Methods for performing functions

Abstract

To perform a predefined or predefinable function of a hydraulic lifting device according to the trigger interface.SOLUTION: There is provided a method for: setting (i) at least one parameter for a relative position of a trigger interface relative to a lifting device by at least one sensor signal of the lifting device in data communication with a control device of the lifting device and / or by a user via at least one user interface of the control device of the lifting device; creating (ii) at least one trigger interface in response to the at least one parameter; and performing (iii) at least one predefined or predefinable function of the lifting device upon approach of a predefined or predefinable point of a boom system of the lifting device to the at least one trigger interface and / or upon passing of a predefined or predefinable point of a boom system of the lifting device through the at least one trigger interface.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method for implementing a predefined or predefinable function of a lifting device according to the preamble of claim 1, to a control device for a lifting device for implementing such a method, and to a lifting device equipped with such a control device.

[0002] In the prior art, methods are known for performing a predefined or predefinable function of a lifting device, in which the lifting device must be brought into a preset position of the boom system of the lifting device. Also known are methods for performing a predefined or predefinable function of a lifting device when the lifting device is in a stationary state. 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 into a preset position of the boom system in order to perform the predefined or predefinable function or the lifting device must be in a stationary state in order to perform the predefined or predefinable function. This is disadvantageous due to the increased demands imposed on the operation of the lifting device and the increased time and effort required to perform the lifting process.

[0003] The object of the present invention is to provide an improved method for implementing a predefined or predefinable function of a lifting device, as well as a control device for a lifting device for implementing such a method and a lifting device equipped with such a control device.

[0004] This problem is solved by a method for implementing a predefined or predefinable function of a lifting device having the features of claim 1, a control device for a lifting device for implementing such a method, and a lifting device equipped with such a control device.

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

[0006] The method according to the invention may perform a predefined or predefinable function of the lifting device as a function of at least one trigger interface. The method may preferably perform a predefined or predefinable function of a hydraulic lifting device.

[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] The method may include setting at least one parameter for the relative position of the at least one trigger interface relative to the lifting device. The setting may be performed by at least one sensor signal of a sensor of the lifting device in data communication with a control device of the lifting device. Alternatively or in combination, the setting may be performed by a user via at least one user interface of the control device of the lifting device.

[0019] The creation of the at least one trigger interface may be performed in response to at least one pre-defined parameter.

[0020] The trigger interface allows the implementation of at least one predefined or predefinable function of the lifting device upon approach of a preset or predefinable point of the boom system of the lifting device to the at least one trigger interface. Alternatively or in combination, the implementation of at least one predefined or predefinable function of the lifting device can be provided upon passage of a preset or predefinable point of the boom system of the lifting device over the at least one trigger interface.

[0021] The creation of the at least one trigger interface may be performed by a control device of the lifting device. The approach and / or passage detection may also be performed by the control device of the lifting device. In this case, for example, at least one parameter for the relative position of the at least one trigger interface relative to the lifting device may be storable in a storage unit. The approach and / or passage detection can be performed by values ​​of the degrees of freedom of movement of the boom system of the lifting device, which are supplied to the control device.

[0022] The at least one predefined or predefinable function of the lifting device may be implemented by a control device of the lifting device, for example a computing unit of the control device may implement instructions which cause the control to implement the at least one predefined or predefinable function upon recognition of the approach and / or passage.

[0023] The preset or predefinable point of the boom system of the lifting device may correspond to the tip of the boom system, the lifting device, in particular the position of a work implement arranged on the boom system, or a substantially freely selectable point of the boom system.

[0024] The execution of at least one predefined or predefinable function of the lifting device during the approach of a preset or predefinable point of the boom system of the lifting device to the at least one trigger interface and / or the passage of a preset or predefinable point of the boom system of the lifting device over the at least one trigger interface may be repeated substantially as frequently as desired, for example during repeated loading and unloading of the load, preferably during repeated loading and unloading of the load from the loading space.

[0025] The trigger interface may essentially be a substantially two-dimensional portion of a three-dimensional space, a two-dimensional geometric figure, or a defining surface of a three-dimensional object. The trigger interface may be at least partially flat and / or at least partially curved.

[0026] The trigger interface may be limited in at least one spatial direction, for example in height extension, longitudinal extension and / or radius.

[0027] By performing the function depending on the trigger interface, the user of the lifting equipment does not have to bring the lifting equipment to a preset position on the boom system or interrupt the movement of the lifting equipment and thus the work with the lifting equipment.

[0028] Upon repeated approach of a preset or predefinable point of the boom system of the lifting device to the at least one trigger interface and / or repeated passing of a preset or predefinable point of the boom system of the lifting device relative to the at least one trigger interface, during each repetition, at least partially identical or similar positions of the boom system of the lifting device within a predetermined range can be reached and / or the movement of the lifting device can be continued, the predetermined range may be related to one or more intervals of values ​​of the degree of freedom of movement of the boom system.

[0029] The user of the lifting device no longer needs to reach a preset position of the boom system or interrupt the movement of the lifting device and thus the work with the lifting device, either for a single or repeated performance of a function, but only needs to bring a preset or predefinable point of the boom system of the lifting device close to and / or pass through at least one trigger interface.

[0030] In one embodiment, during the creation of the at least one trigger interface, an interface may be created between at least a portion of an inner area of ​​a loading area of ​​the lifting device and at least a portion of an outer area of ​​the loading area of ​​the lifting device, whereby at least one parameter for the relative position of the at least one trigger interface relative to the lifting device may be predefined depending on the position of the loading area of ​​the lifting device provided for lowering a load raised by the lifting device.

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

[0032] Possible parameters for the relative position of at least one trigger interface relative to the lifting device may be pre-set depending on the longitudinal axis of the loading area and / or the longitudinal extension of the loading area and / or the lateral axis of the loading area and / or the lateral extension of the loading area.

[0033] The parameters for the relative position of the at least one trigger interface relative to the lifting device may be predefined, for example in the form of an angular position of the longitudinal axis of the load area and / or an angular position of a lateral axis of the load area relative to a predefined or predefinable spatial direction. In this case, the predefined or predefinable spatial direction may be related to the lifting device. For example, the predefined spatial direction may correspond to the longitudinal axis of a transport vehicle of the lifting device or may be related to this longitudinal axis.

[0034] The setting of at least one parameter for the relative position of the at least one trigger interface relative to the lifting device as a function of the position of the loading area may be performed by at least one sensor signal of a sensor of the lifting device in data communication with the control device of the lifting device. In this case, the angular position of the longitudinal axis of the loading area and / or the angular position of the lateral axis of the loading area relative to a preset or predefinable spatial direction may be detected. For example, the angular position of the longitudinal axis of the loading area relative to the longitudinal axis of the transport vehicle of the lifting device may be detected and predefined as a parameter. Alternatively or in combination, the setting of the parameter as a function of the position of the loading area may be performed by a user via at least one user interface of the control device of the lifting device. In this case, the angular position of the longitudinal axis of the loading area relative to the longitudinal axis of the transport vehicle of the lifting device may be predefinable by a user via at least one user interface of the control device of the lifting device, for example by inputting an angular position into an input mask of the user interface.

[0035] In one implementation of the method, - a stop of the lifting device with a loading area for lowering and loading the load of the hydraulic lifting device and / or the trailer with a loading area may be performed, - setting at least one parameter for a relative position of at least one trigger interface between at least a portion of an inner region of the at least one loading area and at least a portion of an outer region of the at least one loading area; - creating at least one trigger interface in response to at least one parameter; - The implementation of at least one predefined or predefinable function of the lifting device may be performed upon the approach of a predefined or predefinable point of the boom system of the lifting device to the at least one trigger interface and / or upon the passing of a predefined or predefinable point of the boom system of the lifting device to the at least one trigger interface.

[0036] Upon approach and / or passage, a function is performed for determining at least one load value of the load lifted by the hydraulic lifting device.

[0037] The load value may be a value with units relative to the mass of the load lifted by the hydraulic lifting device.

[0038] 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.

[0039] A single determination of at least one load value makes it possible, for example, to determine the total number of loads that have been lifted during operation of the lifting device.

[0040] The determination of the at least one load value may essentially be performed continuously, for example at a predefined clock frequency, which may indicate how often the determination is performed within a predefined time interval. The assignment of the load value to the lifted load may be performed by the implementation of a function upon approach and / or passage.

[0041] By the implementation of a function in the form of a determination of at least one load value of a load lifted by the hydraulic lifting device as a function of the approach and / or passage of the trigger interface, advantageous conditions of the position and / or movement of the lifting device for determining the at least one load value can be provided. By the implementation of a function upon the approach of a preset or predefinable point of the boom system of the lifting device to the at least one trigger interface and / or upon the passage of a preset or predefinable point of the boom system of the lifting device relative to the at least one trigger interface, a position of the boom system of the lifting device that is at least partially within a preset or predefinable range can be reached and / or the movement of the lifting device can be continued.

[0042] In this case, the user of the lifting device does not need to reach a preset position of the boom system or interrupt the movement of the lifting device and thus the work with the lifting device in order to determine the load value of the load body, but only needs to bring a preset or predefinable point of the lifting device boom system close to at least one trigger interface and / or pass a preset or predefinable point of the lifting device boom system through at least one trigger interface.

[0043] During the repeated determination of the at least one load value, for example during repeated loading and unloading of a load, for example during repeated loading and unloading of a load into a loading space, a preset or predefinable point of the boom system of the lifting device may approach the at least one trigger interface and / or a preset or predefinable point of the boom system of the lifting device may pass through the at least one trigger interface. In this case, during each repetition, at least partially identical or similar positions of the boom system of the lifting device within a predetermined range can be reached and / or the movement of the lifting device can be continued. Thus, for at least partially identical or similar positions of the boom system of the lifting device within a predetermined range and / or the movement of the boom system of the lifting device, the at least one load value determined during each repetition can be determined.

[0044] During approach and / or passage, movement of the boom system of the hydraulic lifting device along at least one degree of freedom of movement of the boom system with a lifted load may occur.

[0045] During movement of the boom system, a substantially freely selectable movement along at least one degree of freedom of movement of the boom system may occur.

[0046] During movement of the boom system, 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.

[0047] Dynamic load moments may be imparted by the load on the boom of the boom system due to its inherent mass and displacement occurring during movement of the boom system, and the size or mass of the load being lifted and its displacement.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] During the movement of the boom system without a lifted load, at least one determination of the dynamic load moment due to the specific mass of the boom of the boom system occurring during this movement is carried out, in which case it should not be excluded that at least one load value may be determined taking into account the dynamic load moment. Such a load value may be determined as a reference quantity for the unloaded lifting device.

[0052] Identifying the at least one load value of the load lifted by the hydraulic lifting device may include recording the at least one load value in a sequence of load values, where a repeated determination of the at least one load value of the load lifted by the hydraulic lifting device may be performed, where the repeated determined 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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 and during substantially the entire period of movement of the boom system.

[0057] A selection of at least one recorded load value from the load value sequence may be performed depending on the approach of a preset or predefinable point of the boom system of the lifting device to the at least one trigger interface and / or the passage of a preset or predefinable point of the boom system of the lifting device to the at least one trigger interface, whereby at least one load value determined upon the approach and / or passage may be selected from the load value sequence.

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

[0059] A load value assignable to a load lifted by the hydraulic lifting device may be identified from the at least one selected load value.

[0060] The determination of the load values ​​from the selected load values ​​makes it possible, for example, to take into account load values ​​determined for at least partially identical or similar positions and / or movements of the boom system of the lifting device within a given range of the boom system of the lifting device.

[0061] During the identification and recording of at least one load value continuously and during substantially the entire period of movement of the boom system, for example the load value identified during approach and / or passage may be selected.

[0062] The weight value may be determined based on an arithmetic average from the at least one selected weight value. Preferably, the weight value may be determined based on a weighted arithmetic average, in which case the weighting may be performed according to the at least one selected selection criterion.

[0063] During the approach and / or passage, a movement of a boom system of the hydraulic lifting device along at least one degree of freedom of movement of the boom system may be performed, and in at least one time interval during the movement of the boom system, at least one detection 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 in the at least one time interval may be performed.

[0064] For detection of the at least one force, a suitable sensor may be provided.

[0065] 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 may be performed to identify a dynamic load moment of the boom of the boom system that occurs during movement.

[0066] The time interval during which the detection of the value of at least one of the degrees of freedom of the movement of the boom system and the detection of at least one force acting on the boom system occur is at least - Before approach and / or passage - After approach and / or passage, or - Approach and / or Passage It may range up to.

[0067] 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:

[0068] The selection may be made according to a minimum and / or maximum duration for at least one time interval.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] The setting of the at least one parameter may be performed by outputting an operating command for moving a boom system with multiple booms along at least one of the degrees of freedom of movement via at least one user interface of the control device of the lifting device. In this case, for example, at least one point of the at least one trigger interface may be pre-set by a user positioning a pre-set or pre-settable point of the boom system of the lifting device by outputting an operating command for moving the boom system. Thereby, for example, at least one height, longitudinal extension, inclination, center point or spatial coordinates of a point of the at least one trigger interface may be pre-settable. Multiple parameters of the at least one trigger interface may be pre-settable.

[0075] Alternatively or in combination, the setting of the at least one parameter may be performed by a user via at least one user interface of the control device of the lifting device by inputting at least one spacing value and / or angle value for the relative position of the at least one triggering interface relative to the lifting device. Also, at least one height, longitudinal extension, inclination, centre point or spatial coordinates of a point of the at least one triggering interface may be predefinable. A plurality of parameters of the at least one triggering interface may be predefinable.

[0076] If the setting of the at least one parameter is performed by outputting an operating command, the determination of the at least one value of the at least one parameter that can be processed by the control device may be performed by the control device and at least one sensor signal of at least one sensor arranged or arrangeable in the lifting device and detectable by the control device of the lifting device.

[0077] The sensors located or deployable on the lifting device may generally include angle sensors, length sensors, position sensors and / or optical sensors, for example infrared sensors, ultrasonic sensors and / or cameras.

[0078] The performance of at least one predefined or predefinable function of the lifting device upon approaching the at least one trigger interface may take place within a predefined or predefinable interval of a predefined or predefinable point of a boom system of the lifting device, the setting being made via at least one user interface of the control device of the lifting device, for example by input of at least one interval value.

[0079] Protection is also sought for a control device for a lifting device, comprising means for implementing the method described above.

[0080] The control may be performed by at least one sensor signal of a sensor of the lifting device in data communication with a control device of the lifting device for setting at least one parameter for the relative position of at least one trigger interface relative to the lifting device, and / or may be configured by a user via at least one user interface of the control device of the lifting device.

[0081] The controller may be configured to create at least one trigger interface in response to at least one parameter.

[0082] The control device may be configured to perform at least one predefined or predefinable function of the lifting device upon approach of a predefined or predefinable point of the boom system of the lifting device to the at least one trigger interface and / or upon passing of a predefined or predefinable point of the boom system of the lifting device relative to the at least one trigger interface.

[0083] The computer program product may include instructions causing the aforementioned control device configured to perform the method, optionally arranged together with a lifting device preferably equipped with corresponding sensors, to perform the aforementioned method.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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]

[0088] [Figure 1] FIG. 2 is a diagram showing a schematic flow of the implementation of the method. [Diagram 2]FIG. 2 is a diagram showing a schematic flow of the implementation of the method. [Diagram 3] FIG. 2 is a diagram showing a schematic flow of the implementation of the method. [Figure 4] FIG. 1 shows a configuration of a lifting device with a control device and a trigger interface. [Diagram 5] FIG. 2 is a schematic diagram of a lifting device. [Figure 6a] FIG. 2 is a schematic diagram of the movement of the lifting device. [Figure 6b] FIG. 2 is a schematic diagram of the movement of the lifting device. [Figure 6c] FIG. 2 is a schematic diagram of the movement of the lifting device. [Figure 7] FIG. 1 is a diagram showing a configuration of a vehicle equipped with a lifting device. [Figure 8a] 1A-1D are schematic views of different configurations of a vehicle with a lifting device and a trailer; [Figure 8b] 1A-1D are schematic views of different configurations of a vehicle with a lifting device and a trailer; [Figure 9a] 1A-1D are schematic views of different configurations of a vehicle with a lifting device and a trailer; [Figure 9b] 1A-1D are schematic views of different configurations of a vehicle with a lifting device and a trailer; [Figure 10a] FIG. 2 is a schematic diagram of user interface selectability. [Figure 10b] FIG. 2 is a schematic diagram of user interface selectability. [Figure 10c] FIG. 2 is a schematic diagram of user interface selectability.

[0089] 1 to 3 show a schematic implementation of a flow chart for the implementation of predefined or predefinable functions. FIG. 4 shows a configuration of a lifting device 1 with a lifted load 3 and a control device 11 with a user interface 21, with the degrees of freedom of movement w, k1, k2, s1, s2, a of a boom system 2 with a number of booms 4, 5, 6, 7, 8, 9 and a trigger interface 20 positioned relative to the lifting device. FIG. 5 shows another schematic view of the lifting device 1. FIG. 6a to 6c show a schematic view of the movement of the lifting device 1. FIG. 7 shows a configuration of a vehicle 17 with a lifting device 1 arranged at the rear with a loading area 19. FIG. 8a and FIG. 8b show schematic views of different configurations of the vehicle 17 with the lifting device 1 and the trailer 23 when setting at least one parameter for the trigger interface 20. Figures 9a and 9b show schematic diagrams of different configurations of the vehicle 17 with the lifting device 1 and the trailer 23 when setting at least one parameter for the trigger interface 20. Figures 10a to 10c show schematic diagrams for the selection possibilities of the user interface 21.

[0090] FIG. 1 shows a schematic flow diagram of the implementation of a method for implementing a predefined or predefinable function of a lifting device 1 as a function of at least one trigger interface 20 .

[0091] In this case, at least one parameter for the relative position of at least one trigger interface 20 relative to the lifting device 1 may be set by at least one sensor signal of the lifting device 1 which is in data communication with the control device 11 of the lifting device 1 and / or set by a user via at least one user interface 21 of the control device 11 of the lifting device 1.

[0092] Depending on the at least one parameter a creation ii of at least one trigger interface 20 may take place. The setting i of the at least one parameter and the corresponding creation ii of possibly additional at least one trigger interface 20 may be carried out iteratively. Also, multiple trigger interfaces 20 may be created by the parameters.

[0093] Upon approach of a predetermined or predefinable point P of the boom system 2 of the lifting apparatus 1 to the at least one trigger interface 20 and / or upon passage of a predetermined or predefinable point P of the boom system 2 of the lifting apparatus 1 through the at least one trigger interface 20, execution iii of at least one predefined or predefinable function of the lifting apparatus 1 may take place. After execution iii of the at least one predefined or predefinable function of the lifting apparatus 1, it is possible to repeat the setting i of the at least one parameter and the corresponding creation ii of the at least one trigger interface 20.

[0094] FIG. 2 shows an implementation of a method for implementing a function for determining at least one load value m1, m2, m3 of a load 3 lifted by a hydraulic lifting device 1 during approach and / or passage.

[0095] During approach and / or passage, a movement of the boom system 2 of the hydraulic lifting device 1 along at least one degree of freedom w, k1, k2, s1, s2, a of the movement of the boom system 2 with the lifted load 3 may be performed, in which during the movement of the boom system 2, at least one determination of the dynamic load moment of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 occurring during this movement may be performed, in which at least one load value m1, m2, m3 for the lifted load 3 may be determined taking into account the dynamic load moment.

[0096] In this case, determination of at least one load value m1, m2, m3 for the lifted load 3 may be performed continuously during the movement of the boom system 2. Upon approach and / or passing, the assignment of the load value m1, m2, m3 to the lifted load 3 may be performed by the implementation of the function iii.

[0097] In this case, a recording iv of at least one load value m1, m2, m3 in a series of load values ​​(m1, m2, m3) may be performed, as shown diagrammatically in Fig. 3. Depending on the approach and / or passage, a selection v of at least one recorded load value m1, m2, m3 from the load value series (m2, m3) may be performed, and from the selected at least one load value m1, m2, m3 a corrected load value m may be determined vi.

[0098] FIG. 4 shows an arrangement of a lifting device 1 with a control device 11 and a sensor unit arranged on the boom system 2 of the lifting device 1.

[0099] 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.

[0100] In this configuration, the tip 18 of the folding boom 7 is predefined as point P of the boom system 2 for approaching and / or passing through the trigger interface 20. A point of the work implement 10 or a point along the boom system 2 can also be predefined.

[0101] 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.

[0102] The working device 3 arranged on the lifting device 1 and configured as a gripper has a sensor d3 for detecting the opening angle a.

[0103] 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.

[0104] Sensors mounted on the lifting device 1 make it possible to detect the geometry of the boom system 2 .

[0105] 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.

[0106] The control device has a user interface 21 suitable for setting at least one parameter i for the relative position of at least one trigger interface 20 relative to the lifting device 1. This user interface 21 may be data-connected to the control device 11 and / or to a remote control 22 of the control device 11 and 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 21, in particular the input means, the setting of at least one parameter for the relative position of the at least one trigger interface 20 relative to the lifting device 1 may take place.

[0107] The setting of the at least one parameter i via the at least one user interface 21 of the control device 11 of the lifting device 1 may in this configuration be effected by input of at least one distance value D and / or angle value N for the relative position of the at least one trigger interface 20 relative to the lifting device 1. The setting of the at least one parameter i of the at least one trigger interface 20 may be effected as illustrated in figures 8a, 8b, 9a, 9b.

[0108] The performance iii of at least one predefined or predefinable function of the lifting apparatus 1 upon approach to the at least one trigger interface 20 may take place within a predefined or predefinable interval x of a predefined or predefinable point P of the boom system 2 of the lifting apparatus 1. Such predefined or predefinable intervals x are shown for example in figures 4, 6c, 9a and 9b.

[0109] In figure 5 another schematic view of the lifting device 1 is shown. The configuration substantially corresponds to that of figure 4, in which the folding boom 7 is in this case formed from two telescopic booms 8, 9 for the sake of simplicity of illustration.

[0110] 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.

[0111] 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 4, 5, 6, 7, 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.

[0112] 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 2. The pivot axis of the bearings may extend through the crane column 5.

[0113] The flow charts of figures 6a, 6b and 6c 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 4 or 5.

[0114] In Fig. 6a, 6b and 6c an exemplary movement i of the boom system 2 along one degree of freedom w, k1, k2, s1, s2, a of the bending angle k2 is performed.

[0115] 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 of the degrees of freedom of movement w, k1, k2, s1, s2, a 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 the determination of the dynamic load moment of the booms 4, 5, 6, 7, 8, 9 of the boom system 2 occurring during the movement, which can be taken into account in the determination of at least one load value m1, m2, m3 for the lifted load 3.

[0116] Upon approaching and / or passing point P of the boom system 2, a function may be performed to determine at least one load value m1, m2, m3 of the load 3 lifted by the hydraulic lifting device 1. Continuously during the movement of the boom system 2, at least one load value m1, m2, m3 for the lifted load 3 may be determined and upon approaching and / or passing, the execution of the function may result in the assignment of the load value m1, m2, m3 to the lifted load 3.

[0117] A recording iv of the detected load values ​​m1, m2, m3 in the series of load values ​​may be made, and based on this a selection v of at least one recorded load value m2, m3 from the load value series may be made according to at least one selection criterion that is preset or can be preset.

[0118] Depending on the approach and / or passage, a selection v of at least one recorded load value m3 from the load value sequence may be made in Fig. 6c. Additionally, as a selection criterion, for example, the force detected by the sensor p1 in Fig. 6a 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 the load value m1 determined for Fig. 6a does not represent the load mass.

[0119] Subsequently, a corrected weight value m may be determined vi from the selected weight values ​​m2, m3. In particular, the determination vi of the corrected weight value m may be based on a weighted arithmetic average in which the selected weight value m3 is weighted more heavily as a function of the approach and / or passage.

[0120] For example, further selection criteria 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 of the identified load values ​​m1, m2, m3.

[0121] Similar to the determination of dynamic load moments, - 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.

[0122] 7 shows a configuration of a vehicle 17 with a lifting device 1 with a boom system 2 arranged at the rear along the longitudinal axis of the vehicle 17. The vehicle 17 and thus the lifting device 1 may have a loading area 19 for a load 3.

[0123] The vehicle 17 with the lifting arrangement 1 may be arranged with at least one trailer 23 having a loading area 19, as shown diagrammatically in Figures 8a and 8b, which trailer 23 may be positionable relative to the lifting arrangement 1, as shown. To detect the angular position of the trailer 23 relative to the vehicle 17, the lifting arrangement 1 may have a sensor d5.

[0124] In one configuration, during creation ii of the trigger interface 20, an interface may be created between at least a portion of an inner area of ​​the load area 19 of the lifting device 1 and at least a portion of an outer area of ​​the load area 19 of the lifting device 1. In this case, at least one parameter for the relative position of the at least one trigger interface 20 relative to the lifting device 1 may be settable depending on the position of the load area 19 of the lifting device 1.

[0125] The setting of at least one parameter i for the relative position of at least one trigger interface 20 relative to the lifting device 1 can take place in the example of Fig. 8a by a sensor d5 for detecting the angular position of the trailer 23 relative to the vehicle 17. In the example of Fig. 8b, this can also take place by a movement of the boom system 2. In Fig. 8b, the trigger interface 20 for the load area 19 of the lifting device 1 and the trigger interface 20 for the load area 19 of the trailer 23 can also be pre-set by a movement of the boom system 2, the position of the boom system 2 used for this being additionally shown.

[0126] Alternatively or in combination, the setting of parameters i depending on the position of the loading area 19 may be performed by the user via at least one user interface of the control device 11 of the lifting device 1, as shown in Figures 9a and 9b.

[0127] This may be done by outputting an operating command for moving the boom system 2. This generally allows substantially presetting at least one point of the trigger interface 20. In the example of FIG. 9a, the movement of the boom system 2 may predefine a center point M and a radius R of the circular, in particular cylindrical, trigger interface 20 relative to the loading area 19 of the trailer 23, the position of the boom system 2 used for this being additionally shown. In the example of FIG. 9b, the movement of the boom system 2 may predefine an angle value N of the angular position of the trigger interface 20 relative to the loading area 19 of the trailer 23. Parameters processable by the control device 11 for the relative position of the at least one trigger interface 20 relative to the lifting device 1 may be generated by sensors of the lifting device 1.

[0128] As shown in Figures 10a and 10c, the user interface 21 of the control device 11 and / or the remote control device 22 of the control device 11 may be designed to be character-oriented. Figures 10a, 10b and 10c may represent display options of the user interface 21 which the user may select in case of a substantially linear arrangement of the vehicle 17 with the lifting device 1 and the trailer 23 with the loading area 19, in case of no trailer 23 being present or in case of an arrangement different from the linear arrangement. [Explanation of symbols]

[0129] 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 Actuator 16 Cargo Cable 17 Vehicles 18 Tip 19 Loading area 20 Trigger Interface 21 User Interface 22 Wireless remote control device 23 Trailer P point D Interval Value N angle value M center point R radius m1, m2, m3 load value m Load value w Turning angle k1, k2 bending angles s1,s2 expansion / contraction position A opening angle p1,p2 sensor d1,d2,d3,d4 sensors d5 sensor 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 x-Spacing

Claims

1. A method for implementing a predefined or predefinable function of a preferably hydraulic lifting device (1) as a function of at least one trigger interface (20), comprising: setting (i) of at least one parameter (D, N, M, R) for the relative position of the at least one trigger interface (20) relative to the lifting device (1) by at least one sensor signal (d1, d2, d3, d4, d5, l1, l2, p1, p2) of the lifting device (1) in data communication with a control device (11) of the lifting device (1) and / or by a user via at least one user interface (21) of the control device (11) of the lifting device (1); (ii) generating said at least one trigger interface (20) in response to said at least one parameter (D, N, M, R); performing (iii) at least one predefined or predefinable function of the lifting device (1) upon approach of a preset or predefinable point (P) of the boom system (2) of the lifting device (1) to the at least one trigger interface (20) and / or upon passing of a preset or predefinable point (P) of the boom system (2) of the lifting device (1) to the at least one trigger interface (20), performing a function for determining at least one load value (m1, m2, m3) of a load (3) lifted by the hydraulic lifting device (1) upon said approach and / or passing, method.

2. 2. The method according to claim 1, further comprising the steps of: performing a movement of the boom system (2) of the hydraulic lifting device (1) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2) with a lifted load (3) during the approach and / or the passage; determining at least one dynamic load moment of the boom (4, 5, 6, 7, 8, 9) of the boom system (2) occurring during said movement; and determining at least one load value (m1, m2, m3) for the lifted load (3) taking into account said dynamic load moment.

3. (iv) recording said at least one load value (m1, m2, m3) in the sequence of load values; Selecting (v) at least one recorded load value (m1, m2, m3) from the load value sequence in response to said approach and / or said passage; (vi) identifying a corrected weight value (m) from the at least one selected weight value (m1, m2, m3); 3. The method according to claim 1 or 2.

4. 4. The method according to claim 1, further comprising performing, during the approach and / or the passing, a movement of the boom system (2) of the hydraulic lifting device (1) along at least one degree of freedom (w, k1, k2, s1, s2, a) of the movement of the boom system (2), and performing, in 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 in said at least one time interval and at least one detection of at least one force acting on the boom system (2) in said at least one time interval.

5. The selection of the at least one recorded weight value (m1, m2, m3) from the weight value sequence may additionally be dependent on at least one of the following selection 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; 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; a minimum value and / or a maximum value and / or an interval for the rate of change of said at least one detected force; The method of claims 3 and 4, comprising:

6. said setting (i) of said at least one parameter (D, N, M, R) by a user via at least one user interface (21) of said control device (2) of said lifting device (1), outputting an operation command for moving a boom system (2) having a plurality of booms (4, 5, 6, 7, 8, 9) having a plurality of degrees of freedom (w, k1, k2, s1, s2, a) of the movement along at least one of the degrees of freedom (w, k1, k2, s1, s2, a); and / or inputting at least one distance value (D) and / or angle value (N) for the relative position of the at least one trigger interface (20) relative to the lifting device (1); The method according to any one of claims 1 to 5, wherein the method is carried out by

7. 7. The method according to claim 6, wherein the setting (i) of the at least one parameter (D, N, M, R) is performed by outputting an operating command, and the determination of at least one value of the at least one parameter (D, N, M, R) which can be processed by the control device (11) is performed by the control device (11) and at least one sensor signal of at least one sensor (d1, d2, d3, d4, d5, l1, l2, p1, p2) arranged or arrangeable on the lifting device (1) and which can be detected by the control device of the lifting device (1).

8. 8. The method according to claim 1, wherein the execution (iii) of the at least one predefined or predefinable function of the lifting device (1) upon approach to the at least one trigger interface (20) is performed within a predefined or predefinable interval (x) of a predefined or predefinable point (P) of the boom system (2) of the lifting device (1).

9. 9. The method according to claim 1, wherein the preset or predefinable point (P) of the boom system (2) of the lifting device (1) corresponds to a position of a work implement (10) arranged on the lifting device (1), to a position of a tip (18) of the boom system (2) or to a substantially freely selectable point (P) of the boom system (2).

10. 10. The method according to claim 1, wherein during the creation (ii) of the at least one trigger interface (20), an interface (20) is created between at least a portion of an inner area of ​​a loading area (19) of the lifting device (1) and at least a portion of an outer area of ​​the loading area (19) of the lifting device (1).

11. said creation (ii) of said at least one trigger interface (20) being performed by a control device (11) of said lifting device (1) and said approach and / or said passage detection being performed by a control device (11) of said lifting device (1); and / or (iii) at least one predefined or predefinable function of the lifting device (1) is implemented by a control device (11) of the lifting device (1), 11. The method according to any one of claims 1 to 10.

12. A control device (11) for a lifting device (1), comprising means for carrying out the method according to any one of claims 1 to 11.

13. A lifting device (1), preferably a hydraulic crane, equipped with a control device (11) according to claim 12.

14. A vehicle (17) equipped with a lifting device (1) according to claim 13.

Images