Method for determining a load

Abstract

Method for determining a load (3) lifted by a lifting device (1) with an arm system (2) having several degrees of freedom (w, k1, k2, s1, s2, a) of movement and with several arms (4, 5, 6, 7, 8, 9), preferably a loading crane, wherein - during a movement (i) of the arm system (2) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the arm system (2) with a lifted load (3) at least a determination (ii) of the dynamic loading moments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) prevailing during the movement is carried out - taking into account the dynamic loading moments at least a load value (m1, m2, m3) for the lifted load (3) is determined (iii).

Description

[0001] The invention relates to a method for determining a load lifted by a lifting device according to the preamble of claim 1, a control for a lifting device for carrying out such a method and a lifting device with such a control, a vehicle with such a lifting device and a computer program product for carrying out such a method.

[0002] Methods for determining a load lifted by a lifting device are known in the prior art, in which the lifting device must be brought into a predetermined position of an arm system of the lifting device. Methods are also known in which a load is determined while the lifting device is at a standstill. The methods known in the prior art place additional demands on a user, since the lifting device must be brought into a predetermined position of the arm system in order to determine a lifted load, or the movement and thus the work with the lifting device must be interrupted, since the lifting device must be at a standstill in order to determine the load. This is disadvantageously associated with increased demands on the operation of a lifting device and increased time expenditure for carrying out a lifting operation.

[0003] The object of the invention is to provide an improved method for determining a load lifted by a lifting device, a control for a lifting device for carrying out such a method, a lifting device with such a control, a vehicle with such a lifting device and a computer program product for carrying out such a method.

[0004] This object is achieved by a method for determining a load lifted by a lifting device having the features of claim 1, a control for a lifting device for carrying out such a method, a lifting device with such a control, a vehicle with such a lifting device and a computer program product for carrying out such a method.

[0005] Advantageous embodiments of the invention are defined in the dependent claims.

[0006] A method according to the invention can determine a load lifted by a lifting device with a multi-arm arm system having multiple degrees of freedom of movement. The method can preferably determine a load lifted by a loading crane with a multi-arm arm system having multiple degrees of freedom of movement.

[0007] A lifting device can comprise an arm system with arms of variable geometry, wherein, during a movement of the lifting device, the arms of the arm system can be moved relative to one another by at least one actuator along at least one degree of freedom. The arm system can comprise, for example, a crane column, a lifting arm, an articulated arm with at least one crane extension arm, at least one articulated arm extension with at least one crane extension arm, and / or a boom extension.

[0008] A movement along a degree of freedom can be achieved by an actuator corresponding to that degree of freedom. For example, two pivotally mounted arms can be pivoted relative to each other by an actuator. Two displaceably mounted arms can, for example, be displaced relative to each other by an actuator.

[0009] Actuators for moving the lifting device and / or an arm system of the lifting device can be electrical and / or hydraulic.

[0010] The degrees of freedom of the arm system can generally include angles between the arms of the arm system and the lengths of adjustable arms. The arm system can exhibit a degree of freedom of rotation through a rotatable mounting in a base.

[0011] Values ​​of degrees of freedom of movement can be detected by suitable sensors, such as angle sensors, position sensors for lengths of length-adjustable arms and / or length-adjustable actuators, and can be fed to a control of the lifting device in the form of at least one sensor signal.

[0012] The lifting device can be controlled by controlling actuators using control commands issued by the controller. Actuators of the lifting device can be specifically controlled based on operating commands from a user using corresponding control commands issued by the controller. The controller can have a suitable user interface or human-machine interface for the user to issue operating commands.

[0013] The controller can be remotely controlled, which can include at least one user interface for issuing operating commands by a user. Based on the operating commands, the controller can generate control commands for controlling the lifting device.

[0014] The controller can generally have at least one processing unit and at least one memory unit. The processing unit can be connected to the memory unit or can be connected to it.

[0015] A user interface of a control and / or a remote control can be menu-driven and / or with an input mask in the form of user guidance with a graphical, character-based, or voice-based user interface. At least one parameter for a relative position of the at least one trigger interface relative to the lifting device can be specified via the user interface, in particular via input means.

[0016] The lifting device can have at least one working device that can be arranged on an arm system. A working device can generally be understood as an attachment that can be arranged on the arm system for manipulating objects or items, for example a load to be lifted. The arm system and the working device, preferably the at least one movable part of the working device, can be controlled separately or jointly by appropriate control commands. In an exemplary embodiment, the working device can be designed as a gripper with two or more gripper jaws or gripper shells that can be moved relative to one another. One working device can be designed in the form of a rotator for moving another working device relative to the arm system. The movements of the at least one working device can be driven by appropriate actuators.

[0017] A movement of the lifting device can be achieved through essentially free control of actuators by issuing operating commands from a user, preferably via a suitable user interface or human-machine interface of a control system. For example, individual actuators of the lifting device can be specifically controlled based on operating commands from a user through corresponding control commands, for example, issued by a control system. A movement of the lifting device can also be achieved through coordinate control (also called "boom tip control") of the arm system. In this case, the individual actuators of the arm system are controlled by the control system in such a way that the user controls the behavior of a crane tip of the arm system, instead of controlling the individual actuators themselves as usual.

[0018] During a movement of the arm system along at least one degree of freedom of the arm system with a lifted load, at least one determination of the dynamic load moments of the arms of the arm system prevailing during the movement can be carried out, wherein at least one load value for the lifted load can be determined by taking into account the dynamic load moments.

[0019] Dynamic load moments can be caused by loads on the arms of the arm system that occur during movement, due to their inherent masses and their external loads, as well as by the mass or masses of a lifted load and their external loads. Actuators and work equipment can also cause additional load moments.

[0020] Acceleration forces occurring during a movement can also contribute to the dynamic load moments. During a substantially uniform movement, the acceleration forces occurring can be much smaller than the weight forces caused by the dead mass of the arms or by the weight of the load.

[0021] In order to determine a load value, a user of the lifting device does not have to move to a predetermined position of an arm system or interrupt the movement and thus the work with the lifting device.

[0022] When the arm system moves, an essentially freely selectable movement can occur along at least one degree of freedom.

[0023] A bearing arrangement can be provided, for example, by a horizontal or radial distance from a vertical axis of an arm system, preferably a vertical pivot axis of a bearing arrangement of an arm system.

[0024] By determining the load during movement, for example, bearing friction at the bearing points of arms of an arm system can have less influence on the determination of dynamic load moments than with a static measurement at standstill.

[0025] A load value may be a unit value for the mass of a load lifted by the lifting device.

[0026] A load value determined using the method can be displayed to a user visually or acoustically.

[0027] By determining at least one load value, for example, the sum of a load lifted or placed down during operation of a lifting device can be determined.

[0028] The determination of at least one load value can generally be performed continuously, for example, at a certain clock frequency. A clock frequency can specify how often a determination is performed within a certain time interval.

[0029] The determination of the dynamic load moments prevailing during the movement can be carried out by a control unit of the lifting device. For example, a processing unit of the control unit can execute commands that cause the control unit to determine the dynamic load moments prevailing during the movement.

[0030] The determination of at least one load value can be carried out by a controller of the lifting device. For example, a computing unit of the controller can execute commands that cause the controller to determine at least one load value for the lifted load, at least taking into account the dynamic load moments. When determining at least one load value of a load lifted by the lifting device, the at least one load value can be recorded in a load value sequence. In this case, a repeated determination of at least one load value of a load lifted by the lifting device can take place, wherein the repeatedly determined load value can be recorded in a load value sequence. The load value sequence can correspond to a chronologically ordered set of recorded load values.

[0031] A recording of at least one load value in a load value sequence can be performed continuously, for example, at a certain clock frequency. A clock frequency can specify how often a recording occurs within a certain time interval.

[0032] A recording of at least one load value in a load value sequence can occur during a movement of the lifting device with a lifted load. Similarly, a recording of at least one load value in a load value sequence can occur during a movement of the lifting device with the lifting device unloaded.

[0033] A determination of the at least one load value and a recording of the at least one load value in a load value sequence can in principle take place during the entire operation of a lifting device.

[0034] For example, a determination of the at least one load value and a recording of the at least one load value in a load value sequence can be carried out continuously during substantially the entire duration of a movement of an arm system.

[0035] Depending on a selection criterion, at least one recorded load value can be selected from the load value sequence.

[0036] An adjusted load value attributable to a load lifted by the lifting device can be determined from the at least one selected load value.

[0037] By determining an adjusted load value from selected load values, load values ​​can be included in the determination, for example, that were determined for positions of an arm system of the lifting device and / or movements of an arm system of the lifting device that are at least partially identical or approximate within a range. A range can be related to an interval or intervals of values ​​of the degrees of freedom of the arm system's movement.

[0038] The adjusted load value can be determined from an arithmetic mean of the at least one load value selected according to the at least one selection criterion. Preferably, the adjusted load value can be determined from a weighted arithmetic mean, wherein weighting can be performed according to at least one specific selection criterion.

[0039] During the movement of an arm system of the lifting device along at least one degree of freedom of the movement of the arm system, at least one detection of the values ​​of at least one of the degrees of freedom of the movement of the arm system prevailing in the at least one time interval and at least one detection of at least one force acting on the arm system together with the load in the at least one time interval can take place in at least one time interval.

[0040] Suitable sensors can be provided to detect at least one force.

[0041] A recording of prevailing values ​​of at least one of the degrees of freedom of the movement of the arm system and a recording of at least one force acting on the arm system together with the load in the at least one time interval can be carried out in order to determine the dynamic load moments of the arms of the arm system prevailing during the movement.

[0042] A selection of at least one recorded load value from the load value sequence and / or a weighting can comprise at least one of the following selection criteria: A selection can be made depending on a minimum duration and / or a maximum duration for the at least one time interval.

[0043] A selection can be made depending on a specification of a time interval through an interaction by a user, for example via at least one user interface of a control of the lifting device.

[0044] A selection can be made depending on a minimum value and / or a maximum value and / or an interval for the recorded values ​​of at least one of the degrees of freedom of the arm system's movement. This allows load values ​​to be selected that were determined for positions of an arm system of the lifting device and / or movements of an arm system of the lifting device that are at least partially identical or approximate within a range.

[0045] A selection can be made based on a minimum value and / or a maximum value and / or an interval for the at least one detected force. This allows load values ​​to be selected that were determined when the lifting device was loaded. It also allows load values ​​to be selected that lie within technically plausible limits, for example, to rule out false signals from sensors.

[0046] A selection can be made depending on a minimum value and / or a maximum value and / or an interval for a rate of change of the detected values ​​of at least one of the degrees of freedom of the arm system's movement. This allows load values ​​to be selected that were determined during a movement that is at least partially substantially uniform along at least one degree of freedom of the arm system.

[0047] A selection can be made depending on a minimum value and / or a maximum value and / or an interval for a rate of change of the at least one detected force. This allows load values ​​to be selected that were determined during a movement that was at least partially substantially uniform along at least one degree of freedom of the arm system.

[0048] To determine a load value, reference values ​​can be recorded. The lifting device can be stationary without a lifted load and / or moving without a lifted load.

[0049] During at least one static position of the arm system with constant values ​​of the degrees of freedom of the arm system without a lifted load, at least one determination of the prevailing static eigenmoments of the arms of the arm system can be carried out.

[0050] Alternatively or in combination, during a movement of the arm system along at least one degree of freedom of the arm system without a lifted load, at least one determination of the dynamic eigenmoments of the arms of the arm system prevailing during the movement can be carried out.

[0051] The at least one load value can be determined taking into account the static eigenmoments and / or the dynamic eigenmoments.

[0052] To determine the dynamic eigenmoments, at least one detection of the values ​​of at least one of the degrees of freedom of the arm system's movement prevailing in at least one time interval and at least one detection of a force acting on the arm system in at least one time interval can be performed in at least one time interval during the movement of the arm system. This can essentially involve taring the determination of a load value.

[0053] To determine the dynamic load moments, at least one detection of the values ​​of at least one of the degrees of freedom of the arm system's movement prevailing in at least one time interval and at least one detection of a force acting on the arm system together with a reference load in at least one time interval can be performed during at least one time interval during the movement of the arm system. This can essentially involve adjusting the determination of a load value.

[0054] The at least one load value can be determined taking into account the dynamic eigenmoments and / or the dynamic loading moments.

[0055] Similarly, in at least one static position of the arm system with constant values ​​of the degrees of freedom of the arm system and a raised load, at least one determination of the static load moments of the arms of the arm system can be carried out. Alternatively or in combination, in at least one static position of the arm system with constant values ​​of the degrees of freedom of the arm system and a raised reference load, at least one determination of the static load moments of the arms of the arm system can be carried out. The at least one load value can be determined taking into account the static load moments thus determined.

[0056] In order to determine the static load moments in at least one time interval during the movement of the arm system, at least one detection of the values ​​of at least one of the degrees of freedom of the movement of the arm system prevailing in the at least one time interval and at least one detection of at least one force acting on the arm system together with the load in the at least one time interval can be carried out.

[0057] A load value determined using the method can be displayed to a user. The display can be in the form of a user-perceptible, particularly visual and / or acoustic, indication of the at least one load value for the lifted load.

[0058] Protection is also sought for a control system for a lifting device which comprises means for carrying out the method described above.

[0059] The controller may be configured to perform at least one determination of the dynamic loading moments of the arms of the arm system prevailing during a movement of the arm system along at least one degree of freedom of the arm system with a lifted load.

[0060] The controller can be configured to determine at least one load value for the lifted load, taking into account the dynamic load moments.

[0061] Protection is also sought for a lifting device with a control system as described above. The lifting device can be designed as a loading crane or a timber crane. Preferably, the lifting device can be designed as a hydraulic crane.

[0062] The lifting device can be arranged on a carrier vehicle to form a vehicle with a lifting device. The carrier vehicle can have a loading area for cargo. The carrier vehicle can be arranged with at least one trailer having a loading area, which can be positioned relative to the lifting device.

[0063] Protection is also sought for a computer program product which may include instructions which cause the previously described controller configured to carry out the method to carry out a method as described above in an arrangement with a lifting device, preferably equipped with corresponding sensors.

[0064] Instructions of a computer program product can, for example, be stored in at least one memory unit of the controller and executed by at least one computing unit of the controller.

[0065] The computer program product may comprise instructions which, when executed by a computing unit a determination of the dynamic load moments of the arms of the arm system prevailing during the movement at least during the movement of the arm system along at least one degree of freedom of the arm system with a lifted load a determination of at least one load value for the lifted load taking into account the dynamic load moments arrange.

[0066] Further details and advantages of the present invention are explained in more detail below with reference to the exemplary embodiments shown in the drawings. Figure 1 schematically shows a sequence of a preferred embodiment of a method Figure 2 an embodiment of a lifting device with a control Figure 3 a schematic representation of a lifting device Figures 4a to 4c a schematic representation of a movement of a lifting device Figure 5 an embodiment of a vehicle with a lifting device

[0067] Figure 1 shows schematically a sequence of a preferred embodiment of a method. Figure 2 shows an embodiment of a lifting device 1 with a controller 11 and a lifted load 3, wherein the degrees of freedom w, k1, k2, s1, s2, a of the movement of the arm system 2 having a plurality of arms 4, 5, 6, 7, 8, 9 are illustrated. Figure 3 shows a further schematic representation of a lifting device 1. In the Figures 4a, 4b, 4c a sequence of movements of a lifting device 1 with a load 3 is shown. In Figure 5 an embodiment of a vehicle 17 with a lifting device 1 is shown.

[0068] Figure 1 shows schematically a sequence of a preferred embodiment of a method for determining a load 3 lifted by a lifting device 1 with an arm system 2 having a plurality of arms 4, 5, 6, 7, 8, 9 and having a plurality of degrees of freedom w, k1, k2, s1, s2, a of movement.

[0069] During a movement i of the arm system 2 along at least one degree of freedom w, k1, k2, s1, s2, a of the arm system 2 with a lifted load 3, at least one determination ii of the dynamic load moments of the arms 4, 5, 6, 7, 8, 9 of the arm system 2 prevailing during the movement can be carried out. Such a movement i is, for example, in the course of the Figures 4a to 4c illustrated.

[0070] Taking into account the dynamic load moments, a determination iii of at least one load value m1 for the lifted load 3 can be made.

[0071] In a repetition of the determination ii of the dynamic load moments of the arms 4, 5, 6, 7, 8, 9 of the arm system 2 prevailing during the movement and determination iii of at least one load value m1 for the lifted load 3 during the movement i of the arm system 2 along at least one degree of freedom w, k1, k2, s1, s2, a of the arm system 2 with a lifted load 3, further load values ​​m1, m2, m3 for the lifted load 3 can be determined.

[0072] Furthermore, a recording iv of the at least one load value m1, m2, m3 in a load value sequence (m1, m2, m3) can be carried out. Depending on at least one predetermined or predeterminable selection criterion, a selection v of at least one recorded load value m1, m2, m3 from the load value sequence (m1, m2, m3) can be carried out, for example, two of the recorded load values ​​m2, m3 being selected. A determination vi of an adjusted load value m can be carried out from the at least one load value m2, m3 selected according to the selection criterion.

[0073] For example, the determination vi of the adjusted load value m can be carried out from an arithmetic mean, preferably a weighted arithmetic mean, from the at least one load value m2, m3 selected according to the at least one selection criterion.

[0074] In Figure 2an embodiment of a lifting device 1 with a controller 11 and sensors arranged on the arm system 2 of the lifting device 1 is shown.

[0075] In the exemplary embodiment, the arm system 2 of the lifting device 1 comprises a crane column 5 pivotably mounted in a base 4, a lifting arm 6 pivotably mounted on the base 4, and an articulated arm 7 pivotably mounted on the base 4. In the position of the arm system 2 shown, the lifting arm 6 is arranged at a first articulation angle k1 on the crane column 5, and the articulated arm 7 is arranged at a second articulation angle k2 on the lifting arm 6. Actuators 14, 15 are provided for pivoting the lifting arm 6 and the articulated arm 7. In the embodiment 2 shown, the articulated arm 7 has two extension arms 8, 9, by means of which the length of the articulated arm 7 can be changed. A freely suspended working device 10 in the form of a grab is arranged at the crane tip, which in the embodiment shown is formed by the free end of the articulated arm 7.

[0076] The sensor system of the lifting device 1 comprises a sensor d4 for detecting a pivoting position w of the crane column 5 relative to the base 4, a sensor d1 for detecting the first articulation angle k1, a sensor d2 for detecting the second articulation angle k2, a thrust position sensor l1 for detecting the thrust position s1 of the first thrust arm 8 and a second thrust position sensor l2 for detecting the thrust position s2 of the second thrust arm 9.

[0077] The working device 3 arranged on the lifting device 1 and designed as a gripper has a sensor d3 for detecting the opening angle a.

[0078] To detect at least one operating parameter of the actuators 14, 15, with which forces acting on the actuators can be detected, suitable sensors p1, p2, such as pressure sensors or power sensors, can be provided.

[0079] The sensors installed on the lifting device 1 can detect the geometry of the arm system 2.

[0080] In the embodiment shown, the controller 11 can have signal inputs for supplying sensor signals via signal lines of the sensors and signal outputs for outputting control commands at least to the actuators 14, 15. The controller 11 has a processing unit 11 and a memory unit 13.

[0081] In Figure 3 A further schematic representation of a lifting device 1 is shown. The design essentially corresponds to that of the Figure 2 , wherein the articulated arm 7 is formed from two push arms 7, 8 for simplified representation.

[0082] Load moments acting on the arm system 2 can be caused by loads on the arms 4, 5, 6, 7, 8, 9 of the arm system 2 due to their inherent masses and their outsourcing, as well as by the mass or masses of a lifted load 3 and their outsourcing.

[0083] The inherent masses and offsets of arms 4, 5, 6, 7, 8, and 9 of arm system 2 can contribute to the loads through the masses of the centers of gravity SP6, SP8, and SP9 of arms 6, 8, and 9 and their offsets r6, r8, and r9. The inherent masses of the centers of gravity SP15 and SP10 of an actuator 15 and a work device 10 and their offsets r15 and r10 can be added to the load. Finally, the mass of the center of gravity SP3 of load 3 and its offset r3 can contribute to the load.

[0084] As shown, a displacement r3, r6, r8, r9, r10, r15 can be given by a horizontal or radial distance from a vertical pivot axis of a bearing of an arm system 2 and can be determined, for example, trigonometrically from known dimensions of arms 4, 5, 6, 7, 8, 9 of the arm system 2 and sensors installed on the lifting device 2. The pivot axis of a bearing can run through the crane column 5.

[0085] In the course of Figures 4a, 4b, 4c is a schematic representation of a lifting movement of a lifting device 1 with a load 3 attached to it by a load rope 16. The design of the lifting device 1 can essentially be that of Figure 2 or 3 are equivalent to.

[0086] In the presentation of the Figures 4a, 4b, 4c an exemplary movement i of the arm system 2 takes place along a degree of freedom of the bending angle k2.

[0087] To determine the dynamic load moments, at least one detection of the values ​​of at least one of the degrees of freedom k2 of the movement of the arm system 2 prevailing in the at least one time interval and at least one detection of at least one force acting on the arm system 2 together with the load 3 in the at least one time interval can take place in at least one time interval during the movement of the arm system 2. This makes it possible to determine ii the dynamic load moments of the arms 4, 5, 6, 7, 8, 9 of the arm system 2 prevailing during the movement and, taking into account the dynamic load moments, to determine iii at least one load value m1, m2, m3 for the lifted load 3.

[0088] A recording iv of the recorded load values ​​m1, m2, m3 can be made in a load value sequence and from this, depending on at least one predefined or predefinable selection criterion, a selection v of at least one recorded load value m2, m3 from the load value sequence can be made. In the example of Figure 4a For example, a force detected by sensor p1 may be below a minimum value. This can be used to determine that load 3 has not yet been lifted and the Figure 4a The determined load value m1 is not representative of the load mass. An adjusted load value m can subsequently be determined from the at least one load value m2, m3 selected according to the selection criterion. Further selection criteria, such as values ​​and rates of change of degrees of freedom, durations of time intervals, and values ​​and rates of change of forces, can also be used to select at least one of the determined load values ​​m1, m2, m3.

[0089] Analogously, dynamic moments without a lifted load, and / or static moments without a lifted load, and / or static load moments with a lifted load 3 in the form of a reference load with known load mass, and / or dynamic load moments with a lifted load 3 in the form of a reference load with known load mass determined and included in a determination iii of at least one load value m1, m2, m3.

[0090] In Figure 5 an embodiment of a vehicle 17 with a lifting device 1 arranged thereon is shown. Reference symbol

[0091] 1Lifting device 2Arm system 3Load 4Base 5Crane column 6Lifting arm 7Articulated arm 8Extension arm 9Extension arm 10Working device 11Control unit 12CPU 13Storage unit 14Actuator 15Actuator 16Load rope 17Vehicle m1, m2, m3Lastwerte mLastwert wSchwenkwinkel k1, k2Knickwinkel s1, s2Schubstellung aÖffnungswinkel p1, p2Sensor d1, d2, d3, d4Sensor l1, l2Längensensor r6, r8, r9Auslagerung SP6, SP8, SP9Schwerpunkt r10Auslagerung SP10Schwerpunkt r15Auslagerung SP15Schwerpunkt r3Auslagerung SP3Schwerpunkt r14Auslagerung i, ii, iiiVerfahrensteil iv, v, viVerfahrensteil

Claims

1. Method for determining a load (3) lifted by a lifting device (1) with an arm system (2) having a plurality of arms (4, 5, 6, 7, 8, 9), preferably a loading crane, which has a plurality of degrees of freedom (w, k1, k2, s1, s2, a) of movement, wherein - during a movement (i) of the arm system (2) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the arm system (2) with a lifted load (3), at least one determination (ii) of the dynamic load moments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) prevailing during the movement is carried out - at least one load value (m1, m2, m3) for the lifted load (3) is determined (iii) taking into account the dynamic load moments.

2. Method according to the preceding claim, wherein - a recording (iv) of the at least one load value (m1, m2, m3) takes place in a load value sequence - a selection (v) of at least one recorded load value (m1, m2, m3) from the load value sequence takes place as a function of at least one predetermined or predeterminable selection criterion - an adjusted load value (m) is determined (vi) from the at least one load value (m1, m2, m3) selected according to the selection criterion.

3. Method according to the preceding claim, wherein the adjusted load value (m) is determined from an arithmetic mean, preferably a weighted arithmetic mean, from the at least one load value (m1, m2, m3) selected according to the at least one selection criterion.

4. Method according to one of claims 2 or 3, wherein for the determination of the dynamic load moments in at least one time interval during the movement of the arm system (2) at least one detection of the values ​​prevailing in the at least one time interval of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2) and at least one detection of at least one force acting on the arm system (2) together with the load (3) in the at least one time interval takes place.

5. Method according to the preceding claim, wherein the at least one predetermined or predeterminable selection criterion comprises at least one of the following criteria: - a minimum duration and / or a maximum duration for the at least one time interval - a specification of a time interval through an interaction by a user - a minimum value and / or a maximum value and / or an interval for the recorded values ​​of the at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2) - a minimum value and / or a maximum value and / or an interval for the at least one recorded force - a minimum value and / or a maximum value and / or an interval for a rate of change of the recorded values ​​of the at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2) - a minimum value and / or a maximum value and / or an interval for a rate of change of the at least one recorded force 6. Method according to one of the preceding claims, wherein a movement of the arm system (2) involves a substantially freely selectable movement along at least one degree of freedom (w, k1, k2, s1, s2, a).

7. Method according to one of the preceding claims, wherein - during at least one static position of the arm system (2) with constant values ​​of the degrees of freedom (w, k1, k2, s1, s2, a) of the arm system (2) without a lifted load, at least one determination of the prevailing static eigenmoments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) takes place, and / or - during a movement of the arm system (2) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the arm system (2) without a lifted load, at least one determination of the prevailing dynamic eigenmoments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) during the movement takes place and the at least one load value (m1, m2, m3) is determined taking into account the static eigenmoments and / or the dynamic eigenmoments.

8. Method according to one of the preceding claims, wherein - for determining the dynamic eigenmoments in at least one time interval during the movement of the arm system (2), at least one detection of the values ​​prevailing in the at least one time interval of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2) and at least one detection of a force acting on the arm system (2) in the at least one time interval is carried out, and / or - for determining the dynamic load moments in at least one time interval during the movement of the arm system (2), at least one detection of the values ​​prevailing in the at least one time interval of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2) and at least one detection of a force acting on the arm system (2) together with a reference load in the at least one time interval is carried out, and the at least one load value (m1, m2,m3) is determined taking into account the dynamic eigenmoments and / or the dynamic loading moments., 9. Method according to one of the preceding claims, wherein - in at least one static position of the arm system (2) with constant values ​​of the degrees of freedom (w, k1, k2, s1, s2, a) of the arm system (2) with a raised load, at least one determination of the static load moments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) takes place, and / or - in at least one static position of the arm system (2) with constant values ​​of the degrees of freedom (w, k1, k2, s1, s2, a) of the arm system (2) with a raised reference load, at least one determination of the static load moments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) takes place, and the at least one load value (m1, m2, m3) is determined taking into account the static load moments.

10. Method according to the preceding claim, wherein for the determination of the static load moments in at least one time interval during the movement of the arm system (2) at least one detection of the values ​​prevailing in the at least one time interval of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2) and at least one detection of at least one force acting on the arm system (2) together with the load in the at least one time interval is carried out.

11. Method according to one of the preceding claims, wherein a display of the at least one load value (m, m1, m2, m3) for the lifted load (3) is provided which is perceptible to a user, in particular optical and / or acoustic.

12. Control (11) for a lifting device (1) comprising means for carrying out the method according to one of the preceding claims.

13. Lifting device (1), preferably a hydraulic crane, with a control (11) according to the preceding claim.

14. Vehicle (17) with a lifting device (1) according to the preceding claim.

15. A computer program product comprising instructions causing the lifting device (1) with the controller (11) according to claim 13 to - determine the dynamic load moments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) prevailing during the movement, at least during the movement of the arm system (2) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the arm system (2) with a lifted load (3) - determine at least one load value (m1, m2, m3) for the lifted load (3) taking into account the dynamic load moments according to a method according to one of claims 1 to 11.

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