Method for moving a lifting device

Abstract

1. A method for moving a lifting device (1), comprising: a setting step for setting at least one target position for the lifting device (1); a measuring step for detecting a current geometry of a boom system; a selection step for selecting at least one target position set in the setting step; a comparison step for determining geometric deviations (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) between a geometry of the at least one target position selected in the selection step and a current geometry detected in the measurement step; a generation step for generating at least one control command based on the determined geometric deviations (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) in the comparison step; and a drive control step for at least a partial movement of the lifting device (1) to the selected target position by drive control of actuators (20, 21, 22, 23, 25) of the boom system according to the at least one control command generated in the generation step.

Description

[Technical field]

[0001] The invention relates to a method for moving a lifting device according to the preamble of claim 1, a computer program product for implementing such a method, a data carrier signal for transmitting such a computer program product, a control device for implementing such a method and a lifting device equipped with such a control device.

[0002] In the prior art, methods are known for moving a lifting device.

[0003] In conventional methods for moving a lifting device, the individual actuators of the boom system of the lifting device are individually and directly driven and controlled by the user by control commands generated by the user via a user interface of the control device. In this case, the movement of the boom system results from individual actuation movements controlled by the user. When moving the boom system to a desired target position, which is related to the given geometry of the boom system at that time, a targeted actuation movement has to be performed by the user starting from an occupied position different from the desired position. This leads to a high workload for the user and long times for corrections of the geometry of the boom system, which may be necessary when approaching the target position, which is inconvenient.

[0004] Methods for moving a lifting device are also known, in which a coordinate control of the boom system is performed. In this case, the individual actuators of the boom system are driven by a control device, whereby the user drives the behavior of the crane tip of the boom system instead of the individual actuators. In this case, for each setting of a trajectory that the crane tip has to follow during coordinate control, there can be an infinite number of trajectories that the boom of the boom system has to follow along the corresponding degrees of freedom. For example, if the crane tip or the contained load is repeatedly moved along a trajectory, the boom system can assume a wide variety of geometries during this movement and in the end position. The same position of the crane tip can be provided for different positions of the boom system. In particular for superimposed boom systems with redundant degrees of freedom of movement, the generation of the control commands required for the realization of the coordinate control can result in high computational expenditures for the control device. Furthermore, when the coordinate-controlled boom system is moved, geometry changes of the boom system can occur that are unpredictable for the user.

[0005] The object of the present invention is to provide an improved method for moving a lifting device, which does not have the above-mentioned disadvantages, as well as a computer program product for implementing such a method, a data-carrying signal for transmitting such a computer program product, a control device for implementing such a method, and a lifting device equipped with such a control device. In particular, it is desirable for the movement of the boom system for the user to take place in an intuitively predictable manner, and it is desirable for the boom system to have a substantially predefined or predefinable geometry in each end position of the movement.

[0006] This problem is solved by a method for moving a lifting device with the features of claim 1, a computer program product for implementing such a method, a data carrier signal for transmitting such a computer program product, a control device for implementing such a method and a lifting device equipped with such a control device.

[0007] Advantageous embodiments of the invention are set forth in the dependent claims.

[0008] The method according to the invention is suitable for moving a lifting device, which can be configured, for example, as a lifting work platform in the form of a crane, a load-handling crane or a crane on which a working cage is arranged.

[0009] The lifting device may have a boom system with booms having variable geometry, in which case the booms of the boom system may be movable relative to one another along at least one degree of freedom by at least one actuator.

[0010] A movement along one degree of freedom can be achieved by an actuator corresponding to this degree of freedom. For example, two booms supported so that they can be pivoted relative to one another can be pivoted by one actuator. Two booms supported so that they can be slidably moved relative to one another can be slid by one actuator.

[0011] The movement of the lifting device can be achieved by substantially free control of the actuators by transmission of operating commands by a user, preferably via a suitable user interface, whereby, for example, individual actuators of the lifting device can be controlled in a targeted manner by corresponding control commands based on the operating commands of the user.

[0012] The degrees of freedom of the boom system may essentially include the mutual angles of the booms of the boom system and the length of the variable length booms.

[0013] In the setting phase, in order to set at least one target position for the lifting device, the lifting device can be brought to the at least one target position by controlling the actuators. In this case, these actuators can be controlled by corresponding control commands, preferably by a user's input of an operating command via a suitable user interface. In this way, the at least one target position can be reached, for example, by the boom system directly reaching this position. The actuators can essentially be in the form of hydraulic cylinders or corresponding electric drives.

[0014] The control command can essentially be output by the control device in the form of a control pulse having an amplitude and a signal duration, by means of which, for example, an electric drive can be connected and / or a valve for the hydraulic supply of the actuators of the lifting device can be controlled.

[0015] In at least one set target position, which is assumed in this case, a determination of the current geometry of the boom system can take place based on at least one degree of freedom.

[0016] Alternatively or in combination, during the setting phase, the setting of at least one target position for the lifting device can be performed by describing the geometry of the boom system in the at least one target position based on at least one degree of freedom via a user interface of the control device. The at least one target position can be stored and programmed by a user using the user interface of the control device based on at least one degree of freedom, without direct reaching of this position by the boom system.

[0017] It is conceivable that in the setting phase, the lifting device is brought to another target position by controlling the actuators, and a further determination of the current geometry of the boom system, which is taken in this case, is carried out based on at least one degree of freedom. In general, it is possible to determine the respective current geometry of the boom system based on at least one degree of freedom for several target positions in one setting phase.

[0018] The setting steps may be performed essentially at any frequency and at any time during operation of the lifting device.

[0019] During the setting of the geometry and / or the detection of the current geometry of the boom system, values ​​for essentially all degrees of freedom of the boom system can be set and / or detected, so that the current geometry of the boom system can be determined substantially completely, possibly taking into account stored data on the structure of the boom system.

[0020] It should not be excluded that during configuration, values ​​for selected degrees of freedom of the boom system can also be set by describing the geometry of the boom system in at least one target position based on at least one degree of freedom via the user interface of the control device.

[0021] The current geometry of the boom system may be understood to mean the currently assumed geometry of the boom system at any given time.

[0022] In the measuring phase, the determination of the current geometry of the boom system can be performed based on at least one degree of freedom, whereby the lifting device can be brought, after the setting phase has been carried out, for example by controlling the actuators, to a preferably substantially freely selectable position which is different from the at least one first target position.

[0023] The determination of the current geometry of the boom system based on at least one degree of freedom can be performed in a measurement phase, separate from the determination of the geometry in the setup phase.

[0024] The measuring step may in principle be carried out multiple times at any time during the method. It is conceivable to carry out the measuring step periodically, in particular periodically. The measuring step may be carried out, for example, when, and preferably after each change in the geometry of the boom system.

[0025] The selection phase may involve the selection of at least one target position set in the setting phase. It may be envisaged that the method moves the lifting device towards or towards the at least one target position selected in the selection phase.

[0026] Selection of the at least one target location may be performed by a user via a user interface of the controller.

[0027] It should not be excluded that the target position last set in the setting phase is the currently selected target position.

[0028] The performance of the selection step may essentially take place independently of the measurement step, thus for example the selection of the at least one target location may take place in a selection step before or after the performance of the measurement step.

[0029] In a comparison phase following the measurement and selection phases, a comparison of each geometry of the boom system based on at least one degree of freedom can be made to identify a geometric deviation between the geometry of at least one target position selected in the selection phase and the current geometry detected in the measurement phase.

[0030] Geometry deviations can essentially occur due to different geometries of the boom system, i.e. for example due to different pivoting and / or sliding positions of mutually movable booms of the boom system, in the setting phase - as a function of the at least one target position selected in the selection phase - and in the measuring phase. The different geometries can be compared on the basis of at least one degree of freedom.

[0031] The geometric deviation may be qualitatively and quantitatively identifiable based on at least one degree of freedom.

[0032] The movement may be performed essentially along one degree of freedom by means of an actuator corresponding to this degree of freedom, and the geometry deviation determined on the basis of at least one degree of freedom can be assigned to the actuator belonging to the respective degree of freedom.

[0033] The measurement steps may be performed essentially at any frequency and at any time during operation of the lifting device.

[0034] In a generation phase following the comparison phase, at least one control command for driving control of at least one of the actuators of the lifting device can be generated based on the geometry deviations determined in the comparison phase, with the at least one control command enabling a boom system of the lifting device to be brought closer or at least partially shifted by driving control of the at least one of the actuators from the geometry detected in the measurement phase to the geometry of the at least one target position selected in the selection phase.

[0035] At least one control command can be generated to move or transition the boom system of the lifting device from a geometry detected in the measurement phase to a geometry that approximates, within a configurable or set tolerance range, the geometry of at least one target position selected in the selection phase.

[0036] The movement of the boom system along the at least one degree of freedom executed by the at least one control command may cause the geometry of the boom system to approach, within a tolerance range, the geometry of the at least one target position selected in the selection phase, where the tolerance range may be set or may be settable for the at least one degree of freedom.

[0037] The tolerance ranges may be set depending on various operating parameters of the lifting device, such as, for example, temperature, the unloaded and / or current load of the boom system, the mass of the accommodated load, the inclination of the lifting device, etc. In particular, the control device can calculate and set corresponding tolerance ranges taking into account sensor data. User settings, for example for individual or multiple degrees of freedom of the boom system, are also conceivable.

[0038] Geometry deviations identified in the comparison step can be compensated for within set or settable tolerances by means of at least one control command.

[0039] During drive control of at least one of the actuators by at least one control command generated in the generation phase, the geometry deviation identified in the comparison phase can be minimized towards at least one first target position or also towards another target position.

[0040] The method according to the invention allows the generation of control commands based on geometry deviations, so that the boom system of the lifting device can have in the target position substantially the geometry described and / or detected in the setting phase, in contrast to methods in which the target position is characterized by the position of the crane tip of the boom system, and in which, during the movement of the lifting device to such a target position, the geometry of the boom system may deviate from the geometry that existed during the setting of the target position.

[0041] Such a drive control can be performed in a drive control phase, in which the at least partial movement of the lifting device to the selected target position can be performed by drive control of an actuator of the boom system according to at least one control command generated in the generation phase.

[0042] If the sequence of the measurement, comparison, generation and drive control steps is performed multiple times, it is possible to repeatedly approach - possibly within a tolerance range - the geometry of the boom system to the geometry of at least one target position selected in the selection step.

[0043] In particular, when the sequence of measuring, comparing, generating and drive control steps is performed multiple times, a closed-loop control of the boom system movement can be achieved, where the boom system movement and the resulting geometry changes actually performed by the generated and output control commands in one run can be taken into account in another run of the generating and drive control steps.

[0044] Such feedback makes it possible to compensate for deviations in operating parameters, such as temperature, friction or load on the lifting device, which occur between the setting and measuring phases.

[0045] It should not be excluded that the method also allows the lifting device to be moved between different target positions selectable in a selection phase. Thus, for example, after reaching at least one target position, the lifting device can be moved to a second target position by driving control of the actuators of the boom system by means of at least one control command generated in a further generation phase. In this case, after reaching this target position, a measurement phase can be carried out, on the basis of which a geometric deviation with respect to the second target position can be determined. The reaching of the target position can take place within a set or settable tolerance range.

[0046] It should not be excluded that during the implementation of the method, manual corrections of the geometry of the boom system are made by a user, in which case the control device can have a suitable operating mode for this, which can be detected in a subsequent measurement phase and taken into account when generating the control commands in the generation phase.

[0047] Based on the geometry deviations, control commands can essentially be generated for each degree of freedom for which deviations are specified.

[0048] Due to the high complexity of the geometry of some boom systems, which may include, for example, a crane mast, a main boom (also called a lifting boom) pivotally arranged on the crane mast, and an articulating boom with a sliding boom pivotally arranged on the main boom and slidably supported therein, the boom system may have multiple degrees of freedom. In the prior art, such boom systems are known, for example, as redundant or overlapping manipulators.

[0049] The excess mobility provided by the overlapping provision of the boom system allows the movement between the two different geometries to be performed in different ways, i.e. by different movements.

[0050] A so-called inverse transformation or kinematic inversion can be carried out by a processor or a computing unit of the control device in order to generate corresponding control commands for the movement. In order to obtain an unambiguous solution for such an inverse transformation for a superimposed boom system, the inverse transformation for generating the control commands for the boom system must be carried out taking into account optimization criteria (such as, for example, a so-called cost function with a weighting matrix) and possibly approximations, which is associated with high computational costs.

[0051] A particularly simple generation of the control commands can be achieved by direct determination of the geometric deviation between two known geometries, i.e. between at least one settable target position and the geometry determined in the measurement phase. The geometric deviation determined based on at least one degree of freedom can directly generate at least one control command for at least one actuator corresponding to each degree of freedom. This allows an unambiguous solution for the inverse transformation to be calculated.

[0052] In particular, control commands can be generated in the generation phase only for actuators for which a geometric deviation along at least one degree of freedom corresponding to this actuator is determined in the comparison phase. The geometric deviation determined on the basis of at least one degree of freedom can be assigned to the actuators belonging to each degree of freedom, so that the actuators involved in the movement to the at least one target position can be determined. Control of the actuator in the control phase can advantageously only be performed if a deviation along the corresponding degree of freedom is determined in the comparison phase.

[0053] The boom position resulting after the movement, i.e. the geometry of the boom system, can be substantially identical to the boom position of the boom system when the setting phase is performed after the drive control phase has been performed, possibly after iterative execution as described above. The geometries of the boom positions can correspond to one another within a set or settable tolerance range.

[0054] During operation of the lifting device, the method allows a number of different target positions to be approached in succession. A drive control based on the geometric deviation to one target position makes it possible to avoid collisions due to anticipated movements of the boom system. A user can set the course of movements for geometry changes of the boom system, for example by presetting a sequence to the target position.

[0055] This allows for a shuttle movement between two or more target positions via one or more defined intermediate positions, whereby advantageously the information about the entire trajectory curve does not have to be stored in the memory of the control device, but only the target positions serving as intermediate positions.

[0056] The at least one target position may generally correspond to a position of the lifting device that is substantially freely selectable by driving control of the actuator. The geometry of the boom system may be substantially freely selectable within a range of structurally set degrees of freedom of the boom system for the at least one target position.

[0057] The current geometry of the lifting device detected in the measurement phase may correspond to a geometry of the boom system deviated from the target position set in the setting phase and from the target position selected in the selection phase. The geometry of the boom system may be selectable for the measurement phase essentially freely within the range of the structurally set degrees of freedom of the boom system, for example by driving control of an actuator.

[0058] The current geometry can be determined essentially on the basis of sensor data from sensors arranged on the lifting device for angle and / or length measurement. In principle, sensor data can be determined for all degrees of freedom of the boom system. The sensor data can be determined, for example, when quantitatively determining the pivoting and / or sliding positions of the mutually movable booms of the boom system. An angle measurement of the tilt angle of the lifting device can also be performed.

[0059] Upon detection of the current geometry of the boom system and / or upon description of the geometry of the boom system via the user interface of the control device, a determination of the deflection of the boom system can be made based on a computational model.

[0060] Deflection of the boom system may be caused by inherent moments of the boom of the boom system. For example, loading of the lifting device due to the accommodated load and / or additional equipment placed on it may cause additional deflection of the boom system.

[0061] The deflection can be determined primarily based on the geometry of the boom system and / or the load of the lifting device.

[0062] A corresponding calculation model can be stored in the memory of the control device. The deflection occurring at a given position can be performed based on the calculation model and taking into account at least one described and / or detected degree of freedom of the mobility of the boom system and / or the load of the lifting device.

[0063] When determining the current geometry of the boom system in the target position during the setting phase, the occurring deflections of the boom system can be determined on the basis of a calculation model.

[0064] When describing the geometry of the boom system via the user interface of the control device for a target position in the setting phase, the possible deflections of the boom system can be determined based on a computational model.

[0065] The geometry of the boom system can be characterized by the degrees of freedom of the boom system, which can essentially include the mutual angles of the booms of the boom system and the length of the variable length booms, as well as the deflections of the booms of the boom system, which are specified in the computational model.

[0066] The expected or actual deflection of the boom system can be determined in the configuration and measurement phases in a corresponding calculation model for different loads of the lifting device, which can result, for example, from different loads accommodated and different geometries of the boom system. The loading of the lifting system can be performed in a manner known in the prior art, for example via suitable load sensors or by taking into account hydraulic pressures in correspondingly configured actuators.

[0067] By taking into account the boom deflection of the boom system, determined on the basis of a computational model, a more accurate approximation of the geometry of the boom system to the geometry of at least one target position selected in the selection phase can basically be made - taking into account the described or detected geometry and the possibly existing loads of the boom system.

[0068] When detecting the current geometry of the boom system and / or describing the geometry of the boom system via the user interface of the control device, a detection of the inclination of the lifting device relative to a set or settable spatial direction, e.g. the horizontal or vertical direction, can be performed.

[0069] The geometry of the boom system can essentially include the mutual angles of the booms of the boom system and the length of the variable length booms, and additionally can be characterized by the detected inclination of the lifting device in addition to the degrees of freedom of the boom system.

[0070] By detecting the tilt and incorporating the corresponding calculation model, it is possible to carry out compensation of the geometry deviation between the currently assumed geometry and the geometry at the at least one target position selected in the selection step.

[0071] By means of a corresponding calculation model, a more accurate approximation of the geometry of the boom system to the geometry of the at least one target position selected in the selection phase can be achieved, taking into account the currently occurring tilt of the lifting device.

[0072] During the detection of the current geometry of the boom system and / or the description of the geometry of the boom system via the user interface of the control device, a detection of the position of at least one additional device relative to the boom system of the lifting device can be performed. The additional device arranged or disposable on the boom system can be in the form of a work device and / or a boom extension, preferably a boom extension that can be arranged at a static, possibly settable angle and / or a work cage. Information regarding the functional range, dimensional data and angular position of the additional device can be stored in the memory of the control device.

[0073] Additionally or alternatively, a geometry detection, in particular a sensor-based detection, of the at least one additional device can be performed based on at least one degree of freedom of the geometry of the additional device, for example a variable spacing or angle of a movable part of the additional device.

[0074] The detected position and / or geometry of the at least one additional device relative to the boom system of the lifting device can be taken into account in the comparison phase for determining the geometry deviation.

[0075] In an advantageous configuration of the method, in the setting phase, a description and / or detection of at least one value of at least one degree of freedom of the booms of the boom system, which are movable relative to one another along at least one degree of freedom, can be performed. In the measurement phase, a detection of at least one value of at least one degree of freedom can advantageously be performed repeatedly, and subsequently in the comparison phase, a determination of a geometry deviation can be performed by determining a deviation of the at least one value selected accordingly in the selection phase and described and / or detected in the setting phase from the at least one value detected in the measurement phase.

[0076] The at least one control command generated in the generation step can essentially contain information about the actuator to be controlled. When determining the geometry deviation, the actuator belonging to the degree of freedom that is displaced from the target position can be identified and a control command can be assigned to this actuator. The control command can further contain a nominal signal duration for the duration of the control.

[0077] The nominal signal duration can essentially be set depending on the achievable rate of change of the geometry change when controlling the corresponding actuator. The nominal signal duration can be a reference value for the control duration of the corresponding actuator and is used as a basis for comparing various control commands.

[0078] It should not be excluded that the signal duration implemented in the drive control stage can also be changed depending on further control commands and / or operating commands and / or the structural conditions of the lifting device. In particular, the signal duration respectively implemented can still be changed in the drive control stage.

[0079] In an advantageous configuration of the method, in the generation phase, at least two control commands can be generated, and in the drive control phase, the drive control of the actuators can be essentially performed at least partially sequentially and / or at least partially simultaneously by the at least two control commands generated in the generation phase.

[0080] The partially sequential and / or partially simultaneous actuation control may be performed in various configurations and according to various criteria.

[0081] The actuators can be controlled, for example, at least partially sequentially during the control of one of the controlled actuators depending on the magnitude of the geometry change, whereby larger changes in the geometry of the boom system can be performed first in the control phase.

[0082] Alternatively or in combination therewith, the actuators can be at least partially sequentially acted upon during actuation of one of the actuated actuators depending on the magnitude of the reduction due to the unloading of the boom system, whereby a geometry change, which can essentially be associated with the unloading of the boom system and leads to a reduction in the load moment acting on the lifting device, can be effected first in the actuation phase.

[0083] Alternatively or in combination therewith, the actuators can be sequentially controlled at least partly as a function of a cost function, such cost functions being known from the prior art and can contribute, for example, to an energy-optimized or time-optimized movement of the boom system.

[0084] Alternatively or in combination with this, the actuators can be controlled at least partially simultaneously, with the respective signal durations of at least two control commands being adapted to the maximum nominal signal duration of the control commands. The signal durations of the different control commands for the different actuators can be scaled to the signal duration of the control command having the maximum nominal signal duration when the control commands are generated. The amplitude of the movement of the corresponding actuator, and thus the rate of change, can be scaled accordingly to the modified signal duration. Thus, when the actuators are controlled at least partially simultaneously, the end positions set for the target position can be reached by all actuators involved substantially simultaneously.

[0085] The actuation of the actuators may essentially be performed at least partially sequentially and / or at least partially simultaneously. The actuation of different actuators may also be performed with a time overlap.

[0086] It should not be excluded that the output of control commands for the actuators involved in the movement to the at least one target position is also user-controlled, i.e. it may be possible that the control commands required for the movement to the at least one target position are generated in a generation phase and the output is user-controllable in a drive control phase.

[0087] In the setting phase, the lifting device can advantageously be substantially freely movable by control commands for the actuator control generated by the user via the control device. This can correspond to a conventional control device of the lifting device, in which the actuators of the boom system are directly controlled by the user or operator by control commands generated by the user or operator, whereby the movement of the boom system results from an actuation movement that is individually controlled by the user. In the drive control phase, the movement of the lifting device can advantageously be performed by at least one control command generated by the control device in the generation phase. In this case, unlike the drive control in the setting phase, the movement of the boom system can be performed by the user without complex generation of individual control commands. The control commands can be generated by the control device and can be output at least partially in an automated manner. It is therefore not necessary for the user to generate control commands respectively defined for each actuator for the individual actuators.

[0088] Advantageously, in the drive control phase, the movement of the lifting device can be performed at least partly automated by output by the control device of at least one control command generated in the generation phase.

[0089] The at least partially automated movement can be achieved by actuator control, which is generated by a control device of the lifting device in response to predefined settings and is at least partially automatically transmitted from the control device to the actuators, whereby individual or multiple actuators can be controlled by control commands generated by the control device, possibly in response to an operating command from a user.

[0090] Protection is also claimed for a computer program product which, when executed by a computing unit, causes from a memory to which a data connection is formed with the computing unit or from a memory from which a data connection can be formed with the computing unit to carry out the above-mentioned method.

[0091] Protection is also claimed for a data carrier signal carrying the above-mentioned computer program product.

[0092] Protection is also claimed for a control device for a lifting device, preferably for a load crane or a liftable work platform, which is designed for carrying out the above-mentioned method for moving the lifting device.

[0093] In the first operating mode, the control device may be capable of carrying out a setting phase for setting at least one target position by controlling the actuators and for initially detecting the current geometry of the boom system based on at least one degree of freedom. In this case, sensor data relating to the degrees of freedom, e.g. sensor data represented by values ​​of the degrees of freedom, e.g. by sensors that can be arranged or are arranged on the lifting device and detected during geometry detection, may be stored in the memory of the control device. Alternatively or in combination, a description of the geometry of the boom system in at least one target position based on at least one degree of freedom may be carried out via a user interface of the control device. In this case, for example, values ​​of the degrees of freedom may be entered by a user via a user interface of the control device and may be stored in the memory of the control device. In the first operating mode of the control device, i.e. in the setting phase, at least one target position may be stored in the memory of the control device.

[0094] In the second operating mode of the control device, a measuring step can be performed for repeatedly determining the current geometry of the boom system based on at least one degree of freedom. In this case too, sensor data relating to the degrees of freedom, e.g. sensor data represented by values ​​of the degrees of freedom, detected, for example, during geometry determination, by a sensor that can be arranged or is arranged on the lifting device, can be stored in a memory of the control device. It is conceivable that the control device repeatedly switches to the second operating mode and performs the measuring step. The switching to the second operating mode and the performing of the measuring step can be performed periodically, in particular periodically. In particular, this can be performed in the event of a change in the geometry of the boom system, preferably after each change.

[0095] In the third operating mode, a selection step may be possible for selecting the at least one target position set in the setting step. The selection of the at least one target position may be performed by a user via a user interface of the control device. In this case, the at least one target position stored in the memory may be selectable, for example, via a user interface of the control device.

[0096] In the fourth operating mode, a comparison step can be performed to determine a geometry deviation between the geometry of the at least one target position selected in the selection step and the current geometry detected in the measurement step based on at least one degree of freedom. The comparison step can be performed by a calculation unit of a control device configured for this purpose, in which case the calculation unit of the control device is connected or can be connected in data-transferring manner to a memory of the control device. The determined geometry deviation can be represented, for example, by a value indicative of the deviation of the degree of freedom and stored in the memory of the control device.

[0097] In a fifth operating mode, the generating step for generating at least one control command for controlling at least one of the actuators of the lifting device in order to move the boom system of the lifting device closer to or at least partially from the geometry detected in the measuring step to the geometry of the at least one target position selected in the selection step may be executable by a computing unit configured therefor of the control device. The generated control command may for example comprise information about the actuator to be controlled and a signal duration for sustaining the control and may be stored in a memory of the control device.

[0098] In a sixth operating mode, a drive control step may be implemented for driving and controlling actuators of a boom system of the lifting device by outputting, by the control device, at least one control command generated in the generation step, whereby the control command can be read out of a memory of the control device and output via a suitable interface for driving the respective actuator.

[0099] If the sequence of measurement, comparison, generation and drive control steps is carried out multiple times as already described - with the associated switching to the corresponding operating mode - an iterative approximation of the geometry of the boom system to the geometry of at least one selected target position can advantageously be carried out.

[0100] The control device can essentially have a user interface by means of which a user can transmit operating commands to generate control commands for the actuators, the user interface being, for example, in the form of switches, push buttons, operating levers, joysticks and / or a touch-sensitive screen.

[0101] In an advantageous configuration of the control device, in the sixth operating mode, at least one operating member of the user interface can be activated for drive control of the actuator, and by operation of the at least one operating member by the user, the geometry of the boom system can be varied at least partially automated by the control device.

[0102] The movement of the boom system according to the control commands generated based on the geometry deviations may in this case include a number of actuators, and the movement can in this configuration be substantially effected by the operation of individual control members or of a number of control members. Different degrees of freedom or groups of degrees of freedom of the movement can, for example, be assignable to different control members.

[0103] The actuator may be fully or partially automatically controlled by operating at least one operating member of a user interface of the control device.

[0104] In an advantageous configuration, information can be stored in the memory of the control device via a user interface of the control device, preferably information regarding the functional range and / or dimensional data and / or angular position of at least one additional device, which information can be selected, for example, from a data bank stored in the memory of the control device and / or can be entered via the user interface, preferably via an adjustment screen.

[0105] The control device may comprise a control panel, preferably portable, in which case the user interface may be formed.

[0106] In particular, the user interface may be menu-guided and / or may include at least one operating member of a control device.

[0107] Preferably, the control device is capable of controlling the rate of change of the geometry of the boom system, i.e. in other words the speed of movement, as a function of the operation of at least one operating member of the user interface, in particular as a function of the displacement when the operating member is formed in the form of one operating member.

[0108] The protection relates to a lifting device, in particular a load-handling crane or a lifting work platform, which comprises a boom system having a plurality of booms movable by means of actuators, the boom system having at least: a crane column rotatable about a rotation axis by a first actuator, the boom system having a first degree of freedom (φ) due to the pivotable support of the crane column; - a main boom pivotable relative to the crane mast by a second actuator, the boom system having a second degree of freedom (α) due to the pivotable support of the main boom; The present invention is also applicable to lifting devices having a

[0109] The lifting device may have a control device as described above, which is capable of outputting control commands to actuators of the boom system to change the geometry of the boom system, and which may be capable of detecting the current geometry of the boom system based on the degrees of freedom of the lifting device based on sensor equipment incorporated in the boom system.

[0110] In an advantageous configuration of the lifting device, the lifting device can at least further comprise the following boom: - an articulating boom pivotable relative to the main boom by a third actuator, the boom system having a third degree of freedom due to the pivotable support of the articulating boom; at least one sliding boom slidably supported in the articulating boom by a fourth actuator, the boom system having a fourth degree of freedom due to the slidable support of the sliding boom, may have the following structure:

[0111] Such an arrangement of a lifting device may be provided, for example, for a load-handling crane or a crane with a working cage arranged thereon.

[0112] In another configuration of the lifting device, a second articulating boom and / or additional work equipment, for example in the form of a fork, rotor or gripper, may be arranged on the boom system.

[0113] A lifting device as described above can be mounted on a vehicle, whereby a mobile lifting device configuration can be achieved.

[0114] Embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: [Brief description of the drawings]

[0115] [Figure 1a] FIG. 2 is a side view showing the configuration of a lifting device assembled on a vehicle. [Figure 1b] 1A-1C are side views showing different configurations of the lifting device assembled on a vehicle; [Figure 1c] 1A-1C are side views showing different configurations of the lifting device assembled on a vehicle; [Figure 2a] FIG. 2 is a side view showing the configuration of the lifting device. [Figure 2b] 11A-11D are side views showing different configurations of the lifting device; [Figure 2c] 11A-11C are side views showing different configurations of the lifting device; [Figure 3a] FIG. 2 is a side view showing the freedom of movement of the boom of the boom system. [Figure 3b] 11A-11C are side views illustrating different boom freedom of movement for different boom systems. [Figure 3c] 11A-11C are side views illustrating different boom degrees of freedom of movement for different boom systems. [Figure 3d] 11A-11C are side views illustrating different boom freedom of movement for different boom systems. [Figure 3e] 11A-11C are side views illustrating different boom freedom of movement for different boom systems. [Figure 4] FIG. 1 is a diagram showing a configuration of a lifting device equipped with a length-adjustable main boom. [Figure 5a] FIG. 13 is a diagram showing a configuration of additional equipment that can be arranged on the boom system. [Figure 5b] FIG. 13 is a diagram showing a configuration of additional equipment that can be arranged on the boom system. [Figure 6a] 1 is a side view showing a configuration of a lifting device and a schematic diagram showing a control device equipped with a sensor device. FIG. [Figure 6b] 1 shows a side view of a different configuration of the lifting device and a schematic diagram of a control device with sensor equipment; [Figure 6c] 1 shows a side view of a different configuration of the lifting device and a schematic diagram of a control device with sensor equipment; [Figure 7a] FIG. 2 shows a schematic configuration of a lifting device in one position of a boom system. [Figure 7b] 1A to 1C show schematic configurations of a lifting device in different positions of a boom system; [Figure 8a] FIG. 2 is a diagram showing a schematic configuration of a lifting device to show the deflection of a boom. [Figure 8b] FIG. 2 is a diagram showing a schematic configuration of a lifting device to show the inclination of the lifting device relative to the horizontal line. [Figure 9a] FIG. 2 shows a display device of the control device of the proposed lifting device. [Figure 9b] FIG. 9b shows a control panel of the control device of FIG. 9a. [Figure 10a] FIG. 2 is a diagram showing a configuration of a user interface. [Figure 10b] FIG. 2 is a diagram showing a configuration of a user interface. [Figure 10c] FIG. 2 is a diagram showing a configuration of a user interface. [Figure 10d] FIG. 2 is a diagram showing a configuration of a user interface. [Figure 11a] FIG. 2 shows a schematic diagram of a control command in the form of a control pulse; [Figure 11b] FIG. 2 shows a schematic diagram of a control command in the form of a control pulse; [Figure 11c] FIG. 2 shows a schematic diagram of a control command in the form of a control pulse;

[0116] In figures 1a-1c different configurations of the lifting arrangement 1 are shown in side views assembled on a vehicle 19. Figures 2a-2c show the lifting arrangement 1 of figures 1a-1c in isolation. The degrees of freedom of movement α, β, φ, γ, L, J, H of the individual booms 2, 3, 4, 5, 7, 8, 24 of the various boom systems of the lifting arrangement 1 are shown in figures 3a-3e and 4.

[0117] In FIG. 1a, a first configuration of the proposed lifting device 1 is shown, which is configured as a load crane or articulated jib crane and is arranged on a vehicle 19. The lifting device 1 has, as shown, a crane column 2 rotatable about a first vertical axis v1 by means of a rotation mechanism 20, a main boom 3 supported on the crane column 2 so as to be rotatable about a first horizontal pivot axis h1, and an articulating boom 4 with at least one sliding boom 5 supported on the main boom 3 so as to be rotatable about a second horizontal pivot axis h2. For pivoting the main boom 3 relative to the crane column 2 (illustrated articulation angle position a1 with degree of freedom α), a hydraulic master cylinder 21 is provided. For pivoting the articulating boom 4 relative to the main boom 3 (illustrated articulation angle position b1 with degree of freedom β), a hydraulic articulating cylinder 22 is provided. In this configuration of the lifting device 1 , the crane tip 14 may be formed by the tip of the sliding boom 5 .

[0118] The actuator can in principle be present in the form of a hydraulic cylinder or a corresponding electric drive.

[0119] Thus, the boom system of the illustrated lifting device 1 comprises a crane mast 2 , a main boom 3 , an articulating boom 4 and at least one sliding boom 5 .

[0120] The lifting device 1 has a diagrammatically illustrated control device 6 which is designed for carrying out the method according to the invention for moving the lifting device 1 .

[0121] In Fig. 1b, a second configuration of the proposed lifting device 1 is shown, which, in addition to the installation configuration shown in Fig. 1a, has a second articulating boom 7 arranged on the sliding boom 5 of the articulating boom 4 so as to be pivotable about a third horizontal pivot axis h3, in which a second sliding boom 8 is supported. For pivoting the second articulating boom 7 relative to the articulating boom 4 (shown bending angle position g1 of the degree of freedom γ), a bending cylinder 23 is provided. In this configuration of the lifting device 1, the crane tip 14 can be formed by the tip of the sliding boom 8.

[0122] Thus, the boom system of the lifting device 1 shown in FIG. 1b has a crane mast 2, a main boom 3, a bending boom 4 with at least one sliding boom 5 as well as a second bending boom 7 with at least one sliding boom 8.

[0123] Similar to the configuration of FIG. 1a, the lifting device 1 shown in FIG. 1b has a control device 6, shown here only diagrammatically, which is formed for carrying out the method according to the invention for moving the lifting device 1.

[0124] In Fig. 1c, a third configuration of the proposed lifting device 1 is shown, which in addition to the structure of the configuration shown in Fig. 1b has a further bending boom 24 attached to the second sliding boom 8 of the second bending boom 7 so as to be pivotable about a fourth horizontal pivot axis h4. For pivoting the further bending boom 24 relative to the second bending boom 7 (illustrated bending angle position d1 of the degree of freedom of the pivoting movement of the further bending boom 24), a bending cylinder 25 is provided. In this configuration of the lifting device 1, the crane tip 14 can be formed by the tip of the further bending boom 24.

[0125] Thus, the boom system of the lifting device 1 shown in FIG. 1c has a crane mast 2, a main boom 3, a bending boom 4 with at least one sliding boom 5, a second bending boom 7 with at least one sliding boom 8, as well as a further bending boom 24 (which may possibly be configured to be variable in length).

[0126] Similar to the configurations of Figures 1a and 1b, the lifting device 1 shown in Figure 1c has a control device 6, shown diagrammatically, which is formed for carrying out the method according to the invention for moving the lifting device 1.

[0127] All of the configurations shown can of course include a rotation mechanism 20.

[0128] In figures 2a to 2c a detailed view of the lifting device 1 formed according to figures 1a to 1c is shown respectively.

[0129] In Figures 3a to 3e different boom degrees of freedom of movement α, β, φ, γ, L, J for different boom systems are shown in side views.

[0130] The lifting device 1 shown in Figures 3a-3c corresponds to the configuration of the lifting device 1 shown in Figures 1a and 2a. The bending boom 7 shown in Figures 3d and 3e corresponds to the second bending boom 7 shown in Figures 1b and 2b. The further bending boom 24 in Figures 1c and 2c can likewise be formed correspondingly to the bending boom 7 shown in Figures 3d and 3e.

[0131] With reference to Fig. 3a-3c, the crane column 2, which is rotatable about a rotation axis in the form of a first vertical axis v1, is pivotally supported over a structurally determined crane column swivel range φ1-φ2 ​​and, due to said pivotal support, has a degree of freedom φ (Fig. 3c shows the value of the swivel position φ0 of the degree of freedom φ). It is conceivable that the crane column swivel range extends over an interval of 0°-360°, i.e. the crane column is formed to be endlessly pivotable. The main boom 3 is pivotally supported by the crane column 2 over a structurally determined main boom swivel range α1-α2 and, due to said pivotal support, has a degree of freedom α (Fig. 3c shows the value of the swivel position α0 of the degree of freedom α). The articulated boom 4 is pivotally supported by the main boom 3 over a structurally determined articulated boom swivel range β1-β2 and, due to said pivotal support, has a degree of freedom β. The sliding boom 5 is supported within the articulating boom 4 so as to be slidable over a structurally determined sliding range L1-L2, and has a degree of freedom L due to the slidable support.

[0132] Figures 3d and 3e show the bending boom 7 alone, which can be supported via a connection region 28 on the sliding boom 5 of the lifting device 1 shown in Figures 3a to 3c so as to be rotatable over a structurally set second bending boom rotation range γ1-γ2, and has a degree of freedom γ due to the rotatable support, and which includes at least one second sliding boom 8, which is slidably supported in the second bending boom 7 over a structurally set second sliding boom sliding range J1-J2, and has a degree of freedom J due to its slidable support.

[0133] FIG. 4 shows a configuration of a lifting device 1, the boom system of which differs from the previously described configuration in that it additionally has at least one main boom sliding boom 18, which is slidably supported on the main boom 3 over a structurally set (only diagrammatically shown) sliding range H1-H2, and has a degree of freedom H due to its slidable support.

[0134] Thus, the boom system of the lifting device 1 shown in FIG. 4 comprises a crane mast 2, a main boom 3 with at least one main boom sliding boom 18 and an articulating boom 4 with at least one sliding boom 5.

[0135] Analogously to the arrangement described above, the lifting device 1 shown in FIG. 4 has a diagrammatically illustrated control device 6 which is designed to carry out the method according to the invention for moving the lifting device 1.

[0136] 5a and 5b show two configurations of additional equipment that can be arranged on the boom system, for example in the form of a working equipment 9 configured as a masonry clamp and a static boom extension 10. Typically, a sensor-based geometry detection of at least one additional equipment 9, 10 can be performed based on at least one degree of freedom of the geometry of the additional equipment 9, 10, for example a variable spacing or angle of the movable parts of the additional equipment 9, 10. It is also possible for the user to pre-set the corresponding information via a corresponding user interface of the control device 6.

[0137] In Fig. 5a, a configuration of a work implement 9 is shown which can be arranged on the sliding boom 5 of the lifting device 1. The dimensions and functional scope of the work implement 9 can be stored in the control device 6, not shown here, and can be taken into account in the calculations of the control device 6.

[0138] The static boom extension device 10 shown in Fig. 5b can be arranged on the sliding boom 5 of the lifting device 1 via a corresponding receptacle. Due to the adjustably designed receptacle, the boom extension device 10 can be arranged on the sliding boom 5 at a defined angle θ (shown in this case relative to the imaginary vertical direction). The boom extension device 10 can be designed with a variable length. Information about the boom extension device 10, such as the length and the angle θ of the boom extension device 10, can be stored in the control device 6, not shown here, for example by setting or detection, and can be taken into account in the calculations of the control device 6.

[0139] In Fig. 6a the arrangement of the lifting device 1 shown in Fig. 1a or 2a is shown. Furthermore a schematic diagram of a control device 6 which can be configured to implement the method according to the invention for moving the lifting device 1 is shown.

[0140] The control device 6, which is shown here diagrammatically, has a number of signal inputs to which the signals of the sensor devices attached to the lifting device 1 can be supplied. Furthermore, the control device 6 has a memory 11 in which, for example, program data relating to the operating modes and calculation models of the control device 6 as well as the input signals can be stored, and a calculation unit 12 in particular capable of processing the input signals and the data stored in the memory 11. The control device 6 can also have a display device 16. The communication between the display device 16 and the control device 6 can be cabled and / or wireless. The sensor devices for detecting the geometry of the lifting device 1 in the configuration shown in FIG. 6a include a rotation angle sensor f1 for detecting the rotation angle f1 of the crane column 2, a bending angle sensor k1 for detecting the bending angle a1 of the main boom 3 relative to the crane column 2, a bending angle sensor k2 for detecting the bending angle b1 of the bending boom 4 relative to the main boom 3, and a sliding position sensor s1 for detecting the sliding position x1 of the sliding boom 5.

[0141] In Fig. 6b, the configuration of the lifting device 1 shown in Fig. 1b or 2b is shown similarly to Fig. 6a. This configuration of the lifting device 1 comprises, as shown, a second articulating boom 7 arranged on the sliding boom 5 of the articulating boom 4. As additional sensor equipment for detecting the operating parameters of the lifting device 1, a bending angle sensor k3 for detecting the bending angle g1 of the second articulating boom 7 relative to the articulating boom 5 and a sliding position sensor s2 for detecting the sliding position x2 of the second sliding boom 8 are provided.

[0142] A similar configuration of the device shown in Figs. 6a and 6b, consisting of the lifting device 1 shown in Fig. 1c or Fig. 2c and the control device 6, is also conceivable.

[0143] In FIG. 6c, similar to FIG. 6a, the configuration of the lifting device 1 shown in FIG. 1b or FIG. 2b is shown.

[0144] In order to detect the inclination angle n1 of the lifting device 1, an inclination angle sensor N1 is provided.

[0145] The tilt angle sensor N1 can in principle be provided for all illustrated configurations of the lifting device 1.

[0146] In the lifting device 1 in the form of a liftable work platform shown in Fig. 6c, an additional device in the form of a working cage 32 is arranged on the sliding boom 5 of the articulating boom 4. Detection of the position of the working cage 32 relative to the boom system of the lifting device 1 can be performed, for example, by an articulating angle sensor k4 for detecting the angle w1 of the working cage 32 relative to one of the three spatial directions. Information on the functional range, dimensional data and angular position of the additional device in the form of the working cage 32 can be stored in the memory 11 of the control device 6.

[0147] The positions of the working cage 32, or generally of the additional equipment, detected in the measuring phase and / or set in the setting phase can be taken into account in the comparison phase for the identification of geometric deviations.

[0148] The relationship between the angle value and the degrees of freedom of the angle α, β, φ, γ, the relationship between the sliding position value and the degrees of freedom of the sliding position L, J, H, and the relationship between the tilt value and the tilt angle λ are shown in the figure as follows: Angle a1 Sensor k1 Values ​​α0, α1, α2, α3, α4 Figure 3a Angle b1 Sensor k2 Values ​​β1, β2, β3, β4 Figure 3b Angle g1 Sensor k3 Values ​​γ1, γ2, γ3, γ4 Figure 3d Angle d1 Sensor f1 Values ​​φ0, φ1, φ2, φ3, φ4 Figure 3a Angle n1 Sensor N1 Value γ1 Figure 8b Position x1 Sensor s1 Values ​​L1, L2, L3, L4 Figure 3c Position x2 Sensor s2 Values ​​J1, J2, J3, J4 Figure 3e

[0149] In Fig. 3a, Fig. 3b, Fig. 3c, Fig. 3d, Fig. 3e and Fig. 4 various exemplary intermediate positions for the booms 2, 3, 4, 5, 7, 8, 18 of the boom system are shown diagrammatically as well as the constructively set ranges of the degrees of freedom α, β, φ, γ, L, J, H of the boom system: - Intermediate positions of the rotation angle of the crane support 2: φ3, φ4 - Intermediate positions α2, α3 of the rotation angle of the main boom 3 - Intermediate positions β2, β3 of the rotation angle of the articulated boom 4 - intermediate positions γ2, γ3 of the rotation angle of the second articulating boom 7 - Intermediate positions L2, L3 of the sliding position of the sliding boom 5 - Intermediate positions J2, J3 of the sliding position of the second sliding boom 8 - Intermediate positions H2 and H3 of the sliding position of the main boom sliding boom 18

[0150] The various intermediate positions of the booms 2, 3, 4, 5, 7, 8, 18 of the boom system, preferably substantially freely selectable within a structurally determined range, can correspond to various geometries of the boom system. The various geometries can be compared based on the degrees of freedom α, β, φ, γ, L, J, H of the boom system. Geometry deviations can thus be qualitatively and quantitatively determined based on the degrees of freedom α, β, φ, γ, L, J, H of the boom system.

[0151] For example, the target position can be set by values ​​of the swivel angles φ2, α2, β2, γ2 and the sliding positions L2, J2, H2. This can be done in a setting phase when detecting the current geometry of the boom system and / or describing the geometry of the boom system via the user interface of the control device 6.

[0152] In a position of the lifting device 1 that is displaced from the target position of the boom system, the geometry can be characterized by values ​​of the swivel angles φ3, α3, β3, γ3 and the thrust positions L3, J3, H3. This can be done in a measurement phase by determining the current geometry of the boom system based on the degrees of freedom α, β, φ, γ, L, J, H of the boom system. In this case, the lifting device 1 can be brought by the drive control of the actuators 20, 21, 22, 23, 25 to a position different from the above-mentioned target position, preferably to a substantially freely selectable position.

[0153] By comparison of the respective values, e.g. set and / or detectable by sensors, of the swivel angles φ3, φ4, α2, α3, β2, β3, γ2, γ3 and the sliding positions L2, L3, J2, J3, H2, H3 assumed for various geometries of the boom system (see, e.g., Figs. 6a and 6b), it is possible, e.g. by simply forming the difference, to determine the respective geometry deviations Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH relative to the target position selected in the selection phase along with the corresponding degrees of freedom α, β, φ, γ, L, J, H of the boom system. This can be done in the comparison phase.

[0154] Based on the geometry deviations Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH determined in the comparison phase, at least one control command can then be generated for controlling the actuation of at least one of the actuators 20, 21, 22, 23, 25 of the lifting apparatus 1. The control command can serve to move the boom system of the lifting apparatus 1 closer to, or at least partially move it away from, the geometry detected in the measurement phase towards the geometry of at least one target position selected in the selection phase.

[0155] In the drive control phase, at least a partial movement of the lifting device 1 to the selected target position can be performed by drive control of corresponding actuators 20, 21, 22, 23, 25 of the boom system according to at least one control command generated in the generation phase.

[0156] In figures 7a and 7b the schematic arrangement of the lifting device 1 shown in figures 2b and 6b is shown in different positions.

[0157] In Fig. 7a, the boom system of the lifting device 1 is in a position that can correspond to an exemplary target position. During the setting phase, the detection of the current geometry of the boom system can be performed based on the degrees of freedom α, β, φ, γ, L, J, H. For the sake of simplicity, the value of the swivel angle α3 of the main boom 3 and the value of the sliding position J3 of the second sliding boom 8 are shown, detected by the bending angle sensor k1 and the sliding position sensor s2.

[0158] In Fig. 7a, the boom system of the lifting device 1 is in a position which may essentially correspond to a freely selectable exemplary position of the lifting device, from which a user wants to move the lifting device 1 by means of the method according to the invention to a target position of Fig. 7a. A corresponding selection of the target position can be made by the user in a selection phase.

[0159] In the measurement phase, the current geometry of the boom system in the position shown in Fig. 7b can be detected by means of the integrated sensors. In the position shown, there is essentially a change in the pivot angle of the main boom 3 and a change in the sliding position of the second sliding boom 8 relative to the target position. By means of the articulation angle sensor k1 and the sliding position sensor s2, the corresponding value α4 of the pivot angle of the main boom 3 and the value J4 of the sliding position of the second sliding boom 8 can be detected.

[0160] In the comparison step, the geometry deviations Δα, ΔJ can be determined by comparing the respective geometries.

[0161] In the generation phase, at least one control command for the control of at least one actuator of the actuators 20, 21, 22, 23, 25 of the lifting device 1 can be generated by a calculation unit constructed for this purpose based on the geometry deviations Δα, ΔJ determined in the comparison phase. In an exemplary configuration, at least two control commands can be generated, for an actuator of the swing angle of the main boom 3 and for an actuator of the sliding position of the second sliding boom 8.

[0162] At least two control commands can be output from the control device 6 in a drive control stage to drive and control the actuators, thereby enabling at least partial movement of the lifting device 1 from the boom system position shown in Figure 7b to the boom system position shown in Figure 7a.

[0163] For approximation or transition of the boom system, the lifting device 1 can be moved by correspondingly generated control commands to a geometry that is approximated to the geometry of the target position within a predefinable or preset tolerance range.

[0164] In Fig. 8a it is shown how loading of the lifting device, for example by a contained load 26, can cause a deflection of the boom system. The deflection is indicated diagrammatically by a deformation or displacement of the second sliding boom 8. Upon detection of the current geometry of the boom system and / or upon description of the geometry of the boom system via the user interface of the control device 6, a determination of the deflection of the boom system can be made on the basis of a computational model.

[0165] The geometry of the boom system can be characterized by the degrees of freedom α, β, φ, γ, L, J of the boom system as well as the deflections of the boom 8 of the boom system, which are specified in the computational model. The deflections can be taken into account jointly in the comparison step and in the generation step based thereon.

[0166] In Fig. 8b, the lifting device 1 is shown tilted by an angle λ relative to a horizontal foundation used for supporting the lifting device 1. The tilt λ, here illustrated by the angle between the horizontal and the axis of rotation v1, can cause undesired deviations of the position of the boom system of the lifting device 1 with respect to a target position detected in a non-tilted position or in a tilted position with a deflected tilt. To detect the tilt angle n1 of the lifting device 1, a tilt angle sensor N1 is provided, the value λ1 of the tilt angle n1 being shown in the figure.

[0167] The tilt λ can be stored in the control device 6, for example by setting or detection, and can be taken into account in the calculations of the control device 6. By taking the tilt λ into account in a corresponding calculation model, compensation of the geometry deviation between the currently assumed geometry and the geometry at the at least one target position selected in the selection phase can be carried out.

[0168] By means of a corresponding calculation model, a more accurate approximation of the geometry of the boom system to the geometry of at least one target position selected in the selection phase can be achieved independently of the currently occurring tilt λ of the lifting device 1.

[0169] FIG. 9 a shows a display device 16 of a control device 6 of the proposed lifting device 1 .

[0170] If the display device 16 of the control device 6 is configured as a touch display, the user interface can be configured directly via the touch display.

[0171] When the display device 16 is not formed as a touch display or the like, a user interface with a menu guide can be operated via the operating member 17.

[0172] The diagram shown in FIG. 9 a includes a graphical representation of a number of linear levers 30 in order to visualize the operating member 17 .

[0173] Figure 9b shows the configuration of the control panel 15 of the control device 6. In the configuration shown, the control panel 15 comprises at least one display device 16 and operating members 17 in the form of a rotary button 29, a linear lever 30 and a key 31. The operating members can be used for operating a menu-supported user interface, for selecting user-selectable functions of the lifting device 1, in particular for setting at least one target position or for issuing control commands by the user.

[0174] In the configuration of the control panel 15 according to the configuration of the control device 6 according to Fig. 9a, the control panel 15 may have a predefined operating member 17, for example in the form of a key 31 configured as a deadman's switch. By operating the operating member 17 in the form of the key 31 so configured, the geometry of the boom system may be changeable at least partly automatically by the control device 6, if the control device 6 is in the sixth operating mode described above with respect to the drive control phase. The change of geometry may be possible as long as the operating member 17, for example in the form of the key 31, remains operated by the user.

[0175] 10a-10c show by way of example the configuration of a user interface of the control device 6, each formed by a display device 16 that can be configured as a touch display. The user-selectable functions 27r, 27s, 27t, 27u, 27v, 27w, 27x, 27y, 27z shown therein are respectively used for inputting and / or detecting information about additional equipment 9, 10, 32 (see for example Fig. 5a, Fig. 5b and Fig. 6c) attached to the boom system of the lifting device 1. Via the selectable functions 27r and 27s shown in Fig. 10a, a menu is reached in which information about additional equipment, for example in the form of a boom extension 10 or a work equipment 9 (see Fig. 5a and Fig. 5b) or a work cage (see Fig. 6c), can be selected from a database stored in the memory 11 of the control device 6. Via the selectable function 27t shown in Fig. 10a, an adjustment screen is reached in which information about additional equipment 9, 10, 32 not stored in the memory 11 of the control device 6 can be input. Via the selectable functions 27u, 27v, 27w, 27x shown in Fig. 10b, an angular position (angle θ) can be selected or input for additional equipment attached to the boom system, for example in the form of a boom extension device 10 (see Fig. 5b). The selectable functions 27y, 27z shown in Fig. 10c are used to select the installation state of additional equipment attached to the boom system, for example in the form of one or more manually operable push-out extensions.

[0176] Figure 10d shows the configuration of an input screen 13 shown on the display device 16, via which information about the functional range and / or dimensional data and / or angular position of at least one additional device 9, 10, 32 can be selected or entered and transmitted to the control device 6.

[0177] It should not be excluded that the lifting device 1 is provided with further sensors for detecting the angular position and / or dimensions of at least one additional device 9, 10, 32, which can be supplied to the control device 6 via a signal input and taken into account in the calculations of the control device 6. The control device 6 can have suitable selectable functions for the detection.

[0178] The drive control of the actuators in the drive control stage, see Figures 7a and 7b, for example the actuator 21 of the articulating boom 22 and the actuator of the sliding boom 8, can be performed by control commands in the form of control pulses p1, p2 having amplitudes and signal durations as shown in Figures 11a and 11b.

[0179] The output of the control pulses p1, p2 by the control device 6 can be sequential as shown in Fig. 11a. As shown, the control pulses p1, p2 have different signal durations t1, t2. The signal durations t1, t2 can each correspond to a nominal signal duration.

[0180] In the sequence of control commands, successive control pulses p1, p2 can also be output simultaneously by the control device 6 partially, ie over a period of overlap d, as shown in FIG. 11b.

[0181] 11b, first the actuation of one actuator, for example the actuator 21 of the articulating boom 22, can be initiated for a pulse duration t1 of a control pulse p1. Already before the end of the ongoing control pulse p1, the actuation of another actuator, for example the actuator of the sliding boom 8, can be initiated by the output of a control pulse p2 which follows in turn according to the calculated sequence.

[0182] The actuators can be controlled at least partially simultaneously as in FIG. 11c, where the respective signal durations t1, t2 of at least two control pulses p1, p2 are adapted to the maximum nominal signal duration, in the exemplary diagram the signal duration t2 of the control pulse p2 of the control pulses. The signal durations t1, t2 of the different control pulses p1, p2 for the different actuators can be scaled to the signal duration t2 of the control pulse p2 which has the maximum nominal signal duration t2 when the control pulse p2 is generated. The signal duration t3 of the control pulse p1 can be correspondingly enlarged to the nominal signal duration t2 of the control pulse p2, and the amplitude and thus the rate of change of the movement of the corresponding actuator can be correspondingly scaled to the modified signal duration t3. Thus, when the actuators involved are controlled at least partially simultaneously, the end positions set for the target position can be reached by all actuators involved substantially simultaneously. [Explanation of symbols]

[0183] 1 Lifting equipment 2 Crane Post 3 Main Boom 4. Articulated boom 5 Sliding boom 6. Control device 7 Second Articulated Jib 8 Second Sliding Boom 9 Work equipment 10 Boom extension device 11. Memory 12 Computational Units 13 Adjustment Screen 14 Crane tip 15 Control Panel 16 Display device 17 Operating elements 18 Main boom sliding boom 19 Vehicles 20 Rotation mechanism 21 Master cylinder 22, 23, 25 Bent cylinder 24 Different bending boom 26 Load 27r~27z Features 28 Connection Area 29 Rotation Button 30 Linear Lever 31 Key 32 Work Cage v1,h1,h2,h3 axis line α,β,φ,γ,L,J,H Degrees of freedom of the boom system Δα,Δβ,Δφ,Δγ,ΔL,ΔJ,ΔH Deviation along degrees of freedom φ0,φ1,φ2,φ3,φ4 Crane pillar rotation angle α0,α1,α2,α3,α4 Main boom rotation angle β1, β2, β3, β4 Articulated boom rotation angle γ1, γ2, γ3, γ4 Second bending boom rotation angle λ1 Tilt angle of the lifting device L1, L2, L3, L4 Sliding boom sliding position J1, J2, J3, J4 Second sliding boom sliding position H1,H2,H3,H4 Main boom sliding boom sliding position θ Boom extension angle λ Tilt angle a1,b1,g1,d1,w1,n1 angle x1, x2 sliding position s1, s2 sliding position sensor k1, k2, k3, k4 bending angle sensor f1 Rotation angle sensor N1 Tilt Angle Sensor p1, p2 control pulse t1,t2,t3 signal duration

Claims

1. A method for moving a lifting device (1), preferably a load-handling crane, said lifting device (1) comprising a control device (6) and a boom system with a boom (2, 3, 4, 5, 7, 8, 18), said boom having a geometry variable along at least one degree of freedom (α, β, φ, γ, L, J, H) by means of at least one actuator (20, 21, 22, 23, 25), comprising: - in a setting phase, setting of at least one target position for the lifting device (1) is performed by describing the geometry of the boom system in the at least one target position based on the at least one degree of freedom (α, β, φ, γ, L, J, H) via a user interface of the control device (6) and / or by bringing the lifting device (1) into the at least one target position by driving control of the actuators (20, 21, 22, 23, 25) and detecting the current geometry of the boom system in the at least one target position based on the at least one degree of freedom (α, β, φ, γ, L, J, H), - during a measurement phase, determining the current geometry of the boom system based on the at least one degree of freedom (α, β, φ, γ, L, J, H), - in a selection phase, a selection of at least one target position set in said setting phase is carried out, - in a comparison phase, by comparing the respective geometries of the boom system based on the at least one degree of freedom (α, β, φ, γ, L, J, H), determining the geometric deviations (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) between the geometry of the at least one target position selected in the selection phase and the current geometry detected in the measurement phase, - in a generation phase, generating, based on the geometry deviations (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) determined in the comparison phase, at least one control command, preferably in the form of at least one control pulse (p1, p2), for controlling the actuation of at least one of the actuators (20, 21, 22, 23, 25) of the lifting device (1) in order to move the boom system of the lifting device (1) closer to or at least partially from the geometry detected in the measurement phase to the geometry of the at least one target position selected in the selection phase; and - in a drive control phase, at least a partial movement of the lifting device (1) to the selected target position is performed by drive control of the actuators (20, 21, 22, 23, 25) of the boom system according to the at least one control command generated in the generation phase. A method comprising:

2. 2. The method according to claim 1, wherein the at least one target position corresponds to a substantially freely selectable position of the lifting device (1).

3. 3. The method according to claim 1 or 2, wherein the current geometry of the lifting device (1) detected in the measurement phase corresponds to a geometry of the boom system - preferably substantially freely selectable by controlling the actuation of actuators (20, 21, 22, 23, 25) - deviated from the target position selected in the selection phase.

4. 4. The method according to claim 1, wherein the determination of the current geometry is performed on the basis of sensor data from sensors (s1, s2, k1, k2, k3, f1) arranged on the lifting device (1) for angle and / or length measurement.

5. upon said detection of the current geometry of the boom system, and / or during the description of the geometry of the boom system via a user interface of the control device (6), The method according to claim 1 , further comprising determining the deflection of the boom system based on a computational model.

6. upon said detection of the current geometry of the boom system, and / or during the description of the geometry of the boom system via a user interface of the control device (6), 6. The method according to claim 1, further comprising detecting an inclination (.lambda.) of the lifting device (1) relative to a set or settable spatial direction.

7. upon said detection of the current geometry of the boom system, and / or during the description of the geometry of the boom system via a user interface of the control device (6), 7. The method according to claim 1, further comprising detecting a position of at least one additional equipment (9, 10, 32) relative to the boom system of the lifting device (1) and / or detecting a geometry of the at least one additional equipment (9, 10, 32) based on at least one degree of freedom of the geometry of the at least one additional equipment (9, 10, 32).

8. The method according to any one of claims 1 to 7, further comprising generating at least one control command for moving the boom system of the lifting device (1) from the geometry detected in the measurement phase to a geometry that is close to the geometry of the at least one target position selected in the selection phase within a settable or set tolerance range.

9. 9. The method according to claim 1, further comprising generating control commands in the generating step only for actuators (20, 21, 22, 23, 25) for which a geometry deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) is identified along the at least one degree of freedom (α, β, φ, γ, L, J, H) corresponding to said actuator (20, 21, 22, 23, 25) in the comparing step.

10. 10. The method according to claim 1, wherein in the setting step, a description and / or detection of at least one value of at least one degree of freedom (α, β, φ, γ, L, J, H) of the boom of the boom system, which is movable relative to one another along the at least one degree of freedom (α, β, φ, γ, L, J, H), is performed, in the measuring step, a repeated detection of at least one value of the at least one degree of freedom (α, β, φ, γ, L, J, H), and in the comparing step, the determination of the geometry deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) is performed by determining a deviation of at least one corresponding value selected in the selection step and described and / or detected in the setting step from at least one value detected in the measuring step.

11. 11. The method according to claim 1, wherein the at least one control command generated in the generation step comprises information about an actuator (20, 21, 22, 23, 25) to be controlled and a nominal signal duration (t1, t2) for the duration of the control.

12. 12. The method according to claim 1, wherein in the generating step, at least two control commands are generated, and in the drive control step, the drive control of the actuators (20, 21, 22, 23, 25) is performed at least partially sequentially and / or at least partially simultaneously by the at least two control commands generated in the generating step.

13. In the generating step, at least two control commands are generated, and in the drive control step, drive control of the actuators (20, 21, 22, 23, 25) is performed by the at least two control commands generated in the generating step. at least partially sequentially, depending on the magnitude of the geometric change, during the actuation of one actuator (20, 21, 22, 23, 25) of the actuated actuators (20, 21, 22, 23, 25), and / or at least partially sequentially, during the control of one actuator (20, 21, 22, 23, 25) of the controlled actuators (20, 21, 22, 23, 25) as a function of the magnitude of the reduction due to the unloading of the boom system, and / or sequentially depending at least in part on a cost function; and / or at least partially simultaneously, with the respective signal durations (t1, t2, t3) of said at least two control commands being adapted to the maximum nominal signal duration (t1, t2) of said control commands; 13. The method according to any one of claims 1 to 12.

14. 14. The method according to claim 1, wherein in the setting step, the lifting device (1) is substantially freely movable by control commands for driving control of actuators (20, 21, 22, 23, 25) generated by a user via a control device (6) by an operating command, and in the driving control step, the movement of the lifting device (1) is performed by at least one control command generated by the control device (6) in the generation step.

15. 15. The method according to claim 1, wherein in the drive control step, the movement of the lifting device (1) is at least partially automated by output by a control device (6) of the at least one control command generated in the generation step.

16. 16. A computer program product comprising instructions which, when executed by a computing unit (12), cause the implementation of a method according to any one of claims 1 to 15 from a memory (11) to which a data connection is formed with the computing unit (12) or from a memory (11) to which a data connection can be formed with the computing unit (12).

17. 17. A data carrying signal transmitting a computer program product according to claim 16.

18. A control device (6) for a hydraulic lifting device (1), preferably for a load handling crane, which is designed for carrying out a method for moving a lifting device (1) according to any one of claims 1 to 15, characterized in that the control device (6) in a first operating mode, a setting step for setting at least one target position can be performed by a description of the geometry of the boom system in at least one target position based on at least one degree of freedom (α, β, φ, γ, L, J, H) via a user interface of the control device (6) and / or by drive control of actuators (20, 21, 22, 23, 25) for detecting a current geometry of the boom system based on at least one degree of freedom (α, β, φ, γ, L, J, H), in a second operating mode, a measurement step is possible for repeatedly detecting the current geometry of the boom system based on at least one degree of freedom (α, β, φ, γ, L, J, H), in a third operating mode, a selection step is possible for selecting at least one target position set in said setting step, in a fourth operating mode, a comparison step can be carried out for determining a geometry deviation (Δα, Δβ, Δφ, Δγ, ΔL, ΔJ, ΔH) between the geometry of the at least one target position selected in the selection step and the current geometry detected in the measurement step, based on at least one degree of freedom (α, β, φ, γ, L, J, H), the generation step for generating at least one control command for controlling the actuation of at least one of the actuators (20, 21, 22, 23, 25) of the lifting device (1) in order to move the boom system of the lifting device (1) from the geometry detected in the measurement step to the geometry of the at least one target position selected in the selection step in a fifth operating mode can be performed by a computing unit (12) of the control device (6) configured therefor, in a sixth operating mode, a drive control step is possible for performing - preferably at least partially automated - drive control of the actuators (20, 21, 22, 23, 25) of the boom system of the lifting device (1) by outputting the at least one control command generated in the generation step by the control device (6); A control device (6) for a lifting device (1).

19. The control device (6) for a lifting device (1) according to claim 18, wherein in the sixth operating mode for controlling the drive of the actuators (20, 21, 22, 23, 25), the control device (6) activates at least one operating member of a user interface, and by operating the at least one operating member (17), the geometry of the boom system can be changed at least partially in an automated manner by the control device (6), and preferably the control device (6) controls the rate of change of the geometry of the boom system in response to the operation of the at least one operating member (17) of the user interface.

20. A lifting device (1), in particular a load handling crane, comprising a boom system having a number of booms (2, 3) movable by actuators (20, 21), said boom system having at least: a crane column (2) rotatable about a rotation axis (v1) by a first actuator (20), the boom system having a first degree of freedom (φ) due to the pivotable support of the crane column (2), - a main boom (3) swivellable relative to the crane mast (2) by means of a second actuator (21), the boom system having a second degree of freedom (α) due to the swivellable support of the main boom (3); It has The lifting device (1) has a control device (6) as described in claim 18 or 19, which is capable of outputting control commands to actuators (20, 21) of the boom system in order to change the geometry of the boom system, and which is capable of detecting a current geometry of the boom system based on the degrees of freedom (φ, α) of the lifting device (1) based on sensor equipment (k1, f1) incorporated in the boom system by the control device (6).

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