Apparatuses and methods for controlling a crane arm, lifting device and vehicle

Abstract

An apparatus (100) for controlling a crane arm (150), the crane arm (150) comprising a first segment (151) pivotably attached to a crane column, a second segment (152) pivotably attached to the first segment (151), and a third segment (153) pivotably attached to the second segment (152), the apparatus (100) comprising processing circuitry (110) configured to: receive input data indicating a user input for setting a target speed in a first spatial direction of a reference region (162) of the second segment (152), a target speed in a second spatial direction of the reference region (162) of the second segment (152), a target speed in the first spatial direction of the third segment (153), and a target speed in the second spatial direction of the third segment (153); determine target movements for the first and second segments (151, 152) based on input data related to the second segment (152), to determine movement of the second segment (152) corresponding to the user input; determine a target movement for the third segment (153) based on input data related to the third segment (153), to determine movement of the third segment (153) according to the user input; and control actuators of the crane arm (150) to move at least one of the first to third segments (151, 152, 153) according to the determined target movements. Also disclosed are a lifting device comprising a crane arm and such an apparatus, as well as a method and a remote control (200) for a crane arm.

Description

Field

[0001] The present disclosure relates to crane arm control. In particular, examples of the present disclosure relate to apparatuses and methods for controlling a crane arm, a lifting device and a vehicle.Background

[0002] Cranes, in particular loader cranes play a pivotal role in various industries, providing efficient lifting and handling capabilities. In the field of crane operation, particularly in applications involving crane arms with multiple crane segments, precise and efficient control of the crane arm is essential. Traditionally, crane control systems require operators to manage complex, multi-directional movements of various crane arm segments to position loads accurately. This often demands considerable skill from the operator, who must simultaneously coordinate pivoting and extending segments of the crane arm to achieve the desired end position.

[0003] Hence, there may be a demand for improved crane arm control.Summary

[0004] This demand is met by apparatuses and methods for controlling a crane arm, a lifting device, a vehicle, a non-transitory machine-readable medium and a program in accordance with the independent claims. Advantageous embodiments are defined by the dependent claims.

[0005] According to a first aspect, the present disclosure provides an apparatus for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The apparatus comprises processing circuitry configured to receive input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment, a target speed in a second spatial direction of the reference region of the second segment, a target speed in the first spatial direction of a reference region of the third segment, and a target speed in the second spatial direction of the reference region of the third segment. The processing circuitry is further configured to determine target movements for the first and second segments based on input data related to the reference region of the second segment, to determine movement of the reference region of the second segment corresponding to the user input. Additionally, the processing circuitry is configured to determine a target movement for the third segment based on input data related to the reference region of the third segment, to determine movement of the reference region of the third segment according to the user input. The processing circuitry is configured to control actuators of the crane arm to move at least one of the first to third segments according to the determined target movements.

[0006] According to a second aspect, the present disclosure provides a remote control for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment and a third segment pivotably attached to the second segment. The remote control comprises a first control input for setting a target speed in a first spatial direction of a reference region of the second segment, a second control input for setting a target speed in a second spatial direction of the reference region of the second segment, a third control input for setting a target speed in the first spatial direction of a reference region of the third segment, and a fourth control input for setting a target speed in the second spatial direction of the reference region of the third segment. Additionally, the remote control comprises at least one sensor configured to measure deflections of the first, second, third and fourth control inputs. The remote control comprises an interface configured to output control data for the crane arm, wherein the control data indicate the measured deflections of the first, second, third and fourth control inputs.

[0007] According to a third aspect, the present disclosure provides an apparatus for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The apparatus comprises processing circuitry configured to receive input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment and a target speed in a second spatial direction of the reference region. The processing circuitry is further configured to determine target movements for the first and second segments based on the input data to determine movement of the reference region corresponding to the user input. In addition, the processing circuitry is configured to determine a target pivoting movement for the third segment relative to the second segment to maintain an inclination of the third segment relative to a predefined plane while the target movements for the first and second segments are performed. The processing circuitry is configured to control actuators of the crane arm to move the first and second segments according to the determined target movements and pivot the third segment according to the determined target pivoting movement.

[0008] According to a fourth aspect, the present disclosure provides a lifting device. The lifting device comprises a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment and a third segment pivotably attached to the second segment. Additionally, the lifting device comprises an apparatus for controlling the crane arm according to the first aspect or the third aspect.

[0009] According to a fifth aspect, the present disclosure provides a vehicle having mounted thereon a lifting device according to the fourth aspect.

[0010] According to a sixth aspect, the present disclosure provides a method for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The method comprises receiving input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment, a target speed in a second spatial direction of the reference region of the second segment, a target speed in the first spatial direction of a reference region of the third segment, and a target speed in the second spatial direction of the reference region of the third segment. The method further comprises determining target movements for the first and second segments based on the input data related to the reference region of the second segment, to determine movement of the reference region of the second segment corresponding to the user input. Additionally, the method comprises determining a target movement for the third segment based on the input data related to the reference region of the third segment, to determine movement of the reference region of the third segment according to the user input. The method comprises controlling actuators of the crane arm to move at least one of the first to third segments according to the determined target movements.

[0011] According to a seventh aspect, the present disclosure provides a method for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The method comprises receiving input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment and a target speed in a second spatial direction of the reference region. The method further comprises determining target movements for the first and second segments based on the input data to determine movement of the reference region corresponding to the user input. In addition, the method comprises determining a target pivoting movement for the third segment relative to the second segment to maintain an inclination of the third segment relative to a predefined plane while the target movements for the first and second segments are performed. The method comprises controlling actuators of the crane arm to move the first and second segments according to the determined target movements and pivot the third segment according to the determined target pivoting movement.

[0012] According to an eighth aspect, the present disclosure provides a non-transitory machine-readable medium having stored thereon a program having a program code for performing the method according to the sixth aspect or the seventh aspect, when the program is executed on a processor or a programmable hardware.

[0013] According to nineth aspect, the present disclosure provides a program having a program code for performing the method according to the sixth aspect or the seventh aspect, when the program is executed on a processor or a programmable hardware.

[0014] The proposed technology enables precise movement of the of the multiple crane arm segments, improving control accuracy and operational flexibility. In particular, coordinated movement of the crane arm segments based on the user input is enabled, enhancing maneuverability and reducing the operator's workload. These proposed technology enhances the crane arm's versatility, control precision, and ease of use, supporting safe, efficient operations across varied contexts.Brief description of the Figures

[0015] Some examples of apparatuses and / or methods will be described in the following by way of example only, and with reference to the accompanying figures, in which Fig. 1 illustrates a crane arm together with a first exemplary apparatus for controlling the crane arm; Fig. 2 illustrates an exemplary remote control; Fig. 3 illustrates a crane arm together with a second exemplary apparatus for controlling the crane arm; Fig. 4 an example of a vehicle; Fig. 5 illustrates a flowchart of a first example of a method for controlling a crane arm; and Fig. 6 illustrates a flowchart of a second example of a method for controlling a crane arm. Detailed Description

[0016] Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these embodiments described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.

[0017] Throughout the description of the figures same or similar reference numerals refer to same or similar elements and / or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and / or areas in the figures may also be exaggerated for clarification.

[0018] When two elements A and B are combined using an "or", this is to be understood as disclosing all possible combinations, i.e. only A, only B as well as A and B, unless expressly defined otherwise in the individual case. As an alternative wording for the same combinations, "at least one of A and B" or "A and / or B" may be used. This applies equivalently to combinations of more than two elements.

[0019] If a singular form, such as "a", "an" and "the" is used and the use of only a single element is not defined as mandatory either explicitly or implicitly, further examples may also use several elements to implement the same function. If a function is described below as implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity. It is further understood that the terms "include", "including", "comprise" and / or "comprising", when used, describe the presence of the specified features, integers, steps, operations, processes, elements, components and / or a group thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or a group thereof.

[0020] Fig. 1 schematically illustrates an apparatus 100 for controlling a crane arm (crane arm system, boom) 150.

[0021] The crane arm 150 may be part of a lifting device 190. The lifting device 190 may be any machinery (device) for lifting loads (e.g., goods and / or people). For example, the lifting device 190 may be a crane such as a knuckle boom or loader crane for loading and unloading goods (loads). In other examples, the lifting device 190 may, e.g., be an elevating work platform (e.g. a crane with a lifting platform).

[0022] The apparatus 100 may be part of the crane arm 150 and / or the lifting device 190 (e.g., be part of a crane). According to examples, equipment control circuitry (an equipment controller) for controlling operation of the lifting device 190 may comprise the apparatus 100. In other examples, the apparatus 100 and the equipment control circuitry may be separate elements of the lifting device 190. In case the lifting device 190 is a crane, the equipment control circuitry may be crane control circuitry (a crane controller) for controlling operation of the crane. In alternative examples, the apparatus 100 may be external to the crane arm 150, i.e., not be part of the crane arm 150. Similarly, the apparatus 100 may be external to the lifting device 190, i.e., not be part of the lifting device 190. For example, a computing cloud communicatively coupled to the crane arm 150 and / or the lifting device 190 (e.g., via a wireless connection) may comprise or be the apparatus 100. In still other examples, a vehicle having mounted thereon the lifting device 190 may comprise the apparatus 100.

[0023] The crane arm 150 comprises at least a first segment 151, a second segment 152 and a third segment 153.

[0024] The first segment 151 may be denoted as main arm segment, main arm, main boom or lifting arm in some examples. The first segment 151 is pivotably attached (mounted) to a crane column 154 of the crane arm 150 such that the first segment 151 is pivotable about a first horizontal pivot axis P 1 relative to the crane column 154. The crane arm 150 comprises a first actuator 158 to enable (cause, control) pivoting movement of the first segment 151 relative to the crane column 154. The first actuator 155 is attached (mounted) to both the first segment 151 and the crane column 154. The first actuator 155 is controllable (controlled) to provide (exert) a force to move the first segment 151 relative to the crane column 154 about the first horizontal pivot axis P 1 .

[0025] The crane column 154 is rotatable (or slewable) relative to a device base 191 of the lifting device 190. The device base 191 may also be understood as a crane base. For example, the crane column 154 may be rotatable about a vertical axis relative to the device base 191. For example, the lifting device 190 may comprise a rotation mechanism including one or more of a hydraulic drive system such as a slewing drive (slewing drive motor) or an electromechanical drive system for rotating the crane column 154 relative to the device base 191.

[0026] The device base 191 may form a mounting platform for the crane arm 150 and may allow to mount the crane arm 150 to a lifting device carrier. The lifting device carrier is a device capable of receiving, holding and supporting the lifting device 190. The lifting device carrier may be a stationary (e.g. non-moving or non-movable) lifting device carrier such as a stationary mounting socket (e.g. platform or structure) or a mobile lifting device carrier such as a vehicle. The vehicle may be a land vehicle (e.g., wheeled, tracked or railed, for example, a truck, a lorry or a crawler) or a watercraft (e.g., a ship, a boat or a barge).

[0027] The second segment 152 may be denoted as articulated arm segment, articulated arm, outer boom, knuckle-boom, crane arm extension or knuckle arm in some examples. The second segment 152 is pivotably attached (mounted) to the first segment 151 such that the second segment 152 is pivotable about a second horizontal pivot axis P 2 relative to the first segment 151. The crane arm 150 comprises a second actuator 156 to enable (cause, control) pivoting movement of the second segment 152 relative to the first segment 151. The second actuator 156 is attached (mounted) to both the second segment 152 and the first segment 151. The second actuator 156 is controllable (controlled) to provide a force to move the second segment 152 relative to the first segment 151 about the second horizontal pivot axis P 2 .

[0028] The second segment 152 may be extendable as indicated in Fig. 1. That is, the second segment 152 may comprises multiple sections that can be selectively extended or retracted (e.g., by an actuator 158 of the crane arm 150) to adjust the length and, hence, the reach of the second segment 152. For example, one or more extendable or retractable thrust arm segments 157 (denoted as thrust arms, telescopic extension arms, extension arms or extension booms in some examples) may be supported (mounted) in the second segment 152 to vary the length of the second segment 152. The sections or thrust arm segments 157 may be arranged concentrically in the second segment 152. However, it is to be noted that the present disclosure is not limited to extendable second segments. In alternative examples, the second segment 152 may be non-variable in length, i.e., be of fixed length.

[0029] The third segment 153 may be denoted as second outer boom, fly jib or attachment arm. in some examples. The third segment 153 is pivotably attached (mounted) to the second segment 152 such that the third segment 153 is pivotable about a third horizontal pivot axis P 3 relative to the second segment 152. The crane arm 150 comprises a third actuator 159 to enable (cause, control) pivoting movement of the third segment 153 relative to the second segment 152. The third actuator 159 is attached (mounted) to both the third segment 153 and the second segment 152. The third actuator 159 is controllable (controlled) to provide a force to move the third segment 153 relative to the second segment 152 about the third horizontal pivot axis P 3 .

[0030] The third segment 153 may be extendable as indicated in Fig. 1. That is, the third segment 153 may comprises multiple second sections that can be selectively extended or retracted (e.g., by an actuator 160 of the crane arm 150) to adjust the length and, hence, the reach of the third segment 153. For example, one or more extendable or retractable second thrust arm segments 161 (denoted as second thrust arms, second telescopic extension arms, second extension arms or second extension booms in some examples) may be supported (mounted) in the third segment 153 to vary the length of the third segment 153. The second sections or thrust arm segments 161 may be arranged concentrically in the third segment 153. However, it is to be noted that the present disclosure is not limited to extendable third segments. In alternative examples, the third segment 153 may be non-variable in length, i.e., be of fixed length.

[0031] The actuators 155, 156, 158, 159 and 160 may, e.g., be hydraulic actuators such as hydraulic (articulation) cylinders. The hydraulic actuators may be driven by a hydraulic (drive) system of the crane arm 150 and / or the lifting device 190. The hydraulic system may comprise various elements such as one or displacement pumps, one or more valves, hydraulic fluid, etc. However, the present disclosure is not limited thereto. Other types of actuators such as electromechanical actuators may be used for providing the actuator functionalities described herein.

[0032] In addition to the crane arm 150, the lifting device 190 may comprise further elements such as an outrigger 192 for selectively supporting the lifting device 190 against ground. The outrigger 192 is attached (mounted) to the device base 191. For example, the outrigger 192 may be extendable from the device base 191 (e.g., manually, electrically or hydraulically). The outrigger 192 comprises a vertical telescopic leg (stabilizer leg, support leg, vertical telescopic sub-structure) 193 for selectively supporting the lifting device 190 against the ground. The outrigger 192 comprises an actuator 194 (e.g., a hydraulic actuator such as a hydraulic cylinder, or an electromechanical actuator) for adjusting a length of the telescopic leg 193 and for adjusting a pressure with which the lifting device 190 is supported against the ground. The actuator 194 may be integrated into the telescopic leg 193. The lifting device 190 may comprise a respective outrigger such as the outrigger 192 illustrated in Fig. 1 on both lateral sides of the device base 191. In alternative example, a vehicle having mounted thereon the lifting device 190 may comprise the one or more outriggers rather than the lifting device 190.

[0033] The apparatus 100 for controlling the crane arm 150 comprises processing circuitry 110. For example, the processing circuitry 110 may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC), a system-on-a-chip (SOC), a neuromorphic processor or a field programmable gate array (FPGA). The processing circuitry 110 may optionally be coupled to, e.g., memory such as read only memory (ROM) for storing software, random access memory (RAM) and / or non-volatile memory. For example, the apparatus 100 may comprise memory configured to store instructions, which when executed by the processing circuitry 110, cause the processing circuitry 110 to perform the steps and methods described herein.

[0034] The processing circuitry 110 is configured to receive first input data 101. The first input data 101 indicate (are encoded with information about) a user input for setting at least one of a target speed in a first spatial direction x 1 of a reference region 162 of the second segment 152, a target speed in a second spatial direction x 2 of the reference region 162 of the second segment 152, a target speed in the first spatial direction x 1 of a reference region 163 of the third segment 153, and a target speed in the second spatial direction x 2 of the reference region 163 of the third segment 153.

[0035] The two spatial directions x 1 and x 2 are two primary axes along which the respective reference region 162, 163 is intended to move. The first and second spatial directions x 1 and x 2 define a plane in which an operator (user) of the crane arm 150 or the lifting device 190 can direct movement, allowing for versatile and precise crane arm positioning. The first spatial direction x 1 and the second spatial direction x 2 have a predefined (and, e.g., fixed) orientation with respect to each other. The second spatial direction x 2 may, e.g., be orthogonal to the first spatial direction x 1 . For example, the first spatial direction x 1 may be the horizontal and the second spatial direction x 2 may be the vertical. In some examples, the first spatial direction x 1 may be orthogonal to the vertical axis about which the crane column 154 is rotatable relative to the device base, and the second spatial direction x 2 may be parallel to this axis. However, it is to be noted that the present disclosure is not limited thereto. The first and second spatial directions x 1 and x 2 may be different from the horizontal and vertical. Similarly, the first and second spatial directions x 1 and x 2 need not be orthogonal to each other.

[0036] The reference regions 162 and 163 are specific points or areas on the second and third segments 152 and 153 that serve as focal points for positioning. For example, the reference regions 162 and 163 may be the tips or at the tips of the second and third segments 152 and 153.

[0037] The respective target speed denotes a desired, demanded or intended movement rate of the respective reference region 162, 163 along the respective spatial direction x 1 , x 2 . In other words, the respective target speed is a specific movement rate at which the respective reference region 162, 163 is intended to move along the respective spatial direction x 1 , x 2 based on the user's input.

[0038] For example, the first input data 101 may be received from a remote control (not illustrated in Fig. 1). The remote control is a device for the operator of the crane arm 150 for controlling the crane arm 150 from a distance. However, the present disclosure is not limited thereto. In other examples, the first input data 101 may be received from another entity such as an element or circuitry of the crane arm 150 or lifting device 190 (e.g., a Human-Machine Interface, HMI, of the crane arm 150 or lifting device 190), a mobile device (e.g., a mobile phone, a laptop-computer or a tablet-computer) of the operator of the crane arm 150 or lifting device 190, or a remote server.

[0039] The processing circuitry 110 is further configured to determine (calculate) target movements for the first and second segments 151 and 152 based on input data related to the reference region 162 of the second segment 152, to determine (calculate) movement of the reference region 162 of the second segment 152 corresponding to the user input. In other words, the processing circuitry 110 is configured to determine the target movements for the first and second segments 151 and 152 based on the portion (part, piece) of the first input data 101 that relates to the reference region 162 of the second segment 152. This involves translating the user input associated with the second segment 152's reference region 162 into corresponding target movements for the first and second segments 151 and 152. Specifically, if the user input indicated by the first input data 101 sets (non-zero) target speeds for the reference region 162 in both the first and second spatial directions x 1 and x 2 , the processing circuitry 110 may be configured to determine the target movements for the first and second segments 151 and 152 to achieve these target speeds. Alternatively, if the user input indicated by the first input data 101 sets a (non-zero) target speed for the reference region 162 in only one of the first and second spatial directions x 1 and x 2 , the processing circuitry 110 may be configured determine the target movements based solely on the specified spatial direction.

[0040] The target movements for the first and second segments 151 and 152 denote specific movements or adjustments that these segments are intended to undergo to achieve the target speed along the respective spatial direction x 1 , x 2 indicated by first input data 101. For example, the target movement for the first segment 151 may be a target pivoting movement for the first segment 151 relative to the crane column 154. Depending on the implementation of the second segment 152, the target movement for the second segment 152 may comprises one or more of a target pivoting movement for the second segment 152 relative to the first segment 151, and a target length change for the second segment 151 (only if the second segment 152 is extendable). The aforementioned exemplary target movements for the first and second segments 151 and 152 work together to position the reference region 162 of the second segment 152 accurately in the spatial direction(s) indicated by the user input.

[0041] The processing circuitry 110 may be configured to determine the target movements for the first and second segments 151 and 152 using a predefined (mechanistic, i.e., rule-based) computational model. The computational model is a mathematical representation (e.g., a set of mathematical equations) for determining the target movements for the first and second segments 151 and 152 taking into account the first input data 101 and optionally further inputs. The computational model may use various signal and / or data processing operations such as signal / data addition, subtraction, multiplication, division, integration, derivation, filtering (e.g., discrete, continuous or both), delaying, etc. to determine the target movements for the first and second segments 151 and 152 based on the various inputs to the processing circuitry 110.

[0042] Additionally, the processing circuitry 110 is configured to determine (calculate) a target movement for the third segment 153 based on input data related to the reference region 163 of the third segment 153, to determine (calculate) movement of the reference region 163 of the third segment 153 according to the user input. In other words, the processing circuitry 110 is configured to determine the movement for the third segment 153 based on the portion (part, piece) of the first input data 101 that relates to the reference region 163 of the third segment 153. This involves translating the user input associated with the third segment 153's reference region 163 into a corresponding target movement for the third segment 153. Specifically, if the user input indicated by the first input data 101 sets (non-zero) target speeds for the reference region 163 in both the first and second spatial directions x 1 and x 2 , the processing circuitry 110 may be configured to determine the target movement for the third segment 153 to achieve these target speeds. Alternatively, if the user input indicated by the first input data 101 sets a (non-zero) target speed for the reference region 163 in only one of the first and second spatial directions x 1 and x 2 , the processing circuitry 110 may be configured determine the target movement based solely on the specified spatial direction.

[0043] The target movement for the third segment 153 denotes a specific movement or adjustments that this segment is intended to undergo to achieve the target speed along the respective spatial direction x 1 , x 2 indicated by first input data 101. For example, depending on the implementation of the third segment 153, the target movement for the third segment 153 may comprise one or more of a target pivoting movement for the third segment 153 relative to the second segment 152, and a target length change for the third segment 153 (only if the third segment 153 is extendable). The aforementioned exemplary target movements for the third segment 153 work together to position the reference region 163 of the third segment 153 accurately in the spatial direction(s) indicated by the user input.

[0044] The processing circuitry 110 may be configured to determine the target movement for the third segment 153 using a predefined (mechanistic, i.e., rule-based) computational model. The computational model is a mathematical representation (e.g., a set of mathematical equations) for determining the target movement for the third segment 153 taking into account the first input data 101 and optionally further inputs. The computational model may use various signal and / or data processing operations such as signal / data addition, subtraction, multiplication, division, integration, derivation, filtering (e.g., discrete, continuous or both), delaying, etc. to determine the target movement for the third segment 153 based on the various inputs to the processing circuitry 110.

[0045] The processing circuitry 110 may use a single (e.g. combined) computational model for determining the target movements for the first to third segments 151, 152, 153 or use two separate computational models - one for determining the target movements for the first and second segments 151 and 152 and another one for determining the target movement for the third segment 153.

[0046] The processing circuitry 110 is configured to control actuators of the crane arm 150 such as one or more of the actuators 155, 156, 158, 159 and 160 illustrated in Fig. 1 to move at least one (e.g. all) of the first to third segments 151, 152, 153 according to the determined target movements. The processing circuitry 110 may control additional or different actuators than those shown in Fig. 1 depending on the structure (design, implementation) of the crane arm. The processing circuitry 110 may, e.g., be configured to control the actuators of the crane arm 150 to move each of the first through third segments 151, 152, 153 for which a non-zero target movement is determined. For example, the processing circuitry 110 may generate control signals or control data for the actuators themselves (e.g., if the actuators are electromechanical actuators) or, if the actuators are hydraulic actuators, for a hydraulic (drive) system of the crane arm 150 and / or the lifting device 190 driving the actuators. Based on the control signals or control data, one or more of the actuators may provide (exert) or be driven to provide (exert) a force to move one or more of the actuators according to the determined target movements.

[0047] By determining target movements for each segment 151, 152, 153 based on the desired speed and direction for the reference regions 162 and 163, the apparatus 100 enables highly accurate and coordinated motion. This improves the operator's ability to maneuver the crane arm 150 efficiently, even in complex or tight spaces. The apparatus 100 simplifies crane arm operation by allowing the user to input desired speeds and directions rather than managing each segment's movement manually. This makes crane arm operation intuitive and reduces the cognitive load on the operator, making it suitable for both experienced and less-experienced users. The calculation of movements for each segment 151, 152, 153 ensures that the crane arm's segments 151, 152 and 153 move harmoniously. This reduces the risk of conflicting movements, which could lead to inefficiencies or safety issues. The apparatus 100 is able to handle both single-direction and multi-directional input, making it versatile. Whether the operator wants to move the reference regions 162 and 163 in a simple linear direction or along a more complex path, the apparatus 100 adjusts accordingly. The processing circuitry 110's ability to manage and coordinate movements dynamically, based on real-time user input, helps prevent instability or unsafe conditions. By optimizing how the crane arm segments 151, 152 and 153 move, the apparatus 100 contributes to safer operation. Overall, the apparatus 100 provides a significant technical improvement in crane arm control, offering a balance between ease of use and precise, responsive performance.

[0048] The processing circuitry 110 may be configured to determine the target movement for the third segment 153 independently (separately) from the target movements for the first and second segments 151 and 152. In other words, while the first and second segments 151 and 152 are coordinated to move the reference region 162 of the second segment 152 according to (only, exclusively) the portion (part) of the user input related to the reference region 162, the third segment 153's movement may be determined separately according to (only, exclusively) the portion (part) of the user input related to the reference region 163. In still other words, the portion of the user input related to the reference region 162 is in these examples not considered for determining the target movement for the third segment 153. Analogously, the portion of the user input related to the reference region 163 is in these examples not considered for determining the target movements for the first and second segments 151 and 152. The target movements determined for the first and second segments 151 and 152 are not considered in these examples for determining the target movement for the third segment 153, and vice versa. The independence in movement determination allows the apparatus 100 to control the third segment 153 without being constrained by the movements or calculations related to the first and second segments 151 and 152. By calculating the target movement for the third segment 153 independently, the apparatus 100 gains greater flexibility in adjusting each segment optimally. This setup is particularly useful when dealing with tasks that require precise positioning of the crane arm 150, as the third segment 153 can be fine-tuned without affecting or being limited by the movements of the other segments 151 and 152. The independent determination of the third segment 153's target movement allows for more efficient and effective overall crane arm operation. It may adapt dynamically to various scenarios, such as changes in load position or adjustments needed to avoid obstacles, without compromising the coordination of the other segments 151 and 152. This independent control enhances the crane arm 150's precision, especially when the third segment 153 plays a critical role in final load placement. It ensures that each segment moves in the best possible way to achieve the desired outcome, improving overall handling accuracy. Furthermore, by decoupling the calculation of the third segment 153's target movement from that of the first and second segments 151 and 152, the processing circuitry 110 may simplify the overall control logic. This may make the crane arm control more efficient, as it can optimize movements for each segment separately, reducing the complexity of calculations required.

[0049] The processing circuitry 110 may be further configured to receive second input data 102. The second input data 102 indicate sensor measurement values for at least one of an angle α 1 between the first segment 151 and the crane column 154, angles between subsequent segments of the first to third segments 151 to 153 (e.g., the angle α 2 between the second segment 152 and the first segment 151, and the angle α 3 between the third segment 153 and the second segment 152), and a respective extension of extendable segments among the first to third segments 151 to 153 (e.g., the extensions or lengths L 1 and L 2 of the second and third segments 152 and 153). The first sensor measurement values may, e.g., be sensor measurement values of one or more sensors (e.g., angle sensors and length sensors) mounted to the crane arm 150. For example, the crane arm 150 may comprise three angle sensors (not illustrated in Fig. 1) configured to measure the angles α 1 to α 1 . Similarly, the crane arm 150 may comprise two length sensors (not illustrated in Fig. 1) configured to measure the extensions or lengths L 1 and L 2 of the second and third segments 152 and 153. These sensor measurement values provide real-time information about the crane arm 150's current configuration and position. The processing circuitry 110 may receive the second input data 102 directly from the one or more sensors or from an intermediate entity such as a buffer memory.

[0050] The processing circuitry 110 may be further configured to determine the positioning of the crane arm 150 based on the second input data 102. The positioning of the crane arm 150 is the specific orientation, arrangement and / or alignment of the crane arm 150 at a given time instant. In the example of Fig. 1, the positioning of the crane arm 150 is determined by the angle α 1 between the first segment 151 and the crane column 154, the angle α 2 between the second segment 152 and the first segment 151, the angle α 3 between the third segment 153 and the second segment 152 as well as the extensions (lengths) L 1 and L 2 of the extendable second and third segment 152 and 153. Accordingly, the second input data 102 may indicate sensor measurement values for the angles α 1 to α 3 as well as the lengths L 1 and L 2 in the example of Fig. 1. The positioning of the crane arm 150 is determined by the structure of the crane arm 150. In other words, the positioning of a crane arm may be determined by more, less or different measurement variables than those described in the foregoing for the crane arm 150. For example, if one or both of the second and third segment 152 and 153 is / are not extendable (non-extendable), the positioning of the crane arm does not depend on the extension of the respective segment as the length of the respective is fixed. For example, the positioning of the crane arm 150 may be determined using forward kinematics.

[0051] Additionally, the processing circuitry 110 may configured to determine at least part of the target movements for the first to third segments 151, 152, 153 (e.g., the target movements for all of the first to third segments 151 to 153) further based on the determined positioning of the crane arm 150. In other words, the processing circuitry 110 is configured to use the determined positioning of the crane arm 150, alongside the user input, to determine at least part of the target movements for the first to third segments 151, 152, 153. For example, the determined positioning of the crane arm 150 (e.g., expressed as coordinates of one or more elements of the crane arm 150) may be used to determine a deviation between target and actual positions of one or more (e.g., all) of the segments 151 to 153 for position control and serve as input for converting the target speeds for the reference regions 162 and 162 into movement speeds for target movements of the first to third segments 151, 152, 153 using a Jacobian matrix.

[0052] Taking into account the second input data 102 ensures that the crane arm 150 moves as intended by the operator while accounting for its current configuration. By incorporating real-time sensor data into at least part of the target movement determinations, the apparatus 100 may achieve a higher level of precision in crane arm positioning. The exact angles and / or extension lengths help the processing circuitry 110 understand the current crane arm configuration, reducing errors and enhancing the reliability of movement execution. The use of sensor data allows the apparatus 100 to adapt dynamically to changes in the crane arm 150's position. Accurate positioning data ensures that the crane arm 150 operates safely, minimizing the risk of collisions or unstable movements. By using real-world measurements in addition to the user input, a more refined and efficient movement is enabled, as the processing circuitry 110 may adjust the crane arm 150's actions to match the actual physical configuration, improving performance in various operational conditions.

[0053] Loads carried by the crane arm 150 exert a downward force on the crane arm 150. The weight of the load creates bending moments along the crane arm 150. The crane arm 150 acts as a lever, amplifying the force exerted by the load. The farther the load is from the device base 191, the greater the bending moment. Gravity not only acts on the load but also on the segments 151 to 153 itself. In other words, also the crane arm 150's own structure may cause bending due to its weight. Extendable segments may increase the effective length of the crane arm 150. Typically, longer segments are less rigid and more prone to bending under the same load, as they experience higher moments due to their increased length. The bending introduces deviations in the actual positioning of the crane arm 150. In view of the foregoing, the processing circuitry 110 may optionally be configured to determine the positioning of the crane arm 150 taking into account (while accounting for) bending of the crane arm 150. For example, the processing circuitry 110 may use a predefined (mechanistic, i.e., rule-based) deformation model (bending model) for determining the bending of the crane arm 150. The deformation model is a mathematical representation (e.g., a set of mathematical equations) for determining the bending of the crane arm 150 taking into account the second input data 102, input data indicating the weight of the load carried by the crane arm 150 and optionally further data. The input data indicating the weight of the load carried by the crane arm 150 may, e.g., indicate sensor measurement values for hydraulic pressures in the actuators 155, 156 and 159 in case the actuators 155, 156 and 159 are hydraulic actuators. In case the actuators 155, 156 and 159 are electromechanical actuators, the input data indicating the weight of the load carried by the crane arm 150 may, e.g., indicate sensor measurement values for power consumptions or operating currents of the actuators 155, 156 and 159. In some examples, the second input data 102 may comprise the input data indicating the weight of the load carried by the crane arm 150. The deformation model may be part of the computational model(s) for determining the target movements for the first to third segments 151 to 153. For example, the processing circuitry 110 may be configured to determine correction terms such as correction angles for one or more (e.g., all) of the angles α 1 to α 3 using the deformation model to adjust the measured angles between the segments of the crane arm 150, and to determine the positioning of the crane arm 150 additionally based on the correction terms (e.g., the correction angles). The one or more correction terms compensate for the bending effects enabling the processing circuity 110 to determine the true positioning of the crane arm 150 more accurately.

[0054] According to examples of the present disclosure, the processing circuitry 110 may be configured to receive third input data 103. The third input data 103 indicate sensor measurement values for an inclination of the lifting device 190 carrying the crane arm 150, and optionally a slewing angle of the crane arm 150 relative to the lifting device 150. For example, the lifting device 190 or a vehicle having mounted thereon the lifting device 190 may comprise one or more inclination sensors (not illustrated in Fig. 1) to measure the inclination of the lifting device 190 directly or indirectly via the inclination of the vehicle in one or more axes. The third input data 103 provide real-time information about the crane arm 150's orientation relative to its base and the surrounding environment. The processing circuitry 110 may receive the third input data 103 directly from the one or more inclination sensors or from an intermediate entity such as a buffer memory.

[0055] The processing circuitry 110 may be further configured to determine at least part (e.g., all) of the target movements for the first to third segments 151 to 153 further based on the third input data 103 to compensate for the inclination of the lifting device 190 (e.g., as a function of the slewing angle). Using the inclination and optionally further the slewing angle, the processing circuitry 110 may determine how to adjust the movements of at least part (e.g., all) of the crane arm segments 151 to 153 to compensate for the lifting device 190's tilt. This compensation ensures that the crane arm 150 remains stable and moves accurately in the desired spatial directions, regardless of the ground or lifting device inclination. By compensating for the lifting device 190's inclination, the apparatus 100 reduces the risk of load instability and potential accidents. This is particularly beneficial when operating on uneven terrain or when the lifting device 190 or vehicle carrying the lifting device 190 is not perfectly level. The ability to make real-time adjustments ensures that the crane arm 150 operates safely, protecting both the load and the operator. Taking into account the third input data 103 allows precise movement of the crane arm 150, even when its base is tilted. By factoring in the inclination and optionally the slewing angle, the apparatus 100 may make adjustments that ensure the crane arm 150 moves as expected in three-dimensional space. This allows for smooth and predictable crane arm operations, enhancing overall control accuracy. The optional use of the slewing angle provides added flexibility. When the slewing angle is considered, the apparatus 100 may make compensations for movements in any spatial direction, allowing for versatile crane arm operation in a wide range of environments and orientations. For example, the absolute tilt of a vehicle having mounted thereon the lifting device 190 may be measured by an inclination sensor in two axes. In combination with the slewing angle, this allows for optional compensation of the vehicle inclination depending on the slewing angle. This increases the crane arm 150's applicability to more complex tasks where precise positioning is critical. From the operator's perspective, the crane arm 150 becomes easier to control, even under challenging conditions. The compensation for inclination simplifies the user's task, as the apparatus 100 automatically adjusts for factors that would otherwise require manual intervention, reducing the operator's workload and cognitive effort.

[0056] The processing circuitry 110 may be further configured to receive fourth input data 104. The fourth input data 104 indicate movement constraints for at least one (e.g., all) of the first to third segments 151 to 153. The movements constraints are predefined limits or restrictions that govern the permissible movements of at least one (e.g., all) of the first to third segments 151 to 153. For example, the movements constraints may comprise or be maximum and minimum angles, extension lengths, speed limits, or specific operational boundaries that must not be exceeded to ensure safe and efficient operation of the crane arm 150. The movement constraints may, e.g., be set (in advance) by a manufacturer of the crane arm 150 and / or the lifting device 190. In other examples, the movement constraints may be set or updated by the operator of the crane arm 150. The movements constraints may, e.g., be stored in a memory of the apparatus 100 or an external memory accessible by the apparatus 100 or processing circuitry 110 (e.g., a memory of the crane arm 150 and / or the lifting device 190). Accordingly, the fourth input data 104 may be received from this memory.

[0057] The processing circuitry 110 may be further configured to determine at least part (e.g., all) of the target movements for the first to third segments 151 to 153 further based on the fourth input data 104, i.e., further based on the movement constraints. In other words, the processing circuitry 110 may be configured to determine at least part (e.g., all) of the target movements for the first to third segments 151 to 153 such that the target movements stay with the boundaries defined by the movement constraints, adhering to safety protocols or operational limitations set for the crane arm 150. By incorporating movement constraints, the apparatus 100 minimizes the risk of unsafe operations. For example, it prevents segments from extending beyond their safe limits or moving in ways that could cause collisions or instability. This added layer of safety is beneficial for protecting both the crane arm 150 and its surroundings, especially in environments with strict operational requirements. Movement constraints further ensure that the crane arm 150 functions within optimal parameters, reducing the likelihood of mechanical failure or damage. This makes the crane arm operation more reliable, as it avoids pushing components beyond their design capabilities. The apparatus 100's ability to consider constraints when calculating target movements allows for more efficient and effective motion planning. The crane arm 150 may operate smoothly without unnecessary interruptions or adjustments, which enhances productivity in load handling and maneuvering tasks. From the operator's perspective, the movement constraints simplify crane arm operation. The operator does not need to worry about manually managing safety limits, as the apparatus 100 automatically ensures compliance. This reduces the cognitive load on the operator, allowing them to focus on precise load positioning. The use of constraints may further make the crane arm operation adaptable to different operational contexts. For instance, if the crane arm 150 needs to work near physical barriers or in a confined space, the movement constraints may be tailored to prevent accidental collisions or other issues. This flexibility enhances the crane arm 150's usability in a wide range of environments.

[0058] As described above, the second segment 152 may be extendable such that the target movement for the second segment 152 may comprises one or more of a target pivoting movement for the second segment 152 relative to the first segment 151, and a target length change for the second segment 152. The target movement for the first segment 151 is a target pivoting movement for the first segment 151 relative to the crane column 154. That is, three different movements are possible for the two segments 151 and 152.

[0059] To avoid kinematic over-constraint, the processing circuitry 110 may be configured to determine the target movements for the first and second segments 151 and 152 under the condition that concurrent (simultaneous) performance of not more than two of the following is permitted (at any time): pivoting movement of the first segment 151 relative to the crane column 154, pivoting movement of the second segment 152 relative to the first segment 152, and length change of the second segment 152. In other words, the processing circuitry 110 may be configured to limit simultaneous operations to ensure that only two of the three possible movements by the two segments 151 and 152 can occur at the same time, thus simplifying the crane arm 150's kinematic control and avoiding over-constraint issues. By restricting simultaneous movements to only two out of the three available actions, the crane arm 150's kinematic system is not over-constrained. This ensures that there is always a well-defined, solvable movement solution for the crane arm 150. Over-constraining the crane arm 150 would complicate calculations, increase computational load, and potentially lead to unstable or unpredictable crane arm behavior. Limiting the simultaneous movements reduces the computational effort needed to determine the necessary control actions. This ensures faster and more reliable calculations, contributing to the crane arm 150's overall stability and performance. The apparatus 100 may efficiently and predictably calculate the target movements without excessive processing requirements.

[0060] For example, the processing circuitry 110 may be configured to determine the target movements for the first and second segments 151 and 152 using three predefined modes to ensure that the crane arm 150's behavior is consistent and easy to understand. In the first mode, only pivoting movement of the second segment 152 relative to the first segment 152, and length change of the second segment 152 are allowed - pivoting movement of the first segment 151 relative to the crane column 154 is not allowed. In the second mode, only pivoting movement of the second segment 152 relative to the first segment 152, and pivoting movement of the first segment 151 relative to the crane column 154 is allowed - length change of the second segment 152 is not allowed. In the third mode, only pivoting movement of the first segment 151 relative to the crane column 154, and length change of the second segment 152 are allowed - pivoting movement of the second segment 152 relative to the first segment 152 is not allowed. Th processing circuity 110 may, e.g., switch between the aforementioned modes based on the crane arm 150's positioning (configuration) and movement constraints (e.g., indicated by the fourth input data 104 as described above). For instance, if the first segment 151 is far from a set angle, the processing circuity 110 may prioritize the second mode and the third mode the to move the first segment 151 closer to an optimal position for lifting. Once the first segment 151 reaches this optimal stage, the processing circuity 110 may switch to the first mode to maintain the first segment 151's stability while directing the reference region 162 of the second segment 152 using the other segments. In some examples, the mode may be selected by the operator of the crane arm 150. Accordingly, the operator may manually restrict certain movements using, e.g., a remote control. For example, the operator may lock the first segment 151 with the aforementioned modes, limiting movements to the second segment. This feature gives operators greater control and the ability to adapt the crane arm 150's movements to specific tasks or safety requirements.

[0061] Under certain circumstances, it may be beneficial to maintain the orientation of the third segment 153. Accordingly, the processing circuitry 110 may be further configured to determine whether the third segment 153 is in a predefined state. The predefined state is a specific configuration or condition of the third segment 153 which triggers the automatic orientation control described in the following. For example, the predefined state may occur when the third segment has reached a movement limit, such as a fully extended or retracted position, or when it is at a movement constraint (operational boundary) like a minimum or maximum angle. The processing circuitry 110 may, e.g., be configured to analysis sensor data describing the configuration or condition of the third segment 153 such as the second input data 102 to determine whether third segment 153 is in the predefined state.

[0062] In response to determining that the third segment 153 is in the predefined state, the processing circuitry 110 may be further configured to determine whether a user input related to the third segment 153 is currently (i.e., at the moment) received. In particular, the processing circuitry 110 may be further configured to determine whether a user input for setting a target speed in any of the two spatial directions x 1 and x 2 for the reference region 163 of the third segment 153 is currently received. In other words, the processing circuitry 110 may be configured to determine whether the user is actively controlling the movement of the third segment 153 at the moment. If the operator is not actively controlling the third segment 153 through, e.g., the remote control, the processing circuitry 110 recognizes a lack of (user) input.

[0063] In response to determining that no user input related to the third segment 153 is currently received (e.g. no user input for setting a target speed in any of the two spatial directions x 1 and x 2 for the reference region 163 of the third segment 153 is currently received), the processing circuitry 110 may be further configured to determine the target pivoting movement for the third segment 153 relative to the second segment 152 to maintain an inclination of the third segment 153 relative to a predefined plane while the target movements for the first and second segments 151 and 152 are performed. In other words, if no user input is detected for the third segment 153 while it is in the predefined state, the processing circuitry 100 may automatically determine a target pivoting movement for the third segment 153 to maintain its inclination relative to the predefined plane. The predefined plane is a specific reference plane used to maintain the orientation of the third segment 153 of the crane arm 150. For example, the reference plane may be defined as parallel to a vehicle carrying the crane arm 150 and / or the lifting device 190 or as parallel to the ground. In other words, the predefined plane may be determined by the orientation of the lifting device 190 carrying the crane arm 150 or be the ground plane on which the lifting device 190 carrying the crane arm 150 operates. The orientation of the lifting device 190 and / or the crane arm 150 relative to the ground plane may, e.g., be determined based on data of one or more inclination sensors such as the third input data 103. If no inclination data is available, the predefined plane may be determined by the orientation of the lifting device 190 carrying the crane arm 150, i.e., be a plane parallel to a vehicle carrying the crane arm 150 and / or the lifting device 190. For example, the vertical axis about which the crane column 154 is rotatable relative to the device base may be orthogonal to the predefined plane. In other examples, the predefined plane may be the horizontal plane. However, it is to be noted that the present disclosure is not limited to the aforementioned examples. Planes with other suitable orientations may be used instead. The predefined plane may serves as a benchmark for automatically adjusting the third segment 153's inclination to ensure stability and consistent load handling.

[0064] The ability to maintain the third segment 153's orientation automatically, without active user input, enhances the stability of the crane arm 150. This feature is particularly useful when the third segment 153 reaches its operational limits or when maintaining a consistent angle of the third segment 153 is beneficial for safety and efficiency. The operator does not need to continually adjust the third segment 153 manually, which reduces the cognitive and physical demands on the user. By keeping the third segment 153's inclination constant relative to the predefined plane, the apparatus 100 ensures that a load held by the crane arm 150 remains steady and secure. This reduces the risk of unexpected movements or load shifts, which could be dangerous or lead to inefficiencies in load handling. This feature is further beneficial when operating on uneven ground or when the load must remain level. The automatic adjustment feature reduces the amount of manual control required, making the crane arm 150 easier to operate. Even when the third segment 153 reaches its extension limit, the apparatus 100 takes care of maintaining its orientation, freeing the operator to focus on other tasks or crane arm movements.

[0065] According to examples of the present disclosure, the processing circuitry 110 may be configured to receive fifth input data 105 indicating a predefined user input. In response to receiving the predefined user input, the processing circuitry 110 may be configured to determine whether the third segment is in the predefined state. Upon receiving the predefined user input, the processing circuitry 110 may evaluate the third segment 153's configuration to see if it meets the criteria of the predefined state. If the criteria are met, the processing circuitry 110 may then activate the automatic mechanism that keeps the third segment 153's angle constant, relative to the predefined plane. The predefined user input is a specific command or signal provided by the crane operator through the control interface, such as a remote control. This input is used to trigger the processing circuitry 110 to assess whether the third segment 153 is in the predefined state. The predefined user input allows the operator to manually enable or disable the automatic orientation control feature for the third segment 153, providing flexibility in crane arm operation based on the current task or environmental conditions. The predefined user input provides the operator with the flexibility to activate or deactivate the automatic orientation control of the third segment 153 based on real-time needs or specific tasks. For example, if the crane arm 150 is operating in a confined space or if keeping the third segment 153's angle constant is not required, the operator can use the predefined user input to adjust the system behavior. This increases the crane arm 150's adaptability and usability in diverse operational scenarios. Allowing the operator to control when the apparatus 100 checks for the predefined state may enhance safety and operational efficiency. For instance, when precision is critical, and the third segment 153's angle needs to be maintained for load stability, the operator may ensure that the automatic orientation feature is activated at the right moment. Conversely, the operator may disable the feature when it may interfere with maneuverability, reducing the risk of collisions or instability. The ability to manually manage the activation of the predefined state check means the apparatus 100 may better accommodate complex or varied tasks. Whether the crane arm 150 is working on uneven terrain, near obstacles, or handling delicate loads, the operator has the tools to adjust the crane arm 150's behavior as needed. By integrating this functionality, the apparatus 100 reduces the cognitive load on the operator. Rather than having to constantly manage the third segment 153's orientation manually, the operator may rely on the automatic control when necessary and disable it when it's not beneficial. This makes the crane arm operation more intuitive and less prone to errors.

[0066] As described above, the first input data 101 indicate a user input for setting at least one of the target speed in the first spatial direction x 1 of the reference region 162, the target speed in the second spatial direction x 2 of the reference region 162 of, the target speed in the first spatial direction x 1 of the reference region 163, and the target speed in the second spatial direction x 2 of the reference region 163. The user input may be encoded in various ways. For example, the first input data 101 may be encoded with measured deflections of control inputs for setting the target speeds in the first and second spatial directions x 1 and x 2 for the reference regions 162 and 163 of the second and third segments 152 and 153 at a remote control for controlling the crane arm 150. The control inputs are elements on the remote control, such as levers or joysticks, that the crane operator manipulates to indicate the desired target speed(s) and, hence, movement(s) of one or both of the reference regions 162 and 163. The first input data 101 may show the extent of deflection (e.g., how far the lever or joystick is moved) to indicate the target speed in the specified spatial directions x 1 and x 2 for the reference regions 162 and 163.

[0067] In these examples, the control circuitry 110 may be configured to determine the target speeds in the first and second spatial directions x 1 and x 2 for the reference regions 162 and 163 of the second and third segments 152 and 153 based on the measured deflections. Accordingly, the control circuitry 110 may be configured to determine the target movements for the first to third segments 151 through 153 based on the determined target speeds. In other words, the processing circuitry 110 may use these measured deflections to determine (calculate) the target speeds in the first and second spatial directions x 1 and x 2 for each reference region 162, 163. It may then determine the necessary target movements for the crane arm segments to execute these speeds.

[0068] The use of simple, intuitive control inputs (such as levers or joysticks) makes the crane arm 150 easy for operators to use, even those with little training. The described control setup, where one set of inputs manages the reference region 162 and another manages the reference regions 163, ensures that the operation is straightforward and easy to understand. This minimizes the cognitive load on the operator and reduces the likelihood of errors.

[0069] An exemplary remote control 200 for controlling the crane arm 150 as described above is schematically illustrated in Fig. 2.

[0070] The remote control 200 comprises a first control input 210 for setting the target speed in the first spatial direction x 1 of the reference region 162 of the second segment 152.

[0071] The remote control 200 comprises a second control input 220 for setting the target speed in the second spatial direction x 2 of the reference region 162 of the second segment 152.

[0072] The remote control 200 comprises a third control input 230 for setting the target speed in the first spatial direction x 1 of the reference region 163 of the third segment 153.

[0073] The remote control 200 comprises a fourth control input 240 for setting the target speed in the second spatial direction x 2 of the reference region 163 of the third segment 153.

[0074] The first to fourth control inputs 210 through 240 are user-operable elements on the remote control 200 for setting the target speeds for the movement of the reference region 162 and 163. The control inputs 210 to 240 may be implemented in various ways as will be described in greater detail below.

[0075] Additionally, the remote control 200 comprises at least one sensor 250 configured to measure deflections of the first, second, third and fourth control inputs 210 through 240. For example, the remote control 200 may comprise a single sensor 250 to measure the deflections of the control inputs 210 to 240. In other examples, the remote control 200 may comprise a respective sensor for each of the control inputs 210 to 240 that measures exclusively the deflection of the associated (related) control input. The at least one sensor 250 may, e.g., be configured to capture the extent and direction of the deflections of the control inputs 210 to 240. The at least one sensor 250 may use various measurement principles to measure the deflections of the control inputs 210 to 240. For example, one or more of potentiometric measurements, Hall effect measurements, optical measurements, capacitive measurements, strain measurements or inductive measurements may be made by the at least one sensor 250 to measure the deflections of the control inputs 210 to 240. The one or more measurement principles may depend on the implementation of the control inputs 210 to 240.

[0076] The remote control 200 further comprises an interface (interface circuitry) 260 configured to output control data 201 for the crane arm 150. The control data 201 indicate the measured deflections of the first, second, third and fourth control inputs 210 through 240. The control data 201 may, e.g., be received by the processing circuitry 110 described above as the first input data 101 and be further processed as described above. The interface 260 may be a wireless interface or a wired interface for wireless or wired transmission of the control data 201.

[0077] For example, at least one sensor 250 may generate the control data 201 based on the measured deflections of the control inputs 210 to 240. In other examples, the interface 260 may generate the control data 201 based on output data or one or more output signals of the at least one sensor 250 indicating the measured deflections of the control inputs 210 to 240. In still other examples, the remote control may comprise processing circuitry (not illustrated in Fig. 2) coupled between the at least one sensor 250 and the interface 260, and configured to generate the control data 201 based on output data or one or more output signals of the at least one sensor 250 indicating the measured deflections of the control inputs 210 to 240.

[0078] The remote control 200 is designed to be user-friendly, providing straightforward control over the crane arm 150's segments. By dedicating separate control inputs to different movement directions for both the reference region 162 of the second segment 152 and the reference region 163 of the third segment 153, the remote control 200 allows the operator to easily understand and manage the crane arm 150's behavior. This simplicity is beneficial in reducing the cognitive load on the operator, especially in demanding or high-stress work environments.

[0079] The remote control 200 may optionally comprise one or more further control inputs. For example, the remote control 200 may comprise a further control input for inputting the predefined user input described above to manually enable or disable the automatic orientation control feature for the third segment 153.

[0080] As described above, the control inputs 210 to 240 may be implemented in various ways. In the following some exemplary implementations will be described in greater detail.

[0081] For example, the first to fourth control inputs 210 through 240 may be implemented (designed, provided) as linear control levers. A linear control lever is a manually operated or operatable lever that moves or is movable (only, exclusively) along a straight path or axis. Accordingly, each linear control lever is configured to move along a respective axis to set the target speed in the corresponding spatial direction x 1 , x 2 . The first and second control levers are used to set target speeds for the reference region 262 of the second segment 252. One lever controls movement in the first spatial direction x 1 , and the other controls movement in the second spatial direction x 2 . The third and fourth control levers are used to set target speeds for the reference region 263 of the third segment 253. Similar to the first two levers, one lever manages movement in the first spatial direction x 1 , while the other controls movement in the second spatial direction x 2 . The linear control levers may, e.g., be movable in parallel axes. The deflection of a linear control lever from its neutral position determines the value of the target speed and the movement direction of the corresponding crane arm segment in the respective spatial direction (i.e., the sign of the value for the target speed). By moving a linear control lever forward or backward, the operator can precisely adjust the target speed and, hence, the movement, providing direct and intuitive control over the crane arm's operation.

[0082] Using linear control levers provides a direct and intuitive way for the operator to manage the crane arm's movements. Each linear control lever corresponds to a specific movement direction, reducing the complexity of the control interface. The operator may easily understand and remember which lever controls which movement, minimizing confusion and the risk of errors during operation. Linear control levers allow for fine-tuned adjustments, as the extent of the lever's deflection may be directly correlated to the desired speed of movement. This provides the operator with precise control over the reference region's speed and direction, which is crucial for tasks that require careful load positioning or handling in confined spaces. By implementing separate linear control levers for different movements, the remote control 200 reduces the cognitive load on the operator. There is no need to switch between modes or interpret complex input mappings, making crane arm operation more efficient and less mentally taxing. This may lead to better performance and reduced fatigue, especially during extended periods of operation. Linear levers are ergonomically friendly and easy to operate. The design allows operators to control the crane arm comfortably, which is beneficial in reducing physical strain and enhancing user satisfaction. This ergonomic setup is particularly advantageous for operators who need to use the controls for long hours. The mechanical simplicity of linear levers translates into more reliable performance with fewer points of failure compared to more complex control mechanisms. This may result in a lower likelihood of malfunctions and reduced maintenance requirements, making the remote control 200 more robust and cost-effective.

[0083] In alternative examples, the first and second control inputs 210 and 220 may be implemented (provided) by a first joystick configured to set the target speed in the first and second spatial directions x 1 and x 2 of the reference region 162 of the second segment 152. The third and fourth control inputs 230 and 240 may be implemented (provided) by a second joystick configured to set the target speed in the first and second spatial directions x 1 and x 2 of the reference region 163 of the third segment 153. A joystick is a manually operated or operable control devices that can move (is movable) in multiple directions, typically along two orthogonal axes (e.g., up / down and left / right). By tilting the joystick in a particular direction, the operator may simultaneously control movement in two spatial directions, with the extent of deflection determining the speed of the movement (i.e., the target speed). In other words, the first and second control inputs 210 and 220 may be combined into a first joystick, which is configured to control the target speed in both the first and second spatial directions x 1 and x 2 of the reference region 162 of the second segment 152. For example, moving the joystick up or down may control the target speed and, hence, movement of the reference region 162 along the second spatial direction x 2 (e.g., vertical movement), while moving it left or right controls control the target speed and, hence, movement of the reference region 162 along the first spatial direction x 1 (e.g., horizontal movement). Similarly, the third and fourth control inputs 230 and 240 may be combined into a second joystick, which is configured to control the target speed in both the first and second spatial directions x 1 and x 2 of the reference region 163 of the third segment 153. This joystick works similarly, with up / down controlling one spatial direction and left / right controlling the other.

[0084] Joysticks provide a more compact control solution compared to using separate linear control levers for each direction. By combining control functions into two joysticks, the remote control 200 becomes smaller and easier to handle, which may be especially beneficial in environments where space is limited or when operators need to carry the remote for extended periods. Joysticks are inherently intuitive, as they allow for natural and fluid movement in multiple directions. Operators may easily control movements of the crane arm segments in both spatial directions x 1 and x 2 using a single hand per joystick, which streamlines the operation and reduces the physical effort required. This efficient control setup enables smooth transitions between different movements and simplifies complex tasks. The sensitivity of joysticks may be finely tuned, allowing for precise control over the crane arm's speed and positioning. Small deflections of the joystick may result in slow, careful movements, while larger deflections can produce faster movements. This level of control is beneficial for tasks that require both delicate handling and the ability to make quick adjustments. The ergonomic design of joysticks reduces operator fatigue by enabling more comfortable hand and wrist positions. This is especially beneficial during long periods of crane arm operation, as it minimizes strain and allows for more consistent performance. Joysticks offer versatility in controlling the crane arm. Operators can simultaneously control two spatial directions with one hand, which is ideal for operations that require coordinated movements. This flexibility makes it easier to perform complex maneuvers, such as adjusting the position of the crane tip while moving the jib simultaneously. Because joysticks are commonly used in various equipment and consumer devices, many operators may already be familiar with their operation. This familiarity may lead to a shorter learning curve, enabling operators to become proficient more quickly compared to more complex or less intuitive control setups.

[0085] In further alternative examples, a mixed implementation of the control inputs may be used. For example, one of the first and second control inputs 210 and 220 or the third and fourth control inputs 230 and 240 may be implemented as linear control levers, and the other may be implemented by a joystick. In other words, either the first and second control inputs 210 and 220 (for the second segment 152's reference region 162) or the third and fourth control inputs 230 and 240 (for the third segment 153's reference region 163) may be implemented as linear control levers. These levers move along a respective axis and are used for precise, single-direction control as described above. The other set of control inputs may be implemented as a joystick, which provides dual-directional control in a compact form. The joystick is used to manage movement in both spatial directions x 1 and x 2 simultaneously for the corresponding reference region as described above.

[0086] By allowing a combination of linear control levers and a joystick, the remote control 200 may accommodate operators with different preferences or styles of operation. Some operators may prefer the precise, single-direction control of levers for certain tasks, while others may find the fluid, multi-directional control of a joystick more effective for other maneuvers. This flexibility enhances user satisfaction and makes the remote control 200 adaptable to a wider range of operators and tasks. Certain crane arm operations may benefit from having precise linear control in one area (e.g., for delicate positioning of the reference region 162) while utilizing the joystick for smoother, multi-directional movements in another area (e.g., for broader adjustments of the reference region 163). This setup allows the control interface to be optimized for different types of tasks, improving efficiency and accuracy in load handling and positioning. The combination of levers and a joystick provides a balance between ergonomic comfort and practical control. Linear control levers are ideal for precise, incremental adjustments, which reduce strain on the operator's hands during prolonged use. The joystick, on the other hand, simplifies multi-directional control, making broader movements less taxing. Together, this setup minimizes physical fatigue and enhances overall ease of operation.

[0087] In some examples, at least one of the control inputs 210 to 240 may be a graphical element on a touch-sensitive display (not illustrated in Fig. 2) of the remote control 200. The touch-sensitive display is configured to receive a user input (touch input) to set the target speed in the corresponding spatial direction. For example, all of the control inputs 210 to 240 may be graphical elements on the touch-sensitive display. In other examples, only one pair of the control inputs 210 to 240 (e.g., either the control inputs 210 and 220 for controlling the reference region 162 or the control inputs 230 and 240 for controlling the reference region 163) may be graphical elements on the touch-sensitive display. The respective graphical element may, e.g., be or represent (visualize) a virtual linear control lever, joystick or slider that is displayed on the touch-sensitive display. The touch-sensitive display is configured to receive user input, meaning that when the operator interacts with the graphical elements (e.g., by tapping, sliding, or dragging), the remote control 200 interprets these interactions as control commands for setting the target speeds in the corresponding spatial directions x 1 and x 2 .

[0088] The use of a touch-sensitive display allows for a customizable control interface. Operators may configure or personalize the layout and appearance of the graphical elements based on their preferences or the requirements of a specific task. This flexibility provides a significant advantage over fixed physical controls, making the system more adaptable. Incorporating controls into a touch-sensitive display reduces the need for multiple physical levers and joysticks, resulting in a more compact and lightweight remote control device. This is particularly beneficial for operators who need to carry the remote control over long distances or in confined workspaces, improving portability and convenience. A graphical interface can present control options in a more intuitive and user-friendly way. The touch-sensitive display may, e.g., be configured to additionally show visual feedback, such as the current target speeds for the reference regions 162 and 163 in the spatial directions x 1 and x 2 , making it easier for the operator to understand and manage the crane arm's movements. Additionally, visual cues and labels on the graphical elements may help to simplify the learning process for new operators. Similarly, digital display may also integrate additional features, such as system diagnostics, real-time feedback, or alerts. Operators may monitor crane arm status, receive warnings about unsafe conditions, or adjust settings without needing a separate device. This integration streamlines the operation and enhances safety. Since the touch-sensitive display does not rely on mechanical components like physical levers or joysticks, it is less prone to wear and tear. This may lead to lower maintenance costs and increased reliability over time, making the remote control 200 more durable and cost-effective.

[0089] The remote control 200 may optionally comprise further elements such as a housing. For example, the remote control 200 may comprise a durable, shock- and weather-resistant housing (casing) to protect the remote control 200 from harsh environmental conditions and mechanical damage. The control inputs 210 to 240 may be integrated into the housing. The at least one sensor 250 and the interface 260 may be arranged within the housing. In some examples, the remote control 200 may additionally comprise an attachment mechanism (element, device, structure) for securing the remote control 200 to the operator. For example, the attachment mechanism may comprise or be at least one of a lanyard attachment for wearing the remote control 200 around the operator's neck or a belt clip for fastening the remote control 200 to the operator's belt or clothing. The attachment mechanism may reduce the risk of accidental drops and facilitating convenient access to the remote control 200.

[0090] Fig. 3 schematically illustrates another apparatus 300 for controlling the crane arm 150. The apparatus 300 is for controlling the crane arm 150 based on a control scheme similar to the automatic maintaining of the third segment 153's orientation described above with reference to Fig. 1. The crane arm 150 is as described above and may be part of the lifting device 190 - analogously to what is described above.

[0091] Like the apparatus 100, the apparatus 300 may be part of the crane arm 150 and / or the lifting device 190. In alternative examples, the apparatus 300 may be external to the crane arm 150, i.e., not be part of the crane arm 150. Similarly, the apparatus 300 may be external to the lifting device 190, i.e., not be part of the lifting device 190. For example, a computing cloud communicatively coupled to the crane arm 150 and / or the lifting device 190 (e.g., via a wireless connection) may comprise or be the apparatus 300. In still other examples, a vehicle having mounted thereon the lifting device 190 may comprise the apparatus 300.

[0092] The apparatus 100 for controlling the crane arm 150 comprises processing circuitry 310. The processing circuitry 310 may be implemented as described above for the processing circuitry 110.

[0093] The processing circuitry 310 is configured to receive first input data 301. The first input data 301 indicate (are encoded with information about) a user input for setting at least one of a target speed in the first spatial direction x 1 of the reference region 162 of the second segment 152 and a target speed in the second spatial direction x 2 of the reference region 162 of the second segment 152. The two spatial directions x 1 and x 2 are as described above.

[0094] For example, the first input data 301 may be received from a remote control (not illustrated in Fig. 3) for controlling the crane arm 150 from a distance. However, the present disclosure is not limited thereto. In other examples, the first input data 301 may be received from another entity such as an element or circuitry of the crane arm 150 or lifting device 190 (e.g., an HMI of the crane arm 150 or lifting device 190), a mobile device (e.g., a mobile phone, a laptop-computer or a tablet-computer) of the operator of the crane arm 150 or lifting device 190, or a remote server.

[0095] The processing circuitry 310 is further configured to determine (calculate) target movements for the first and second segments 151 and 152 based on the first input data 301 to determine (calculate) movement of the reference region 162 corresponding to the user input. In other words, the processing circuitry 310 is configured to translate the user input for the second segment 152's reference region 162 into corresponding target movements for the first and second segments 151 and 152. Specifically, if the user input indicated by the first input data 301 sets (non-zero) target speeds for the reference region 162 in both the first and second spatial directions x 1 and x 2 , the processing circuitry 310 may be configured to determine the target movements for the first and second segments 151 and 152 to achieve these target speeds. Alternatively, if the user input indicated by the first input data 301 sets a (non-zero) target speed for the reference region 162 in only one of the first and second spatial directions x 1 and x 2 , the processing circuitry 310 may be configured determine the target movements based solely on the specified spatial direction.

[0096] Analogously to what is described above with reference to Fig. 1, the target movement for the first segment 151 may be a target pivoting movement for the first segment 151 relative to the crane column 154. Depending on the implementation of the second segment 152, the target movement for the second segment 152 may comprises one or more of a target pivoting movement for the second segment 152 relative to the first segment 151, and a target length change for the second segment 151 (only if the second segment 152 is extendable). The aforementioned exemplary target movements for the first and second segments 151 and 152 work together to position the reference region 162 of the second segment 152 accurately in the spatial direction(s) indicated by the user input. The processing circuitry 310 may be configured to determine the target movements for the first and second segments 151 and 152 using a predefined (mechanistic, i.e., rule-based) computational model - analogously to what is described above.

[0097] Additionally, the processing circuitry 310 is configured to determine a target pivoting movement for the third segment 153 relative to the second segment 152 to maintain an inclination of the third segment 153 relative to a predefined plane while the target movements for the first and second segments 151 and 152 are performed. In other words, the processing circuitry 100 may automatically determine a target pivoting movement for the third segment 153 to maintain its inclination relative to the predefined plane. As described above, the predefined plane is a specific reference plane used to maintain the orientation of the third segment 153 of the crane arm 150.

[0098] The processing circuitry 310 may be configured to determine the target pivoting movement for the third segment 153 using a predefined (mechanistic, i.e., rule-based) computational model. The computational model is a mathematical representation (e.g., a set of mathematical equations) for determining the target pivoting movement for the third segment 153 taking into account the orientation of the predefined plane, the target movements for the first and second segments 151 and 152 and optionally further inputs. The computational model may use various signal and / or data processing operations such as signal / data addition, subtraction, multiplication, division, integration, derivation, filtering (e.g., discrete, continuous or both), delaying, etc. to determine the target pivoting movement for the third segment 153.

[0099] The processing circuitry 310 may use a single (e.g. combined) computational model for determining the target movements for the first to third segments 151, 152, 153 or use two separate computational models - one for determining the target movements for the first and second segments 151 and 152 and another one for determining the target pivoting movement for the third segment 153.

[0100] The processing circuitry 310 is configured to control actuators of the crane arm 150 such as one or more of the actuators 155, 156, 158, 159 and 160 illustrated in Fig. 1 to move the first and second segments 151 and 152 according to the determined target movements and pivot the third segment 153 according to the determined target pivoting movement. The processing circuitry 310 may control additional or different actuators than those shown in Fig. 3 depending on the structure (design, implementation) of the crane arm. The processing circuitry 310 may, e.g., be configured to control the actuators of the crane arm 150 to move each of the first through third segments 151, 152, 153 for which a non-zero target movement is determined. For example, the processing circuitry 310 may generate control signals or control data for the actuators themselves (e.g., if the actuators are electromechanical actuators) or, if the actuators are hydraulic actuators, for a hydraulic (drive) system of the crane arm 150 and / or the lifting device 190 driving the actuators. Based on the control signals or control data, one or more of the actuators may provide (exert) or be driven to provide (exert) a force to move the actuators according to the determined target movements.

[0101] The apparatus 300 allows simplification of the crane arm operation. The operator may control the crane arm 150 using only two linear inputs without needing to manually adjust the angle of the third segment 153. This makes the crane arm 150 easier to use, especially for operators who may not be experienced with complex crane maneuvers. The automatic correction of the third segment 153's angle ensures that the third segment 153 maintains a consistent orientation relative to the predefined plane. This consistency is beneficial for keeping a load stable, especially during movements of the first reference region 162. By maintaining the angle of the third segment 153 automatically, the risk of load shifts or instability is minimized, enhancing the safety and reliability of crane operations. Because the apparatus 300 automatically manages the angle of the third segment 153, the operator does not need to spend time or effort making manual corrections. This reduces the overall workload and allows the operator to focus more on positioning the first reference region 162 accurately. It also speeds up operations, as fewer manual adjustments are needed. The simplification provided by the automatic adjustment of the third segment 153's angle leads to a more user-friendly interface. Operators may quickly learn and operate the crane arm 150 with less training, making the crane arm 150 accessible even to those with limited experience. This feature is particularly valuable in construction or industrial settings where operator efficiency and ease of use are critical. The automatic adjustment of the jib angle also adds a layer of safety to crane operation. By maintaining the third segment 153's orientation relative to the predefine plane, the apparatus 300 helps prevent unintended or unsafe crane arm movements. This is especially beneficial when working in environments where precision and load stability are paramount.

[0102] The reference plane may be manifold. For example, the reference plane may be defined as parallel to a vehicle carrying the crane arm 150 and / or the lifting device 190 or as parallel to the ground. In other words, the predefined plane may be determined by the orientation of the lifting device 190 carrying the crane arm 150 or be the ground plane on which the lifting device 190 carrying the crane arm 150 operates. The orientation of the lifting device 190 and / or the crane arm 150 relative to the ground plane may, e.g., be determined based on data of one or more inclination sensors such as the second input data 302 described below in greater detail. If no inclination data is available, the predefined plane may be determined by the orientation of the lifting device 190 carrying the crane arm 150, i.e., be a plane parallel to a vehicle carrying the crane arm 150 and / or the lifting device 190. For example, the vertical axis about which the crane column 154 is rotatable relative to the device base may be orthogonal to the predefined plane. In other examples, the predefined plane may be the horizontal plane. However, it is to be noted that the present disclosure is not limited to the aforementioned examples. Planes with other suitable orientations may be used instead. The predefined plane may serves as a benchmark for automatically adjusting the third segment 153's inclination to ensure stability and consistent load handling.

[0103] In case the predefined plane is the ground plane on which the lifting device 190 carrying the crane arm 150 operates, ground inclination may be compensated to enhance stability, safety, and ease of operation. For example, the processing circuitry 310 may be configured to receive second input data 302 indicating sensor measurement values for an inclination of the lifting device 190, and optionally a slewing angle of the crane arm 150 relative to the lifting device 190. For example, the lifting device 190 or a vehicle having mounted thereon the lifting device 190 may comprise one or more inclination sensors to measure the inclination of the lifting device 190 directly or indirectly via the inclination of the vehicle in one or more axes. The second input data 302 provide real-time information about the crane arm 150's orientation relative to its base and the surrounding environment. The processing circuitry 310 may receive the second input data 302 directly from the one or more inclination sensors or from an intermediate entity such as a buffer memory.

[0104] The processing circuitry 310 may further be configured to determine the target pivoting movement for the third segment 153 further based on the second input data 302 to compensate for the inclination of the lifting device 190 (e.g., as a function of the slewing angle). Using the inclination and optionally further the slewing angle, the processing circuitry 310 may determine how to adjust the pivot movement of the third segment 153 to compensate for the lifting device 190's tilt.

[0105] By defining the predefined plane as the ground plane and using sensor data to monitor the lifting device 190's tilt, the apparatus 100 may dynamically compensate for uneven or sloped surfaces. This feature ensures that the crane arm 150 remains stable and aligned with the ground, preventing accidental tilting or load shifts. The apparatus 300's ability to adjust for both the inclination of the lifting device 190 and the slewing angle of the crane arm 150 provides a comprehensive compensation mechanism. This ensures that the crane arm 150's movements remain smooth and precise, even as the orientation of the lifting device 190 or the position of the crane arm 150 changes. This capability is especially beneficial in dynamic environments where conditions may change quickly. By automatically compensating for ground inclination, the apparatus 300 helps to maintain load stability, reducing the risk of accidents. This is beneficial when operating in environments with uneven terrain, such as construction sites or outdoor locations with unpredictable ground conditions. The compensation ensures that the load remains secure, protecting both the operator and surrounding workers or equipment. The automatic compensation for ground inclination minimizes the need for manual corrections by the operator. This reduces the cognitive and physical workload on the operator, allowing them to focus on other aspects of crane arm operation, such as precise load placement. The apparatus 300 's automated adjustments make it easier to achieve safe and efficient crane operations. The ability to define the plane as the ground plane and adjust for inclination makes the crane arm 150 versatile. It may operate effectively in a variety of settings, from flat, level surfaces to rugged, uneven terrain. This adaptability increases the crane arm 150's usability and makes it a more valuable tool for different types of projects. The inclusion of the slewing angle as an optional input allows for even more precise adjustments. When the slewing angle is considered, the apparatus 300 may fine-tune the compensation based on the rotational position of the crane arm 150, providing optimal stability and control. This feature is particularly beneficial for tasks that require complex or multi-directional crane arm movements.

[0106] Additionally or alternatively, the second input data 302 may be considered for the target movement for the first and second segments 151 and 152. For example, the processing circuitry 310 may be configured to determine at least one of the target movement for the first segment 151 and the target movement for the second segment 152 further based on the second input data 302 to compensate for the inclination of the lifting device 190 (e.g., as a function of the slewing angle). In other words, using the inclination and optionally further the slewing angle, the processing circuitry 310 may determine how to adjust the movements of one or both of the crane arm segments 151 and 152 to compensate for the lifting device 190's tilt. Adjusting the movements of one or both of the crane arm segments 151 and 152 to compensate for the lifting device 190's tilt allows to achieve the same beneficial effects as the adjustment of the target pivoting movement for the third segment 153 based on the second input data 302.

[0107] The processing circuitry 310 may be further configured to receive third input data 303. The second input 303 indicate sensor measurement values for at least one of the angle α 1 between the first segment 151 and the crane column 154, angles between subsequent segments of the first to third segments 151 to 153 (e.g., the angle α 2 between the second segment 152 and the first segment 151, and the angle α 3 between the third segment 153 and the second segment 152), and the respective extension of extendable segments among the first to third segments 151 to 153 (e.g., the extensions or lengths L 1 and L 2 of the second and third segments 152 and 153). The sensor measurement values may, e.g., be sensor measurement values of one or more sensors (e.g., angle sensors and length sensors) mounted to the crane arm 150. For example, the crane arm 150 may comprise three angle sensors (not illustrated in Fig. 3) configured to measure the angles α 1 to α 1 . Similarly, the crane arm 150 may comprise length sensors (not illustrated in Fig. 3) configured to measure the extensions or lengths L 1 and L 2 of the second and third segments 152 and 153. These sensor measurement values provide real-time information about the crane arm 150's current configuration and position. The processing circuitry 310 may receive the third input data 303 directly from the one or more sensors or from an intermediate entity such as a buffer memory.

[0108] The processing circuitry 310 may be further configured to determine the positioning of the crane arm 150 based on the third input data 303 - analogously to what is described above with reference to Fig. 1. In particular, the processing circuitry 310 may be configured to determine the positioning of the crane arm 150 taking into account (while accounting for) bending of the crane arm 150 - analogously to what is described above with reference to Fig. 1. The processing circuitry 310 may be further configured to determine at least one of the target movement for the first segment 151, the target movement for the second segment 152 and the target pivoting movement for the third segment 153 (e.g., the target movements for all of the first to third segments 151 to 153) further based on the determined positioning of the crane arm 150. In other words, the processing circuitry 310 may be configured to use the determined positioning of the crane arm 150, alongside the user input, to determine at least part of the target movements for the first to third segments 151, 152, 153. For example, the determined positioning of the crane arm 150 (e.g., expressed as coordinates of one or more elements of the crane arm 150) may be used to determine a deviation between target and actual positions of one or more (e.g., all) of the segments 151 to 153 for position control and serve as input for converting the target speed for the reference regions 162 into movement speeds for target movement of the first and second segments 151 and 152 or a target pivoting motion for the third segment 153 using a Jacobian matrix.

[0109] Taking into account the third input data 303 ensures that the crane arm 150 moves as intended by the operator while accounting for its current configuration. By incorporating real-time sensor data into at least part of the target movement determinations, the apparatus 300 may achieve a higher level of precision in crane arm positioning. The exact angles and / or extension lengths help the processing circuitry 310 understand the current crane arm configuration, reducing errors and enhancing the reliability of movement execution. The use of sensor data allows the apparatus 300 to adapt dynamically to changes in the crane arm 150's position. Accurate positioning data ensures that the crane arm 150 operates safely, minimizing the risk of collisions or unstable movements. By using real-world measurements in addition to the user input, a more refined and efficient movement is enabled, as the processing circuitry 310 may adjust the crane arm 150's actions to match the actual physical configuration, improving performance in various operational conditions.

[0110] The processing circuitry 310 may be further configured to receive fourth input data 304. The fourth input data 304 indicate movement constraints for at least one (e.g., all) of the first to third segments 151 to 153. The movement constraints are as described above with reference to Fig. 1 for the input data 104.

[0111] The processing circuitry 310 may be further configured to determine at least one of the target movement for the first segment 151, the target movement for the second segment 152 and the target pivoting movement for the third segment 153 (e.g., the target movements for all of the first to third segments 151 to 153) further based on the fourth input data 304, i.e., further based on the movement constraints. In other words, the processing circuitry 310 may be configured to determine at least part (e.g., all) of the target movements for the first to third segments 151 to 153 such that the target movements stay with the boundaries defined by the movement constraints, adhering to safety protocols or operational limitations set for the crane arm 150. By incorporating movement constraints, the apparatus 300 minimizes the risk of unsafe operations. For example, it prevents segments from extending beyond their safe limits or moving in ways that could cause collisions or instability. This added layer of safety is beneficial for protecting both the crane arm 150 and its surroundings, especially in environments with strict operational requirements. Movement constraints further ensure that the crane arm 150 functions within optimal parameters, reducing the likelihood of mechanical failure or damage. This makes the crane arm operation more reliable, as it avoids pushing components beyond their design capabilities. The apparatus 300's ability to consider constraints when calculating target movements allows for more efficient and effective motion planning. The crane arm 150 may operate smoothly without unnecessary interruptions or adjustments, which enhances productivity in load handling and maneuvering tasks. From the operator's perspective, the movement constraints simplify crane arm operation. The operator does not need to worry about manually managing safety limits, as the apparatus 300 automatically ensures compliance. This reduces the cognitive load on the operator, allowing them to focus on precise load positioning. The use of constraints may further make the crane arm operation adaptable to different operational contexts. For instance, if the crane arm 150 needs to work near physical barriers or in a confined space, the movement constraints may be tailored to prevent accidental collisions or other issues. This flexibility enhances the crane arm 150's usability in a wide range of environments.

[0112] As described above, the second segment 152 may be extendable such that the target movement for the second segment 152 may comprises one or more of a target pivoting movement for the second segment 152 relative to the first segment 151, and a target length change for the second segment 152. The target movement for the first segment 151 is a target pivoting movement for the first segment 151 relative to the crane column 154. That is, three different movements are possible for the two segments 151 and 152.

[0113] To avoid kinematic over-constraint, the processing circuitry 310 may analogously to the processing circuitry 110 described above be configured to determine the target movements for the first and second segments 151 and 152 under the condition that concurrent (simultaneous) performance of not more than two of the following is permitted (at any time): pivoting movement of the first segment 151 relative to the crane column 154, pivoting movement of the second segment 152 relative to the first segment 152, and length change of the second segment 152. For the details, it is referred to the above description of the limitation of the simultaneous movements by the processing circuitry 110. By restricting simultaneous movements to only two out of the three available actions, the crane arm 150's kinematic system is not over-constrained. This ensures that there is always a well-defined, solvable movement solution for the crane arm 150. Over-constraining the crane arm 150 would complicate calculations, increase computational load, and potentially lead to unstable or unpredictable crane arm behavior. Limiting the simultaneous movements reduces the computational effort needed to determine the necessary control actions. This ensures faster and more reliable calculations, contributing to the crane arm 150's overall stability and performance. The apparatus 300 may efficiently and predictably calculate the target movements without excessive processing requirements.

[0114] As described above, the first input data 301 indicate a user input for setting at least one of the target speed in the first spatial direction x 1 of the reference region 162 and the target speed in the second spatial direction x 2 of the reference region 162. The user input may be encoded in various ways. For example, the first input data 301 may be encoded with measured deflections of two control inputs for setting the target speeds in the first and second spatial directions x 1 and x 2 for the reference region 162 at a remote control for controlling the crane arm 150. The control inputs are elements on the remote control, such as a pair of levers or a single joystick, that the crane operator manipulates to indicate the desired target speed(s) and, hence, movement of the reference region 162. The first input data 301 show the extent of deflection (e.g., how far the lever or joystick is moved) to indicate the target speed in the specified spatial directions x 1 and x 2 for the reference region 162.

[0115] In these examples, the control circuitry 310 may be configured to determine the target speeds in the first and second spatial directions x 1 and x 2 for the reference region 162 of the second segment 152 based on the measured deflections. Accordingly, the control circuitry 310 may be configured to determine the target movements for the first and second segments 151 and 152 based on the determined target speeds. In other words, the processing circuitry 310 may use these measured deflections to determine (calculate) the target speeds in the first and second spatial directions x 1 and x 2 for the reference region 162. It may then determine the necessary target movements for the crane arm segments 151 and 152 to execute these speeds.

[0116] The use of simple, intuitive control inputs (such as a pair of levers or a single joystick) makes the crane arm 150 easy for operators to use, even those with little training. The described control setup ensures that the operation is straightforward and easy to understand. This minimizes the cognitive load on the operator and reduces the likelihood of errors.

[0117] As described above, the lifting device 190 may be mounted to a vehicle. Fig. 4 illustrates a truck as an exemplary vehicle 400 having mounted thereon the lifting device 190 described above. The crane arm 150 of the lifting device 190 is controlled by one of the apparatuses 100 and 300 described above.

[0118] Compared to conventional vehicles, the advanced crane arm control together with the user-friendly interface (e.g., joysticks, linear levers, or touch-sensitive displays) simplify crane arm operation. The ability to perform various task such as loading and unloading heavy materials, moving construction components, or lifting equipment in hard-to-reach areas efficiently and safely makes the vehicle 400 highly valuable in various industries. The optional compensation features, such as adjusting for ground inclination, are further beneficial. These features help ensure that lifting operations are safe and stable, even when the vehicle 400 is not on level ground. This reduces the risk of accidents, such as tipping or load shifts, providing a safer working environment for operators and surrounding personnel.

[0119] Fig. 4 focuses on a truck as an exemplary vehicle. However, as indicated above, the present disclosure is not limited to trucks. The vehicle 400 may be any land vehicle (e.g., wheeled, tracked or railed, for example, a truck, a lorry or a crawler) or watercraft (e.g., a ship, a boat or a barge).

[0120] For further highlighting the crane arm control described above, Fig. 5 illustrates a flowchart of a method 500 for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The method 500 comprises receiving 502 input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment, a target speed in a second spatial direction of the reference region of the second segment, a target speed in the first spatial direction of a reference region of the third segment, and a target speed in the second spatial direction of the reference region of the third segment. The method 500 further comprises determining 504 target movements for the first and second segments based on the input data related to the reference region of the second segment, to determine movement of the reference region of the second segment corresponding to the user input. Additionally, the method 500 comprises determining 506 a target movement for the third segment based on the input data related to the reference region of the third segment, to determine movement of the reference region of the third segment according to the user input. The method 500 comprises controlling 508 actuators of the crane arm to move at least one of the first to third segments according to the determined target movements.

[0121] Analogously to what is described above, the method 500 may enable highly accurate and coordinated motion. Crane arm operation may be simplified by allowing the user to input desired speeds and directions rather than managing each segment's movement manually. The method 500 offers a balance between ease of use and precise, responsive performance.

[0122] More details and aspects of the method 500 are explained in connection with the proposed technique or one or more examples described above (e.g., Fig. 1, Fig. 2 or Fig. 4). The method 500 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above.

[0123] Fig. 6 illustrates a flowchart of another method 600 for controlling a crane arm in accordance with the above described crane arm control. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The method 600 comprises receiving 602 input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment and a target speed in a second spatial direction of the reference region. The method 600 further comprises determining 604 target movements for the first and second segments based on the input data to determine movement of the reference region corresponding to the user input. In addition, the method 600 comprises determining 606 a target pivoting movement for the third segment relative to the second segment to maintain an inclination of the third segment relative to a predefined plane while the target movements for the first and second segments are performed. The method 600 comprises controlling 608 actuators of the crane arm to move the first and second segments according to the determined target movements and pivot the third segment according to the determined target pivoting movement.

[0124] Analogously to what is described above, the method 600 may allow simplification of the crane arm operation. Furthermore, the overall workload may be reduced to allow the operator to focus more on positioning the first reference region accurately. It also speeds up operations, as fewer manual adjustments are needed.

[0125] More details and aspects of the method 600 are explained in connection with the proposed technique or one or more examples described above (e.g., Fig. 3 and Fig. 4). The method 600 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above.

[0126] The examples described herein may be summarized as follows: An example (e.g., example 1) relates to an apparatus for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The apparatus comprises processing circuitry configured to receive input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment, a target speed in a second spatial direction of the reference region of the second segment, a target speed in the first spatial direction of a reference region of the third segment, and a target speed in the second spatial direction of the reference region of the third segment. The processing circuitry is further configured to determine target movements for the first and second segments based on input data related to the reference region of the second segment, to determine movement of the reference region of the second segment corresponding to the user input. Additionally, the processing circuitry is configured to determine a target movement for the third segment based on input data related to the reference region of the third segment, to determine movement of the reference region of the third segment according to the user input. The processing circuitry is configured to control actuators of the crane arm to move at least one of the first to third segments according to the determined target movements.

[0127] Another example (e.g., example 2) relates to a previous example (e.g., example 1) or to any other example, wherein the processing circuitry is configured to determine the target movement for the third segment independently from the target movements for the first and second segments.

[0128] Another example (e.g., example 3) relates to a previous example (e.g., one of the examples 1 or 2) or to any other example, wherein the processing circuitry is configured to: receive second input data indicating sensor measurement values for at least one of an angle between the first segment and the crane column, angles between subsequent segments of the first to third segments, and a respective extension of extendable segments among the first to third segments; determine a positioning of the crane arm based on the second input data; and determine at least part of the target movements for the first to third segments further based on the determined positioning of the crane arm.

[0129] Another example (e.g., example 4) relates to a previous example (e.g., example 3) or to any other example, wherein the processing circuitry is configured to determine the positioning of the crane arm taking into account bending of the crane arm.

[0130] Another example (e.g., example 5) relates to a previous example (e.g., one of the examples 1 to 4) or to any other example, wherein the processing circuitry is configured to: receive third input data indicating sensor measurement values for an inclination of a lifting device carrying the crane arm, and optionally a slewing angle of the crane arm relative to the lifting device; and determine at least part of the target movements for the first to third segments further based on the third input data to compensate for the inclination of the lifting device.

[0131] Another example (e.g., example 6) relates to a previous example (e.g., one of the examples 1 to 5) or to any other example, wherein the processing circuitry is configured to: receive fourth input data indicating movement constraints for at least one of the first to third segments; and determine at least part of the target movements for the first to third segments further based on the fourth input data.

[0132] Another example (e.g., example 7) relates to a previous example (e.g., one of the examples 1 to 6) or to any other example, wherein the third segment is extendable, and wherein the target movement for the third segment comprises one or more of a target pivoting movement for the third segment relative to the second segment, and a target length change for the third segment.

[0133] Another example (e.g., example 8) relates to a previous example (e.g., one of the examples 1 to 7) or to any other example, wherein the second segment is extendable, and wherein the target movement for the second segment comprises one or more of a target pivoting movement for the second segment relative to the first segment, and a target length change for the second segment.

[0134] Another example (e.g., example 9) relates to a previous example (e.g., example 8) or to any other example, wherein the target movement for the first segment is a target pivoting movement for the first segment relative to the crane column, and wherein the processing circuitry is configured to determine the target movements for the first and second segments under the condition that concurrent performance of not more than two of the following is permitted: pivoting movement of the first segment relative to the crane column, pivoting movement of the second segment relative to the first segment, and length change of the second segment.

[0135] Another example (e.g., example 10) relates to a previous example (e.g., one of the examples 1 to 9) or to any other example, wherein the processing circuitry is further configured to: determine whether the third segment is in a predefined state, in response to determining that the third segment is in the predefined state; determine whether a user input related to the third segment is currently received; and in response to determining that no user response related to the third segment is currently received, determine the target pivoting movement for the third segment relative to the second segment to maintain an inclination of the third segment relative to a predefined plane while the target movements for the first and second segments are performed.

[0136] Another example (e.g., example 11) relates to a previous example (e.g., example 10) or to any other example, wherein the processing circuitry is configured to receive fifth input data indicating a predefined user input; and determine whether the third segment is in the predefined state in response to receiving the predefined user input.

[0137] Another example (e.g., example 12) relates to a previous example (e.g., one of the examples 1 to 11) or to any other example, wherein the input data are encoded with measured deflections of control inputs for setting the target speeds in the first and second spatial directions for the reference regions of the second and third segments at a remote control for controlling the crane arm, and wherein the control circuitry is configured to: determine the target speeds in the first and second spatial directions for the reference regions of the second and third segments based on the measured deflections; and determine the target movements for the first to third segments based on the determined target speeds.

[0138] An example (e.g., example 13) relates to a remote control for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment and a third segment pivotably attached to the second segment. The remote control comprises a first control input for setting a target speed in a first spatial direction of a reference region of the second segment, a second control input for setting a target speed in a second spatial direction of the reference region of the second segment, a third control input for setting a target speed in the first spatial direction of a reference region of the third segment, and a fourth control input for setting a target speed in the second spatial direction of the reference region of the third segment. Additionally, the remote control comprises at least one sensor configured to measure deflections of the first, second, third and fourth control inputs. The remote control comprises an interface configured to output control data for the crane arm, wherein the control data indicate the measured deflections of the first, second, third and fourth control inputs.

[0139] Another example (e.g., example 14) relates to a previous example (e.g., example 13) or to any other example, wherein the first to fourth control inputs are implemented as linear control levers, each configured to move along a respective axis to set the target speed in the corresponding spatial direction.

[0140] Another example (e.g., example 15) relates to a previous example (e.g., example 13) or to any other example, wherein the first and second control inputs are implemented by a first joystick configured to set the target speed in the first and second spatial directions of the reference region of the second segment, and wherein the third and fourth control inputs are implemented by a second joystick configured to set the target speed in the first and second spatial directions of the reference region of the third segment.

[0141] Another example (e.g., example 16) relates to a previous example (e.g., example 13) or to any other example, wherein one of the first and second control inputs or the third and fourth control inputs is implemented as linear control levers, and the other is implemented by a joystick.

[0142] Another example (e.g., example 17) relates to a previous example (e.g., example 13) or to any other example, wherein at least one of the control inputs is a graphical element on a touch-sensitive display of the remote control, the touch-sensitive display being configured to receive a user input to set the target speed in the corresponding spatial direction.

[0143] An example (e.g., example 18) relates to an apparatus for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The apparatus comprises processing circuitry configured to receive input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment and a target speed in a second spatial direction of the reference region. The processing circuitry is further configured to determine target movements for the first and second segments based on the input data to determine movement of the reference region corresponding to the user input. In addition, the processing circuitry is configured to determine a target pivoting movement for the third segment relative to the second segment to maintain an inclination of the third segment relative to a predefined plane while the target movements for the first and second segments are performed. The processing circuitry is configured to control actuators of the crane arm to move the first and second segments according to the determined target movements and pivot the third segment according to the determined target pivoting movement.

[0144] Another example (e.g., example 19) relates to a previous example (e.g., example 17) or to any other example, wherein the predefined plane is determined by an orientation of a lifting device carrying the crane arm.

[0145] Another example (e.g., example 20) relates to a previous example (e.g., example 18) or to any other example, wherein the predefined plane is a ground plane on which a lifting device carrying the crane arm operates, and wherein the processing circuitry is configured to: receive second input data indicating sensor measurement values for an inclination of the lifting device, and optionally a slewing angle of the crane arm relative to the lifting device; and determine the target pivoting movement for the third segment further based on the second input data to compensate for the inclination of the lifting device.

[0146] Another example (e.g., example 21) relates to a previous example (e.g., one of the examples 18 to 20) or to any other example, wherein the processing circuitry is configured to: receive third input data indicating sensor measurement values for at least one of an angle between the first segment and the crane column, angles between subsequent segments of the first to third segments, and a respective extension of extendable segments among the first to third segments; determine a positioning of the crane arm based on the second input data; and determine at least one of the target movement for the first segment, the target movement for the second segment and the target pivoting movement for the third segment based on the determined positioning of the crane arm.

[0147] Another example (e.g., example 22) relates to a previous example (e.g., example 21) or to any other example, wherein the processing circuitry is configured to determine the positioning of the crane arm taking into account bending of the crane arm.

[0148] Another example (e.g., example 23) relates to a previous example (e.g., one of the examples 18 to 22) or to any other example, wherein the processing circuitry is configured to: receive second input data indicating sensor measurement values for an inclination of a lifting device carrying the crane arm, and optionally a slewing angle of the crane arm relative to the lifting device; and determine at least one of the target movement for the first segment and the target movement for the second segment further based on the second input data to compensate for the inclination of the lifting device.

[0149] Another example (e.g., example 24) relates to a previous example (e.g., one of the examples 18 to 23) or to any other example, wherein the processing circuitry is configured to: receive fourth input data indicating movement constraints for at least one of first to third segments; and determine at least one of the target movement for the first segment, the target movement for the second segment and the target pivoting movement for the third segment further based on the fourth input data.

[0150] Another example (e.g., example 25) relates to a previous example (e.g., one of the examples 18 to 24) or to any other example, wherein the second segment is extendable, and wherein target movement for the second segment comprises one or more of a target pivoting movement for the second segment relative to the first segment, and a target length change for the second segment.

[0151] Another example (e.g., example 26) relates to a previous example (e.g., example 25) or to any other example, wherein the target movement for the first segment is a target pivoting movement for the first segment relative to the crane column, and wherein the processing circuitry is configured to determine the target movements for the first and second segments under the condition that concurrent performance of not more than two of the following is permitted: pivoting movement of the first segment relative to the crane column, pivoting movement of the second segment relative to the first segment, and length change of the second segment.

[0152] Another example (e.g., example 27) relates to a previous example (e.g., one of the examples 18 to 26) or to any other example, wherein the input data are encoded with measured deflections of two control inputs for setting the target speeds in the first and second spatial directions for the reference region at a remote control for controlling the crane arm, and wherein the control circuitry is configured to: determine the target speeds in the first and second spatial directions for the reference region based on the measured deflections; and determine the target movements for the first and second segments based on the determined target speeds.

[0153] An example (e.g., example 28) relates to a lifting device comprising: a crane arm, wherein the crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment and a third segment pivotably attached to the second segment; and an apparatus for controlling the crane arm according to a previous example (e.g., one of the examples 1 to 27) or to any other example.

[0154] Another example (e.g., example 29) relates to a previous example (e.g., example 28) or to any other example, wherein the lifting device is a knuckle boom crane.

[0155] An example (e.g., example 30) relates to a vehicle having mounted thereon a lifting device according to a previous example (e.g., example 28 or example 29) or to any other example.

[0156] An example (e.g., example 31) relates to a method for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The method comprises receiving input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment, a target speed in a second spatial direction of the reference region of the second segment, a target speed in the first spatial direction of a reference region of the third segment, and a target speed in the second spatial direction of the reference region of the third segment. The method further comprises determining target movements for the first and second segments based on the input data related to the reference region of the second segment, to determine movement of the reference region of the second segment corresponding to the user input. Additionally, the method comprises determining a target movement for the third segment based on the input data related to the reference region of the third segment, to determine movement of the reference region of the third segment according to the user input. The method comprises controlling actuators of the crane arm to move at least one of the first to third segments according to the determined target movements.

[0157] An example (e.g., example 32) relates to a method for controlling a crane arm. The crane arm comprises a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment. The method comprises receiving input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment and a target speed in a second spatial direction of the reference region. The method further comprises determining target movements for the first and second segments based on the input data to determine movement of the reference region corresponding to the user input. In addition, the method comprises determining a target pivoting movement for the third segment relative to the second segment to maintain an inclination of the third segment relative to a predefined plane while the target movements for the first and second segments are performed. The method comprises controlling actuators of the crane arm to move the first and second segments according to the determined target movements and pivot the third segment according to the determined target pivoting movement.

[0158] Another example (e.g., example 33) relates to a non-transitory machine-readable medium having stored thereon a program having a program code for performing the method according to a previous example (e.g., example 31 or example 32) or to any other example, when the program is executed on a processor or a programmable hardware.

[0159] Another example (e.g., example 34) relates to a program having a program code for performing the method according to a previous example (e.g., example 31 or example 32) or to any other example, when the program is executed on a processor or a programmable hardware.

[0160] The aspects and features described in relation to a particular one of the previous examples may also be combined with one or more of the further examples to replace an identical or similar feature of that further example or to additionally introduce the features into the further example.

[0161] Examples may further be or relate to a (computer) program including a program code to execute one or more of the above methods when the program is executed on a computer, processor or other programmable hardware component. Thus, steps, operations or processes of different ones of the methods described above may also be executed by programmed computers, processors or other programmable hardware components. Examples may also cover program storage devices, such as digital data storage media, which are machine-, processor- or computer-readable and encode and / or contain machine-executable, processor-executable or computer-executable programs and instructions. Program storage devices may include or be digital storage devices, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media, for example. Other examples may also include computers, processors, control units, (field) programmable logic arrays ((F)PLAs), (field) programmable gate arrays ((F)PGAs), graphics processor units (GPU), ASICs, integrated circuits (ICs) or SoC systems programmed to execute the steps of the methods described above.

[0162] It is further understood that the disclosure of several steps, processes, operations or functions disclosed in the description or claims shall not be construed to imply that these operations are necessarily dependent on the order described, unless explicitly stated in the individual case or necessary for technical reasons. Therefore, the previous description does not limit the execution of several steps or functions to a certain order. Furthermore, in further examples, a single step, function, process or operation may include and / or be broken up into several sub-steps, -functions, -processes or -operations.

[0163] If some aspects have been described in relation to a device or system, these aspects should also be understood as a description of the corresponding method. For example, a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.

[0164] The following claims are hereby incorporated in the detailed description, wherein each claim may stand on its own as a separate example. It should also be noted that although in the claims a dependent claim refers to a particular combination with one or more other claims, other examples may also include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly proposed, unless it is stated in the individual case that a particular combination is not intended. Furthermore, features of a claim should also be included for any other independent claim, even if that claim is not directly defined as dependent on that other independent claim.

Claims

1. An apparatus (100) for controlling a crane arm (150), the crane arm (150) comprising a first segment (151) pivotably attached to a crane column, a second segment (152) pivotably attached to the first segment (151), and a third segment (153) pivotably attached to the second segment (152), the apparatus (100) comprising processing circuitry (110) configured to: receive input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region (162) of the second segment (152), a target speed in a second spatial direction of the reference region (162) of the second segment (152), a target speed in the first spatial direction of a reference region (163) of the third segment (153), and a target speed in the second spatial direction of the reference region (163) of the third segment (153); determine target movements for the first and second segments (151, 152) based on input data related to the reference region (162) of the second segment (152), to determine movement of the reference region (162) of the second segment (152) corresponding to the user input; determine a target movement for the third segment (153) based on input data related to the reference region (163) of the third segment (153), to determine movement of the reference region (163) of the third segment (153) according to the user input; and control actuators of the crane arm (150) to move at least one of the first to third segments (151, 152, 153) according to the determined target movements.

2. The apparatus (100) of claim 1, wherein the processing circuitry (110) is configured to determine the target movement for the third segment (153) independently from the target movements for the first and second segments (151, 152).

3. The apparatus (100) of claim 1 or claim 2, wherein the processing circuitry (110) is configured to: receive second input data indicating sensor measurement values for at least one of an angle between the first segment (151) and the crane column, angles between subsequent segments of the first to third segments (151, 152, 153), and a respective extension of extendable segments among the first to third segments (151, 152, 153); determine a positioning of the crane arm (150) based on the second input data; and determine at least part of the target movements for the first to third segments (151, 152, 153) further based on the determined positioning of the crane arm (150).

4. The apparatus (100) of claim 3, wherein the processing circuitry (110) is configured to determine the positioning of the crane arm (150) taking into account bending of the crane arm (150).

5. The apparatus (100) of any one of claims 1 to 4, wherein the processing circuitry (110) is configured to: receive third input data indicating sensor measurement values for an inclination of a lifting device (190) carrying the crane arm (150), and optionally a slewing angle of the crane arm (150) relative to the lifting device (190); and determine at least part of the target movements for the first to third segments (151, 152, 153) further based on the third input data to compensate for the inclination of the lifting device (190).

6. The apparatus (100) of any one of claims 1 to 5, wherein the processing circuitry (110) is configured to: receive fourth input data indicating movement constraints for at least one of the first to third segments (151, 152, 153); and determine at least part of the target movements for the first to third segments (151, 152, 153) further based on the fourth input data.

7. The apparatus (100) of any one of claims 1 to 6, wherein the third segment (153) is extendable, and wherein the target movement for the third segment (153) comprises one or more of a target pivoting movement for the third segment (153) relative to the second segment (152), and a target length change for the third segment (153).

8. The apparatus (100) of any one of claims 1 to 7, wherein the second segment (152) is extendable, and wherein the target movement for the second segment (152) comprises one or more of a target pivoting movement for the second segment (152) relative to the first segment (151), and a target length change for the second segment (152).

9. The apparatus (100) of claim 8, wherein the target movement for the first segment (151) is a target pivoting movement for the first segment (151) relative to the crane column, and wherein the processing circuitry (110) is configured to determine the target movements for the first and second segments (151, 152) under the condition that concurrent performance of not more than two of the following is permitted: pivoting movement of the first segment (151) relative to the crane column, pivoting movement of the second segment (152) relative to the first segment (151), and length change of the second segment (152).

10. The apparatus (100) of any one of claims 1 to 9, wherein the processing circuitry (110) is further configured to: determine whether the third segment (153) is in a predefined state; in response to determining that the third segment (153) is in the predefined state, determine whether a user input related to the third segment (153) is currently received; and in response to determining that no user response related to the third segment (153) is currently received, determine the target pivoting movement for the third segment (153) relative to the second segment (152) to maintain an inclination of the third segment (153) relative to a predefined plane while the target movements for the first and second segments (151, 152) are performed.

11. The apparatus (100) of claim 10, wherein the processing circuitry (110) is configured to: receive fifth input data indicating a predefined user input; and determine whether the third segment (153) is in the predefined state in response to receiving the predefined user input.

12. The apparatus (100) of any one of claims 1 to 11, wherein the input data are encoded with measured deflections of control inputs for setting the target speeds in the first and second spatial directions for the reference regions (162, 163) of the second and third segments (152, 153) at a remote control for controlling the crane arm (150), and wherein the control circuitry is configured to: determine the target speeds in the first and second spatial directions for the reference regions (162, 163) of the second and third segments (152, 153) based on the measured deflections; and determine the target movements for the first to third segments (151, 152, 153) based on the determined target speeds.

13. A lifting device (190) comprising: a crane arm (150), wherein the crane arm (150) comprises a first segment (151) pivotably attached to a crane column, a second segment (152) pivotably attached to the first segment (151) and a third segment (153) pivotably attached to the second segment (152); and an apparatus (100, 300) for controlling the crane arm (150) according to one of claims 1 to 12.

14. A method (500) for controlling a crane arm, the crane arm comprising a first segment pivotably attached to a crane column, a second segment pivotably attached to the first segment, and a third segment pivotably attached to the second segment, the method (500) comprising: receiving (502) input data indicating a user input for setting at least one of a target speed in a first spatial direction of a reference region of the second segment, a target speed in a second spatial direction of the reference region of the second segment, a target speed in the first spatial direction of a reference region of the third segment, and a target speed in the second spatial direction of the reference region of the third segment; determining (504) target movements for the first and second segments based on input data related to the reference region of the second segment, to determine movement of the reference region of the second segment corresponding to the user input; determining (506) a target movement for the third segment based on the input data related to the reference region of the third segment, to determine movement of the reference region of the third segment according to the user input; and controlling (508) actuators of the crane arm to move at least one of the first to third segments according to the determined target movements.

15. A remote control (200) for controlling a crane arm (150), the crane arm (150) comprising a first segment (151) pivotably attached to a crane column, a second segment (152) pivotably attached to the first segment (151) and a third segment (153) pivotably attached to the second segment (152), the remote control (200) comprising: a first control input (210) for setting a target speed in a first spatial direction of a reference region (162) of the second segment (152); a second control input (220) for setting a target speed in a second spatial direction of the reference region (162) of the second segment (152); a third control input (230) for setting a target speed in the first spatial direction of a reference region (163) of the third segment (153); a fourth control input (240) for setting a target speed in the second spatial direction of the reference region (163) of the third segment (153); at least one sensor (250) configured to measure deflections of the first, second, third and fourth control inputs; and an interface (260) configured to output control data for the crane arm (150), wherein the control data indicate the measured deflections of the first, second, third and fourth control inputs.

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