Method for executing a function

Abstract

Method for executing a predetermined or predeterminable function of a, preferably hydraulic, lifting device (1) depending on at least one trigger interface (20), wherein - a specification (i) of at least one parameter (D, N, M, R) for a relative position of the at least one trigger interface (20) relative to the lifting device (1) is carried out by at least one sensor signal of a sensor (d1, d2, d3, d4, d5, 11, 12, p1, p2) of the lifting device (1) in data communication with a controller (11) of the lifting device (1) and / or is carried out by a user via at least one user interface (21) of a controller (11) of the lifting device (1) - a creation (ii) of the at least one trigger interface (20) depending on the at least one parameter (D, N, M,R) is performed - (iii) at least one predetermined or predeterminable function of the lifting device (1) is executed when a predetermined or predeterminable point (P) of an arm system (2) of the lifting device (1) approaches the at least one trigger interface (20) and / or when a predetermined or predeterminable point (P) of an arm system (2) of the lifting device (1) passes through the at least one trigger interface (20).

Description

[0001] The invention relates to a method for carrying out a predetermined or predeterminable function of 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.

[0002] Methods for performing a predetermined or predeterminable function of 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 predetermined or predeterminable function is performed in a state of the lifting device in which the lifting device is at a standstill. The methods known in the prior art pose additional requirements for a user, since the lifting device must be brought into a predetermined position of the arm system in order to perform a predetermined or predeterminable function, 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 perform a predetermined or predeterminable function.This is disadvantageous due to increased demands on the operation of a lifting device and increased time required to carry out a lifting operation.

[0003] The object of the invention is to provide an improved method for carrying out a predetermined or predeterminable function of a lifting device, a control for a lifting device for carrying out such a method and a lifting device with such a control.

[0004] This object is achieved by a method for carrying out a predetermined or predeterminable function of a lifting device having the features of claim 1, a control for a lifting device for carrying out such a method and a lifting device having such a control.

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

[0006] A method according to the invention can execute a predetermined or predeterminable function of a lifting device depending on at least one trigger interface. The method can preferably execute a predetermined or predeterminable function of a hydraulic lifting device.

[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 via a data connection or can be connected to such a connection.

[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 effected by a substantially free control of actuators by issuing operating commands by 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 by corresponding control commands, for example, issued by a control system. A movement of the lifting device can also be effected in the form of a coordinate control (also " boom tip control " (called) of the arm system. The individual actuators of the arm system are controlled by the controller 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] In the method, at least one parameter for a relative position of the at least one trigger interface relative to the lifting device can be specified. A specification can be made by at least one sensor signal from a sensor of the lifting device that is in data communication with a controller of the lifting device. Alternatively, or in combination, a specification can be made by a user via at least one user interface of a controller of the lifting device.

[0019] Depending on the at least one predetermined parameter, the at least one trigger interface can be created.

[0020] With a trigger interface, at least one predetermined or predeterminable function of the lifting device can be executed when a predetermined or predeterminable point of an arm system of the lifting device approaches the at least one trigger interface. Alternatively or in combination, at least one predetermined or predeterminable function of the lifting device can be executed when a predetermined or predeterminable point of an arm system of the lifting device passes through the at least one trigger interface.

[0021] The at least one trigger interface can be created by a control system of the lifting device. Likewise, the approach and / or passage can be detected by the control system of the lifting device. For example, at least one parameter for a relative position of the at least one trigger interface relative to the lifting device can be stored in a memory unit. The approach and / or passage can be detected using values ​​of degrees of freedom of the movement of the arm system of the lifting device supplied to the control system.

[0022] The at least one predetermined or predeterminable function of the lifting device can be executed by a controller of the lifting device. For example, upon detecting an approach of a person and / or a step through, a processing unit of the controller can execute commands that cause the controller to execute the at least one predetermined or predeterminable function.

[0023] A predetermined or predeterminable point of an arm system of the lifting device can correspond to a tip of the arm system, a position of a working device arranged on the lifting device, in particular on the arm system, or an essentially freely selectable point of the arm system.

[0024] Execution of at least one predetermined or predeterminable function of the lifting device upon approach of a predetermined or predeterminable point of an arm system of the lifting device to the at least one trigger interface and / or upon passage of a predetermined or predeterminable point of an arm system of the lifting device through the at least one trigger interface can be repeated essentially as often as desired. For example, the execution can be repeated upon repeated loading of loads, preferably upon repeated loading of loads onto or from a loading space.

[0025] A trigger interface can, in principle, be an essentially two-dimensional subset of three-dimensional space, a two-dimensional geometric figure, or a boundary surface of a three-dimensional body. A trigger interface can be flat at least in sections and / or curved at least in sections.

[0026] A trigger interface can be limited in at least one spatial direction. For example, a trigger interface can be limited in a vertical extension, a longitudinal extension, and / or a radius.

[0027] By executing a function depending on a trigger interface, a user of a lifting device does not have to bring it into a predetermined position of an arm system or interrupt the movement and thus the work with the lifting device.

[0028] Upon repeated approach and / or passage of a predetermined or predeterminable point of an arm system of the lifting device to and / or through the at least one trigger interface, a position of an arm system of the lifting device and / or movement of the lifting device that is at least partially identical or approximate within a range can be approached and / or passed through with each repetition. A range can be related to an interval or intervals of values ​​of the degrees of freedom of the movement of the arm system.

[0029] 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 in order to carry out the function, as well as for a repeated execution of the function, but only has to approach a predetermined or predeterminable point of an arm system of the lifting device to the at least one trigger interface and / or pass through the at least one trigger interface with a predetermined or predeterminable point of an arm system of the lifting device.

[0030] In one embodiment, when creating the at least one trigger interface, an interface can be created between at least part of an interior region of a loading area of ​​the lifting device and at least part of an exterior region of the loading area of ​​the lifting device. At least one parameter for a relative position of the at least one trigger interface relative to the lifting device can be specified depending on a position of a loading area of ​​the lifting device intended for depositing load lifted by the lifting device.

[0031] A loading area of ​​the lifting device can, for example, correspond to a loading area of ​​a carrier vehicle of the lifting device and / or a loading area of ​​at least one trailer. The at least one trailer can be positionable relative to the lifting device. A loading area can have a longitudinal extension along a longitudinal axis. A loading area can have a transverse extension along a transverse axis.

[0032] A possible parameter for a relative position of the at least one trigger interface relative to the lifting device can be specified as a function of a longitudinal axis of a loading area, and / or a longitudinal extension of a loading area, and / or a transverse axis of a loading area, and / or a transverse extension of a loading area.

[0033] A parameter for a relative position of the at least one trigger interface relative to the lifting device can be specified, for example, in the form of an angular position of a longitudinal axis of a loading area and / or a transverse axis of a loading area relative to a predetermined or predeterminable spatial direction. A predetermined or predeterminable spatial direction can be related to the lifting device. For example, a predetermined spatial direction can correspond to or be related to a longitudinal axis of a carrier vehicle of the lifting device.

[0034] At least one parameter for a relative position of the at least one trigger interface relative to the lifting device can be specified as a function of the position of a loading area by at least one sensor signal from a sensor of the lifting device that is in data communication with a control system of the lifting device. An angular position of a longitudinal axis of a loading area and / or a transverse axis of a loading area relative to a predetermined or predeterminable spatial direction can be detected. For example, an angular position of a longitudinal axis of a loading area relative to a longitudinal axis of a carrier vehicle of the lifting device can be detected and specified as a parameter. Alternatively or in combination, a parameter can be specified as a function of the position of a loading area by a user via at least one user interface of a control system of the lifting device.In this case, an angular position of a longitudinal axis of a loading area relative to a longitudinal axis of a carrier vehicle of the lifting device can be predetermined by a user via at least one user interface of a control of the lifting device, for example by entering an angular position into an input mask of the user interface.

[0035] In one embodiment of the method, a lifting device with a loading area and / or a trailer with a loading area for depositing and receiving cargo of the hydraulic lifting device is parked; at least one parameter is specified for a relative position of the at least one trigger interface between at least part of an interior area of ​​at least one loading area and at least part of an exterior area of ​​at least one loading area; the at least one trigger interface is created depending on the at least one parameter; at least one predetermined or predeterminable function of the lifting device is carried out when a predetermined or predeterminable point of an arm system of the lifting device approaches the at least one trigger interface and / or when a predetermined or predeterminable point of an arm system of the lifting device passes through the at least one trigger interface.

[0036] In an advantageous embodiment of the method, a function for determining at least one load value of a load lifted by the hydraulic lifting device can be carried out during the approach and / or the passing through.

[0037] A load value may be a unit value for the mass of a load lifted by the hydraulic lifting device.

[0038] 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.

[0039] By determining at least one load value, for example, the sum of a load lifted during operation of a lifting device can be determined.

[0040] Determining 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 made within a certain time interval. Assigning a load value to a lifted load can be done by executing the function upon approach and / or passing through.

[0041] By executing a function in the form of determining at least one load value of a load lifted by the hydraulic lifting device as a function of approaching and / or passing through a trigger interface, advantageous states of a position and / or movement of the lifting device for determining at least one load value can be created using a trigger interface. By executing the function upon approaching and / or passing through a predetermined or predeterminable point of an arm system of the lifting device to and / or through the at least one trigger interface, a position of an arm system of the lifting device and / or movement of the lifting device that lies at least partially within a predeterminable or predetermined range can be approached and / or traversed.

[0042] In order to determine a load value of a load, 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, but only has to approach a predetermined or predeterminable point of an arm system of the lifting device to the at least one trigger interface and / or pass through the at least one trigger interface with a predetermined or predeterminable point of an arm system of the lifting device.

[0043] During a repeated determination of at least one load value, for example during repeated loading of loads, for example onto or from a cargo space, a predetermined or predeterminable point of an arm system of the lifting device can be repeatedly approached and / or passed through the at least one triggering interface. In this case, during each repetition, a position of an arm system of the lifting device and / or movement of the lifting device that is at least partially identical or approximate within a range can be approached and / or passed through. The at least one load value determined during each repetition can thus be 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.

[0044] During the approach and / or the passage, a movement of an arm system of the hydraulic lifting device can take place along at least one degree of freedom of movement of the arm system with a lifted load.

[0045] When the arm system moves, an essentially freely selectable movement can occur along at least one degree of freedom of the movement of the arm system.

[0046] During the movement of the arm system, 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.

[0047] Dynamic load moments can be caused by loads on the arms of the arm system occurring during a movement of the arm system due to their own masses and their outsourcing, as well as by the mass or masses of a lifted load and their outsourcing.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] It should not be excluded that, during a movement of the arm system without a lifted load, at least one determination of the dynamic load moments prevailing during the movement is carried out by the dead masses of the arms of the arm system, whereby at least one load value can be determined by taking the dynamic load moments into account. Such a load value can be determined as a reference value for an unloaded lifting device.

[0052] When determining at least one load value of a load lifted by the hydraulic lifting device, the at least one load value can be recorded in a load value sequence. At least one load value of a load lifted by the hydraulic lifting device can be repeatedly determined, and 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Depending on the approach and / or passage of a predetermined or predeterminable point of an arm system of the lifting device to and / or through the at least one trigger interface, at least one recorded load value can be selected from the load value sequence. At least one load value determined during the approach and / or passage can be selected from the load value sequence.

[0058] A selection may be made of at least one recorded load value from the load value sequence which was determined within a time interval before, after or around the approach and / or the passage.

[0059] The load value attributable to a load lifted by the hydraulic lifting device can be determined from the at least one selected load value.

[0060] By determining the load value from selected load values, for example, load values ​​can be included in the determination 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.

[0061] When determining and recording at least one load value continuously during substantially the entire duration of a movement of an arm system, load values ​​can be selected, for example, which were determined during approach and / or passing through.

[0062] The load value can be determined from an arithmetic mean of the at least one selected load value. Preferably, the load value can be determined from a weighted arithmetic mean, wherein weighting can be performed according to at least one specific selection criterion.

[0063] During the approach and / or the passage, a movement of an arm system of the hydraulic lifting device can take place along at least one degree of freedom of the movement of the arm system, wherein in at least one time interval during the movement of the arm system at least one detection of the values ​​prevailing in the at least one time interval of at least one of the degrees of freedom of the movement of the arm system and at least one detection of at least one force acting on the arm system in the at least one time interval can take place.

[0064] Suitable sensors can be provided to detect at least one force.

[0065] 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 can be carried out in order to determine the dynamic load moments of the arms of the arm system prevailing during the movement.

[0066] A time interval in which 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 takes place can be at least before approaching and / or passing through, after approaching and / or passing through, or to approach and / or pass through extend.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] The at least one parameter can be specified via at least one user interface of the control system of the lifting device by issuing operating commands for a movement of an arm system having a plurality of degrees of freedom of movement with a plurality of arms along at least one of the degrees of freedom. For example, at least one point of the at least one trigger interface can be specified by a user positioning a predetermined or predeterminable point of the arm system of the lifting device by issuing operating commands for a movement of the arm system. As a result, for example, at least a height, a longitudinal extent, an inclination, a center point or a spatial coordinate of a point of the at least one trigger interface can be specified. Multiple parameters of the at least one trigger interface can be specified.

[0074] Alternatively or in combination, the at least one parameter can be specified via at least one user interface of the control system of the lifting device by a user entering at least one distance value and / or an angle value for a relative position of the at least one trigger interface relative to the lifting device. At least one height, a longitudinal extent, an inclination, a center point, or a spatial coordinate of a point of the at least one trigger interface can also be specified. Multiple parameters of the at least one trigger interface can be specified.

[0075] If the specification of the at least one parameter is carried out by issuing operating commands, a determination of at least one value of the at least one parameter that can be processed by the controller and at least one sensor signal that can be detected by a controller of the lifting device from at least one sensor arranged or that can be arranged on the lifting device can be carried out.

[0076] Sensors arranged or arrangeable on the lifting device can generally include angle sensors, length sensors, position sensors, and / or optical sensors such as infrared sensors, ultrasonic sensors, and / or a camera.

[0077] Execution of the at least one predetermined or predeterminable function of the lifting device upon approaching the at least one triggering interface can occur within a predetermined or predeterminable distance from a predetermined or predeterminable point of the arm system of the lifting device. A specification can be made via at least one user interface of the control system of the lifting device, for example, by entering at least one distance value.

[0078] Protection is also sought for a control system for a lifting device which comprises means for carrying out the method described above.

[0079] The control can be configured to specify at least one parameter for a relative position of the at least one trigger interface relative to the lifting device by at least one sensor signal of a sensor of the lifting device that is in data communication with a control of the lifting device and / or via at least one user interface of a control of the lifting device by a user.

[0080] The controller may be configured to create the at least one trigger interface depending on the at least one parameter.

[0081] The controller can be configured to execute at least one predetermined or predeterminable function of the lifting device when a predetermined or predeterminable point of an arm system of the lifting device approaches the at least one trigger interface and / or when a predetermined or predeterminable point of an arm system of the lifting device passes through the at least one trigger interface.

[0082] A computer program product may comprise instructions causing the previously described controller configured to carry out the method, optionally in an arrangement with a lifting device preferably equipped with corresponding sensors, to carry out a method as described above.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] Further details and advantages of the present invention are explained in more detail below with reference to the exemplary embodiments shown in the drawings. Figures 1 to 3 schematic sequences of embodiments of a method Figure 4 an embodiment of a lifting device with a controller and a trigger interface Figure 5 a schematic representation of a lifting device Figures 6a to 6c a schematic representation of a movement of a lifting device Figure 7 an embodiment of a vehicle with a lifting device Figures 8a and 8b schematic views of different arrangements of a vehicle with a lifting device and a trailer Figures 9a and 9b schematic views of different arrangements of a vehicle with a lifting device and a trailer Figures 10a to 10c schematic views of selection options of a user interface

[0087] The Figures 1 to 3 show schematically embodiments of a process for executing a predetermined or predeterminable function. Figure 4shows an embodiment of a lifting device 1 with a controller 11 having a user interface 21 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 and a trigger interface 20 positioned relative to the lifting device are illustrated. Figure 5 shows a further schematic representation of a lifting device 1. The Figures 6a to 6c show a schematic representation of a movement of a lifting device 1. Figure 7 shows an embodiment of a vehicle 17 with a rear-mounted lifting device 1 with a loading area 19. The Figures 8a and 8b show schematic views of different arrangements of a vehicle 17 with a lifting device 1 and a trailer 23 with a specification of at least one parameter for a trigger interface 20. The Figures 9a and 9bshow schematic views of different arrangements of a vehicle 17 with a lifting device 1 and a trailer 23 with a specification of at least one parameter for a trigger interface 20. The Figures 10a to 10c schematic views of user interface options 21.

[0088] Figure 1 shows schematically a sequence of an embodiment of a method for carrying out a predetermined or predeterminable function of a lifting device 1 in dependence on at least one trigger interface 20.

[0089] In this case, a specification i of at least one parameter for a relative position of the at least one trigger interface 20 relative to the lifting device 1 can be made by at least one sensor signal of a sensor of the lifting device 1 that is in data communication with a controller 11 of the lifting device 1 and / or a specification via at least one user interface 21 of a controller 11 of the lifting device 1 by a user.

[0090] Depending on the at least one parameter, at least one trigger interface 20 can be created. The specification of at least one parameter and the corresponding creation of at least one, optionally additional, trigger interface 20 can be repeated. Multiple trigger interfaces 20 can also be created using parameters.

[0091] When a predetermined or predeterminable point P of an arm system 2 of the lifting device 1 approaches the at least one trigger interface 20 and / or when a predetermined or predeterminable point P of an arm system 2 of the lifting device 1 passes through the at least one trigger interface 20, an execution iii of at least one predetermined or predeterminable function of the lifting device 1 can take place. It is possible that after an execution iii of at least one predetermined or predeterminable function of the lifting device 1, the specification i of at least one parameter and the corresponding creation ii of at least one trigger interface 20 are repeated.

[0092] In Figure 2 an embodiment of the method is shown in which, upon approaching and / or passing through, a function for determining at least one load value m1, m2, m3 of a load 3 lifted by the hydraulic lifting device 1 is executed.

[0093] During the approach and / or the passage, a movement of an arm system 2 of the hydraulic lifting device 1 can take place along at least one degree of freedom w, k1, k2, s1, s2, a of the movement of the arm system 2 with a lifted load e, wherein during the movement of the arm system 2 at least one determination of the dynamic load moments of the arms 4, 5, 6, 7, 8, 9 of the arm system 2 prevailing during the movement takes place, wherein taking into account the dynamic load moments at least one load value m1, m2, m3 for the lifted load 3 can be determined.

[0094] During the movement of the arm system 2, at least one load value m1, m2, m3 can be continuously determined for the lifted load 3. Upon approaching and / or passing through, a load value m1, m2, m3 can be assigned to a lifted load 3 by executing the function iii.

[0095] As in Figure 3schematically shown, a recording iv of the at least one load value m1, m2, m3 in a load value sequence (m1, m2, m3) can take place. Depending on the approach and / or the passage, a selection v of at least one recorded load value m1, m2, m3 from the load value sequence (m2, m3) can be made and an adjusted load value m can be determined vi from the at least one selected load value m1, m2, m3.

[0096] In Figure 4 an 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.

[0097] 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.

[0098] In this embodiment, the tip 18 of the articulated arm 7 is specified as a point P of the arm system 2 related to the approach to and / or passage through the trigger interface 20. A point on the implement 10 or a point along the arm system 2 can also be specified.

[0099] 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 11 for detecting the thrust position s1 of the first thrust arm 8 and a second thrust position sensor 12 for detecting the thrust position s2 of the second thrust arm 9.

[0100] 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.

[0101] 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.

[0102] The sensors installed on the lifting device 1 can detect the geometry of the arm system 2.

[0103] 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 computing unit 11 and a memory unit 13.

[0104] The controller has a user interface 21, which is suitable for specifying at least one parameter for a relative position of the at least one trigger interface 20 relative to the lifting device 1. The user interface 21 can be connected to the controller 11 and / or a remote control 22 of the controller 11 and can be menu-driven and / or have an input mask in the form of user guidance with a graphical, character-oriented, or voice-oriented user interface. At least one parameter for a relative position of the at least one trigger interface 20 relative to the lifting device 1 can be specified via the user interface 21, in particular input means.

[0105] A specification i of at least one parameter via at least one user interface 21 of the controller 11 of the lifting device 1 can be carried out in this embodiment by entering at least one distance value D and / or an angle value N for a relative position of the at least one trigger interface 20 relative to the lifting device 1. A specification i of at least one parameter of the at least one trigger interface 20 can also be carried out as in the Figures 8a, 8b , 9a, 9b shown.

[0106] Execution iii of the at least one predetermined or predeterminable function of the lifting device 1 upon approach to the at least one trigger interface 20 can take place within a predetermined or predeterminable distance x of a predetermined or predeterminable point P of the arm system 2 of the lifting device 1. Such a predetermined or predeterminable distance x is shown by way of example in the Figures 4 , 6c , 9a and 9b shown.

[0107] In Figure 5 A further schematic representation of a lifting device 1 is shown. The design essentially corresponds to that of the Figure 4 , wherein the articulated arm 7 is formed from two push arms 7, 8 for simplified representation.

[0108] 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.

[0109] The inherent masses and offsets of the arms 4, 5, 6, 7, 8, 9 of the arm system 2 can contribute to the loads through the masses of the centers of gravity SP6, SP8, SP9 of the arms 4, 5, 6, 7, 8, 9, 6, 8, 9 and their offsets r6, r8, r9. The inherent masses of the centers of gravity SP15, SP10 of an actuator 15 and a work device 10 and their offsets r15, 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.

[0110] 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.

[0111] In the course of Figures 6a, 6b, 6c 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 Figures 4 or 5 are equivalent to.

[0112] In the presentation of the Figures 6a, 6b, 6c an exemplary movement i of the arm system 2 takes place along a degree of freedom w, k1, k2, s1, s2, a of the bending angle k2.

[0113] To determine dynamic load moments, at least one detection of the values ​​of at least one of the degrees of freedom w, k1, k2, s1, s2, a 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 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 at least one load value m1, m2, m3 for the lifted load 3.

[0114] Upon approaching and / or passing through point P of the arm system 2, a function for determining at least one load value m1, m2, m3 of a load 3 lifted by the hydraulic lifting device 1 can be executed. During the movement of the arm system 2, at least one load value m1, m2, m3 can be continuously determined for the lifted load 3, and upon approaching and / or passing through, a load value m1, m2, m3 can be assigned to a lifted load 3 by executing the function.

[0115] A recording iv of the recorded load values ​​m1, m2, m3 can be carried out in a load value sequence and from this, depending on at least one predetermined or predeterminable selection criterion, a selection v of at least one recorded load value m2, m3 from the load value sequence can be carried out.

[0116] Depending on the approach and / or the passage, Figure 6ca selection v of at least one recorded load value m3 from the load value sequence can be made. In addition, as a selection criterion, for example, in Figure 6a a force detected by sensor p1 may be below a minimum value. This can be used to detect, for example, that load 3 has not yet been lifted and the Figure 6a certain load value m1 is not representative of the load mass.

[0117] An adjusted load value m can subsequently be determined vi from the selected load values ​​m2, m3. In particular, the determination vi of the adjusted load value m can be performed from a weighted arithmetic mean, in which the load value m3 selected depending on the approach and / or the penetration is given greater weight.

[0118] 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.

[0119] Analogous to the determination of dynamic load moments, 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.

[0120] In Figure 7An embodiment of a vehicle 17 is shown with a lifting device 1 arranged at the rear along a longitudinal axis of the vehicle 17, with an arm system 2. The vehicle 17—and thus the lifting device 1—can have a loading area 19 for a load 3.

[0121] The vehicle 17 with the lifting device 1 can be as shown schematically in the Figures 8a and 8b shown with at least one trailer 23 having a loading area 19, wherein the trailer 23 can be positioned relative to the lifting device 1 as shown. To detect an angular position of a trailer 23 relative to the vehicle 17, the lifting device 1 can have a sensor d5.

[0122] In one embodiment, when creating a trigger interface 20, an interface can be created between at least part of an interior region of a loading area 19 of the lifting device 1 and at least part of an exterior region of the loading area 19 of the lifting device 1. At least one parameter for a relative position of the at least one trigger interface 20 relative to the lifting device 1 can be specified as a function of a position of a loading area 19 of the lifting device 1.

[0123] A specification i of at least one parameter for a relative position of the at least one trigger interface 20 relative to the lifting device 1 can be made in the example of Figure 8a by a sensor d5 for detecting an angular position of a trailer 23 relative to the vehicle 17. In the example of Figure 8b This can be done by moving the arm system 2. In Figure 8btrigger boundary surface 20 for a loading area 19 of the lifting device 1 and a trigger boundary surface 20 for a loading area 19 of a trailer 23 can be specified by a movement of the arm system 2, wherein the positions of the arm system 2 used for this purpose are shown superimposed.

[0124] Alternatively or in combination, as described in the Figures 9a and 9b illustrates a specification i of a parameter depending on the position of a loading area 19 via at least one user interface of a controller 11 of the lifting device 1 by a user.

[0125] This can be done by issuing operating commands for a movement of the arm system 2. In this way, at least one point of the trigger interface 20 can generally be specified. In the example of the Figure 9aa center point M and a radius R of a circular, in particular circular-cylindrical, trigger boundary surface 20 for a loading area 19 of a trailer 23 can be specified by a movement of the arm system 2, wherein the positions of the arm system 2 used for this purpose are shown superimposed. In the example of the Figure 9b An angle value N of an angular position of a trigger interface 20 for a loading area 19 of a trailer 23 can be specified by a movement of the arm system 2. Parameters for the relative position of the at least one trigger interface 20 relative to the lifting device 1, which parameters can be processed by the controller 2, can be provided by sensors of the lifting device 1.

[0126] As in the Figures 10a and 10c As shown, a user interface 21 of a controller 11 and / or a remote control 22 of the controller 11 can be designed character-oriented. The representations in the Figures 10a, 10b and 10cmay represent selection options on a display of the user interface 21 that a user can select in a substantially rectilinear arrangement of a vehicle 17 with a lifting device 1 and a trailer 23 having a loading area 19, in the absence of a trailer 23, or in an arrangement deviating from a rectilinear arrangement. Reference symbol

[0127] 1Hebevorrichtung 2Armsystem 3Last 4Basis 5Kransäule 6Hubarm 7Knickarm 8Schubarm 9Schubarm 10Arbeitsgerät 11Steuerung 12Recheneinheit 13Speichereinheit 14Aktuator 15Aktuator 16Lastseil 17Fahrzeug 18Spitze 19Ladebereich 20Auslösergrenzfläche 21Benutzerschnittstelle 22Funkfernsteuerung 23Anhänger PPunkt DAbstandswert NWinkelwert MMittelpunkt RRadius m1, m2, m3Lastwerte mLastwert wSchwenkwinkel k1, k2Knickwinkel s1, s2Schubstellung aÖffnungswinkel p1, p2Sensor d1, d2, d3, d4Sensor d5Sensor l1, l2Längensensor r6, r8, r9Auslagerung SP6, SP8, SP9Schwerpunkt r10Auslagerung SP10Schwerpunkt r15Auslagerung SP15Schwerpunkt r3Auslagerung SP3Schwerpunkt r14Auslagerung xAbstand

Claims

1. Method for carrying out a predetermined or predeterminable function of a preferably hydraulic lifting device (1) depending on at least one trigger interface (20), wherein - a specification (i) of at least one parameter (D, N, M, R) for a relative position of the at least one trigger interface (20) relative to the lifting device (1) is carried out by at least one sensor signal of a sensor (d1, d2, d3, d4, d5, l1, l2, p1, p2) of the lifting device (1) that is in data communication with a controller (11) of the lifting device (1) and / or is carried out by a user via at least one user interface (21) of a controller (11) of the lifting device (1) - a creation (ii) of the at least one trigger interface (20) depending on the at least one parameter (D, N, M,R) - an execution (iii) of at least one predetermined or predeterminable function of the lifting device (1) takes place when a predetermined or predeterminable point (P) of an arm system (2) of the lifting device (1) approaches the at least one trigger interface (20) and / or when a predetermined or predeterminable point (P) of an arm system (2) of the lifting device (1) passes through the at least one trigger interface (20).

2. Method according to the preceding claim, wherein during the approaching and / or passing through a function for determining at least one load value (m1, m2, m3) of a load (3) lifted by the hydraulic lifting device (1) is carried out.

3. Method according to one of the preceding claims, wherein during the approach and / or the passing through, a movement of an arm system (2) of the hydraulic lifting device (1) takes place along at least one degree of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2) with a lifted load (3), wherein during the movement of the arm system (2) at least one determination of the dynamic load moments of the arms (4, 5, 6, 7, 8, 9) of the arm system (2) prevailing during the movement takes place, wherein taking into account the dynamic load moments at least one load value (m1, m2, m3) for the lifted load (3) is determined.

4. Method according to one of the two preceding claims, wherein - a recording (iv) of the at least one load value (m1, m2, m3) is carried out in a load value sequence - a selection (v) of at least one recorded load value (m1, m2, m3) is carried out from the load value sequence as a function of the approach and / or the passage - an adjusted load value (m) is determined (vi) from the at least one selected load value (m1, m2, m3).

5. Method according to one of the preceding claims, wherein during the approach and / or the passing through, a movement of an arm system (2) of the hydraulic lifting device (1) takes place along at least one degree of freedom (w, k1, k2, s1, s2, a) of the movement of the arm system (2), wherein 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) in the at least one time interval takes place.

6. Method according to claims 4 and 5, wherein a selection of the at least one recorded load value (m1, m2, m3) from the load value sequence additionally comprises a function of at least one of the following selection 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 - 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) the movement of the arm system - a minimum value and / or a maximum value and / or an interval for a rate of change of the at least one detected force, 7. Method according to one of the preceding claims, wherein the specification (i) of the at least one parameter (D, N, M, R) via at least one user interface (21) of the controller (2) of the lifting device (1) is carried out by - issuing operating commands for a movement of an arm system (2) having a plurality of degrees of freedom (w, k1, k2, s1, s2, a) of movement, with a plurality of arms (4, 5, 6, 7, 8, 9) along at least one of the degrees of freedom (w, k1, k2, s1, s2, a), and / or - an input of at least one distance value (D) and / or an angle value (N) for a relative position of the at least one trigger interface (20) relative to the lifting device (1) by a user.

8. Method according to the preceding claim, wherein the specification (i) of the at least one parameter (D, N, M, R) is carried out by issuing operating commands and a determination of at least one value of the at least one parameter (D, N, M, R) that can be processed by the controller (11) is carried out by the controller (11) and at least one sensor signal that can be detected by a controller of the lifting device (1) from at least one sensor (d1, d2, d3, d4, d5, l1, l2, p1, p2) that is arranged or can be arranged on the lifting device (1).

9. Method according to one of the preceding claims, wherein the execution (iii) of the at least one predetermined or predeterminable function of the lifting device (1) takes place upon approach to the at least one trigger boundary surface (20) within a predetermined or predeterminable distance (x) of a predetermined or predeterminable point (P) of the arm system (2) of the lifting device (1).

10. Method according to one of the preceding claims, wherein the predetermined or predeterminable point (P) of the arm system (2) of the lifting device (1) corresponds to a position of a working device (10) arranged on the lifting device (1), a position of the tip (18) of the arm system (2) or a substantially freely selectable point (P) of the arm system (2).

11. Method according to one of the preceding claims, wherein in the creation (ii) of the at least one trigger interface (20) an interface (20) is created between at least a part of an interior region of a loading area (19) of the lifting device (1) and at least a part of an exterior region of the loading area (19) of the lifting device (1).

12. Method according to one of the preceding claims, wherein - the creation (ii) of the at least one trigger interface (20) is carried out by a controller (11) of the lifting device (1) and the approach and / or the passage is detected by the controller (11) of the lifting device (1), and / or - the at least one predetermined or predeterminable function of the lifting device (1) is carried out (iii) by a controller (11) of the lifting device (1) 13. Control (11) for a lifting device (1) comprising means for carrying out the method according to one of the preceding claims.

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

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

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