Method for controlling a load-handling crane, and load-handling crane

Abstract

The invention relates to a method for controlling a load-handling crane (1), to the load-bearing means (9) of which a handling device (10) for an operator is secured, wherein a sensor system (18) acquires position data of a part secured to the load-bearing means (9), and a controller (11) is connected to the sensor system (18) for signaling purposes and is designed to specify, on the basis of the position data acquired by the sensor system (18), a direction of travel for a control command, generated by the controller (11), for at least one travel drive of the crane (1), in particular a trolley drive and / or a crane drive. The aim of the invention is to increase efficiency and ergonomics during load-handling operation. This aim is achieved in that at least one marker element having at least one predefined, in particular unique, identifier feature is attached to the load-bearing means (9), preferably to the handling device (10), and, in order to acquire the position data, the at least one marker element is detected by the sensor system (18), and the at least one predefined identifier feature of the marker element that has been detected is analyzed. The invention also relates to a load-handling crane (1) which is designed to carry out a method of this kind.

Description

[0001] Method for controlling a load handling crane and load handling crane

[0002] The invention relates to a method for controlling a load handling crane according to the preamble of claim 1 and to a load handling crane according to the preamble of claim 10.

[0003] Cranes are generally used to lift and lower loads at different locations within the respective crane working area. For this purpose, a crane's hoist is moved by means of its travel drives (crane drive and trolley drive) in a usually horizontal travel plane (xy plane). This is done by an operator generating the corresponding control commands for the respective travel drive by actuating a handling device on the crane, for example a control switch, thereby triggering the corresponding crane movements and thus controlling the crane. For this purpose, control switches have control elements as an interface between an operator and the crane. These control elements can be actuated by an operator to generate the corresponding control commands for the respective travel drive and a hoist drive of the crane or hoist.

[0004] In addition, the corresponding control switches or operating elements, a crane control unit, and the drives (travel drives and hoist drive) are connected to each other for signal transmission. This allows the drives to be controlled using control commands. The control switch can be configured as a remote control for wireless signal transmission or as a pendant control switch for wired signal transmission, suspended from a signal transmission cable, also known as a control line.

[0005] While in the aforementioned conventional cranes the handling device in the form of the control switch is provided outside the so-called load chain and thus outside the lifting and lowering support means of the crane or its hoist, in so-called load-handling cranes within the meaning of the present invention a handling device, optionally designed as a control switch, is also attached to the support means and thus to the load chain, usually above a load-handling device suspended from the hanging free end of the support means. In particular, the load-handling device can also be attached to the support means exclusively via the handling device, so that the handling device is load-bearing and thus attached to the support means as part of the load chain. The attachment of the handling device to the support means or load chain enables an operator, unlike in the aforementioned conventional cranes, to actuate orManipulation of the handling device with one hand and simultaneously with the same hand to trigger control commands for the crane or its drives as well as to manually dampen pendulum movements of the load-bearing device and any load attached to the load-handling device and to guide the load.

[0006] A method according to the preamble of claim 1 and a load handling crane according to the preamble of claim 10 are known from WO 2019 / 077054 A1. This document mentions load handling cranes of this type which can be controlled by using a sensor to determine the deflection direction of the support means relative to the direction of gravitational force, or by using a sensor to determine the orientation of the control switch attached to the support means in the form of an angle of rotation via a rotation angle sensor integrated into the control switch and interpreting this orientation as the desired direction of travel of the hoist, so that control commands for the travel drive of the crane are generated and converted by the travel drive into a movement of the hoist in a direction of travel corresponding to the deflection direction of the support means or the angle of rotation of the control switch.It is also known from this document that in order to determine the alignment, distinguishable reference points can be measured, which are defined, for example, in the form of light sources on the support means or on the handling device of the crane.

[0007] From US 7 185 774 B2 a method is known in which the orientation of a load is determined by detecting high-contrast marking elements or lights of different colours.

[0008] Optical detection of marking elements is known from DE 202012 012 116 U1 with regard to a tower crane and from EP 3 323 767 A1 with regard to a mobile crane.

[0009] Against this background, the present invention is based on the object of increasing the efficiency and ergonomics of a generic method for controlling a load handling crane and a corresponding load handling crane in load handling operation.

[0010] This object is achieved by a method having the features of claim 1 and a load handling crane having the features of claim 10. Advantageous embodiments of the invention are specified in the dependent claims and the following description.

[0011] According to the invention, a method for controlling a load-handling crane is now improved, to the support means of which a handling device for an operator is fastened, wherein position data of at least one part fastened, i.e. attached, to the support means are determined by means of a sensor system, and a control unit is connected to the sensor system in a signal-transmitting manner and is set up to specify a direction of travel, in particular in the sense of a direction setpoint, for a control command generated by the control unit for at least one travel drive, in particular a trolley drive and / or crane drive, of the crane, depending on the position data determined by means of the sensor system.

[0012] The load-bearing means can be part of a lifting device of the crane, which has a lifting drive for lifting and lowering the load-bearing means, including any load suspended therefrom, and which can be moved via the crane trolley along a crane girder in a trolley travel direction (y-direction) on a preferably horizontal travel plane. The crane trolley can be provided with the trolley drive for this purpose. The crane drive can be used to move the crane girder, together with the crane trolley carrying the lifting device, in a crane travel direction (x-direction) that is perpendicular to the trolley travel direction. By means of the respective travel drive, the lifting device can thus be moved independently of one another in the crane travel direction (x-direction) and / or the trolley travel direction (y-direction) and thus on the travel plane (xy-plane) formed thereby. The crane travel direction orThe trolley travel direction, either individually or in combination through their superposition, results in the resulting travel direction of the crane and in particular its hoist in or parallel to the travel plane.

[0013] The handling device is attached to a section of the support means suspended from the travel plane, in particular at its free end, preferably above a load-handling device suspended from the support means. By grasping the handling device, an operator can manually guide, rotate, and align the support means and any load suspended therefrom, in particular with one hand and simultaneously with the same hand, as well as manually dampen any pendulum movements of the support means and the load.

[0014] The support means itself can be rigid, for example as a telescopic rod, or flexible, for example as a rope or chain. It can also be provided that the handling device, in particular its housing, is designed to be arranged and fastened to the support means in a load-bearing manner between the section of the support means and the load-handling device. As a result, the handling device, like the load-handling device, becomes a part of the load chain of the hoist that extends the support means and through which load forces emanating from a load attached to the load-handling device are introduced into the support means via the handling device, in particular its housing. Accordingly, the load-handling device can be fastened and suspended to the handling device, in particular its housing, and thus to the support means via the handling device.This allows for easy switching between different load-handling devices such as load hooks, grippers, etc. by providing a receptacle for releasably securing the respective load-handling device on the handling device or its housing. The handling device, and in particular its housing, can thus be designed and connectable to the load-handling device in such a way that a movement, and in particular a deflection and / or rotation, of the handling device causes a similar, in particular equal, movement of at least the load-handling device, possibly including any load attached thereto, and vice versa.

[0015] The improvement according to the invention of the method for controlling such a load handling crane is now achieved in that at least one, in particular optical, marking element, which has at least one predefined, in particular unique, identification feature, is attached to the support means, in particular to the handling device, and in order to determine the position data, the at least one marking element is detected by the sensor system and the at least one predefined, in particular unique, identification feature of the respectively detected marking element is evaluated, preferably likewise by the sensor system and / or the control unit.The marking element(s) are each applied at predefined positions in order to be able to determine unique location data. This is because the marking element(s) and their at least one predefined, particularly unique, identification feature clearly mark and thus define, for example, a front and / or back and / or left and / or right side. The respective marking element thus serves as an orientation mark and / or location indicator. By deliberately providing the marking element with an identification feature and evaluating it, the orientation or location can also be clearly determined from the location data, particularly due to its uniqueness.

[0016] In contrast, measuring reference points or marking elements without an identification feature, as in the aforementioned prior art, does not allow for a clear determination of orientation or position, since, for example, detecting two marking elements does not clearly indicate which of the two is at the front or back, or right or left. In other words, the targeted provision and / or evaluation of an identification feature now enables a clear identification of each marking element, thus enabling more than simply distinguishing reference points numerically and measuring them.

[0017] In this case, it can be provided that the at least one marking element is a passive marking element, preferably in the form of a 2D code, which in particular contains the identification feature(s), in particular each unique one. The at least one marking element can also be an active marking element, which in particular actively transmits the identification feature(s), in particular each unique one, to the sensor system and is received by it. The active marking element is then preferably designed as a transmitter emitting electromagnetic radiation, in particular infrared radiation, for example as an IR diode. Lasers or other light sources can also be used as active marking elements.The at least one predefined, in particular unique, identification feature can be integrated into the respective marking element during the creation of such a marking element, in particular when creating passive marking elements such as 2D codes. The at least one predefined identification feature can also be or comprise an inherent property of the respective marking element, for example, a wavelength or a wavelength range in the case of an active marking element in the above sense.

[0018] It is also conceivable to store the predefined identification feature(s) in coded form in a passive marking element for the detecting sensor system or to send them from an active marking element to the sensor system. The at least one marking element can therefore, in particular, be encodeable.

[0019] According to the invention, the at least one part attached to the support means, the position data of which is determined using the sensor system, is one or more marking elements. In particular, passive marking elements, for example 2D codes, can be applied particularly easily in the form of or by means of a sticker. The part attached to the support means, the position data of which is determined within the scope of the method according to the invention, is therefore different from any load hanging from the support means. The orientation or position determined from the position data can therefore also be different from the orientation or position of the load, for example if a rotating element is provided between the at least one marking element and the load.

[0020] It is preferably provided that the position data contain or represent a position of the respective marking element fastened to the support means and thus suspended in a pendulum-like manner, in the form of a direction, in particular alignment, and / or position, as well as their respective changes and thus also corresponding movements and directions of movement. Accordingly, the determined position data of the respective marking element represent, for example, deflections and associated deflection directions and / or deflection angles with respect to an imaginary vertical axis when moving out of the gravity-driven rest position. Alternatively or additionally, the determined position data of the respective marking element represent angles of rotation during a rotation, in particular a deflection-free rotation, about such a vertical axis or a respective separate axis of rotation, in particular a longitudinal axis, of the support means and / or the handling device which carries the respective marking element.The position data, which depicts the corresponding positions or changes in position, are determined at least relative to the travel plane (xy plane) of the hoist or crane, in particular with respect to the crane travel direction (x direction) and the trolley travel direction (y direction), optionally also with respect to a z direction. Determining the position data can also include first determining a reference position, in particular a predefined position of the marking element at least with respect to the xy plane, whereby the position of the sensors relative to this is also known.

[0021] Since, depending on the crane type, the handling device in particular can be gripped and guided with particular precision by the operator when controlling a load-handling crane, and thus its position can be influenced according to a desired direction of travel, it is advisable to attach the respective marking element to the handling device, preferably to its housing and in particular to its preferably flat and annular housing top, so that any changes in the position of the marking element occur uniformly. Alternatively, it is also conceivable that a holding part is provided for attaching the at least one marking element above the housing top, which is non-rotatably connected to the handling device and is preferably flat and annular.By attaching the respective marking element to the top of the housing or a corresponding holding part, it is ensured that the marking element is attached in an exposed position in the detection range of the sensor and can therefore be reliably detected.

[0022] Each marking element represents or defines at least one absolute reference point, which can be reliably and unambiguously detected by the sensors during the determination of the position data and subsequently evaluated by the sensors and / or the control unit, in particular as unique position information. It is also conceivable for a marking element to serve not only as an optical marker of a reference point, but also to contain sufficient data on its own to be able to determine unique position data, at least in relation to or in the coordinates of the driving plane (xy plane). Such data can, for example, represent at least two reference points that are clearly defined in their position relative to one another, in particular that are immobile relative to one another, or a type of directional vector. For particularly reliable and unambiguous determination of the position data, multiple marking elements can also be provided for redundancy purposes.This also increases reliability, as the position data required to control the load-handling crane can be reliably determined even if one of the marking elements cannot be detected, for example, because it is dirty, obscured, or the line of sight between the sensor and the respective marking element is otherwise interrupted. For this purpose, each marking element is specifically created or selected before installation so that it contains at least one predefined and, in particular, unique identification feature, which is evaluated by the sensor and / or control unit to determine the position data and which ensures their differentiation, especially in the case of multiple marking elements.

[0023] The sensor system comprises at least one optical sensor, preferably at least one camera, and the at least one optical sensor is preferably mounted above the at least one marking element on the crane, preferably on the hoist. This allows the optical sensor to be moved together with the hoist by means of the travel drive, whereby the respective marking element remains within the sensor system's detection range, particularly below the sensor system, and thus within a detection range extending in the direction of the handling device, during each crane movement.

[0024] The location data is preferably determined computer-aided, particularly with the involvement of suitable software to evaluate the data contained in the detected marking element, in particular the identification feature(s) of the respective marking element. If a 2D code is used as the marking element, this can advantageously be a so-called AprilTag. AprilTags, for example, contain less data and / or a lower number of pixels than QR codes, which enables faster evaluation and determination of the location data, particularly in real time.

[0025] In order to specify and thus set the desired direction of travel, the respective operator can manually influence the position of at least one marking element, which is reflected in the determined position data and thus affects the specification of the direction of travel for the control command of the travel drive.

[0026] For example, the operator can influence the position of the marking element by deflecting the support means, the handling device attached to it and / or any load itself, since the marking element is attached to one of the aforementioned parts and thus directly or indirectly to the support means. The deflection can be brought about, for example, by pulling or pushing on at least one of the aforementioned parts. Alternatively or in addition to deflection, rotation about an axis of rotation is also possible, which can coincide with the imaginary vertical axis, particularly in the gravity-driven rest position. This results in a steering function of the load handling crane that is comparable to turning a bicycle handlebar or steering wheel. The position of at least one marking element can thus be adjusted according to the movement or input manually induced by the operator.To manipulate the position of the part to which the respective marking element is attached in a uniform and targeted manner.

[0027] The position data determined in this way is used to interpret the direction of travel desired by the operator. The direction of travel for the control command to activate the respective travel drive is then specified and / or changed on the basis of the position data determined. This can be done, for example, in such a way that the specified direction of travel corresponds to the determined direction of movement of the marking element in relation to the xy plane, i.e. in x and y coordinates, which results when the support element is deflected from the gravity-driven rest position, in particular relative to the imaginary vertical axis. It is also conceivable, for example, within the framework of the aforementioned steering function that a predefined or fixed straight-line direction assigned to the respective marking element is aligned to the desired direction of travel by corresponding rotation around the axis of rotation.

[0028] The operator can thus control the direction of travel intuitively without having to press a dedicated direction button.

[0029] Unintentional travel movements of the crane can advantageously be prevented by generating the control command for the respective travel drive and / or converting it into a travel movement of the crane only, in particular only and / or as long as a hand detection sensor of the handling device detects at least the presence of an operator. This allows a dead man's switch function to be provided, which requires that a hand must be on the handling device and that the handling device must not be released if and as long as travel movements of the crane are to be initiated. The hand detection sensor can, for example, comprise a capacitive touch sensor or an optical sensor, in particular a reflex or light barrier, but also a button, in particular an electromechanical one.In the case of such a button, its continuous operation may be required and not just the presence of an operator or the contact of a hand.

[0030] Advantageously, it can also be provided that the direction of travel for the control command is specified and / or changed by a change in the position of the respectively detected marking element and the position data determined for this purpose, and thus also as a function of this position data, in particular as a result of a movement of the support means and / or the handling device, and thus of the respective marking element attached thereto. The above-mentioned position changes can be detected via the respectively detected marking element and corresponding position data reflecting or representing the position change can be determined. In particular, it can be provided that a change in position must occur in order to specify the direction of travel for the control command and optionally also to generate the control command with this direction of travel through this very change in position, for example in connection with the "deflection" operating mode described in more detail below.

[0031] Alternatively or additionally, it can be provided that the direction of travel for the control command is specified by actuating a control element of the crane, in particular a control element must be actuated in order to specify the direction of travel.

[0032] The operating element is preferably designed as a mechanically actuated, in particular spring-loaded, operating element, preferably in the form of a joystick. Alternatively or in addition to a joystick, an operating element can also be provided that is designed as a button, for example a push button or toggle switch. In this case, the respective operating element is preferably arranged on the handling device and in particular on its housing, whereby the device is then designed as a control switch.

[0033] Multiple control elements can also be provided, in particular pairs of buttons or a joystick for each travel drive (crane drive or trolley drive) or hoist drive, in order to specify opposite directions of movement of the respective drive, such as forward and reverse travel, or lifting and lowering movements. Control commands for the travel drive with a correspondingly specified direction of travel can also be generated by actuating the respective control element. If actuating a control element is necessary to generate the control command, actuating the same control element can both specify the direction of travel and trigger the associated control command, optionally including specifying a speed setpoint, for example with the same actuation, one actuation each, or via dedicated actuation stages.Separate control elements for generating the control command and specifying the direction of travel as well as, optionally, a speed setpoint are also conceivable.

[0034] In other words, it can be provided that the hoist can be or is only moved in a predetermined direction of travel on the travel level by means of the travel drive upon actuation of the corresponding control element, whereby the direction of travel is specified depending on the position data of the respective marking element determined by the sensor system. This significantly increases safety during load handling, since the required actuation in the sense of a safety function prevents, for example, a deflection of the load-bearing device with a marking element attached to it from being immediately translated into a travel maneuver caused by the travel drive in a possibly unintended direction of travel. Instead, the required actuation of a control element enables an operator to first change the position of the marking element in accordance with the desired direction of travel.Only by operating the control element is the direction of travel specified and / or the actual control command for activating the travel drive generated, which initiates the travel movement and moves the hoist in the direction determined by the determined position data, whereby the position data was previously influenced by the position change. This also prevents position changes of the marking element, which occur, for example, to manually dampen any pendulum movements of the load-bearing device via corresponding manipulation of the handling device, from being mistakenly interpreted as the supposedly intended generation of a control command or a travel movement.

[0035] Advantageously, it can also be provided that the sensor system continuously determines the position data, i.e. also continuously maps or reflects changes in position, and interacts with the control unit in such a way that the specified direction of travel is continuously changed during the movement of the crane or its respective travel drive depending on the determined position data, in particular during the ongoing travel movement(s) and without stopping the travel drive (“on the fly”).

[0036] If the actuation of an operating element is necessary to specify the direction of travel, it can be provided that the specified direction of travel is only continuously changed if the operating element to be actuated to specify the direction of travel is continuously actuated and, during this time, position data are determined which reflect a change in position, in particular in the direction or orientation, of the at least one marking element.

[0037] In an advantageous embodiment of the method, it is provided that the control command for the respective travel drive is generated according to a "deflection" operating mode of the crane by a change in position of the at least one detected marking element and the position data determined for this purpose, wherein preferably a speed setpoint for the corresponding travel drive is also specified and / or changed, which speed is also dependent on the position data determined for the change in position, in particular on the dimension or amount of a deflection angle or a movement amplitude in the direction of a crane travel direction and / or trolley travel direction, i.e. in particular with respect to the xy plane.

[0038] Via the respectively detected marking element, its position changes, in particular in the form mentioned above, can be recorded and corresponding position data reflecting or representing the position change can be determined in order to subsequently generate the control command for the respective travel drive, in particular without having to operate a control element of the crane for this purpose, as is provided, for example, for the "rotation" operating mode described below. As a position change, it may then be sufficient, for example, to pull or push the handling device or the control switch in the desired direction of travel and thereby simply cause a deflection of the marking element, in particular without having to rotate in the above sense.In the context of the "deflection" operating mode, it can also be provided that predefined position data must be determined to generate the control command, for example, data that correspond to such a deflection. It can also be provided that no control command is generated when predefined position data are determined, for example, when the position data only represents a deflection-free rotation in the above sense.

[0039] This respective change in position for generating the control command can therefore coincide with the change in position for specifying and / or changing the direction of travel, so that as a result of the same movement or change in position, both the direction of travel is specified and / or changed and the control command with the correspondingly specified direction of travel, optionally including the specification of a speed setpoint, is generated and, in particular, converted into a corresponding travel movement of the crane.

[0040] With regard to the travel drives, in a minimum configuration for the "deflection" operating mode, control commands for all directions of movement of the travel plane can be implemented even with a handling device without a control element for the respective travel drive, since only corresponding changes in the position of at least one marking element have to be effected and detected or recorded.

[0041] According to a further advantageous embodiment of the method, the control command for the respective travel drive is generated according to a "rotation" operating mode of the crane by actuating an operating element of the crane, in particular the handling device thus optionally designed as a control switch. The control command as such can thus be generated in particular without additionally causing a change in the position of the at least one marking element or determining corresponding position data for this, in particular before actuating the operating element, wherein a desired speed for the travel drive is preferably also specified by actuating the operating element. The actuation travel of the operating element can be used as a measure for specifying the desired speed, wherein the actuation travel and thus also the desired speeds can be specified continuously or in steps.

[0042] In the context of the "rotation" operating mode, it can be provided that the control element must be actuated in order to generate the control command for the respective travel drive, for which the direction of travel is then specified depending on unchanged position data, in particular an unchanged orientation or an unchanged angle of rotation. It can also be provided that a control command is generated by actuating the control element even if position data is determined that is insufficient to generate a control command in the "deflection" operating mode, for example, position data that only corresponds to a deflection-free rotation in the above sense.

[0043] With regard to the control element, the statements regarding the control element for specifying the direction of travel apply analogously. This can be the same control element, in particular the same joystick or button, as the control element used to specify the direction of travel and, optionally, the setpoint speed. The actuation for generating the control command for the travel drive and for specifying the direction of travel and, optionally, a setpoint speed can therefore occur simultaneously. Separate control elements for generating the control command and specifying the direction of travel and, optionally, a setpoint speed are also conceivable.

[0044] With regard to the travel drives, control commands for all directions of movement of the travel plane can be implemented in a minimum configuration for the "rotation" operating mode with a single control element, since this only requires corresponding position changes of at least one marking element. In particular, deflection-free rotations as defined above are sufficient and tiring movement from the gravity-driven rest position for a deflection is not required in order to specify the respective directions of travel for the control commands then generated by actuating the control element using appropriately determined position data. For example, a deflection-free 180° rotation of the marking element around the imaginary vertical axis can be effected between two actuations of the control element in order to generate a control command with the opposite direction of travel by actuating the control element for the travel drive.

[0045] Furthermore, the method can be designed such that the "rotation" operating mode and / or the "deflection" operating mode are each activated exclusively for predefined applications, which can be defined in particular by parameterization or by predefined load ranges, wherein the "rotation" operating mode can preferably be activated in the sense of a heavy-duty travel function for loads above a predefined load value and the "deflection" operating mode can preferably be activated in the sense of a light-duty travel function for loads below the predefined load value. To activate the light-duty travel function and / or the heavy-duty travel function in the sense of a change of operating mode, a load sensor system of the crane, in particular of the hoist, can then be used to determine the current load. For this purpose, a load sensor can be arranged in the load chain, in particular on the support means itself or in or on the housing of the handling device.To implement load sensor technology, the current load can also be determined from operating data of the hoist, for example a motor current. However, it can also be provided, in particular through appropriate parameterization, that only one of the operating modes "rotation" or "deflection" is activated, in particular regardless of the determined load value, whereby the respective operating mode can or must then be activated manually by an operator. The control unit can be arranged at least partially on or in the handling device and in particular within its housing. The lifting drive of the hoist can also be controlled by means of the control unit by actuating a corresponding operating element on the handling device, which is thus designed as a control switch. Alternatively, the control unit can also be arranged at least partially outside the handling device.The control unit can also be divided, for example, so that a part of the control unit serving to control the trolley drive for movement in the trolley travel direction is arranged as a trolley control on the crane trolley, and a part of the control unit serving to control the crane drive for movement in the crane travel direction is arranged as a crane control outside the crane trolley on the crane girder or at least one of the crane trolleys. The trolley control can then also control the hoist drive.

[0046] The components required for implementing the method according to the invention and its optional embodiments, such as the control unit or its components, the sensors for determining the position data, as well as the optional components such as the operating element(s) of the handling device, which is then designed as a control switch, the hand recognition sensor, and the load sensor, are each configured for a signal-transmitting connection with one another and are at least partially interconnected. This ensures the transmission of signals between the respective components involved, which correspond at least to the determined position data, the aforementioned setpoint values, in particular the directions of travel specified as a direction setpoint and / or speed setpoint values, and / or control commands with such setpoint values ​​for the travel drive and lifting drive.The signal transmission between the aforementioned components can be wireless, for example via radio or infrared, or wired via appropriate signal transmission cables, in particular control cables.

[0047] In connection with the aforementioned, particularly deflection-free, rotations, it can be provided that the handling device has a rotating element as an alternative to a rotationally fixed attachment to the support means. The handling device can be attached to the support means via the rotating element so that it can rotate relative to the support means and about the imaginary vertical axis or its own axis of rotation, in particular its longitudinal axis, in order to prevent torsion of the support means and the resulting reverse torque. The rotating element can, for example, have rolling elements, in particular an axial bearing designed as a rolling bearing.

[0048] According to a further aspect of the invention, a load handling crane is provided, to the support means of which a handling device for an operator is attached, wherein the crane has a sensor system for determining position data of a load handling device attached to the support means, ieattached, part, and a control unit of the crane is connected to the sensor system in a signal-transmitting manner and is set up to specify a direction of travel for a control command that can be generated by the control unit for at least one travel drive of the crane, in particular a trolley drive and / or a crane drive, depending on the position data determined by means of the sensor system, improved in that at least one marking element is attached to the support means, preferably to the handling device, in order to be detected by the sensor system in order to determine the position data, and wherein the sensor system and / or the control unit are set up to evaluate at least one predefined identification feature of the respectively detected marking element, in particular to carry out a method according to one of the preceding claims.

[0049] The statements regarding the method and the components required for it therefore apply equally to the load handling crane equipped and configured with the corresponding components for carrying out the method. The resulting advantages have also been discussed in more detail in connection with the method according to the invention, to which reference is also made here.

[0050] An embodiment of the invention is explained in more detail in the following description. It shows:

[0051] Figure 1 is a perspective view of a load handling crane according to the invention in a schematic representation,

[0052] Figure 2a is a view of a handling device of the crane from Figure 1, Figure 2b is a view of an alternative handling device for the crane from Figure 1 and

[0053] Figure 3 is a schematic representation of control components of the crane from Figure 1.

[0054] Figure 1 shows a perspective view of a load-handling crane 1 according to the invention. The crane 1 is illustrated by way of example as a single-girder bridge crane with a crane girder 2 designed as a lattice girder. The crane 1 can be moved in a crane travel direction x on rails (not shown) by means of crane trolleys 5, 6, which are attached to opposite ends 3, 4 of the crane girder 2 forming a crane bridge. The rails are usually arranged elevated relative to a floor and can, for example, be elevated via a suitable supporting structure or attached to opposing building walls and / or to a building ceiling, which then serve as the supporting structure.

[0055] Of course, alternative designs for the crane 1, in particular the crane girder 2 and the rails, are also conceivable, and are not shown in detail here. For example, the crane 1 can be designed as a suspension crane. In the case of a suspension crane, both the rails and the crane girder 2 can be formed from rail profiles, which generally have a C-shaped cross-section that is open downwards in their installed position. In the installed position, the crane bridge formed by the crane girder 2 is then suspended via the crane trolleys 5, 6 from the rails suspended, for example, from a building ceiling serving as a supporting structure. The crane trolleys 5, 6 are inserted into the rail profiles from below and can travel within the rail profiles on crane runways formed there. The following explanations for the present crane 1 apply accordingly to a load handling crane designed as a suspension crane.

[0056] The crane girder 2 extends with its longitudinal extent LE horizontally and transversely, in particular at right angles, to the crane travel direction x. The crane 1 or its crane girder 2 can be moved in the crane travel direction x via the crane trolleys 5, 6 driven by a motorized crane drive. The crane drive preferably comprises an electric motor 5a or 6a for each of the two crane trolleys 5, 6. A crane trolley 7 with a hoist 8 is arranged on the crane girder 2. By means of its trolley trolley 7a driven by a motorized trolley drive, the trolley can be moved together with the hoist 8 on the crane girder 2 along its longitudinal extent LE and thus transversely, in particular at right angles, to the crane travel direction x in a trolley travel direction y. The trolley drive preferably also comprises an electric motor.In the case of a suspension crane, the crane trolley 7 with its trolley undercarriage 7a can be moved within the crane rail 2 on a trolley track there in the same way as the crane undercarriages 5, 6 can be moved within the respective rail on the crane track.

[0057] The travel drives of crane 1 thus comprise the trolleys 5, 6, and 7a and their motorized drives. By specifically controlling the crane drive and / or the trolley drive, the crane trolley 7 and thus the hoist 8 can be motorized in a direction of travel on and parallel to a preferably horizontal travel plane E. The direction of travel thus corresponds to the crane travel direction x or the trolley travel direction y, or their superposition.

[0058] A flexible, strand-shaped support member 9 of the hoist 8, or its section hanging from the travel plane E, as well as a load-handling device 9a attached and thus suspended thereon, with a load L optionally attached to the load-handling device 9a, can be raised or lowered via a lifting drive of the hoist 8, which is motorized in particular by means of an electric motor. In addition to the exemplary design as a rope in Figure 1, the support member 9 can also be designed as a chain, as shown in Figures 2a and 2b, so that the hoist 8 is then designed not as a cable hoist, but as a chain hoist. The load-handling device 9a comprises, for example, a load hook and is attached and suspended from the support member 9 and thus to the load strand, in particular via a handling device 10 in the load strand that is attached to the support member 9 in a load-bearing manner. As a result, the crane 1 is designed as a load-handling crane 1 in the sense defined above.

[0059] The load-bearing connection between the load-handling device 9a and the handling device 10 for attaching the load-handling device 9a to the support means is preferably a rotationally fixed connection in order to be able to move and thus handle a load L with particular precision by appropriate manipulation of the handling device 10. For this purpose, a handle 15 is arranged on a housing 12 of the handling device 10, which handle can be grasped by the respective operator 13 with one hand 13a in order to be able to guide and align the support means 9 and thus the load strand including any load L by applying appropriate manual force, as well as to dampen any pendulum movements thereof. The other hand 13b of the operator 13 can be in direct contact with the load L and support the guiding and aligning or dampening, so that both hands 13a, 13b are available for this purpose, as is typical for load-handling cranes.In addition, the handling device 10 for operating the crane 1 is provided with an operating element 16 designed, for example, as a joystick (see Figure 2a) and is thus designed as a control switch.

[0060] The crane 1 also comprises a control unit 11, which is connected in terms of control technology and in particular for signal transmission both to the handling device 10 or its operating element 16 and to the travel drives and the lifting drive of the crane 1. By an operator 13, in particular with the hand 13a grasping the handle 15, simultaneously actuating the operating element 16, the control unit 11 generates corresponding control commands for, in particular, independently controlling the drives or their electric motors, so that the crane 1 can be operated via this and the associated crane movements, in particular travel maneuvers on the travel plane E and lifting and lowering movements of the support means 9 perpendicular thereto, can be effected.

[0061] The control unit 11 can be physically and / or functionally divided, so that a part 11a of the control unit 11 serving to control the trolley drive and in particular also the lifting drive is arranged as a trolley control on the crane trolley 7, and a part 11b of the control unit 11 serving to control the crane drive is arranged as a crane control outside the crane trolley 7 on the crane girder 2 or at least one of the trolleys 5, 6. Alternatively, the control unit 11 can also be housed with at least both parts 11a and 11b in the handling device 10 or its housing 12, and from there control both the lifting drive and the respective travel drive (crane drive or trolley drive) (not shown).In order to control the crane 1, in particular its hoist 8, according to the method according to the invention and accordingly to be able to move it intuitively, safely, and efficiently in a desired direction of travel on the travel plane E using its travel drives, the crane 1 is provided with a sensor system 18 comprising an optical sensor 18a designed as a camera for determining position data of a part attached to the support means 9. According to the invention, at least one marking element, designed as an example as a 2D code 14 in the sense defined above, is provided as such a part. This marking element has a predefined and unique identification feature in the sense defined above. In the present exemplary embodiment, two 2D codes 14, each in the form of an April day, are applied as marking elements to the handling device 10 (see also Figures 2a and 2b), in particular on a housing top side 12a of the housing 12 of the handling device 10.Instead of the respective 2D code 14 or AprilTag, one or more other marking elements can also be used within the scope of the present invention. The 2D codes 14 are detected and evaluated by the sensor system 18 to determine the position data. The control unit 11 is connected to the sensor system 18 in a signal-transmitting manner and is configured to specify a direction of travel for a control command generated by the control unit 11 for the respective travel drive, i.e., the trolley drive and / or the crane drive, of the crane 1, depending on the position data determined by the sensor system 18. The control element 16 interacts with the sensor system 18 via a signal-transmitting connection (see Figure 3) in such a way that, by actuating the control element 16, a control command for controlling the respective travel drive with a direction setpoint representing the specified direction of travel can be generated.By means of the control command, the hoist 8 can then be moved in a corresponding direction of travel on the travel level E by means of the corresponding travel drive, whereby the direction of travel depends on the 2D codes detected by the sensors 18 and their subsequently determined position data.

[0062] The sensor system 18, shown schematically in Figure 1, determines position data of the respective 2D code 14, which can be changed and thus adjusted, for example, by a deflection-free rotation R of the handling device 10 about a rotation axis z. For this purpose, the respective operator 13 can grasp the handling device 10, for example, at the handle 15 with one hand 13a and, by applying appropriate manual force, effect the desired rotation R with a rotation angle W. The rotation axis z is a separate axis, in particular a longitudinal axis, of the handling device 10, which, in the gravity-driven rest position shown, extends in the direction of gravitational force and thus coincides with an imaginary vertical axis. Accordingly, the support means 9, to which the handling device 10 and, in particular, the load-handling means 9a, are attached, is also in the gravity-driven rest position.In this context, in the illustrated rest position, the support means 9 itself can also be twisted about the rotation axis z in accordance with the rotation R. However, since this entails increased manual effort for the operator 13 in order to compensate for a reverse torque resulting from the support means torsion, the rotation of the handling device 10 preferably takes place relative to the support means 9. For this purpose, the handling device 10 is fastened to the support means 9, in particular jointly and uniformly with the load-handling means 9a and any load L attached thereto, by means of a rotating element 17 (see Figures 2a and 2b) integrated into the housing 12, in particular below the housing top side 12a, and is rotatable relative to the latter about the rotation axis z. The support means 9 itself is not twisted about the rotation axis z, or at most is twisted to a negligible extent.

[0063] Figure 2a shows the handling device 10 from Figure 1 suspended from the support means 9 in a schematic side view in more detail. It shows that the handling device 10 is coupled to the support means 9 via its rotating element 17. Opposite the rotating element 17, the handling device 10 or its housing 12 has a receptacle 10a for, in particular, rotationally fixed fastening of the load-handling means 9a. The rotating element 17 connects the handling device 10 to the support means 9 in a load-bearing manner. This makes it possible, in particular, to transmit the weight of the load L via the handling device 10 and to introduce it from its rotating element 17 into the support means 9. The operating element 16 is arranged on the housing 12, in particular on the handle 15 thereon.

[0064] It can also be seen that the handle 15 is designed to be at least partially grasped by a hand 13a, 13b of the operator 13 and at the same time to enable the operating element 16 to be reached with the same hand 13a, 13b. The handle 15 can also be used as a lever arm in order to be able to conveniently rotate the handling device 10 together with a suspended load L (see Figure 1) about the axis of rotation z. For this purpose, the handle 15 is rod-shaped and arranged between two parallel holding arms 15b, of which only the front one is shown in the view in Figure 2a. The handle 15 extends essentially horizontally between the holding arms 15b. The lever arm with respect to the axis of rotation z is thus realized by the holding arms 15b, since these space the handle 15b accordingly from the axis of rotation z.In addition, the handling device 10 has a hand detection sensor 15a integrated into the handle 15 in order to detect the presence of an operator.

[0065] Also schematically shown is the arrangement of the sensor system 18 with its optical sensor 18a, which is mounted, for example, on the hoist 8 above the two 2D codes 14 attached to the handling device 10. Also arranged, for example, on the hoist 8 is the load sensor system 19, which determines the current load to activate the light-load travel function and / or the heavy-load travel function. The load sensor system 19 can also comprise a load sensor arranged in the load train, in particular on the support means 9 itself or in or on the housing 12 of the handling device 10.

[0066] Figure 2b shows a view of an alternative handling device 10 for the crane 1 of Figure 1. Compared to the handling device 10 of Figure 2a, the handle 15, particularly with the integrated hand detection sensor 15a in Figure 2b, extends vertically and encloses the rotation axis z. The lever arm according to Figure 2b is therefore smaller than in Figure 2a due to the missing holding arms 15b and the resulting smaller distance of the operator's hand from the rotation axis z.

[0067] The operating element 16, which is designed as a joystick in Figure 2a by way of example, is concealed in Figure 2b and can also be designed as a joystick or as a button here. Alternatively, the handling device 10 in both Figures 2a and 2b can also be designed entirely without an operating element 16 or can only have an operating element for the lifting drive, but none for the travel drives. Both Figures 2a and 2b show the position of the rotating element 17 below the housing top 12a and in particular within the housing 12. In contrast to Figure 2a, however, the marking elements in the form of 2D codes 14 in Figure 2b are not attached directly to the housing top 12a, but rather on a separate, flat and ring-shaped holding part 12b, which is connected above the housing 12 in a rotationally fixed manner to the housing 12 or the housing top 12a.Such a holding part 12b for the at least one marking element can be provided independently of the design of the handling device 10, the handle 15 and the operating element 16.

[0068] Furthermore, in Figure 2b, the same parts as in Figure 2a are provided with the same reference numerals and the explanations in this regard apply accordingly to both handling devices 10.

[0069] Figure 3 shows a schematic representation of control components of the crane 1. Components required for the invention are shown, such as the control unit 11, its part 11a serving as a trolley control for controlling the trolley drive and in particular also the hoist drive, as well as its part 11b serving as a crane control for controlling the crane drive, the sensor system 18 with an optical sensor 18a designed, for example, as a camera for determining the position data of the 2D codes 14, as well as the components that may be required for the optional embodiments of the invention, such as an operating element 16 of the handling device 10 designed as a control switch, the hand recognition sensor 15a and the load sensor system 19.Furthermore, dashed lines show signal-transmitting connections of the mentioned components, in particular to the control unit 11, whereby the transmission of signals corresponding at least to the determined position data, said setpoints, in particular directions of travel and / or speed setpoints specified as direction setpoints, and / or control commands with such setpoints for the travel drive and lifting drive is ensured.

[0070] Within the scope of the present invention, the load handling crane 1 can now be controlled, for example, according to the following scenarios.

[0071] In scenario a), which corresponds to the "rotate" operating mode or the heavy-duty travel function, above a predefined load value of, for example, 20 kg, the operator can rotate the handling device 10, designed as a control switch, in the desired direction of travel with a deflection-free rotation R in the above sense. The control command for the travel drive can then be generated by actuating the control element 16, designed, for example, as a joystick, which is then converted into a corresponding travel movement in the desired direction of travel, since the sensor system 18 determines the rotation R of at least one of the 2D codes 14 in the form of corresponding position data, and the control unit 11, which is connected to the sensor system 18 in a signal-transmitting manner, generates the control command with a correspondingly predetermined direction of travel and thus depending on the determined position data.This also implements the steering function mentioned above, whereby the speed of the drive can also be controlled via the joystick.

[0072] In scenario b), which corresponds to the "deflection" operating mode or the light-duty driving function, below a predefined load value of, for example, 20 kg, the operator only has to pull or push the handling device 10, designed as a control switch, in the desired direction of travel. No deflection-free rotation R in the above sense is required, nor is a steering function activated as in the heavy-duty driving function. Here, too, the desired direction of travel is detected by the sensor system 18 through a corresponding change in the position of at least one 2D code 14 and converted into a corresponding control command by the control unit 11, whereby the speed depends on the extent of the change in position or the position data determined for this purpose.

[0073] In both scenarios, the specified direction of travel can be changed "on the fly" during operation, i.e., during ongoing travel movements and without stopping the respective travel drive, by changing the position accordingly.

[0074] 1 load handling crane

[0075] 2 crane girders

[0076] 3 End

[0077] 4 End

[0078] 5 Crane chassis

[0079] 5a Electric motor

[0080] 6 Crane chassis

[0081] 6a Electric motor

[0082] 7 Crane trolley

[0083] 7a trolley chassis

[0084] 8 Hoist

[0085] 9 Load-bearing means

[0086] 9a Load handling equipment

[0087] 10 Handling device

[0088] 10a recording

[0089] 11 Control unit

[0090] 11a Part of the control unit 11

[0091] 11b Part of the control unit 11

[0092] 12 housings

[0093] 12a Top of the housing

[0094] 12b Holding part

[0095] 13 Operator

[0096] 13a Hand

[0097] 13b Hand

[0098] 14 2D code

[0099] 15 Handle

[0100] 15a Hand detection sensor

[0101] 15b Holding arm

[0102] 16 Control element

[0103] 17 Rotating element

[0104] 18 Sensor technology

[0105] 18a optical sensor

[0106] 19 Load sensors E Travel level x Crane travel direction y Trolley travel direction

[0107] L Load

[0108] LE Longitudinal extension

[0109] R rotation

[0110] W angle of rotation z axis of rotation

Claims

Patent claims 1. A method for controlling a load-handling crane (1), to whose support means (9) a handling device (10) for an operator is attached, wherein position data of a part attached to the support means (9) are determined by a sensor system (18), and a control unit (11) is connected to the sensor system (18) in a signal-transmitting manner and is configured to specify a direction of travel for a control command generated by the control unit (11) for at least one travel drive of the crane (1), in particular a trolley drive and / or a crane drive, depending on the position data determined by the sensor system (18), characterized in that at least one marking element, which has at least one predefined, in particular unique, identification feature, is attached to the support means (9), preferably to the handling device (10),and to determine the position data from the sensor system (18), the at least one marking element is detected and the at least one predefined identification feature of the respectively detected marking element is evaluated., 2. Method according to claim 1, characterized in that the at least one marking element is a passive marking element, preferably in the form of a 2D code (14), or an active marking element, preferably in the form of a transmitter emitting electromagnetic radiation, in particular infrared radiation.

3. Method according to claim 1 or 2, characterized in that the control command for the respective travel drive is only, in particular only, generated and / or converted into a travel movement of the crane (1) when a hand detection sensor (15a) of the handling device (10) detects at least the presence of an operator.

4. Method according to one of the preceding claims, characterized in that the direction of travel for the control command is specified and / or changed by a change in the position of the respectively detected marking element and the position data determined for this purpose.

5. Method according to one of the preceding claims, characterized in that the direction of travel for the control command is predetermined by actuating an operating element (16) of the crane (1), in particular the handling device (10).

6. Method according to one of the preceding claims, characterized in that the sensor system (18) continuously determines the position data and interacts with the control unit (11) in such a way that the predetermined direction of travel is continuously changed during the movement of the respective travel drive in dependence on the determined position data, in particular during the ongoing travel movement(s) and without stopping the respective travel drive.

7. Method according to one of the preceding claims, characterized in that the control command for the respective travel drive is generated according to a "deflection" operating mode of the crane (1) by a change in position of the at least one detected marking element and the position data determined for this purpose, wherein preferably also a speed setpoint for the respective travel drive is specified and / or changed, which is dependent on the position data determined for the change in position, in particular on the dimension of a deflection angle or a movement amplitude in the direction of a crane travel direction and / or trolley travel direction.

8. Method according to one of the preceding claims, characterized in that the control command for the respective travel drive according to a "rotation" operating mode of the crane (1) is generated by actuating an operating element (16) of the crane (1), in particular of the handling device (10), in particular without additionally causing a change in position of the at least one marking element or having to determine corresponding position data for this purpose, wherein preferably a speed target value for the travel drive is also specified by actuating the operating element (16).

9. Method according to claim 7 or 8, characterized in that the operating mode “rotation” and / or the operating mode “deflection” are each activated exclusively for predefined applications, which can preferably be determined by parameterization or by predefined load ranges, wherein preferably the operating mode “rotation” in the sense of a heavy-duty driving function for loads above a predefined load value and the "deflection" operating mode in the sense of a light load driving function for loads below the predefined load value can be activated, and to activate the light load driving function and / or the heavy load driving function, a load sensor (19) determines the current load.

10. A load-handling crane (1), to whose support means (9) a handling device (10) for an operator is attached, wherein the crane (1) has a sensor system (18) for determining position data of a part attached to the support means (9), and a control unit (11) of the crane (1) is connected to the sensor system (18) in a signal-transmitting manner and is configured to specify a direction of travel for a control command, which can be generated by the control unit (11), for at least one travel drive of the crane (1), in particular a trolley drive and / or a crane drive, depending on the position data determined by the sensor system (18), characterized in that at least one marking element, which has at least one predefined, in particular unique, identification feature, is attached to the support means (9), preferably to the handling device (10),to be detected by the sensor system (18) to determine the position data, and wherein the sensor system (18) and / or the control unit (11) are configured to evaluate the at least one predefined identification feature of the respectively detected marking element, in particular to carry out a method according to one of the preceding claims.

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