Method for changing the vertical lifting state

Abstract

A method for changing the vertical lifting state of a loading vehicle (8) placed on a roadbed (10) for a lifting device (9) comprising a support system (7) including support legs (1, 2, 3, 4) and a control unit (5) for driving and controlling the drive units of the support legs (1, 2, 3, 4), wherein in at least one calculation / method step (i), a series of control commands for driving and controlling the drive units sequentially and with a time limit is calculated for changing the vertical lifting state while maintaining the current inclination (α) of the loading vehicle (8) and / or the lifting device (9) within a preset or preset range (Δα) with respect to the inclination deviation, and in at least one lifting / method step (ii), the drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by a series of control commands for changing the vertical lifting state of the loading vehicle (8) and / or the lifting device (9) relative to the roadbed (10), and the sequential and time-limited drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by control pulses (s1, s2, s3) according to the series of control commands.

Description

Technical Field

[0001] The present invention relates to a method for changing the vertical lifting state of a loading vehicle placed on a roadbed for a lifting device equipped with a support system, which is described in the superordinate concept of claim 1, a computer program product for implementing such a method, a control unit for a support system for implementing such a method, and a vehicle equipped with such a control unit.

[0002] In the prior art, for example, in order to enhance the state safety of a loading vehicle, it is known to support the loading vehicle on a roadbed by means of a support system. The support is usually carried out via support legs that are adjustable in position in their longitudinal direction of extension. These support legs may be supported on the roadbed and can affect the inclination and lifting state of the loading vehicle by changing the longitudinal direction of extension. An inclination sensor can be used to detect the inclination of the loading vehicle and / or the lifting device relative to a preset or presettable spatial direction and / or spatial plane.

[0003] In the prior art, devices in the form of hydraulically operable support systems for changing the vertical lifting state are known. For example, a system used in a lifting device such as a lifting platform has a pressing carriage for controlling the volume flow of a hydraulic drive unit in order to control and change the vertical lifting state. Thereby, when simultaneously driving and controlling a plurality of drive units of the support legs, the same volume flow can be distributed to each drive unit regardless of the different loads of the support legs. This makes it possible to perform synchronous and similar storage and extension of the support legs.

[0004] The drawback of a device for changing the vertical lifting state under the use of a pressing carriage is that, accordingly, the complexity of the hydraulic system becomes relatively high. Additional pressure valves, measuring devices for the pressure applied to the valves, and proportional valves or regulating valves for controlling the volume flow increase the error vulnerability and maintenance costs of such a hydraulic system.

[0005] The object of the present invention is to provide an improved method compared to the prior art for changing the vertical lifting state of a loading vehicle for a lifting device.

[0006] The above object is solved by the method according to claim 1, a computer program product for implementing such a method, and a control unit configured to implement such a method.

[0007] Advantageous configurations are defined in the dependent claims.

[0008] This method serves to change the vertical lifting state of a loading vehicle for a lifting device having a support system on the roadbed. With the support system, for example, the state safety of the loading vehicle can be increased, and the loading vehicle can be raised or lowered relative to the roadbed. It should not be excluded that a loading vehicle for a lifting device having a support system can be oriented with respect to a preset or presettable spatial direction and / or spatial plane.

[0009] The preset or presettable spatial plane may be, for example, a horizontal plane.

[0010] The vertical lifting state of the loading vehicle for the lifting device may be particularly measured along the vertical direction and related to the vertical distance of the frame of the loading vehicle or a reference point on the frame of the loading vehicle from the surface of the roadbed used for support. Similarly, the vertical lifting state may be particularly measured along the vertical direction and related to a lifting device arranged on the loading vehicle, for example, a crane platform or a crane column of the lifting device.

[0011] The detected inclination may be, for example, the angle of a substantially vertically extending swivel axis of the crane column of the lifting device with respect to a horizontal plane, a spatial plane or a spatial direction.

[0012] In the placed state, the orientation of the swivel axis of the crane column with respect to the horizontal line can be targeted at an angle that is at least approximately perpendicular to the horizontal line.

[0013] In particular, with respect to the horizontal line, an inclination of 0° to 3° with respect to the horizontal line can be targeted.

[0014] The support is usually carried out via support legs that are adjustable in position in their longitudinal extension length. These support legs may be supported on the roadbed and can affect the vertical lifting state and inclination of the loading vehicle and / or the lifting device by changing the longitudinal extension length.

[0015] The current inclination can basically be understood as the inclination that currently, that is, at the moment of execution of the method step, dominates the loading vehicle and / or the lifting device.

[0016] The current inclination of the loading vehicle and / or the lifting device can exist by placing it on an inclined roadbed. The current inclination can also be caused by the loading amount of the loading vehicle or the load of the lifting device arranged on the loading vehicle.

[0017] The support system may be connected to the vehicle frame. If the loading vehicle has a lifting device, the support system may be connected to the lifting device. The lifting device itself may similarly have support legs.

[0018] The support system may have two or more support legs. The support legs may be arranged at various different positions relative to the loading vehicle or the lifting device.

[0019] In particular, the support system may have four support legs, and these support legs may be part of a so-called H-shaped support (H-shaped arrangement of support legs) or an X-shaped support (X-shaped arrangement also referred to as a star-shaped support).

[0020] The support system may have a control unit that drives and controls the drive unit of the support leg according to a control command. For example, the support leg may have a drive unit in the form of a hydraulic cylinder for storing and / or extending the support leg, and the control unit can drive and control the magnetically operable control valve of the hydraulic cylinder by a control pulse. The corresponding drive control of an electrical drive unit should not be excluded.

[0021] The control unit can have a user interface. The user interface of the control unit can generally be configured as an operating element of the control unit, for example, as a lever, button or field, on a touch-sensitive display, in particular, on a movable remote control unit of the control unit of the lifting device. The user interface of the control unit can generally be configured as an interface for data exchange.

[0022] The control command for the drive unit can be generated by the user by issuing an operation command via the user interface of the control unit. Such an operation command can also start the implementation of this method.

[0023] In this method, a control command can be generated and output to the drive unit at least partially automatically.

[0024] It should not be excluded that the support system has a horizontally position-adjustable support arm on which the support legs are arranged. It should also not be excluded that the control unit is configured for driving and controlling the drive unit of the support arm according to a control command.

[0025] The support system may have at least one inclination sensor for detecting the inclination of the loading vehicle and / or the lifting device relative to at least one preset or presettable spatial direction and / or spatial plane.

[0026] For example, it is possible to detect the inclination of the loading vehicle and / or the lifting device relative to two spatial directions.

[0027] In particular, it is possible to detect the inclination relative to two spatial directions forming a horizontal plane.

[0028] For example, the inclination about the transverse axis of the loading vehicle and / or the inclination about the longitudinal axis of the loading vehicle can be detected, for example, in relation to the frame of the loading vehicle. The detected inclination may be related, for example, to the horizontal orientation of the loading vehicle.

[0029] For example, the inclination of a lifting device arranged on the loading vehicle, in particular the inclination of the crane boom of the lifting device relative to at least one spatial direction, can be detected in a horizontal plane and / or a vertical plane.

[0030] The detected inclination may be, for example, the angle of the substantially vertically extending pivot axis of the crane boom of the lifting device relative to a horizontal plane, a spatial plane or a spatial direction. For orientation, an angle of at least approximately right angles of the pivot axis of the crane boom relative to the horizontal line may be targeted.

[0031] The support system may have at least one distance sensor for detecting the distance between the loading vehicle and / or the lifting device relative to the roadbed used for support, whereby the vertical lifting state can be characterized. The distance sensor may be configured in the form of a distance measuring device or a device for measuring the propagation time of a signal, for example an optical, generally electromagnetic or acoustic distance meter.

[0032] The detected inclination and / or the detected distance may be supplied to a control unit and included in the calculation.

[0033] In this method, in at least one calculation / method step, a series of control commands for driving the individual drive units of the support legs of the support system sequentially and with a time limit can be calculated.

[0034] The calculation of the control command can be carried out by the support system while substantially maintaining the current inclination, that is, for example, while maintaining the inclination of the loading vehicle and / or the lifting device that currently dominates during the execution of the method step, with the requirement that the vertical lifting state of the loading vehicle is changed. Here, the inclination of the loading vehicle can vary within a preset or pre-set range with respect to the inclination deviation, but remains substantially the same when the vertical lifting state of the loading vehicle is changed.

[0035] The calculation of the control command may be carried out such that, by the execution of the control command, to a certain extent, the lifting and / or lowering of the loading vehicle and possibly the lifting device arranged on the loading vehicle can be achieved. During the lifting and / or lowering, the current inclination of the loading vehicle and possibly the lifting device arranged on the loading vehicle changes only within a preset or pre-set range with respect to the inclination deviation.

[0036] The current inclination of the loading vehicle and / or the lifting device can be understood as the inclination of the loading vehicle and / or the lifting device that dominates immediately before or during the execution of the calculation / method step.

[0037] In at least one lifting method step, basically, the drive control of the drive units of the support legs of the support system can be carried out in order to change the vertical lifting state of the loading vehicle and / or the lifting device. During the execution of the lifting method step, the vertical lifting state of the loading vehicle and / or the lifting device can be at least partially reduced or enlarged.

[0038] When driving and controlling the drive units of the support legs of the support system by a series of control commands, the individual drive units of the support legs of the support system can be driven and controlled sequentially and time-limitedly using control pulses.

[0039] The individual drive units of the support legs can be driven and controlled substantially separately from each other in time, in a series or sequence.

[0040] The drive control of the drive units can be carried out by using control pulses that are sequentially output by the control unit and are time-limited.

[0041] The activation of the drive units of the support legs can basically be carried out during the temporal duration of the control pulses.

[0042] By this method, the change in the lifted state of the loading vehicle placed on the roadbed for a lifting device equipped with a support system can be decomposed into a sequential series of a plurality of control pulses each having a limited duration, instead of the drive control of the support legs being clock-controlled, i.e., temporally measured, continuous, and in some cases simultaneous.

[0043] By driving and controlling the drive units by using control pulses that are sequentially output by the control unit and are time-limited, the vertical lifted state of the loading vehicle and / or the lifting device can be incrementally decreased or increased.

[0044] In the calculation / method step, advantageously, the calculation of the series of control commands can be carried out based on at least one parameter of the support system.

[0045] In this case, the current inclination as a parameter of the support system can be detected by at least one inclination sensor of the support system that detects the inclination of the loading vehicle and / or the lifting device relative to at least one preset or presettable spatial direction and / or spatial plane. That is, the current inclination, i.e., the inclination immediately before or during the execution of the method step, can be detected by at least one inclination sensor of the support system.

[0046] Thus, in the calculation method steps, the calculation of a series of control commands can be performed based on the currently detected inclination of the load vehicle and / or the lifting device, and the series of control commands can accordingly be calculated to change the vertical lifting state while maintaining the currently detected inclination of the load vehicle and / or the lifting device relative to at least one preset or presettable spatial direction and / or spatial plane with respect to the inclination deviation within a preset or presettable range.

[0047] Alternatively or in combination, at least one parameter of the drive unit of the support leg may be preset or presettable as a parameter of the support system. The setting of the parameters of the drive unit of the support leg can be carried out by the user via the user interface of the control unit, for example, during the construction of the lifting device and / or the load vehicle equipped with the lifting device, at the time of work input and / or on the work side.

[0048] Thus, in the calculation method steps, the calculation of a series of control commands can be performed based on the parameters of the drive unit of the support leg. In this case, a technical detection of the current inclination is not necessarily required.

[0049] Advantageously, by setting at least one parameter of the support system, it becomes possible to calculate a series of control commands that cause a substantially equal change in the longitudinal extension lengths of all the drive units of the support leg that are drive-controlled during the execution in the lifting method steps. Thereby, it is possible to achieve the maintenance of the current inclination within a preset or presettable range with respect to the inclination deviation.

[0050] The change in the longitudinal extension lengths of all the drive units of the support leg that are drive-controlled may be within a preset or presettable tolerance range. The tolerance range for the change in the longitudinal extension lengths may correspond to a preset or presettable range with respect to the accompanying inclination deviation.

[0051] By driving and controlling the corresponding drive unit using the correspondingly calculated control pulses, the change in the longitudinal extension length of each support leg can cause an inclination deviation within a preset or presettable range with respect to the accompanying inclination deviation.

[0052] By driving and controlling the corresponding drive unit using the correspondingly calculated control pulses, the change in the longitudinal extension length of each support leg may be within a range of 1 mm to 150 mm, preferably within a range of 1 mm to 50 mm.

[0053] Overall, the change in the longitudinal extension length by a series of control commands is within a range of 1 cm to 100 cm. Larger changes in the longitudinal extension length should not be excluded.

[0054] Generally, the parameters of the support system that can be supplied to the control unit and can be included in the calculation of a series of control commands are · Parameters of the drive unit of the support leg, for example, stroke speed, piston diameter, piston area, pump output and / or electrical output considering the use of the returned oil in some cases and / or · Parameters of the geometric shape of the support leg, for example, parameters of the dominant or potential longitudinal extension length or the length of the boom arm provided with the support legs of the support system and / or · Parameters of the position of the support leg and / or · The number of support legs and / or · The inclination of the loading vehicle and / or the lifting device currently detected by at least one inclination sensor of the support system and / or · A presettable or preset range with respect to the inclination deviation, · The pulse duration of the control pulse currently set, for example, calculated in the preceding calculation / method step and / or · The number and / or position of the axles of the loading vehicle and / or · The position of the lifting device arranged on the loading vehicle and / or ·The torsional rigidity and bending rigidity of the loading vehicle and / or torsion, ·Predetermined or preset spatial directions and / or spatial planes, ·The position of the center of gravity of the loading vehicle and / or the lifting device, particularly the nominal position, ·Preferably, detecting the hydraulic pressure in the drive unit of the support leg and / or the load acting on the support leg by a load sensor, ·The drive control parameters of the drive unit of the support leg, for example, the control characteristics of the hydraulic valve of the hydraulic supply unit of the hydraulic drive unit and / or the switching characteristics of the energy supply unit of the electric drive unit, ·The vertical distance between the loading vehicle and / or the lifting device relative to the roadbed used for support, detected by at least one distance sensor of the support system can be included.

[0055] In one configuration of this method, in individual calculation and method steps, a series of control instructions executed in individual runs of subsequent lifting method steps can be calculated.

[0056] In another configuration of this method, in the calculation and method steps, generally, a series of control instructions for sequentially and time-limitedly driving and controlling the individual drive units of the support legs of the support system can be calculated in order to change the vertical lifting state, which may be part of the overall desired or required change for orienting the loading vehicle and / or the lifting device. It is possible in such a configuration of the method to repeat the calculation and method steps and the lifting method steps in order to achieve the overall desired or preset change.

[0057] In order to further change the vertical lifting state of the loading vehicle and / or the lifting device, in the loop, the calculation method step and the lifting method step can be repeated. At each repetition of the loop, a series of control commands for changing the vertical lifting state are calculated while maintaining the current inclination within a preset or preset range with respect to the inclination deviation, and the series of control commands can be executed by driving control of the drive unit.

[0058] Generally, the drive control of the drive unit of the support legs of the support system may be performed for a length until the vertical lifting state of the loading vehicle and / or the lifting device reaches or falls below a preset or presettable target value.

[0059] The preset or presettable target value may be measured, for example, particularly along the vertical direction, and may be related to the vertical distance of the frame of the loading vehicle or the lifting device or a reference point on the frame with respect to the surface and / or to the change in the longitudinal extension length of the support legs, and may be detected via a corresponding sensor. The setting can be made by the user via a corresponding user interface of the control unit.

[0060] The drive control of the drive unit of the support legs of the support system can be performed via the user interface of the control unit for a length such that an operation command for changing the vertical lifting state, that is, in other words, an operation command for implementing the method, is sent by the user.

[0061] In each iteration of the loop in which the repetition of the calculation method step and the lifting method step is performed for the vertical lifting state of the loading vehicle and / or the lifting device, a partial reduction or expansion of the vertical lifting state may be performed.

[0062] In each cycle of the loop, when detected by the inclination sensor of the support, it is possible to detect the inclination of the loading vehicle and / or the lifting device and the corresponding deviation from the inclination to be maintained that is currently being detected. In this case, the deviation from the inclination detected in the previous cycle of the loop, for example, the deviation from the currently detected inclination in the first cycle, can be used as a reference. That is, for multiple cycles of the loop, within the range for the inclination deviation, the currently detected inclination can be maintained.

[0063] In one advantageous configuration of this method, in the calculation and method steps, for all the drive units of the support legs involved in the support of the support system, a series of control commands for changing the vertical lifting state of the loading vehicle and / or the lifting device can be calculated, and in the subsequent lifting and method steps, at least one corresponding drive control of all the drive units of the support legs involved in the support of the support system can be carried out with a series of control commands for changing the vertical lifting state of the loading vehicle and / or the lifting device. Thereby, the change in the lifting state can be achieved with the smallest change in the currently detected inclination. The lifting of the support legs involved in the support from the roadbed can also be avoided.

[0064] Within one series, the drive units of the individual support legs can be driven and controlled multiple times.

[0065] Advantageously, the inclination of the loading vehicle and / or the lifting device relative to the horizontal line is detected by the inclination sensor of the support system. The execution of the lifting and method steps is advantageously carried out only when the inclination of the loading vehicle and / or the lifting device currently detected in the calculation and method steps is in the range of 0° to 10° relative to the horizontal line, preferably in the range of 0° to 5°, particularly preferably in the range of 0° to 3°. The range of 0° to 1° is also possible.

[0066] In the case of the inclination near the horizontal line as described above, the loading vehicle and / or the lifting device are usually considered to be leveled. In other words, the execution of the lifting method step may advantageously be performed only when the loading vehicle and / or the lifting device are substantially leveled.

[0067] In particular, the implementation of the method may advantageously be performed only when the loading vehicle and / or the lifting device are in a substantially horizontal orientation.

[0068] The inclination suitable for executing the lifting method step may be achieved, for example, by placing it on a substantially horizontal road surface or by leveling the loading vehicle and / or the lifting device.

[0069] It should not be excluded that the loading vehicle and / or the lifting device are made and / or are in an inclination suitable for executing the lifting method step by a method of supporting the loading vehicle placed on the roadbed. In this case, in an appropriate leveling calculation method step, a series of control commands for sequentially and time-limited driving control of the individual drive parts of the support legs of the support system can be calculated based on the currently detected inclination of the loading vehicle and / or the lifting device, and in the leveling method step, the drive control of the drive parts of the support legs of the support system can be performed using a series of control commands for reducing the inclination of the loading vehicle and / or the lifting device relative to at least one preset or presettable spatial direction and / or spatial plane, and the series of control commands can perform sequential and time-limited drive control of the individual drive parts of the support legs of the support system by control pulses.

[0070] In one advantageous configuration of this method, for example, after placing the loading vehicle on the roadbed, in the bottom surface contact method step, the drive control of the drive units of the support legs of the support system can be performed by a control command, and the support legs are brought into contact with the roadbed by this control command. The control command can be calculated based on the currently detected inclination of the loading vehicle and / or the lifting device as a series of control commands for drivingly controlling the individual drive units of the support legs of the support system sequentially and with a time limit.

[0071] The presettable or preset range for the inclination deviation may be within a range of 0° to 10°, preferably within a range of 0° to 5°, and particularly preferably within a range of 0° to 3° with respect to the horizontal line.

[0072] In the loop in the calculation method step following the previously executed lifting method step, the change in inclination caused by the previous lifting method step can be detected by at least one inclination sensor of the support system. Here, it is possible to determine whether a corresponding change in the inclination during the lifting of the loading vehicle and / or the lifting device has been caused by the execution of the control command. From this, it is possible to derive whether the drive-controlled support legs are in a bottom surface contact state. The loss of bottom surface contact of one or more support legs can be an interruption condition for the implementation of the method. It should not be excluded that the change in inclination can be used to determine the torsional rigidity and bending rigidity and / or the torsion of the loading vehicle.

[0073] In one advantageous configuration of this method, the time-limited drive control of the individual drive units of the support legs of the support system can be performed by a series of control commands with control pulses having a variable pulse duration. The variable pulse duration allows various parameters of the support system to be taken into account.

[0074] Advantageously, when the variable pulse duration is executed in the lifting method step, it can enable the calculation of a series of control commands that, in some cases, result in a substantially equal change in the longitudinal extension length of all the support legs under drive control within the tolerance range.

[0075] Changing the longitudinal extension length of the individual support legs by driving and controlling the associated drive unit with a control pulse having a correspondingly calculated pulse duration can cause an inclination deviation within a preset or presettable range with respect to the associated inclination deviation.

[0076] Advantageously, scaling of the pulse duration of the control pulse can be performed, and based on the pulse duration of the selected control pulse, the duration of the control pulse from the series can be scaled to a desired maximum pulse duration or minimum pulse duration.

[0077] The pulse duration of the control pulse can advantageously be from 0.05 seconds to 3.50 seconds. Preferably, the pulse duration of the control pulse can be from 0.25 seconds to 1.5 seconds. It is conceivable that the pulse duration of the control pulse is from 0.25 to 0.50 seconds.

[0078] Changing the pulse duration and, in some cases, the duration of the overlap of consecutive control pulses is basically · considering the parameters of the drive unit of the support leg, such as the stroke speed, piston diameter, or pump output taking into account the utilization of the returned oil in some cases, and / or · considering the parameters of the geometry of the support leg, such as the dominant or potential longitudinal extension length or the parameters of the length of the boom arm with the support legs of the support system, and / or · considering the parameters of the position of the support leg, and / or · considering the number of support legs, and / or · considering the currently measured inclination of the loading vehicle and / or the lifting device, and / or ·A preset or preconfigurable range for the tilt deviation ·Currently set, for example, the pulse duration calculated in a preceding calculation or method step and / or ·The number and / or position of the axles of the loading vehicle and / or ·The position of the lifting device arranged on the loading vehicle and / or ·The torsional rigidity and bending rigidity and / or torsion of the loading vehicle and / or ·Can be carried out depending on a preset or preconfigurable spatial direction and / or spatial plane, and / or ·The position of the center of gravity of the loading vehicle and / or the lifting device and / or ·Detecting the hydraulic pressure in the drive unit of the support leg and / or the load acting on the support leg detected by a load sensor and / or ·The drive control parameters of the drive unit of the support leg, for example, the control characteristics of the hydraulic valve of the hydraulic supply unit of the hydraulic drive unit or the switching characteristics of the energy supply unit of the electric drive unit ·The vertical distance of the loading vehicle and / or the lifting device relative to the roadbed used for support, detected by at least one distance sensor of the support system It can be carried out depending on.

[0079] In one advantageous configuration of this method, the drive control of the drive units of the individual support legs of the support system can be carried out in a preset or preconfigured order by a series of control commands in a drive control sequence. In this case, the specific support legs of the support system can be preferably drive-controlled.

[0080] Suitable drive control can be carried out, for example, to slightly maintain the deviation from the tilt to be maintained or to take into account the torsional rigidity and bending rigidity of the loading vehicle.

[0081] Suitable drive control can include the selection or weighting of individual or multiple support legs.

[0082] In one advantageous configuration of this method, during the drive control of the drive unit of the support leg of the support system in the lifting method step, the longitudinal extension length of the support leg can be increased and / or decreased. Thereby, the support system can not only lift the loading vehicle away from the roadbed, but also lower the loading vehicle towards the roadbed.

[0083] In one advantageous configuration of this method, the drive control of the individual drive units of the support legs of the support system can be performed using a series of control commands with control pulses, with a preset or presettable overlap that is time-limited between consecutive control pulses. In this case, in the series of control commands, consecutive control pulses can be output from the control unit partially simultaneously.

[0084] The overlap of the control pulses can be calculated in the calculation method step.

[0085] That is, for example, by the output of the control unit, the activation of the drive unit of the support leg during the duration of the control pulse can be started, and before the end of the ongoing control pulse, the activation of the drive unit of the next support leg can already be started according to the calculated series.

[0086] The time-limited, preset or presettable overlap duration determines the duration of the partial simultaneous activation of the drive units of the support legs.

[0087] By the overlap between consecutive control pulses, a substantially smooth orientation of the loading vehicle can be achieved. The vibrations caused by the abrupt on / off of the drive units of the support legs can be reduced.

[0088] In this case, advantageously, within the overlap between consecutive control pulses, up to two drive units can be driven and controlled simultaneously.

[0089] The duration of the overlap between consecutive control pulses output from the control unit may generally be from 0.01 second to 0.5 second. Preferably, the duration of the overlap may be from 0.01 second to 0.1 second.

[0090] In one advantageous configuration of this method, after a change in the vertical lifting state of the load vehicle and / or the lifting device, i.e., for example, after one or more calculation method steps and lifting method steps, in the monitoring method step, continuous detection of the inclination of the load vehicle and / or the lifting device can be performed relative to at least one preset or presettable spatial direction and / or spatial plane.

[0091] For example, when the lifting device arranged on the load vehicle is used in a working operation after the support and lifting of the load vehicle, or for example when the load amount of the load vehicle changes, an undesired change in the inclination of the load vehicle and / or the lifting device may occur due to the load generated on the roadbed used for support and / or the change. These can be detected and determined by continuous detection of the inclination.

[0092] In this case, when the detected inclination reaches or exceeds a preset or presettable deviation of the detected inclination, regardless of the value of the detected inclination, in order to minimize the inclination of the loading vehicle and / or the lifting device, the execution of at least one leveling calculation method step can calculate a series of control commands for driving the individual drives of the support legs of the support system sequentially and with a time limit, based on the currently detected inclination of the loading vehicle and / or the lifting device. In the leveling method step, the drive control of the drives of the support legs of the support system is carried out relative to at least one preset or presettable spatial direction and / or spatial plane for reducing the inclination of the loading vehicle and / or the lifting device. The series of control commands can carry out the sequential and time-limited drive control of the individual drives of the support legs of the support system by means of control pulses. Thereby, the inclination can be brought back into a preset or presettable range with respect to the inclination deviation, substantially within a range of 0° to 10°, preferably within a range of 0° to 5°, and particularly preferably within a range of 0° to 3° relative to the horizontal line.

[0093] During the minimization of the inclination, the currently prevailing lifting state can be substantially maintained within a preset or presettable tolerance range, depending on the case, with respect to the lifting state.

[0094] The minimization of the inclination can be carried out autonomously by the control unit, or after appropriate confirmation, or by a desired selection by the user.

[0095] Copyright protection is also claimed for a computer program product containing instructions which, when executed by a computing unit, cause the computing unit to carry out the method as described above from a storage unit which is or can be data-connected to the computing unit.

[0096] The instructions of the computer program product may be stored, for example, in at least one storage unit of the control unit and may be executed by at least one computing unit of the control unit.

[0097] Rights protection is also claimed for the control unit for the support system configured to implement the above method.

[0098] Basically, the control unit may have at least one computing unit and at least one storage unit. The computing unit may be data-connected to the storage unit or such a data connection may be possible.

[0099] By the control unit, in the calculation and operation mode, a series of control instructions for driving and controlling the individual drive units of the support legs of the support system sequentially and with time limitation may be computable in order to change the vertical lifting state while maintaining the current inclination within a presettable or preset range with respect to the inclination deviation.

[0100] This calculation can be performed, for example, by the computing unit of the control unit, and the calculated control instructions can be stored in the storage unit of the control unit.

[0101] In the drive control and operation mode of the control unit, the drive units of the support legs of the support system may be drive-controllable by a series of control instructions for changing the vertical lifting state of the loading vehicle and / or the lifting device relative to the roadbed, and the sequential and time-limited drive control of the drive units of the support legs of the support system can be performed by control pulses according to the series of control instructions.

[0102] Here, the control instructions stored in the storage unit of the control unit can be output correspondingly according to the series of the control unit.

[0103] The control command may be output from the control unit to, for example, a controllable valve of the hydraulic system of the lifting device, and the controllable valve can control the supply of the hydraulic drive unit of the support system.

[0104] The control unit may have a user interface for the user, and the user interface may generally be configured as an operating element of the control unit, for example, as a lever, button or field, on a touch-sensitive display, in particular on a movable remote control unit of the control unit of the lifting device, and may generally be suitable for data exchange with the control unit. The control unit may be at least partially arranged on the lifting device or may be arrangeable on this lifting device.

[0105] Rights protection is also claimed for a loading vehicle having a vehicle, in particular a support system as described above, and a lifting device having a control unit for the support system as described above. The lifting device may generally be configured as a crane, in particular as a folding boom crane.

[0106] Embodiments of the present invention will be considered with reference to the drawings.

Brief Description of the Drawings

[0107]

Figure 1

Figure 2

Figure 3

Figure 4a

Figure 4b

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9a

Figure 9b

Figure 9c

Figure 9d

Figure 10a

Figure 10b

[0108] Regarding the configuration shown in the above-mentioned figures of the loading vehicle 8 having the support system 7, FIG. 1 shows the configuration of a method for changing the vertical lifting state of the loading vehicle 8 placed on the roadbed 10 for the lifting device 9 having the support system 7. The support system 7, as shown in the figure, · Support legs 1, 2, 3, 4 for support on the roadbed 10 that are vertically position-adjustable in its longitudinal extension length, and · A control unit 5 that drives and controls the drive units of the support legs 1, 2, 3, 4 according to control commands, and · At least one inclination sensor 6 that detects the inclination α of the loading vehicle 8 and / or the lifting device 9 relative to at least one preset or presettable spatial direction and / or spatial plane, preferably. includes.

[0109] In at least one calculation / method step i, a series of control commands for driving and controlling the individual drive units of the support legs 1, 2, 3, 4 of the support system 7 sequentially and with time limitation can be calculated in order to change the vertical lifting state while maintaining the current inclination α within a preset or preset range Δα with respect to the inclination deviation.

[0110] In at least one subsequent lifting method step ii, the drive control of the drive units of the support legs 1, 2, 3, 4 of the support system 7 can be carried out by a series of control commands for changing the vertical lifting state of the loading vehicle 8 and / or the lifting device 9 relative to the roadbed 10. By means of the series of control commands, the sequential and time-limited drive control of the individual drive units of the support legs 1, 2, 3, 4 of the support system 7 can be carried out by means of control pulses s1, s2, s3 (see FIGS. 10a and 10b).

[0111] In the calculation method step i, the calculation of the series of control commands can be carried out based on at least one parameter of the support system 7. The current inclination α can be detected as a parameter of the support system 7 by means of at least one inclination sensor 6 of the support system 7. In the calculation method step i, the calculation of the series of control commands is carried out based on the currently detected inclination α of the loading vehicle 8 and / or the lifting device 9.

[0112] Alternatively or in combination, at least one parameter of the drive units of the support legs 1, 2, 3, 4 may be preset or may be pre-settable as a parameter of the support system 7, for example by means of the user interface 21. In the calculation method step i, the calculation of the series of control commands is carried out based on the parameters of the drive units of the support legs 1, 2, 3, 4.

[0113] Generally, the parameters of the support system 7 that can be supplied to the control unit 6 and that can be added to the calculation of the series of control commands are · parameters of the drive units of the support legs 1, 2, 3, 4, for example, stroke speed, piston diameter, piston area, pump output and / or electrical output and / or · parameters of the geometry of the support legs 1, 2, 3, 4, for example, the dominant or potential longitudinal extension lengths x11, x12, x13, x21, x22 or the parameter of the length of the boom arm comprising the support legs 1, 2, 3, 4 of the support system 7 and / or · Parameters of the positions of the support legs 1, 2, 3, 4 and / or · Number of the support legs 1, 2, 3, 4 and / or · Inclination α of the load vehicle 8 and / or the lifting device 9 currently detected by at least one inclination sensor 6 of the support system 7 and / or · Predetermined or preset range Δα for the inclination deviation and / or · Pulse durations t1, t2, t3 of the control pulses s1, s2, s3 currently set, for example calculated in the preceding calculation method step i and / or · Number and / or position of the axles of the load vehicle 8 and / or · Position of the lifting device 9 arranged on the load vehicle 8 and / or · Torsional stiffness and bending stiffness and / or torsion of the load vehicle 8 and / or · Predetermined or preset spatial direction H and / or spatial plane and / or · Position of the center of gravity of the load vehicle 8 and / or the lifting device 9, in particular the nominal position and / or · Preferably, detecting the hydraulic pressure in the drive units of the support legs 1, 2, 3, 4 and / or the load acting on the support legs 1, 2, 3, 4 by a load sensor and / or · Drive control parameters of the drive units of the support legs 1, 2, 3, 4, for example, control characteristics of the hydraulic valves of the hydraulic supply unit of the hydraulic drive unit or switching characteristics of the energy supply unit of the electric drive unit and / or · Vertical distance of the load vehicle 8 and / or the lifting device 9 relative to the roadbed 10 used for support, detected by at least one distance sensor of the support system 7 can be included.

[0114] The drive control of the drive units of the support legs 1, 2, 3, 4 of the support system 7 can be carried out, for example, in an optional loop iii in which the calculation method step i and the lifting method step ii are repeated, until the vertical lifting state of the loading vehicle 8 and / or the lifting device 9 reaches or falls below a preset or presettable target value, or for a length such that an operation command for changing the vertical lifting state is sent by the user via the user interface of the control unit 5.

[0115] Generally, in loop iii, in the calculation method step i that can follow the previously executed leveling method step ii, the change in the inclination α by the preceding leveling method step ii can be detected. Thereby, the effect of the drive control to be executed can be evaluated.

[0116] As in a particularly preferred configuration of the method, as schematically shown in FIG. 2, after the change in the vertical lifting state of the loading vehicle 8 and / or the lifting device 9 (steps i and ii and optionally iii) has been carried out, in the monitoring method step iv, the inclination α of the loading vehicle 8 and / or the lifting device 9 can be continuously detected relative to at least one preset or presettable spatial direction and / or spatial plane.

[0117] In this case, when the detected inclination α (see, for example, FIGS. 3 and 9a) reaches or exceeds a preset or presettable range Δα with respect to the inclination deviation, the execution of at least one calculation method step i and at least one lifting method step ii may be repeated.

[0118] In order to maintain the inclination α of the loading vehicle 8 and / or the lifting device 9 within a preset or presettable range Δα with respect to the inclination deviation, in an optional loop vii, the leveling calculation method step v and the leveling method step vi can be carried out until the detected inclination α of the loading vehicle 8 and / or the lifting device 9 is again within the preset or presettable range Δα with respect to the inclination deviation.

[0119] Figure 3 shows a side view of the configuration of a loading vehicle 8 on which a lifting device 9 in the form of a articulated arm crane is arranged, placed on an inclined (at an inclination angle of approximately 5° in the figure) roadbed 10. The roadbed 10 is inclined at an angle with respect to the horizontal line H. The loading vehicle 8 placed on the inclined roadbed 10 is, in this un-supported state, substantially inclined with respect to the horizontal line H by the amount of the inclination α measured relative to the vehicle frame about the transverse axis y of the loading vehicle 8 (see Figure 6). An inclination of the loading vehicle 8 about the longitudinal axis x may equally be given, but is not shown in this exemplary configuration.

[0120] In this configuration, the loading vehicle 8 has a support system comprising four support legs 1, 2, 3, 4 (partially hidden, see also Figure 5), an inclination sensor 6, and a control unit 5 arranged in the loading vehicle 8 in this configuration for driving and controlling the drive units of the support legs 1, 2, 3, 4 by control commands.

[0121] For example, for safety reasons, the given current inclination α may not be suitable to enable the execution of the lifting method step ii, and thus vehicle leveling may be required. For example, it may be preset that the currently detected inclination α of the loading vehicle 8 and / or the lifting device 9 is in the range of 0° to 3° with respect to the horizontal line H. Such an exemplary range Δα with respect to the inclination deviation of the current inclination α is shown on both sides of the horizontal line H in Figure 3. If placed on a correspondingly non-inclined roadbed 10, the leveling before implementing this method can be omitted.

[0122] Figure 4a shows a side view of the loading vehicle 8 placed on the inclined roadbed 10, with the configuration shown in Figure 3. After the placed loading vehicle is supported on the roadbed 10 via the support legs 1, 2, 3, 4, it is oriented along the horizontal line H and thus leveled. The inclination α with respect to the horizontal line H is substantially 0° in the figure.

[0123] Such a current inclination α with respect to the horizontal line H may be suitable for performing the lifting method - method step ii.

[0124] Unlike what is shown, the inclination may be related to the angle of the substantially vertically extending swivel axis 15 of the crane boom of the lifting device 9 with respect to the horizontal line H or the vertical plane. In addition to this, Figure 4a shows an alternative or additional arrangement of the inclination sensor 6. For orientation, an angle of at least approximately a right angle of the swivel axis 15 of the crane boom with respect to the horizontal line H may be targeted.

[0125] Generally, an orientation relative to a preset or presettable spatial direction and / or spatial plane may be possible.

[0126] Figure 4b shows a side view of the loading vehicle 8 placed on the inclined roadbed 10 as shown in Figure 4a. In Figure 4b, the loading vehicle 8 is lifted by a method of changing the vertically upward state relative to the roadbed 10 while maintaining the current inclination α.

[0127] It can be seen that at least one wheel of the loading vehicle 8 remains on the roadbed 10, that is, the loading vehicle 8 is not completely lifted by the support legs 1, 2, 3, 4. Unlike what is shown, a complete lift of the loading vehicle 8 may be performed.

[0128] FIG. 5 shows a plan view of the configuration of the loading vehicle 8 as described above. As shown in the figure, the support system 7 has support arms 11, 12, 13, 14 that are adjustable in the horizontal direction, and support legs 1, 2, 3, 4 are arranged on the support arms 11, 12, 13, 14. The control unit 5 may be configured to drive and control the drive units of the support arms 11, 12, 13, 14 according to control commands.

[0129] FIG. 6, which shows a schematic plan view of the configuration of the loading vehicle 8 including the front axle 18 and the rear axle 19, similar to the previous configuration, shows the longitudinal axis x and the transverse axis y of the loading vehicle 8. As shown in the figure, the tilt sensor 6 may be located at the origin of the coordinate system formed by the longitudinal axis x and the transverse axis y, which is located on the pivot axis 15 of the crane column of the lifting device 9.

[0130] Depending on the relationship of the longitudinal extension lengths of the support legs 1 and 2 (see FIG. 9), orientation can be performed around the longitudinal axis x. Depending on the constant component, i.e., each absolute value of the longitudinal extension length, orientation can be performed around the transverse axis y.

[0131] Changing the pulse durations t1, t2, t3 of the control pulses s1, s2, s3 that enable the drive control of the drive units of the support legs 1, 2, 3, 4 by the control unit 5 (see FIG. 7) and, in some cases, changing the overlap d, · the parameters of the drive units of the support legs 1, 2, 3, 4 and / or · the geometric shape parameters of the support legs 1, 2, 3, 4, such as the distances between the support legs 1, 2, 3, 4 with respect to the pivot axis 15 of the crane column of the lifting device 9 and / or · the position parameters of the support legs 1, 2, 3, 4, such as the arrangement of the support legs 1, 2, 3, 4 on the vehicle frame relative to the lifting device 9, particularly relative to the pivot axis 15 of the crane column of the lifting device 9 and / or · the number of support legs 1, 2, 3, 4 and / or · the currently measured tilt α of the loading vehicle 8 and / or the lifting device 9 and / or · With respect to the tilt deviation, a preset or preset range Δα and / or · The currently set pulse durations t1, t2, t3 and / or · The positions of the axles 18, 19 of the loading vehicle 8 and / or · The position of the lifting device 9 arranged on the loading vehicle 8 and / or · The torsional stiffness and bending stiffness and / or torsion of the loading vehicle 8 and / or · A preset or presettable spatial direction and / or spatial plane It can be carried out depending on.

[0132] Figure 7 shows a schematic view of the lifting device 9 with the configuration of the support system 7. As shown in the figure, the support system 7 · In its longitudinal extension length, vertically, two support legs 1, 2 that are position - adjustable for support on the roadbed 10, and · A control unit 5 that drives and controls the drive parts of the support legs 1, 2 by control commands, and · Includes at least one tilt sensor 6 that detects the tilt α of the lifting device 9 relative to at least one preset or presettable spatial direction and / or spatial plane.

[0133] Different from what is shown, the support system 7 may have additional support legs and a plurality of tilt sensors 6 as in FIGS. 3 - 6 respectively.

[0134] In addition to the tilt sensor 6, measurement values for the operating parameters of the support legs 1, 2 can generally also be supplied to the control unit 5.

[0135] The control unit 5 may basically have at least one calculation unit 16 and at least one storage unit 17. The calculation unit 16 may be data - connected to the storage unit 17 or such a data connection may be possible.

[0136] The control unit 5 may have a user interface 21 for the user. The user interface 21 may generally be configured as an operating element of the control unit, for example as a lever, button or field, on a touch-sensitive display, in particular on the movable remote control unit 20 of the control unit 5 of the lifting device 9, as shown in FIG. 7.

[0137] The control unit 5 may be at least partially arranged on the lifting device 9 or may be arranged on this lifting device 9.

[0138] A series of control commands in the form of control pulses s1, s2, s3 for driving and controlling the individual drive units of the support legs 1, 2 of the support system 7 sequentially and with time limitation in a calculation and operation mode based on the currently detected inclination α of the lifting device 9 by the control unit 5 may be calculable in order to change the vertical lifting state while maintaining the current inclination α within a preset or preset range Δα with respect to the inclination deviation.

[0139] This calculation can be performed, for example, by the calculation unit 16 of the control unit 5, and the calculated control commands can be stored in the storage unit 17 of the control unit 5.

[0140] In the drive control and operation mode of the control unit 5, the drive units of the support legs 1, 2 of the support system may be drive-controlled by a series of control commands to change the vertical lifting state of the lifting device 9 relative to the roadbed 10, and the sequential and time-limited drive control of the drive units of the support legs 1, 2 of the support system 7 can be performed by the control pulses s1, s2, s3.

[0141] Here, the control commands stored in the storage unit 17 of the control unit 5 can be output correspondingly in the series of the control unit 5.

[0142] When driving and controlling the drive units of the support legs 1 and 2 of the support system 7, generally, the longitudinal extension lengths of the support legs 1 and 2 can be increased and / or decreased.

[0143] FIG. 8 shows a support device 7 arranged on a loading vehicle 8 equipped with a lifting device 9, which is similar to the configuration of FIG. 7.

[0144] FIGS. 9a to 9d schematically show the lifting by the support system 7 (see FIG. 3 or FIG. 7) with respect to the preset spatial direction H (horizontal line). The support system 7 may be connected to a loading vehicle and / or a lifting device (swivel axis 15) not shown in this figure.

[0145] In order to enable the execution of lifting method step ii, for example, it may be preset that the currently detected inclination α of the loading vehicle 8 and / or the lifting device 9 is in the range of 0° to 5° with respect to the horizontal line H. An exemplary range Δα with respect to the inclination deviation of the detected inclination α of 5° with respect to the horizontal line H is shown on both sides of the horizontal line H in FIGS. 9a to 9d. That is, the currently detected inclination α may be required to be +5° to -5° with respect to the horizontal line H for the implementation of this method, as exemplarily shown.

[0146] The orientations shown in FIGS. 9a to 9d may correspond to the leveling centered on the longitudinal axis x with respect to FIG. 6, and may also correspond to the leveling centered on the transverse axis y. Orientations with respect to other axes or spatial planes can be carried out similarly.

[0147] In the illustrated configuration, the support system 7 has two support legs 1, 2 arranged on support arms 11, 12 of variable length. The support legs 1, 2 are variable in length in their longitudinal extension length. The support legs 1, 2 used for orientation in this series of drawings have various different (adjustable) longitudinal extension lengths x11, x12, x13, x21 and x22 as shown in the figure. The lifting state may be characterized, for example, by such a longitudinal extension length and / or the distance measurement to the roadbed 10.

[0148] Different from the illustration, it should not be excluded that the support system 7 has a plurality of support legs (for example, four), and in particular for the orientation with respect to the spatial plane, a plurality of these support legs may also be used. However, for reasons of illustration, the flow is limited to two support legs 1, 2.

[0149] Figure 9a shows the support system 7 supported on the inclined roadbed 10. In Figure 9a, the support legs 1, 2 are in contact with the roadbed. The line-of-sight direction may correspond to the line-of-sight along the longitudinal axis of the loading vehicle. The support legs 1, 2 each have a first longitudinal extension length x11, x21. The inclinometer 6 outputs an inclination angle α of -2° measured with respect to the horizontal line H.

[0150] By driving and controlling the drive unit of the support leg 1 using the control pulses s1, s2, s3 (see Figures 10a and 10b) sequentially output and time-limited by the control unit 5, the lifting state of the lifting device 9 can be incrementally changed and can be expanded as shown in the figure.

[0151] In calculation method step i (see FIG. 1), based on the respectively measured inclinations α, a series of control commands for driving the individual drive units of the support legs 1, 2 of the support system 7 can be calculated for driving control sequentially and with a time limit, while maintaining the inclination α within the range Δα with respect to the inclination deviation, in order to change the lifting state. As exemplarily illustrated from one of FIGS. 9a to 9d to the other, a partial change in the lifting state may be part of the overall desired or required change in the lifting state of the loading vehicle or the lifting device.

[0152] In FIG. 9b, after the drive control by the control unit 5 using the control pulse s1, the support leg 1 has a second relatively large longitudinal extension length x12. The inclination measuring device 6 outputs an inclination angle α of 2° measured with respect to the horizontal line H, that is, the inclination α is maintained within the preset range Δα with respect to the inclination deviation.

[0153] This may correspond, for example, to the first execution of the calculation method step i and the lifting method step ii.

[0154] In loop iii (see FIG. 1), the calculation method step i and the lifting method step ii can be repeated, in which case control commands, and thus control pulses, and in some cases superpositions, may be calculated for the support legs 1, 2, and drive control of their drive units using the control pulses can be performed.

[0155] In FIG. 9c, after the execution of loop iii and while the drive control by the control unit 5 using the control pulse s2 is being performed, the support leg 2 has a second larger longitudinal extension length x22. The inclination measuring device 6 likewise outputs an inclination angle α of -3° measured with respect to the horizontal line H. The inclination α is indeed again enlarged relative to the illustrated spatial direction H, but is still within the range of Δα with respect to the inclination deviation.

[0156] Regarding FIG. 6, it should be noted that by changing the longitudinal extension lengths of the support legs 1 and 2, it is also possible to perform an orientation centered on the longitudinal axis x. Similarly, depending on the longitudinal extension lengths of the support legs 1 and 2, a change in the inclination centered on the transverse axis y may be made. Regarding the horizontal spatial plane, it is also possible to maintain the inclination with respect to the spatial direction placed in this spatial plane (for example, as viewed in the direction orthogonal to the spatial direction H) within the range with respect to the inclination deviation.

[0157] To further change the lifting state, in a further execution of loop iii (see FIG. 1), the calculation method step i and the lifting method step ii can each be further repeated. At each repetition of loop iii, a series of control instructions, corresponding control pulses, and possibly a superposition of control pulses can be calculated and a series of control instructions can be executed to change the vertical lifting state while substantially maintaining the current inclination α.

[0158] In FIG. 9d, in a further execution of loop iii, the longitudinal extension length x13 of the support leg 1 is incrementally increased. The inclinometer 6 outputs an inclination angle α of 0° measured with respect to the horizontal line H.

[0159] In FIG. 9d, as can be seen based on the illustrated longitudinal extension lengths x11, x13, x21, x22 of the support legs 1 and 2, a substantially equal change in the longitudinal extension lengths of all the support legs 1 and 2 driven and controlled by a series of control instructions s1, s2, s3 has occurred. Therefore, it is possible to achieve the maintenance of the current inclination α within a preset or preset range Δα with respect to the inclination deviation.

[0160] In the calculation method step i, if the currently detected inclination α is outside the range Δα with respect to the inclination deviation, the leveling of the loading vehicle 8 and / or the lifting device 9 can be performed by executing at least one leveling calculation method step v as described above and at least one leveling method step vi as described above.

[0161] The series of FIGS. 9c to 9d may be three repetitions of loop iii as described above. In these repetitions, the longitudinal extension length direction of the support legs 1 and 2 is gradually changed in order to change the vertical lifting state.

[0162] However, it is also conceivable that the series of FIGS. 9c to 9d corresponds to the individual execution of the calculation / method step i and the lifting / method step ii. Here, the series of control commands can include the control pulses s1, s2, s3.

[0163] The change in the vertical lifting state is in an incremental manner · by a length until the vertical lifting state of the loading vehicle 8 and / or the lifting device 9 reaches or falls below a preset or presettable target value, or · by a length such that an operation command for changing the vertical lifting state is sent by the user via the user interface 21 of the control unit 5. It may be performed.

[0164] FIGS. 10a and 10b respectively show schematic diagrams of three consecutive control pulses s1, s2, s3 having pulse durations t1, t2, t3. The sequential control pulses s1, s2, s3 in FIG. 10b have a temporal overlap d.

[0165] For example, as shown in FIGS. 9a to 9d, by driving and controlling the drive unit of the support leg 1 using the control pulses s1, s2, s3 sequentially output by the control unit 5 and limited in time, the vertical lifting state of the loading vehicle 8 and / or the lifting device 9 can be changed while maintaining the current inclination α within a preset or preset range Δα.

[0166] In Fig. 9b, after the drive control by the control unit 5 using the first control pulse s1 with the pulse duration t1, the support leg 1 has a greater longitudinal extension length x12 compared to the illustration in Fig. 9a. In Fig. 9c, after the drive control by the control unit 5 using the second control pulse s2 with the pulse duration t2, the support leg 2 has a greater longitudinal extension length x22 compared to the illustration in Fig. 9b. In Fig. 9d, after the drive control by the control unit 5 using the third control pulse s3 with the pulse duration t3, the support leg 1 has a greater longitudinal extension length x12 compared to the illustration in Fig. 9a. This drive control can be performed, for example, using the control pulses s1, s2, s3 according to Fig. 10a.

[0167] In a series of control commands, the control unit can also output the consecutive control pulses s1, s2, s3 partially, that is, simultaneously over the duration of the overlap d.

[0168] That is, for example, as shown in Fig. 10b, first, during the pulse duration t1 of the control pulse s1, the activation of the drive unit of, for example, the support leg 1 may be started. Before the end of the ongoing control pulse s1, the activation of the drive unit of the next support leg 2 may already be started by the output of the control pulse s2 that sequentially follows according to the calculated series.

[0169] The time-limited, preset or presettable duration of the overlap d can determine the duration of the partial simultaneous activation of the drive units of the support legs 1, 2.

Explanation of Signs

[0170] 1 Support leg 2 Support leg 3 Support leg 4 Support leg 5 Control unit 6 Tilt sensor 7 Support system 8 Loading vehicle 9 Hoisting device 10 Roadbed 11 Support arm 12 Support arm 13 Support arm 14 Support arm 15 Swivel axis of the crane column 16 Calculation unit 17 Memory unit 18 Front axle of the loading vehicle 19 Rear axle of the loading vehicle 20 Movable remote control unit 21 User interface α Inclination Δα Range of inclination deviation i Calculation / method step ii Lifting / method step iii Repetition / loop iv Monitoring / method step v Levelling calculation / method step vi Levelling / method step vii Repetition / loop H Horizontal line x Longitudinal axis y Transverse axis x11, x12, x13, x21, x22 Longitudinal extension lengths of the support feet s1, s2, s3 Control pulses t1, t2, t3 Pulse durations d Superposition

Claims

1. A method for changing the vertical lifting state of a loading vehicle (8) placed on a roadbed (10) for a lifting device (9) provided with a support system (7), wherein the support system (7) at least comprises: - Support legs (1, 2, 3, 4) for support on the roadbed (10) that are vertically position - adjustable in their longitudinal extension length; - A control unit (5) for driving and controlling the drive units of the support legs (1, 2, 3, 4) according to control commands. In the method: - In at least one calculation / method step (i), a series of control commands for sequentially and time - limitedly driving and controlling the drive units of the support legs (1, 2, 3, 4) of the support system (7) is calculated for at least one preset or presettable spatial direction and / or spatial plane, relative to the inclination deviation, within a preset or preset range (Δα) of the current inclination (α) of the loading vehicle (8) and / or the lifting device (9), while maintaining the current inclination (α) of the loading vehicle (8) and / or the lifting device (9) to change the vertical lifting state; - In at least one lifting / method step (ii), the drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by the series of control commands for changing the vertical lifting state of the loading vehicle (8) and / or the lifting device (9) relative to the roadbed (10), and the series of control commands performs sequential and time - limited drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) by control pulses (s1, s2, s3). The method is characterized by the above.

2. In the calculation / method step (i), the calculation of the series of control commands is performed based on at least one parameter of the support system (7). · At least one inclination sensor (6) of the support system (7) that detects the inclination (α) of the loading vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane, performs detection of the current inclination (α) as a parameter of the support system (7), and in calculation / method step (i), calculates the series of control commands based on the currently detected inclination (α) of the loading vehicle (8) and / or the lifting device (9), and / or · At least one parameter of the drive unit of the support legs (1, 2, 3, 4) is preset or presettable as a parameter of the support system (7), and in calculation / method step (i), calculates the series of control commands based on at least one parameter of the drive unit of the support legs (1, 2, 3, 4). Preferably, the stroke speed and / or piston area of the drive unit configured as a hydraulic cylinder are preset or presettable as parameters of the drive unit of the support legs (1, 2, 3, 4). The method according to claim 1.

3. The at least one parameter of the support system (7) is · Parameters of the drive unit of the support legs (1, 2, 3, 4), preferably stroke speed, piston diameter, piston area, pump output and / or electrical output, · Parameters of the geometry of the support legs (1, 2, 3, 4), preferably the dominant or potential longitudinal extension lengths (x11, x12, x13, x21, x22) or the length parameter of the boom arm provided with the support legs (1, 2, 3, 4) of the support system (7), · Parameters of the position of the support legs (1, 2, 3, 4), · The number of the support legs (1, 2, 3, 4), · The inclination (α) of the loading vehicle (8) and / or the lifting device (9) currently detected by at least one inclination sensor (6) of the support system (7) and / or · A preset or preset range (Δα) for inclination deviation, · The pulse duration (t1, t2, t3) of the control pulses (s1, s2, s3) currently set, for example calculated in the preceding calculation / method step (i). - The number and / or position of the axes of the loading vehicle (8), - The position of the lifting device (9) arranged on the loading vehicle (8), - The torsional rigidity and bending rigidity and / or torsion of the loading vehicle (8), - A preset or presettable spatial direction (H) and / or a spatial plane, - The position of the center of gravity of the loading vehicle (8) and / or the lifting device (9), in particular the nominal position, - Preferably, detecting the hydraulic pressure in the drive units of the support legs (1, 2, 3, 4) and / or the load acting on the support legs (1, 2, 3, 4) by a load sensor, - At least one parameter of the drive control of the drive units of the support legs (1, 2, 3, 4), preferably the control characteristics of the hydraulic valves of the hydraulic supply unit of the hydraulic drive unit and / or the switching characteristics of the energy supply unit of the electric drive unit, - The vertical distance of the loading vehicle (8) and / or the lifting device (9) relative to the roadbed (10) used for support, detected by at least one distance sensor of the support system (7) The method according to claim 2, including at least one of the above.

4. The drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is carried out by: - the length until the vertical lifting state of the loading vehicle (8) and / or the lifting device (9) reaches or falls below a preset or presettable target value, or - The length such that an operation command for changing the vertical lifting state is sent by the user via the user interface (21) of the control unit (5). The method according to any one of claims 1 to 3.

5. - In the calculation - method step (i), calculate a series of control commands for changing the vertical lifting state of the loading vehicle (8) and / or the lifting device (9) for all drive units of the support legs (1, 2, 3, 4) of the support system (7) involved in the support, - In the lifting - method step (ii), perform the drive control of at least one of all drive units of the support legs (1, 2, 3, 4) of the support system (7) with a series of control commands for changing the vertical lifting state of the loading vehicle (8) and / or the lifting device (9). The method according to any one of claims 1 to 4.

6. The inclination sensor (6) of the support system (7) detects the inclination (α) of the loading vehicle (8) and / or the lifting device (9) relative to the horizontal line (H), and the execution of the lifting method step (ii) is carried out when the inclination (α) of the loading vehicle (8) and / or the lifting device (9), which is currently detected in the calculation method step (i), is within a preset or preset range (Δα) with respect to an inclination deviation in the range of 0° to 10°, preferably 0° to 5°, particularly preferably 0° to 3° with respect to the horizontal line. The method according to any one of claims 1 to 5.

7. The preset or preset range (Δα) with respect to the inclination deviation is within the range of 0° to 10°, preferably within the range of 0° to 5°, particularly preferably within the range of 0° to 3° with respect to the horizontal line. The method according to any one of claims 1 to 6.

8. In the loop (iii) in the calculation method step (i) following the previously executed lifting method step (ii), the change in the inclination (α) due to the previous lifting method step (ii) is detected. The method according to any one of claims 1 to 7.

9. The time-limited drive control of the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) is carried out by a series of control commands with control pulses (s1, s2, s3) having a variable pulse duration. The method according to any one of claims 1 to 8.

10. The pulse durations (t1, t2, t3) of the control pulses (s1, s2, s3) are 0.05 seconds to 3.50 seconds, preferably 0.25 seconds to 1.5 seconds. The method according to claim 9.

11. The change of the pulse duration (t1, t2, t3) and optionally the change of the temporal overlap (d) between consecutive control pulses (s1, s2, s3) are · the parameters of the drive units of the support legs (1, 2, 3, 4) and / or · the parameters of the geometric shape of the support legs (1, 2, 3, 4) and / or · the parameters of the position of the support legs (1, 2, 3, 4) and / or · the number of the support legs (1, 2, 3, 4) and / or - The inclination (α) of the loading vehicle (8) and / or the lifting device (9) currently being measured by at least one inclination sensor (6) of the support system (7) and / or - A preset or preset range (Δα) for the inclination deviation and / or - The currently set pulse durations (t1, t2, t3) and / or - The positions of the axles (18, 19) of the loading vehicle (8) and / or - The position of the lifting device (9) arranged on the loading vehicle (8) and / or - The torsional rigidity and bending rigidity and / or torsion of the loading vehicle (8) and / or - A preset or presettable spatial direction and / or spatial plane and / or - The position of the center of gravity of the loading vehicle (8) and / or the lifting device (9) and / or - Detecting the hydraulic pressure in the drive unit of the support legs (1, 2, 3, 4) and / or the load acting on the support legs (1, 2, 3, 4) detected by a load sensor, - At least one parameter for the drive control of the drive units of the support legs (1, 2, 3, 4), preferably the control characteristics of the hydraulic valves of the hydraulic supply unit of the hydraulic drive unit and / or the switching characteristics of the energy supply unit of the electric drive unit The method according to claim 9 or 10, which is performed depending on.

12. The method according to any one of claims 1 to 11, wherein the drive control of the drive units of the individual support legs (1, 2, 3, 4) of the support system (7) is performed in a preset or preset order by a series of the control commands in a drive control sequence.

13. The method according to any one of claims 1 to 12, wherein the drive control of the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed using a series of the control commands comprising control pulses (s1, s2, s3) with a preset or presettable time-limited overlap (d) between consecutive control pulses (s1, s2, s3).

14. The method according to claim 13, wherein within the overlap (d) between consecutive control pulses (s1, s2, s3), at most two drive units are simultaneously drive-controlled.

15. The method according to claim 13 or 14, wherein the duration (d) of the overlap between successive control pulses (s1, s2, s3) is from 0.01 second to 0.5 second, preferably from 0.01 second to 0.1 second.

16. Detecting, by at least one tilt sensor (6) of the support system (7), a tilt (α) of the loading vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane, and performing the detection of the current tilt (α); after a change in the vertical lifting state of the loading vehicle (8) and / or the lifting device (9), continuously detecting, in a monitoring / method step (iv), the tilt (α) of the loading vehicle (8) and / or the lifting device (9) relative to at least one preset or presettable spatial direction and / or spatial plane. The method according to any one of claims 1 to 15.

17. When a preset or presettable deviation of the detected tilt (α) is reached or exceeded, for minimizing the tilt (α) of the loading vehicle (8) and / or the lifting device (9), - In a leveling / calculating / method step (v), calculating a series of control commands for driving the individual drives of the support legs (1, 2, 3, 4) of the support system (7) sequentially and with a time limit, based on the currently detected tilt (α) of the loading vehicle (8) and / or the lifting device (9), - In a leveling / method step (vi), performing drive control of the drives of the support legs (1, 2, 3, 4) of the support system (7) relative to at least one preset or presettable spatial direction and / or spatial plane by the series of control commands for reducing the tilt (α) of the loading vehicle (8) and / or the lifting device (9), and performing sequential and time-limited drive control of the individual drives of the support legs (1, 2, 3, 4) of the support system (7) by control pulses by the series of control commands. The method according to claim 16.

18. A computer program product comprising instructions When the command is executed by the computing unit, the computing unit is caused to implement the method according to any one of claims 1 to 17 from a storage unit that is data-connected to the computing unit or to which such a data connection is possible. A computer program product.

19. A control unit (5) for a support system (7) configured to implement the method according to at least one of claims 1 to 17, wherein by the control unit (5), - In the calculation / operation mode, a series of control commands for sequentially and time-limitedly driving and controlling the individual drive units of the support legs (1, 2, 3, 4) of the support system (7) is computable to change the vertical lifting state while maintaining the current inclination (α) within a preset or preset range (Δα) with respect to the inclination deviation. - In the drive control / operation mode, the drive units of the support legs (1, 2, 3, 4) of the support system are drive controllable by the series of control commands to change the vertical lifting state of the loading vehicle (8) and / or the lifting device (9) relative to the roadbed (10), and the sequential and time-limited drive control of the drive units of the support legs (1, 2, 3, 4) of the support system (7) is performed by control pulses by the series of control commands. Control unit (5).

20. A vehicle, in particular a loading vehicle (8) comprising a lifting device (9) having a support system (7) according to any one of claims 1 to 17 and a control unit (5) according to claim 19.

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