Method for identifying load body

Abstract

To provide an improved method for identifying a load body lifted by a lifting device.SOLUTION: A method for determining a load body 3 lifted by a lifting device 1, preferably a loader crane, having a boom system 2 with a plurality of booms 4, 5, 6, 7, 8, 9 and a plurality of degrees of freedom of movement w, k1, k2, s1, s2, a, comprises determining at least once during the movement of the boom system 2 along at least one degree of freedom w, k1, k2, s1, s2, a of the boom system 2 with the lifted load body 3, a dynamic load moment of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 arising during this movement, and determining at least one load value for the lifted load body 3, taking the dynamic load moment into account.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] In the prior art, methods are known for identifying a load lifted by a lifting device, in which the lifting device must be brought to a preset position of the boom system of the lifting device. Also known are methods for identifying a load in which the lifting device is stationary. The methods known in the prior art impose additional demands on the user, since the movement of the lifting device and thus the work with the lifting device must be interrupted, since the lifting device must be brought to a preset position of the boom system in order to identify the lifted load, or the lifting device must be stationary in order to identify the load. This is disadvantageous due to the increased demands placed on the operation of the lifting device and the increased time and effort required to carry out the lifting process.

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

[0004] This problem is solved by a method for identifying a load lifted by a lifting device having the features of claim 1, a control device for a lifting device for implementing such a method, a lifting device equipped with such a control device, a vehicle equipped with such a lifting device, and a computer program product for implementing such a method.

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

[0006] The method according to the invention may perform the identification of a load lifted by a lifting device with a boom system with multiple booms and multiple degrees of freedom of movement. The method may preferably perform the identification of a load lifted by a loader crane with a boom system with multiple booms and multiple degrees of freedom of movement.

[0007] The lifting device may have a boom system with a boom having a variable geometry, and during the movement of the lifting device the booms of the boom system may be movable along at least one degree of freedom relative to one another by at least one actuator. The boom system may for example have a crane column, a lifting boom, a folding boom with at least one crane telescopic boom, at least one folding boom extension with at least one crane telescopic boom and / or a jib extension.

[0008] The movement along a degree of freedom may be performed by an actuator corresponding to this degree of freedom. For example, two booms that are pivotally supported relative to one another may be pivoted relative to one another by one actuator. Two booms that are slidably supported relative to one another may be slid relative to one another by one actuator.

[0009] The actuators for moving the lifting device and / or the boom system of the lifting device may be of electric and / or hydraulic design.

[0010] The degrees of freedom of the boom system may essentially include the angle of the booms of the boom system relative to each other and the length of the boom, which may be variable in length. The boom system may have a degree of freedom of rotation by means of a pivotable bearing at the base.

[0011] The value of the degree of freedom of movement may be detectable by suitable sensors, e.g. angle sensors, position sensors relative to the length of the variable length boom and / or the variable length actuator, and may be supplied to a control device of the lifting device in the form of at least one sensor signal.

[0012] The lifting device may be controlled by controlling the actuators by control commands output from the control device. In this case, the actuators of the lifting device may be controlled intentionally based on the operating command of a user by corresponding control commands output from the control device. The control device may have a suitable user interface or man-machine interface for outputting the operating command by the user.

[0013] The control device may be remotely operable by a remote control device, in which case the remote control device may have at least one user interface for output of operating instructions by a user. Based on the operating instructions, the control device may generate control commands for controlling the lifting device.

[0014] The control device may essentially comprise at least one computing unit and at least one storage unit, the computing unit being data-connected or data-connectable to the storage unit.

[0015] The user interface of the control device and / or the remote control device may be menu-guided and / or may be formed with an input mask in the form of a user guide with a graphical, character-oriented or voice-oriented user surface. Via the user interface, in particular the input means, setting of at least one parameter for the relative position of the at least one trigger interface relative to the lifting device may take place.

[0016] The lifting device may have at least one working implement that can be arranged on a boom system. By working implement, it is basically meant an attachment that can be arranged on the boom system for manipulating an object or object, for example a load to be lifted. The boom system and the working implement, preferably at least one movable member of the working implement, may be controlled separately from one another or together by corresponding control commands. In an exemplary configuration, the working implement may be formed as a gripper with two or more gripper jaws or gripper shells that are movable relative to one another. The working implement may be formed in the form of a rotator for moving another working implement relative to the boom system. The movement of the at least one working implement may be drivable by corresponding actuators.

[0017] The movement of the lifting device may be performed by substantially free control of the actuators by the user, preferably by outputting operating commands via a suitable user interface or man-machine interface of the control device. In this case, for example, individual actuators of the lifting device may be controlled by corresponding control commands, for example output from the control device, intentionally based on the operating commands of the user. The movement of the lifting device may also be performed in the form of coordinate control of the boom system (also called "boom tip control"), in which case the individual actuators of the boom system are controlled by the control device in such a way that the user controls the behavior of the crane tip of the boom system, instead of controlling the individual actuators themselves as is customary.

[0018] During movement of the boom system along at least one degree of freedom of the boom system with a lifted load, at least one determination of a dynamic load moment of the boom of the boom system occurring during this movement may be performed, and at least one load value for the lifted load may be determined taking into account the dynamic load moment.

[0019] Dynamic load moments may be imparted by the loads on the boom of the boom system due to their inherent mass and displacement during movement of the boom system, the size or mass of the load being lifted and its displacement, and additional load moments may be imparted by the actuators and work implements.

[0020] Furthermore, acceleration forces occurring during movement can contribute to the dynamic load moment. During a substantially uniformly progressing movement, the acceleration forces occurring can be significantly smaller than the weight imparted by the specific mass of the boom or the load mass.

[0021] The user of the lifting equipment no longer needs to reach a preset position on the boom system or interrupt the movement of the lifting equipment and thus the work with the lifting equipment in order to identify the load value.

[0022] During movement of the boom system, substantially freely selectable movement along at least one degree of freedom may occur.

[0023] The amount of displacement may be given, for example, by the horizontal or radial spacing from a vertical axis of the boom system, preferably a vertical pivot axis of a support of the boom system.

[0024] Determination carried out during movement makes it possible, for example, that bearing friction at the bearing points of the boom of the boom system does not influence the determination of the dynamic load moment as much as during static measurements at rest.

[0025] The load value may be a value with units relative to the mass of the load lifted by the lifting device.

[0026] The weighting values ​​determined by the method may be displayed visually or audibly to the user.

[0027] By determining the at least one load value, it is possible, for example, to determine the total number of loads that are lifted or lowered during operation of the lifting device.

[0028] The determination of the at least one load value may be performed essentially continuously, for example at a predefined clock frequency, which may indicate how often the determination is performed within a predefined time interval.

[0029] The determination of the dynamic load moment occurring during the movement may be performed by a control device of the lifting device, for example a computing unit of the control device may execute instructions for causing the control to determine the dynamic load moment occurring during the movement.

[0030] The determination of the at least one load value may be performed by a control device of the lifting device, for example a calculation unit of the control device may execute instructions for the control to determine at least one load value for the lifted load, taking into account at least the dynamic load moment.

[0031] Identifying the at least one load value of the load lifted by the lifting device may include recording the at least one load value in a sequence of load values, where a repeated identification of the at least one load value of the load lifted by the lifting device may be performed, where the repeatedly identified load values ​​in the sequence of load values ​​may be recorded, where the sequence of load values ​​may correspond to a chronological collection of the recorded load values.

[0032] The recording of at least one load value in the sequence of load values ​​may be performed continuously, for example at a predefined clock frequency, which may indicate how often the recording occurs within a predefined time interval.

[0033] The recording of at least one load value in the series of load value sequences may be performed during a movement of the lifting device with a lifted load. Analogously, the recording of at least one load value in the series of load value sequences may be performed during a movement of the lifting device without a load being applied to the lifting device.

[0034] The determination of the at least one load value and the recording of the at least one load value in the series of load values ​​may essentially take place during the entire operation of the lifting device.

[0035] For example, the determining of the at least one load value and the recording of the at least one load value in the sequence of load values ​​may occur continuously during substantially the entire period of movement of the boom system.

[0036] A selection of at least one recorded weight value from the string of weight values ​​may be made depending on a selection criterion.

[0037] From the at least one selected load value, a corrected load value that is assignable to the load lifted by the lifting device may be identified.

[0038] The determination of the corrected load values ​​from the selected load values ​​makes it possible, for example, to factor into the determination load values ​​determined for at least partially identical or similar positions of the boom system of the lifting device and / or movements of the boom system of the lifting device within a predefined range, which may relate to one or more intervals of values ​​of the degree of freedom of movement of the boom system.

[0039] The corrected weight value may be determined based on an arithmetic mean from the at least one weight value selected according to the at least one selection criterion. Preferably, the corrected weight value may be determined based on a weighted arithmetic mean, in which case the weighting may be performed according to the at least one selected selection criterion.

[0040] During movement of the boom system of the lifting device along at least one degree of freedom of movement of the boom system, at least one detection may be performed in at least one time interval of a value of at least one of the degrees of freedom of movement of the boom system occurring in the at least one time interval and at least one detection of at least one force acting on the boom system together with the load in the at least one time interval.

[0041] For detection of the at least one force, a suitable sensor may be provided.

[0042] Detection of the value of at least one of the degrees of freedom of movement of the boom system that occurs and detection of at least one force acting on the boom system together with the load in at least one time interval may be performed to identify a dynamic load moment of the boom of the boom system that occurs during the movement.

[0043] The selection and / or weighting of the at least one recorded weight value from the string of weight values ​​may include at least one of the following selection criteria:

[0044] The selection may be made according to a minimum and / or maximum duration for at least one time interval.

[0045] The selection may be made in response to a user setting a time interval, for example by interaction via at least one user interface of the control device of the lifting device.

[0046] The selection may be made depending on a minimum and / or maximum value and / or an interval for the detected values ​​of at least one of the degrees of freedom of the movement of the boom system, whereby it is possible to select the determined load values ​​for at least partially identical or similar positions of the boom system of the lifting device and / or movements of the boom system of the lifting device within a predetermined range.

[0047] The selection may be made depending on a minimum and / or maximum value and / or an interval for the at least one detected force, which allows the selection of a load value determined in the loaded state of the lifting device, or which is within a technically reasonable range, for example in order to eliminate an error signal of a sensor.

[0048] The selection may be made in response to a minimum and / or maximum value and / or interval for a rate of change of the detected value of at least one of the degrees of freedom of movement of the boom system, thereby allowing for the selection of a load value determined during an at least partially substantially uniform movement along the at least one degree of freedom of the boom system.

[0049] The selection may be made in response to a minimum and / or maximum value and / or interval for a rate of change of the at least one detected force, thereby allowing selection of the load value identified during at least a partially substantially uniform movement along at least one degree of freedom of the boom system.

[0050] To determine the load value, a reference quantity may be detected, in which case the lifting device may be stationary without a lifted load and / or may be put into motion without a lifted load.

[0051] In this case, at least one determination of the generated static inherent moment of the boom of the boom system may be performed during at least one static position of the boom system having a constant value of the degree of freedom of the boom system without a lifted load.

[0052] Alternatively or in combination, at least one determination may be made of the dynamic inherent moment of the boom of the boom system that occurs during movement of the boom system along at least one degree of freedom of the boom system without a lifted load.

[0053] At least one load value may be determined taking into account static and / or dynamic inherent moments.

[0054] In order to determine the dynamic inherent moment, at least one detection may be performed during at least one time interval during the movement of the boom system of the value of at least one of the degrees of freedom of the movement of the boom system occurring in this at least one time interval and at least one detection of the force acting on the boom system in the at least one time interval, in which case a specific zeroing of the load values ​​may essentially be performed.

[0055] In order to determine the dynamic load moment, at least one detection may be performed during at least one time interval during the movement of the boom system, of the value of at least one of the degrees of freedom of the movement of the boom system occurring in this at least one time interval, and at least one detection may be performed during the at least one time interval of the force acting on the boom system together with a reference load, in which case a specific calibration of the load values ​​may essentially be performed.

[0056] At least one load value may be determined taking into account the dynamic inherent moment and / or the dynamic load moment.

[0057] Similarly, at least one determination of the static load moment of the boom of the boom system may be performed in at least one static position of the boom system having a certain value of the degree of freedom of the boom system with a lifted load, alternatively or in combination, at least one determination of the static load moment of the boom of the boom system may be performed in at least one static position of the boom system having a certain value of the degree of freedom of the boom system with a lifted reference load. The static load moment thus determined may be included in the determination of at least one load value.

[0058] In this case, in order to determine the static load moment, at least one detection may be performed in at least one time interval during the movement of the boom system of the value of at least one degree of freedom of movement of the boom system occurring in this at least one time interval and at least one detection of at least one force acting on the boom system together with the load in the at least one time interval.

[0059] The load values ​​determined by the method may be displayed to a user, the display may take the form of a user-perceptible, in particular visual and / or acoustic, display of at least one load value for the lifted load.

[0060] Protection is also sought for a control device for a lifting device, comprising means for implementing the method described above.

[0061] The control device may be configured to perform at least one determination of a dynamic load moment of a boom of the boom system occurring during movement of the boom system along at least one degree of freedom of the boom system with a lifted load.

[0062] The controller may be configured to account for dynamic load moments to identify at least one load value for the lifted load.

[0063] Protection is also required for a lifting device having the above-mentioned control device. The lifting device can be configured as a loader crane or a timber crane. Preferably, the lifting device can be configured as a hydraulic crane.

[0064] The lifting device may be disposable on a transport vehicle to form a vehicle with the lifting device. The transport vehicle may have a loading area for the load. The transport vehicle may be disposed with at least one trailer having a loading area, which may be positionable relative to the lifting device.

[0065] Protection is also sought for a computer program product which may comprise instructions causing the aforementioned control device configured to carry out the method, preferably together with a lifting device equipped with corresponding sensors, to carry out the aforementioned method.

[0066] Instructions of the computer program product may, for example, be stored in at least one storage unit of the controller and executed by at least one computation unit of the controller.

[0067] The computer program product, when executed by a computing unit, - Determination of the dynamic load moment of the boom of the boom system, occurring during at least a movement of the boom system along at least one degree of freedom of the boom system with a lifted load, - Determination of at least one load value for the lifted load, taking into account the dynamic load moment The instruction may include instructions to:

[0068] Further details and advantages of the invention will be explained in more detail below with reference to the exemplary embodiment shown in the drawings and on the basis of the description of the drawings. [Brief description of the drawings]

[0069] [Figure 1] FIG. 2 shows a schematic flow diagram of a preferred implementation of the method. [Diagram 2] FIG. 1 is a diagram showing a configuration of a lifting device equipped with a control device. [Diagram 3] FIG. 2 is a schematic diagram of a lifting device. [Figure 4a]FIG. 2 is a schematic diagram of the movement of the lifting device. [Figure 4b] FIG. 2 is a schematic diagram of the movement of the lifting device. [Figure 4c] FIG. 2 is a schematic diagram of the movement of the lifting device. [Diagram 5] FIG. 1 is a diagram showing a configuration of a vehicle equipped with a lifting device.

[0070] In Fig. 1 a flow diagram of a preferred implementation of the method is shown. In Fig. 2 a configuration of a lifting device 1 with a control device 11 and with a lifted load 3 is shown, in which the degrees of freedom of movement w, k1, k2, s1, s2, a of a boom system 2 with several booms 4, 5, 6, 7, 8, 9 are shown. In Fig. 3 another schematic view of the lifting device 1 is shown. In Fig. 4a, 4b, 4c the sequence of movements of the lifting device 1 with the load 3 is shown. In Fig. 5 a configuration of a vehicle 17 with the lifting device 1 is shown.

[0071] FIG. 1 shows a schematic flow diagram of a preferred implementation of a method for identifying a load 3 lifted by a lifting device 1 having a boom system 2 with multiple booms 4, 5, 6, 7, 8, 9 and multiple degrees of freedom of movement w, k1, k2, s1, s2, a.

[0072] In this case, during a movement i of the boom system 2 along at least one degree of freedom w, k1, k2, s1, s2, a of the boom system 2 with a lifted load 3, at least one determination ii of the dynamic load moments of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 occurring during this movement may be performed. Such a movement i is illustrated, for example, in the flow charts of Figs. 4a-4c.

[0073] Taking into account the dynamic load moment, a determination iii of at least one load value m1 for the lifted load 3 may be made.

[0074] By repeating the steps ii of determining the dynamic load moments of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 arising during the movement and iii of determining at least one load value m1 for the lifted load 3 during the movement i of the boom system 2 along at least one degree of freedom w, k1, k2, s1, s2, a of the boom system 2 with a lifted load 3, further load values ​​m1, m2, m3 for the lifted load 3 may be determined.

[0075] Subsequently, a recording iv of at least one weight value m1, m2, m3 in the sequence of weight values ​​(m1, m2, m3) may be performed. A selection v of at least one recorded weight value m1, m2, m3 from the sequence of weight values ​​(m1, m2, m3) may be performed according to at least one preset or predefinable selection criterion, for example selecting two weight values ​​m2, m3 from the recorded weight values. An identification vi of a corrected weight value m may be performed from the at least one weight value m2, m3 selected according to the selection criterion.

[0076] For example, the determination vi of the corrected weight value m may be based on an arithmetic mean, preferably a weighted arithmetic mean, from at least one weight value m2, m3 selected according to at least one selection criterion.

[0077] FIG. 2 shows an arrangement of a lifting device 1 with a control device 11 and a sensor unit arranged on a boom system 2 of the lifting device 1.

[0078] The boom system 2 of the lifting device 1 in an exemplary configuration comprises a crane column 5 pivotally mounted in a base 4, a lifting boom 6 pivotally mounted on the crane column 5 and a folding boom 7 pivotally mounted on the lifting boom 6. In the illustrated position of the boom system 2, the lifting boom 6 is arranged on the crane column 5 with a first folding angle k1 and the folding boom 7 is arranged on the lifting boom 6 with a second folding angle k2. For pivoting the lifting boom 6 and the folding boom 7, actuators 14, 15 are provided. The folding boom 7 in the illustrated configuration comprises two telescopic booms 8, 9, which allow the length of the folding boom 7 to be varied. In the illustrated configuration, a freely suspended working implement 10 in the form of a gripper is arranged on the crane tip formed by the free end of the folding boom 7.

[0079] The sensor unit of the lifting device 1 includes a sensor d4 for detecting the rotation position w of the crane column 5 relative to the base 4, a sensor d1 for detecting the first bending angle k1, a sensor d2 for detecting the second bending angle k2, a telescopic position sensor l1 for detecting the telescopic position s1 of the first telescopic boom 8, and a second telescopic position sensor l2 for detecting the telescopic position s2 of the second telescopic boom 9.

[0080] The working device 3 arranged on the lifting device 1 and configured as a gripper has a sensor d3 for detecting the opening angle α.

[0081] For detecting at least one operating parameter of the actuators 14, 15 suitable sensors p1, p2 may be provided, for example pressure sensors or power sensors, capable of detecting forces acting on the actuators.

[0082] Sensors mounted on the lifting device 1 make it possible to detect the geometry of the boom system 2 .

[0083] In the illustrated configuration, the control device 11 may have a signal inlet for supplying a sensor signal via a signal line of the sensor and a signal outlet for outputting control commands to at least the actuators 14, 15. The control device 11 comprises a calculation unit 12 and a storage unit 13.

[0084] In figure 3 another schematic view of the lifting device 1 is shown. The configuration substantially corresponds to that of figure 2, in which the folding boom 7 is formed in this case from two telescopic booms 8, 9 for the sake of simplicity of illustration.

[0085] The load moment acting on the boom system 2 may be due to the load on the booms 4, 5, 6, 7, 8, 9 of the boom system 2 due to their inherent mass and displacement, and the dimensions or mass of the lifted load 3 and its displacement.

[0086] The load may involve the inherent mass and displacement of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 due to the mass of the centers of gravity SP6, SP8, SP9 of the booms 6, 8, 9 and their displacements r6, r8, r9. The load may involve the inherent mass of the centers of gravity SP15, SP10 of the actuator 15 and the work implement 10 and their displacements r15, r10. Finally, the mass of the center of gravity SP3 of the load 3 and its displacement r3 may be involved in the load.

[0087] The displacements r3, r6, r8, r9, r10, r15 may be given by the horizontal or radial spacing of the bearings of the boom system 2 from the vertical pivot axis as shown, and may be determined, for example, by triangulation based on known dimensions of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 and sensors mounted on the lifting device 1. The pivot axis of the bearings may extend through the crane column 5.

[0088] The flow charts of figures 4a, 4b and 4c show schematic diagrams of the lifting movement of the lifting device 1 with a load 3 fixed to a load cable 16. The configuration of the lifting device 1 may substantially correspond to the configuration of figures 2 or 3.

[0089] In figures 4a, 4b and 4c an exemplary movement i of the boom system 2 along one degree of freedom of the bending angle k2 is performed.

[0090] In order to determine the dynamic load moment, at least one detection may be performed in at least one time interval during the movement of the boom system 2 of the value of at least one degree of freedom k2 of the movement of the boom system 2 occurring in this at least one time interval and at least one detection of at least one force acting on the boom system 2 together with the load 3 in the at least one time interval. This allows a determination ii of the dynamic load moment of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 occurring during the movement and a determination iii of at least one load value m1, m2, m3 for the lifted load 3 taking this dynamic load moment into account.

[0091] A recording iv of the detected load values ​​m1, m2, m3 in the sequence of load values ​​may be performed, on the basis of which a selection v of at least one recorded load value m2, m3 from the load value sequence may be performed according to at least one preset or predefinable selection criterion. In the example of FIG. 4a, for example, the force detected by the sensor p1 may be below a minimum value. On this basis, it may be recognized, for example, that the load 3 has not yet been lifted and that the load value m1 determined for FIG. 4a does not represent the load mass. Subsequently, a corrected load value m may be determined vi from the at least one load value m2, m3 selected according to the selection criterion. Further selection criteria, for example, for the value and rate of change of the degree of freedom, the duration of the time interval and the value and rate of change of the force, may be utilized to select at least one load value from the determined load values ​​m1, m2, m3.

[0092] Similarly, - dynamic specific moment without lifted load, and / or - static specific moment without lifted load, and / or - the static load moment with a lifted load 3 in the form of a reference load with a known load mass, and / or - dynamic load moment with a lifted load 3 in the form of a reference load with known load mass may be determined and factored into the determination iii of at least one of the load values ​​m1, m2, m3.

[0093] FIG. 5 shows the configuration of a vehicle 17 on which the lifting device 1 is arranged. [Explanation of symbols]

[0094] 1 Lifting equipment 2 Boom System 3 Cargo 4. Bass 5 Crane column 6 Lifting boom 7 Folding boom 8 Telescopic boom 9 Telescopic boom 10 Work equipment 11 Control device 12 Computational Units 13. Storage Unit 14 Actuator 15 Actuators 16 Cargo Cable 17 Vehicles m1, m2, m3 load value m Load value w Turning angle k1, k2 bending angles s1,s2 expansion / contraction position α Opening angle p1,p2 sensor d1,d2,d3,d4 sensors l1, l2 length sensor r6, r8, r9 Displacement SP6,SP8,SP9 Center of gravity r10 Displacement SP10 center of gravity r15 Displacement SP15 center of gravity r3 Displacement SP3 center of gravity r14 Displacement i,ii,iii method part iv,v,vi method part

Claims

1. 1. A method for identifying a load (3) lifted by a lifting device (1), preferably a loader crane, with a boom system (2) having multiple booms (4, 5, 6, 7, 8, 9) and multiple degrees of freedom of movement (w, k1, k2, s1, s2, a), comprising: during a movement (i) of the boom system (2) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the boom system (2) with a lifted load (3), performing at least one determination (ii) of dynamic load moments of the booms (4, 5, 6, 7, 8, 9) of the boom system (2) occurring during said movement; (iii) determining at least one load value (m1, m2, m3) for the lifted load (3) taking into account the dynamic load moment; method.

2. (iv) recording said at least one load value (m1, m2, m3) in the sequence of load values; a selection (v) of at least one recorded load value (m1, m2, m3) from said load value sequence in response to at least one preset or predefinable selection criterion, identifying (vi) a corrected weight value (m) from the at least one weight value (m1, m2, m3) selected according to said selection criteria; The method of claim 1.

3. 3. The method according to claim 2, wherein the corrected weight value (m) is determined based on an arithmetic mean, preferably a weighted arithmetic mean, from the at least one weight value (m1, m2, m3) selected according to the at least one selection criterion.

4. 4. The method according to claim 2 or 3, further comprising at least one detection of a value of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2) occurring in the at least one time interval and at least one detection of at least one force acting on the boom system (2) together with the load (3) in the at least one time interval, in order to determine the dynamic load moment in at least one time interval during the movement of the boom system (2).

5. The at least one predefined or predefinable selection criterion is one of the following criteria: A minimum and / or maximum duration for the at least one time interval. Setting time intervals through user interaction a minimum and / or maximum value and / or interval for the detected value of the at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2); a minimum value and / or a maximum value and / or an interval for the at least one detected force; a minimum and / or maximum value and / or interval for the rate of change of the detected value of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2); a minimum value and / or a maximum value and / or an interval for the rate of change of the at least one detected force; The method of claim 4 , further comprising at least one of the following criteria:

6. 6. The method according to claim 4 or 5, wherein the at least one preset or predefinable selection criterion comprises at least one minimum and / or maximum value and / or interval for the rate of change of the detected value of at least one of the at least one degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2) in order to select at least one load value (m1, m2, m3) determined during an at least partially substantially uniform movement along the at least one degree of freedom (w, k1, k2, s1, s2, a) of the boom system (2).

7. 7. The method according to claim 4, wherein the at least one preset or predefinable selection criterion comprises at least one minimum and / or maximum value and / or interval for a rate of change of the at least one detected force in order to select at least one load value (m1, m2, m3) determined during an at least partially substantially uniform movement along at least one degree of freedom (w, k1, k2, s1, s2, a) of the boom system (2).

8. 8. The method according to claim 1, wherein the movement of the boom system (2) involves a substantially freely selectable movement along at least one degree of freedom (w, k1, k2, s1, s2, a).

9. performing at least one determination of the generated static inherent moments of the booms (4, 5, 6, 7, 8, 9) of the boom system (2) during at least one static position of the boom system (2) having constant values ​​of the degrees of freedom (w, k1, k2, s1, s2, a) of the boom system (2) without a lifted load; and / or determining at least once during a movement of the boom system (2) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the boom system (2) that occurs during said movement, without a lifted load, of the dynamic inherent moments of the booms (4, 5, 6, 7, 8, 9) of the boom system (2); determining the at least one load value (m1, m2, m3) by taking into account the static inherent moment and / or the dynamic inherent moment; 9. The method according to any one of claims 1 to 8.

10. and / or performing, during at least one time interval during the movement of the boom system (2), at least one detection of values ​​of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2) occurring during the at least one time interval, and at least one detection of forces acting on the boom system (2) during the at least one time interval, in order to determine a dynamic inherent moment; In order to determine the dynamic load moment, during at least one time interval during the movement of the boom system (2), at least one detection of a value of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2) occurring during the at least one time interval, and at least one detection of a force acting on the boom system (2) together with a reference load during the at least one time interval, determining the at least one load value (m1, m2, m3) by taking into account the dynamic inherent moment and / or the dynamic load moment; 10. The method according to any one of claims 1 to 9.

11. at least one determination of the static load moments of the booms (4, 5, 6, 7, 8, 9) of the boom system (2) in at least one static position of the boom system (2) with constant values ​​of the degrees of freedom (w, k1, k2, s1, s2, a) of the boom system (2) with a lifted load; and / or performing at least one determination of the static load moments of the booms (4, 5, 6, 7, 8, 9) of the boom system (2) in at least one static position of the boom system (2) having constant values ​​of the degrees of freedom (w, k1, k2, s1, s2, a) of the boom system (2) with a lifted reference load; The static load moment is included to determine the at least one load value (m1, m2, m3); 11. The method according to any one of claims 1 to 10.

12. The method according to claim 11, further comprising the steps of: determining, during at least one time interval during the movement of the boom system (2), a value of at least one of the degrees of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2) occurring during the at least one time interval; and detecting at least one force acting on the boom system (2) together with the load during the at least one time interval.

13. 13. The method according to claim 1, further comprising providing a user-perceptible, in particular visual and / or acoustic, indication of the at least one load value (m, m1, m2, m3) for the lifted load (3).

14. A control device (11) for a lifting device (1), comprising means for implementing the method according to any one of claims 1 to 13.

15. A lifting device (1), preferably a hydraulic crane, equipped with a control device (11) according to claim 14.

16. A vehicle (17) equipped with a lifting device (1) according to claim 15.

17. A computer program product, comprising: the lifting device (1) equipped with the control device (11) according to claim 15, for performing the following steps according to the method according to any one of claims 1 to 13: Determination of the dynamic load moments of the booms (4, 5, 6, 7, 8, 9) of the boom system (2) occurring during at least the movement of the boom system (2) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the boom system (2) with a lifted load (3). Determination of at least one load value (m1, m2, m3) for the lifted load (3) taking into account the dynamic load moment. A computer program product comprising instructions causing the execution of the

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