometries can be compared based on the degrees of freedom α, β, φ, γ, L, J, H of the arm system. Thus, geometric deviations can be qualitatively and quantitatively determined based on the degrees of freedom α, β, φ, γ, L, J, H of the arm system.

[0173] For example, the target position can be preset by the values ​​of the deflection angles φ2, α2, β2, γ2 and the displacement positions L2, J2, H2. This can be done when the current geometry of the arm system is detected and / or when the geometry of the arm system is specified via a user interface of the control device 6 in a preset phase.

[0174] In a position of the arm system of the lifting device 1 that deviates from the target position, the geometry can be characterized by the values ​​of the deflection angles φ3, α3, β3, γ3 and the displacement positions L3, J3, H3. In a measurement phase, this can be done by detecting the current geometry of the arm system based on the degrees of freedom α, β, φ, γ, L, J, H of the arm system. In this case, the lifting device 1 can be brought into a position that deviates from the target position and is preferably essentially freely selectable by actuating the actuators 20, 21, 22, 23, 25.

[0175] By comparing, for example simply by forming corresponding, for example predefined and / or sensor-detectable values ​​of the deflection angles φ3, φ4, α2, α3, β2, β3, γ2, γ3 and the displacement positions L2, L3, J2, J3, H2, H3 present in different geometries of the arm system (see e.g. Figure 6a and Figure 6b ), the corresponding geometric deviations Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH along the corresponding degrees of freedom α, β, φ, γ, L, J, H of the arm system can be determined for the target position selected in the selection phase. This can be done in the comparison phase.

[0176] Based on the geometry deviations Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH determined in the comparison phase, at least one control command for actuating at least one of the actuators 20, 21, 22, 23, 25 of the lifting device 1 can be implemented in sequence. The control command or the control commands can be used to make the arm system of the lifting device 1 approach or at least partially transform from the geometry detected in the measurement phase to the geometry of at least one target position selected in the selection phase.

[0177] In the control phase, the lifting device 1 can be at least partially moved into a selected target position by controlling the corresponding actuators 20 , 21 , 22 , 23 , 25 of the arm system using the at least one control command generated in the generation phase.

[0178] exist Figure 7a and Figure 7b The following table shows the different positions of Figure 2b and Figure 6b A schematic embodiment of a lifting device 1 is shown.

[0179] exist Figure 7a In the embodiment, the arm system of the lifting device 1 is in a position that can correspond to an exemplary target position. In the preset phase, the current geometry of the arm system can be detected based on the degrees of freedom α, β, φ, γ, L, J. For the sake of simplicity, only the value α3 of the deflection angle of the main arm 2 and the value J3 of the displacement position of the second push arm 8 detected by means of the bending angle sensor k1 and the displacement position sensor s2 are presented.

[0180] exist Figure 7a In the embodiment, the arm system of the lifting device 1 is in a position which can correspond to an exemplary, essentially freely selectable position of the lifting device, from which the user wants to move the lifting device 1 by means of the method according to the invention. Figure 7a The user can make a corresponding selection of the target location in the selection phase.

[0181] During the measurement phase, the installed sensors can be used to detect Figure 7b The current geometry of the arm system in the position shown in FIG. In the position shown, there is essentially a change in the deflection angle of the main arm 2 and a change in the displacement position of the second push arm 8 relative to the target position. The corresponding value α4 of the deflection angle of the main arm 2 and the corresponding value J4 of the displacement position of the second push arm 8 can be detected by means of the bending angle sensor k1 and the displacement position sensor s2.

[0182] In a comparison phase, geometry deviations Δα, ΔJ can be determined by comparing the corresponding geometries.

[0183] In the generation phase, a computing unit configured for this purpose can generate at least one control command for actuating at least one of the actuators 20, 21, 22, 23, 25 of the lifting device 1 based on the geometric deviations Δα, ΔJ determined in the comparison phase. In an exemplary embodiment, at least two control commands can be generated for the actuators for the deflection angle of the main arm 2 and the displacement position of the second push arm 8.

[0184] The at least two control commands can be output by the control device 6 in the control phase in order to control the actuator, thereby enabling the lifting device 1 to be moved from the control phase to the control phase. Figure 7b The position of the arm system shown in FIG. 1 is at least partially moved to the Figure 7a The position of the arm system is shown in FIG.

[0185] For the approach or transfer of the arm system, the lifting device 1 can be moved by correspondingly generated control commands into a geometry which approaches the geometry of the target position within a predeterminable or predefined tolerance range.

[0186] exist Figure 8a 2 shows how the load of the lifting device can cause a deflection of the arm system, for example via an received load 26. The deflection is schematically shown by a deformation or deflection of the second push arm 8. When the current geometry of the arm system is detected and / or the geometry of the arm system is specified via a user interface of the control device 6, the deflection of the arm system can be determined based on the calculation model.

[0187] The geometry of the arm system can be characterized in addition to the degrees of freedom α, β, φ, γ, L, J of the arm system using the deflections of the arm 8 of the arm system determined in the calculation model. The deflections can also be included in the comparison phase and the generation phase based thereon.

[0188] exist Figure 8b , a lifting device 1 is shown which is tilted by an angle λ relative to the horizontal ground for supporting the lifting device 1. The tilt λ, represented here by the angle between the horizontal and the rotation axis v1, can lead to an undesired deviation of the position of the arm system of the lifting device 1 relative to a target position which is detected in an unsuitable or deviating tilted position. In order to detect the tilt angle n1 of the lifting device 1, an inclination sensor N1 is provided, wherein the value λ1 of the tilt angle n1 is represented in the figure.

[0189] The inclination λ can be stored in the control device 6, for example by presetting or detection, and included in the calculations of the control device 6. By including the inclination λ in a corresponding calculation model, a compensation of geometric deviations between the currently existing geometry and the geometry of the at least one target position selected in the selection phase can be performed.

[0190] Using a corresponding calculation model, the geometry of the arm system can be brought more accurately closer to the geometry of the at least one target position selected in the selection phase, independently of the currently existing inclination λ of the lifting device 1 .

[0191] Figure 9a The display 16 of the control device 6 of the proposed lifting device 1 is shown.

[0192] If display 16 of control device 6 is designed as a touch display, the user interface can be implemented directly via the touch display.

[0193] If the display 16 is not designed as a touch display or the like, a menu-based user interface can be navigated via the operating element 17 .

[0194] For visualization of the operating element 17, Figure 9a The diagram shown in includes a graphical representation of a plurality of linear joysticks 30 .

[0195] Figure 9b An embodiment of a control console 15 of the control device 6 is shown. In the embodiment shown, the control console 15 has at least one display 16 and operating elements 17 in the form of a rotary knob 29, a linear joystick 30 and buttons 31. The operating elements can be used to navigate a menu-supported user interface, to select functions of the lifting device 1 that can be selected by the user, in particular to predetermine at least one target position, or to give control commands by the user.

[0196] In accordance with Figure 9a In an embodiment of the control console 15 of the embodiment of the control device 6, the control console 15 can have a preset operating element 17, for example in the form of a button 31 configured as a disable switch. When the control device 6 is in the sixth operating mode for the control phase as described above, the geometry of the arm system can be changed at least partially automatically by the control device 6 by actuating the operating element 17 in the form of a button 31 configured in this way. As long as the operating element 17, for example in the form of a button 31, is kept actuated by the user, the change of the geometry can be performed.

[0197] Figures 10a to 10c An embodiment of a user interface is shown by way of example, which is respectively formed by a display 16 of a control device 6 which can be designed as a touch display. The functions 27r, 27s, 27t, 27u, 27v, 27w, 27x, 27y, 27z presented here and selectable by the user are respectively used for inputting and / or detecting information for an additional device 9, 10, 32 arranged on the arm system of the lifting device 1 (see, for example, Figure 5a , Figure 5b and Figure 6c ). For example, through Fig.10a The selectable functions 27r and 27s presented in the figure lead to a menu, via which information about an additional device can be selected from a database stored in the memory 11 of the control device 6, the additional device being an arm extension device 10 or a working device 9 (see Figure 5a and 5b ) or work basket (see Figure 6c ) in the form of Fig.11aThe selectable functions 27t presented in the control device 6 can be used to reach, for example, a setting window through which information about additional devices 9, 10, 32 that are not stored in the memory 11 of the control device 6 can be entered. Fig.11b The optional functions 27u, 27v, 27w, 27x presented in the figure can be arranged at the arm system with the arm extension device 10 (see Figure 5b ) or enter the angular position (angle θ). Fig.11c The selectable functions 27y, 27z presented in FIG. 2 serve to select the readiness of additional equipment arranged on the arm system, for example in the form of one or more manually actuatable push-out extensions.

[0198] exist Fig.10d , an embodiment of an input window 13 displayed on a display 16 is shown, via which information about the functional scope and / or dimensioning and / or angular position for at least one additional device 9 , 10 , 32 can be selected or entered and forwarded to the control device 6 .

[0199] It should not be excluded that further sensors are arranged on the lifting device 1 for detecting the angular position and / or size of at least one additional device 9, 10, 32, which can be provided via the signal input of the control device 6 and can be included in the calculation of the control device 6. For the detection, the control device 6 can have suitable optional functions.

[0200] During the control phase, the actuator (refer to Figure 7a and Figure 7b , such as the actuator 21 of the elbow arm 22 and the actuator 8 of the push arm) can be controlled, for example, by using a control with a Fig.11a and Fig.11b The control instructions are carried out in the form of control pulses p1, p2 with different amplitudes and signal durations.

[0201] The output of the control pulses p1, p2 by the control device 6 can be as follows: Fig.11a As shown, the control pulses p1, p2 have different signal durations t1, t2. The signal durations t1, t2 can each correspond to a nominal signal duration.

[0202] In a sequence of control commands, successive control pulses p1, p2 can be Fig.11b As explained in , the control device 6 also outputs φ in sections, ie simultaneously for the duration of the overlap d.

[0203] Therefore, according to Fig.11bFor example, activation of an actuator, for example the actuator 21 of the elbow arm 22, can be started first for the pulse duration t1 of the control pulse p1. Before the end of the ongoing control pulse p1, activation of another actuator, for example the actuator of the push arm 8, can already be started by outputting a control pulse p2 that follows sequentially according to the calculated sequence.

[0204] The actuator can be controlled as follows Fig.11c , wherein the respective signal durations t1, t2 of at least two control pulses p1, p2 correspond to the maximum nominal signal duration of the control pulses, in the exemplary illustration the signal duration t2 of the control pulse p2. The signal durations t1, t2 of the different control pulses p1, p2 for the different actuators can be scaled to the signal duration t2 of the control pulse p2 using the maximum nominal signal duration t2 when the control pulse p2 is generated. The signal duration t3 of the control pulse p1 can be increased in accordance with the nominal signal duration t2 of the control pulse p2, wherein the amplitude of the movement of the corresponding actuator and thus the rate of change can be scaled in accordance with the changed signal duration t3. It can thus be achieved that, in the case of at least partially simultaneous actuation of the actuators involved, the end positions predefined for the target position of all the actuators involved are reached substantially simultaneously.

[0205] Reference numerals list

[0206] 1 Lifting device

[0207] 2 Lifting columns

[0208] 3 Main boom

[0209] 4 Elbow

[0210] 5 Push arm

[0211] 6 Control Equipment

[0212] 7 Second elbow

[0213] 8 Second push arm

[0214] 9 Working equipment

[0215] 10 Arm extension

[0216] 11 Storage

[0217] 12 Computational Units

[0218] 13 Set window bars

[0219] 14 Lifting top

[0220] 15 Console

[0221] 16 Display

[0222] 17 Operating elements

[0223] 18 Main arm-push arm

[0224] 19 Vehicles

[0225] 20 Rotation mechanism

[0226] 21 Master cylinder

[0227] 22, 23, 25 Bending cylinder

[0228] 24 Other elbows

[0229] 26 Load

[0230] 27r-27z Features

[0231] 28 Connection Area

[0232] 29 Knob

[0233] 30 Linear joystick

[0234] 31 keys

[0235] 32 Work Basket

[0236] v1, h1, h2, h3 axis

[0237] α, β, φ, γ, L, J, H degrees of freedom of the arm system

[0238] Δα, Δβ, Δφ, Δγ,

[0239] ΔL, ΔJ, ΔH Deviations along the degrees of freedom

[0240] φ0, φ1, φ2, φ3, φ4 Deflection angle of the lifting column

[0241] α0, α1, α2, α3, α4 Deflection angle of the main arm

[0242] β1, β2, β3, β4: Deflection angle of elbow

[0243] γ1, γ2, γ3, γ4 Deflection angle of the second elbow

[0244] λ1 Inclination angle of the lifting device

[0245] L1, L2, L3, L4 Push arm push position

[0246] J1, J2, J3, J4 The second push arm's push position

[0247] H1, H2, H3, H4 Main arm-push arm push position

[0248] θ Angle of the arm extension

[0249] λ Tilt

[0250] a1, b1, g1, d1, w1, n1 angle

[0251] x1, x2 shift position

[0252] s1, s2 push position sensor

[0253] k1, k2, k3, k4 bending angle sensor

[0254] f1 rotation angle sensor

[0255] N1 Tilt Sensor

[0256] p1, p2 control pulse

[0257] t1, t2, t3 signal duration

Claims

1. A method for moving a lifting device (1), preferably a loading crane, wherein the lifting device (1) has a control device (6) and an arm system with an arm (2, 3, 4, 5, 7, 8, 18) with a geometry that can be changed along at least one degree of freedom (α, β, φ, γ, L, J, H) by at least one actuator (20, 21, 22, 23, 25), characterized in that - in a presetting phase, at least one target position is presetting for the lifting device (1), wherein the presetting is performed by specifying the geometry of the arm system in at least one target position based on the at least one degree of freedom (α, β, φ, γ, L, J, H) via a user interface of the control device (6), and / or actuating actuators (20, 21, 22, 23, 25) to bring the lifting device (1) to at least one target position, and detecting the current geometry of the arm system in the at least one target position based on the at least one degree of freedom (α, β, φ, γ, L, J, H), - detecting the current geometry of the arm system based on the at least one degree of freedom (α, β, φ, γ, L, J, H) in a measuring phase, - in the selection phase, selecting at least one target position preset in the preset phase, - in a comparison phase, determining a geometric deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) between the geometry of at least one target position selected in the selection phase and the current geometry detected in the measuring phase by comparing the corresponding geometries of the arm system based on the at least one degree of freedom (α, β, φ, γ, L, J, H), - in a generation phase, generating, based on the geometry deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) determined in the comparison phase, at least one control command, preferably in the form of at least one control pulse (p1, p2), for actuating at least one of the actuators (20, 21, 22, 23, 25) of the lifting device (1), in order to make the arm system of the lifting device (1) approach or at least partially transform from the geometry detected in the measurement phase to the geometry of at least one target position selected in the selection phase, and In a control phase, the lifting device (1) is at least partially moved into a selected target position by controlling the actuators (20, 21, 22, 23, 25) of the arm system using at least one control command generated in the generation phase.

2. The method according to the preceding claim, wherein the at least one target position corresponds to a substantially freely selectable position of the lifting device (1).

3. A method according to any of the preceding claims, wherein the current geometry of the lifting device (1) detected in the measuring phase corresponds to a geometry of the arm system that deviates from the target position selected in the selection phase and is preferably substantially freely selectable by controlling the actuators (20, 21, 22, 23, 25).

4. The method according to any of the preceding claims, wherein the current geometry is detected based on sensor data of sensors (s1, s2, k1, k2, k3, f1) arranged at the lifting device (1) for angle measurement and / or length measurement.

5. A method according to any one of the preceding claims, wherein - when detecting the current geometry of the arm system and / or - when specifying the geometry of the arm system via the user interface of the control device (6), The deflection of the arm system is determined based on a computational model.

6. A method according to any one of the preceding claims, wherein - when detecting the current geometry of the arm system and / or - when specifying the geometry of the arm system via the user interface of the control device (6), The inclination (λ) of the lifting device (1) relative to a predetermined or predeterminable spatial direction is detected.

7. A method according to any one of the preceding claims, wherein - when detecting the current geometry of the arm system and / or - when specifying the geometry of the arm system via the user interface of the control device (6) The position of at least one additional device (9, 10, 32) relative to the arm system of the lifting device (1) is detected and / or the geometry of the at least one additional device (9, 10, 32) is detected based on at least one degree of freedom of the geometry of the at least one additional device (9, 10, 32).

8. A method according to any of the preceding claims, wherein at least one control instruction is generated to cause the arm system of the lifting device (1) to approach or transform the geometry detected in the measuring phase into a geometry that is close to the geometry of at least one target position selected in the selection phase within a predeterminable or preset tolerance range.

9. A method according to any of the preceding claims, wherein in the generation phase control instructions are generated only for the following actuators (20, 21, 22, 23, 25), i.e., for which a geometric shape deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) along at least one degree of freedom (α, β, φ, γ, L, J, H) corresponding to the actuator (20, 21, 22, 23, 25) is determined in the comparison phase.

10. A method according to any of the preceding claims, wherein at least one value of at least one degree of freedom (α, β, φ, γ, L, J, H) of an arm of the arm system that can move relative to each other along the at least one degree of freedom (α, β, φ, γ, L, J, H) is specified and / or detected in the preset phase, at least one value of at least one degree of freedom (α, β, φ, γ, L, J, H) is repeatedly detected in the measuring phase, and in the comparison phase the geometric shape deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) is determined by determining the deviation between the at least one value selected in the selection phase and specified and / or detected in the preset phase and the at least one value detected in the measuring phase.

11. The method according to any of the preceding claims, wherein at least one control command generated in the generation phase comprises information about the actuator (20, 21, 22, 23, 25) to be controlled and a nominal signal duration (t1, t2) for the duration of the control.

12. A method according to any one of the preceding claims, wherein at least two control instructions are generated in the generation phase and in the control phase, the actuator (20, 21, 22, 23, 25) is controlled at least partially successively and / or at least partially simultaneously using the at least two control instructions generated in the generation phase.

13. The method according to any one of the preceding claims, wherein at least two control commands are generated in the generation phase, and the actuator (20, 21, 22, 23, 25) is controlled in the control phase using the at least two control commands generated in the generation phase. - at least partially successively in an orderly manner depending on the size of the change in geometry when one of the actuators (20, 21, 22, 23, 25) is actuated, and / or - at least partially sequentially according to the magnitude of the reduction in the extension length of the arm system when one of the actuators (20, 21, 22, 23, 25) being actuated, and / or - is performed in an ordered manner at least in part according to a cost function, and / or at least partially simultaneously, wherein the respective signal durations (t1, t2, t3) of the at least two control commands correspond to the maximum nominal signal duration (t1, t2) of the control commands.

14. A method according to any of the preceding claims, wherein in the preset phase, the lifting device (1) can be moved basically freely using control instructions for operating the actuators (20, 21, 22, 23, 25) generated by a user via a control device (6) with operating instructions, and in the operating phase, the lifting device (1) is moved by at least one control instruction generated by the control device (6) in the generation phase.

15. The method according to any of the preceding claims, wherein in the control phase the lifting device (1) is moved at least partially automatically by outputting by a control device (6) at least one control command generated in the generation phase.

16. A computer program product comprising instructions from a memory (11), which is in a data connection with a computing unit (12) or can be brought into such a data connection, and which instructions, when executed by the computing unit (12), cause the computing unit to execute a method according to any one of claims 1 to 15.

17. A data carrier signal conveying a computer program product according to the preceding claim.

18. A control device (6) for a hydraulic lifting device (1), preferably for a loading crane, the control device being designed to carry out the method for moving a lifting device (1) according to any one of the preceding claims, wherein the control device (6) - in a first operating mode, a presetting phase can be performed for specifying the geometry of the arm system in at least one target position based on the at least one degree of freedom (α, β, φ, γ, L, J, H) via a user interface of the control device (6) and / or for presetting at least one target position by actuating actuators (20, 21, 22, 23, 25), and for detecting the current geometry of the arm system based on at least one degree of freedom (α, β, φ, γ, L, J, H), in a second operating mode, a measuring phase can be carried out for repeatedly detecting the current geometry of the arm system based on at least one degree of freedom (α, β, φ, γ, L, J, H), - in a third operating mode, a selection phase can be carried out for selecting at least one target position predefined in the predefined phase, - in a fourth operating mode, a comparison phase can be performed for determining a geometric deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) between the geometry of at least one target position selected in the selection phase and the current geometry detected in the measuring phase based on at least one degree of freedom (α, β, φ, γ, L, J, H), - in a fifth operating mode, a generation phase can be executed for generating, by means of a computing unit (12) of the control device (6) configured for this purpose, at least one control command for actuating at least one of the actuators (20, 21, 22, 23, 25) of the lifting device (1) in order to transform the arm system of the lifting device (1) from the geometry detected in the measuring phase into the geometry of at least one target position selected in the selection phase, and In a sixth operating mode, a control phase can be performed for controlling the actuators (20, 21, 22, 23, 25) of the arm system of the lifting device (1), preferably at least partially automatically, by outputting by the control device (6) at least one control command generated in the generation phase.

19. A control device (6) for a lifting device (1) according to the preceding claim, wherein in the sixth operating mode, the control device (6) activates at least one operating element of the user interface to manipulate the actuator (20, 21, 22, 23, 25) and by manipulating the at least one operating element (17) the geometry of the arm system can be at least partially automatically changed by the control device (6), wherein preferably, the control device (6) controls the rate of change of the geometry of the arm system according to the manipulation of the at least one operating element (17) of the user interface.

20. A lifting device (1), in particular a loading crane, with an arm system having a plurality of arms (2, 3) which can be moved by actuators (20, 21), wherein the arm system has at least: a crane column (2) which can be rotated about an axis of rotation (v1) by means of a first actuator (20), wherein the arm system has a first degree of freedom (φ) due to the pivotable mounting of the crane column (2), a main arm (3) which can be pivoted relative to the mast (2) by means of a second actuator (21), wherein the arm system has a second degree of freedom (α) due to the pivotable mounting of the main arm (3), And wherein the lifting device (1) has a control device (6) as described in any one of claims 18 or 19, and in order to change the geometric shape of the arm system, the control device can be used to output control instructions to the actuator (20, 21) of the arm system, wherein the control device (6) can detect the current geometric shape of the arm system based on the degrees of freedom (φ, α) of the lifting device (1) based on sensors (k1, f1) installed on the arm system.

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